Push-in device and push-in method of motor stator coil

Abstract

The invention relates to a push-in device and a push-in method for a motor stator coil, and the device comprises a push head which is used for pushing a copper wire into a stator groove; the expansion sheet is arranged on the push head and can move along the radial direction of the motor stator; the push head driving mechanism is used for driving the push head and the expansion sheet to synchronously move in the axial direction and driving the expansion sheet to move in the radial direction; the push head driving mechanism pushes the push head to move in the axial direction and penetrate through the through hole, and meanwhile the expansion pieces are pushed out by the driving mechanism in the radial direction and extrude the copper wire into the stator groove. The push head and the expansion sheet are pushed at the same time through the push head driving mechanism, movement of one drive in two directions is achieved, the copper wire can be easily pushed into a stator slot through extrusion of the extension of the expansion sheet on the copper wire, automatic production is achieved under the condition of a high slot fullness rate, and therefore the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of motor stator manufacturing technology, and in particular to a device and method for pushing in motor stator coils. Background Technology

[0002] The rapid growth of the new energy vehicle market has provided a strong impetus for the development of new energy motor technology. Consumers' demands for range, performance, and comfort are constantly driving innovation in motor technology.

[0003] To improve the production efficiency of new energy motors, motor manufacturers are increasingly using automated production to replace manual labor. In the stator production process of new energy motors, copper wire needs to be embedded into the stator slots. Currently, there are already embedding devices on the market for embedding copper wire into stator slots, such as Chinese patent CN202311416900.X, which discloses a coil insertion device. This coil insertion device consists of a main body, a stator core conveying section, a stator core providing section, and a coil insertion section. The stator core providing section provides the stator core to the stator core conveying section and conveys it to the designated position. Then, the coil insertion section inserts the copper wire into the stator slot of the stator core, achieving automated assembly. This coil insertion device achieves a maximum slot fill factor of 85%-88%. The slot fill factor refers to the proportion of space occupied by the coil after it is placed in the slot, typically the ratio of the conductor cross-sectional area to the effective area of ​​the slot multiplied by 100%. When a slot fill factor higher than 88% is desired, a large number of copper wires need to be inserted into the stator slots. These copper wires are often blocked by other copper wires as they enter the slots, preventing them from entering or causing them to reappear after entering. Therefore, this type of coil insertion device cannot achieve a slot fill factor higher than 88%. Currently, achieving a slot fill factor higher than 88% for copper wire insertion is usually done manually, which cannot achieve automated production, resulting in low production efficiency and failing to meet market demands. Summary of the Invention

[0004] To solve the above problems, the present invention provides a device and method for pushing in motor stator coils.

[0005] The technical solution adopted by the present invention to solve the above problems is:

[0006] A device for pushing in a motor stator coil is disclosed, used to push copper wire into a stator slot of a motor stator. The motor stator is cylindrical and has a through hole along its axial direction. Stator slots are formed radially on the inner wall of the through hole. The device for pushing in the motor stator coil includes...

[0007] A stator fixing mechanism is used to fix the motor stator;

[0008] A pusher head is disposed opposite to the stator fixing mechanism; the pusher head includes an extension portion near the stator fixing mechanism and a connecting portion connected to the extension portion; the extension portion is a cylinder adapted to the through hole;

[0009] An expansion piece is disposed on the extension portion. The expansion piece can move along the radial direction of the cylinder in which the extension portion is located and can extend beyond the cylindrical surface of the cylinder in which the extension portion is located.

[0010] A pusher drive mechanism is fixedly connected to the connecting part of the pusher, and is used to drive the pusher and the expansion piece to move synchronously in the axial direction, and at the same time drive the expansion piece to move in the radial direction;

[0011] The pusher drive mechanism pushes the extension part toward the stator fixing mechanism through the connecting part and passes through the through hole of the motor stator fixed on the stator fixing mechanism. At the same time, the expansion plate is pushed by the pusher drive mechanism toward the cylindrical surface of the cylinder where the extension part is located, and pushes and squeezes the copper wire into the stator slot.

[0012] More specifically, the device for pushing in the motor stator coil also includes a copper wire guiding mechanism. The copper wire guiding mechanism includes several guide bars and a guide bar driving mechanism that drives the guide bars to move in the axial direction. The guide bars are arranged on the outer side of the cylindrical surface of the cylinder where the extension part is located. A gap is formed between adjacent guide bars for the copper wire to pass through. The gap is aligned with the opening in the radial direction of the stator slot. The expansion plate can pass through the gap and enter the stator slot.

[0013] More specifically, multiple expansion plates are provided and distributed around the pusher axis, and the expansion plates are aligned with the corresponding stator slots.

[0014] More specifically, a buffer chamber is provided inside the extension part, and a push block and a return spring are provided inside the buffer chamber. One end of the return spring abuts against the push block, and the other end abuts against the inner wall of the buffer chamber. The push head driving mechanism is connected to the push block through the connecting part and can push the push block to move axially in the buffer chamber. The push block acts on the expansion piece and can push the expansion piece radially towards the stator slot, and the expansion piece enters the corresponding stator slot.

[0015] More specifically, a first inclined surface is provided on the push block, and a second inclined surface is provided on the expansion piece. The first inclined surface slides on the second inclined surface to extend or retract the expansion piece. A reset structure is provided between the push block and the expansion piece to move the expansion piece toward the push block.

[0016] More specifically, the extending part includes a fixed base and a pressure cover disposed on the top of the fixed base. A groove is provided inward on the top of the fixed base, and the groove cooperates with the pressure cover to form the buffer chamber. Several sliding grooves for accommodating the expansion piece are provided in the radial direction on the top of the fixed base, and the expansion piece can move in the sliding grooves. A driving hole is provided at the bottom of the fixed base, and the driving hole communicates with the buffer chamber. The connecting part passes through the driving hole and is connected to the push block.

[0017] More specifically, the pressure cap has a first end face near the connecting part and a second end face away from the connecting part. The first end face and the second end face are disposed opposite to each other. The first end face abuts against the top of the fixing base, and the second end face is an arc surface that is high in the middle and low around the edges.

[0018] More specifically, it also includes a slot wedge feeding mechanism, which feeds the slot wedge to the pusher head and is located below the expansion plate. The expansion plate squeezes the copper wire into the stator slot to create clearance space for the slot wedge to pass through.

[0019] More specifically, the slot wedge feeding mechanism includes a slot wedge feeding channel located on one side of the pusher and a slot wedge driving mechanism. The slot wedge feeding channel extends to the first end of the motor stator and is aligned with the stator slot in the axial direction. The slot wedge driving mechanism feeds the slot wedge along the slot wedge feeding channel to the clearance space.

[0020] More specifically, the groove wedge is adjacent to the expansion plate and moves synchronously with the pusher.

[0021] More specifically, a pressure sensor is provided on the pusher drive mechanism or the expansion plate. When the pressure sensor detects that the pressure exceeds the set pressure value, the pusher drive mechanism stops pushing the pusher to move forward.

[0022] A method for pushing in motor stator coils, using the aforementioned motor stator coil pushing device, comprises the following steps:

[0023] S1. Place the copper wire on the top of the pusher head, with the push block located in the buffer chamber near the pusher head drive mechanism, and the reset spring in an extended state.

[0024] S2. The pusher drive mechanism pushes the pusher head to move forward and pushes the copper wire into the stator slot. At the same time, the pusher drive mechanism pushes the expansion plate out in the radial direction, and the expansion plate squeezes the copper wire into the stator slot.

[0025] S3. The pusher drive mechanism continues to push the pusher forward and through the through hole of the motor stator. The expansion plate continues to squeeze the copper wire into the stator slot until it is completely pushed in from the first end to the second end of the motor stator.

[0026] In step S3, as the pusher drive mechanism continues to push the pusher forward and through the through hole of the motor stator, the pusher drive mechanism moves forward a set distance and then reverses a set distance, and then moves forward again; the forward movement of the pusher will cause the expansion plate to extend into the stator slot to squeeze the copper wire, and the reverse movement of the pusher will cause the expansion plate to retract and exit the stator slot.

[0027] More specifically, the pushing device for the motor electronic coil also includes a copper wire guiding mechanism. The copper wire guiding mechanism includes a plurality of guide bars and a guide bar driving mechanism that drives the guide bars to move in the axial direction. The guide bars are disposed on the outer side of the cylindrical surface of the cylinder where the extension part is located. A gap is formed between adjacent guide bars for the copper wire to pass through. The gap is aligned with the opening in the radial direction of the stator slot. The expansion piece can pass through the gap and enter the stator slot.

[0028] In step S1, the copper wire is passed through the gap between the guide bars while the copper wire is placed on top of the pusher head;

[0029] In step S2, while the pusher drive mechanism pushes the pusher head to move forward, the guide bar drive mechanism drives the guide bar to move forward.

[0030] In step S3, after the guide bar completely passes through the motor stator, the guide bar moves in the reverse direction, and the pusher continues to move in the forward direction until the pusher completely passes through the motor stator and the top of the pusher is higher than the top of the guide bar, then it stops.

[0031] A method for pushing in motor stator coils, using the aforementioned motor stator coil pushing device, comprises the following steps:

[0032] D1. Place the copper wire on top of the pusher head, and the slot wedge feeding mechanism feeds the slot wedge to below the expansion plate;

[0033] D2. The pusher drive mechanism pushes the pusher head forward to push the copper wire into the stator slot. At the same time, the pusher drive mechanism pushes the expansion plate out in the radial direction. The expansion plate inserts into the stator slot and pushes the copper wire in. At the same time, it is squeezed towards the bottom of the stator slot to obtain clearance space near the opening of the stator slot.

[0034] D3. The pusher drive mechanism continues to push the pusher to move axially and pass through the through hole of the motor stator, and the expansion plate continuously squeezes the copper wire to obtain several continuous clearance spaces.

[0035] D4. The groove wedge feeding mechanism pushes the groove wedge into the clearance space.

[0036] In step D3, when the pusher drive mechanism pushes the pusher head forward, if the copper wire gets stuck, the pusher drive mechanism moves in the opposite direction to retract the expansion plate and release the pressure on the copper wire. Then, it moves forward again to extend the expansion plate and squeeze the copper wire.

[0037] More specifically, the pushing device for the motor electronic coil also includes a copper wire guiding mechanism. The copper wire guiding mechanism includes a plurality of guide bars and a guide bar driving mechanism that drives the guide bars to move in the axial direction. The guide bars are disposed on the outer side of the cylindrical surface of the cylinder where the extension part is located. A gap is formed between adjacent guide bars for the copper wire to pass through. The gap is aligned with the opening in the radial direction of the stator slot. The expansion piece can pass through the gap and enter the stator slot.

[0038] In step D1, the copper wire is passed through the gap between the guide bars while the copper wire is placed on top of the pusher head;

[0039] In step D2, while the pusher drive mechanism pushes the pusher head to move forward, the guide bar drive mechanism drives the guide bar to move forward.

[0040] In step D3, after the guide bar has completely passed through the motor stator, the guide bar moves in the reverse direction, and the pusher continues to move in the forward direction until the pusher has completely passed through the motor stator and the top of the pusher is higher than the top of the guide bar, then it stops.

[0041] More specifically, in step D3, when the pusher drive mechanism pushes the pusher head forward, after the pusher drive mechanism pushes forward a set distance or a set time, it moves in the opposite direction to retract the expansion piece to release the copper wire pressure, and then moves forward again to extend the expansion piece to squeeze the copper wire.

[0042] The beneficial effects of this invention are as follows: By simultaneously driving the pusher and the expansion plate through the pusher drive mechanism, a single drive can achieve movement in two directions. The expansion plate's extension and compression of the copper wire can easily push the copper wire into the stator slot. At the same time, the compression of the copper wire by the expansion plate creates space, allowing the slot wedge to be smoothly inserted into the stator slot. The slot wedge moves synchronously with the pusher, ensuring that the slot wedge can enter promptly after the expansion plate compression is completed, preventing the copper wire from rebounding and blocking the slot wedge path again after compression. This achieves automated production under high slot fill rate conditions, thereby improving production efficiency. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the motor stator;

[0044] Figure 2 This is a schematic diagram of the motor stator, coil copper wire, and slot wedges after assembly.

[0045] Figure 3 A cross-sectional view of the pushing device according to one embodiment of the present invention;

[0046] Figure 4 yes Figure 3 Enlarged structural diagram of part A in the middle;

[0047] Figure 5 This is a top-view perspective structural diagram of the pushing device of the present invention;

[0048] Figure 6 This is a cross-sectional view of the cap structure of the present invention;

[0049] Figure 7 This is a top view of the structure of the first fastener of the present invention;

[0050] Figure 8 , Figure 9 This is a structural variation diagram of the pushing method in Embodiment 1 of the present invention;

[0051] Figure 10 This is a structural variation diagram of the present invention based on Embodiment 1 and the guide bar insertion method;

[0052] Figure 11 This is a structural variation diagram of the pushing method in Embodiment 2 of the present invention;

[0053] Figure 12 This is a structural variation diagram of the present invention based on Embodiment 2 and the guide bar insertion method.

[0054] In the diagram: 10, pusher head; 11, extension part; 111, fixed seat; 112, pressure cap; 1121, first end face; 1122, second end face; 12, connecting part; 13, buffer chamber; 14, push block; 16, positioning groove; 17, drive hole; 20, expansion plate; 30, slot wedge feeding channel; 40, return spring; 50, drive rod; 60, stator fixing mechanism; 61, first fixing member; 62, second fixing member; 71, guide bar; 72, gap; 100, motor stator; 110, stator slot; 120, through hole; 130, first end; 140, second end; 150, opening; 200, copper wire; 300, slot wedge. Detailed Implementation

[0055] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The direction of movement is also relative and is not limited to an absolute direction of movement. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0058] This application relates to a pushing device designed for the assembly of stator coils in new energy motors. It can realize the automated production of copper wire and slot wedges entering the stator slots of the motor stator and has a high slot fill factor.

[0059] In this application, as Figure 1 , Figure 2 As shown, the motor stator 100 is cylindrical with a through hole 120 at its center. Several stator slots 110 are provided on the inner wall of the through hole 120. Here, the direction parallel to the axis of symmetry of the motor stator 100 is defined as the axial direction, and the direction in the same direction as the diameter of the motor stator 100 is defined as the radial direction. The stator slots 110 penetrate the motor stator 100 along the axial direction, and each slot 110 has a radial opening 150 on its inner wall. The two ends of the motor stator 100 in the axial direction are a first end 130 and a second end 140, respectively. The axial direction from the first end 130 to the second end 140 is defined as the positive direction, and the axial direction from the second end 140 to the first end 130 is defined as the negative direction.

[0060] The copper wire 200, which is embedded in the stator slot 110, is partially located inside the stator slot 110 and partially located outside the stator slot 110. The copper wire 200 located inside the stator slot 110 and the copper wire 200 located outside the stator slot 110 form a coil. A slot wedge 300 is installed in the stator slot 110 near the opening 150. The slot wedge 300 is axially positioned at the opening 150, with one side of the slot wedge 300 covering the copper wire 200 and the other side covering the opening 150. The width of the slot wedge 300 is slightly larger than the width of the opening 150 of the stator slot 110 and forms a U-shape to cover part of the copper wire 200 to prevent the copper wire 200 from leaking out from the opening 150.

[0061] Example 1:

[0062] like Figure 3 This application provides a device for pushing in motor stator coils to automate the assembly of copper wire 200. This device can be used to produce motor stators 100 with a slot fill factor greater than 88%. The device includes a stator fixing mechanism 60 for positioning and fixing the motor stator 100, and a copper wire pushing mechanism for pushing the copper wire 200 into the stator slots 110.

[0063] The copper wire pushing mechanism includes a pusher head 10, a expanding plate 20, and a pusher head drive mechanism. The pusher head 10 is disposed opposite to the stator fixing mechanism 60. The pusher head 10 includes an extension portion 11 near the stator fixing mechanism 60 and a connecting portion 12 connected to the extension portion 11. The extension portion 11 is a cylinder adapted to the through hole 120, and the connecting portion 12 is fixedly connected to the pusher head drive mechanism. The extension portion 11 moves axially and can pass through the through hole 120. When the extension portion 11 passes through the through hole 120, it pushes the copper wire 200 towards the stator slot 110. The expanding plate 20 is disposed on the extension portion 11. The expanding plate 20 can move radially along the cylinder where the extension portion 11 is located and can extend beyond the cylindrical surface of the cylinder where the extension portion 11 is located, pushing the copper wire 200 into the positioning slot 110 through the opening 150. The pusher drive mechanism is used to drive the pusher 10 and the expansion piece 20 to move synchronously in the axial direction. At the same time, it can also drive the expansion piece 20 to move in the radial direction. That is, the pusher 10 moves in the axial direction, and the expansion piece 20 can move in the radial direction at the same time as it moves in the axial direction.

[0064] In this mechanism, the drive rod 50 of the pusher drive mechanism pushes the extension part 11 towards the stator fixing mechanism 60 in the forward direction via the connecting part 12, and passes through the through hole 120. The extension part 11 pushes the copper wire 200 into the stator slot 110. At the same time, the expansion piece 20 is pushed out radially by the pusher drive mechanism, pushing and compressing the copper wire 200 into the stator slot 110, so that the copper wire 200 can be completely inserted into the stator slot 110. The pusher drive mechanism can be a hydraulic cylinder or a lead screw and slider mechanism.

[0065] Specifically, a buffer chamber 13 is provided inside the extension part 11, and a push block 14 is provided inside the buffer chamber 13. The buffer chamber 13 is circular when viewed from the axial direction. The push block 14 can move axially inside the buffer chamber 13, but its movement is restricted in the radial direction. The drive rod 50 of the push head drive mechanism is connected to the push block 14 through the connecting part 12 and can push the push block 14 to move axially inside the buffer chamber 13. The push block 14 acts on the expansion piece 20 and can push or retract the expansion piece 20 in the radial direction toward the stator slot 110. When the push block 14 moves in the forward direction, the expansion piece 20 extends out and enters the corresponding stator slot 110. When the push block 14 moves in the reverse direction, the expansion piece 20 retracts and leaves the corresponding stator slot 110, and can even be completely retracted into the extension part 11.

[0066] like Figure 4 The extended portion 11 shown includes a fixing base 111 and a pressure cap 112 located on top of the fixing base 111. The pressure cap 112 is fixed to the fixing base 111 by screws. A groove is provided downward on the top of the fixing base 111, and the groove cooperates with the pressure cap 112 to form a buffer chamber 13. Figure 6 As shown, the pressure cap 112 has a first end face 1121 near the extension portion 11 and a second end face 1122 away from the extension portion 11. The first end face 1121 and the second end face 1122 are arranged opposite to each other. The first end face 1121 abuts against the top of the fixed base 11, and the second end face 1122 is an arc surface that is higher in the middle and lower around the edges. Several sliding grooves for accommodating the expansion piece 20 are provided radially on the top of the fixed base 111. The expansion piece 20 can move in the sliding grooves. The pressure cap 112 can restrict the expansion piece 20 from the top of the fixed base 111 and restrict it to move radially only in the sliding grooves. A drive hole 17 is provided at the bottom of the fixed base 111. The drive hole 17 is connected to the buffer chamber 13. The connecting part 12 passes through the drive hole 17 and is connected to the push block 14. The push head driving mechanism does not directly act on the extension portion 11. Instead, it contacts the extension portion 11 through the push block 14 and then drives the connecting part 12 through the push head driving mechanism to drive the push head 10. Here, the extension 11 is divided into a fixing seat 111 and a pressure cover 112 to make production, processing and assembly simple and convenient.

[0067] Based on the structure of the pusher head 10 and the number of coils pushed in, the expansion plates 20 can be designed. Multiple expansion plates 20 are arranged in an array around the axis of the pusher head 10, and each expansion plate 20 must be aligned with its corresponding stator slot 110. The expansion plate 20 can extend into the stator slot 110. Multiple expansion plates 20 operate simultaneously. Figure 5 As shown, in this application, there are 8 expansion pieces 20, with two pieces forming a group. The expansion pieces 20 in each group are arranged adjacent to each other, and the 4 groups of expansion pieces 20 are evenly distributed with the axis of the extension part 11 as the axis. The distribution of expansion pieces 20 can be set according to the position of the stator slot 110. If the distribution of the corresponding stator slot 110 is not uniform, the distribution of the expansion pieces 20 can also be uneven.

[0068] The push block 14's stroke in the buffer chamber 13 is used to push out the expansion piece 20. After the expansion piece 20 extends, the push block 14 contacts the insertion part 11 (i.e., the push block 14 abuts upward against the first end face 1121 of the pressure cap 112) and pushes the insertion part 11 to move forward. The expansion piece 20 and the push block 14 achieve a change in the direction of movement through an inclined structure, that is, the axial movement of the push block 14 is changed into the radial movement of the expansion piece 20. At the same time, in order to ensure that the expansion piece 20 is pushed out or retracted with the movement of the push block 14, a reset structure is provided between the push block 14 and the expansion piece 20 to make the expansion piece 20 move in the direction of the push block 14. The inclined structure includes a first inclined surface located on the push block 14 and a second inclined surface located on the expansion piece 20. The first inclined surface slides on the second inclined surface to realize the extension or retraction of the expansion piece 20. The stroke of push block 14 is less than the axial dimension of expansion piece 20 to prevent expansion piece 20 from retracting in the radial direction and affecting the movement of push block 14 within buffer chamber 13.

[0069] When the pusher head 10 pushes the copper wire 200 into the stator slot 110, the positions of the copper wires 200 may intersect, causing them to become stuck. Continuing to push the pusher head 10 will increase the pressure of the expansion plate 20 on the copper wires 200, potentially damaging them. Therefore, when the copper wires 200 become stuck, the pressure needs to be released to allow the positions of the copper wires 200 to change. Then, the expansion plate 20 will press them again. To facilitate the retraction of the expansion plate 20, a return spring 40 is provided in the buffer chamber 13. The first end of the return spring 40 abuts against the push block 14, and the second end abuts against the inner wall of the buffer chamber 13 (i.e., against the first end face 1121 of the pressure cap 112 in this application). The return spring 40 can be used to move the push block 14 in the opposite direction. The return spring 40 is located on the side of the push block 14 away from the pusher head drive mechanism; that is, the return spring 40 is a compression spring.

[0070] The return spring 40 provides elasticity to the contact between the expansion piece 20 and the copper wire 200, thus providing protection. When the copper wire 200 is stuck, the pusher drive mechanism moves in the opposite direction, causing the push block 14 to move in the opposite direction. At this time, due to the action of the return spring 40, the extension part 11 remains stationary while the expansion piece 20 retracts, greatly enhancing the stability of the device operation. Furthermore, in order to limit the position of the return spring 40 and ensure the uniformity of its elastic force, a positioning groove 16 is provided on the top of the push block 14, and the return spring 40 is set in the positioning groove 16, which can limit the movement of the return spring 40 in the radial direction.

[0071] The stator fixing mechanism 60 can be a clamping structure that holds the motor stator 100 radially, while also ensuring a certain amount of resistance in the axial direction to prevent the motor stator 100 from moving axially when the copper wire 200 is pushed in. Figure 3 As shown, the stator fixing mechanism 60 includes a first fixing member 61 for clamping the motor stator 100 in the radial direction and a second fixing member 62 for clamping the motor stator 100 in the axial direction. The first fixing member 61 is a cylindrical clamp formed by two semi-circular arcs (such as...). Figure 7 As shown in the diagram, the second fixing member 62 is an annular baffle, which restricts the forward movement of the motor stator 100 from the second end 140 of the motor stator 100. The stator fixing mechanism 60 here can also be a commonly available clamp structure, which will not be described in detail here.

[0072] Example 2:

[0073] Based on the structure in Embodiment 1 above, the slot fill factor of the motor stator 100 in this application is greater than 88%. A higher slot fill factor will encroach on the position of the slot wedge 300 in the motor stator 100. This increases the difficulty of installing the slot wedge 300 and is not conducive to automated installation. Therefore, in this embodiment, a slot wedge feeding mechanism is provided to automate the installation of the slot wedge 300.

[0074] like Figure 3 As shown, the slot wedge feeding mechanism of this embodiment includes a slot wedge feeding channel 30 located on one side of the pusher head 10 and a slot wedge driving mechanism. Multiple slot wedge feeding channels 30 are located around the pusher head 10. Each slot wedge feeding channel 30 extends axially. The slot wedge feeding channel 30 extends along the periphery of the fixed seat 111 to the first end 130 of the motor stator 100. The slot wedge feeding channels 30 are aligned with the stator slots 110, and the number of slot wedge feeding channels 30 corresponds to the number of expansion plates 20. The slot wedge driving mechanism can feed the slot wedges 300 below the expansion plates 20. The slot wedges 300 can be positioned adjacent to the expansion plates 20 or at a certain distance, but the distance should not be too great to avoid obstructing the radial movement path of the expansion plates 20. The expansion plates 20 press the copper wires 200 into the stator slots 110 to obtain clearance space, and the slot wedge driving mechanism can feed the slot wedges 300 along the slot wedge channels 30 into the clearance space. The slotted wedge drive mechanism can be a hydraulic cylinder or a lead screw and slider mechanism.

[0075] During operation, the expansion plate 20 first squeezes the copper wire 200, and then the slot wedge 300 enters the clearance space. When the push head drive mechanism pushes the push head 10 to move, the slot wedge 300 moves synchronously. Therefore, during the axial movement of the push head 10, the expansion plate 20 always squeezes the copper wire 200 before the slot wedge 300. The clearance space provided can form a channel for the slot wedge 300 to pass through. After the expansion plate 20 moves from the first end 130 to the second end 140 of the motor stator 100, the slot wedge 300 also follows closely and moves from the first end 130 to the second end 140 of the motor stator 100 through the clearance space.

[0076] Example 3:

[0077] Based on the structure of Embodiment 1 or Embodiment 2, a copper wire guiding mechanism is provided in this embodiment to facilitate the entry of the copper wire 200 into the stator slot 110.

[0078] like Figure 3 As shown, the copper wire conductor mechanism of this embodiment includes a plurality of guide bars 71 and a guide bar driving mechanism for driving the guide bars 71 to move axially. The plurality of guide bars 71 are disposed on the outer side of the cylindrical surface of the cylinder containing the extension portion 11. The bottom of the plurality of guide bars 71 is fixed by a ring-shaped member. The guide bar driving mechanism drives the guide bars 71 by pushing the ring-shaped member. The guide bar driving mechanism can be a hydraulic cylinder or a screw-slider mechanism. A gap 72 is formed between adjacent guide bars 71 for the copper wire to pass through. The width of the gap 72 is greater than the diameter of one copper wire 200 and less than the sum of the diameters of two copper wires 200. The gap 72 must be aligned with the radial opening 150 of the stator slot 110. The expansion piece 20 can pass through the gap 72 and enter the stator slot 110.

[0079] The guide strip 71 can have various specifications depending on its width, and can be selected and used according to actual needs. In this embodiment, two specifications are used, and the guide strips 71 of these two specifications are arranged alternately.

[0080] In use, the copper wire 200 is first inserted into the gap 72 between the two guide bars 71. Then, the guide bar drive mechanism pushes the guide bar 71 to move forward, while the push head drive mechanism pushes the push head 10 to move forward. During the entire forward movement, the top of the guide bar 71 is always higher than the top of the push head 10. After the guide bar 71 has completely passed through the through hole 120 of the motor stator 100, it moves in the reverse direction. At this time, the push head 10 continues to move forward until the top of the push head 10 has completely passed through the through hole 120 and is higher than the top of the guide bar 71.

[0081] Based on Embodiment 1 of this application, a push-in method is provided.

[0082] like Figure 8 The steps of the push method shown are as follows:

[0083] S1. Push-in preparation. First, the motor stator 100 needs to be fixed on the stator fixing mechanism 60, and the copper wire 200 is placed on the top of the push head 10, while ensuring that the copper wire 200 is aligned with the corresponding positioning groove 110. The top of the push head 10 and the part in contact with the copper wire 200 are arc-shaped to avoid damaging the copper wire 200; at this time, the push head drive mechanism does not move, the push block 14 is located in the buffer chamber 13 near the push head drive mechanism, and the return spring 40 is in the extended state.

[0084] S2. Push in the copper wire 200. The pusher drive mechanism drives the pusher 10 to move forward, pushing the copper wire 200 into the stator slot 110. At the same time, the pusher drive mechanism pushes out the expansion piece 20 in the radial direction, and the expansion piece 20 pushes the copper wire 200 into the stator slot 110 and squeezes it.

[0085] S3. Continue pushing until finished. The pusher drive mechanism continues to push the pusher 10 forward and through the through hole 120 of the motor stator 100. The expansion plate 20 continues to squeeze the copper wire 200 into the stator slot 110 until it is fully pushed in from the first end 130 to the second end 140 of the motor stator 100.

[0086] When using the above method, the copper wires 200 may become stuck due to their positional relationship, preventing the expansion joint 20 from pushing the copper wires 200 into the stator slot 110. For example... Figure 9 As shown, at this point, the pusher drive mechanism needs to move in the reverse direction to retract the expansion piece 20; after the expansion piece 20 retracts, the compressive force between the copper wires 200 is released, the positions of the copper wires 200 are rearranged, and the copper wires 200 are no longer stuck together. The pusher drive mechanism then moves forward again to push the expansion piece 20 out and compress the copper wire 200 at that position into the groove; thereby reducing the twisting between the copper wires 200 and reducing the driving resistance.

[0087] Based on this, by installing a pressure sensor on the expanding plate 20 or the pusher drive mechanism, the jamming status of the copper wires 200 can be determined. The pressure sensor is connected to an external control center, and the pressure value can be set through the external control center. When the pressure detected by the pressure sensor exceeds the set pressure value, it can be determined that the copper wires 200 are jammed. At this time, the pusher drive mechanism can be controlled to stop the forward movement and move in the reverse direction to retract the expanding plate 20, and then move forward again.

[0088] When controlling the expansion piece 20, it is not necessary to judge whether it is stuck. After pushing the pusher drive mechanism forward a certain distance or for a certain time, it can directly move in the reverse direction, causing the expansion piece 20 to retract and exit the stator slot 110, and then move forward again. Here, the certain distance and time can be verified in actual operation based on different copper wires 200 and different motor stators 100.

[0089] Based on the pushing method provided in Embodiment 1, combined with the copper wire guiding mechanism in Embodiment 3, the following pushing method is formed.

[0090] like Figure 10 The steps of the push method shown are as follows:

[0091] S11. Push-in preparation. First, the motor stator 100 needs to be fixed on the stator fixing mechanism 60. The copper wire 200 is passed through the gap 72 between the guide bars 71 and part of the copper wire 200 is placed on the top of the push head 10. The top of the push head 10 and the part in contact with the copper wire 200 are arc-shaped to avoid damaging the copper wire 200. At this time, the push head drive mechanism does not move, the push block 14 is located in the buffer chamber 13 near the push head drive mechanism, and the return spring 40 is in the extended state.

[0092] S21. Push in the copper wire 200. The guide bar drive mechanism drives the guide bar 71 to move forward, and the push head drive mechanism pushes the push head 10 to move forward, pushing the copper wire 200 into the stator slot 11. At the same time, the push head drive mechanism pushes out the expansion piece 20 in the radial direction, and the expansion piece 20 pushes the copper wire 200 into the stator slot 110 and squeezes it.

[0093] S31. Continue pushing until finished. The guide bar drive mechanism continues to push the guide bar 71 forward, and the push head drive mechanism continues to push the push head 10 forward. When the guide bar 71 has completely passed through the motor stator 100, the guide bar 71 moves in the reverse direction, and the push head 10 continues to move forward until the push head 10 has completely passed through the motor stator 100 and the top of the push head 10 is higher than the top of the guide bar 71, then it stops. During this process, the expansion piece 20 continuously squeezes the copper wire 200 into the stator slot 110 until it is completely pushed in from the first end 130 to the second end 140 of the motor stator 100.

[0094] Based on Embodiment 2 of this application, a push-in method is provided.

[0095] like Figure 11 The steps of the push method shown are as follows:

[0096] D1. Push-in preparation. First, the motor stator 100 needs to be fixed on the stator fixing mechanism 60. The copper wire 200 is placed on the top of the push head 10, while ensuring that the copper wire 200 is aligned with the corresponding positioning groove 110. The top of the push head 10 and the part in contact with the copper wire 200 are arc-shaped to avoid damaging the copper wire 200. The slot wedge push rod 50 pushes the slot wedge 300 to below and close to the expansion plate 20. At this time, the push head drive mechanism does not move, the push block 14 is located in the buffer chamber 13 near the push head drive mechanism, and the return spring 40 is in the extended state.

[0097] D2. Push in the copper wire 200. The pusher drive mechanism pushes the pusher 10 to move forward, pushing the copper wire 200 into the stator slot 110. At the same time, the pusher drive mechanism pushes out the expansion piece 20 in the radial direction. The expansion piece 20 inserts into the stator slot 110 and pushes the copper wire 200 in, pressing it against the bottom of the stator slot 110 to obtain clearance space near the opening 150 in the stator slot 110.

[0098] D3. Continue to compress. The pusher drive mechanism continues to push the pusher 10 to move in the forward direction and pass through the through hole 120 of the motor stator 100. The expansion plate 20 continues to compress the copper wire 200 to obtain several continuous clearance spaces.

[0099] D4. Pushing in the slot wedge 300. The slot wedge feeding mechanism pushes the slot wedge 300 into the clearance space until it completely passes through the stator slot 110 axially; at this time, the copper wire 200 completely clears the movement path of the slot wedge 300, so the slot wedge 300 can smoothly enter the stator slot 110. The process of pushing in the slot wedge 300 can be carried out simultaneously with step D3. When the expansion lamination 20 squeezes to obtain a clearance space, the slot wedge 300 is immediately pushed in at the next moment.

[0100] In the above steps, the entry of copper wire 200 into stator slot 110, the extrusion of copper wire 200, and the insertion of slot wedge 300 are all completed at the same position on motor stator 100, and there is a time sequence. For clarity, the three positions are defined as position A, position B, and position C. The pusher 10, expansion plate 20, and slot wedge 300 will pass through position A, position B, and position C in sequence according to the time sequence.

[0101] First, the pusher head 10 pushes the copper wire 200 from position A into the stator slot 110. The pusher head 10 moves forward into position B and continues to push the copper wire 200 into the stator slot 110 from position B. At this time, the expansion piece 20 enters position A, pushes the copper wire 200 into the stator slot 110 and squeezes the copper wire 200 to obtain clearance space at position A. The pusher head 10 continues to move forward into position C and continues to push the copper wire 200 into the stator slot 100 from position C. At this time, the expansion piece 20 enters position B, pushes the copper wire 200 into the stator slot 110 and squeezes the copper wire 200 to obtain clearance space at position B. Meanwhile, the slot wedge 300 enters the clearance space at position A, and so on, until the slot wedge 300 is completely installed.

[0102] When using the above method, the copper wires 200 may get stuck due to their positional relationship. The expansion joint 20 cannot provide enough space to make room for them. At this time, the pusher drive mechanism needs to move in the opposite direction to retract the expansion joint 20. Since there is a return spring 40, the extension part 111 will not move downward. This ensures that the copper wires 200 that have been pushed in will not come out of the stator slot 110. After the expansion joint 20 retracts, the pressure between the copper wires 200 is released, and the copper wires 200 are no longer stuck. The pusher drive mechanism moves forward again to push out the expansion joint 20 to compress the copper wires 200 at this position to provide space for them, so that the slot wedge 300 can enter smoothly.

[0103] Based on this, by setting a pressure sensor on the expansion plate 20, it is possible to determine the jamming status between the copper wires 200 and control the pusher drive mechanism to stop pushing the pusher 10 to move forward.

[0104] Alternatively, the pusher drive mechanism can be pushed forward a certain distance or for a certain time and then moved in the opposite direction, causing the expansion piece 20 to retract and exit the stator slot 110, and then move forward again.

[0105] Based on the pushing method provided in Embodiment 2, combined with the copper wire guiding mechanism in Embodiment 3, the following pushing method is formed.

[0106] like Figure 12 The steps of the push method shown are as follows:

[0107] D11. Push-in preparation. First, the motor stator 100 needs to be fixed on the stator fixing mechanism 60. The copper wire 200 is passed through the gap 72 between the guide bars 71 and part of the copper wire 200 is placed on the top of the push head 10. The top of the push head 10 and the part in contact with the copper wire 200 are arc-shaped to avoid damage to the copper wire 200. The slot wedge push rod 50 pushes the slot wedge 300 to below and close to the expansion plate 20. At this time, the push head drive mechanism does not move, the push block 14 is located in the buffer chamber 13 near the push head drive mechanism, and the return spring 40 is in the extended state.

[0108] D21. Push in the copper wire 200. The guide bar drive mechanism drives the guide bar 71 to move forward, and the push head drive mechanism pushes the push head 10 to move forward, pushing the copper wire 200 into the stator slot 110. At the same time, the push head drive mechanism pushes out the expansion piece 20 in the radial direction. The expansion piece 20 passes through the gap 72 and inserts into the stator slot 110, pushing the copper wire 200 in and pressing it against the bottom of the stator slot 110 to obtain clearance space near the opening 150 in the stator slot 110.

[0109] D31. Continue pressing. The guide bar drive mechanism continues to drive the guide bar 71 to move forward, and the push head drive mechanism continues to push the push head 10 to move forward. When the guide bar 71 has completely passed through the motor stator 100, the guide bar 71 moves in the reverse direction, and the push head 10 continues to move forward until the push head 10 has completely passed through the motor stator 100 and the top of the push head 10 is higher than the top of the guide bar 71, then it stops; during this process, the expansion plate 20 continuously presses the copper wire 200 to obtain several continuous clearance spaces.

[0110] D41. Push in the slot wedge 300. The slot wedge feeding mechanism pushes the slot wedge 300 into the clearance space until it completely passes through the stator slot 110 axially; at this time, the copper wire 200 completely clears the movement path of the slot wedge 300, so the slot wedge 300 can smoothly enter the stator slot 110. The process of pushing in the slot wedge 300 can be carried out simultaneously with step D31. When the expansion plate 20 squeezes to obtain a clearance space, the slot wedge 300 is immediately pushed in at the next moment.

[0111] In summary, this application, through the structural design of the pushing device, enables the axial movement of the pusher 10 and the radial movement of the expanding plate 20 to be realized with a single power source. This achieves the operation of pushing the copper wire 200 into the stator slot 110 and squeezing the copper wire 200, resulting in a compact, practical, and convenient structure. The slot wedge 300 is positioned after and adjacent to the expanding plate 20 in its movement path, providing clearance space after the expanding plate 20 squeezes the copper wire 200, allowing the slot wedge 300 to smoothly enter the clearance space. By having a reverse movement function during use, the expanding plate 20 can be retracted, releasing the squeezing pressure between the copper wires 200 to facilitate obtaining clearance space. This enables automated production of the motor stator 100 under high slot fill rate conditions, thereby improving production efficiency.

[0112] It should be emphasized that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A device for pushing in a motor stator coil, used to push copper wire into a stator slot of a motor stator, wherein the motor stator is cylindrical and has a through hole along its axial direction, and a stator slot is formed radially on the inner wall of the through hole, characterized in that... The device for pushing in the motor stator coil includes, A stator fixing mechanism is used to fix the motor stator; A pusher head is disposed opposite to the stator fixing mechanism; the pusher head includes an extension portion near the stator fixing mechanism and a connecting portion connected to the extension portion; the extension portion is a cylinder adapted to the through hole; An expansion piece is disposed on the extension portion. The expansion piece can move along the radial direction of the cylinder in which the extension portion is located and can extend beyond the cylindrical surface of the cylinder in which the extension portion is located. A pusher drive mechanism is fixedly connected to the connecting part of the pusher, and is used to drive the pusher and the expansion piece to move synchronously in the axial direction, and at the same time drive the expansion piece to move in the radial direction; The pusher drive mechanism pushes the extension part toward the stator fixing mechanism through the connecting part and passes through the through hole of the motor stator fixed on the stator fixing mechanism. At the same time, the expansion plate is pushed by the pusher drive mechanism toward the cylindrical surface of the cylinder where the extension part is located, and pushes and squeezes the copper wire into the stator slot.

2. The device for pushing in the stator coil of the motor according to claim 1, characterized in that, The device for pushing in the stator coil of the motor also includes a copper wire guiding mechanism. The copper wire guiding mechanism includes several guide bars and a guide bar driving mechanism that drives the guide bars to move in the axial direction. The guide bars are arranged on the outer side of the cylindrical surface of the cylinder where the extension part is located. A gap is formed between adjacent guide bars for the copper wire to pass through. The gap is aligned with the opening in the radial direction of the stator slot. The expansion plate can pass through the gap and enter the stator slot.

3. The device for pushing in the stator coil of the motor according to claim 1, characterized in that, The expansion plates are arranged in multiple ways and distributed around the pusher axis, and the expansion plates are aligned with the corresponding stator slots.

4. The device for pushing in the stator coil of the motor according to claim 1, characterized in that, The insertion part is provided with a buffer chamber, and a push block and a return spring are provided in the buffer chamber. One end of the return spring abuts against the push block, and the other end abuts against the inner wall of the buffer chamber. The push head driving mechanism is connected to the push block through the connecting part and can push the push block to move axially in the buffer chamber. The push block acts on the expansion piece and can push the expansion piece radially towards the stator slot, and the expansion piece enters the corresponding stator slot.

5. The device for pushing in the stator coil of the motor according to claim 4, characterized in that, A first inclined surface is provided on the push block, and a second inclined surface is provided on the expansion piece. The first inclined surface slides on the second inclined surface to extend or retract the expansion piece. A reset structure is provided between the push block and the expansion piece to move the expansion piece toward the push block.

6. The device for pushing in the stator coil of the motor according to claim 4, characterized in that, The extension portion includes a fixed base and a pressure cap disposed on the top of the fixed base. A groove is provided inward on the top of the fixed base, and the groove cooperates with the pressure cap to form the buffer chamber. Several sliding grooves for accommodating the expansion piece are provided radially on the top of the fixed base, and the expansion piece can move in the sliding grooves. A drive hole is provided at the bottom of the fixed base, and the drive hole communicates with the buffer chamber. The connecting portion passes through the drive hole and is connected to the push block.

7. The device for pushing in the stator coil of a motor according to claim 6, characterized in that, The pressure cap has a first end face near the connecting part and a second end face away from the connecting part. The first end face and the second end face are arranged opposite to each other. The first end face abuts against the top of the fixing base, and the second end face is an arc surface that is high in the middle and low around the edges.

8. The device for pushing in the stator coil of a motor according to claim 1, characterized in that, It also includes a slot wedge feeding mechanism, which feeds the slot wedge to the pusher head and is located below the expansion plate. The expansion plate squeezes the copper wire into the stator slot to obtain clearance space for the slot wedge to pass through.

9. The device for pushing in the stator coil of a motor according to claim 8, characterized in that, The slot wedge feeding mechanism includes a slot wedge feeding channel located on one side of the pusher and a slot wedge driving mechanism. The slot wedge feeding channel extends to the first end of the motor stator and is aligned with the stator slot in the axial direction. The slot wedge driving mechanism feeds the slot wedge along the slot wedge feeding channel to the clearance space.

10. The device for pushing in the stator coil of a motor according to claim 8, characterized in that, The groove wedge is adjacent to the expansion plate and moves synchronously with the pusher.

11. The device for pushing in the electronic coil of the motor according to claim 1, characterized in that, The pusher drive mechanism or the expansion plate is equipped with a pressure sensor. When the pressure sensor detects that the pressure exceeds the set pressure value, the pusher drive mechanism stops pushing the pusher to move forward.

12. A method for pushing in a motor stator coil, using the motor stator coil pushing device according to any one of claims 4-7, characterized in that, The steps of this push method are as follows: S1. Place the copper wire on the top of the pusher head, with the push block located in the buffer chamber near the pusher head drive mechanism, and the reset spring in an extended state. S2. The pusher drive mechanism pushes the pusher head to move forward and pushes the copper wire into the stator slot. At the same time, the pusher drive mechanism pushes the expansion plate out in the radial direction, and the expansion plate squeezes the copper wire into the stator slot. S3. The pusher drive mechanism continues to push the pusher forward and through the through hole of the motor stator. The expansion plate continues to squeeze the copper wire into the stator slot until it is completely pushed in from the first end to the second end of the motor stator. In step S3, as the pusher drive mechanism continues to push the pusher forward and through the through hole of the motor stator, the pusher drive mechanism moves forward a set distance and then reverses a set distance, and then moves forward again; the forward movement of the pusher will cause the expansion plate to extend into the stator slot to squeeze the copper wire, and the reverse movement of the pusher will cause the expansion plate to retract and exit the stator slot.

13. The method for pushing in the stator coil of a motor according to claim 12, characterized in that, The device for pushing in the motor electronic coil also includes a copper wire guiding mechanism. The copper wire guiding mechanism includes several guide bars and a guide bar driving mechanism that drives the guide bars to move in the axial direction. The guide bars are arranged on the outer side of the cylindrical surface of the cylinder where the extension part is located. A gap is formed between adjacent guide bars for the copper wire to pass through. The gap is aligned with the opening in the radial direction of the stator slot. The expansion piece can pass through the gap and enter the stator slot. In step S1, the copper wire is passed through the gap between the guide bars while the copper wire is placed on top of the pusher head; In step S2, while the pusher drive mechanism pushes the pusher head to move forward, the guide bar drive mechanism drives the guide bar to move forward. In step S3, after the guide bar completely passes through the motor stator, the guide bar moves in the reverse direction, and the pusher continues to move in the forward direction until the pusher completely passes through the motor stator and the top of the pusher is higher than the top of the guide bar, then it stops.

14. A method for pushing in a motor stator coil, using the motor stator coil pushing device according to any one of claims 8-11, characterized in that, The steps of this push method are as follows: D1. Place the copper wire on top of the pusher head, and the slot wedge feeding mechanism feeds the slot wedge to below the expansion plate; D2. The pusher drive mechanism pushes the pusher head forward to push the copper wire into the stator slot. At the same time, the pusher drive mechanism pushes the expansion plate out in the radial direction. The expansion plate inserts into the stator slot and pushes the copper wire in. At the same time, it is squeezed towards the bottom of the stator slot to obtain clearance space near the opening of the stator slot. D3. The pusher drive mechanism continues to push the pusher to move axially and pass through the through hole of the motor stator, and the expansion plate continuously squeezes the copper wire to obtain several continuous clearance spaces. D4. The groove wedge feeding mechanism pushes the groove wedge into the clearance space. In step D3, when the pusher drive mechanism pushes the pusher head forward, if the copper wire gets stuck, the pusher drive mechanism moves in the opposite direction to retract the expansion plate and release the pressure on the copper wire. Then, it moves forward again to extend the expansion plate and squeeze the copper wire.

15. The method for pushing in the stator coil of a motor according to claim 14, characterized in that, The device for pushing in the motor electronic coil also includes a copper wire guiding mechanism. The copper wire guiding mechanism includes several guide bars and a guide bar driving mechanism that drives the guide bars to move in the axial direction. The guide bars are arranged on the outer side of the cylindrical surface of the cylinder where the extension part is located. A gap is formed between adjacent guide bars for the copper wire to pass through. The gap is aligned with the opening in the radial direction of the stator slot. The expansion piece can pass through the gap and enter the stator slot. In step D1, the copper wire is passed through the gap between the guide bars while the copper wire is placed on top of the pusher head; In step D2, while the pusher drive mechanism pushes the pusher head to move forward, the guide bar drive mechanism drives the guide bar to move forward. In step D3, after the guide bar has completely passed through the motor stator, the guide bar moves in the reverse direction, and the pusher continues to move in the forward direction until the pusher has completely passed through the motor stator and the top of the pusher is higher than the top of the guide bar, then it stops.

16. The method for pushing in the stator coil of a motor according to claim 14 or 15, characterized in that, In step D3, when the pusher drive mechanism pushes the pusher head forward, after the pusher drive mechanism pushes forward a set distance or a set time, it moves in the opposite direction to retract the expansion piece to release the copper wire pressure, and then moves forward again to extend the expansion piece to squeeze the copper wire.

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