A motor stator coil impregnation processing device and method

Abstract

The present application relates to the technical field of motor manufacturing, and discloses a motor stator coil paint dipping treatment device and method, which comprises a base plate, a gantry, a conveying assembly, a hanging basket, a paint dipping tank and a lifting assembly. The conveying assembly is arranged between the side walls of the gantry to move the hanging basket, and the bottom of the paint dipping tank is provided with a plurality of constant-temperature heating rods. The lifting assembly drives the paint dipping tank to reciprocatingly lift and lower, so that the constant-temperature heating rods periodically pass through the gap at the bottom of the hanging basket to lift and fall the coil. The heat conduction is used to reduce the viscosity of the paint, and the fluid dynamic pressure and pumping effect generated by the relative motion of the coil are used to discharge the deep air bubbles trapped in the gap. In the paint draining and separating stage, the segmented differential control descending logic is executed, the mechanical tensile stress is applied instantaneously to cut off the insulating paint filaments. In the draining stage, the alternating pulse is output to make the coil resonate and shake off the paint drops, and the constant-temperature heating rods are used in cooperation with the guide grooves to physically limit and constrain the hanging basket to prevent falling.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, specifically to an apparatus and method for impregnating motor stator coils with varnish. Background Technology

[0002] In the manufacturing process of motor stators, impregnation of the winding coils with varnish is a necessary step to ensure their insulation performance. The impregnation process allows the insulating varnish to penetrate into the winding gaps of the stator coils and, after curing, forms an integral insulation structure.

[0003] Existing impregnation methods involve hoisting the entire motor stator and immersing it in an open impregnation tank. The stator remains stationary in the varnish, allowing the insulating varnish to penetrate the gaps inside the coils due to its own fluidity. After the impregnation process, a lifting mechanism vertically pulls the stator off the surface of the varnish, and the stator then hangs above the impregnation tank to drip dry naturally before finally entering the baking and curing process.

[0004] Because the insulating varnish has high viscosity at room temperature, the fluid interface pressure hinders its penetration into the deep, micron-sized winding gaps of the motor stator, causing microscopic air bubbles to be trapped inside the windings and reducing the product's insulation reliability. During the liquid removal phase as the stator is lifted and detached from the varnish surface, the non-Newtonian fluid properties of the insulating varnish cause the stretching of fluid filaments, and the broken filaments can contaminate surrounding production equipment. The long time required for static drying of the stator under gravity after detachment from the liquid surface delays the overall production cycle. If external vibration is applied to the suspended stator during the drying phase to accelerate the droplet fall, the lack of lateral physical restraint on the suspension basket amplifies the horizontal kinetic energy, causing the basket to sway uncontrollably and potentially leading to the stator derailing and falling, posing a safety hazard. Summary of the Invention

[0005] The technical problem solved by this invention is that the Laplace pressure at the interface of polymer insulating varnish in an open immersion environment at normal pressure hinders the fluid from penetrating deep into the micron-level winding gaps of the motor stator coil, causing microscopic bubble trapping. The non-Newtonian fluid properties cause the fluid filaments to stretch and contaminate the hardware during the liquid removal and separation stage, and the static dripping due to gravity results in a long drying cycle.

[0006] To solve the technical problem proposed by this invention, the following technical solution is provided:

[0007] The first aspect of the present invention provides an apparatus for impregnating motor stator coils, comprising a substrate, a gantry frame, a conveying assembly, a basket, an impregnation tank, and a lifting assembly. The gantry frame is fixedly connected to the top surface of the substrate, and the conveying assembly is disposed between the side walls of the gantry frame.

[0008] The conveying assembly includes two rotating shafts symmetrically rotatably connected to both sides of the gantry frame. Each rotating shaft has a sprocket fixedly connected to both ends. A first drive motor is fixedly connected to the outer wall of the gantry frame. A first bevel gear is fixedly connected to the output shaft surface of the first drive motor. A second bevel gear is fixedly connected to the end of one of the rotating shafts, located on the outer side of the gantry frame. The first and second bevel gears mesh with each other. A chain is provided between every two sprockets. The two chains are symmetrically arranged. Multiple hangers are evenly fixedly connected to the side wall surface of the chains.

[0009] Multiple suspended platforms are provided, each platform including two hooks. The bottom of each hook is fixedly connected to a connecting frame, which is triangular in structure. Multiple first U-shaped rods are evenly fixedly connected to the bottom surface of the connecting frame, with gaps between adjacent first U-shaped rods. Second U-shaped rods are fixedly connected to both sides of the bottom surface of the connecting frame, with the height of the second U-shaped rods being higher than that of the first U-shaped rods. The multiple first U-shaped rods and the two second U-shaped rods together form the placement space for the stator coil of the motor to be impregnated. The second U-shaped rods located on both sides of the first U-shaped rods prevent the stator coil of the motor to be impregnated from falling out of the placement space as the suspended platform moves. The hooks are used to hang on the hanging components.

[0010] The impregnation tank includes a tank body. Multiple constant-temperature heating rods are uniformly fixed to the inner surface of the bottom of the tank body, with guide grooves formed between adjacent heating rods. The width of the heating rod is slightly smaller than the width of the gap, allowing the gap to accommodate the heating rod. Simultaneously, the width of the guide groove is slightly larger than the diameter of the first and second U-shaped rods, allowing the first and second U-shaped rods to be inserted into their respective guide grooves. The height of the heating rod is greater than the diameter of the first and second U-shaped rods.

[0011] The lifting assembly includes a second drive motor, guide rods, a support plate, and a screw. The second drive motor is fixedly connected to the bottom surface of the substrate. Four guide rods are fixedly connected to the top surface of the substrate. The four corners of the support plate are slidably connected to the surfaces of the four guide rods. The screw is fixedly connected to the surface of the output shaft of the second drive motor, and the screw passes through the substrate and is threadedly connected to the support plate. The impregnation tank is fixedly connected to the top surface of the support plate.

[0012] A second aspect of the present invention provides a method for impregnating motor stator coils with varnish, performed based on the motor stator coil impregnation apparatus provided in the first aspect, the method comprising the following steps:

[0013] Before impregnation, the positioning and initial heat conduction are performed. The first drive motor is controlled to operate, and the basket carrying the stator coil of the motor to be impregnated is transported by the conveying assembly and stopped directly above the impregnation tank. Then, the second drive motor is controlled to rotate forward, driving the screw to raise the support plate and the impregnation tank along the four guide rods to the initial immersion height and keep them stationary, so that the stator coil of the motor to be impregnated is completely submerged in the paint liquid. At this time, the constant temperature heating rod is in the gap but does not make physical contact with the stator coil of the motor to be impregnated on the first U-shaped rod and the second U-shaped rod. The constant temperature heating rod is used to perform static heat conduction on the paint liquid to reduce the viscosity of the paint liquid.

[0014] Based on motion trajectory planning, the flexible micro-pump suction and exhaust system, after static heat conduction is completed, controls the second drive motor to execute periodic alternating lifting logic. According to the preset smooth motion control model, the impregnation tank is driven to reciprocate and lift in the vertical direction with a small stroke. Through reciprocating lifting, the constant temperature heating rod periodically passes through the gap to flexibly lift the stator coil of the motor to be impregnated. Then, the stator coil of the motor to be impregnated slowly falls back into the placement space composed of multiple first U-shaped rods and two second U-shaped rods. The fluid shear force and pump suction effect generated inside the paint liquid by the reciprocating motion forcefully squeeze out the trapped air bubbles hidden deep in the winding of the stator coil of the motor to be impregnated.

[0015] The differential speed control overcomes viscous resistance. After the venting and impregnation process is completed, the second drive motor is controlled to rotate in the opposite direction to drive the impregnation tank to perform a descent. During the descent, a segmented differential speed control logic is executed. In the initial stage when the bottom of the stator coil of the motor to be impregnated just leaves the liquid surface, the motor descends at a low speed set by the first setting. After the stator coil of the motor to be impregnated is completely separated from the paint liquid inside the impregnation tank, the speed is switched to a second setting speed greater than the first low setting speed to accelerate the descent. The differential speed control overcomes the stringing defects caused by high viscosity paint liquid.

[0016] Rapid drying under resonance: After the paint dipping tank descends and hovers at a safe limit height, a small alternating drive pulse based on mechanical resonance characteristics is output to the first drive motor for the basket that is stationary directly above the paint dipping tank. The alternating drive pulse causes the output shaft of the first drive motor to oscillate slightly at high frequency, and is transmitted to the basket through the transmission gap of the conveying component. This causes the stator coil of the motor to be dipped to resonate and vibrate in place, accelerating the fall of excess paint droplets on the surface back into the paint dipping tank. Finally, the basket is sent to the external process by the conveying component.

[0017] In the static heat conduction stage, the constant-temperature heating rod extends directly into the varnish liquid close to the bottom of the stator coil of the motor to be impregnated. Heat energy is directly conducted in the varnish liquid around the stator coil of the motor by the constant-temperature heating rod. The increase in temperature intensifies the thermal motion of the resin molecules inside the insulating varnish, weakens the bonding force between polymer chains, reduces the viscosity of the varnish liquid, and establishes a fluid medium boundary for dynamic exhaust.

[0018] In the pumping and venting process, the alternating lifting logic forces the constant-temperature heating rod to apply physical contact interference to the stator coil of the motor to be impregnated. The stator coil undergoes relative motion within the varnish, generating hydrodynamic pressure that disrupts the surface tension boundary of bubbles deep within the gaps. During the alternating process of lifting off the first and second U-shaped rods and falling back into the placement space, the spatial volume of the winding gap undergoes periodic fine-tuning during deformation and recovery, alternating positive and negative pressure effects. When negative pressure is generated, the external low-viscosity insulating varnish is forcibly drawn into the depths of the gap; when positive pressure is generated, trapped bubbles detach from the solid surface and escape from the liquid. The instantaneous vertical height of the impregnation tank during the alternating lifting logic stage follows cosine motion control logic, converting discrete lifting actions into continuous position command outputs, eliminating the mechanical inertial impact caused by sudden directional changes. The velocity gradient of the displacement curve exhibits a non-linear smooth decay as it approaches the target height, and the physical relative linear velocity of the constant-temperature heating rod at the instant it touches the stator coil of the motor to be impregnated converges to a low value range close to zero.

[0019] In the differential speed liquid return control stage, the initial low speed provides a sufficient time window for the fluid, allowing the large volume of redundant insulating varnish covering the outer surface of the stator coils of the motor to be impregnated and remaining on the outer layer of the windings to flow back into the impregnation tank under the influence of gravity along the metal surface. Comparing the real-time running time with the critical separation time triggers a hardware interrupt, abruptly increasing the speed to the second set speed. This causes the insulating varnish filaments connecting the stator coils of the motor to be impregnated and the liquid surface to experience longitudinal mechanical tensile strain. The instantaneously applied mechanical tensile stress exceeds the yield stress limit of the molecular chains within the insulating varnish liquid, interrupting the fluid continuity.

[0020] In the resonant drying process, the mechanical natural resonant frequency of the system suspension structure is solved based on the total equivalent physical mass and the comprehensive equivalent stiffness coefficient of the mechanical suspension structure. The maximum deflection amplitude of the alternating angular displacement of the first drive motor output shaft is numerically smaller than the comprehensive equivalent backlash angle of the motor shaft after the gear meshing backlash is superimposed on the chain physical backlash. The teeth of the first bevel gear undergo high-frequency physical impact within the meshing backlash of the second bevel gear, generating a small mechanical torque that is transmitted to the basket, causing alternating shear stress within the attached insulating varnish film, weakening the adhesion between the varnish and the metal interface. Alternating inertial force forces the droplets to fall off. The constant-temperature heating rod, suspended at the safe limit height, maintains the physical structural constraint of the guide groove, forcibly absorbing and blocking the amplification of the horizontal kinetic energy of the basket, eliminating the risk of derailment and fall caused by uncontrolled horizontal amplitude.

[0021] In summary, the present invention has at least one of the following beneficial technical effects:

[0022] 1. This invention controls a lifting assembly to drive the impregnation tank in a periodic reciprocating motion, causing a constant-temperature heating rod at the bottom of the tank to periodically pass through the gap at the bottom of the basket, flexibly lifting the stator coil of the motor to be impregnated and then slowly lowering it. This design not only utilizes the constant-temperature heating rod to conduct heat to the paint solution in a near-field manner to reduce the viscosity of the fluid, but also uses the hydrodynamic pressure generated by the relative movement of the coil within the paint solution and the alternating positive and negative pressure effects created by the deformation of the winding gaps to forcibly draw the low-viscosity paint solution into the depths of the gaps and squeeze out trapped air bubbles, thus solving the problem of difficult deep penetration into micron-sized gaps.

[0023] 2. This invention employs segmented differential speed control logic in the varnish-impregnation tank during the liquid separation stage. When the bottom of the stator coil of the motor to be impregnated just leaves the liquid surface, it descends at a first set low speed, providing time for the redundant insulating varnish on the coil surface to flow back into the impregnation tank. Subsequently, it switches to a higher second set speed for accelerated descent. This process instantaneously applies mechanical tensile stress to the varnish filaments connecting the coil and the liquid surface, breaking through the yield stress limit of the high-viscosity varnish molecular chains to cut off the fluid, thus avoiding hardware contamination caused by non-Newtonian fluid filament drawing.

[0024] 3. This invention outputs alternating drive pulses to the first drive motor, utilizing the meshing backlash between the transmission gears to generate high-frequency physical impacts that are transmitted to the basket. This causes the coil to resonate and vibrate in place, forcibly shaking off excess paint droplets from the surface using alternating shear stress and inertial force, thus shortening the drying cycle required for static gravity dripping. Simultaneously, a constant-temperature heating rod at a safe limit height, in conjunction with a guide groove, physically constrains the basket, absorbing and blocking the system's horizontal kinetic energy, preventing the coil from derailing and falling during the resonant drying stage. Attached Figure Description

[0025] Figure 1 This is a front view of the motor stator coil impregnation treatment device of the present invention;

[0026] Figure 2 This is a schematic diagram of the conveying component in this invention;

[0027] Figure 3 This is a schematic diagram of the structure of the suspended basket in this invention;

[0028] Figure 4 For the present invention Figure 1 Enlarged view of point A in the middle;

[0029] Figure 5 For the present invention Figure 1 Enlarged view of point B in the middle;

[0030] Figure 6 This is a flowchart of the method for impregnating motor stator coils with varnish in this invention.

[0031] The components include: 1. Base plate; 2. Gantry frame; 3. Conveying assembly; 31. Rotating shaft; 32. Sprocket; 33. First drive motor; 34. First bevel gear; 35. Second bevel gear; 36. Chain; 37. Hanging component; 4. Suspended basket; 41. Hook; 42. Connecting frame; 43. First U-shaped rod; 44. Gap; 45. Second U-shaped rod; 5. Impregnation tank; 51. Box body; 52. Constant temperature heating rod; 53. Guide groove; 6. Lifting assembly; 61. Second drive motor; 62. Guide rod; 63. Bearing plate; 64. Screw. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1 - Appendix Figure 6 The present invention will be further described in detail below.

[0033] See Figure 1 and Figure 2 This invention provides a motor stator coil impregnation treatment device, including a base plate 1, a gantry frame 2, a conveying assembly 3, a basket 4, an impregnation tank 5, and a lifting assembly 6. The gantry frame 2 is fixedly connected to the top surface of the base plate 1, and the conveying assembly 3 is disposed between the side walls of the gantry frame 2.

[0034] The conveying assembly 3 includes two rotating shafts 31 symmetrically rotatably connected to both sides of the gantry frame 2. Each rotating shaft 31 has a sprocket 32 ​​fixedly connected to both ends. A first drive motor 33 is fixedly connected to the outer wall of the gantry frame 2. A first bevel gear 34 is fixedly connected to the output shaft surface of the first drive motor 33. A second bevel gear 35 is fixedly connected to the end of one of the rotating shafts 31, located on the outer side of the gantry frame 2. The first bevel gear 34 and the second bevel gear 35 are meshed together. A chain 36 is provided between every two sprockets 32. The two chains 36 are symmetrically arranged. Multiple hangers 37 are evenly fixedly connected to the side wall surface of the chain 36.

[0035] See Figure 3 and Figure 4 Multiple suspended baskets 4 are provided, each basket 4 includes two hooks 41, and the bottom of each hook 41 is fixedly connected to a connecting frame 42. The connecting frame 42 has a triangular structure, and multiple first U-shaped rods 43 are evenly fixedly connected to the bottom surface of the connecting frame 42. A gap 44 is formed between two adjacent first U-shaped rods 43. Second U-shaped rods 45 are fixedly connected to both sides of the bottom surface of the connecting frame 42. The height of the second U-shaped rods 45 is higher than the height of the first U-shaped rods 43. The multiple first U-shaped rods 43 and the two second U-shaped rods 45 together form the placement space for the stator coil of the motor to be impregnated. The second U-shaped rods 45 located on both sides of the first U-shaped rods 43 are used to prevent the stator coil of the motor to be impregnated from falling out of the placement space during the movement of the suspended basket 4. The hooks 41 are used to hang on the hanging parts 37 respectively.

[0036] See Figure 5 The impregnation tank 5 includes a tank body 51. Multiple constant-temperature heating rods 52 are uniformly fixedly connected to the inner surface of the bottom of the tank body 51, and guide grooves 53 are formed between adjacent constant-temperature heating rods 52. The width of the constant-temperature heating rod 52 is slightly smaller than the width of the gap 44, allowing the gap 44 to accommodate the constant-temperature heating rod 52. Simultaneously, the width of the guide groove 53 is slightly larger than the diameter of the first U-shaped rod 43 and the second U-shaped rod 45, allowing the first U-shaped rod 43 and the second U-shaped rod 45 to respectively enter their corresponding guide grooves 53. The height of the constant-temperature heating rod 52 is greater than the diameter of the first U-shaped rod 43 and the second U-shaped rod 45.

[0037] The lifting assembly 6 includes a second drive motor 61, guide rods 62, a support plate 63, and a screw 64. The second drive motor 61 is fixedly connected to the bottom surface of the base plate 1. Four guide rods 62 are fixedly connected to the top surface of the base plate 1. The four corners of the support plate 63 are slidably connected to the surfaces of the four guide rods 62. The screw 64 is fixedly connected to the surface of the output shaft of the second drive motor 61, and the screw 64 passes through the base plate 1 and is threadedly connected to the support plate 63. The impregnation tank 5 is fixedly connected to the top surface of the support plate 63.

[0038] Working principle: The basket 4 is hung on the mounting bracket 37 via the hook 41. The stator coil of the motor to be impregnated is neatly placed in the placement space formed by the first U-shaped rod 43 and the second U-shaped rod 45. The first drive motor 33 is started, which drives the first bevel gear 34 to rotate. Since the first bevel gear 34 is meshed with the second bevel gear 35, it drives the second bevel gear 35 to rotate synchronously. The rotation of the second bevel gear 35 drives one of the rotating shafts 31 to rotate. The rotation of the rotating shaft 31 drives the sprocket 32 ​​to rotate synchronously. The rotation of the sprocket 32 ​​drives the mounting bracket 37 to move via the chain 36, thereby driving the stator coil of the motor to be impregnated to move via the basket 4.

[0039] As the basket 4 moves directly above the impregnation tank 5, the second drive motor 61 is activated. The second drive motor 61 drives the screw 64 to rotate. Since the screw 64 is threadedly connected to the support plate 63 and the support plate 63 is limited by four guide rods 62, the support plate 63 can only move up and down. At this time, under the action of the second drive motor 61, the support plate 63 moves upward toward the basket 4 located directly above the impregnation tank 5, thereby driving the impregnation tank 5 to move. When the impregnation tank 5 moves to completely cover the basket 4, the first U-shaped rod 43 and the second U-shaped rod 45 fall into the corresponding guide groove 53. At this time, the constant temperature heating rod 52 lifts the stator coil of the motor to be impregnated in the basket 4, so that the contact surface of the stator coil of the motor to be impregnated, which was initially in contact with the first U-shaped rod 43 and the second U-shaped rod 45, can be exposed. The constant temperature heating rod 52 heats the paint inside the impregnation tank 5 at a constant temperature, reducing the viscosity of the paint inside the impregnation tank 5, thereby accelerating the impregnation of the stator coil of the motor to be impregnated.

[0040] After the impregnation process is completed, the motor stator coil is obtained. At this time, the second drive motor 61 reverses and drives the impregnation tank 5 to descend and hover at the safety limit height. During this process, the constant temperature heating rod 52 detaches from the bottom of the impregnated motor stator coil. The impregnated motor stator coil returns to the basket 4 under the action of gravity. As the basket 4 rises, the contact surface of the impregnated motor stator coil that is in contact with the constant temperature heating rod 52 comes into contact with the paint inside the impregnation tank 5.

[0041] After the impregnation tank 5 is suspended at the safety limit height, the basket 4 remains stationary above the impregnation tank 5, waiting for excess paint droplets on the motor stator coils after impregnation to fall back into the impregnation tank 5. After the draining process is completed, the impregnation tank 5 is completely lowered back to the surface of the substrate 1. Subsequently, the basket 4 is moved by the conveying assembly 3 to an external drying and heat preservation device to dry and heat the impregnated motor stator coils, and to cure the paint on the surface of the impregnated motor stator coils.

[0042] See Figure 6 Based on the above-mentioned apparatus for impregnating motor stator coils, this invention also provides a method for impregnating motor stator coils, which includes the following steps:

[0043] S100, Pre-immersion positioning and initial heat conduction: Control the first drive motor 33 to operate, and transport the basket 4 carrying the stator coil of the motor to be immersed in paint through the conveying assembly 3 and stop it directly above the paint immersion tank 5; then control the second drive motor 61 to rotate forward and drive the screw 64, so that the support plate 63 and the paint immersion tank 5 rise along the four guide rods 62 to the initial immersion height and remain stationary, so that the stator coil of the motor to be immersed in paint is completely submerged in the paint liquid. At this time, the constant temperature heating rod 52 is in the gap 44 but does not make physical contact with the stator coil of the motor to be immersed in paint on the first U-shaped rod 43 and the second U-shaped rod 45. The constant temperature heating rod 52 is used to perform static heat conduction on the paint liquid to reduce the viscosity of the paint liquid;

[0044] S200, based on motion trajectory planning, uses flexible micro-pumping and exhaust. After static heat conduction is completed, the second drive motor 61 is controlled to execute periodic alternating lifting logic. According to the preset smooth motion control model, the paint impregnation tank 5 is driven to perform a small stroke of reciprocating lifting in the vertical direction. Through reciprocating lifting, the constant temperature heating rod 52 periodically passes through the gap 44 to flexibly lift the stator coil of the motor to be impregnated. Then, the stator coil of the motor to be impregnated slowly falls back into the placement space composed of multiple first U-shaped rods 43 and two second U-shaped rods 45. The fluid shear force and pumping effect generated inside the paint liquid by the reciprocating motion force the trapped air bubbles hidden deep in the winding of the stator coil of the motor to be impregnated are forcibly squeezed out.

[0045] S300, differential speed liquid return control to overcome viscous resistance, after the exhaust and impregnation process is completed, controls the second drive motor 61 to rotate in the opposite direction to drive the impregnation tank 5 to perform a descent action. During the descent, a segmented differential speed control logic is executed. In the initial stage when the bottom of the stator coil of the motor to be impregnated just leaves the liquid surface, it descends at a first set low speed. When the stator coil of the motor to be impregnated is completely separated from the paint liquid inside the impregnation tank 5, it switches to a second set speed greater than the first set low speed to accelerate the descent. Differential speed control is used to overcome the stringing defects caused by high viscosity paint liquid.

[0046] S400, rapid drying under resonance: After the paint dipping tank 5 descends and hovers at the aforementioned safety limit height, a small alternating drive pulse based on mechanical resonance characteristics is output to the first drive motor 33 for the basket 4 that is stationary directly above the paint dipping tank 5. The alternating drive pulse causes a small-amplitude high-frequency oscillation of the output shaft of the first drive motor 33, which is transmitted to the basket 4 through the transmission gap of the conveying component 3. This causes the stator coil of the motor to be dipped to resonate and vibrate in place, accelerating the fall of excess paint droplets on the surface back into the paint dipping tank 5, and finally being sent to the external process by the conveying component 3.

[0047] The following section will provide a detailed explanation of the technical details of the method provided by this invention, combining the specific control logic, physical principles, and kinematic equations of each step.

[0048] Step 100 includes the following sub-steps:

[0049] In the initial stage of step S100, the system needs to complete the horizontal transfer of the stator coil of the motor to be impregnated and ensure that the physical coordinates of its stopping position coincide with the central axis of the impregnation tank 5. The specific implementation process of this stage is divided into the following sub-steps:

[0050] S101, Power Transmission and Horizontal Acceleration. The main control device at the system's bottom layer outputs a start signal to the driver of the first drive motor 33. The first drive motor 33 operates, and the rotational power of its output shaft is directly transmitted to the first bevel gear 34, which is fixedly connected to the surface. The first bevel gear 34 meshes with the second bevel gear 35, completing a 90-degree reversal of the motion direction, and synchronously driving the second bevel gear 35, located on the outside of the gantry 2, to rotate. The rotation of the second bevel gear 35 drives one of the rotating shafts 31 to rotate between the side walls of the gantry 2, thereby driving the sprockets 32, which are fixedly connected to both ends of the rotating shaft 31, to rotate synchronously. The rotation of the sprockets 32, through tooth meshing, actuates two symmetrically arranged chains 36 to produce linear displacement. The hanging brackets 37, which are uniformly fixedly connected to the side wall surfaces of the chains 36, pull the basket 4, which is carrying the stator coil of the motor to be impregnated, to move vertically upwards in the impregnation tank 5.

[0051] S102, Displacement Monitoring and Pulse Coordinate Mapping. To achieve the precise positioning function described in the manual, the main control device continuously collects the pulse signals fed back by the rotary encoder installed at the rear end of the first drive motor 33. The underlying electronic pulse increments are converted into the actual linear physical displacement of the external mechanical hardware. The mapping relationship between the two follows the following kinematic calculation equation:

[0052] ;

[0053] The specific definitions of each symbol in the formula are as follows: This represents the actual linear displacement produced by chain 36 in the horizontal direction; This indicates the cumulative pulse increment of the rotary encoder since the first drive motor 33 starts; This indicates the single-turn pulse resolution of the rotary encoder; This indicates the reduction ratio of the bevel gear transmission assembly formed by the first bevel gear 34 and the second bevel gear 35; Indicates the effective number of working teeth of sprocket 32; This indicates the single chain pitch of chain 36.

[0054] The system calculates the above equations in real time through the underlying control program, and obtains the current instantaneous horizontal coordinates of the suspended platform 4. When the calculated actual linear displacement reaches the set positioning target value, the system determines that the suspended platform 4 has reached the position directly above the paint impregnation tank 5.

[0055] S103, speed reduction braking and anti-sway stop. Within the range where the actual linear displacement approaches the positioning target value, the main control equipment proportionally reduces the drive current output to the first drive motor 33 based on the distance deviation. The speed of the first drive motor 33 decreases accordingly, synchronously reducing the horizontal conveying speed of the basket 4 through the aforementioned gear and chain transmission components. When the actual linear displacement equals the positioning target value, the first drive motor 33 is fully locked and braked. This speed reduction braking process eliminates the pendulum-like swaying of the basket 4 and the stator coil of the motor to be impregnated during emergency stops due to mechanical inertia, ensuring that the geometric centers of the connecting frame 42 and the first U-shaped rod 43 at the bottom of the basket 4 are stably and vertically aligned with the internal area of ​​the impregnation tank 5.

[0056] For the hardware selection of main control equipment such as programmable logic controllers (PLCs), the electrical wiring of rotary encoders, and the closed-loop control parameter setting of motor drivers, those skilled in the art can configure and implement them in accordance with conventional industrial automation control specifications. The data acquisition and communication protocol settings are well-known technologies in this field and will not be elaborated here.

[0057] After the suspended platform 4 and the stator coil of the motor to be impregnated, which it carries, reach the designated horizontal coordinate and are stably locked, the system performs vertical lifting and precise alignment of the spatial depth. This process ensures that the system hardware enters the initial state of pre-venting preparation, and is specifically divided into the following sub-steps:

[0058] S104, Vertical lifting power output. The system sends a forward rotation command to the second drive motor 61 located on the bottom surface of the substrate 1. The output shaft of the second drive motor 61 rotates, causing the screw 64 fixedly connected to the surface to rotate synchronously. The screw 64 passes through the substrate 1 and forms a threaded connection with the support plate 63. Four guide rods 62 are fixedly connected to the top surface of the substrate 1, and the four corners of the support plate 63 are constrained and slidably connected to the surfaces of the four guide rods 62. The guide rods 62 generate a circumferential torque cancellation effect on the support plate 63, restricting the rotational freedom of the support plate 63, and forcing the rotational motion of the screw 64 to be converted into a linear motion of the support plate 63 vertically upward along the guide rods 62. The impregnation tank 5, fixedly connected to the top surface of the support plate 63, is lifted as a whole, and the liquid level inside the tank 51 gradually approaches the stator coil of the motor to be impregnated.

[0059] S105, Dimensional Chain Constraints and Height Calibration Calculation. To accurately achieve the initial immersion height defined in the claims and avoid premature physical collision between the constant temperature heating rod 52 and the stator coil of the motor to be impregnated, the system's main control equipment calibrates the target stroke based on a preset mechanical dimensional chain. The required vertical mechanical stroke of the impregnation tank 5 is determined by the following spatial coordinate boundary equations:

[0060] ;

[0061] The specific definitions of each symbol in the formula are as follows: This indicates the target mechanical stroke required for the paint immersion tank 5 to rise vertically from its initial position to its initial immersion height. This indicates the fixed vertical height between the bottom surface of the stator coil of the motor to be dipped in paint and the top surface of the substrate 1 when the basket 4 is stationary; This indicates the initial vertical distance between the top of the constant temperature heating rod 52 and the top surface of the substrate 1 when the immersion tank 5 is located at the reset origin; This indicates a preset small safety distance used to isolate the rigid contact between the top of the constant temperature heating rod 52 and the stator coil of the motor to be impregnated.

[0062] The bottom-level driver converts the target mechanical stroke into the number of rotation pulses of the second drive motor 61 based on the pitch of the screw 64, and performs closed-loop comparison during the lifting process.

[0063] S106, Physical Interference Avoidance and Positioning Hovering. When the lifting stroke reaches the calibrated target mechanical stroke, the second drive motor 61 stops operating and maintains holding torque, with the support plate 63 and the impregnation tank 5 hovering at the initial immersion height. In this spatial state, the insulating varnish in the impregnation tank 5 completely covers the stator coil of the motor to be impregnated in the placement space composed of multiple first U-shaped rods 43 and two second U-shaped rods 45. Simultaneously, multiple constant-temperature heating rods 52 at the bottom penetrate vertically through the gap 44 formed between two adjacent first U-shaped rods 43. The first U-shaped rods 43 and second U-shaped rods 45 at the bottom of the basket 4 slide into the guide grooves 53 formed between two adjacent constant-temperature heating rods 52. Constrained by a preset small safety distance, the top of the constant-temperature heating rod 52 penetrating the gap 44 is positioned close to but not in contact with the bottom of the stator coil of the motor to be impregnated. This static state provides a physical protective boundary for the surface insulation layer of the stator coil of the motor to be impregnated.

[0064] For the perpendicularity calibration and backlash compensation of the screw and guide rod mechanism, as well as the absolute position memory and current holding function of the servo motor in the heavy-load hovering state, those skilled in the art can select the corresponding motor locking brake and set the compensation parameters according to the mechanical load specifications of the equipment. The mechanical assembly tolerance control and electrical closed-loop adjustment mechanism involved are well known technologies in the field and will not be described in detail here.

[0065] After the immersion tank 5 and the support plate 63 are suspended at the initial immersion height, the equipment enters the ready state. To solve the process problem of high-viscosity insulating varnish being difficult to penetrate into the gaps inside the motor windings under normal pressure, the system utilizes the spatial layout features of the hardware to execute static heat conduction logic. This process is specifically divided into the following sub-steps:

[0066] S107, Heat Source Start-up and Near-Field Conduction. The system maintains the spatial position of the impregnation tank 5 unchanged. The main control device connects the power supply circuit to the multiple constant-temperature heating rods 52 fixed on the bottom surface of the inner chamber 51 of the impregnation tank 5. The constant-temperature heating rods 52 are energized and radiate heat outward. Because the constant-temperature heating rods 52 penetrate upward through the gap 44 between adjacent first U-shaped rods 43, their heating sections directly extend into the paint liquid close to the bottom of the stator coil of the motor to be impregnated. Heat energy is directly conducted in the near-field heat transfer in the paint liquid around the stator coil of the motor to be impregnated, with the constant-temperature heating rods 52 as the center. The heat is transferred upward and wraps around the bottom contact surface of the stator coil of the motor to be impregnated, avoiding the thermal lag phenomenon caused by the traditional heating from the outer wall of the chamber 51 to the inner perimeter, causing the temperature of the paint liquid in the area around the stator coil of the motor to be impregnated to rise rapidly.

[0067] S108, Rheological property change and viscosity reduction. As a high-molecular polymer, the paint undergoes physical changes in its internal microstructure after absorbing heat. The increase in temperature intensifies the thermal motion of the resin molecules inside the insulating paint, weakening the bonding force between polymer chains and increasing the intermolecular distance. This microscopic physical change manifests as a sharp decrease in the internal frictional resistance of the fluid on a macroscopic level, corresponding to a reduction in the viscosity of the paint. The main control equipment adjusts the power output of the constant-temperature heating rod 52 through a temperature feedback mechanism to ensure that the local paint entering the guide groove 53 and gap 44 reaches and is maintained within the predetermined high-flow range.

[0068] S109, Establishing the fluid medium boundary for dynamic exhaust. During the calibration time period maintaining static heat conduction, the low-viscosity paint initially penetrates the winding surface of the stator coil of the motor to be impregnated, relying on gravity and capillary effect. Since this stage only has a static thermal field and lacks external mechanical interference, trapped cavities occupied by air still exist in the deep micro-gap of the stator coil of the motor to be impregnated. In this stage, the physical modification of the local paint viscosity coefficient by the constant temperature heating rod 52 reduces the liquid resistance during subsequent fluid movement, creating the necessary basic medium conditions for breaking the surface tension of air bubbles and guiding the fluid to be forcibly injected into the gaps in subsequent steps.

[0069] Regarding the selection of the internal resistance material of the constant temperature heating rod 52, the data acquisition mechanism of the paint temperature sensor, and the PID temperature closed-loop control algorithm, those skilled in the art can make conventional matching based on the material properties of the specific insulating paint and the operation manual. The specific temperature control circuit hardware construction and steady-state thermal compensation logic are well-known technologies in this field and will not be elaborated here.

[0070] Step 200 includes the following sub-steps:

[0071] After initial heat transfer is complete, the system control logic enters the venting phase, designed to eliminate trapped air. To explain the engineering necessity of subsequent micro-alternating control, the fluid dynamics mechanism upon which this phase relies is elucidated, and the process is divided into the following sub-steps:

[0072] S201, Analysis of the Physical Causes of Air Bubble Trapping at Atmospheric Pressure. In an open, atmospheric-pressure impregnation environment, liquid insulating varnish coats the surface of the stator coils of the motor to be impregnated by gravity. The windings inside the stator coils are tightly arranged, forming micron-sized physical gaps between adjacent copper wires. When the insulating varnish penetrates into these gaps, the air already inside is trapped by the invading varnish. Due to the surface tension of the insulating varnish, a microscopic gas-liquid interface is formed within these tiny gaps. The Laplace pressure generated by this gas-liquid interface constitutes a resistance boundary preventing further penetration of the varnish, causing air to be physically trapped deep within the windings, forming air bubbles. This local hydrostatic equilibrium caused by interfacial surface tension cannot be broken by simply reducing viscosity through thermal conduction.

[0073] To quantify the physical resistance boundary of the trapped bubbles from a theoretical perspective, the algorithm logic within the main control device references the following capillary resistance equation as the basis for establishing motion control standards:

[0074] ;

[0075] The specific definitions of each symbol in the formula are as follows: It represents the interfacial resistance difference that prevents the paint from penetrating into the tiny gaps of the stator coil of the motor to be coated and maintains the state of bubble trapping; This represents the fluid surface tension coefficient of the insulating varnish at the current ambient temperature after initial heat conduction treatment. This indicates the solid-liquid contact angle between the insulating varnish and the surface of the stator coil winding of the motor to be impregnated; This represents the equivalent physical radius of the tiny winding gap inside the stator coil of the motor to be impregnated with varnish.

[0076] S202, Microscopic Stress Imbalance and Interface Disruption Logic. Based on the above equations, under the premise that the contact angle and gap radius are fixed by physical conditions, the system actively disrupts the static equilibrium of the gas-liquid interface using mechanical action. The bottom-level main control device outputs a drive command to the second drive motor 61, which, through the power transmission of the screw 64 and the support plate 63, drives the impregnation tank 5 to generate displacement in the vertical direction. This mechanical displacement forces the constant temperature heating rod 52, which passes upward through the gap 44, to apply physical contact interference to the stator coil of the motor to be impregnated. The stator coil of the motor to be impregnated undergoes relative movement inside the paint liquid, generating hydrodynamic pressure in the local impregnation area. When the instantaneous hydrodynamic pressure generated is numerically greater than the interfacial resistance difference, the surface tension boundary of the bubble surface deep in the gap is torn by the mechanical impact force, and the stress balance state of the gas-liquid interface is disrupted.

[0077] S203, Formation of Dynamic Pumping Effect. The system maintains the displacement output of the impregnation tank 5, causing the constant-temperature heating rod 52 to continuously apply lifting and lowering actions to the stator coil of the motor to be impregnated. During the alternating process of lifting off the first U-shaped rod 43 and the second U-shaped rod 45 and falling back into the placement space, the entire stator coil and its internal windings undergo subtle stress deformation. The spatial volume of the winding gaps undergoes periodic fine-tuning during deformation and recovery. This minute volume change alternately creates positive and negative pressure effects within the gaps submerged in the varnish. When negative pressure is generated, the external low-viscosity insulating varnish is forcibly drawn into the depths of the gaps; when positive pressure is generated, the compressed and stripped air bubbles are squeezed out of the winding surface and escape from the liquid. This control logic transforms the single mechanical lifting output of the lifting component 6 into a dynamic pumping excitation source that overcomes the surface tension of the fluid, solving the problem of deep exhaust obstruction under normal pressure conditions.

[0078] For laboratory equipment for measuring the surface tension coefficient of paint and for calibrating the solid-liquid contact angle, those skilled in the art can select and operate them according to rheological measurement standards and materials science testing manuals. The measurement experimental principles are well-known technologies in this field and will not be elaborated here.

[0079] After establishing the hydrodynamic requirements for disrupting the gas-liquid interface, the system needs to output specific mechanical actions to perform venting. Because the impregnation tank 5 and the insulating varnish it contains have a large physical mass, the screw 64 transmission mechanism will generate significant mechanical impact forces due to frequent high-frequency commutation under heavy loads. To address the commutation impact problem, the system sends continuous motion trajectory planning instructions to the underlying hardware. This process is specifically divided into the following sub-steps:

[0080] S204, Establishment of the smooth motion control model. The system outputs commands based on the preset smooth motion control model to achieve the reciprocating lifting and lowering of the impregnation tank 5 in the vertical direction with a small stroke. The main control device internally constructs cosine motion control logic to convert discrete lifting and lowering movements into continuous position command outputs. The instantaneous vertical height of the impregnation tank 5 during the alternating lifting and lowering logic phase follows the following position control equation:

[0081] ;

[0082] The specific definitions of each symbol in the formula are as follows: This indicates the instantaneous vertical height coordinate of the paint impregnation tank 5 during the alternating lifting logic phase; This indicates the initial immersion height reached by the paint immersion tank 5 as it rises vertically from its initial position; This indicates the maximum offset of the alternating stroke set by the system; This indicates the duration of a single motion cycle in the alternating rise and fall logic; This indicates the current real-time running time within the alternating rise and fall logic phase.

[0083] S205, Physical definition of minute stroke and cycle parameters. The maximum offset of alternating stroke and the duration of a single motion cycle in the above position control equation constitute the specific numerical boundaries of the reciprocating lifting and lowering of the minute stroke. The maximum offset of alternating stroke is limited to the maximum safe displacement of the heating rod 52 after it passes through the gap 44 and contacts the bottom of the stator coil of the motor to be impregnated, pushing it away from the first U-shaped rod 43 and the second U-shaped rod 45. This maximum safe displacement is constrained by the geometry of the placement space to ensure that the stator coil of the motor to be impregnated will not slip, overturn, or fall out of the constraint range of the guide groove 53 when suspended below the liquid surface. The duration of a single motion cycle is set to match the fluid viscosity damping of the insulating varnish in the current reduced viscosity state, maintaining a low displacement change rate to prevent overload current from being generated in the screw 64 transmission system and the second drive motor 61 due to excessive lifting and lowering speed.

[0084] S206, Discretization of the trajectory equation and execution of the underlying drive. The computing unit of the main control device performs time discretization processing on the above position control equation according to the preset computing scan cycle. The main control device calculates the target height value corresponding to the current real-time running time and performs differential calculation with the position data of the previous computing cycle to obtain the position increment command within the scanning cycle. This position increment command is converted into a high-frequency pulse signal through the output port of the main control device and sent to the driver of the second drive motor 61. The second drive motor 61 drives the screw 64 to rotate according to the received pulse signal. The rotation of the screw 64 drives the bearing plate 63 and the impregnation tank 5 to perform reciprocating motion in the vertical direction according to the acceleration and deceleration characteristics of a cosine curve. This cosine motion characteristic ensures that the velocity and acceleration of the impregnation tank 5 smoothly converge to zero at the moment of reversal when rising to the highest point and descending to the lowest point, eliminating the mechanical inertial impact caused by the sudden change in direction.

[0085] For the position-time interpolation algorithm, floating-point arithmetic configuration, electronic gear ratio setting and pulse sequence position following error suppression mechanism of the servo driver of the second drive motor 61 in the main control unit, those skilled in the art can perform software programming and hardware debugging based on the conventional kinematic control manual of CNC system. The discretization output processing of its continuous trajectory is a well-known technology in the field and will not be described in detail here.

[0086] S207, Dynamic Implementation of Flexible Contact. During the upward cycle of the alternating lifting logic, the impregnation tank 5 drives the constant temperature heating rod 52 at the bottom to move upward synchronously. The top of the constant temperature heating rod 52 passes through the gap 44 between the first U-shaped rods 43 and establishes physical contact with the outer surface of the enameled wire at the bottom of the stator coil of the motor to be impregnated. According to the kinematic derivative characteristics of the aforementioned cosine position control equation, the velocity gradient of the displacement curve exhibits a non-linear smooth decay when approaching the target height. The main control equipment utilizes this velocity decay characteristic to make the physical relative linear velocity of the constant temperature heating rod 52 converge to a low value range close to zero at the instant it touches the stator coil of the motor to be impregnated. This low-speed contact mode eliminates the rigid kinetic energy impact between the metal constant temperature heating rod 52 and the stator coil of the motor to be impregnated, transforming the original collision into a controlled slow displacement compression, realizing a flexible lifting action of the stator coil of the motor to be impregnated. This flexible lifting action avoids microscopic cracking of the polyurethane or polyesterimide insulation layer on the surface of the stator coil due to instantaneous stress concentration.

[0087] S208, Suspension Displacement and Spatial Attitude Constraints. As the second drive motor 61 continuously outputs positive displacement pulses, the constant temperature heating rod 52 continues to rise, overcoming the self-weight of the stator coil of the motor to be impregnated, and pushing it upwards away from the placement space composed of multiple first U-shaped rods 43 and two second U-shaped rods 45. During the period when the stator coil of the motor to be impregnated is suspended in the liquid, the guide groove 53 formed between adjacent constant temperature heating rods 52 continuously provides horizontal mechanical restraint to the sidewalls of the first U-shaped rods 43 that slide into it to stabilize the basket 4. At the same time, the second U-shaped rods 45 with higher height on both sides continue to provide lateral geometric envelopes to the stator coil of the motor to be impregnated. Through the synergistic physical constraints of the two, the lateral fluid disturbance force that may be generated by the flow of paint is offset, preventing the stator coil of the motor to be impregnated from horizontal lateral slippage or overturning when it is suspended from the bearing surface, and ensuring that the spatial trajectory of the entire lifting stage is strictly limited to the vertical axis.

[0088] S209, Fluid Damping Buffer and Slow Drop Reset. When the height of the impregnation tank 5 reaches the set maximum offset of the alternating stroke and enters the descent cycle according to the cosine curve, the constant temperature heating rod 52 retracts downwards. At this time, the stator coil of the motor to be impregnated, after losing the direct rigid support of the constant temperature heating rod 52, tends to move downwards under its own gravity. During the descent, the insulating varnish surrounding the stator coil provides physical fluid damping. The highly viscous insulating varnish generates viscous shear friction between the outer surface of the stator coil and the internal winding gaps. The direction of this viscous friction is opposite to the direction of gravity, physically canceling the free fall acceleration. The stator coil of the motor to be impregnated falls slowly under the direct buffering of this liquid damping physical characteristic. The bottom of the stator coil finally falls smoothly back to the bearing surface of the first U-shaped rod 43 and the second U-shaped rod 45 with a small terminal contact speed, completing a complete cycle of lossless lifting and lowering interaction.

[0089] For the mechanical strength test standards of the enameled wire insulation layer of motor stator and the empirical estimation method of fluid damping coefficient, those skilled in the art can compare and verify the parameters based on the motor manufacturing process specifications and fluid mechanics manual. The static physical contact force analysis and motion limit common sense involved are well known technologies in this field and will not be elaborated here.

[0090] After completing the smooth motion trajectory planning and flexible contact control, the macroscopic spatial lifting displacement is transformed into a microscopic fluid dynamic effect within the stator coils of the motor to be impregnated. This physical process eliminates the gas-liquid interface resistance and effectively replaces the trapped air bubbles inside, specifically divided into the following sub-steps:

[0091] S210, Relative Motion and Generation of Fluid Shear Force. During the periodic reciprocating motion of the stator coil of the motor to be impregnated with the constant-temperature heating rod 52, a relative physical displacement occurs between the stator coil itself and the surrounding insulating varnish with high mass inertia. When the insulating varnish enters the micron-level winding gaps inside the stator coil, it is constrained by the viscous adhesion of the solid wall, forming a velocity gradient perpendicular to the direction of motion. The existence of this velocity gradient causes fluid shear force to be generated at the solid-liquid interface and the gas-liquid interface of the insulating varnish. This fluid shear force acts continuously along the tangential direction of the winding gaps on the outer liquid surface that traps the air bubbles. Through continuous physical friction, the fluid shear force overcomes the surface tension equilibrium established by capillary action, tearing apart the static liquid film structure that maintains the presence of the air bubbles.

[0092] S211, Stress Alternation and Gap Volume Fine Adjustment. During the alternating cycle of the stator coil of the motor to be impregnated being lifted by the constant-temperature heating rod 52 from the first U-shaped rod 43 and the second U-shaped rod 45, and then slowly falling back into the placement space composed of multiple first U-shaped rods 43 and two second U-shaped rods 45, the underlying physical support force on the stator coil of the motor to be impregnated undergoes periodic changes. The alternating state of gravity distribution causes microscopic structural strain in the tightly packed copper wire windings. The physical spacing between the windings undergoes micrometer-level displacement fluctuation with the application and removal of the support force, resulting in alternating expansion and contraction of the internal space volume of the winding gaps.

[0093] S212, Alternating Pressure Difference Establishment and Forced Extrusion Execution. The alternating change mechanism of the winding gap space volume directly induces the pumping effect in fluid mechanics. When the winding undergoes micro-displacement causing the gap volume to expand, an instantaneous negative fluid pressure is generated inside the gap. This negative pressure generates a directional physical suction force, causing a large amount of low-resistance insulating varnish, which has undergone thermal conduction viscosity reduction treatment, to be drawn deep into the gap. When the winding resets, causing the gap volume to contract under pressure, a positive fluid pressure is established inside the gap. The local positive pressure region compresses the original air volume, causing the trapped air bubbles, which have lost their surface tension protection, to detach from the solid surface. Driven by this positive pressure, the stripped air is forced out along the fluid path to the outside of the stator coil winding of the motor to be impregnated, and escapes through the insulating varnish surface into the external environment. Through the continuous alternating pumping effect, the varnish achieves unidirectional forced replacement of air inside the gap.

[0094] For boundary layer velocity measurement and verification of fluid shear force and high-speed camera capture technology of microbubble motion trajectory, those skilled in the art can configure the instruments according to conventional fluid dynamics observation specifications. The fluid microscopic observation methods involved are well-known technologies in this field and will not be elaborated here.

[0095] Step 300 includes the following sub-steps:

[0096] After completing the venting and impregnation processes, the system enters the liquid removal phase, completely separating the stator coils of the motor to be impregnated from the paint. To explain the physical necessity of implementing the segmented differential control logic, it is necessary to analyze the fluid force state during the liquid removal process. The specific process is divided into the following sub-steps:

[0097] S301, physical triggering of the liquid removal and separation action. The main control device sends a reverse operation command to the second drive motor 61. The output shaft of the second drive motor 61 reverses, driving the screw 64 fixed to it to rotate in the opposite direction. The screw 64 drives the support plate 63 and the impregnation tank 5 fixedly connected to the top of the support plate 63 to move synchronously downward along the four guide rods 62. During the vertical downward displacement, the stator coil of the motor to be impregnated, located in the placement space composed of multiple first U-shaped rods 43 and two second U-shaped rods 45, is in a spatial static state. The level of insulating varnish inside the impregnation tank 5 drops as the tank body 51 descends, and the bottom area of ​​the stator coil of the motor to be impregnated gradually approaches the gas-liquid separation interface.

[0098] S302, Physical Manifestations of Non-Newtonian Fluid Properties. As a polymer mixture containing resin components, insulating varnish exhibits typical non-Newtonian fluid properties. At the gas-liquid separation interface, the polymer chains within the insulating varnish intertwine. When the stator coil of the motor to be impregnated undergoes relative mechanical displacement with the insulating varnish, viscous resistance is generated within the fluid to resist physical deformation. This viscous resistance manifests as extremely high apparent viscosity and internal cohesion in the low shear rate range, giving the fluid strong tensile continuity.

[0099] S303, Surface tension and the cause of the wire-drawing phenomenon. When the bottom surface of the stator coil of the motor to be impregnated detaches upward from the varnish surface inside the impregnation tank 5, some of the insulating varnish adheres to the bottom of the winding due to the adhesion force at the solid-liquid interface. If the second drive motor 61 is controlled to drive the impregnation tank 5 downward at a conventional single constant speed, the mechanical tensile displacement rate generated by the uniform descent of the impregnation tank 5 cannot exceed the fracture yield stress limit of the polymer chains inside the insulating varnish. The insulating varnish adhering to the bottom of the stator coil of the motor to be impregnated is continuously stretched in the vertical direction due to the dual physical constraints of surface tension and cohesion. The fluid cannot undergo physical breakage during this low-speed stretching process, thus forming continuous fluid filaments between the bottom of the stator coil of the motor to be impregnated and the liquid surface of the impregnation tank 5. This wire-drawing phenomenon disrupts the uniformity of the insulating film layer thickness on the surface of the stator coil of the motor to be impregnated and causes excess varnish to splash and contaminate the substrate 1.

[0100] For the methods of mapping non-Newtonian fluid rheological curves and the laboratory calibration procedures for yield stress of polymers, those skilled in the art can perform instrument measurements according to national standards for material testing. The methods for obtaining the basic fluid dynamic parameters involved are well-known technologies in this field and will not be elaborated here.

[0101] To proactively eliminate the stringing phenomenon caused by the aforementioned non-Newtonian fluid characteristics, a dynamic speed control mechanism is introduced during the process of controlling the second drive motor 61 to drive the impregnation tank 5 to descend and reset. The main control equipment executes segmented differential control based on a preset logic model, dividing the single descent motion into two motion stages with different dynamic objectives. This process is specifically divided into the following sub-steps:

[0102] S304, Establishment and parameter output of the segmented differential control equation. The main control device internally stores a speed control algorithm for the descent and reset process. This algorithm defines the vertical downward movement speed of the paint-impregnation tank 5 as a discrete piecewise function with respect to the running time. The underlying driver outputs frequency conversion control pulses to the second drive motor 61 according to this piecewise function, following the following kinematic equations:

[0103] ;

[0104] The specific definitions of each symbol in the formula are as follows: This indicates the instantaneous vertical linear velocity of the second drive motor 61 as it drives the impregnation tank 5 to descend via the screw 64. This indicates the accumulated real-time running time since the system issued the liquid discharge and descent command; This indicates the critical separation time when the bottom of the stator coil of the motor to be impregnated is just completely separated from the surface of the insulating varnish inside the impregnation tank 5. This indicates the first set low speed during the initial liquid removal process; This indicates the second set speed used to overcome the fluid yield stress.

[0105] S305, the physical meaning of the first set low speed and the execution of gravity backflow. Within the interval from the start of the descent to the critical separation time, the main control device sends low-frequency position pulses to the driver of the second drive motor 61. The second drive motor 61 operates at a lower speed, driving the impregnation tank 5 to descend at the first set low speed. During this time interval, the stator coil of the motor to be impregnated is in the initial dehydration process of gradually detaching from the liquid surface. The physical purpose of maintaining the first set low speed is to provide sufficient time for the fluid. The large volume of redundant insulating varnish covering the outer surface of the stator coil of the motor to be impregnated and remaining on the outer layer of the winding overcomes its own viscous resistance under the action of gravity and naturally flows back into the impregnation tank 5 along the metal surface. This low-speed motion mode avoids violent churning and fluctuations of the liquid surface caused by the rapid descent of the impregnation tank 5, while also preventing the stator coil of the motor to be impregnated from having too much liquid mass adhering to its surface due to excessively rapid liquid exit.

[0106] S306, the physical meaning of the second set speed and the execution of yield breakage. When the running time exceeds the critical separation time, the bottom surface of the stator coil of the motor to be impregnated is in a state of about to completely separate from or just separating from the liquid surface in the impregnation tank 5. At this time, the surface tension of the fluid dominates to form a stringing phenomenon. The main control equipment immediately increases the pulse frequency output to the second drive motor 61 in a stepwise manner, so that the descent speed of the impregnation tank 5 is instantly switched from the first set low speed to the second set speed. In order to meet the physical conditions for breaking the stringing, the second set speed is numerically several times greater than the first set low speed. The high-speed descent of the impregnation tank 5 causes the insulating varnish filaments connecting the stator coil of the motor to be impregnated and the liquid surface to generate a large longitudinal mechanical tensile strain rate. When the mechanical tensile stress applied at this instant exceeds the yield stress limit of the molecular chain breakage inside the insulating varnish liquid, the cohesion of the fluid filaments loses physical support, and the insulating varnish filaments are forcibly broken. This differential speed control logic interrupts the fluid continuity by creating a mechanical impact, solving the process contamination defects caused by conventional constant speed liquid withdrawal.

[0107] For the speed loop step response optimization method inside the servo motor driver and the communication command sending logic for smooth switching of multi-speed in the control system, those skilled in the art can perform parameter tuning based on conventional motor drive and control principles. The underlying speed regulation implementation methods of electrical automation involved are well-known technologies in this field and will not be elaborated here.

[0108] After establishing the segmented differential control model and its corresponding physical principles, the system must accurately capture the extreme points of motion switching to ensure that the speed jump occurs at the initial moment of fluid filamentation. The main control equipment internally performs real-time position tracking and timing comparison based on mechanical geometry and kinematic logic. This process is specifically divided into the following sub-steps:

[0109] S307, Real-time dynamic tracking of spatial coordinates. During the process of controlling the second drive motor 61 to drive the impregnation tank 5 to descend at a first set low speed, the main control device simultaneously activates an internal high-speed pulse counter. The high-speed pulse counter continuously collects real-time position pulses fed back by the encoder at the tail of the second drive motor 61. The calculation unit multiplies the accumulated position pulses by the mechanical transmission equivalent to calculate the absolute spatial height coordinates of the support plate 63 and the impregnation tank 5 at the current operating moment. This coordinate data characterizes the dynamic physical distance between the insulating varnish level inside the impregnation tank 5 and the bottom surface of the stator coil of the impregnation motor.

[0110] S308, Critical Separation Time Position Analysis and Calibration. To accurately define the critical separation time in the segmented differential control equations, the system uses a pre-calibrated spatial height threshold as the reference point for time estimation. The main control device internally calls the following timing conversion analytical equation:

[0111] ;

[0112] The specific definitions of each symbol in the formula are as follows: This indicates the critical separation time at which the bottom of the stator coil of the motor to be impregnated is just completely removed from the liquid surface inside the impregnation tank 5. This indicates the initial immersion height of the paint dipping tank 5 at the starting point of the liquid withdrawal and descent action; This indicates the critical separation height determined by physical space, meaning that when the immersion tank 5 descends to this absolute height coordinate, its internal static liquid level is exactly flush with the bottom surface of the stator coil of the motor to be immersed in the paint. This indicates the initial low speed setting executed by the system during the initial dehydration process.

[0113] Through the above analytical equations, the main control equipment converts the position threshold in the mechanical space dimension into a trigger node in the time dimension of the control system, thus eliminating the liquid surface fluctuation error caused by fluid volume replacement.

[0114] S309, Hardware Interrupt Trigger and Step Speed ​​Switching. The system's internal timer begins accumulating real-time running time when the liquid retraction and descent action is initiated. The main control unit's comparison instruction module compares the real-time running time with the analyzed critical separation time within each program scan cycle. When the real-time running time reaches the critical separation time, the system determines that the insulating varnish level has reached the critical boundary of solid-liquid separation, and the fluid filaments are about to be stretched and formed. The comparison instruction module immediately triggers a hardware interrupt in the underlying control program. The interrupt subroutine forcibly rewrites the speed register value output to the second drive motor 61 driver. After receiving the step speed command, the driver calls its internally preset extremely short acceleration time constant, causing the output speed of the second drive motor 61 to instantly increase. The descent displacement rate of the impregnation tank 5 abruptly changes from the first set low speed to the second set speed. Through this highly real-time hardware interrupt switching mechanism, the system instantly applies a mechanical pulling force exceeding its yield stress to the fluid filaments, completing the physical closed loop of the anti-filament pulling control logic.

[0115] For the hardware filtering configuration of the high-speed pulse counter in the servo control system, the zero-point position calibration of the absolute position encoder, and the priority call setting of the interrupt subroutine inside the programmable logic controller, those skilled in the art can implement them according to conventional electrical automation programming specifications. The underlying communication and register addressing operations are well-known technologies in the field and will not be described in detail here.

[0116] Step 400 includes the following sub-steps:

[0117] After the descent and liquid removal process is completed in the impregnation tank 5, the stator coil of the motor to be impregnated is completely separated from the insulating varnish surface and suspended in the original horizontal coordinate position. At this time, a thick film of insulating varnish is adhered to the surface of the stator coil of the motor to be impregnated, as well as the surfaces of the first U-shaped rod 43 and the second U-shaped rod 45 at the bottom of the basket 4. To solve the process defect of excessively long natural dripping time, the system implements forced dripping logic based on resonance excitation. This physical transformation process is specifically divided into the following sub-steps:

[0118] S401, Static Drip Equilibrium Analysis. Under traditional atmospheric pressure and static dripping conditions, the insulating varnish adhering to the metal surface is only subject to its own gravity. Since the insulating varnish is a high-molecular polymer, its surface tension and the intermolecular adhesion at the solid-liquid interface together constitute the physical resistance preventing the droplets from falling. When the mass of locally accumulated residual varnish is small, its gravity cannot overcome the combined resistance formed by surface tension and adhesion, and the fluid is in a relatively static mechanical equilibrium state. This passive dripping method, which relies on the natural accumulation and weight gain of the fluid to break the mechanical equilibrium, significantly prolongs the dripping cycle.

[0119] S402, the dynamic mechanical equation for resonant-excited dehydration. To break the aforementioned static mechanical equilibrium, the system's main control equipment applies high-frequency mechanical disturbances to the basket 4 via the conveying component 3, inducing resonance in the system. In the resonant state, the adhering residual paint droplets are subjected to alternating dynamic inertial forces. The system utilizes the increased dynamic inertial force as the driving source for forced dehydration, and its critical dehydration kinetic equation is as follows:

[0120] ;

[0121] The specific definitions of each symbol in the formula are as follows: This represents the combined dehydration driving force acting on a single residual paint droplet under resonant conditions; This represents the equivalent physical mass of a single excess paint droplet that accumulates on the surface of the stator coil of the motor to be impregnated or the first U-shaped rod 43. This represents standard gravitational acceleration; This represents the actual mechanical vibration amplitude generated by the suspended platform 4 under resonant excitation. This indicates the frequency of mechanical resonance excitation applied by the system to the suspended basket 4.

[0122] S403, Alternating Stress Stripping and Forced Draining Execution. Based on the aforementioned kinetic equations, when the combined descaling driving force is numerically greater than the physical adhesion force at the solid-liquid interface, the remaining paint droplets immediately detach from the metal surface. The system precisely controls and applies a specific resonant excitation frequency, causing high-frequency, minute spatial displacements in the basket 4, the first U-shaped rod 43, the second U-shaped rod 45, and the stator coil of the motor to be impregnated placed on them. This high-frequency displacement generates continuous alternating shear stress within the adhered insulating paint film. The alternating shear stress accelerates the relaxation of the polymer chains within the fluid, weakening the adhesion between the paint and the metal interface. Simultaneously, the rapidly increasing dynamic inertial force, as reflected in the equations, forces the originally stable droplets to fall off. Excess insulating paint, under the direct intervention of mechanical kinetic energy, quickly detaches from the surface of the stator coil of the motor to be impregnated and the basket 4, and falls vertically back into the impregnation tank 5, shortening the draining process time.

[0123] For the experimental determination of the static adhesion of insulating varnish and the data acquisition of vibration acceleration sensors, those skilled in the art can carry out the work according to conventional experimental fluid dynamics test specifications and sensor wiring standards. The methods for obtaining the mechanical vibration parameters involved are well-known technologies in this field and will not be elaborated here.

[0124] To achieve the resonance state required for liquid removal, the externally applied mechanical excitation frequency must match the natural mechanical frequencies of the suspended platform 4 and its load. The main control equipment independently calculates the natural frequencies based on the physical and mechanical parameters of the suspension system. This calculation process is divided into the following sub-steps:

[0125] S404, Calibration and Acquisition of the Equivalent Physical Mass of the Suspension System. The calculation of the resonant frequency depends on the total physical mass of the vibrating body. The system's main control device reads the preset weight parameter table from the memory. The total equivalent mass of the system is composed of the unloaded structural mass of the suspended basket 4 and the calibrated physical mass of the stator coil of the motor to be impregnated currently mounted. The unloaded structural mass of the suspended basket 4 includes the sum of the physical masses of the mounting part 41, the connecting frame 42, the multiple first U-shaped rods 43, and the two second U-shaped rods 45. The acquired total equivalent mass data is loaded into the calculation register of the arithmetic unit by the main control device.

[0126] S405, Determination of the equivalent stiffness of the chain drive assembly. The suspended basket 4 is suspended below two parallel chains 36 via the hanger 37. In the horizontal fretting and vertical vibration directions, the physical structure formed by the sprocket 32, the rotating shaft 31, and the tension section of the chain 36 constitutes a mechanical transmission chain with specific elasticity. The tensile cross-sectional area of ​​the chain 36, the elastic modulus of the metallic material, and the effective suspended geometric length between the two sprockets 32 together determine the ability of this mechanical transmission chain to resist physical deformation. The system uses an internal modeling algorithm to convert the above physical dimensions and material properties into a single comprehensive equivalent stiffness coefficient. This coefficient characterizes the magnitude of the elastic restoring force generated by the suspension structure when subjected to small reciprocating displacement disturbances.

[0127] S406, Solving the equation for the natural resonance frequency. After obtaining the total equivalent mass and the comprehensive equivalent stiffness coefficient, the main control unit's computing unit calls the single-degree-of-freedom mechanical vibration model equation for numerical calculation. This equation determines the critical frequency at which the system experiences mechanical resonance under the current mass and stiffness configuration, and its specific mathematical expression is as follows:

[0128] ;

[0129] The specific definitions of each symbol in the formula are as follows: This indicates the mechanical natural resonant frequency corresponding to the system's suspension structure; This represents the comprehensive equivalent stiffness coefficient of the mechanical suspension structure, including the tension section of chain 36 and the hanger 37. This represents the total equivalent physical mass obtained by superimposing the suspended basket 4 with the stator coil of the motor to be impregnated.

[0130] The main control device outputs the calculated resonant frequency to the temporary storage area of ​​the underlying control loop, setting it as the target instruction reference value for the driver frequency conversion control in subsequent actions.

[0131] For tensile testing of the elastic modulus of metallic materials and dynamic equivalent modeling of single-degree-of-freedom mass spring systems, those skilled in the art can consult and apply conventional theoretical mechanics and mechanical vibration design manuals. The finite element analysis extraction methods for structural stiffness involved are well-known technologies in this field and will not be elaborated here.

[0132] After calculating the system's inherent physical resonant frequency, the system needs to convert electrical commands into excitation forces acting on the suspension structure via mechanical hardware. To avoid the excitation action causing large horizontal displacement of the suspended platform 4 and disrupting the original spatial alignment coordinates, the system uses micro-amplitude alternating drive and utilizes the inherent mechanical clearance to generate the vibration source. This process is specifically divided into the following sub-steps:

[0133] S407, Generation and Output of Alternating Drive Pulse Command. Based on the calculated mechanical natural resonant frequency parameters, the main control device generates a continuous sinusoidal alternating position pulse sequence in its internal motion control module. This pulse sequence is sent via the communication bus to the bottom driver of the first drive motor 33 located on the side wall of the gantry 2. Upon receiving the alternating command, the angular displacement state of the first drive motor 33 follows the following control equation:

[0134] ;

[0135] The specific definitions of each symbol in the formula are as follows: This indicates that the first drive motor 33 is in alternating drive mode. The instantaneous angular displacement command value received at any given moment; This indicates the maximum deflection amplitude of the alternating angular displacement preset by the system; This represents the inherent mechanical resonance frequency of the suspension structure obtained in the preliminary calculation steps. This indicates the real-time running time after the system enters the resonance dehydration stage.

[0136] S408, Spatial boundary constraint of transmission component backlash. The maximum deflection amplitude of alternating angular displacement in the above equation is constrained by the physical dimensions of the mechanical structure of the transmission system. There is a tooth surface meshing backlash formed by machining and assembly between the first bevel gear 34 fixedly connected to the surface of the output shaft of the first drive motor 33 and the second bevel gear 35 fixedly connected to the end of the rotating shaft 31. The maximum deflection amplitude of alternating angular displacement set by the system main control equipment is numerically strictly less than the comprehensive equivalent backlash angle of the motor shaft after the above gear meshing backlash is superimposed on the physical clearance of the chain 36. This parameter constraint mechanism ensures that the high-frequency forward and reverse micro-motion of the output shaft of the first drive motor 33 is always confined within the physical space of the mechanical native backlash, cutting off the physical path of outputting macroscopic continuous displacement.

[0137] S409, High-frequency excitation force formation and resonance state transmission. Under closed-loop control, the first drive motor 33 performs high-frequency alternating forward and reverse rotation at a small angle at the inherent mechanical resonance frequency of the suspension structure. The teeth of the first bevel gear 34 undergo high-frequency physical impact within the meshing clearance of the second bevel gear 35. This high-frequency impact generates alternating small mechanical torque, which is directly transmitted to the rotating shaft 31 through the second bevel gear 35. The rotating shaft 31 drives the two sprockets 32, which are fixedly connected to the surface, to generate a small-amplitude angular oscillation at the same frequency. This angular oscillation generates an alternating physical tensile force on the vertical tension section of the chain 36. The alternating tensile force is transmitted downward along the chain 36 to the hanger 37, and finally applied to the basket 4 as a dynamic mechanical excitation source. Because the input excitation frequency physically coincides with the inherent mechanical frequency of the overall suspension structure, the basket 4 and the stator coil of the motor to be impregnated instantly reach a resonance state, causing the attached insulating varnish droplets to fall off and separate under the forced action of alternating inertial force, completing the rapid mechanical drying of the high-viscosity fluid.

[0138] For the sweep frequency test method of servo motor high frequency response bandwidth and the laser interferometry measurement method of gear meshing backlash, those skilled in the art can operate and implement them according to the conventional mechatronics equipment assembly manual and inspection standards. The mechanical transmission backlash measurement and motor bottom frequency compensation technology involved are well known technologies in this field and will not be described in detail here.

[0139] When the system reaches its natural mechanical resonant frequency and enters a rapid dehydration state, the continuously injected excitation energy will trigger a dynamic response in the suspension system. To prevent uncontrolled vibration amplitude and subsequent mechanical fall, the system utilizes the existing lifting structure to establish a spatial physical restraint mechanism. This process is specifically divided into the following sub-steps:

[0140] S410, Analysis of Resonance Divergence Tendency and Derailment Risk. Under resonant excitation, the suspended platform 4 and the stator coil of the motor to be impregnated continuously absorb the incident mechanical kinetic energy. When the structural damping and fluid damping within the system are insufficient to dissipate the continuously injected vibration energy, the horizontal vibration amplitude of the suspended structure shows a divergent amplification trend over time. This physical phenomenon manifests macroscopically as uncontrollable horizontal lateral slippage of the stator coil of the motor to be impregnated on the suspended platform 4. If this slippage exceeds the boundary of the placement space formed by multiple first U-shaped rods 43 and two second U-shaped rods 45, the stator coil of the motor to be impregnated faces the physical risk of direct derailment and fall.

[0141] S411, Mathematical Modeling of Spatial Constraint Boundaries. To establish a reliable safety protection mechanism, strict geometric spatial constraint boundaries are set internally for the horizontal oscillation amplitude. When the main control equipment executes resonant excitation actions in the control system, it follows the following amplitude boundary constraint equations:

[0142] ;

[0143] The specific definitions of each symbol in the formula are as follows: This indicates the maximum dynamic displacement deviation in the horizontal direction of the suspended basket 4 along with the stator coil of the motor to be impregnated under resonant conditions. This indicates the net physical clearance dimension on one side of the guide groove 53 formed between the outer wall of the first U-shaped rod 43 at the bottom of the suspended basket 4 and the adjacent constant temperature heating rod 52 inside the paint impregnation box 5; This indicates the collision avoidance safety margin parameters that the system pre-sets based on machining errors and assembly tolerances.

[0144] S412, Follow-up hovering control and physical limit protection execution. According to the above boundary constraint equation, when the main control equipment executes the preceding liquid withdrawal and descent action, it does not instruct the impregnation tank 5 to descend directly to the bottom physical limit position, but controls the second drive motor 61 to drive the impregnation tank 5 to hover at a specific safety limit height. At this height position, although the bottom of the stator coil of the motor to be impregnated has completely detached from the insulating varnish liquid surface, the upper parts of the multiple constant temperature heating rods 52 fixed to the bottom of the impregnation tank 5 are still parallel and staggered outside the multiple first U-shaped rods 43 and second U-shaped rods 45. The adjacent constant temperature heating rods 52 maintain the physical structural constraint of the guide groove 53. When the maximum horizontal dynamic displacement deviation caused by resonance attempts to exceed the physical net clearance size, the side wall of the first U-shaped rod 43 will directly interfere with the outer wall of the constant temperature heating rod 52. The constant temperature heating rod 52, with its bottom fixed to the box body 51, forcibly absorbs and blocks the further amplification of the horizontal kinetic energy of the basket 4. This physical limiting mechanism strictly constrains the overall vibration of the system within a safe clearance range, ensuring the efficiency of vertical excitation and dehydration while eliminating the risk of derailment and fall caused by uncontrolled horizontal amplitude of the stator coil of the motor to be impregnated.

[0145] For experiments on the determination of damping coefficient of mechanical vibration system and numerical solution of multi-degree-of-freedom suspension swing equation, those skilled in the art can analyze and apply them based on conventional vibration testing technical specifications and theoretical mechanical models. The mechanical collision interference judgment algorithm involved is a well-known technology in this field and will not be elaborated here.

Claims

1. A device for impregnating motor stator coils with varnish, characterized in that, It includes a base plate (1), a gantry frame (2), a conveying assembly (3), a basket (4), a immersion tank (5), and a lifting assembly (6), wherein the gantry frame (2) is fixedly connected to the top surface of the base plate (1); The conveying assembly (3) is disposed between the side walls of the gantry (2), and the conveying assembly (3) includes a first drive motor (33) and multiple hangers (37). The basket (4) is hung on the corresponding bracket (37), and the basket (4) is used to carry the stator coil of the motor to be impregnated; The lifting assembly (6) is disposed on the base plate (1). The lifting assembly (6) includes a second drive motor (61), a guide rod (62), a support plate (63) and a screw (64). The support plate (63) is slidably connected to the surface of the guide rod (62), and the screw (64) is threadedly connected to the support plate (63). The impregnation tank (5) is fixedly connected to the top surface of the support plate (63), and a constant temperature heating rod (52) is provided inside the impregnation tank (5).

2. The motor stator coil impregnation treatment device according to claim 1, characterized in that, The conveying assembly (3) also includes two rotating shafts (31), a first bevel gear (34), a second bevel gear (35), and two chains (36). The two rotating shafts (31) are symmetrically rotated and connected to both sides of the gantry frame (2), and each of the rotating shafts (31) is fixedly connected to a sprocket (32) at both ends. The first drive motor (33) is fixedly connected to the outer side wall of the gantry (2), and the first bevel gear (34) is fixedly connected to the output shaft surface of the first drive motor (33). The second bevel gear (35) is fixedly connected to the end of one of the rotating shafts (31), and the first bevel gear (34) and the second bevel gear (35) are meshed together. A chain (36) is provided between every two sprockets (32), and the plurality of hooks (37) are uniformly and fixedly connected to the side wall surface of the chain (36).

3. The motor stator coil impregnation treatment device according to claim 1, characterized in that, The suspended basket (4) is provided in multiple ways, and each suspended basket (4) includes two hooks (41), a connecting frame (42), multiple first U-shaped rods (43) and two second U-shaped rods (45). The two hooks (41) are respectively hung on the corresponding hooks (37), and the bottom of the two hooks (41) is fixedly connected to the connecting frame (42). The plurality of first U-shaped rods (43) are uniformly fixedly connected to the bottom surface of the connecting frame (42), and a gap (44) is formed between two adjacent first U-shaped rods (43). The two second U-shaped rods (45) are fixedly connected to the bottom two sides of the connecting frame (42). The multiple first U-shaped rods (43) and the two second U-shaped rods (45) together form the placement space for the stator coil of the motor to be impregnated.

4. The motor stator coil impregnation treatment device according to claim 3, characterized in that, The impregnation tank (5) includes a tank body (51); Multiple constant temperature heating rods (52) are provided, and multiple constant temperature heating rods (52) are uniformly fixedly connected to the inner wall surface of the bottom of the box (51). A guide groove (53) is formed between two adjacent constant temperature heating rods (52). Multiple thermostatic heating rods (52) are located within the gap (44), and the first U-shaped rod (43) and the second U-shaped rod (45) slide into the corresponding guide grooves (53).

5. The apparatus for impregnating motor stator coils according to claim 1, characterized in that, Four guide rods (62) are provided, and the four guide rods (62) are fixedly connected to the top surface of the substrate (1); The four corners of the bearing plate (63) are slidably connected to the surfaces of the four guide rods (62); The second drive motor (61) is fixedly connected to the bottom surface of the substrate (1), and the screw (64) is fixedly connected to the surface of the output shaft of the second drive motor (61). The screw (64) passes through the substrate (1) and is threadedly connected to the support plate (63).

6. A method for impregnating motor stator coils with varnish, characterized in that, An apparatus for impregnating motor stator coils according to any one of claims 1-5 includes the following steps: Control the first drive motor (33) to operate, and transport the basket (4) carrying the stator coil of the motor to be impregnated with paint through the conveying assembly (3) and stop it directly above the impregnation tank (5); Then, the second drive motor (61) is controlled to rotate in the forward direction to drive the screw (64), so that the support plate (63) and the paint dipping tank (5) rise along the guide rod (62) to the initial immersion height and remain stationary. The constant temperature heating rod (52) is used to conduct static heat conduction on the paint liquid. After static heat conduction is completed, the second drive motor (61) is controlled to execute alternating lifting logic, driving the paint impregnation tank (5) to reciprocate in the vertical direction, so that the constant temperature heating rod (52) periodically lifts the stator coil of the motor to be impregnated and causes the stator coil of the motor to be impregnated to fall down. Control the second drive motor (61) to rotate in the opposite direction to drive the paint dipping tank (5) to perform a descent action, and execute segmented differential control logic during the descent process; After the impregnation tank (5) descends and hovers at the safety limit height, it outputs alternating drive pulses to the first drive motor (33) to cause the stator coil of the motor to be impregnated to resonate and vibrate in place.

7. The method for impregnating motor stator coils with varnish according to claim 6, characterized in that, The bottom of the basket (4) is provided with a plurality of first U-shaped rods (43) and two second U-shaped rods (45), and a gap (44) is formed between two adjacent first U-shaped rods (43). The plurality of first U-shaped rods (43) and two second U-shaped rods (45) together form the placement space for the stator coil of the motor to be impregnated. The steps of driving the impregnation tank (5) to reciprocate vertically, so that the constant temperature heating rod (52) periodically lifts the stator coil of the motor to be impregnated and causes the stator coil of the motor to be impregnated to fall, specifically include: Control the second drive motor (61) to execute alternating lifting logic, and drive the paint dipping tank (5) to reciprocate in the vertical direction; By reciprocating up and down, the constant temperature heating rod (52) periodically passes through the gap (44) to flexibly lift the stator coil of the motor to be impregnated with paint, and then the stator coil of the motor to be impregnated with paint slowly falls back into the placement space; By utilizing the fluid shear force and pumping effect generated inside the paint liquid through reciprocating motion, trapped air bubbles hidden deep within the stator coil of the motor to be impregnated are forcibly squeezed out.

8. The method for impregnating motor stator coils with varnish according to claim 6, characterized in that, The paint dipping tank (5) contains paint liquid; Controlling the second drive motor (61) to rotate in the opposite direction to drive the impregnation tank (5) to perform a descent action, the steps of performing segmented differential control logic during the descent process specifically include: Control the second drive motor (61) to rotate in the opposite direction to drive the paint dipping tank (5) to perform a descent action, and execute segmented differential control logic during the descent process; During the initial stage when the bottom of the stator coil of the motor to be impregnated just leaves the liquid surface, the impregnation tank (5) is controlled to descend at a low speed according to the first setting. After the stator coil of the motor to be impregnated is completely separated from the paint liquid inside the impregnation tank (5), the impregnation tank (5) is controlled to switch to a second set speed greater than the first set low speed to accelerate the descent, and differential speed control is used to overcome the stringing defects caused by the high viscosity paint liquid.

9. The method for impregnating motor stator coils with varnish according to claim 8, characterized in that, The steps for executing segmented differential control logic during descent specifically include: During the process of controlling the second drive motor (61) to drive the paint dipping tank (5) to descend at a low speed according to the first setting, real-time position pulses are collected and the current absolute spatial height coordinates of the paint dipping tank (5) are calculated. The critical separation time is obtained by using the critical separation height as a reference point for time series transformation and analysis. Accumulate the real-time running time and compare the real-time running time with the critical separation time; When the real-time running time reaches the critical separation time, a hardware interrupt is triggered to rewrite the speed register value of the second drive motor (61), so that the descent speed of the paint dipping tank (5) is instantly switched to the second set speed.

10. A method for impregnating motor stator coils with varnish according to claim 6, characterized in that, The specific steps for inducing resonant vibration in the stator coil of the motor to be impregnated include: Send an alternating drive pulse sequence to the first drive motor (33) so that the first drive motor (33) receives the alternating command and performs alternating forward and reverse rotation; The maximum deflection amplitude of the alternating angular displacement of the first drive motor (33) is set to be less than the comprehensive equivalent backlash angle of the mechanical structure of the transmission system, thereby restricting the alternating forward and reverse rotation of the output shaft of the first drive motor (33) to the physical space of the mechanical native clearance. The high-frequency physical impact of the output shaft of the first drive motor (33) generates a small mechanical torque, which is transmitted to the basket (4) via the conveying component (3) as a dynamic mechanical excitation source, so that the basket (4) and the stator coil of the motor to be impregnated reach a resonance state, and the attached insulating varnish is forcibly shaken off.

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