Automatic tensile twist forming device for rectangular wire motor stators

Abstract

The present invention discloses an automatic twist forming device for expandable hairpin motor stators, comprising a worktable to which an annular spindle device and multiple rotary power devices are fixed, the multiple rotary power devices being arranged around the annular spindle device, the annular spindle device including multiple annular spindles nested in layers, each connected to a rotary power device that independently drives the rotation of the annular spindle device; a forming mold device including multiple forming molds, each corresponding to a layer of the stator winding of a rectangular wire motor, each mold being detachably connected to a layer of the annular spindle; an upper insulating paper protection mechanism connected to a z-direction power device that drives the upper insulating paper protection mechanism to slide up and down; and a lower insulating paper protection mechanism connected to a z-direction power device of the lower insulating paper protection mechanism that drives the lower insulating paper protection mechanism to slide up and down. This invention significantly reduces assembly and rework time and maintenance time after shutdown, significantly improving the operating rate of the production line.

Description

[Technical Field]

[0001] The present invention relates to an automatic twist forming equipment for tensile hairpin motor stators, which belongs to the technical field of hairpin motor stator winding manufacturing. [Background technology]

[0002] China's Thirteenth Five-Year Plan proposes that the peak power density of new energy vehicle drive motors should reach 4kW / kg, which is the product-level standard. The current average product-grade power density in the industry is about 3.2-3.3kW / kg, which means a power density increase of at least 30%. Hairpin motors are one solution to improving power density. The industry trend for flat wire motors has reached a basic consensus, because of their enormous potential.

[0003] While the advantages of hairpin motors are obvious, there are many difficulties in their production process and equipment, which also pose a barrier to their use. Twist forming is one of the most difficult processes in a rectangular wire stator production line. Currently disclosed twist forming methods require high levels of coordination between the twisting device and the operator. Each of the two layers must be bent separately, from the outermost winding to the innermost winding, and a different mold must be used for each forming. Multiple twists are required to achieve the desired effect. This complicated process makes it difficult for the hairpin to fit into the twisting die, resulting in poor consistency of the formed hairpin. Summary of the Invention

[0004] The technical problem that the present invention aims to solve is how to improve the production efficiency and precision of hairpin motors.

[0005] To solve the above technical problems, the technical scheme of the present invention provides an automatic twist forming device for an extensible hairpin motor stator, the device comprising: a work table, a work table, and a work table, on which an annular spindle device and a plurality of rotary power devices are fixed, the plurality of rotary power devices being arranged around the annular spindle device; a forming mold device disposed above the annular spindle device; an annular spindle device including a plurality of annular spindles nested by layer, each annular spindle connected to a rotary power device that independently rotates and drives the annular spindle; the forming mold device including a plurality of forming molds, each molding mold corresponding one-to-one to a layer wire of a stator winding of a rectangular wire motor, each molding mold being detachably connected to a layer of the annular spindle; a plurality of Z-direction guide rails fixed on an annular spindle device, a lower end insulating paper protection mechanism and an upper end insulating paper protection mechanism arranged on the Z-direction guide rails, the lower end insulating paper protection mechanism arranged above a forming mold device, the upper end insulating paper protection mechanism arranged above the lower end insulating paper protection mechanism, the upper end insulating paper protection mechanism connected to a Z-direction power device that drives the upper end insulating paper protection mechanism to slide up and down, and the lower end insulating paper protection mechanism connected to a Z-direction power device of the lower end insulating paper protection mechanism that drives the lower end to slide up and down. A through hole is provided in the center of the lower end insulating paper protection mechanism so that only the lower end of the workpiece can pass through.

[0006] A convex plate is disposed on each molding die and a groove is disposed on each annular mandrel, with the convex plate of each molding die matching the groove of the corresponding annular mandrel.

[0007] Each of the rotary power devices includes a servo actuator and a pinion connected to a rotating end of the servo actuator; one end of each annular spindle of the annular spindle device is connected to a corresponding forming mold on the forming mold device, and the other end of each annular spindle is connected to a sector tooth; and the pinions on each rotary power unit separately mesh with sector teeth corresponding to different layers on the annular spindle unit.

[0008] The annular spindles have a tubular structure, and each annular spindle corresponds to a forming mold, so that the forming mold rotates circumferentially along the stator of the hairpin motor; each annular spindle is positioned and stacked layer by layer using a bearing shoulder.

[0009] Precision positioning bearings are located at the bottom and top of the illustrated annular spindles in each layer.

[0010] The other ends of the multiple Z-direction guide rails are interconnected by a fixed plate, and there are at least two z-direction power devices for the upper end insulating paper protection mechanism and at least two z-direction power devices for the lower end insulating paper protection mechanism; the driving ends of the z-direction power devices for the upper end insulating paper protection mechanism are connected to the upper end insulating paper protection mechanism, and the z-direction power devices for the upper end insulating paper protection mechanism are fixed on the fixed plate; the driving ends of the z-direction power devices for the lower end insulating paper protection mechanism are connected to the lower end insulating paper protection mechanism, and the z-direction power devices for the lower end insulating paper protection mechanism are fixed on the upper end insulating paper protection mechanism.

[0011] The bolts for positioning the motor stator are embedded on the lower end insulating paper protection mechanism.

[0012] The motor stator is disposed between the upper insulating paper protection mechanism and the lower insulating paper protection mechanism; the upper insulating paper protection mechanism and the lower insulating paper protection mechanism are driven by the z-direction power device of the upper insulating paper protection mechanism and the z-direction power device of the lower insulating paper protection mechanism to clamp the centrally positioned motor stator, and the upper insulating paper protection mechanism and the lower insulating paper protection mechanism move toward the forming mold device together with the motor stator until the motor stator reaches the top of the forming mold device.

[0013] An inner support mechanism is provided at the center of the bottom of the upper insulating paper protection mechanism, and a through-hole is provided at the center of the upper insulating paper protection mechanism for passing a driving end of the inner support power device, which passes through the upper insulating paper protection mechanism and is connected to the inner support mechanism. The inner support mechanism is disposed within the iron core of the motor stator. The inner support power device drives the inner support mechanism so that it is tightly fastened within the motor stator.

[0014] Also included are a power device for the lower end insulating paper protection mechanism, a power device for the upper end insulating paper protection mechanism, an insulating paper protection mechanism, and a paper protection tooth, wherein the power device for the lower end insulating paper protection mechanism drives the insulating paper protection mechanism to insert the paper protection tooth between each of two adjacent wire slots; and the power device for the upper end insulating paper protection mechanism drives the insulating paper protection mechanism to insert the paper protection tooth between each of two adjacent wire slots.

[0015] The present invention has the advantages of a simple and compact structure, easy debugging, easy maintenance, easy operation, high production efficiency, and low usage costs. The fastener-free modular connection design provides a highly scalable and flexible solution, flexibly adapting to the automatic feeding of a robot or truss manipulator between the upper and lower insulating paper protection mechanisms, making it suitable for mass-production automated production lines. It meets the servo drive requirements for complex movements in molding multi-layer rectangular stator products, and can complete the molding of different wire layers of windings in a single operation, saving work steps. It has the characteristics of high speed, high efficiency, high precision, and high yield. The device of the present invention has the advantages of a vertical layout structure, a small footprint, easy mold changeover, and easy rework and maintenance due to the main components being located around the device.

[0016] The present invention adopts a multi-axis link mechanism to realize one-time forming, which has the advantages of high forming precision, reliable operation, short forming time, and the twist angle of each layer of the hairpin can be adjusted independently, thus perfectly meeting the needs of mass production.

[0017] NC system (numerical control system) control, each layer of the annular spindle has independent servo control, gear power transmission, one-way twist technology to eliminate gear clearance, and high-precision molding.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] Once the multi-layer hairpin is formed, it is fully automatic, the forming process is servo-controlled, the forming effect is good, the forming precision is high, and the shape consistency of the formed hairpin is ensured.

[0020] The present invention has the advantages of an integrated vertical arrangement, compact structure, small space occupation, and easy installation in the production line, which can reduce the investment cost of the production line by shortening the length of the automatic loading / unloading facility, and reduce the energy consumption of the facility.

[0021] The servo drive of the present invention is easy to adjust, facilitating the manufacture and rework of the stator. The precision of each parallel drive unit can be adjusted independently. This significantly reduces rework time, allowing production to begin as soon as possible, and shortening the payback period for the investment.

[0022] The modular design of the present invention is easy to install, easy to rework, and easy to maintain, significantly reducing assembly and rework time and maintenance time after shutdown, and significantly improving the availability of the production line. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is an axonometric view of the twist forming device of the present invention (1). [Figure 2] 1 is an axonometric view (2) of the twist forming device of the present invention. [Figure 3] FIG. 1 is a front view of the twist forming equipment of the present invention. [Figure 4] 1 is a cross-sectional view of the twist forming equipment of the present invention. [Figure 5] FIG. 2 is a cutaway view of the annular spindle unit. [Figure 6] FIG. 1 is an axonometric view of a molding device. [Figure 7] FIG. 1 is an axonometric view of an annular spindle unit. [Figure 8] FIG. 10 shows the change in copper wire of a rectangular stator during twist forming. [Figure 9] FIG. 10 is a schematic diagram of a Z-axis compensation mechanism. [Figure 10] FIG. 2 is a schematic diagram of an insulating paper protection mechanism. [Figure 11]FIG. 10 is a schematic diagram of a guard tooth inserted into each of two adjacent slots. DETAILED DESCRIPTION OF THE INVENTION

[0024] To make the present invention clearer and easier to understand, the following preferred embodiments are described in detail with reference to the accompanying drawings.

[0025] As shown in Figures 1 to 7, the present invention provides an automatic twisting and forming device for extensible rectangular wire motor stators suitable for flexible automatic wire assembly, and includes a work table 1-9, a work table 1-9, a work table 1-7, a work table 1-9, and a work table 1-9. An annular spindle device 6-1 is fixed on the work table 1-9, and a first rotary power device 1-1, a second rotary power device 1-2, a third rotary power device 1-3, a fourth rotary power device 1-4, a fifth rotary power device 1-5, a sixth rotary power device 1-6, a seventh rotary power device 1-7, and an eighth rotary power device 1-8 are arranged successively on the work table 1-9 around the annular spindle device 6-1. Each rotary power unit is provided with a high-precision servo actuator (which may be a servo motor), and a pinion connected to the rotating end of the servo actuator is provided at the top of each rotary power unit.

[0026] The annular spindle device 6-1 is composed of multiple rotatable annular spindles connected to each other. As shown in FIG. 4, one end of the annular spindle device 6-1 is connected to the forming die device 5-1, and the other end of the annular spindle is connected to a sector tooth pattern, which is horizontally coated on the outside of the annular spindle. Pinions on the rotary power units engage with different layers of sector teeth on the annular spindle device 6-1, driving the annular spindle device 6-1 to rotate the forming die device 5-1. Because the corresponding sector teeth of each annular spindle overlap at different heights, the pinions on the corresponding rotary power units are also positioned at different heights so as not to interfere with sector teeth at other positions. In other words, the thickness of the pinions corresponds to the thickness of the sector teeth.

[0027] The forming mold device 5-1 includes a plurality of forming molds, each layer of the stator winding of the rectangular wire motor corresponds to a forming mold, and a plurality of wire insertion slots are arranged circumferentially in each forming mold. The present invention is connected to the annular main shaft by a clamping groove type (each forming mold is provided with a boss 5-2, each annular main shaft is provided with a groove 6-2, and the boss 5-2 fits into the groove 6-2 and is clamped), so that changes can be made easily and quickly without fasteners.

[0028] The annular spindles are tubular structures, each corresponding to a forming die, and are used to drive the forming die to rotate around the circumferential direction of the stator of the hairpin motor. Each annular spindle is positioned and stacked layer by layer using a bearing shoulder.

[0029] The ring spindle device 6-1 has a layer-by-layer nesting structure, allowing 4 to 12 layers of hairpin motor stators to be twisted and formed by controlling the rotary power device. Each layer of the ring spindle has an independent servo control that matches the z-axis, allowing the forming curve to be adjusted. The ring spindle unit 6-1 uses a coaxial nesting method with high-precision bearings 8-1 positioned at the bottom and top of each ring spindle, as shown in Figure 5, to ensure rotational accuracy and stability.

[0030] A modular design is adopted, and different configurations can be selected according to different layers of hairpins in the stator product. The annular spindle device 6-1 is arranged at the bottom, and each rotary power device is uniformly arranged around the annular spindle device 6-1, and the stator of the hairpin motor is arranged above the device of the present invention, which is ergonomically well-considered and easy to observe during repair.

[0031] As shown in Figures 6 and 7, the twist forming mold can be quickly changed, and the forming mold device 5-1 and the ring spindle device 6-1 are connected by a clamping groove without any fasteners, so that the forming mold device 5-1 can be directly lifted during change, and after being removed from the ring spindle device 6-1, the forming die device 5-1 for other products can be replaced, thereby meeting the requirements of collinear production of different products.

[0032] Standardized design. Each rotary power unit, annular spindle unit 6-1, insulating paper protection unit (i.e., lower insulating paper protection unit 2-1 and upper insulating paper protection unit 3-1), insulating paper protection unit power unit and parts are interchangeable.

[0033] Each rotary power device corresponds to an annular spindle, which can independently drive the rotation of a forming die.

[0034] The lower insulating paper protection means 2-1 and the upper insulating paper protection means 3-1 share a plurality of Z-direction guide rails 7-1, i.e., both the lower insulating paper protection mechanism 2-1 and the upper insulating paper protection mechanism 3-1 can slide up and down along the plurality of Z-direction guide rails 7-1, as shown in Figure 2, to ensure coaxiality of the upper and lower insulating paper protection mechanisms. One end of the plurality of Z-direction guide rails 7-1 is fixed to the top periphery of the annular spindle device 6-1, and the other ends of the plurality of Z-direction guide rails 7-1 are interconnected by a fixed plate.

[0035] The lower insulating paper protection mechanism 2-1 is disposed above the forming mold device 5-1, the upper insulating paper protection mechanism 3-1 is disposed above the lower insulating paper protection mechanism 2-1, and a through-hole is disposed in the center between the lower insulating paper protection mechanism 2-1 and the upper insulating paper protection mechanism 3-1. The lower end of the workpiece can pass through the through-hole in the center of the lower insulating paper protection mechanism 2-1, but the upper end of the workpiece cannot; the driving end of the inner supporting power device 4-1 can pass through the through-hole in the upper insulating paper protection mechanism 3-1.

[0036] In this embodiment, the driving ends of the z-direction power device 3-2 of the first upper end insulating paper protection mechanism and the z-direction power device 3-3 of the second upper end insulating paper protection mechanism are connected to the upper end insulating paper protection mechanism 3-1, and the z-direction power device 3-2 of the first upper end insulating paper protection mechanism and the z-direction power device 3-3 of the second upper end insulating paper protection mechanism are fixed on a fixed plate; the driving ends of the z-direction power device 2-2 of the first lower end insulating paper protection mechanism and the z-direction power device 2-3 of the second lower end insulating paper protection mechanism are connected to the lower end insulating paper protection mechanism 2-1, and the z-direction power device 2-2 of the first lower end insulating paper protection mechanism and the z-direction power device 2-3 of the second lower end insulating paper protection mechanism are fixed on the upper end insulating paper protection mechanism 3-1.

[0037] As shown in Figure 8, when the copper wire of the rectangular wire stator 9-1 is twisted and formed, the copper wire is bent from a straight state a to a state B. There is a height difference c between state A and state B. Therefore, the rectangular wire stator 9-1 must be lowered during twist molding to compensate for the height difference c. As shown in Figure 9, the rectangular wire stator 9-1 is placed on the lower-end insulating paper protection mechanism 2-1 and positioned using the positioning key 2-5, as shown in Figure 11. When the twist is formed, the z-direction drive device of the first lower-end insulating paper protection mechanism 2-2 and the z-direction drive device of the second lower-end insulating paper protection mechanism 2-3 drive the lower-end insulating paper protection mechanism 2-1 and the hairpin stator 9-1 to reduce the compensated height difference c. When the lower end insulating paper protection device 2-1 is lowered, the z-direction power device 3-2 of the first upper end insulating paper protection mechanism and the z-direction power device 3-3 of the second upper end insulating paper protection mechanism drive the upper end insulating paper protection mechanism 3-1 to lower synchronously.

[0038] The lower-end insulating paper protection means 2-1 and the upper-end insulating paper protection means 3-1 have the same structure as shown in Figure 10, and each includes a chassis 2-9 with a through hole in the center, a positioning disk 2-7, and a turntable 2-8. Circular grooves fitting the positioning disk 2-7 and the rotating disk 2-8 are formed on the upper surface of the chassis 2-9, and the positioning disk 2-7 and the rotating disk 2-8 are placed in the circular grooves of the chassis 2-9, with the positioning disk 2-7 covering the top of the turntable 2-8. One end of the turntable 2-8 is placed on a handle that passes through the side of the chassis 2-9, and the turntable 2-8 rotates around the center of a circle on the chassis 2-9 by moving the handle. A positioning key 2-5 is placed on the central inner wall of the positioning plate 2-7. A plurality of protective tooth slots are uniformly spaced along the radius of the chassis 2-9 at the bottom of the circular groove. Each slot houses a protective tooth 2-6, allowing the tooth 2-6 to move radially around the chassis 2-9 within the slot. A roller with a central axis perpendicular to the tooth 2-6 is located at the outer end of each protective tooth 2-6. A plurality of arc-shaped holes are located on the disk surface of the turntable 2-8. One end of the holes is close to the center of the turntable 2-8, and the other end is farther away from the center. The rollers on each protective tooth 2-6 are located in the corresponding arc-shaped holes, and as the rotary disk 2-8 rotates, they move along the arc-shaped holes, driving the tooth 2-6 to expand and contract radially around the chassis 2-9 within the slot.

[0039] The Z-axis compensation mechanism uses a servo drive to compensate for the change in height of the hairpin of the motor stator winding from a straight state to a Z-shape. The insulating paper protection mechanism, as shown in Figure 11, inserts paper guard teeth 2-6 between two adjacent wire slots to prevent the insulating paper 9-2 from being torn during the forming process. The inner support mechanism 4-2 is used to clamp the motor stator core before forming to prevent the core from deforming during forming.

[0040] The workpiece (i.e., the rectangular wire stator 9-1) is placed on the lower end insulating paper protection mechanism 2-1, and a bolt (i.e., a positioning key 2-5) for positioning the workpiece is embedded in the lower end insulating paper protection mechanism 2-1. The lower end insulating paper protection mechanism power device 2-4 drives the insulating paper protection mechanism to insert the paper protection teeth 2-6 between each of two adjacent wire slots.

[0041] The z-direction power device 3-2 of the first upper insulating paper protection mechanism and the z-direction power device 3-3 of the second upper insulating paper protection mechanism drive the upper insulating paper protection mechanism 3-1 and the inner support mechanism 4-2 to descend to a predetermined position, and the upper insulating paper protection mechanism power device 3-4 drives the insulating paper protection mechanism to insert the paper protection teeth 2-6 between each of two adjacent wire slots. The inner support power device 4-1 drives the inner support mechanism 4-2 to tighten the stator of the hairpin motor. The inner support mechanism 4-2 is located at the center of the bottom of the upper insulating paper protection mechanism 3-1, and its drive end passes through the upper insulating paper protection mechanism 3-1 and is connected to the inner support mechanism 4-2.

[0042] The first lower end insulating paper protection mechanism z-direction power device 2-2 and the second lower end insulating paper protection mechanism z-direction power device 2-3 drive the lower end insulating paper protection mechanism 2-1, and the first upper end insulating paper protection mechanism z-direction power device 3-2 and the second upper end insulating paper protection mechanism z-direction power device 3-3 drive the upper end insulating paper protection mechanism 3-1, so that the lower end insulating paper protection device 2-1 and the upper end insulating paper protection device 3-1 descend synchronously and the workpiece is inserted into the forming die device 5-1.

[0043] The present invention can be applied to the automatic feeding of robots or truss manipulators and docking in production lines. By increasing the number of layers of the motor stator hairpins, the molding model device 5-1, the annular spindle device 6-1, and the rotary power device can be increased, allowing for rapid adaptation of existing equipment. (Other possible items) (Item 1) An extensible hairpin motor stator automatic twist forming device, the extensible hairpin motor stator automatic twist forming device comprising a work table (1-9) to which an annular spindle device (6-1) and a plurality of rotary power devices are fixed, the annular spindle device (6-1) and a plurality of rotary power devices are fixed to the work table (1-9), the plurality of rotary power devices are arranged around the annular spindle device (6-1), and a forming die device (5-1) is arranged above the annular spindle device (6-1), wherein the annular spindle device (6-1) includes a plurality of annular spindles nested in layers, and each layer of the annular spindles is connected to a rotary power device that independently drives the rotation of the annular spindle. The forming die device (5-1) includes a plurality of forming dies, each of which corresponds one-to-one to the layer line of the stator winding of the hairpin motor, each forming mold being adapted to a layer of the annular main shaft and removably connected thereto, a plurality of Z-direction guide rails (7-1) are fixed on the annular main shaft device (6-1), the lower end insulating paper protection mechanism (2-1) and the upper end insulating paper protection mechanism (3-1) are arranged on the plurality of Z-direction guide rails (7-1), the lower end insulating paper protection mechanism (2-1) is arranged above the forming die device (5-1), and the upper end insulating paper protection mechanism (3-1) is arranged on the Z-direction guide rails (7-1). an insulating paper protection mechanism (3-1) is disposed above the lower end insulating paper protection mechanism (2-1); the upper end insulating paper protection mechanism (3-1) is connected to the z-direction power device that drives the upper end insulating paper protection mechanism to slide up and down; and the lower end insulating paper protection mechanism (2-1) is connected to the z-direction power device of the lower end insulating paper protection mechanism that drives the lower end insulating paper protection mechanism to slide up and down; a through hole is provided in the center of the lower end insulating paper protection mechanism (2-1) through which only the lower end of the workpiece can pass. (Item 2) Item 1, an automatic twist forming device for a tensile flat wire motor stator according to item 1, wherein each forming die is provided with a boss (5-2), a groove (6-2) is arranged on each annular main shaft, and the boss (5-2) of each forming die is fitted into and clamped to the groove (6-2) of the corresponding annular main shaft. (Item 3) Item 1, an extensible flat wire motor stator automatic twist forming device according to item 1, wherein each of the rotary power units includes a servo actuator and a pinion, the pinion being connected to the rotating end of the servo actuator; one end of each annular spindle device (6-1) being connected to a corresponding forming die on the forming die device (5-1); the other end of each annular spindle being connected to a fan-shaped tooth; and the pinions on each rotary power device are respectively engaged with the fan-shaped tooth corresponding to a different layer on the annular spindle device (6-1). (Item 4) An automatic twist forming device for an expandable hairpin motor stator, wherein the annular main shafts have a tubular structure, each annular main shaft corresponds to a forming mold, the forming die rotates circumferentially along the hairpin motor stator, and each annular spindle is positioned and laminated layer by layer using a bearing shoulder. (Item 5) Item 1, wherein high-precision positioning bearings (8-1) are disposed at the bottom and top of the annular spindle in each layer. (Item 6) an automatic twist forming device for a stator of an expandable hairpin motor, wherein the other ends of the plurality of Z-direction guide rails (7-1) are interconnected by a fixed plate; the upper insulating paper protection mechanism includes at least two z-direction power devices, the lower insulating paper protection mechanism includes two z-direction power devices, the drive ends of the z-direction power devices of the upper end insulating paper protection mechanism are connected to the upper end insulating paper protection mechanism (3-1) and the z-direction power devices of the upper end insulating paper protection mechanism are fixed on the fixed plate; and the drive ends of the z-direction power devices of the lower end insulating paper protection mechanism are connected to the lower end insulating paper protection mechanism (2-1) and the z-direction power devices of the lower end insulating paper protection mechanism are fixed on the upper end insulating paper protection mechanism (3-1). (Item 7) Item 2. The automatic twisting and forming device for a tensile rectangular wire motor stator according to item 1, wherein a bolt for positioning the motor stator is embedded in the lower end insulating paper protection mechanism (2-1). (Item 8) Item 2. The automatic twist forming device for a tensile flat wire motor stator according to item 1, wherein a motor stator is disposed between the upper end insulating paper protection mechanism (3-1) and the lower end insulating paper protection mechanism (2-1); the upper end insulating paper protection mechanism (3-1) and the lower end insulating paper protection mechanism (2-1) are driven by the z-direction power device of the upper end insulating paper protection mechanism and the z-direction power device of the lower end insulating paper protection mechanism to clamp the centrally positioned motor stator, and the upper end insulating paper protection means (3-1) and the lower end insulating paper protection means (2-1) are moved in the direction of the forming die device (5-1) together with the motor stator until the motor stator is pressed against the forming die device (5-1). (Item 9) Item 10. The automatic twisting and forming device for an expandable rectangular wire motor stator according to item 1 or 8, wherein an inner support mechanism (4-2) is provided at the center position of the bottom of the upper end insulating paper protection mechanism (3-1), a through hole is provided at the center of the upper end insulating paper protection mechanism (3-1) for the driving end of the inner support power device (4-1) to pass through, and the driving end of the inner support power device (4-1) passes through the upper insulating paper protection mechanism (3-1) and is connected to the inner support mechanism (4-2) arranged in the iron core of the motor stator; and the inner support power device (4-1) drives the inner support mechanism (4-2) to tighten tightly within the hairpin motor stator. (Item 10) The automatic twisting and forming device for a tensile flat wire motor stator according to item 1 also includes a power device (2-4) for the lower end insulating paper protection mechanism, a power device (3-4) for the upper end insulating paper protection mechanism, an insulating paper protection mechanism, and a paper protection tooth (2-6), wherein the power device (2-4) for the lower end insulating paper protection mechanism drives the insulating paper protection mechanism to insert the paper protection tooth (2-6) between each of two adjacent wire slots; and the power device (3-4) for the upper end insulating paper protection mechanism drives the insulating paper protection mechanism to insert the paper protection tooth (2-6) between each of two adjacent wire slots.

Claims

1. A stretchable hairpin motor stator automatic twist forming device, the stretchable hairpin motor stator automatic twist forming device comprising a work table to which an annular spindle device and a plurality of rotary power devices are fixed, the annular spindle device and the plurality of rotary power devices are fixed to the work table, the plurality of rotary power devices are arranged around the annular spindle device, a forming die device is arranged above the annular spindle device, wherein the annular spindle device includes a plurality of annular spindles nested in layers, each layer of the annular spindles is connected to a rotary power device that independently drives the rotation of the annular spindle, the forming die device includes a plurality of forming dies, each forming die corresponds one-to-one to a layer line of a stator winding of a hairpin motor, and each forming die an extensible hairpin motor stator automatic twist forming device, wherein a mold is detachably connected to a layer of an annular spindle, a plurality of Z-direction guide rails are fixed on the annular spindle device, a lower end insulating paper protection mechanism and an upper end insulating paper protection mechanism are arranged on the plurality of Z-direction guide rails, the lower end insulating paper protection mechanism is arranged above the forming die device, the upper end insulating paper protection mechanism is arranged above the lower end insulating paper protection mechanism, the upper end insulating paper protection mechanism is connected to a z-direction power device that drives the upper end insulating paper protection mechanism to slide up and down, and the lower end insulating paper protection mechanism is connected to the z-direction power device of the lower end insulating paper protection mechanism that drives the lower end insulating paper protection mechanism to slide up and down; and a through hole is provided in the center of the lower end insulating paper protection mechanism through which only the lower end of a workpiece can pass.

2. 2. The extensible hairpin motor stator automatic twist forming device of claim 1, wherein each forming die is provided with a boss, a groove is disposed on each annular spindle, and the boss of each forming die is fitted and clamped into the groove of the corresponding annular spindle.

3. 2. The extensible hairpin motor stator automatic twist forming device of claim 1, wherein each of the rotary power devices includes a servo actuator and a pinion, the pinion being connected to a rotating end of the servo actuator; one end of each annular spindle device being connected to a corresponding forming die on the forming die device; the other end of each annular spindle being connected to a respective fan tooth; and the pinion on each rotary power device being engaged with the fan tooth corresponding to a different layer on the annular spindle device.

4. An automatic twist forming device for an expandable hairpin motor stator, in which the annular spindles have a tubular structure, each annular spindle corresponds to a forming mold, the forming die rotates circumferentially along the hairpin motor stator, and each annular spindle is positioned and laminated layer by layer using a bearing shoulder.

5. 2. The automatic twist forming device for an extensible hairpin motor stator as claimed in claim 1, wherein high precision bearings for positioning are disposed at the bottom and top of the annular spindle in each layer.

6. an upper end insulating paper protection mechanism including at least two z-direction power devices and a lower end insulating paper protection mechanism including two z-direction power devices, the drive ends of the z-direction power devices of the upper end insulating paper protection mechanism being connected to the upper end insulating paper protection mechanism and fixed on the fixed plate; and a lower end insulating paper protection mechanism including at least two z-direction power devices and two z-direction power devices, the drive ends of the z-direction power devices of the lower end insulating paper protection mechanism being connected to the lower end insulating paper protection mechanism and fixed on the upper end insulating paper protection mechanism.

7. 2. The automatic twist forming device for an extensible hairpin motor stator according to claim 1, wherein a bolt for positioning the hairpin motor stator is embedded in the lower end insulating paper protection mechanism.

8. 2. The extensible hairpin motor stator automatic twist forming device of claim 1, wherein a motor stator is disposed between the upper end insulating paper protection mechanism and the lower end insulating paper protection mechanism; the upper end insulating paper protection mechanism and the lower end insulating paper protection mechanism are driven by the z-direction power device of the upper end insulating paper protection mechanism and the z-direction power device of the lower end insulating paper protection mechanism to clamp the centrally positioned motor stator, and the upper end insulating paper protection mechanism and the lower end insulating paper protection mechanism are moved toward the forming die device together with the motor stator until the motor stator is pressed against the forming die device.

9. 9. The automatic twist-forming device for an extensible hairpin motor stator according to claim 1 or 8, wherein an inner support mechanism is provided at the center of the bottom of the upper end insulating paper protection mechanism, a through-hole is provided at the center of the upper end insulating paper protection mechanism for the driving end of an inner support power device to pass through, the driving end of the inner support power device passes through the upper end insulating paper protection mechanism and is connected to the inner support mechanism arranged in the iron core of the hairpin motor stator; and the inner support power device drives the inner support mechanism to tighten it within the hairpin motor stator.

10. 2. The automatic twist forming device for an extensible hairpin motor stator according to claim 1, further comprising a power device for the lower end insulating paper protection mechanism, a power device for the upper end insulating paper protection mechanism, an insulating paper protection mechanism, and a paper protection tooth, wherein the power device for the lower end insulating paper protection mechanism drives the insulating paper protection mechanism to insert the paper protection tooth between each of two adjacent wire slots; and the power device for the upper end insulating paper protection mechanism drives the insulating paper protection mechanism to insert the paper protection tooth between each of two adjacent wire slots.

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