CN111697773A

CN111697773A - Automatic buckling and connecting equipment for motor stator enameled coil wire head and conducting wire

Info

Publication number: CN111697773A
Application number: CN202010690923.XA
Authority: CN
Inventors: 涂伟金; 杨飞勇
Original assignee: Guangdong Jiahe Micromotor Co ltd
Current assignee: Guangdong Jiahe Micromotor Co ltd
Priority date: 2020-07-17
Filing date: 2020-07-17
Publication date: 2020-09-22

Abstract

The invention discloses automatic dotting and jointing equipment for a motor stator enameled coil wire head and a lead; belonging to the technical field of motor stator processing equipment; the wire conveyor is characterized by comprising a rack, wherein a wire conveyor belt is arranged on the rack, and a two-dimensional visual camera is arranged on the rack above the wire conveyor belt; a four-axis robot and a wiring terminal dotter are arranged on a rack on the side of the wire conveying belt machine, a carrier moving platform opposite to a head of the wiring terminal dotter is arranged on the side of the wiring terminal dotter, and a stator jig for placing a stator is arranged on the carrier moving platform; a stator coil wire head on the stator jig is sent into a wiring terminal dotter head through a carrier moving platform; the invention aims to provide the automatic dotting and jointing equipment for the motor stator enameled coil wire head and the conducting wire, which has the advantages of compact structure, high automation degree and good use effect; the automatic buckling joint is used for the stator coil wire head and the conducting wire.

Description

Automatic buckling and connecting equipment for motor stator enameled coil wire head and conducting wire

Technical Field

The invention relates to an automatic dotting and jointing device, in particular to an automatic dotting and jointing device for a motor stator enameled coil wire head and a conducting wire.

Background

At present, the connection of the wire head of the enameled coil of the stator of the micromotor and a lead wire is carried out by adopting a terminal dotter to carry out puncture, joint and conduction treatment. The operation is realized by manual operation. This approach has the following disadvantages: the method has the advantages of more manpower, complicated working procedures, large potential safety hazard, low production efficiency and incapability of guaranteeing the quality, and the quality is in direct proportion to the skill of workers, so that the quality and the efficiency of the motor stator product combination assembly are finally influenced.

Disclosure of Invention

The invention aims to provide the automatic buckling and connecting equipment for the motor stator enameled coil wire head and the conducting wire, which has the advantages of compact structure, high automation degree and good use effect, aiming at overcoming the defects of the prior art.

The technical scheme of the invention is realized as follows: a motor stator enameled coil end of a thread and automatic wire knotting jointing device comprises a frame, wherein a wire conveying belt machine for conveying wires is arranged on the frame, a two-dimensional vision camera is arranged on the frame above the wire conveying belt machine, and the two-dimensional vision camera is connected with a vision control unit;

a four-axis robot and a wiring terminal dotter are arranged on a rack on the side of the wire conveying belt machine, a carrier moving platform opposite to a head of the wiring terminal dotter is arranged on the side of the wiring terminal dotter, and a stator jig for placing a stator is arranged on the carrier moving platform; a stator coil wire head on the stator jig is sent into a wiring terminal dotter head through a carrier moving platform;

the free end of a Z-axis screw rod of the four-axis robot is connected with a wire clamping mechanism, and the wire clamping mechanism, the four-axis robot, the two-dimensional vision camera and the vision control unit are matched to clamp and convey a wire on the wire conveying belt machine to the stator jig and move the wire into a connecting terminal dotter head to automatically dotter after being attached to a stator coil head on the stator jig.

In the automatic knotting jointing equipment for the motor stator enameled coil wire head and the wire, a light shield is arranged on a frame on the periphery of the upper side of the wire conveyor belt, and the two-dimensional vision camera is opposite to the discharge end of the wire conveyor belt.

In the automatic buckling and connecting device for the motor stator enameled coil wire head and the conducting wire, the vision control unit consists of a control host connected with a two-dimensional vision camera and a touch control screen connected with the control host; and the wiring terminal dotter is connected with the control host through a circuit.

In the automatic buckling and connecting equipment for the wire ends and the conducting wires of the enameled coils of the motor stator, the stator jig consists of a bottom plate, a transverse fixed block which is arranged in the middle of the bottom plate and is in a groove-shaped structure and is adaptive to a stator to be processed, vertical fixed blocks which are respectively arranged at openings at two sides of the transverse fixed block, four L-shaped supporting frames which are arranged at the edge of the bottom plate and correspond to the wire ends of four stator coils on the stator, and elastic positioning clamps which are arranged on the L-shaped supporting frames and are matched with the wire ends of the stator coils; positioning notches are formed at the end parts of the two ends of the bottom plate corresponding to the outer sides of the transverse fixing blocks;

the elastic positioning clamp consists of a fixed clamping block which is vertically fixed on the L-shaped support frame and is L-shaped, guide positioning screws which are vertically arranged on the fixed clamping block at intervals in a penetrating way, a movable clamping block which is movably sleeved on each guide positioning screw and is matched with the fixed clamping block, and a compression spring which is sleeved on a screw rod between the outer wall of the movable clamping block and a nut of the guide positioning screw;

the upper ends of the fixed clamping block and the movable clamping block are provided with clamping notches which are matched with each other, the upper end of each clamping notch is formed with a guide inclined plane, and the two clamping notches are matched with a compression spring through guide positioning screws to form an elastic clamping opening.

In the automatic buckling and connecting equipment for the wire ends and the wires of the motor stator enameled coils, the carrier belt conveyor matched with the motor stator enameled wire ends is arranged on the side edge of the carrier moving platform, a plurality of stator jigs internally provided with stators are placed on the carrier belt conveyor, and the stator jigs are conveyed to the carrier moving platform through the carrier belt conveyor;

the output end of the carrier belt conveyor is provided with a first positioning mechanism, and the first positioning mechanism consists of a first mounting plate fixed on a frame of the carrier belt conveyor, a first double-rod cylinder vertically fixed on one side surface of the first mounting plate, a first stop block arranged at the free end of a piston rod of the first double-rod cylinder and matched with the stator jig, a first photoelectric switch arranged on the other side surface of the first mounting plate and positioned at the front side of the first stop block, and a second photoelectric switch arranged on the first mounting plate at the side edge of the first photoelectric switch and positioned at the rear side of the first stop block; the stator jig positioned at the output end of the carrier belt conveyor is positioned through the first positioning mechanism.

In the automatic buckling and connecting equipment for the wire ends and the wires of the motor stator enameled coils, the carrier moving platform comprises a support, a two-dimensional moving platform is arranged on the support, a 180-degree rotary cylinder is arranged on the two-dimensional moving platform, the 180-degree rotary cylinder is connected with a conveying support through a rotary connecting piece, a synchronous belt conveying mechanism is arranged on the conveying support, and second positioning mechanisms matched with the stator jig are respectively arranged at the input end and the output end of the synchronous belt conveying mechanism; and a stator coil wire head in the stator jig on the synchronous belt conveying mechanism is sent into the head of the wiring terminal dotter through the two-dimensional moving platform.

In the automatic knotting and jointing equipment for the wire ends and the conducting wires of the motor stator enameled coils, the synchronous belt conveying mechanism comprises two groups of driven synchronous belt pulley sets which are arranged at the upper end of the conveying support in parallel at intervals, and each driven synchronous belt pulley set comprises two driven synchronous belt pulleys arranged at intervals and a driven synchronous belt wound on the two driven synchronous belt pulleys;

a driving synchronous belt pulley mechanism is arranged in the conveying support below the two driven synchronous belt pulley groups, and consists of a mounting frame fixed at the bottom of the conveying support, a rotating shaft which is rotatably arranged on the mounting frame along the horizontal direction through a bearing, a stepping motor arranged on the conveying support at the side edge of the rotating shaft and driving synchronous belt pulleys which are arranged at two ends of the rotating shaft and respectively opposite to the two driven synchronous belt pulley groups;

the rotating shaft is connected and linked with the stepping motor through a synchronous belt pulley and a synchronous belt; each driven synchronous belt is connected and linked with the driving synchronous belt pulley below.

In the automatic buckling and connecting device for the coil end and the lead of the motor stator enameled coil, the second positioning mechanism is composed of a second double-rod cylinder vertically arranged on the conveying support, a second blocking block arranged at the free end of a piston rod of the second double-rod cylinder and matched with the stator jig, and an induction switch arranged on the conveying support and matched with the stator jig; when the second double-rod cylinder is in a contraction state, the upper end face of the second blocking block is positioned below the conveying face of the synchronous belt conveying mechanism.

In the automatic buckling and connecting device for the motor stator enameled coil wire head and the wire, the wire clamping mechanism consists of a pneumatic finger fixed at the lower end of the Z-axis screw rod and two L-shaped clamping blocks matched with the pneumatic finger; the two L-shaped clamping blocks are matched to clamp the lead.

After the structure is adopted, the wires which are arranged at intervals are automatically conveyed through the wire conveying belt conveyor. Meanwhile, the stator jig is matched with the carrier moving platform to automatically send the wire head of the stator coil into the head of the wiring terminal dotter. And then the two-dimensional vision camera and a control system thereof are matched with the four-axis robot and the specific wire clamping mechanism to automatically clamp the wires on the wire conveyor belt, and the wires are sent into the wiring terminal dotter to complete dotting and jointing and are fixed on the stator jig, so that the subsequent processing is facilitated. The device provided by the invention realizes automatic buckling and bonding of the motor stator enameled coil wire head and the conducting wire, not only saves labor and has high working efficiency, but also has the same quality, greatly reduces the stator product assembly cost, and further remarkably improves the market competitiveness of the micromotor.

Drawings

The invention will be further described in detail with reference to examples of embodiments shown in the drawings to which, however, the invention is not restricted.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of an assembly structure of the stator jig and the four-axis robot at the head of the wiring terminal dotter according to the present invention;

FIG. 3 is a schematic structural view of the wire gripping mechanism of the present invention;

FIG. 4 is a schematic structural view of a stator fixture according to the present invention;

FIG. 5 is a schematic view of the construction of the spring-loaded retaining clip of the present invention;

FIG. 6 is a schematic view of a vehicle moving platform according to the present invention;

FIG. 7 is a schematic structural view of the timing belt conveying mechanism of the present invention;

FIG. 8 is a schematic view of the carrier belt of the present invention;

fig. 9 is a schematic structural view of the first positioning mechanism of the present invention.

In the figure: 1. a frame; 1a, a light shield; 2. a wire belt conveyor; 3. a two-dimensional vision camera; 4. a vision control unit; 4a, a control host; 4b, a touch control screen; 5. a four-axis robot; 6. a wiring terminal dotter; 7. a carrier moving platform; 7a, a bracket; 7b, a two-dimensional mobile platform; 7c, 180-degree rotary air cylinder; 7d, a rotating connecting piece; 7e, conveying the bracket; 8. a stator jig; 8a, a bottom plate; 8b, transverse fixing blocks; 8c, vertical fixing blocks; 8d, an L-shaped support frame; 8e, elastic positioning clips; 8f, positioning a notch; 8g, fixing the clamping block; 8h, guiding a positioning screw; 8i, a movable clamping block; 8j, a compression spring; 8k, clamping a notch; 8l, a guide inclined plane; 9. a wire clamping mechanism; 9a, pneumatic fingers; 9b, an L-shaped clamping block; 10. a carrier belt conveyor; 11. a first positioning mechanism; 11a, a first mounting plate; 11b, a first double-rod cylinder; 11c, a first stop block; 11d, a first photoelectric switch; 11e, a second photoelectric switch; 12. a synchronous belt conveying mechanism; 12a, a driven synchronous pulley group; 12b, a driven synchronous pulley; 12c, a driven synchronous belt; 12d, driving synchronous belt pulley mechanism; 12e, a mounting rack; 12f, a rotating shaft; 12g, a stepping motor; 12h, driving a synchronous belt pulley; 13. a second positioning mechanism; 13a, a second double-rod cylinder; 13b, a second stop block; 13c, an inductive switch.

Detailed Description

Referring to fig. 1 to 9, the automatic wire end and wire buckling and bonding equipment for the motor stator enameled coil comprises a frame 1, wherein a wire conveyor 2 for conveying a wire is arranged on the frame 1, a two-dimensional vision camera 3 is arranged on the frame 1 above the wire conveyor 2, and the two-dimensional vision camera 3 is connected with a vision control unit 4. The vision control unit 4 is composed of a control host 4a connected with the two-dimensional vision camera 3 and a touch control screen 4b connected with the control host 4 a. Both the two-dimensional vision camera and the vision control unit are prior art. The two-dimensional vision camera preferably employs an AVT industrial camera. The control host is an industrial control host of a Hua brand.

A four-axis robot 5 and a wiring terminal dotter 6 are arranged on the frame 1 on the side of the wire belt conveyor 2, the four-axis robot and the wiring terminal dotter 6 are respectively in circuit connection with a control host 4a, and the control host controls the action of the control host. A carrier moving platform 7 opposite to the head of the wiring terminal dotter 6 is arranged on the side edge of the wiring terminal dotter 6, and a stator jig 8 for placing a stator is arranged on the carrier moving platform 7; and a stator coil wire head on the stator jig 8 is sent into the head of the wiring terminal dotter 6 through the carrier moving platform 7. A control cabinet is arranged on the side edge of the frame, and the wire belt conveyor and the carrier moving platform are respectively connected with the control cabinet. In the present invention, the control cabinet and the connection and control manner between the control cabinet and each mechanism are the prior art, belong to the common general knowledge in the field, are not the technical solutions claimed in the present invention, and are not described herein again.

In this embodiment, four-axis robot and binding post dotter are prior art. The four-axis robot is a robot with model AH-6530 and 054, which is produced by Li shoal Automation technology Limited in Dongguan. The wiring terminal dotter is an 802 type ultra-silent terminal machine produced by Tongchang electronics, Inc. in Lechang.

The free end of a Z-axis screw rod of the four-axis robot 5 is connected with a wire clamping mechanism 9, and the wire clamping mechanism 9 consists of a pneumatic finger 9a fixed at the lower end of the Z-axis screw rod and two L-shaped clamping blocks 9b arranged on the pneumatic finger 9a and matched with each other; the two L-shaped clamping blocks 9b cooperate to clamp the wire.

The wire clamping mechanism 9, the four-axis robot 5, the two-dimensional vision camera 3 and the vision control unit 4 are matched to clamp and convey the wire on the wire belt conveyor 2 to the stator jig 8, and the wire is attached to the wire head of the stator coil on the stator jig 8 and then is moved into the machine head of the wiring terminal dotter 6 to be automatically dotter.

Preferably, for avoiding light influence wire belt conveyor to go up the formation of image of wire, guarantee the degree of accuracy of two-dimensional vision camera formation of image, be provided with lens hood 1a in wire belt conveyor 2 upside outlying frame 1, two-dimensional vision camera 3 is relative with wire belt conveyor 2 discharge end.

In this embodiment, the stator jig 8 is composed of a bottom plate 8a, a horizontal fixing block 8b which is arranged in the middle of the bottom plate 8a and is in a groove-shaped structure corresponding to the stator to be processed, vertical fixing blocks 8c which are respectively arranged at openings at two sides of the horizontal fixing block 8b, four L-shaped supporting frames 8d which are arranged at the edge of the bottom plate 8a and correspond to four stator coil wire ends on the stator, and elastic positioning clips 8e which are arranged on the L-shaped supporting frames 8d and are matched with the stator coil wire ends; positioning notches 8f are formed at the end parts of the two ends of the bottom plate 8a corresponding to the outer side of the transverse fixing block 8 b; the positioning notch is used for accurately positioning the stator jig when the stator jig moves on a conveying mechanism such as a carrier moving platform.

The elastic positioning clamp 8e is composed of a fixed clamping block 8g which is vertically fixed on an L-shaped supporting frame 8d and is L-shaped, guide positioning screws 8h which are vertically arranged on the fixed clamping block 8g in a penetrating mode at intervals, movable clamping blocks 8i which are movably sleeved on the guide positioning screws 8h and matched with the fixed clamping blocks 8g, and compression springs 8j which are sleeved on screw rods between the outer walls of the movable clamping blocks 8i and nuts of the guide positioning screws 8 h.

The upper ends of the fixed clamping block 8g and the movable clamping block 8i are provided with clamping notches 8k which are matched with each other, the upper end of each clamping notch 8k is provided with a guide inclined plane 8l, and the two clamping notches 8k are matched with a compression spring 8j through guide positioning screws 8h to form an elastic clamping opening. In an initial state, the coil head of the stator coil is positioned in the elastic clamping opening, the width of the elastic clamping opening is smaller than the outer diameter of the lead, so that the integral positioning after the buckling and the jointing of the lead and the coil head is convenient, the lead and the coil head are ensured not to fall off and shift, and the processing of subsequent stations is convenient.

Further, in order to improve the automation degree of the equipment and the processing efficiency, a matched carrier belt conveyor 10 is arranged on the side edge of the carrier moving platform 7, a plurality of stator jigs 8 with built-in stators are placed on the carrier belt conveyor 10, and the stator jigs 8 are conveyed to the carrier moving platform 7 through the carrier belt conveyor 10;

a first positioning mechanism 11 is arranged at the output end of the carrier belt conveyor 10, and the first positioning mechanism 11 is composed of a first mounting plate 11a fixed on the frame of the carrier belt conveyor 10, a first double-rod cylinder 11b vertically fixed on one side surface of the first mounting plate 11a, a first stop block 11c arranged at the free end of a piston rod of the first double-rod cylinder 11b and matched with the stator jig 8, a first photoelectric switch 11d arranged on the other side surface of the first mounting plate 11a and positioned in front of the first stop block 11c, and a second photoelectric switch 11e arranged on the first mounting plate 11a on the side edge of the first photoelectric switch 11d and positioned behind the first stop block 11 c; the stator jig 8 at the output end of the carrier belt conveyor 10 is positioned by the first positioning mechanism 11. Specifically, the first blocking block is matched with a positioning notch on the stator jig so as to position the stator jig. In an initial state, the first double-rod cylinder is in an extending state, and the first blocking block is higher than the conveying surface at the upper end of the carrier belt conveyor. When the stator jig reaches the output end of the carrier belt conveyor, the stator jig stops moving through the cooperation of the first stop block and the positioning notch, the carrier belt conveyor is still in a rotating state at the moment, and the stator jigs are arranged next to one another. The first photoelectric switch is used for detecting whether the carrier belt is provided with a stator jig or not so as to control the work of subsequent stations. When a subsequent station needs to process a workpiece, a signal is given through the control cabinet, so that the first double-rod descends, and the stator jig located at the front end moves forwards and enters the carrier moving platform. When the whole second photoelectric switch of stator tool, first stopper is located the location breach of this stator tool rear end, and second photoelectric switch gives the signal control first double-rod cylinder and rises this moment, blocks that stator tool behind the antedisplacement. Thereby realizing the purpose of conveying a single stator jig once.

Preferably, the carrier moving platform 7 comprises a support 7a, a two-dimensional moving platform 7b is arranged on the support 7a, a 180-degree rotary cylinder 7c is arranged on the two-dimensional moving platform 7b, the 180-degree rotary cylinder 7c is connected with a conveying support 7e through a rotary connecting piece 7d, a synchronous belt conveying mechanism 12 is arranged on the conveying support 7e, and second positioning mechanisms 13 matched with the stator jig 8 are respectively arranged at the input end and the output end of the synchronous belt conveying mechanism 12; the stator coil wire head in the stator jig 8 on the synchronous belt conveying mechanism 12 is sent to the head of the wiring terminal dotter 6 through the two-dimensional moving platform 7 b. Through synchronous belt conveyor, realize the effect of stator tool input and output. The two-dimensional moving platform is used for controlling the two-dimensional movement of the stator jig, the purpose that one coil head and the lead at one end of the terminal dotter head are buckled and jointed by moving forwards is achieved, then the terminal dotter head moves laterally, and the other coil head and the lead at the same side are buckled and jointed.

Through 180 gyration cylinders, make stator tool rotatory 180, detain the joint to two coil end of a thread and the wire of the other end, when specifically detaining, equally by two-dimensional moving platform control.

Specifically, in the present embodiment, the synchronous belt conveying mechanism 12 includes two sets of driven synchronous belt pulley sets 12a disposed at the upper end of the conveying support 7e in parallel and at intervals, and the driven synchronous belt pulley set 12a is composed of two driven synchronous belt pulleys 12b disposed at intervals and a driven synchronous belt 12c wound around the two driven synchronous belt pulleys 12 b.

A driving synchronous belt pulley mechanism 12d is arranged in the conveying support 7e below the two driven synchronous belt pulley sets 12a, and the driving synchronous belt pulley mechanism 12d consists of an installation frame 12e fixed at the bottom of the conveying support 7e, a rotating shaft 12f which is rotatably arranged on the installation frame 12e along the horizontal direction through a bearing, a stepping motor 12g arranged on the conveying support 7e at the side edge of the rotating shaft 12f and driving synchronous belt pulleys 12h which are arranged at the two ends of the rotating shaft 12f and are respectively opposite to the two driven synchronous belt pulley sets 12 a;

the rotating shaft 12f is connected and linked with the stepping motor 12g through a synchronous belt pulley and a synchronous belt; each driven timing belt 12c is linked with a driving timing pulley 12h below.

Further preferably, the second positioning mechanism 13 is composed of a second double-rod cylinder 13a vertically arranged on the conveying support 7e, a second blocking block 13b arranged at the free end of the piston rod of the second double-rod cylinder 13a and matched with the stator jig 8, and an inductive switch 13c arranged on the conveying support 7e and matched with the stator jig 8; when the second double-rod cylinder 13a is in the contracted state, the upper end face of the second stopper 13b is located below the conveying face of the timing belt conveying mechanism 12. When the stator jig enters the synchronous belt conveying mechanism and is sensed by the inductive switch of the input end, the second blocking block at the output end rises, the stator jig continues to move forwards to be in contact with the second blocking block at the output end and stops, the inductive switch at the output end is triggered simultaneously, the second blocking block at the input end rises at the moment, and therefore the stator jig is clamped and positioned, the stator jig is guaranteed to be in a still state in the whole machining process, and the situation that the alignment and machining are influenced by the displacement of the horizontal direction is avoided.

When the device works, the workers arrange the leads on the lead conveyor belt at intervals. And meanwhile, the stator is placed on the stator jig, and the wire ends are correspondingly arranged in the elastic clamping openings. And then placing the stator jig on a carrier belt conveyor. And then starting the control cabinet to enable the equipment to enter a working state, sending the stator jig into the carrier moving platform by the carrier belt conveyor, and extending one of the wire ends on the stator jig into the machine head of the terminal dotter through the two-dimensional moving platform and the 180-degree rotary cylinder.

Meanwhile, under the cooperation of the control host and the two-dimensional vision camera, the four-axis robot clamps the wire on the wire conveying belt machine through the wire clamping mechanism and sends the wire into the head of the terminal dotter along a preset motion track, and meanwhile, the wire is attached to the end of the wire in the elastic clamping opening of the processing station and clamped in the elastic clamping opening.

After the four-axis robot moves in place, the wire clamping mechanism releases the wire, the control host controls the terminal dotter to work, and the four-axis robot resets. After the dotting is finished, the two-dimensional moving platform moves to move the other wire end on the same side into the head of the dotter, and the four-axis robot repeats the actions to clamp another wire and sends the wire into the terminal dotter to be doted and jointed.

And then the stator jig is controlled to rotate 180 degrees by the 180-degree rotary cylinder, and the steps are repeated to finish the buckling and the jointing of the wire ends and the conducting wires. So far, the buckling connection of a stator coil wire head and a conducting wire is completed, and the stator jig is sent out through the synchronous belt conveying mechanism. And the carrier belt conveyor is sent into the next stator jig for buckling and jointing.

The above-mentioned embodiments are only for convenience of description, and are not intended to limit the present invention in any way, and those skilled in the art will understand that the technical features of the present invention can be modified or changed by other equivalent embodiments without departing from the scope of the present invention.

Claims

1. The automatic buckling and connecting equipment for the wire ends and the wires of the enameled coils of the motor stator comprises a rack (1) and is characterized in that a wire conveying belt conveyor (2) for conveying the wires is arranged on the rack (1), a two-dimensional visual camera (3) is arranged on the rack (1) above the wire conveying belt conveyor (2), and the two-dimensional visual camera (3) is connected with a visual control unit (4);

a four-axis robot (5) and a wiring terminal dotter (6) are arranged on a rack (1) at the side of a wire conveying belt conveyor (2), a carrier moving platform (7) opposite to the head of the wiring terminal dotter (6) is arranged at the side of the wiring terminal dotter (6), and a stator jig (8) for placing a stator is arranged on the carrier moving platform (7); the stator coil wire head on the stator jig (8) is sent into the machine head of the wiring terminal dotter (6) through the carrier moving platform (7);

the wire clamping mechanism (9) is connected to the free end of a Z-axis screw of the four-axis robot (5), the wire clamping mechanism (9), the four-axis robot (5), the two-dimensional vision camera (3) and the vision control unit (4) are matched to clamp and convey a wire on the wire conveyor belt (2) to the stator jig (8) and move into the head of the wiring terminal dotter (6) to automatically dotter after being attached to a stator coil head on the stator jig (8).

2. The automatic buckling and connecting device for the wire ends and the wires of the motor stator enameled coil is characterized in that a light shield (1a) is arranged on the frame (1) on the periphery of the upper side of the wire conveyor (2), and the two-dimensional vision camera (3) is opposite to the discharge end of the wire conveyor (2).

3. The automatic motor stator enameled coil wire head and wire dotting and jointing equipment according to claim 1 or 2, characterized in that the vision control unit (4) is composed of a control host (4a) connected with a two-dimensional vision camera (3) and a touch control screen (4b) connected with the control host (4 a); and the wiring terminal dotter (6) is in circuit connection with the control host (4 a).

4. The automatic buckling and connecting device for the wire ends and the conducting wires of the enameled coils of the motor stator, as recited in claim 1, characterized in that the stator jig (8) is composed of a bottom plate (8a), a transverse fixing block (8b) which is arranged in the middle of the bottom plate (8a) and is in a groove-shaped structure and is adapted to the stator to be processed, vertical fixing blocks (8c) which are respectively arranged at the openings at two sides of the transverse fixing block (8b), four L-shaped supporting frames (8d) which are arranged at the edge of the bottom plate (8a) and correspond to the wire ends of the four stator coils on the stator, and elastic positioning clips (8e) which are arranged on the L-shaped supporting frames (8d) and are matched with the wire ends of the stator coils; positioning notches (8f) are formed at the end parts of the two ends of the bottom plate (8a) corresponding to the outer side of the transverse fixing block (8 b);

the elastic positioning clamp (8e) consists of a fixed clamping block (8g) which is vertically fixed on the L-shaped support frame (8d) and is L-shaped, guide positioning screws (8h) which are vertically arranged on the fixed clamping block (8g) at intervals in a penetrating way, a movable clamping block (8i) which is movably sleeved on each guide positioning screw (8h) and is matched with the fixed clamping block (8g), and a compression spring (8j) which is sleeved on a screw rod between the outer wall of the movable clamping block (8i) and the nut of each guide positioning screw (8 h);

clamping notches (8k) which are matched with each other are arranged at the upper ends of the fixed clamping block (8g) and the movable clamping block (8i), a guide inclined plane (8l) is formed at the upper end of each clamping notch (8k), and the two clamping notches (8k) are matched with a compression spring (8j) through guide positioning screws (8h) to form an elastic clamping opening.

5. The automatic buckling and connecting equipment for the wire ends and the wires of the motor stator enameled coils is characterized in that matched carrier belt conveyors (10) are arranged on the side edges of the carrier moving platform (7), a plurality of stator jigs (8) with built-in stators are placed on the carrier belt conveyors (10), and the stator jigs (8) are conveyed to the carrier moving platform (7) through the carrier belt conveyors (10);

the output end of the carrier belt conveyor (10) is provided with a first positioning mechanism (11), the first positioning mechanism (11) consists of a first mounting plate (11a) fixed on the frame of the carrier belt conveyor (10), a first double-rod cylinder (11b) vertically fixed on one side surface of the first mounting plate (11a), a first stop block (11c) arranged at the free end of a piston rod of the first double-rod cylinder (11b) and matched with the stator jig (8), a first photoelectric switch (11d) arranged on the other side surface of the first mounting plate (11a) and positioned in front of the first stop block (11c), and a second photoelectric switch (11e) arranged on the first mounting plate (11a) on the side edge of the first photoelectric switch (11d) and positioned behind the first stop block (11 c); the stator jig (8) positioned at the output end of the carrier belt conveyor (10) is positioned through a first positioning mechanism (11).

6. The automatic buckling and connecting device for the wire head and the lead of the motor stator enameled coil is characterized in that the carrier moving platform (7) comprises a support (7a), a two-dimensional moving platform (7b) is arranged on the support (7a), a 180-degree rotary air cylinder (7c) is arranged on the two-dimensional moving platform (7b), the 180-degree rotary air cylinder (7c) is connected with a conveying support (7e) through a rotary connecting piece (7d), a synchronous belt conveying mechanism (12) is arranged on the conveying support (7e), and a second positioning mechanism (13) matched with the stator jig (8) is respectively arranged at the input end and the output end of the synchronous belt conveying mechanism (12); and the stator coil wire head in the stator jig (8) on the synchronous belt conveying mechanism (12) is conveyed into the head of the wiring terminal dotter (6) through the two-dimensional moving platform (7 b).

7. The automatic motor stator enameled coil wire head and wire looping and jointing device according to claim 6, characterized in that the synchronous belt conveying mechanism (12) comprises two sets of driven synchronous belt pulley sets (12a) which are arranged in parallel and at intervals at the upper end of the conveying bracket (7e), the driven synchronous belt pulley sets (12a) are composed of two driven synchronous belt pulleys (12b) which are arranged at intervals and driven synchronous belts (12c) which are wound on the two driven synchronous belt pulleys (12 b);

a driving synchronous belt pulley mechanism (12d) is arranged in a conveying support (7e) below the two driven synchronous belt pulley sets (12a), and the driving synchronous belt pulley mechanism (12d) consists of a mounting frame (12e) fixed at the bottom of the conveying support (7e), a rotating shaft (12f) rotatably arranged on the mounting frame (12e) through a bearing along the horizontal direction, a stepping motor (12g) arranged on the conveying support (7e) at the side edge of the rotating shaft (12f) and driving synchronous belt pulleys (12h) which are arranged at the two ends of the rotating shaft (12f) and are respectively opposite to the two driven synchronous belt pulley sets (12 a);

the rotating shaft (12f) is connected and linked with the stepping motor (12g) through a synchronous belt pulley and a synchronous belt; each driven synchronous belt (12c) is connected and linked with a driving synchronous belt pulley (12h) below.

8. The automatic buckling and connecting device for the end of the enameled coil wire and the conducting wire of the motor stator according to claim 6 or 7, characterized in that the second positioning mechanism (13) is composed of a second double-rod cylinder (13a) vertically arranged on the conveying support (7e), a second stop block (13b) arranged at the free end of the piston rod of the second double-rod cylinder (13a) and matched with the stator jig (8), and an inductive switch (13c) arranged on the conveying support (7e) and matched with the stator jig (8); when the second double-rod cylinder (13a) is in a contraction state, the upper end face of the second stop block (13b) is positioned below the conveying face of the synchronous belt conveying mechanism (12).

9. The automatic buckling and connecting device for the motor stator enameled coil wire head and the wire is characterized in that the wire clamping mechanism (9) consists of a pneumatic finger (9a) fixed at the lower end of a Z-axis screw rod and two matched L-shaped clamping blocks (9b) arranged on the pneumatic finger (9 a); the two L-shaped clamping blocks (9b) are matched to clamp the lead.