CN114726173A - Control method for placing flat wire hairpin into placing groove - Google Patents

Abstract

The invention provides a method for controlling flat wire to be clamped into a placing groove, which comprises the following steps: placing the front side leg of the front hairpin in the hairpin placing groove of the charging barrel, and erecting the rear side leg on the raising mechanism; the lifting mechanism lifts the rear side leg of the front hairpin; the charging barrel intermittently rotates according to a preset angle, when the charging barrel rotates by a given angle of one unit, the lifting mechanism lifts the rear side leg of the front hairpin, the front side leg of the rear hairpin is arranged in the charging barrel hairpin placing groove below the rear side leg of the front hairpin, and the rear side leg of the front hairpin is separated from the lifting mechanism and is arranged in the hairpin placing groove under the driving of the charging barrel. According to the invention, the front hairpin rear side leg is lifted firstly and then lifted by the lifting mechanism, and the lifting and lifting actions of the lifting mechanism are sequentially connected with the rotating motion of the charging barrel, so that the hairpins can be sequentially placed in the hairpin placing grooves according to the set laminated structure, and the hairpin placing device has the advantages of high placing precision and convenience in operation and control, and can effectively prevent the problem of disorder in the hairpin placing process.

Description

Control method for placing flat wire hairpin into placing groove

Technical Field

The invention relates to the technical field of flat wire motor production, in particular to a method for controlling flat wire to be clamped into a placing groove.

Background

The existing flat wire motor generally adopts a multi-layer flat wire structure, 4 layers and 8 layers are common, the multi-layer flat wire structure enables flat wire motor windings to be arranged in a stator slot in a layered mode, and the existing multi-layer flat wire motor windings are mounted in the stator slot in a multi-layer mode. For flat wire insertion, a manual wire insertion method exists in the prior art, but with higher and higher automation requirements, the automatic wire insertion method gradually replaces the manual wire insertion method. Patent application No. 201880012303.1, and japanese patent application publication No. CN110337776B disclose a coil assembling device, a coil assembling method, and a manufacturing device of a rotating electric machine, in which coil segments can be smoothly inserted from the outside of the radiation direction into a coil segment holding portion arranged in a circular ring shape, and these coil segments can be easily arranged in a circular ring shape. Further, the coil segments sequentially fed are directly guided to the coil segment holding portion and inserted as the coil segment arrangement body rotates, so that the coil can be quickly and efficiently assembled into an annular shape.

In the process of placing a rear hairpin into the hairpin placing groove, the requirement that the front leg of a rear hairpin is placed below the rear leg of a front hairpin is met to form a structure which is laminated in sequence, so that the groove fullness rate is improved, however, the prior art lacks a method for effectively controlling the cycloid process, the placing precision between the hairpins is low, the forming quality of a flat wire winding is influenced, and the use performance of a motor is further influenced.

Disclosure of Invention

The invention provides a control method for clamping a hairpin into a placing groove according to a set laminated structure by controlling the lifting and the picking actions of a picking mechanism to be orderly connected with the rotating motion of a charging barrel so as to realize that the hairpin is sequentially placed into the flat wire hairpin of a charging barrel mould.

In order to solve the technical problems, the invention adopts the following technical scheme:

a control method for putting a flat wire hairpin into a placing groove comprises the following steps:

placing the front side leg of the front hairpin in the hairpin placing groove of the charging barrel, and erecting the rear side leg on the raising mechanism;

the lifting mechanism lifts the rear side leg of the front hairpin;

the charging barrel intermittently rotates according to a preset angle, when the charging barrel rotates by a given angle of one unit, the lifting mechanism lifts the rear side leg of the front hairpin, the front side leg of the rear hairpin is arranged in the charging barrel hairpin placing groove below the rear side leg of the front hairpin, and the rear side leg of the rear hairpin is separated from the lifting mechanism and is placed in the hairpin placing groove under the driving of the charging barrel;

and repeating the steps until all the flat wires required by the stator core are fully arranged on the surface of the charging barrel.

Preferably, the step of placing the front leg of the previous hairpin in the hairpin placing groove of the feed cylinder and the step of placing the rear leg on the raising mechanism further comprises the step of extending the baffle plate along the radial direction of the feed cylinder to form the hairpin placing groove at the periphery of the feed cylinder.

Preferably, the step of placing the front leg of the previous hairpin in the hairpin placing groove of the charging barrel and the step of placing the rear leg on the raising mechanism comprises:

the servo assembly drives the lifting mechanism to move to a card sending cycloid station above the material barrel;

the horizontal height of a deflector rod assembly in the driving and lifting mechanism is lower than the horizontal height of a supporting rod assembly in the lifting mechanism, so that a hairpin inserting space is reserved;

the front side leg of the front hairpin is arranged in the hairpin placing groove of the charging barrel through the space, and the rear side leg is arranged on the deflector rod component.

Preferably, the step of lifting the rear leg of the previous hairpin by the lifting mechanism includes the step of driving the shift lever assembly to move up to the same horizontal height as the support rod assembly so as to lift the rear leg of the previous hairpin.

Preferably, the step of the servo assembly driving the picker mechanism to move to the cocking cycloidal station above the cartridge comprises the step of acting through a transverse servo and a longitudinal servo to move the picker mechanism to a suitable cycloidal position above the cartridge.

Preferably, the strut assembly comprises front struts distributed along the axial direction of the charging barrel and front support plates distributed at intervals at the tops of the front struts and used for picking up the rear side legs of the hairpin.

Preferably, the deflector rod assembly comprises a deflector rod capable of vertically displacing through a vertical cylinder drive and a rear support plate arranged at the top of the deflector rod at intervals and used for erecting the legs at the rear side of the hair pin.

Preferably, the step of driving the deflector rod assembly to move upwards to be located at the same horizontal height as the support rod assembly so as to lift the rear side leg of the front hairpin comprises the step of driving the deflector rod to move upwards to be located at the same horizontal height as the front support rod by the vertical cylinder so as to lift the rear side leg of the front hairpin.

Preferably, the charging barrel intermittently rotates according to a preset angle, when the charging barrel rotates by a given angle of one unit, the lifting mechanism lifts the front rear leg, the front leg of the rear hairpin is arranged in the charging barrel hairpin placing groove below the rear leg of the front hairpin, and the rear leg of the rear hairpin is driven by the charging barrel to be separated from the lifting mechanism and placed in the hairpin placing groove, and the step of the lifting mechanism comprises the following steps:

when the charging barrel rotates by a given angle of one unit, the rear side leg of the front hairpin is driven to be transferred from the deflector rod assembly to the support rod assembly so as to jack the rear side leg of the front hairpin;

the deflector rod assembly moves downwards to reset, and an insertion space is reserved again;

the front side leg of the latter hairpin is arranged in the charging barrel hairpin placing groove below the rear side leg of the former hairpin through the inserting space, and the rear side leg of the latter hairpin is erected on the poking rod component;

the charging barrel further rotates, and the rear side leg of the front hairpin is separated from the strut assembly and is placed in the corresponding hairpin placing groove.

Preferably, the subsequent hairpin repeats the above steps until all the flat wire hairpins required by the stator core are fully arranged on the surface of the charging barrel, and the step of hairpin comprises the following steps:

the charging barrel rotates for a circle, and a layer of flat wire hairpin winding is formed on the periphery of the charging barrel;

the baffle extends out along the radial direction of the charging barrel to form a two-layer hairpin placing groove;

and repeating the hairpin placing operation until the periphery of the charging barrel is filled with the required number of layers of flat wire hairpin windings.

According to the technical scheme, the invention has the following beneficial effects: the lifting mechanism comprises a lifting lever assembly, a support rod assembly, a lifting lever assembly, a clamping mechanism and a clamping mechanism, wherein the lifting lever assembly is arranged in the mechanism, the lifting lever assembly is used for lifting a front hairpin rear leg, the rear leg of the front hairpin is transferred to the support rod assembly from the lifting lever assembly under the action of the rotating force of a charging barrel, the lifting lever assembly is used for lifting the front hairpin, the front hairpin is lifted up and is placed in a charging barrel hair-distribution groove below the front hairpin rear leg, the lifting lever assembly is used for lifting the front hairpin, the front hairpin is placed in the hair-distribution groove according to the set laminated structure, the lifting lever assembly has the advantage of high placement accuracy, the convenience in operation is achieved, and the problem of mess in the process of placing can be effectively prevented.

Drawings

FIG. 1 is a flow chart of a control method provided by the present invention;

FIG. 2 is a schematic structural view of a guide device provided in the present invention;

FIG. 3 is an enlarged view of the lift mechanism of FIG. 2;

fig. 4 is a schematic view of the present invention providing a cocking mechanism in cooperation with a cartridge.

In the figure: 10. a support; 20. a guide assembly; 210. a lateral servo mechanism; 211. a horizontal servo motor; 212. a horizontal lead screw; 220. a longitudinal servo mechanism; 221. a vertical servo motor; 222. a vertical mounting base; 30. a raising mechanism; 310. a strut assembly; 311. a front support rod; 312. a front support plate; 320. a deflector rod assembly; 321. a vertical cylinder; 322. a deflector rod; 323. a rear support plate; 330. an auxiliary support; 331. a horizontal cylinder; 332. an auxiliary strut; 333. a rear support plate.

Detailed Description

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

Example (b):

referring to fig. 2, 3 and 4, the flat wire hairpin slot guide device comprises a bracket 10, a guide assembly 20 and a raising mechanism 30, wherein the guide assembly can move along the horizontal and vertical directions of the bracket, the raising mechanism is arranged at a guide assembly mounting part, the raising mechanism comprises a support rod assembly 310 arranged at the mounting part and a deflector rod assembly 320 which is arranged at the rear side of the support rod assembly and can move along the vertical direction of the bracket for raising a hairpin rear side leg to the support rod assembly so as to facilitate the insertion of a subsequent hairpin, when in use, the guide device is arranged above a hairpin placing mold, the deflector rod assembly is initially positioned below the rear side of the support rod assembly to reserve a space, the hairpin is grabbed by a mechanical arm, the hairpin front side leg is placed on a hairpin placing slot on a charging barrel through the reserved space, and the hairpin rear side leg is placed on the deflector rod assembly, utilize the driving lever subassembly to rise along the ascending similar level of support vertical direction with hairpin rear side leg afterwards to with branch subassembly, the feed cylinder drives the synchronous rotation of hairpin at rotatory in-process to move the hairpin rear side leg to on the branch subassembly, thereby realize the lifting of this hairpin rear side leg, move down along with the driving lever subassembly, so that the front side leg of a back hairpin inserts on the feed cylinder hairpin groove of putting of preceding hairpin rear side leg below.

As a preferred technical solution of the present invention, the guide assembly 20 includes a transverse servo mechanism 210 and a longitudinal servo mechanism 220 disposed on a transverse servo mechanism mounting portion, wherein the transverse servo mechanism includes a horizontal servo motor 211 disposed on the bracket, a horizontal lead screw 212 rotatably disposed on an output end of the horizontal servo motor, a horizontal lead screw nut screwed with the horizontal lead screw, and a horizontal mounting seat disposed on an outer wall of the horizontal lead screw nut, so that the horizontal servo motor drives the horizontal lead screw nut to axially displace along the horizontal lead screw during operation, thereby realizing horizontal displacement of the horizontal mounting seat and its upper components along the bracket.

Further, vertical servo mechanism 220 is including setting up vertical servo motor 221 on horizontal mount pad, rotating the vertical lead screw that sets up at the vertical servo motor output, the vertical screw nut who closes with vertical screw spiral shell and set up the vertical mount pad 222 at vertical screw nut outer wall, from this, vertical servo motor drives vertical screw nut along vertical screw axial displacement at the during operation to realize vertical mount pad and its upper segment along the vertical displacement of support.

Because the winding of the existing flat wire motor is divided into a plurality of layers, when hairpins on different layers are placed, the position of the picking mechanism needs to be adaptively adjusted, so that the horizontal displacement function of the transverse servo mechanism 210 and the vertical displacement function of the longitudinal servo mechanism 220 can be utilized, the horizontal displacement and the vertical displacement of the picking mechanism are realized, and the picking mechanism is adjusted to the optimal working position.

Further, sensors for limiting displacement limits of the horizontal mounting seat and the vertical mounting seat are respectively arranged on the horizontal servo mechanism 210 and the longitudinal servo mechanism 220, specifically, the sensors can be respectively arranged on a supporting frame for fixing the servo motor and correspond to displacement limit positions of the horizontal mounting seat and the vertical mounting seat, so that when the horizontal mounting seat and the vertical mounting seat move to the limit positions, corresponding motor stopping actions are triggered, and the movement amount of the picking mechanism is prevented from being too large.

As a preferred technical solution of the present invention, the strut assembly 310 includes a front strut 311 vertically disposed on the vertical mounting seat and a front strut 312 fixedly disposed at the top of the front strut, specifically, the front strut is a strip-shaped plate body and can be fixed on the front strut by a fastener such as a screw, and accordingly, in order to fix the front strut conveniently, the top of the front strut can be set to be a plane, so as to fix the front strut thereon conveniently.

Furthermore, the number of the front supporting plates 312 is at least two, when the number of the front supporting plates is two, the two front supporting plates are arranged in parallel at intervals, and a space formed by a gap between the two front supporting plates is convenient for a manipulator to place the grabbed hair clip into a hair clip placing groove of the charging barrel.

As a preferred technical solution of the present invention, the shift lever assembly 320 includes a vertical cylinder 321 fixed on the vertical mounting seat, a shift lever 322 disposed at an output end of the vertical cylinder, and a rear support plate 323 disposed on a side wall of the shift lever, specifically, the rear support plate is also a strip-shaped plate and is fixed on the front support rod by a fastener such as a screw, and accordingly, in order to fix the rear support plate, the top of the shift lever can be set to be a plane, so as to fix the rear support plate.

Further, the number of the rear support plates 323 is at least two, and the number of the rear support plates is the same as that of the front support plate 312, and when the number of the rear support plates is two, the two rear support plates are arranged on the top of the deflector rod in parallel at intervals.

As the preferred technical scheme of the invention, the invention also comprises an auxiliary supporting piece 330 arranged at the rear side of the deflector rod assembly, wherein the auxiliary supporting piece comprises a horizontal cylinder 331 fixedly arranged on the vertical mounting seat, an auxiliary supporting rod 332 arranged at the output end of the horizontal cylinder and a supporting plate 333 arranged on the side wall of the auxiliary supporting rod, the supporting plate is positioned between the rear supporting plates 323 and extends in the arc-shaped direction towards the front supporting rod, and through the arrangement of the auxiliary supporting piece, when the rear side leg of the hair clip is arranged on the rear supporting plate, the supporting plate can be further utilized for supporting, and when the rear side leg needs to be lifted to the front supporting plate, the supporting plate can be pulled away from the rear supporting plate by utilizing the displacement of the horizontal cylinder, so that the interference on the movement of the rear supporting plate is avoided.

Referring to fig. 1, the invention discloses a method for controlling the clamping of a flat wire into a placing groove, which comprises the following steps;

s10: the front side leg of the previous hairpin is arranged in the hairpin placing groove of the charging barrel, and the rear side leg is erected on the raising mechanism.

Specifically, the front side leg of the front hairpin is placed into the feed cylinder hairpin placing groove before the rear side leg, and the rear side leg is supported by the raising mechanism so as to be lifted subsequently, so that the rear hairpin can enter smoothly.

S20: the lifting mechanism lifts the rear leg of the front hairpin.

Specifically, the raising mechanism raises the rear leg of the previous hairpin so as to facilitate smooth proceeding of subsequent raising.

S30: the charging barrel intermittently rotates according to a preset angle, when the charging barrel rotates by a given angle of one unit, the lifting mechanism lifts the rear side leg of the front hairpin, the front side leg of the rear hairpin is arranged in the charging barrel hairpin placing groove below the rear side leg of the front hairpin, and the rear side leg of the front hairpin is separated from the lifting mechanism and is arranged in the hairpin placing groove under the driving of the charging barrel.

Specifically, the charging barrel is intermittently rotated according to a preset angle under the driving of an external servo rotating mechanism, and when the charging barrel rotates by a given angle of one unit, the lifting mechanism lifts the rear side leg of the lifted front hairpin, so that the rear side leg of the rear hairpin is placed into the charging barrel hairpin placing groove below the rear side leg of the front hairpin under the action of the manipulator, and in the further rotating process of the charging barrel, the rear side leg of the front hairpin is separated from the lifting mechanism and is finally placed in the hairpin placing groove, and the ordered placing of the front hairpin is realized.

S40: and repeating the steps until all the flat wires required by the stator core are fully arranged on the surface of the charging barrel.

Specifically, after the previous hairpin is placed, the latter hairpin can be placed according to the principle that the previous hairpin was placed according to the preface, and after the feed cylinder rotated the round, the placing of one deck flat wire hairpin winding was accomplished, until accomplishing the demand of putting of multilayer flat wire winding.

According to the control method for clamping the flat wire hairpins into the placing grooves, the front side leg of the front hairpin is lifted through the lifting mechanism and then lifted under the rotating force action of the material cylinder, so that the front side leg of the rear hairpin is conveniently placed into the material cylinder hairpin placing groove below the rear side leg of the front hairpin, the lifting and lifting actions of the lifting mechanism are sequentially connected with the rotating motion of the material cylinder, the hairpins can be sequentially placed into the hairpin placing grooves according to the set laminated structure, and the control method has the advantages of high placing precision and convenience in operation and control, and can effectively prevent the problem of disorder in the hairpins placing process.

S10': the method is characterized in that the front side leg of the previous hairpin is arranged in the hairpin placing groove of the charging barrel, and the step of erecting the rear side leg on the raising mechanism further comprises the step of forming the hairpin placing groove at the periphery of the charging barrel by extending the baffle plate along the radial direction of the charging barrel.

Specifically, the baffle is a plurality of, and sets up along the notch of feed cylinder periphery, is used for driving the baffle at the inside setting of feed cylinder along the radial flexible dabber member of feed cylinder, under the drive of dabber member, can stretch out or retract the baffle from the feed cylinder periphery to adjust the distance that the feed cylinder periphery was stretched out to the baffle, put the back that finishes at the flat wire winding of inlayer, can follow the further stretching out in the feed cylinder with the baffle, thereby conveniently put outer flat wire winding.

S110: the servo assembly drives the lifting mechanism to move to a card-issuing cycloid station above the material barrel.

Specifically, the raising mechanism can be driven by the arranged servo assembly, for example, the raising mechanism can be moved transversely and vertically by adopting a transverse servo mechanism and a longitudinal servo mechanism, so that the raising mechanism is adjusted to a position above the charging barrel where the hairpin is suitable to be placed.

S120: the horizontal height of a deflector rod assembly in the driving and lifting mechanism is lower than the horizontal height of a supporting rod assembly in the lifting mechanism, so that a hairpin inserting space is reserved.

Specifically, before a previous hairpin is placed into the feed cylinder hairpin placing groove, the horizontal height of the poking rod component can be driven to be lower than the support rod component, so that a certain hairpin inserting space is reserved between the poking rod component and the support rod component, and the poking rod component is prevented from interfering the inserting process in the process of hairpin inserting.

S130: the front side leg of the front hairpin is arranged in the hairpin placing groove of the charging barrel through the space, and the rear side leg is arranged on the deflector rod component.

Specifically, in view of the level that the driving lever subassembly is less than the level of branch subassembly, when the preceding hairpin front side leg was put to feed cylinder hairpin and is put the groove through the manipulator, withdrawal back at the manipulator, its rear side leg can be set up on the driving lever subassembly under the action of gravity, realizes the effective support to the preceding hairpin.

S210: the step of lifting the rear side leg of the previous hairpin by the lifting mechanism comprises the step of driving the deflector rod assembly to move upwards to be positioned at the same horizontal height with the support rod assembly so as to lift the rear side leg of the previous hairpin.

Specifically, after the rear leg of the front hairpin is erected on the shift lever assembly, the shift lever assembly can further move up to be located at the same horizontal height position as the supporting rod assembly, lifting of the rear leg is achieved, and follow-up lifting is facilitated.

The support rod assembly comprises front support rods axially distributed along the charging barrel and front support plates distributed at intervals at the top of the front support rods and used for picking up the rear legs of the hair clip, specifically, the front support plates are distributed at intervals, and a gap between the two front support plates can facilitate an external manipulator to place the hair clip into a hair clip placing groove of the charging barrel, so that the front support plates are used for picking up the rear legs of the hair clip conveyed by the shift rod assembly to obtain the hair clip picking action.

Further, the driving lever subassembly includes that driving lever and the interval that can vertical displacement set up the back board that is used for hairpin rear side leg to set up at the driving lever top through vertical cylinder drive, and is concrete, and the back board sets interval distribution's two equally, forms between two back boards and shelves the station for support hairpin rear side leg, prevent that the hairpin from dropping.

S211: the step of driving the deflector rod assembly to move upwards to be located at the same horizontal height with the support rod assembly so as to lift the rear side leg of the front hairpin comprises the step of driving the deflector rod to move upwards to be located at the same horizontal height with the front support rod by the vertical cylinder so as to lift the rear side leg of the front hairpin.

Specifically, after the rear leg of the previous hairpin is erected on the shift lever of the shift lever assembly and the rear support rod, the vertical cylinder is utilized to move up along the vertical direction of the support rod assembly, and the rear support plate is moved up to be located at the same horizontal height position as the front support plate, so that the front hairpin is lifted.

S310: when the charging barrel rotates by a given angle of one unit, the rear side leg of the previous hairpin is driven to be transferred from the deflector rod assembly to the supporting rod assembly so as to jack the rear side leg of the previous hairpin.

Specifically, because the front side leg of preceding hairpin is arranged in feed cylinder hairpin standing groove, when the given angle of a unit of feed cylinder rotation, can drive preceding hairpin and remove, because the rear side leg of preceding hairpin is arranged in on the back extension board of driving lever subassembly, consequently when the feed cylinder rotates, can drive the hairpin and shift to the preceding extension board of branch subassembly from the driving lever subassembly to the realization is with the jack-up of preceding hairpin rear side leg.

It should be noted that the given angle corresponds to the number of baffles on the barrel, and when the number of baffles is 48, the given angle per unit is 7.5 °.

S320: the deflector rod assembly moves downwards to reset, and an insertion space is reserved again.

Specifically, after the rear leg of the front hairpin is transferred from the rear support plate to the front support plate, the shift lever assembly is moved downward relative to the support rod assembly, so that the hairpin insertion space is reserved again, and the insertion of the subsequent hairpin is facilitated.

S330: the front leg of the latter hairpin is arranged in the hairpin placing groove of the charging barrel below the rear leg of the former hairpin through the inserting space, and the rear leg of the latter hairpin is erected on the poking rod component.

Specifically, the insertion process of the latter hairpin can refer to the insertion process of the former hairpin, that is, the front side leg of the latter hairpin enters the feed cylinder hairpin placing groove through the insertion space, and the rear side leg is erected on the rear support plate of the toggle lever assembly.

S340: the charging barrel further rotates, and the rear side leg of the front hairpin is separated from the supporting rod assembly and is placed in the corresponding hairpin placing groove.

Specifically, the rear leg of the previous hairpin gradually separates from the rear support plate of the strut assembly during the further movement of the charging barrel, and is finally placed in the corresponding hairpin placing groove.

S410: the charging barrel rotates for a circle, and a layer of flat wire hairpin winding is formed on the periphery of the charging barrel.

Specifically, after the charging barrel rotates for a circle, the arrangement of the flat wire winding on one layer can be realized.

S420: the baffle plate extends out along the radial direction of the charging barrel to form two layers of hairpin placing grooves.

Specifically, after the placement of the flat wire winding on one layer is finished, the baffle can be extended out of the charging barrel according to the use requirement, so that a two-layer hairpin placement groove is formed, and the placement operation of the two-layer flat wire hairpin can be carried out.

S430: and repeating the hairpin placing operation until the periphery of the charging barrel is filled with the required number of layers of flat wire hairpin windings.

Specifically, the baffles radially extend out of the charging barrel layer by layer to form a placing groove for placing the hairpins, so that the technical effect of placing the hairpins layer by layer is achieved, and the sequential placing operation of the flat wire motor multi-layer windings is realized by combining the lifting and the picking actions of the picking mechanism.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims (10)

1. A method for controlling flat wire hairpin placement grooves is characterized by comprising the following steps:

placing the front side leg of the front hairpin in the hairpin placing groove of the charging barrel, and erecting the rear side leg on the raising mechanism;

the lifting mechanism lifts the rear side leg of the front hairpin;

the charging barrel intermittently rotates according to a preset angle, when the charging barrel rotates by a given angle of one unit, the lifting mechanism lifts the rear side leg of the front hairpin, the front side leg of the rear hairpin is arranged in the charging barrel hairpin placing groove below the rear side leg of the front hairpin, and the rear side leg of the rear hairpin is separated from the lifting mechanism and is placed in the hairpin placing groove under the driving of the charging barrel;

and repeating the steps until all the flat wires required by the stator core are fully arranged on the surface of the charging barrel.

2. The method for controlling the engagement of the flat wire into the hair holding groove according to claim 1, wherein the step of placing the front leg of the previous hair clip into the hair holding groove of the charging barrel and placing the rear leg on the raising mechanism further comprises a step of extending the baffle plate in the radial direction of the charging barrel to form the hair holding groove at the periphery of the charging barrel.

3. The method for controlling the flat wire hairpin to be inserted into the slot of claim 2 wherein the step of placing the front leg of the previous hairpin into the slot of the hairpin cartridge and placing the rear leg on the raising mechanism comprises:

the servo assembly drives the lifting mechanism to move to a card sending cycloid station above the material barrel;

the horizontal height of a deflector rod assembly in the driving and lifting mechanism is lower than the horizontal height of a supporting rod assembly in the lifting mechanism, so that a hairpin inserting space is reserved;

the front side leg of the front hairpin is arranged in the hairpin placing groove of the charging barrel through the space, and the rear side leg is arranged on the deflector rod component.

4. The method of claim 3, wherein the step of raising the rear leg of the previous hairpin by the raising mechanism comprises the step of actuating the lever assembly to move up to a level with the leg assembly to raise the rear leg of the previous hairpin.

5. The method of claim 3, wherein the step of the servo assembly driving the raising mechanism to move to the card launch cycloid station above the cartridge comprises the step of moving the raising mechanism to the appropriate cycloid position above the cartridge by the action of a lateral servo and a longitudinal servo.

6. The method of claim 4, wherein the leg assembly comprises a front leg bar axially extending along the barrel and a front leg bar spaced apart from the top of the front leg bar for raising the rear leg of the elevator.

7. The method for controlling the flat wire to be clamped into the placing slot according to claim 4, wherein the deflector rod assembly comprises a deflector rod which is driven by a vertical cylinder and can be vertically displaced, and a rear support plate which is arranged at the top of the deflector rod at intervals and used for being erected by legs at the rear side of the flat wire to be clamped.

8. The method of claim 7, wherein the step of moving the actuator rod assembly up to a level with the leg assembly to raise the rear leg of the previous card comprises the step of moving the actuator rod assembly up to a level with the front leg assembly to raise the rear leg of the previous card with a vertical cylinder.

9. The method for controlling the engagement of a flat wire into a card slot according to claim 4, wherein the barrel is rotated intermittently at a predetermined angle, and the raising mechanism raises the rear leg of the preceding card at every given angle of rotation of the barrel by one unit, and the front leg of the succeeding card is placed in the card slot of the barrel under the rear leg of the preceding card, and the rear leg of the succeeding card is separated from the raising mechanism by the barrel and placed in the card slot, comprising the steps of:

when the charging barrel rotates by a given angle of one unit, the rear side leg of the front hairpin is driven to be transferred from the deflector rod assembly to the support rod assembly so as to jack the rear side leg of the front hairpin;

the deflector rod assembly moves downwards to reset, and an insertion space is reserved again;

the front side leg of the latter hairpin is arranged in the charging barrel hairpin placing groove below the rear side leg of the former hairpin through the inserting space, and the rear side leg of the latter hairpin is erected on the poking rod component;

the charging barrel further rotates, and the rear side leg of the front hairpin is separated from the supporting rod assembly and is placed in the corresponding hairpin placing groove.

10. The method for controlling the flat wire hairpins to be clamped into the placing slots according to claim 4, wherein the step of repeating the subsequent hairpins until all the flat wire hairpins required by the stator core are fully placed on the surface of the charging barrel comprises the following steps:

the charging barrel rotates for a circle, and a layer of flat wire hairpin winding is formed on the periphery of the charging barrel;

the baffle extends out along the radial direction of the charging barrel to form a two-layer hairpin placing groove;

and repeating the hairpin placing operation until the periphery of the charging barrel is filled with the required number of layers of flat wire hairpin windings.

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