CN114899993A - Motor stator assembling equipment - Google Patents

Abstract

The invention relates to the technical field of stator assembly, in particular to a motor stator assembly device, which comprises a rack, a manipulator and a wire inserting tool, wherein the wire inserting tool is arranged on the rack, a grabbing mechanism and a cycloid mechanism which are uniformly distributed are arranged on the rack along the length direction of the rack, the grabbing mechanism is positioned above the cycloid mechanism and can move along the width direction of the rack, the rack is also provided with a wire collecting mechanism, the wire collecting mechanism can move along the length direction of the rack, the manipulator can sequentially insert conductive wires into the cycloid mechanism, the conductive wires are adjusted through the cycloid mechanism to form a circular ring between the conductive wires, and the grabbing mechanism can take out the conductive wires in the cycloid mechanism. The manual intervention is rarely needed, the automation degree is high, and the assembly efficiency can be effectively improved.

Description

Motor stator assembling equipment

Technical Field

The invention relates to the technical field of stator assembly, in particular to motor stator assembly equipment.

Background

For a pure electric vehicle and a hybrid electric vehicle, a battery and a motor are core parts of the vehicle, a plurality of layers of conducting wires need to be distributed on a stator of the motor in the production process of the motor, the diameter of the conducting wires on the stator is generally larger than 2mm and the shape of the conducting wires is approximately U-shaped, the wire insertion is an important link in the stator assembly process, the existing wire insertion process generally comprises the steps of sequentially inserting the conducting wires on a placing disc, adjusting the placing disc or the conducting wires to eliminate or reduce gaps among the conducting wires so as to form a circular conducting wire coil among the conducting wires, namely one layer of conducting wire on the stator, grabbing and moving the conducting wire coil in the placing disc into the stator or a transfer device through grabbing equipment, and when the conducting wire coil is moved to the transfer device, the conducting wires are uniformly moved to the stator after all the conducting wires in the transfer device are fully inserted, at present, in the stator wire plugging process, a plurality of working procedures need manual intervention, the wire plugging efficiency is low, and the production efficiency of the whole motor is influenced.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a motor stator assembling device.

In order to achieve the purpose, the invention adopts the following technical scheme:

a motor stator assembling device comprises a rack, a manipulator and a wire inserting tool, wherein the wire inserting tool is installed on the rack, a grabbing mechanism and a cycloid mechanism which are uniformly distributed are arranged on the rack along the length direction of the rack, the grabbing mechanism is located above the cycloid mechanism and can move along the width direction of the rack, a wire collecting mechanism is further installed on the rack and can move along the length direction of the rack, the manipulator can sequentially insert conductive wires into the cycloid mechanism, the conductive wires are adjusted through the cycloid mechanism to form a circular ring between the conductive wires, the grabbing mechanism can take out the conductive wires in the cycloid mechanism and convey the conductive wires to the wire collecting mechanism, and the grabbing mechanism can also take out the conductive wires in the wire collecting mechanism and convey the conductive wires to the wire inserting tool;

the take-up mechanism comprises a second sliding plate and a movable plate, the second sliding plate can move along the length direction of the rack, a second mounting plate is mounted at the upper end of the second sliding plate through a support, a take-up drum is mounted on the second mounting plate, a containing tank distributed in an annular shape is arranged on the take-up drum, the number of the movable plate is matched with that of the cycloid mechanism, movable rods distributed in an annular shape are mounted at the upper end of the movable plate, the number of the movable rods is matched with that of the containing tank, the movable rods on the lower movable plate are positioned at the inner side of the movable rods on the upper movable plate, the upper end of each movable rod extends to the inside of the containing tank, the upper end of the second sliding plate is also used for driving the movable plate to carry out a take-up cylinder moving vertically, and when the take-up cylinder is in an extension state, the upper end of the corresponding movable rod is close to the uppermost end of the inner wall of the containing tank, when the take-up cylinder is in a contraction state, the upper end of the corresponding movable rod is close to the lowest end of the inner wall of the accommodating groove, and when the grabbing mechanism conveys the conductor wire to the take-up mechanism, the movable rod corresponding to the conductor wire retracts.

Preferably, the upper end of holding tank is provided with the guide way, and the inner wall of guide way sets up for the slope.

Preferably, the grabbing mechanism comprises a bottom plate and a clamping mechanism, the clamping mechanism is mounted at the lower end of the bottom plate, an expansion core mounting plate is fixedly mounted at the upper end of the bottom plate through a support rod, an expansion core which is vertically arranged is mounted on the expansion core mounting plate, the expansion core is matched with the clamping mechanism, the bottom plate is connected with a top plate through a first guide pillar, a first motor is mounted at the upper end of the top plate, an output shaft of the first motor is connected with two first lead screw nut pairs which correspond to each other through a first belt, the end parts of the first lead screw nut pairs are respectively connected with the bottom plate and the top plate through bearing seats, a driving block of the first lead screw nut pair is connected with a first sliding plate, and a through groove is formed in the middle part of the first sliding plate;

the clamping mechanism comprises a first tooth protection cover, a first tooth protection movable disc, a tooth protection pressing plate and a tooth protection, wherein an annular groove for accommodating the first tooth protection movable disc is formed in the upper end of the first tooth protection cover, first sliding grooves which are uniformly distributed are formed in the lower end of the first tooth protection cover, the first sliding grooves are formed in the radial direction of the first tooth protection cover, the tooth protection is matched with the first sliding grooves, the tooth protection pressing plate capable of preventing the tooth protection from falling off is fixedly installed at the lower end of the first tooth protection cover, and the tooth protection can be pulled to slide along the first sliding grooves when the first tooth protection movable disc deflects;

the expansion core comprises an expansion core cylinder, an expansion core shaft, an expansion block push rod, an expansion block and an expansion ring, the expansion core cylinder is fixedly arranged at the upper end of an expansion core mounting plate, the expansion core shaft is fixedly arranged at the lower end of the expansion core mounting plate, an output shaft of the expansion core cylinder is connected with the expansion block push rod, the lower end of the expansion block push rod is positioned in the expansion core shaft, the lower end of the expansion block push rod is connected with the expansion block which is in an inverted circular truncated cone shape, the expansion block is uniformly distributed on the expansion core shaft, the end part of the expansion block is contacted with the side wall of the expansion block, the lower end of the expansion core shaft is further sleeved with the expansion ring, the expansion ring covers the outer side of the expansion block, and when the expansion block push rod drives the expansion block to move downwards, the expansion block extrudes the expansion block to enable the expansion ring to uniformly expand along the radial direction of the expansion core shaft;

the upper end of a first tooth protection cover of the clamping mechanism is fixedly connected with the lower end of the bottom plate, a servo push rod for driving the first tooth protection movable disc to deflect is arranged on the bottom plate, the servo push rod is connected with the first tooth protection movable disc through a first traction pin, and a tooth protection in the clamping mechanism and an expansion ring on the expansion core are positioned at the same horizontal height;

the wire pushing block is further sleeved on the outer side of the wire expanding mandrel, the second motor is further installed on the wire expanding core installation plate, an output shaft of the second motor is connected with two second lead screw nut pairs corresponding to each other through a second belt, a driving block of each second lead screw nut pair is fixedly connected with the wire expanding core installation plate, the upper end of each second lead screw nut pair is rotatably connected with the wire pushing connection plate, and the lower end of each second lead screw nut pair is rotatably connected with the wire pushing block.

Preferably, the number of the clamping mechanisms is two, one of the clamping mechanisms is arranged at the lower end of the bottom plate, a first mounting plate is arranged on the bottom plate through a support, the other clamping mechanism is arranged at the lower end of the first mounting plate, the expansion core penetrates through the clamping mechanisms on the first mounting plate and the first mounting plate, and a servo push rod for driving the corresponding clamping mechanism is arranged on the first mounting plate.

Preferably, the cycloidal mechanism comprises a first cycloidal mechanism and a second cycloidal mechanism;

the first cycloid mechanism comprises a cycloid disc chassis, a first wire pushing disc, a first wire guide disc, a second wire guide disc and a wire disc shaft, wherein the wire disc shaft is fixedly arranged in the middle of the upper end of the cycloid disc chassis, the first wire pushing disc is sleeved on the outer side of the wire disc shaft and can rotate around the axis of the cycloid disc chassis, the first wire guide disc and the second wire guide disc are sequentially sleeved on the outer side of the wire disc shaft from bottom to top, a gasket is arranged between the first wire guide disc and the second wire guide disc, first wire inserting holes are uniformly distributed in the wire disc shaft, second wire guide grooves are uniformly distributed in the second wire guide disc, the first wire inserting holes and the second wire guide grooves are alternately arranged, the end part of the second wire guide disc, which is positioned on the inner side of the second wire guide disc, passes through a ring formed by the first wire inserting holes, the first wire pushing grooves are uniformly distributed in the first wire pushing disc, the number of the first wire pushing grooves is equal to the sum of the number of the first wire inserting holes and the number of the second wire guiding grooves, the connecting line of the end points of the second wire guiding grooves does not pass through the circle center of the second wire guiding disc, the connecting line of the end points of the first wire pushing grooves does not pass through the circle center of the first wire pushing disc, the arranging direction of the second wire guiding grooves is opposite to the arranging direction of the first wire pushing grooves, the first wire guiding grooves are uniformly distributed on the first wire guiding disc, the first wire guiding grooves are aligned with the second wire guiding grooves, and the end parts of the first wire pushing disc are rotatably connected with the first cylinder connecting rod;

the second cycloid mechanism comprises a third wire pushing disc, a fourth wire pushing disc and a second wire pushing disc, the second wire pushing disc is arranged at the upper end of the third wire disc and can rotate around the axis of the third wire disc, third wire inserting holes and third wire grooves are uniformly distributed on the third wire disc, the minimum distance between the third wire inserting holes and the axis of the third wire disc is smaller than the minimum distance between the third wire grooves and the axis of the third wire disc, second wire pushing grooves are uniformly distributed on the second wire pushing disc, the connecting line of the end points of the third wire grooves does not pass through the circle center of the third wire disc, the connecting line of the end points of the second wire pushing grooves does not pass through the circle center of the second wire pushing disc, the opening direction of the second wire pushing grooves is opposite to that of the third wire grooves, the number of the third wire inserting holes, the number of the third wire grooves and the number of the second wire pushing grooves are the same, and the fourth wire pushing disc is fixedly connected with the third wire disc, the fourth wire coil is provided with a fourth wire inserting hole and a fourth wire groove which are uniformly distributed, the third wire inserting hole is aligned with the fourth wire inserting hole, the third wire groove is aligned with the fourth wire groove, and the end part of the second wire pushing disc is rotatably connected with the second cylinder connecting rod.

Preferably, the wire plugging tool comprises a third sliding plate, a third mounting plate is mounted at the upper end of the third sliding plate, a fourth mounting plate is mounted at the upper end of the third mounting plate through a support, wire limiting mechanisms are mounted at the upper end of the third mounting plate and the lower end of the fourth mounting plate, and an area for accommodating a stator is arranged between the wire limiting mechanisms;

the wire limiting mechanism comprises a second tooth protection cover, a second tooth protection movable disc, a tooth protection pressing plate and a tooth protection, wherein an annular groove for accommodating the second tooth protection movable disc is formed in one end of the second tooth protection cover, second sliding grooves which are uniformly distributed are formed in the other end of the second tooth protection cover, the second sliding grooves are formed in the radial direction of the second tooth protection cover, the tooth protection is matched with the second sliding grooves, the tooth protection pressing plate capable of preventing the tooth protection from falling off is fixedly installed on the end face of the second tooth protection cover, and the tooth protection can be pulled to slide along the second sliding grooves when the second tooth protection movable disc deflects;

and a third sliding rail matched with the third sliding plate is arranged on the rack.

The wire inserting machine is characterized by further comprising a press-in mechanism, the press-in mechanism comprises a fourth mounting plate, a press block is mounted at the lower end of the fourth mounting plate and is matched with a wire inserting tool, the fourth mounting plate is in sliding connection with a second guide pillar, the lower end of the second guide pillar is fixedly connected with the machine frame, the upper end of the second guide pillar is fixedly connected with a fifth mounting plate, a third motor is mounted on the fifth mounting plate, the third motor drives a third screw nut pair to rotate through a third belt, and the fourth mounting plate is driven to reciprocate up and down through the third screw nut pair.

Preferably, the stator inserting device further comprises an ejection mechanism, the ejection mechanism comprises an ejector block, the ejector block is arranged on the rack and is driven to ascend so as to eject the stator from the wire inserting tool.

Preferably, when the wire plugging tool is located at one end of the third slide rail, the wire plugging tool is located right below the press-in mechanism, and when the wire plugging tool is located at the other end of the third slide rail, the wire plugging tool is located right above the ejection mechanism.

Preferably, the tooth is protected including first tooth and second tooth, first tooth is protected and is included first tooth handle and first tooth head, and the root of first tooth head is provided with the bellying, the second is protected the tooth and is included second tooth handle and second tooth head.

The invention has the beneficial effects that:

1. the device is provided with a mechanical arm, a cycloid mechanism, a grabbing mechanism, a wire take-up mechanism, a wire plugging tool, a pressing-in mechanism and an ejection mechanism, a conductive wire is sequentially inserted into the cycloid mechanism through the mechanical arm, after the conductive wire on the cycloid mechanism is fully plugged, the cycloid mechanism is adjusted, a circular ring is formed between the conductive wires, then the circular conductive wire is integrally clamped through the grabbing mechanism and conveyed to the wire take-up mechanism, after the conductive wire is fully plugged in the wire take-up mechanism, all the conductive wires are clamped through the grabbing mechanism, the wire plugging tool is matched with a stator to plug wires, after the wire plugging is finished, the conductive wire is pressed in place through the pressing-in mechanism, and finally the stator is ejected out through the ejection mechanism.

2. In the take-up mechanism, be provided with the multiunit movable rod and with movable rod complex receipts line cylinder, when receiving the line, the movable rod withdrawal that corresponds with the conductor wire for the space in the holding tank just in time holds the conductor wire that is about to insert, and the conductor wire can not insert askewly in the inserting process, guarantees the normal insertion of follow-up conductor wire, effectual improvement production efficiency.

Drawings

Fig. 1 is a schematic front view of a motor stator assembling apparatus according to the present invention;

fig. 2 is a schematic perspective view of the frame and the upper part of the frame according to the present invention;

fig. 3 is a first schematic view of a front view of the gripping mechanism according to the present invention;

FIG. 4 is a schematic cross-sectional view of A-A in FIG. 3 according to the present invention;

fig. 5 is a schematic front view of a second grasping mechanism according to the present invention;

FIG. 6 is a schematic front view of the expanding core according to the present invention;

FIG. 7 is a schematic cross-sectional view of B-B in FIG. 6 according to the present invention;

fig. 8 is a schematic front view of a wire rewinding mechanism according to the present invention;

FIG. 9 is a schematic top view of a wire rewinding mechanism according to the present invention;

FIG. 10 is an enlarged view of the structure of FIG. 9 at C according to the present invention;

fig. 11 is a front view schematically illustrating the pressing mechanism according to the present invention;

fig. 12 is a schematic perspective view of a wire plugging tool according to the present invention;

fig. 13 is a schematic view of a disassembled structure of the wire plugging tool provided by the present invention;

fig. 14 is a schematic perspective view of a first cycloid mechanism according to the present invention;

figure 15 is a schematic view of an exploded configuration of a first gerotor mechanism in accordance with the present invention;

fig. 16 is a schematic perspective view of a second cycloid mechanism according to the present invention;

figure 17 is a schematic illustration of an exploded view of a second gerotor mechanism in accordance with the present invention;

FIG. 18 is a schematic view of a disassembled structure of the clamping mechanism of the present invention;

FIG. 19 is a schematic structural view of a first tooth guard and a tooth guard pressure plate according to the present invention;

fig. 20 is a schematic structural view of the first guard gear and the second guard gear according to the present invention.

In the figure: the automatic wire inserting machine comprises a machine frame 1, a mechanical arm 2, a grabbing mechanism 3, a wire collecting mechanism 4, a wire inserting tool 5, a pressing-in mechanism 6, a pushing-out mechanism 7, a first cycloid mechanism 8 and a second cycloid mechanism 9;

11 first tooth protection parts, 12 tooth protection pressing plates, 13 second tooth protection parts and 111 convex parts;

201 a fourth slide rail;

301 bottom plate, 302 first tooth-protecting cover, 303 first tooth-protecting movable plate, 304 first traction pin, 305 servo push rod, 306 core-expanding cylinder, 307 core-expanding shaft, 308 core-expanding push rod, 309 core-expanding block, 310 expanding block, 311 core-expanding ring, 312 core-expanding mounting plate, 313 top plate, 314 first guide pillar, 315 first motor, 316 first belt, 317 first lead screw and nut pair, 318 first sliding plate, 319 second motor, 320 second belt, 321 second lead screw and nut pair, 322 wire-pushing block, 323 wire-pushing connecting plate, 324 first mounting plate, 325 first sliding block, 326 first sliding rail;

a 401 second sliding plate, a 402 second mounting plate, a 403 take-up drum, a 404 accommodating groove, a 405 take-up cylinder, a 406 movable plate, a 407 movable rod and a 408 second sliding rail;

501 a third sliding plate, 502 a third mounting plate, 503 a fourth mounting plate, 504 a second tooth-protecting cover, 505 a second tooth-protecting movable disc, 506 a second traction pin, 507 a stator and 508 a third sliding rail;

601, a fourth mounting plate, 602, a press block, 603, a second guide column, 604, a fifth mounting plate, 605, a third motor, 606, a third belt and 607, a third lead screw and nut pair;

801 cycloid disc chassis, 802 first wire pushing disc, 803 first wire pushing groove, 804 first cylinder connecting rod, 805 first wire guiding disc, 806 first wire guiding groove, 807 gasket, 808 wire disc shaft, 809 first wire inserting hole, 810 second wire guiding disc and 811 second wire guiding groove;

901 a third wire guide disc, 902 a third wire insertion hole, 903 a third wire guide groove, 904 a second wire pushing disc, 905 a second wire pushing groove, 906 a second air cylinder connecting rod, 907 a fourth wire guide disc, 908 a fourth wire insertion hole and 909 a fourth wire guide groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-20, a motor stator assembling device comprises a frame 1, a manipulator 2 and a wire inserting tool 5, wherein the wire inserting tool 5 is installed on the frame 1, a grabbing mechanism 3 and a cycloid mechanism which are uniformly distributed are arranged on the frame 1 along the length direction of the frame, the grabbing mechanism 3 is positioned above the cycloid mechanism, the grabbing mechanism 3 can move along the width direction of the frame 1, a wire rewinding mechanism 4 is also installed on the frame 1, the wire rewinding mechanism 4 can move along the length direction of the frame 1, the manipulator 2 can sequentially insert a conductive wire into the cycloid mechanism, the conductor wires are adjusted through the cycloid mechanism, a circular ring is formed between the conductor wires, the grabbing mechanism 3 can take out the conductor wires in the cycloid mechanism, and the conductor wire is conveyed to the wire take-up mechanism 4, the grabbing mechanism 3 can also take out the conductor wire inside the wire take-up mechanism 4, and the conductor wire is conveyed to the wire inserting tool 5.

The cycloid mechanism comprises a first cycloid mechanism 8 and a second cycloid mechanism 9;

the first cycloid mechanism comprises a cycloid disc chassis 801, a first wire disc 802, a first wire disc 805, a second wire disc 810 and a wire disc shaft 808, wherein the wire disc shaft 808 is fixedly arranged in the middle of the upper end of the cycloid disc chassis 801, the first wire disc 802 is sleeved on the outer side of the wire disc shaft 808, the first wire disc 802 can rotate around the axis of the cycloid disc chassis 801, the first wire disc 805 and the second wire disc 810 are sequentially sleeved on the outer side of the wire disc shaft 808 from bottom to top, a gasket 807 is arranged between the first wire disc 805 and the second wire disc 810, first wire inserting holes 809 uniformly distributed are formed in the wire disc shaft 808, second wire grooves 811 uniformly distributed are formed in the second wire disc 810, and the first wire inserting holes 809 and the second wire grooves 811 are alternately arranged, in the embodiment, the first wire inserting holes 809 and the second wire grooves 811 are three and alternate, namely, three continuous first wire inserting holes 809 are formed, then, three continuous second wire grooves 811 are formed, and the subsequent process is repeated, wherein the end part of the second wire groove 811 positioned at the inner side of the second wire coil 810 passes through a circular ring formed by connecting first wire inserting holes 809, the first wire pushing grooves 803 are uniformly distributed on the first wire pushing plate 802, the number of the first wire pushing grooves 803 is equal to the sum of the number of the first wire inserting holes 809 and the number of the second wire grooves 811, the connecting line of the end points of the second wire grooves 811 does not pass through the circle center of the second wire coil 810, the connecting line of the end points of the first wire pushing grooves 803 does not pass through the circle center of the first wire pushing plate 802, the opening direction of the second wire grooves 811 is opposite to the opening direction of the first wire pushing grooves 803, the first wire grooves 803 are uniformly distributed on the first wire coil 802, the first wire grooves 803 are aligned with the second wire grooves 811, and the end part of the first wire pushing plate 802 is rotatably connected with the first cylinder connecting rod 804;

when the first cycloid mechanism 8 is used, firstly, the manipulator 2 sequentially inserts the conductive wires into the first cycloid mechanism 8, so that one end of the conductive wires is located inside the first wire inserting hole 809, the other end of the conductive wires is located at the end part, far away from the axis of the second wire guiding disc 810, of the next group of second wire guiding grooves 811, the first wire pushing disc 802 is rotated, the first wire pushing groove 803 is matched with the second wire guiding groove 811, so that one end of the conductive wires rotates around the axis of the first wire inserting hole 809, all the conductive wires in the second wire guiding grooves 811 can synchronously slide along the inner wall of the second wire guiding groove 811, finally, the conductive wires are moved from one end of the second wire guiding groove 811 to the other end, namely, one end of the conductive wires is located inside the first wire inserting hole 809, the other end of the conductive wires is located at the end part, close to the axis of the second wire guiding disc 810, and the two ends of the conductive wires are approximately on the same circle, the gaps between the conductive wires are reduced or even eliminated, so that a circular ring is formed between the conductive wires, and the subsequent processing is facilitated.

The second cycloid mechanism comprises a third wire pushing disc 901, a fourth wire pushing disc 907 and a second wire pushing disc 904, the second wire pushing disc 904 is arranged at the upper end of the third wire guiding disc 901, the second wire pushing disc 904 can rotate around the axis of the third wire guiding disc 901, a third wire inserting hole 902 and a third wire guiding groove 903 which are uniformly distributed are arranged on the third wire guiding disc 901, the minimum distance between the third wire inserting hole 902 and the axis of the third wire guiding disc 901 is smaller than the minimum distance between the third wire guiding groove 903 and the axis of the third wire guiding disc 901, a second wire pushing groove 905 which is uniformly distributed is arranged on the second wire pushing disc 904, the connecting line of the endpoint of the third wire guiding groove 903 does not pass through the circle center of the third wire guiding disc 901, the connecting line of the endpoint of the second wire pushing groove 905 does not pass through the circle center of the second wire pushing disc 904, the opening direction of the second wire pushing groove 905 is opposite to the opening direction of the third wire guiding groove 903, and the number of the third wire inserting hole 902, the third wire guiding groove 903 and the number of the second wire pushing groove 905 are the same, the fourth wire spool 907 is fixedly connected with the third wire spool 901, the fourth wire spool 907 is provided with fourth wire inserting holes 908 and fourth wire grooves 909 which are uniformly distributed, the third wire inserting holes 902 are aligned with the fourth wire inserting holes 908, the third wire grooves 903 are aligned with the fourth wire grooves 909, the end portion of the second wire pushing spool 904 is rotatably connected with the second cylinder connecting rod 906, the second wire pushing groove 905 and the third wire grooves 903 are both arc-shaped, and the arc-shaped arrangement reduces resistance in the wire pushing process, so that the wire pushing process is smoother.

When the second cycloid mechanism is used, the conductive wires are sequentially inserted into the second cycloid mechanism through the manipulator 2, one end of each conductive wire is located inside the third wire inserting hole 902, the other end of each conductive wire is located at the end, far away from the axis of the third wire guiding disc 901, of the third wire guiding groove 903, the second wire pushing disc 904 is rotated, the second wire pushing groove 905 is matched with the third wire guiding groove 903, one end of each conductive wire rotates around the axis of the third wire inserting hole 902, all the conductive wires in the third wire guiding groove 903 can synchronously slide along the inner wall of the third wire guiding groove 903, finally the conductive wires are moved from one end of the third wire guiding groove 903 to the other end, namely one end of each conductive wire is located inside the third wire inserting hole 902, the other end of each conductive wire is located at the end, close to the axis of the third wire guiding disc 903, the gap between the conductive wires is reduced, and a circular ring is formed between the conductive wires, facilitating subsequent processing.

Set up in the cycloid mechanism and can also set up the line round pin, use first cycloid mechanism 8 to construct as an example, set up through the line round pin, when first cycloid mechanism 8 used, in inserting the line round pin in first wire inserting hole 809 with the one end of conductor wire, the other end inserts in the inside line round pin of second wire casing 811, first push away line dish 802 and rotate the in-process, the line round pin takes place to rotate in first wire inserting hole 809, the line round pin in the second wire casing 811 slides along the inner wall of second wire casing 811, can effectually reduce the wearing and tearing that cycloid mechanism caused the conductor wire, guarantee that the quality of conductor wire is not influenced.

For the selection of the first and second cycloid mechanisms 8, 9, the number of inserted conductive wires of the first cycloid mechanism 8 is half of the number of inserted conductive wires of the first cycloid mechanism 8, and finally the conductive wires of the first cycloid mechanism 8 can form a single-layer coil layer, the conductive wires of the second cycloid mechanism 9 can form a double-layer coil layer, the first cycloid mechanism 8, i.e. the first and fourth layers, is usually selected for the innermost and outermost layers of the electronic stator, and the second cycloid mechanism 9, i.e. the second and third layers, is selected for the middle layer of the electronic stator.

The grabbing mechanism 3 comprises a bottom plate 301 and a clamping mechanism, the clamping mechanism is installed at the lower end of the bottom plate 301, an expansion core installation plate 312 is fixedly installed at the upper end of the bottom plate 301 through a support rod, an expansion core which is vertically arranged is installed on the expansion core installation plate 312, the expansion core is matched with the clamping mechanism, the bottom plate 301 is connected with a top plate 313 through a first guide pillar 314, a first motor 315 is installed at the upper end of the top plate 313, an output shaft of the first motor 315 is connected with two first lead screw nut pairs 317 which correspond to each other through a first belt 316, the end part of each first lead screw nut pair 317 is respectively connected with the bottom plate 301 and the top plate 313 through a bearing seat, a driving block of each first lead screw nut pair 317 is connected with a first sliding plate 318, a through groove is formed in the middle of the first sliding plate 318, and when the first motor 315 rotates, the bottom plate 301 can be pushed to move in the vertical direction.

The clamping mechanism comprises a first tooth protection cover 302, a first tooth protection movable disc 303, a tooth protection pressing plate 12 and tooth protection, wherein an annular groove for accommodating the first tooth protection movable disc 303 is formed in the upper end of the first tooth protection cover 302, first sliding grooves which are uniformly distributed are formed in the lower end of the first tooth protection cover 302, the first sliding grooves are arranged along the radial direction of the first tooth protection cover 302, the tooth protection is matched with the first sliding grooves, the tooth protection pressing plate 12 capable of preventing the tooth protection from falling off is fixedly installed at the lower end of the first tooth protection cover 302, and the tooth protection can be pulled to slide along the first sliding grooves when the first tooth protection movable disc 303 deflects; the upper end of a first tooth protection cover 302 of the clamping mechanism is fixedly connected with the lower end of a base plate 301, a servo push rod 305 for driving a first tooth protection movable disc 303 to deflect is arranged on the base plate 301, and the servo push rod 305 is connected with the first tooth protection movable disc 303 through a first traction pin 304.

First traction grooves which are uniformly distributed are formed in the first tooth protection movable disc 303, the extension line of each first traction groove does not pass through the circle center of the first tooth protection movable disc 303, a first insertion hole is formed in the upper end of each tooth protection, a first bolt is inserted into the first insertion hole, the upper end of the first bolt is located inside the first traction groove, and the inner wall of each first traction groove pushes the first bolt to drive the tooth protection to move; when the servo push rod 305 works, the first traction pin 304 moves under the driving of the servo push rod 305, the first traction pin 304 pushes the first tooth protection movable disc 303 to deflect, under the action of the first bolt and the first traction groove, the tooth protection can slide along the first sliding groove, finally the tooth protection is inserted between the conducting wires, and the gap between every two tooth protection just limits the vertical rod of the conducting wire;

the expansion core comprises an expansion core cylinder 306, an expansion core shaft 307, an expansion block push rod 308, an expansion block 309, an expansion block 310 and an expansion ring 311, the expansion core cylinder 306 is fixedly arranged at the upper end of an expansion core mounting plate 312, the expansion core shaft 307 is fixedly arranged at the lower end of the expansion core mounting plate 312, an output shaft of the expansion core cylinder 306 is connected with the expansion block push rod 308, the lower end of the expansion block push rod 308 is positioned in the expansion core shaft 307, the expansion block 309 is connected with the lower end of the expansion block push rod 308, the expansion block 309 is in an inverted circular truncated cone shape, the expansion block 310 is uniformly distributed on the expansion core shaft 307, the end part of the expansion block 310 is contacted with the side wall of the expansion block 309, the expansion ring 311 is further sleeved at the lower end of the expansion core shaft 307, the expansion ring 311 covers the outer side of the expansion block 310, when the expansion block push rod 308 drives the expansion block 309 to move downwards, the expansion block 309 extrudes the expansion block 310 to enable the expansion ring 311 to uniformly expand along the radial direction of the expansion core shaft 307, the protection teeth and the expansion ring 311 on the expansion core are at the same horizontal height as the expansion ring 311 on the expansion core, namely, the inner and outer parts of the piston ring 311 and the guard teeth are matched to clamp the conductive wire;

the outside of the core shaft 307 that rises still overlaps and is equipped with push wire piece 322, still install second motor 319 on the core mounting panel 312 rises, the output shaft of second motor 319 is connected with two second screw nut pairs 321 that correspond to each other through second belt 320, the drive block of the vice 321 of second screw nut and the core mounting panel 312 fixed connection rise, the upper end and the push wire of the vice 321 of second screw nut are connected with the rotation of push wire connecting plate 323, the lower extreme and the push wire piece 322 of the vice 321 of second screw nut are connected with the rotation, when second motor 319 rotates, can promote push wire piece 322 and move in vertical direction.

When the number of the clamping mechanisms of the grabbing mechanism 3 is two, one of the clamping mechanisms is installed at the lower end of the base plate 301, the first mounting plate 324 is installed on the base plate 301 through the bracket, the other clamping mechanism is installed at the lower end of the first mounting plate 324, the expanding core penetrates through the clamping mechanisms on the first mounting plate and the first mounting plate 324, and the servo push rod 305 for driving the corresponding clamping mechanism is installed on the first mounting plate 324.

The grabbing mechanism 3 is suitable for double-layer conductive wire coil layers, namely the grabbing mechanism 3 is matched with the second cycloid mechanism 9 at the moment, a gap generally exists between the double-layer conductive wire coil layers, the bottom plate 301 is driven to descend by the first motor 315, so that the expansion core is positioned on the inner side of the conductive wire coil, the clamping mechanism is positioned on the outer side of the conductive wire coil, the servo push rod 305 is started, the protection teeth are matched with the expansion core to clamp the conductive wire, in the clamping process, due to the gap existing between the conductive wires, the lower end of the conductive wire is fixed in the second cycloid mechanism 9, when the protection teeth at the upper end are contacted with the upper end of the conductive wire, the protection teeth at the upper end can push the upper end of the conductive wire together by means of the elasticity of the conductive wire and the gap between the second cycloid mechanism 9 and the lower end of the conductive wire, namely, the gap at the upper end of the conductive wire is eliminated, but the protection teeth at the lower end acts on the middle part of the conductive wire, and both the upper end and the lower end of the conductive wire are limited, if the force applied by the guard teeth is too large, the conductive wire can be bent, therefore, the guard teeth at the lower end can only preliminarily clamp the conductive wire, the position between the guard teeth at the lower end and the conductive wire needs to be subsequently adjusted, after clamping is finished, the expansion core is started, the conductive wire coil is supported by the expansion core, the base plate 301 is lifted by matching with the first motor 315, the conductive wire is pulled out of the second cycloid mechanism 9, the lower end of the conductive wire cannot be limited by the second cycloid mechanism 9 at the moment, the servo push rod 305 (on the base plate 301) is continuously controlled, the conductive wire is pushed by the guard teeth at the lower end, the middle of the conductive wire is contracted in place, the gap between the conductive wires is eliminated, and the subsequent production efficiency is effectively improved.

When the number of the clamping mechanisms of the grabbing mechanism 3 is one, the grabbing mechanism 3 is suitable for a single-layer conductive wire coil layer, that is, the grabbing mechanism 3 is matched with the first cycloid mechanism 8, when the grabbing mechanism 3 is used, the basic operation process is similar to that of the grabbing mechanism 3 with two clamping mechanisms, the servo push rod 305 only needs to be driven once, and the guard teeth can clamp the conductive wire without subsequent adjustment.

The wire rewinding mechanism 4 comprises a second sliding plate 401 and a movable plate 406, the second sliding plate 401 can move along the length direction of the rack 1, the upper end of the second sliding plate 401 is provided with a second mounting plate 402 through a bracket, a wire rewinding cylinder 403 is mounted on the second mounting plate 402, the wire rewinding cylinder 403 is provided with accommodating grooves 404 distributed annularly, the number of the movable plates 406 is matched with the number of the cycloid mechanisms, the upper ends of the movable plates 406 are respectively provided with movable rods 407 distributed annularly, the number of the movable rods 407 is matched with the number of the accommodating grooves 404, the movable rods 407 on the lower movable plate 406 are positioned on the inner side of the movable rods 407 on the upper movable plate 406, the upper ends of the movable rods 407 extend to the inside of the accommodating grooves 404, the upper end of the second sliding plate 401 is also provided with a wire rewinding cylinder 405 for driving the movable plates 406 to perform vertical movement, when the rewinding cylinder 405 is in an extended state, the upper end of the corresponding movable rod 407 is close to the uppermost end of the inner wall of the accommodating groove 404, when the wire rewinding air cylinder 405 is in a contracted state, the upper end of the corresponding movable rod 407 is close to the lowest end of the inner wall of the accommodating groove 404, and when the grabbing mechanism 3 conveys the conductive wire to the wire rewinding mechanism 4, the movable rod 407 corresponding to the conductive wire retracts.

In the wire rewinding mechanism 4, a plurality of groups of movable rods 407 and wire rewinding cylinders 405 matched with the movable rods 407 are arranged, when a wire is rewound, the wire rewinding cylinders 405 are controlled to retract the movable rods 407 corresponding to the conductive wires, so that gaps in the accommodating grooves 404 just accommodate the conductive wires to be inserted, the conductive wires are not askew inserted in the inserting process, the normal insertion of the subsequent conductive wires is ensured, the production efficiency is effectively improved, when the wire is rewound, a first layer of conductive wire coils are firstly rewound, the movable plates 406 corresponding to the first layer of conductive wire coils descend, then a second layer of conductive wire coils are rewound, the movable plates 406 corresponding to the second layer of conductive wire coils descend, the movable plates 406 descend sequentially, and the normal operation of the device is ensured. And after all the wires in the wire receiving mechanism 4 are fully inserted, the conductive wires are taken out through the grabbing mechanism 3 and are conveyed to the wire inserting tool 5.

The upper end of holding tank 404 is provided with the guide way, and the inner wall of guide way sets up for the slope, through the guide way, can be convenient for the start of plug wire, further improves plug wire efficiency.

The wire plugging tool 5 comprises a third sliding plate 501, a third mounting plate 502 is mounted at the upper end of the third sliding plate 501, a fourth mounting plate 503 is mounted at the upper end of the third mounting plate 502 through a support, wire limiting mechanisms are mounted at the upper end of the third mounting plate 502 and the lower end of the fourth mounting plate 503, and an area for accommodating a stator 507 is arranged between the wire limiting mechanisms;

the lead limiting mechanism comprises a second tooth protection cover 504, a second tooth protection movable disc 505, a tooth protection pressing plate 12 and tooth protection, wherein one end of the second tooth protection cover 504 is provided with an annular groove for accommodating the second tooth protection movable disc 505, the other end of the second tooth protection cover 504 is provided with second sliding chutes which are uniformly distributed, the second sliding chutes are arranged along the radial direction of the second tooth protection cover 504, the tooth protection is matched with the second sliding chutes, the end surface of the second tooth protection cover 504 is also fixedly provided with the tooth protection pressing plate 12 which can prevent the tooth protection from falling off, the tooth protection can be pulled to slide along the second sliding chutes when the second tooth protection movable disc 505 deflects, the same second traction pin 506 is connected between the second tooth protection movable discs 505, a servo push rod 305 for driving the second traction pin 506 is arranged on a third sliding plate 501, the second traction grooves which are uniformly distributed are arranged on the second tooth protection movable disc 505, the extension line of the second traction groove does not pass through the second tooth protection movable disc 505, the upper end of the protective tooth is provided with a first jack, a first bolt is inserted into the first jack, the upper end of the first bolt is positioned in the second traction groove, and the inner wall of the second traction groove pushes the first bolt to drive the protective tooth to move; when the servo push rod 305 works, the second traction pin 506 moves under the driving of the servo push rod 305, the second traction pin 506 pushes the second tooth protection movable disc 505 to deflect, and under the action of the first bolt and the second traction groove, the tooth protection can slide along the second sliding groove, and finally the tooth protection extends out of the second tooth protection cover 504; during the device use, put into plug wire frock 5 with stator 507, put into downwards from plug wire frock 5 top, treat that stator 507 reachs the assigned position after, start servo push rod 305, protect the tooth and stretch out second and protect tooth lid 504, protect the tooth and the upper end of stator and lower terminal surface contact this moment, will restrict, simultaneously, protect the edge of the tooth head of tooth and set up for the slope, still have the guide effect, the going on smoothly of the plug wire of being convenient for.

The wire inserting machine further comprises a wire inserting mechanism 6, the wire inserting mechanism 6 comprises a fourth mounting plate 601, a pressing block 602 is mounted at the lower end of the fourth mounting plate 601, the pressing block 602 is matched with the wire inserting tool 5, the fourth mounting plate 601 is slidably connected with the second guide pillar 603, the lower end of the second guide pillar 603 is fixedly connected with the machine frame 1, the upper end of the second guide pillar 603 is fixedly connected with a fifth mounting plate 604, a third motor 605 is mounted on the fifth mounting plate 604, the third motor 605 drives a third lead screw nut pair 607 to rotate through a third belt 606, the fourth mounting plate 601 is driven to reciprocate up and down through the third lead screw nut pair 607, after wire inserting of the wire inserting tool 5 is completed, the third motor 605 is started, a conductive wire is pressed through the pressing block 602, and the conductive wire is pressed in place.

The wire inserting mechanism is characterized by further comprising an ejecting mechanism 7, the ejecting mechanism 7 comprises an ejecting block, the ejecting block is arranged on the rack 1, the stator 507 can be ejected out of the wire inserting tool 5 by driving the ejecting block to ascend, the ejecting block can be driven by an air cylinder or a servo push rod 305, when the wire inserting tool 5 is located at one end of a third slide rail 508, the wire inserting tool 5 is located under the pressing-in mechanism 6, when the wire inserting tool 5 is located at the other end of the third slide rail 508, the wire inserting tool 5 is located over the ejecting mechanism 7, after wire pressing is finished, the wire inserting tool 5 moves to the position above the ejecting mechanism 7, then the protective teeth in the wire inserting tool 5 retract, the ejecting block is driven to ascend, and the stator 507 is ejected out of the wire inserting tool 5.

The tooth is protected including first tooth 11 and second tooth 13, and first tooth 11 of protecting includes first tooth handle and first tooth head, and the root of first tooth head is provided with bellying 111, and tooth 13 is protected to the second includes second tooth handle and second tooth head.

When the number of the clamping mechanisms of the grabbing mechanism 3 is one, the second protective teeth 13 are adopted, when the number of the clamping mechanisms of the grabbing mechanism 3 is two, the protective teeth at the lower end adopt the first protective teeth 11, the protective teeth at the lower end adopt the second protective teeth 13, and the second protective teeth 13 are adopted in the wire limiting mechanism.

Aiming at the problem that when the number of the clamping mechanisms of the grabbing mechanism 3 is two, the shapes of first guard teeth 11 and second guard teeth 13 which are different in shape are adopted, the first guard teeth 11 are provided with the protrusions 111, the conducting wires need to be limited twice in the operation process of the first guard teeth 11, when limitation is performed for the first time, gaps exist among the conducting wires, the first guard teeth 11 are not in place, when limitation is performed for the second time, gaps do not exist among the conducting wires, the first guard teeth 11 are in place, the shapes of first teeth in the first guard teeth 11 meet the requirement that the conducting wires can be clamped when the first guard teeth 11 are in place, namely when the first guard teeth 11 are in place, the distance between the heads of adjacent first teeth is close to the distance between the roots of the adjacent first teeth, but when limitation is performed for the first time, namely when the first guard teeth 11 are not in place, the distance between the heads of the adjacent first teeth is obviously smaller than the distance between the roots of the adjacent first teeth, that is, the head of the first tooth head can contact the conductive wire, and the root of the first tooth head cannot contact the conductive wire, so that the protrusion 111 is provided to supplement the first guard tooth 11, and the conductive wire can be limited in the two-time action process of the first guard tooth 11.

The lower end of the manipulator 2 is provided with a fourth slide rail 201, and the manipulator 2 can move along the length direction of the rack 1 through the fourth slide rail 201.

The lower end of the first sliding plate 318 is provided with a first sliding block 325, the first sliding block 325 is adapted to a first sliding rail 326, the first sliding rail 326 is arranged on the rack 1, and the first sliding block 325 is matched with the first sliding rail 326 to enable the first sliding plate 318 to move along the width direction of the rack 1, that is, to move from above the cycloid mechanism to above the cycloid mechanism 4, or to return from above the cycloid mechanism 4 to above the cycloid mechanism.

The frame 1 is provided with a second slide rail 408 which is matched with the second slide plate 401, so that the take-up mechanism 4 can move along the length direction of the frame 1.

The rack 1 is provided with a third slide rail 508 adapted to the third slide plate 501, and the third slide plate 501 (the wire plugging tool 5) can move along the third slide rail 508.

For the first slide rail 326, the second slide rail 408, the third slide rail 508 and the fourth slide rail 201, power devices are respectively installed on the corresponding devices to drive the corresponding devices to move along the slide rails, taking the first slide rail 326 as an example, a servo motor is installed on the first slide plate 318, a gear is installed on the servo motor, a spur rack is installed on the first slide rail 326 (the rack 1), the gear is engaged with the spur rack, and the first slide plate 318 is driven to move by the rotation of the servo motor, although the power devices may also be other devices.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims (10)

1. A motor stator assembling device comprises a rack (1), a mechanical arm (2) and a wire inserting tool (5), wherein the wire inserting tool (5) is installed on the rack (1), and the motor stator assembling device is characterized in that a grabbing mechanism (3) and a cycloid mechanism which are uniformly distributed are arranged on the rack (1) along the length direction of the rack, the grabbing mechanism (3) is located above the cycloid mechanism, the grabbing mechanism (3) can move along the width direction of the rack (1), a wire collecting mechanism (4) is further installed on the rack (1), the wire collecting mechanism (4) can move along the length direction of the rack (1), the mechanical arm (2) can sequentially insert a conductive wire into the cycloid mechanism, the conductive wire is adjusted through the cycloid mechanism to form a circular ring between the conductive wires, the grabbing mechanism (3) can take out the conductive wire inside the cycloid mechanism, and convey the conductive wire to the wire collecting mechanism (4), the grabbing mechanism (3) can also take out the conductive wire inside the take-up mechanism (4) and convey the conductive wire to the wire inserting tool (5);

the take-up mechanism (4) comprises a second sliding plate (401) and a movable plate (406), the second sliding plate (401) can move along the length direction of the rack (1), a second mounting plate (402) is mounted at the upper end of the second sliding plate (401) through a support, a take-up drum (403) is mounted on the second mounting plate (402), accommodating grooves (404) distributed in an annular shape are formed in the take-up drum (403), the number of the movable plates (406) is matched with that of the cycloid mechanisms, movable rods (407) distributed in an annular shape are mounted at the upper end of each movable plate (406), the number of the movable rods (407) is matched with that of the accommodating grooves (404), the movable rods (407) on the movable plate (406) below are located on the inner side of the movable rods (407) on the movable plate (406) above, and the upper end of each movable rod (407) extends to the inside of the accommodating grooves (404), the upper end of second slide (401) still is used for driving fly leaf (406) to carry out vertical motion's receipts line cylinder (405), receives line cylinder (405) when being in the extension state, the upper end that corresponds movable rod (407) is close with the top of holding tank (404) inner wall, when receiving line cylinder (405) is in the shrink state, the upper end that corresponds movable rod (407) is close with the bottom of holding tank (404) inner wall, when snatching mechanism (3) and carrying the conductor wire to admission machine structure (4), movable rod (407) withdrawal that corresponds with the conductor wire.

2. An electric motor stator assembling apparatus according to claim 1, wherein the upper end of the receiving groove (404) is provided with a guide groove, and the inner wall of the guide groove is inclined.

3. The motor stator assembling device according to claim 1, wherein the grabbing mechanism (3) comprises a bottom plate (301) and a clamping mechanism, the clamping mechanism is installed at the lower end of the bottom plate (301), an expanding core installing plate (312) is fixedly installed at the upper end of the bottom plate (301) through a supporting rod, an expanding core which is vertically arranged is installed on the expanding core installing plate (312), the expanding core is matched with the clamping mechanism, the bottom plate (301) is connected with a top plate (313) through a first guide pillar (314), a first motor (315) is installed at the upper end of the top plate (313), an output shaft of the first motor (315) is connected with two first lead screw nut pairs (317) which correspond to each other through a first belt (316), and the end parts of the first lead screw nut pairs (317) are respectively connected with the bottom plate (301) and the top plate (313) through bearing seats, a driving block of the first lead screw nut pair (317) is connected with a first sliding plate (318), and a through groove is formed in the middle of the first sliding plate (318);

the clamping mechanism comprises a first tooth protection cover (302), a first tooth protection movable disc (303), a tooth protection pressing plate (12) and tooth protection, wherein an annular groove for accommodating the first tooth protection movable disc (303) is formed in the upper end of the first tooth protection cover (302), first sliding grooves which are uniformly distributed are further formed in the lower end of the first tooth protection cover (302), the first sliding grooves are arranged along the radial direction of the first tooth protection cover (302), the tooth protection is matched with the first sliding grooves, the tooth protection pressing plate (12) capable of preventing the tooth protection from falling off is further fixedly mounted at the lower end of the first tooth protection cover (302), and the tooth protection can be pulled to slide along the first sliding grooves when the first tooth protection movable disc (303) deflects;

the expansion core comprises an expansion core cylinder (306), an expansion core shaft (307), an expansion block push rod (308), an expansion block (309), an expansion block (310) and an expansion ring (311), the expansion core cylinder (306)) is fixedly mounted at the upper end of an expansion core mounting plate (312), the expansion core shaft (307) is fixedly mounted at the lower end of the expansion core mounting plate (312), an output shaft of the expansion core cylinder (306) is connected with the expansion block push rod (308), the lower end of the expansion block push rod (308) is located inside the expansion core shaft (307), the lower end of the expansion block push rod (308) is connected with the expansion block (309), the expansion block (309) is in an inverted circular table shape, the expansion core shaft (307) is provided with the expansion blocks (310) which are uniformly distributed, the end part of each expansion block (310) is in contact with the side wall of the expansion block (309), the lower end of the expansion core shaft (307) is further sleeved with the expansion ring (311), and the expansion ring (311) covers the outer side of the expansion block (310), when the expansion block push rod (308) drives the expansion block (309) to move downwards, the expansion block (309) extrudes the expansion block (310) to enable the expansion ring (311) to uniformly expand along the radial direction of the expansion core shaft (307);

the upper end of a first tooth protection cover (302) of the clamping mechanism is fixedly connected with the lower end of a base plate (301), a servo push rod (305) for driving a first tooth protection movable disc (303) to deflect is arranged on the base plate (301), the servo push rod (305) is connected with the first tooth protection movable disc (303) through a first traction pin (304), and a tooth protection in the clamping mechanism and an expansion ring (311) on an expansion core are in the same horizontal height;

the outer side of the expansion core shaft (307) is further sleeved with a wire pushing block (322), the expansion core mounting plate (312) is further provided with a second motor (319), an output shaft of the second motor (319) is connected with two second lead screw nut pairs (321) corresponding to each other through a second belt (320), a driving block of each second lead screw nut pair (321) is fixedly connected with the expansion core mounting plate (312), the upper end of each second lead screw nut pair (321) is rotatably connected with a wire pushing connecting plate (323), and the lower end of each second lead screw nut pair (321) is rotatably connected with the wire pushing block (322).

4. The motor stator assembling device according to claim 3, wherein the number of the clamping mechanisms is two, one of the clamping mechanisms is mounted at the lower end of the base plate (301), the first mounting plate (324) is mounted on the base plate (301) through a bracket, the other clamping mechanism is mounted at the lower end of the first mounting plate (324), the expanding core penetrates through the first mounting plate and the clamping mechanisms on the first mounting plate (324), and the servo push rod (305) for driving the corresponding clamping mechanism is mounted on the first mounting plate (324).

5. An electric machine stator assembly apparatus according to claim 4, characterised in that the gerotor mechanism comprises a first gerotor mechanism (8) and a second gerotor mechanism (9);

the first cycloid mechanism comprises a cycloid disc chassis (801), a first wire pushing disc (802), a first wire guiding disc (805), a second wire guiding disc (810) and a wire guiding disc shaft (808), wherein the wire guiding disc shaft (808) is fixedly arranged in the middle of the upper end of the cycloid disc chassis (801), the first wire pushing disc (802) is sleeved on the outer side of the wire guiding disc shaft (808), the first wire pushing disc (802) can rotate around the axis of the cycloid disc chassis (801), the first wire guiding disc (805) and the second wire guiding disc (810) are sequentially sleeved on the outer side of the wire guiding disc shaft (808) from bottom to top, a gasket (807) is arranged between the first wire guiding disc (805) and the second wire guiding disc (810), first wire inserting holes (809) which are uniformly distributed are formed in the wire guiding disc shaft (808), second wire guiding grooves (811) which are uniformly distributed are formed in the second wire guiding disc (810), and the first wire inserting holes (809) and the second wire guiding grooves (811) are alternately arranged, a circular ring formed by connecting the end parts of the second wire guide groove (811) positioned at the inner side of the second wire guide disc (810) through the first wire inserting hole (809), first wire pushing grooves (803) are uniformly distributed on the first wire pushing disc (802), the number of the first wire pushing grooves (803) is equal to the sum of the number of the first wire inserting holes (809) and the number of the second wire guiding grooves (811), the connecting line of the end point of the second wire guide groove (811) does not pass through the circle center of the second wire guide plate (810), the connecting line of the end point of the first wire pushing groove (803) does not pass through the circle center of the first wire pushing plate (802), the opening direction of the second wire groove (811) is opposite to the opening direction of the first wire pushing groove (803), first wire grooves (803) which are uniformly distributed are arranged on the first wire coil (802), the first wire guide groove (803) and the second wire guide groove (811) are aligned, and the end of the first wire pushing disc (802) is rotatably connected with a first cylinder connecting rod (804);

the second cycloid mechanism comprises a third wire pushing disc (901), a fourth wire pushing disc (907) and a second wire pushing disc (904), the second wire pushing disc (904) is arranged at the upper end of the third wire pushing disc (901), the second wire pushing disc (904) can rotate around the axis of the third wire pushing disc (901), third wire inserting holes (902) and third wire guiding grooves (903) which are uniformly distributed are formed in the third wire pushing disc (901), the minimum distance between the third wire inserting holes (902) and the axis of the third wire pushing disc (901) is smaller than the minimum distance between the third wire guiding grooves (903) and the axis of the third wire pushing disc (901), second wire pushing grooves (905) which are uniformly distributed are formed in the second wire pushing disc (904), the connection line of the end points of the third wire guiding grooves (903) does not pass through the circle center of the third wire pushing disc (901), and the connection line of the end points of the second wire pushing grooves (905) does not pass through the circle center of the second wire pushing disc (904), the opening direction of the second wire pushing groove (905) is opposite to that of the third wire pushing groove (903), the number of the third wire inserting holes (902), the number of the third wire pushing grooves (903) are the same as that of the second wire pushing grooves (905), the fourth wire pushing grooves (907) are fixedly connected with the third wire pushing groove (901), the fourth wire pushing groove (907) is provided with fourth wire inserting holes (908) and fourth wire pushing grooves (909) which are uniformly distributed, the third wire inserting holes (902) are aligned with the fourth wire inserting holes (908), the third wire pushing grooves (903) are aligned with the fourth wire pushing grooves (909), and the end portion of the second wire pushing groove (904) is rotatably connected with the second cylinder connecting rod (906).

6. The motor stator assembling device according to claim 1, wherein the wire inserting tool (5) comprises a third sliding plate (501), a third mounting plate (502) is mounted at the upper end of the third sliding plate (501), a fourth mounting plate (503) is mounted at the upper end of the third mounting plate (502) through a bracket, wire limiting mechanisms are mounted at the upper end of the third mounting plate (502) and the lower end of the fourth mounting plate (503), and an area for accommodating a stator (507) is arranged between the wire limiting mechanisms;

the wire limiting mechanism comprises a second tooth protection cover (504), a second tooth protection movable disc (505), a tooth protection pressing plate (12) and tooth protection, wherein an annular groove for accommodating the second tooth protection movable disc (505) is formed in one end of the second tooth protection cover (504), second sliding grooves which are uniformly distributed are formed in the other end of the second tooth protection cover (504), the second sliding grooves are formed in the radial direction of the second tooth protection cover (504), the tooth protection is matched with the second sliding grooves, the tooth protection pressing plate (12) capable of avoiding the falling of the tooth protection is fixedly installed on the end face of the second tooth protection cover (504), and the tooth protection can be pulled to slide along the second sliding grooves when the second tooth protection movable disc (505) deflects;

and a third sliding rail (508) matched with the third sliding plate (501) is arranged on the rack (1).

7. The motor stator assembling device according to claim 6, further comprising a press-in mechanism (6), wherein the press-in mechanism (6) comprises a fourth mounting plate (601), a pressing block (602) is mounted at the lower end of the fourth mounting plate (601), the pressing block (602) is matched with the wire plugging tool (5), the fourth mounting plate (601) is slidably connected with a second guide pillar (603), the lower end of the second guide pillar (603) is fixedly connected with the frame (1), the upper end of the second guide pillar (603) is fixedly connected with a fifth mounting plate (604), a third motor (605) is mounted on the fifth mounting plate (604), the third motor (605) drives a third screw nut pair (607) to rotate through a third belt (606), and the fourth mounting plate (601) is driven to reciprocate up and down through the third screw nut pair (607).

8. The motor stator assembling device according to claim 7, further comprising an ejection mechanism (7), wherein the ejection mechanism (7) comprises an ejector block, the ejector block is arranged on the frame (1), and the stator (507) can be ejected out of the wire plugging tool (5) by driving the ejector block to ascend.

9. The motor stator assembling device according to claim 8, wherein when the wire inserting tool (5) is located at one end of the third slide rail (508), the wire inserting tool (5) is located right below the press-in mechanism (6), and when the wire inserting tool (5) is located at the other end of the third slide rail (508), the wire inserting tool (5) is located right above the ejection mechanism (7).

10. An electric machine stator assembling apparatus according to claim 3 or 6, characterized in that the guard teeth comprise a first guard tooth (11) and a second guard tooth (13), the first guard tooth (11) comprises a first tooth shank and a first tooth head, the root of the first tooth head is provided with a projection (111), and the second guard tooth (13) comprises a second tooth shank and a second tooth head.

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