New energy motor production line part feeding method

Abstract

The invention relates to the technical field of new energy motor production, in particular to a new energy motor production line part feeding method. Comprising the steps that a grabbing station and a storage station are constructed near a robot used for grabbing parts; the tray and the loaded parts are carried to a grabbing station; the robot grabs the parts in the tray on the grabbing station one by one; after all the parts in the trays on the grabbing station are moved out, the empty trays are grabbed to the storage station, and the robot continues to grab the parts in other trays on the grabbing station; and after the number of the empty trays on the storage station meets the requirement, the empty trays on the storage station are carried to the part storage area to be loaded again. According to the feeding method, automatic and intelligent motor assembly can be achieved, feeding operation of new energy motor parts can be efficiently achieved, manual operation is not needed in the feeding process, the circulation degree of the parts and the trays is extremely high, and feeding is rapid.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy motor production, and in particular to a method for feeding parts of a new energy motor production line. Background Art

[0002] With the rapid popularization of new energy electric vehicles, the demand for new energy motors has diversified. At present, conventional new energy motors include the following parts: stator, rotor, left housing, right housing, large gear ring and reduction box housing. When assembling new energy motors on the production line, an effective loading and unloading system is required to efficiently transfer the required parts to the production line for assembly.

[0003] At present, due to the large number of components (six parts) of new energy motors, the assembly process has many steps and the difficulty of operation, the traditional manual loading and unloading method is no longer applicable. When designing the loading and unloading system, it is necessary to continuously transport the parts to the designated location. In the actual operation process, the number of parts that need to be loaded is large, and the transportation time is long. Collisions between parts, failures of the conveying system, fluctuations in the conveying speed, etc. often occur, making it impossible for parts to be accurately delivered to the designated location, resulting in congestion or stagnation of the production line, affecting the continuity and efficiency of assembly. In order to avoid collisions between parts, parts are usually placed in a pallet, and then the pallet and adjacent parts are transported at the same time. The parts on the pallet are isolated from each other, and there will be no collisions with each other, avoiding collision damage to the parts.

[0004] As a carrying tool, pallets can effectively prevent collisions between parts, but the use of pallets has brought some new problems. When the parts on the pallet are taken away, how to recycle the empty pallet for secondary use is not specified in the current motor production line. For example, the prior art proposes a cyclic loading method for an automated motor assembly production line, which performs loading according to the following steps: S1, building a three-dimensional storage warehouse LA and a three-dimensional storage warehouse LB that are arranged in parallel on the support beam, and the three-dimensional storage warehouse LA is arranged behind the three-dimensional storage warehouse LB; LA is provided with N layers of storage units, which are recorded as LA1, LA2, LAi..., LAN from top to bottom, and the height of each layer of storage units is h; LB is provided with N layers of storage units, which are recorded as LB1, LB2, LBi..., LBN from top to bottom, and the height of each layer of storage units is h; N≥2; the three-dimensional storage warehouse LA and the three-dimensional storage warehouse LB are both provided with a lifting mechanism; a tray mounted on the lifting mechanism is provided at the bottom of each storage unit, and the upper and lower adjacent storage units are separated by the tray; S2, loading loading components onto the trays of the storage units LA2, LAi..., LAN, withdrawing the tray of the storage unit LA1, and using the storage unit LA1 as a transfer station;

[0005] S3. An upper transverse mechanism is provided between storage units LA1 and LB1, and the pallets of storage unit LB1 are transversely moved to storage unit LA1 through the top transverse mechanism; S4. The lifting mechanism of the three-dimensional storage library LB drives the pallets of LB2, LBi..., LBN to rise to a height h of a storage unit. At this time, there are no pallets in storage unit LBN; S5. A lower transverse mechanism is provided between storage units LAN and LBN, and the pallets of storage unit LAN are transversely moved to storage unit LBN through the lower transverse mechanism; S6. The lifting mechanism of the three-dimensional storage library LA drives the pallets of LA1, LA2, LAi..., LB(N-1) to descend to a height h of a storage unit; S7. Load the feeding components in the tray of storage unit LA2; S8, repeat steps S3-S7 until LB1, LB2, LBi..., LBN are all loaded with feeding components, LA2, LAi..., LAN are all loaded with feeding components, LA1 has no tray and serves as a transfer station. At this time, the feeding preparation work is completed; S9, storage unit LB1 is a material taking station. When all the feeding components loaded in LB1 are taken out, choose to execute step S91 or step S92: S91, repeat steps S3-S7 to realize circular feeding; S92, repeat steps S3-S6, and load feeding components into LA2, LAi..., LAN in time to ensure uninterrupted feeding of storage unit LB1.

[0006] This feeding method constructs a three-dimensional storage unit, equipped with a lifting mechanism and a tray, adopts a cyclic feeding method, realizes multi-layer automatic storage and feeding, ensures the continuous operation of the production line, reduces production stagnation caused by untimely feeding, and greatly improves feeding efficiency and accuracy. It improves the convenience of manual feeding. Through the two feeding strategies of S91 and S92, it realizes the flexible loading of feeding components according to actual production conditions, reduces the number of operations of personnel on the production line, reduces the safety risks in the workplace, and saves manual operation costs.

[0007] This method still relies on manual feeding and cannot achieve fully automated operation. In fact, it still relies on manual transportation of materials to the vicinity of the storage unit, and then manually transports the materials and pallets to the storage unit. This method still has great safety hazards and serious manpower consumption. In actual application, if the movement of parts is simply done by people moving them by themselves, it will seriously affect the efficiency of the entire motor assembly line, and it will not be possible to achieve automated and efficient production, and it will not meet the requirements of efficient and safe feeding.

[0008] In addition, the method does not explain how to deal with empty pallets, but only explains the removal of empty pallets. According to the description of the technology, the solution is to use the pallet as a recyclable carrier, set up a dedicated workstation as a parts placement station, and after the pallet is moved to this position, the parts are placed on the pallet by other means, and then the pallet enters the loading station and is grabbed by moving vertically and horizontally. The empty pallet is always in this loading structure and will not separate from the entire loading structure.

[0009] However, in actual applications, there is a certain distance between the storage location of parts and the loading location of parts. Usually, it is necessary to transport the empty pallet to the storage location of parts, and then load the parts onto the empty pallet one by one, and then transport the whole to the loading location to be grabbed and assembled. How to collect the pallets at the loading station after the parts they carry are taken away is a difficult problem that needs to be solved urgently. If it is completely dependent on manual operation, workers need to enter the dangerous area to collect the empty pallets, which poses a great safety hazard. In addition, the efficiency of manual collection and transportation is extremely low, which seriously affects the production efficiency of the entire new energy motor production line. Summary of the invention

[0010] The purpose of this application is to solve the deficiencies of the above-mentioned background technology and to provide a method for feeding parts of a new energy motor production line.

[0011] The technical solution of the present application is: a method for feeding parts of a new energy motor production line, comprising:

[0012] At least one picking station for storing a pallet loaded with parts and at least one storage station for storing an empty pallet are constructed near a robot for picking up parts;

[0013] Load parts onto pallets in the parts storage area and move pallets and loaded parts to the picking station;

[0014] The robot grabs the parts in the tray on the grabbing station one by one and supplies them to the motor assembly line;

[0015] After all the parts in the tray on the grabbing station are removed, the robot grabs the empty tray to the storage station, and continues to grab parts in other trays on the grabbing station;

[0016] When the number of empty pallets on the storage station reaches the requirement, the empty pallets on the storage station are moved to the parts storage area for reloading.

[0017] According to a method for loading parts for a new energy motor production line provided in the present application, at least one grasping station for storing pallets loaded with parts, at least one storage station for storing empty pallets, and at least one NG station for storing unqualified parts are constructed near a robot for grasping parts.

[0018] According to a new energy motor production line parts loading method provided by the present application, the storage station, the gripping station and the NG station are arranged at equal intervals along the first direction; the robot is located on one side of the storage station, the gripping station and the NG station in the second direction; the first direction and the second direction are horizontal directions perpendicular to each other.

[0019] According to a method for loading parts for a new energy motor production line provided in the present application, the method for loading parts onto a pallet in a parts storage area includes: placing parts of the same model vertically into storage holes on the pallet, and then placing the pallet filled with parts onto a trolley, and stacking a set number of pallets on the trolley in sequence from bottom to top.

[0020] According to a method for loading parts for a new energy motor production line provided in the present application, the method for transporting pallets and the loaded parts to a grabbing station includes: using an AGV to enter the bottom of a trolley, vertically lifting the trolley and the pallets and parts loaded on the trolley, the AGV drives the trolley to move to a station base corresponding to the grabbing station, the AGV drives the trolley into the station base, and transfers the trolley and the pallets and parts loaded on the trolley to the station base.

[0021] According to a method for loading parts for a new energy motor production line provided in the present application, the method for transferring a trolley and the pallets and parts loaded on the trolley to a workstation base includes: the AGV drives the trolley from the opening side of the second direction of the workstation base to the workstation base, and after detecting that the trolley has moved into position along the second direction, the AGV descends vertically to place the trolley on the workstation base, and the AGV continues to descend and moves out from the bottom of the trolley along the second direction after the AGV is completely separated from the trolley, and the workstation base limits the trolley.

[0022] According to a method for loading parts of a new energy motor production line provided by the present application, the method for limiting the position of the trolley by the workstation base includes: the workstation base includes a plurality of columns, two side plates fixed on the columns and disposed on both sides of the first direction, and a limiting rod extending along the first direction; the limiting rod is fixed to the ends of the two side plates along the second direction and forms a square frame structure with one side open with the two side plates; the side plates are arranged along the second direction and abut against the side of the trolley when the trolley enters the workstation base to limit the movement of the trolley in the first direction;

[0023] A support rod extending along the second direction is provided on the inner side of the side plate; the support rod is supported on the lower end surface of the trolley after the trolley completely enters the station base and is separated from the AGV;

[0024] Multiple groups of limit seats are installed on the limit rod; a limit pull rod and a limit cylinder driving the limit pull rod to rotate around the first axis are arranged on the limit seat; the lower end of the limit pull rod is hingedly connected to the limit seat and can rotate around the first axis, and the upper end is driven by the limit cylinder to hook on the bottom beam of the trolley to limit the second movement of the trolley after the trolley completely falls on the support rod.

[0025] According to a method for loading parts for a new energy motor production line provided in the present application, the method for the robot to grab the parts in the tray on the grabbing station one by one includes: arranging a slide rail extending along the first direction on one side of the second direction of the grabbing station and the storage station, the robot can be slidably connected to the slide rail in the first direction, the robot moves along the slide rail to a position convenient for grabbing according to the first direction position of the grabbing station, the robot grabs the parts in the top tray of the grabbing station one by one, and transfers them to the transfer station on the side of the second direction of the slide rail relative to the storage station.

[0026] According to a method for loading parts for a new energy motor production line provided in the present application, the transfer station includes a track arranged along a first direction and a base connected to the track and slidable in the first direction for carrying parts.

[0027] According to a method for loading parts of a new energy motor production line provided by the present application, the method for grabbing an empty pallet to a storage station includes: using a pallet grabbing structure on a support beam above the storage station and the grabbing station to transfer the empty pallet from the grabbing station to the storage station; the pallet grabbing structure includes:

[0028] A suction structure, wherein the suction structure is connected to the support beam and can move in a first direction, a second direction and a vertical direction to suction the empty pallet on the grabbing station;

[0029] A visual module is installed on the adsorption structure to obtain the storage status of parts in the tray on the grabbing station.

[0030] According to a new energy motor production line parts feeding method provided by the present application, the adsorption structure includes:

[0031] A first grabbing plate, wherein the first grabbing plate is a horizontal plate-shaped structure connected to the support beam and movable in a first direction, a second direction and vertically, and a plurality of first adsorption heads for adsorbing a pallet are arranged on a lower end surface of the first grabbing plate;

[0032] The second grabbing plate is a horizontal plate structure vertically adjustable to the first grabbing plate through a lifting cylinder, the second grabbing plate is located below the first grabbing plate, and a plurality of second adsorption heads for adsorbing another type of pallet are provided on the lower end surface of the second grabbing plate.

[0033] According to a method for loading parts for a new energy motor production line provided in the present application, the first adsorption head is a vacuum adsorption structure or a magnetic adsorption structure located around the first grabbing plate; the second adsorption head is a vacuum adsorption structure or a magnetic adsorption structure located around the second grabbing plate.

[0034] According to a new energy motor production line parts feeding method provided by the present application, it also includes

[0035] A first guide rail, wherein the first guide rail is installed on the support beam and arranged along a first direction;

[0036] A second guide rail, wherein one end of the second guide rail is connected to the first guide rail and can be moved in the first direction by being driven by a first-direction motor, and the other end of the second guide rail extends along a horizontal second direction;

[0037] A vertical guide rail, wherein the vertical guide rail is connected to the second guide rail so as to be movable in a second direction via a second direction motor;

[0038] The adsorption structure is connected to the vertical guide rail in a vertically movable manner via a vertical motor.

[0039] According to a method for loading parts for a new energy motor production line provided in the present application, the first grabbing plate is connected to the lower end of the vertical guide rail so as to be rotatable around a vertical axis through a rotating motor.

[0040] According to a method for loading parts for a new energy motor production line provided in the present application, the method for transporting empty pallets on a storage station to a parts storage area for reloading includes: the AGV enters under the trolley on the station base of the storage station, the station base releases the second-direction limit on the trolley, the AGV lifts vertically to separate the trolley from the station base, the AGV drives the trolley and the empty pallet loaded on the trolley to move out from the station base along the second direction, and moves to the parts storage area for reloading.

[0041] The advantages of the present application are as follows: 1. The feeding method of the present application can be fully automated. On the assembly production line of new energy motors, parts can be efficiently and automatically fed. The entire feeding process does not require any personnel on duty. Parts can be quickly transported to the position to be assembled and grabbed, which is convenient for subsequent rapid assembly. At the same time, the empty pallets from which parts are taken away will be stored in an orderly manner, and subsequent overall handling is extremely convenient. During the feeding process, parts and pallets are efficiently circulated, and the degree of automation and intelligence is extremely high.

[0042] 2. This application constructs multiple workstations and designs different workstations for different needs, which can meet various needs and meet the requirements of parts grabbing, empty pallet storage and unqualified parts storage, making the operation efficiency of parts and pallets extremely high and greatly improving the efficiency of loading;

[0043] 3. The workstations of the present application are arranged at intervals along the first direction, which greatly facilitates the robot to quickly grasp the parts. At the same time, the workstations are compactly arranged, occupying a small area, and the transfer and grasping of parts and pallets are very convenient;

[0044] 4. The parts of the present application are placed in a special pallet for transportation. The pallet is used to carry the parts, and corresponding storage holes can be constructed according to the structure of the parts, which is convenient for the storage of the parts and the subsequent grabbing operation, and can effectively avoid collisions between the parts;

[0045] 5. This application places motor parts on a pallet, uses a trolley to carry the pallet, and uses an AGV to transport the trolley, pallet and motor parts to the workstation base. The movement of the entire motor parts is completely dependent on the AGV for automatic transportation, without the need for human operation. The parts enter the workstation base to achieve fully automated operation, greatly improving the efficiency of parts handling and movement, without the need for human supervision, and greatly improving safety; the trolley enters the workstation base to effectively limit and fix, the stability of the parts storage is excellent, and there will be no collapse, which is convenient for subsequent grabbing;

[0046] 6. This application uses AGV to transfer the trolley and parts to the workstation base. The workstation base has an opening on one side for easy entry and exit. At the same time, the workstation base can restrict the trolley to avoid subsequent shaking of the trolley and parts, further facilitating the robot's grasping operation of the parts;

[0047] 7. The limiting method of the workstation base of the present application for the trolley is very simple and convenient. The side plates on both sides of the workstation base can play a good limiting role and can also form a guiding structure, which is convenient for the trolley to be accurately transported into the workstation base. The support rod can facilitate the placement of the trolley and facilitate the trolley to be stably supported in the workstation base. The support rods on both sides support the trolley respectively, and the support stability is good, and there will be no overturning problem. The limiting pull rod can hook the trolley when the trolley completely enters the workstation base and is placed on the support rod, limiting the second direction movement of the trolley, that is, the cooperation of the side plates, the support rods and the limiting pull rods can well stabilize the trolley in the workstation base;

[0048] 8. The robot of the present application is easy to move. By setting a slide rail structure, the slide rail structure facilitates the robot to move along the first direction, so that the robot's range of motion is greatly improved, and the grabbing operation of parts is more convenient;

[0049] 9. The transfer station of the present application is convenient for receiving the parts grasped by the robot by setting a base, and is convenient for adjusting the position of the base by setting a track, so as to facilitate the assembly production line to obtain the parts;

[0050] 10. The present application has a very simple method for grabbing empty pallets. It can automatically identify the pallet on the workstation base to determine whether it is an empty pallet. When it is an empty pallet, the adsorption structure can accurately move to the empty pallet to adsorb and transport the empty pallet to the storage station. The overall operation is very simple and can be fully automated without the need for personnel on duty, which greatly improves the efficiency of pallet transportation and greatly improves the assembly efficiency of new energy motors.

[0051] 11. The adsorption structure of the present application has two adsorption heads, which correspond to the adsorption of two different pallets. Pallets of different specifications can carry different parts. The adsorption structure of the present application has a wide range of applications and excellent versatility, and can conveniently transport various pallets.

[0052] 12. The adsorption head used in this application can be a vacuum adsorption or a magnetic adsorption structure. You can choose a suitable adsorption head to adsorb and transport the pallet according to actual needs. The entire adsorption head has a simple structure and is easy to operate.

[0053] 13. The adsorption structure of the present application can realize three-dimensional movement in the first direction, the second direction and the vertical direction. The adsorption structure covers a wide range and can conveniently grab and transfer the pallet. It is simple to operate and easy to control.

[0054] 14. The first grab plate of the present application can rotate around the vertical axis, so that the adsorption structure can completely fit the tray structure below, and the tray can be stably grabbed, and the grabbing and carrying of the tray become extremely convenient and efficient;

[0055] 15. The method of transporting empty pallets in this application is very simple. By entering under the trolley of the storage station through the AGV, the empty pallets can be transferred to the parts storage area. The whole process is fully automated, no human on-duty operation is required, and the transportation efficiency is extremely high.

[0056] The feeding method of the present application can realize the automation and intelligentization of motor assembly, and can efficiently realize the feeding operation of new energy motor parts. The feeding process does not require any human operation at all, the circulation rate of parts and pallets is extremely high, and the loading is fast, which greatly improves the efficiency of motor assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 : Axial view of the feeding structure of this application;

[0058] Figure 2: A top view of the feeding structure of the present application;

[0059] Figure 3 : Axis view of the grabbing structure of this application;

[0060] Figure 4 : A top view of the grabbing structure of the present application;

[0061] Figure 5 : Schematic diagram of the arrangement structure of the first grabbing plate and the second grabbing plate of the present application;

[0062] Figure 6 : Schematic diagram of the connection structure between the trolley and the workstation base of the present application;

[0063] Figure 7 : Schematic diagram of the connection structure between the trolley and AGV of the present application;

[0064] Figure 8 : Schematic diagram of the trolley of the present application being placed on the workstation base;

[0065] Fig. 9 : Schematic diagram of the relative arrangement of the trolley and the workstation base of the present application;

[0066] Fig.10 : Schematic diagram of the workstation base structure of this application;

[0067] Fig.11 : Schematic diagram of the connection structure between the trolley and the workstation base of the present application (looking up);

[0068] Among them: 1—station base; 1.1—column; 1.2—side plate; 1.3—limit rod; 1.4—support rod; 1.5—limit seat; 1.6—limit pull rod; 2—trolley; 2.1—bottom plate; 2.2—leg; 2.3—crossbeam; 2.4—longitudinal beam; 2.5—pulley; 2.6—limit plate; 3—AGV; 4—tray; 5—support beam; 6—support column; 7—visual module; 8—adsorption structure; 8.1—first grab plate; 8.2—second grab plate; 8.3—first adsorption head; 8.4—second adsorption head; 8.5—first guide rail; 8.6—second guide rail; 8.7—vertical guide rail; 9—robot; 10—slide rail; 11—base; 12—track. DETAILED DESCRIPTION

[0069] The embodiments of the present application are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0070] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0071] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0072] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0073] The present application relates to a method for loading parts for a new energy motor production line. The loading in the present application is the process of supplying parts of new energy motors to the assembly production line. The parts used for the assembly of new energy motors are placed in a pallet, and then the parts and the pallet are transported as a whole to a position convenient for the robot to grab. The robot grabs the parts on the pallet to assemble the motor. The loading method of the present application is divided into three steps for loading motor parts. First, the parts are loaded onto the pallet and then transported to the grabbing station. Second, the robot grabs and transfers the parts on the grabbing station. Third, the empty pallet on the grabbing station is transferred to the storage station. The three steps are fully automated and do not require human on-duty operation. The loading operation of new energy motor parts can be efficiently realized. The circulation degree of parts and pallets is extremely high, which greatly improves the loading efficiency of the entire motor assembly production line.

[0074] Specifically, Figures 1 to 11As shown, a new energy motor production line of the present application involves a loading structure above the loading of parts, and the loading structure includes a support beam 5, multiple station bases 1, a handling structure, a pallet grabbing structure, a parts grabbing structure and a transfer station. The loading structure of the present application includes a loading area, which is a square area surrounded by a fence, wherein the second side of the loading area is the support beam 5, and the support beam 5 is a suspended beam body arranged along the horizontal first direction supported by a support column 6, and the support beam 5 is close to the part conveying side; the station base 1 is a bearing base located below the support beam 5 for carrying a pallet 4, and the multiple station bases 1 include at least one as a grabbing station for storing a pallet 4 loaded with parts and at least one as a storage station for storing an empty pallet 4, and also include an NG station, that is, a station for storing unqualified parts, such as Figures 3-4 As shown, the present application involves four workstation bases 1, wherein A is a storage station, B is a gripping station, and C is an NG station; the transport structure is used to transport the stacked trays 4 loaded with parts to the workstation base 1, and to remove multiple empty trays 4 stacked together from the workstation base 1; the tray gripping structure is arranged on the support beam 5 for transferring the empty tray on the gripping station to the storage station; the parts gripping structure includes a robot 9 for gripping parts from the tray 4 on the gripping station; the transfer station is used to receive the parts gripped by the robot 9 for subsequent transport to the production line for assembly, and the transfer station is arranged on the other side of the second direction of the loading area, opposite to the support beam 5, and the transfer station is close to one side of the motor assembly production line.

[0075] In actual application, in the parts storage area, after the parts are loaded onto the pallet 4, the pallet 4 loaded with parts is moved to the transport structure, and the transport structure transfers the pallet 4 to the station base 1 of the grabbing station, and the station base 1 fixes the pallet 4; the robot 9 grabs the parts in the topmost pallet 4 on the station base 1 of the grabbing station, and the robot 9 transfers the grabbed parts to the transfer station for subsequent motor assembly. The robot 9 grabs the parts in the topmost pallet 4 in turn until all the parts in the topmost pallet 4 are taken away; The top pallet 4 at the workstation is identified and after determining that the pallet 4 is an empty pallet, the pallet grabbing structure moves to the top of the empty pallet, and then grabs the pallet 4 and moves it to the storage station; the robot 9 continues to grab the parts on the grabbing station, in sequence, until all the parts and pallets on the grabbing station are removed, and the robot 9 switches to another grabbing station to continue grabbing parts; after the number of empty pallets stacked on the storage station reaches the set number, the transport structure enters the storage station to transfer the stacked empty pallets to the parts storage area, and reloads the parts.

[0076] In some embodiments of the present application, the present embodiment optimizes the above-mentioned tray grabbing structure, specifically, Figures 1 to 5 As shown, the pallet grabbing structure of the present embodiment includes an adsorption structure 8 and a visual module 7. The support beam 5 is a suspended beam body arranged along a first horizontal direction through a support column 6. The support beam 5 is the bearing foundation of the entire grabbing structure. The support beam 5 of the present embodiment is arranged along the first direction and is a suspended structure. It is convenient to construct multiple workstations under the support beam 5. The support beam 5 itself can be used as a guide rail foundation for the movement and adjustment of the adsorption structure; the workstation base 1 is a bearing base for carrying the pallet 4 under the support beam 5. The multiple workstation bases 1 include at least one as a grabbing workstation for storing a pallet 4 loaded with parts and at least one as a storage workstation for storing an empty pallet 4, such as Figures 3-4 As shown, the present application is provided with four station bases 1 below the support beam 5, and two of the four station bases 1 are gripping stations (such as Figures 3-4 B), one is a storage station (such as Figures 3-4 A) and an NG station (as shown Figures 3-4 As shown in C), multiple layers of pallets are stacked on the station base 1 of the grabbing station, and multiple parts of the same specification are stored in the pallets. The station base 1 of the storage station is used to store empty pallets, and the station base 1 of the NG station is used to store unqualified parts; the adsorption structure 8 can be connected to the support beam 5 and can be moved in the first direction, the second direction and the vertical direction to adsorb the empty pallet 4 on the grabbing station. The adsorption structure 8 is the main component for grabbing and moving the empty pallet, and can be moved to the storage station for placement by adsorption, and the empty pallets can be stacked together vertically for convenience in subsequent The whole is transferred and removed; the visual module 7 is installed on the adsorption structure 8.7 to obtain the storage status of the parts in the tray 4 on the grasping station. The visual module 7 of the present application includes a camera, which obtains the top view image information of the tray below, and then compares the obtained image information with the standard empty tray information. If the obtained image information corresponds to the standard image information, that is, the similarity meets the set requirements, it can be judged that the current tray below is an empty tray, which can be transported to the storage station through the adsorption structure. Otherwise, it is not an empty tray, and there are still parts, which need to wait for the robot to grasp it.

[0077] During actual operation, the placement of components in the top tray 4 on the current grabbing station is obtained based on the visual module 7; after determining that the top tray 4 at the current grabbing station is an empty tray 4, the adsorption structure 8 is moved so that the adsorption structure 8 adsorbs the empty tray 4 and transports the empty tray 4 to the storage station, and places the empty tray 4 on the storage station; after the stacking of empty trays on the storage station reaches a set number (the number of empty trays currently stacked can be determined by collecting the stacking height of the empty trays on the current storage station, or the number of empty trays can be determined by recording the number of times the adsorption structure transports the empty trays to the storage station), all the empty trays on the storage station can be transported and removed as a whole; other methods can also be used, such as after all the trays on the station base 1 that was originally used as a grabbing station have been grabbed and removed, the station base 1 can be switched to a storage station.

[0078] The first direction of this application is Figure 2 The left and right directions in the Figure 2 The up and down directions in the Figure 2 Perpendicular to the paper surface, the first direction, the second direction and the vertical direction are perpendicular to each other.

[0079] In some embodiments of the present application, the above-mentioned adsorption structure 8 is optimized. Specifically, Figures 3 to 5 As shown, the adsorption structure 8 of this embodiment includes a first grabbing plate 8.1 and a second grabbing plate 8.2. The first grabbing plate 8.1 is a horizontal plate structure connected to the support beam 5 and can move in the first direction, the second direction and the vertical direction. The lower end surface of the first grabbing plate 8.1 is provided with a plurality of first adsorption heads 8.3 for adsorbing a type of pallet 4; the second grabbing plate 8.2 is a horizontal plate structure connected to the first grabbing plate 8.1 and can be adjusted vertically by a lifting cylinder. The second grabbing plate 8.2 is below the first grabbing plate 8.1, and the lower end surface of the second grabbing plate 8.2 is provided with a plurality of second adsorption heads 8.4 for adsorbing another type of pallet 4.

[0080] The first adsorption head 8.3 and the second adsorption head 8.4 correspond to the grabbing of different types of pallets, respectively. The assembly of the new energy motor of this embodiment involves six parts, namely: stator, rotor, left housing, right housing, large ring gear and reduction gear housing. Each component corresponds to a pallet, that is to say, theoretically this embodiment involves six types of pallets. According to the structure of the six components, this embodiment designs the pallet into two adsorption forms, which correspond to the first adsorption head 8.3 and the second adsorption head 8.4, respectively. There are differences in the adsorption methods corresponding to each adsorption form. Among them, the first adsorption head 8.3 is a vacuum adsorption structure or a magnetic adsorption structure located around the first grabbing plate 8.1, and the second adsorption head 8.4 is a vacuum adsorption structure or a magnetic adsorption structure located around the second grabbing plate 8.2.

[0081] In this embodiment, the first adsorption head 8.3 of this embodiment is a vacuum adsorption structure located around the first grab plate 8.1, and the second adsorption head 8.4 is a magnetic adsorption structure located around the second grab plate 8.2. The adsorption ranges corresponding to the two adsorption heads are different. When the tray below is obtained to be of the first type of structure, the first adsorption head 8.3 is used for adsorption, and the vertical position of the entire first grab plate 8.1 is adjusted to move the first grab plate 8.1 downward until the first adsorption head 8.3 is attached to the adsorption surface of the tray to be grabbed below, and then, under the action of the vacuum generator, the first adsorption head 8.3 vacuum adsorbs the tray;

[0082] When it is detected that the tray below is of the second type of structure, the second adsorption head 8.4 is used for adsorption, the vertical height of the first grabbing plate 8.1 is adjusted for coarse adjustment, and then the vertical height of the second grabbing plate 8.2 is adjusted for fine adjustment, so that the second adsorption head 8.4 is accurately adsorbed on the adsorption surface of the tray, completing the adsorption operation of the tray by the second adsorption head 8.4.

[0083] In addition, the structure of the present embodiment to realize multi-directional movement of the adsorption structure is as follows Figures 3 to 5 As shown, it includes a first guide rail 8.5, a second guide rail 8.6 and a vertical guide rail 8.7. The first guide rail 8.5 is installed on the support beam 5 and arranged along the first direction. One end of the second guide rail 8.6 is connected to the first guide rail 8.5 and can be moved in the first direction by a first-direction motor, and the other end extends horizontally along the second direction. The vertical guide rail 8.7 is connected to the second guide rail 8.6 and can be moved in the second direction by a second-direction motor. The adsorption structure 8 is connected to the vertical guide rail 8.7 and can be moved vertically by a vertical motor. The first grab plate 8.1 is connected to the lower end of the vertical guide rail 8.7 and can be rotated around a vertical axis by a rotating motor.

[0084] The first direction motor on the first guide rail 8.5 can drive the second guide rail 8.6 to move in the first direction, the second direction motor on the second guide rail 8.6 can drive the vertical guide rail to move in the second direction, the vertical motor on the vertical guide rail can drive the support seat at the lower end of the vertical guide rail to move vertically, and a rotating motor is installed on the support seat, which can drive the first grab plate 8.1 to rotate around the vertical axis.

[0085] The rotation of the first grabbing plate 8.1 around the vertical axis in this embodiment is a small-range adjustment, the purpose of which is to align the first grabbing plate 8.1 with the tray below in the vertical direction, so that the adsorption head on the first grabbing plate 8.1 can be aligned with the adsorption surface on the tray below, facilitating subsequent adsorption operations.

[0086] In other embodiments of the present application, the present embodiment optimizes the structure of the tray 4, specifically, Figures 6-7As shown, the tray 4 is provided with a plurality of storage holes for accommodating motor components, and the plurality of storage holes are evenly distributed on the tray 4 in an array pattern, and the upper end surface of the tray 4 is arranged with a plurality of adsorption surfaces that are higher than the upper ends of the components placed in the storage holes.

[0087] The storage hole is a hole-shaped structure corresponding to the motor parts, and its upper end is open to facilitate the entry and exit of the parts. The setting of the adsorption surface is convenient for stacking the trays 4 together. The parts in the upper tray 4 and the lower tray 4 are completely isolated, and the upper tray 4 will not cause damage to the parts in the lower tray 4. At the same time, the adsorption surface is a flat end surface structure, which is convenient for the stacking arrangement of the adjacent trays 4 on both sides, and the stacking of the trays 4 is more stable; on the other hand, the setting of the adsorption surface is convenient for the subsequent adsorption, grabbing and handling operations of the empty trays through the grabbing structure.

[0088] In a preferred embodiment of the present application, the above-mentioned transport structure is optimized. Specifically, Figure 7 As shown, the transport structure of this embodiment includes a trolley 2 and an AGV 3. The trolley 2 is a bearing base for storing multiple pallets 4 stacked vertically. The trolley 2 is a structure for storing pallets 4 to facilitate the transportation of pallets 4. The pallets 4 here can be loaded with parts or empty pallets 4 without parts. The trolley 2 facilitates the connection and contact between the pallet 4 and other structures. Whether the pallet 4 is transferred to the trolley 2 or the pallet 2 enters the workstation base 1, it can become extremely convenient; AGV 3 is an automatic transport device that can lift the trolley 2 and the multiple pallets 4 it carries and transfer them to the workstation base 1. AGV 3 is an automatic guided vehicle with the functions of moving on the ground and lifting vertically.

[0089] In addition, in this embodiment, a limiting structure for fixing the trolley 2 is provided on the work station base 1. The limiting structure can limit and fix the trolley 2 after the trolley enters the work station base 1 to avoid relative movement of the trolley 2 and the work station base 1. Once the trolley 2 has completed the limiting fixation, the tray 4 and parts placed on the trolley 2 have also completed the limiting fixation, and the parts fixed on the work station base 1 can be well clamped by the robot.

[0090] During actual operation, the pallet 4 containing motor parts is stacked on the trolley 2, the AGV 3 enters under the trolley 2, lifts up the trolley 2 and the loaded pallet 4 and parts, and moves to the station base 1 of the grabbing station, and limits the trolley 2 based on the station base 1 to complete the parts handling process.

[0091] In some embodiments of the present application, the present embodiment optimizes the structure of the above-mentioned station base 1, specifically, Figures 6 to 10As shown, the workstation base 1 includes a plurality of columns 1.1, two side panels 1.2 fixed on the columns 1.1 and disposed on both sides of a first direction, and a limiting rod 1.3 extending along the first direction. The limiting rod 1.3 is fixed to the ends of the two side panels 1.2 along the second direction to form a square frame structure with one side open with the two side panels 1.2. The limiting rod 1.3 and the side panels 1.2 on both sides form a U-shaped structure. Four columns 1.1 are arranged on the workstation base 1. The four columns 1.1 support the U-shaped frame structure formed by the limiting plates 1.3 and the side panels 1.2. The U-shaped frame structure forms a suspended structure. The space below the side panels 1.2 and the limiting plates 1.3 facilitates the entry and exit of AGV3.

[0092] The side plate 1.2 is arranged along the second direction and abuts against the side of the trolley 2 to limit the movement of the trolley 2 in the first direction when the trolley 2 enters the station base 1. The side plate 1.2 can serve as a first-direction limit structure for the trolley 2 to enter the station base 1, and can also serve as a guide structure for the trolley 2 to enter the station base 1.

[0093] The process of the AGV3 transport trolley 2 entering the workstation base 1 is that the AGV3 carries the trolley 2 and the pallet 4 and parts mounted on the trolley 2 and moves to the opening side of the workstation base 1, and then moves along the second direction to the side of the limit rod 1.3. The trolley 2 is restricted between the side plates 1.2 on both sides under the guiding action of the side plates 1.2 on both sides until the second end of the trolley 2 contacts the limit rod 1.3. After the workstation base 1 completes the restriction on the trolley 2, the AGV3 transfers the trolley 2 and the pallet 4 and parts mounted on the trolley 2 to the workstation base 1, and then the AGV3 withdraws from the workstation base 1 along the second direction, completing the operation of transferring the trolley 2, the pallet 4 and parts to the workstation base 1.

[0094] The process of AGV3 taking the trolley 2 out of the work station base 1 is that AGV3 moves to the opening side of the work station base 1, and then moves along the second direction to the side of the limit rod 1.3. AGV3 moves to the bottom of the trolley 2 on the work station base 1. After moving into place, the work station base 1 releases the restriction on the trolley 2, and AGV3 lifts up vertically to lift up the trolley 2 and the objects on the trolley 2 to separate them from the work station base 1, and then moves along the second direction to the side away from the limit rod 1.3 until it is completely moved out of the work station base 1.

[0095] In addition, in this embodiment, a support rod 1.4 extending along the second direction is provided on the inner side of the side plate 1.2, and the support rod 1.4 is supported on the lower end surface of the trolley 2 after the trolley 2 completely enters the station base 1 and is separated from the AGV 3. The above-mentioned side plate 1.2 is used to limit the first direction of the trolley 2 entering the station base 1, and the support rod 1.4 is a structure for vertically supporting the trolley 2, which is equivalent to limiting the vertical direction of the trolley 2, limiting the vertical downward movement of the trolley 2, but not limiting the vertical upward movement of the trolley 2.

[0096] When the AGV3 carrying the trolley 2 enters the station base 1, the two sides of the trolley 2 in the first direction are higher than the support rod 1.4, and the support rod 1.4 and the trolley 2 are arranged overlapping in the vertical direction (the support rod 1.4 is provided with a pillar, the pillar passes through the support rod 1.4 vertically, and the trolley 2 is lowered to the top of the pillar). When the AGV3 drives the trolley 2 to move into place, the AGV3 lowers the trolley 2 onto the support rod 1.4, and the operation of the trolley 2 to the station base 1 is completed. When the trolley 2 needs to be moved out, the AGV3 enters under the trolley 2, and then lifts the trolley 2 vertically to make the trolley 2 break away from the support of the support rod 1.4, and then moves out of the station base 1 along the second direction to the side away from the limit rod 1.3.

[0097] like Figures 8 to 11 As shown, the limiting structure includes a plurality of limiting seats 1.5 arranged on the limiting rod 1.3, a limiting pull rod 1.6 and a limiting cylinder driving the limiting pull rod 1.6 to rotate around a first axis line are arranged on the limiting seat 1.5, the lower end of the limiting pull rod 1.6 is hingedly connected to the limiting seat 1.5 and can rotate around the first axis line, and the upper end is driven by the limiting cylinder to hook on the bottom beam 2.3 of the trolley 2 to limit the second movement of the trolley 2 after the trolley 2 completely falls on the support rod 1.4.

[0098] The limit seat 1.5 and the limit rod 1.3 form a clamping structure. When the trolley 2 moves into place, the limit cylinder in the limit seat 1.5 will drive the limit rod 1.3 to rotate around the first axis, and the upper end of the limit rod 1.3 will flip from bottom to top and along the second direction from the direction away from the limit rod 1.3 to the direction close to the limit rod 1.3, until the crossbeam 2.3 on the side of the bottom of the trolley 2 close to the limit rod 1.3 is clamped and fixed between the limit seat 1.5 and the limit rod 1.3, limiting the movement of the trolley 2 along the second direction, thereby completing the positioning and fixation of the trolley 2.

[0099] When AGV3 moves out of the trolley 2, the limit cylinder drives the limit rod 1.3 to rotate around the first axis, and the upper end of the limit rod 1.3 flips from top to bottom and along the second direction from the direction close to the limit rod 1.3 to the direction away from the limit rod 1.3 until the upper end of the limit rod 1.3 is lower than the cross beam 2.3, and then under the lifting action of AGV3, the bottom of the trolley 2 is separated from the support rods 1.4 on both sides, and AGV3 drives the trolley 2 to move out of the workstation base 1 along the second direction.

[0100] In addition, in order to improve the degree of automatic control, the present embodiment is provided with an in-position sensor on the limit seat 1.5 for sensing whether the trolley 2 is completely in position. When the in-position sensor detects that the trolley 2 has moved into position, it will automatically control the operation of the limit cylinder, thereby automatically controlling the movement of the limit pull rod 1.6 to achieve the limit clamping and fixing of the trolley 2.

[0101] In actual application, when the trolley 2 needs to be moved to the workstation base 1, the AGV 3 carrying the trolley 2 and the tray 4 and parts placed on the trolley 2 move to the opening side of the workstation base 1, and then move along the second direction to the side of the limit rod 1.3. The trolley 2 is limited between the side plates 1.2 on both sides under the guidance of the side plates 1.2 on both sides until the second end of the trolley 2 close to the limit rod 1.3 is detected by the in-place sensor, and the AGV 3 lowers the trolley 2 to the support rods 1.4 on both sides, and the limit seat 1. The limit cylinder in 5 will drive the limit pull rod 1.3 to rotate around the first axis, and the upper end of the limit pull rod 1.3 will flip from bottom to top and from the direction away from the limit rod 1.3 to the direction close to the limit rod 1.3 along the second direction, until the crossbeam 2.3 on the side of the bottom of the trolley 2 close to the limit rod 1.3 is clamped and fixed between the limit seat 1.5 and the limit pull rod 1.3, limiting the movement of the trolley 2 along the second direction, thus completing the positioning and fixing of the trolley 2; AGV3 continues to move downward until it is completely separated from the trolley 2, and then moves out from the bottom of the trolley 2;

[0102] When it is necessary to move the trolley 2 out of the work station base 1, AGV3 moves to the opening side of the work station base 1, and then moves along the second direction to the side of the limit rod 1.3. AGV3 moves to the bottom of the trolley 2 on the work station base 1. After moving into position, the limit cylinder drives the limit pull rod 1.3 to rotate around the axis of the first direction, and the upper end of the limit pull rod 1.3 flips from top to bottom and from the direction close to the limit rod 1.3 to the direction away from the limit rod 1.3 along the second direction until the upper end of the limit pull rod 1.3 is lower than the cross beam 2.3; AGV3 is lifted vertically until it contacts the bottom of the trolley 2, and continues to lift until the trolley 2 is completely separated from the support rods 1.4 on both sides, and the trolley 2 is completely seated on the AGV3. Under the action of AGV3, it is moved out of the work station base 1 along the second direction.

[0103] In other embodiments of the present application, the present embodiment optimizes the structure of the above-mentioned trolley 2. Specifically, Fig.11 As shown, the trolley 2 includes a bottom plate 2.1, four legs 2.2, and a plurality of cross beams 2.3 and longitudinal beams 2.4 located at the lower end surface of the bottom plate 2.1. The four legs 2.2 are disposed at four corners of the bottom plate 2.1 to suspend the bottom plate 2.1. Pulleys 2.5 are installed on the legs 2.2.

[0104] The trolley 2 is a load-bearing foundation. Multiple crossbeams 2.3 and longitudinal beams 2.4 form the skeleton of the trolley 2. Four legs 2.2 and pulleys 2.5 are provided to facilitate the movement of the trolley 2, mainly the movement of an empty trolley 2. The trolley 2 fully loaded with pallets 4 and parts is very heavy and is driven by AGV 3. The two crossbeams 2.3 of the trolley 2 along the second direction serve as the clamping components of the limit pull rod 1.6 on the station base 1.

[0105] In addition, in order to facilitate the placement of the tray 4, the present embodiment is provided with a limit plate 2.6 on the edge of the bottom plate 2.1 that extends beyond the upper end surface of the bottom plate 2.1 and is used to limit the movement of the tray 4. The limit plates 2.6 at the four corners of the bottom plate 2.1 form a groove structure with the bottom plate 2.1. After the tray 4 is placed on the bottom plate 2.1, the four corners of the tray 4 are restricted by the limit plates 2.6 and the bottom plate 2.1, thereby preventing the tray 4 from shaking and making the tray 4 and the parts more stable on the trolley 2.

[0106] In a further embodiment of the present application, the above-mentioned component grabbing structure is optimized. Figures 1-2 As shown, the component grabbing structure of this embodiment further includes a slide rail 10 arranged along a first direction, and the robot 9 can be slidably connected to the slide rail 10 in the first direction. The slide rail 10 is arranged along the first direction, and the robot 9 can move along the slide rail 10 in the first direction, which can increase the moving range of the robot 9, and can grab components on multiple station bases 1, making the operation more convenient.

[0107] At the same time, the transfer station of this embodiment includes a track 12 arranged along the first direction and a base 11 for carrying parts and components and connected to the track 12 slidably in the first direction. The purpose of providing the track 12 is the same as that of providing the slide rail 10, which is also to expand the adjustment range of the base 11 in the first direction, so as to facilitate the subsequent motor assembly production line to take the parts on the base 11.

[0108] During the actual material feeding, in the parts storage area, after the parts are loaded onto the pallet 4, the AGV3 carrying trolley 2 and the pallet 4 and parts placed on the trolley 2 move to the opening side of the station base 1 of the grabbing station, and then move along the second direction to the side of the limit rod 1.3. The trolley 2 is restricted between the side plates 1.2 on both sides under the guiding action of the side plates 1.2 on both sides until the second end of the trolley 2 close to the limit rod 1.3 is detected by the in-place sensor, and the AGV3 lowers the trolley 2 to the support rods 1.4 on both sides. The limit cylinder in the seat 1.5 will drive the limit rod 1.3 to rotate around the axis of the first direction, and the upper end of the limit rod 1.3 will flip from bottom to top and from the direction away from the limit rod 1.3 to the direction close to the limit rod 1.3 along the second direction, until the crossbeam 2.3 on the side of the bottom of the trolley 2 close to the limit rod 1.3 is clamped and fixed between the limit seat 1.5 and the limit rod 1.3, limiting the movement of the trolley 2 along the second direction, thus completing the positioning and fixing of the trolley 2; AGV3 continues to move downward until it is completely separated from the trolley 2, and then moves out from the bottom of the trolley 2;

[0109] The robot 9 grabs the components in the top tray 4 on the station base 1 of the grabbing station, and the robot 9 transfers the grabbed components to the base 11 of the transfer station, so that the subsequent motor assembly robot 9 can grab the components in the top tray 4 in turn until all the components in the top tray 4 are taken away;

[0110] Based on the visual module 7, the placement of components in the top tray 4 at the current grabbing station is obtained; after determining that the top tray 4 at the current grabbing station is an empty tray 4, the adsorption structure 8 is moved so that the adsorption structure 8 adsorbs the empty tray 4 and transports the empty tray 4 to the storage station, and the empty tray 4 is placed on the storage station;

[0111] The robot 9 continues to grab the parts on the grabbing station, in sequence, until all the parts and trays on the grabbing station are removed, and the robot 9 switches to another grabbing station to continue grabbing parts;

[0112] After the stack of empty pallets on the storage station reaches the set number, AGV3 moves to the open side of the station base 1 of the storage station, and then moves along the second direction to the side of the limit rod 1.3. AGV3 moves to the bottom of the trolley 2 on the station base 1. After moving into position, the limit cylinder drives the limit pull rod 1.3 to rotate around the axis of the first direction, and the upper end of the limit pull rod 1.3 flips from top to bottom and from the direction close to the limit rod 1.3 to the direction away from the limit rod 1.3 along the second direction until the upper end of the limit pull rod 1.3 is lower than the crossbeam 2.3; AGV3 is lifted vertically until it contacts the bottom of the trolley 2, and continues to be lifted until the trolley 2 is completely separated from the support rods 1.4 on both sides, and the trolley 2 is completely seated on the AGV3. Under the action of AGV3, it moves out of the station base 1 along the second direction;

[0113] Carry out in sequence to meet the feeding requirements of the motor assembly production line.

[0114] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application to be protected. The scope of protection claimed in the present application is defined by the attached claims and their equivalents.

Claims

1. A method for feeding parts of a new energy motor production line, characterized in that: At least one picking station for storing a pallet loaded with parts and at least one storage station for storing an empty pallet are constructed near a robot for picking up parts; Load parts onto pallets in the parts storage area and move pallets and loaded parts to the picking station; The robot grabs the parts in the tray on the grabbing station one by one and supplies them to the motor assembly line; After all the parts in the tray on the grabbing station are removed, the robot grabs the empty tray to the storage station, and continues to grab parts in other trays on the grabbing station; When the number of empty pallets on the storage station reaches the requirement, the empty pallets on the storage station are moved to the parts storage area for reloading.

2. A method for feeding parts of a new energy motor production line according to claim 1, characterized in that: At least one grabbing station for storing a pallet loaded with parts, at least one storage station for storing an empty pallet, and at least one NG station for storing unqualified parts are constructed near a robot for grabbing parts.

3. A method for feeding parts of a new energy motor production line as claimed in claim 2, characterized in that: The storage station, the grabbing station and the NG station are arranged at equal intervals along the first direction; the robot is located on one side of the storage station, the grabbing station and the NG station in the second direction; the first direction and the second direction are horizontal directions perpendicular to each other.

4. A method for feeding parts of a new energy motor production line according to claim 1, characterized in that: The method for loading parts onto a pallet in a parts storage area includes: placing parts of the same type vertically into storage holes on the pallet, placing the pallet filled with parts onto a trolley, and stacking a set number of pallets onto the trolley in sequence from bottom to top.

5. A method for feeding parts of a new energy motor production line as claimed in claim 4, characterized in that: The method for transporting the pallet and the loaded parts to the grasping station includes: using the AGV to enter the bottom of the trolley, vertically lifting the trolley and the pallet and parts loaded on the trolley, the AGV drives the trolley to move to the station base corresponding to the grasping station, the AGV drives the trolley into the station base, and transfers the trolley and the pallet and parts loaded on the trolley to the station base.

6. A method for feeding parts of a new energy motor production line as claimed in claim 5, characterized in that: The method for transferring the trolley and the pallets and parts loaded on the trolley to the workstation base includes: the AGV drives the trolley to enter the workstation base from the opening side of the second direction of the workstation base, and after detecting that the trolley has moved into place along the second direction, the AGV descends vertically to place the trolley on the workstation base, and the AGV continues to descend and moves out from the bottom of the trolley along the second direction after the AGV is completely separated from the trolley, and the workstation base limits the trolley.

7. A method for feeding parts of a new energy motor production line according to claim 6, characterized in that: The method for limiting the position of a trolley by a workstation base comprises: the workstation base (1) comprises a plurality of columns (1.1), two side panels (1.2) fixed on the columns (1.1) and arranged on both sides of a first direction, and a limiting rod (1.3) extending along the first direction; the limiting rod (1.3) is fixed to the ends of the two side panels (1.2) along the second direction and forms a square frame structure with one side open with the two side panels (1.2); the side panels (1.2) are arranged along the second direction and abut against the side of the trolley (2) when the trolley (2) enters the workstation base (1) to limit the movement of the trolley (2) in the first direction; A support rod (1.4) extending along the second direction is provided on the inner side of the side plate (1.2); the support rod (1.4) is supported on the lower end surface of the trolley (2) after the trolley (2) completely enters the workstation base (1) and is separated from the AGV (3); A plurality of groups of limit seats (1.5) are installed on the limit rod (1.3); a limit pull rod (1.6) and a limit cylinder for driving the limit pull rod (1.6) to rotate around a first axis are arranged on the limit seat (1.5); the lower end of the limit pull rod (1.6) is hingedly connected to the limit seat (1.5) so as to be rotatable around the first axis, and the upper end is driven by the limit cylinder to hook on the bottom cross beam (2.3) of the trolley (2) after the trolley (2) completely falls on the support rod (1.4) to limit the second-direction movement of the trolley (2).

8. A method for feeding parts of a new energy motor production line according to claim 1, characterized in that: The method for the robot to grab the parts in the tray on the grabbing station one by one includes: arranging a slide rail extending along the first direction on one side of the second direction of the grabbing station and the storage station, the robot can be slidably connected to the slide rail in the first direction, the robot moves along the slide rail to a position convenient for grabbing according to the first direction position of the grabbing station, the robot grabs the parts in the top tray of the grabbing station one by one, and transfers them to a transfer station on the side of the second direction of the slide rail relative to the storage station.

9. A method for feeding parts of a new energy motor production line as claimed in claim 8, characterized in that: The transfer station comprises a track (12) arranged along a first direction and a base (11) connected to the track (12) and slidable in the first direction for carrying components.

10. A method for feeding parts of a new energy motor production line according to claim 1, characterized in that: The method for grabbing an empty pallet to a storage station comprises: using a pallet grabbing structure on a support beam above the storage station and the grabbing station to transfer the empty pallet from the grabbing station to the storage station; the pallet grabbing structure comprises: A suction structure (8), wherein the suction structure (8) is connected to the support beam (5) and is movable in a first direction, a second direction and vertically, and is used to suction the empty pallet (4) on the grabbing station; A visual module (7) is installed on the adsorption structure and is used to obtain the storage status of parts in the tray (4) on the grasping station.

11. A method for feeding parts of a new energy motor production line according to claim 10, characterized in that: The adsorption structure (8) comprises: A first grabbing plate (8.1), the first grabbing plate (8.1) being a horizontal plate-shaped structure connected to the support beam (5) and movable in a first direction, a second direction and vertically, and a plurality of first adsorption heads (8.3) for adsorbing a tray (4) are arranged on the lower end surface of the first grabbing plate (8.1); The second grabbing plate (8.2) is a horizontal plate structure vertically adjustable and connected to the first grabbing plate (8.1) via a lifting cylinder. The second grabbing plate (8.2) is located below the first grabbing plate (8.1), and a plurality of second adsorption heads (8.4) for adsorbing another type of tray (4) are arranged on the lower end surface of the second grabbing plate (8.2).

12. A method for feeding parts of a new energy motor production line according to claim 11, characterized in that: The first adsorption head (8.3) is a vacuum adsorption structure or a magnetic adsorption structure located around the first grabbing plate (8.1); the second adsorption head (8.4) is a vacuum adsorption structure or a magnetic adsorption structure located around the second grabbing plate (8.2).

13. A method for feeding parts of a new energy motor production line according to claim 11, characterized in that: Also includes A first guide rail (8.5), the first guide rail (8.5) being installed on the support beam (5) and arranged along a first direction; A second guide rail (8.6), one end of which is connected to the first guide rail (8.5) and can be moved in the first direction by being driven by a first-direction motor, and the other end of which extends in a horizontal second direction; A vertical guide rail (8.7), wherein the vertical guide rail (8.7) is connected to the second guide rail (8.6) in a second-direction movable manner via a second-direction motor; The adsorption structure (8) is connected to the vertical guide rail (8.7) in a vertically movable manner via a vertical motor.

14. A method for feeding parts of a new energy motor production line according to claim 13, characterized in that: The first grab plate (8.1) is connected to the lower end of the vertical guide rail (8.7) via a rotary motor so as to be rotatable around a vertical axis.

15. A method for feeding parts of a new energy motor production line according to claim 7, characterized in that: The method for transporting the empty pallet on the storage station to the parts storage area for reloading includes: the AGV enters under the trolley on the station base of the storage station, the station base releases the second-direction limit on the trolley, the AGV lifts vertically to separate the trolley from the station base, the AGV drives the trolley and the empty pallet loaded on the trolley to move out from the station base along the second direction, and moves to the parts storage area for reloading.

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