A device for loading and unloading motor stator buckle

Abstract

The invention discloses a loading and unloading device for motor stator buckles, which relates to the field of motor stator manufacturing, and comprises a frame, on which a placing mechanism, a loading robot mechanism, a temporary storage mechanism, a buckle mechanism, and a unloading robot mechanism are arranged in sequence from left to right, a truss is arranged on the frame, and also comprises a control mechanism for controlling the loading and unloading device for motor stator buckles. The invention can automatically drive a fixed number of motor stator buckles to be loaded, and neatly arrange a fixed number of motor stator buckles in a required direction, and can realize automatic unloading at the same time, the placing mechanism is used for placing products, the loading robot mechanism is used for clamping products from the placing mechanism and placing them on the temporary storage mechanism, clamping products on the temporary storage mechanism and placing them on a buckle machine, the temporary storage mechanism is used for temporarily storing products and positioning products, the buckle mechanism is used for buckling, and the unloading robot mechanism is used for unloading products after buckling.

Description

Technical Field

[0001] The invention relates to the field of motor stator manufacturing, and in particular to a motor stator buckle loading and unloading device. Background Art

[0002] The existing loading and unloading devices for motor stator buckles in society require manual loading and unloading. When loading electronic stator buckles, a certain number of motor stator buckles need to be placed together, and the directions of a certain number of motor stator buckles need to be consistent. When manually loading, a certain number of motor stator buckles need to be counted and placed in the same direction, which wastes a lot of manpower and time. Summary of the invention

[0003] The technical problem solved by the present invention is to provide a motor stator buckle plate loading and unloading device which can automatically drive a fixed number of motor stator buckle plates to load and arrange the fixed number of motor stator buckle plates neatly in a required direction and can realize automatic unloading.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a motor stator buckle loading and unloading device, including a frame, on which are arranged from left to right a placing mechanism for placing products, a loading robot mechanism for automatic loading, a temporary storage mechanism for temporarily storing products and positioning products, a buckle mechanism for buckles, and a unloading robot mechanism for unloading products after buckling. The loading robot mechanism is used to clamp products from the placing mechanism and place them on the temporary storage mechanism, and to clamp products on the temporary storage mechanism and place them on the buckle machine. A truss is arranged on the frame, and the loading robot mechanism and the unloading robot mobile phone are provided. The structures are all arranged on the truss, and also include a control mechanism for controlling the loading and unloading device of the motor stator buckle plate. The loading robot mechanism, the temporary storage mechanism, the buckle plate mechanism and the unloading robot mechanism are respectively connected to the control mechanism. The placing mechanism is used to place products. The loading robot mechanism is used to clamp the product from the placing mechanism and place it on the temporary storage mechanism, and to clamp the product on the temporary storage mechanism and place it on the buckle plate machine. The temporary storage mechanism is used to temporarily store products and position the products. The buckle plate mechanism is used for buckling, and the unloading robot mechanism is used to unload the product after buckling. The control mechanism is used to control the loading and unloading device of the motor stator buckle plate.

[0005] Furthermore, the feeding robot mechanism includes a first support frame arranged on the truss, the first support frame is provided with a first feeding robot mechanism for clamping the product from the placement mechanism and placing it on the temporary storage mechanism and a second feeding robot mechanism for clamping the product on the temporary storage mechanism and placing it on the buckle machine, the first support frame is provided with a left and right moving component for driving the first feeding robot mechanism and the second feeding robot mechanism to move left and right, and also includes a visual sensor arranged on the first feeding robot mechanism for detecting the position and direction of the product on the first feeding robot mechanism and a visual sensor for detecting the height of the product The first feeding robot mechanism, the second feeding robot mechanism, the left and right moving assembly, the visual sensor and the laser ranging sensor are respectively connected to the control mechanism; the first feeding robot mechanism is used to clamp the product from the placement mechanism and place it on the temporary storage mechanism; the second feeding robot mechanism is used to clamp the product on the temporary storage mechanism and place it on the buckle machine; the left and right moving assembly is used to drive the first feeding robot mechanism and the second feeding robot mechanism to move left and right; the visual sensor is used to detect the position and direction of the product on the first clamping assembly; the laser ranging sensor is used to detect the height of the product.

[0006] Furthermore, the first loading robot mechanism includes a first vertical frame arranged on a side of the first support frame close to the temporary storage mechanism, a first clamping assembly for clamping stacked products is arranged at the lower end of the first vertical frame, a corner assembly for driving the first clamping assembly to rotate an angle is arranged between the first vertical frame and the first clamping assembly, the first clamping assembly is fixedly arranged on the corner assembly, a suction assembly for sucking products is arranged on one side of the first vertical frame, the suction assembly is fixedly connected to the first vertical frame, and also includes a first forward and backward moving assembly fixedly arranged on the first support frame for driving the first vertical frame to move forward and backward and a first front and rear moving assembly for driving the first vertical frame up and down The first up-and-down moving component is movable, the visual sensor is fixedly arranged on one side of the first vertical frame, the laser ranging sensor is arranged on the first clamping component, the first clamping component, the corner component, the suction component, the first front-and-back moving component and the first up-and-down moving component are respectively connected to the control mechanism, the first clamping component is used to clamp the stacked products, the corner component is used to drive the first clamping component to rotate an angle, the suction component is used to suck the products and place them on the temporary storage mechanism when there are a few products missing on the temporary storage mechanism, the first front-and-back moving component is used to drive the first vertical frame to move forward and backward, and the first up-and-down moving component is used to drive the first vertical frame to move up and down.

[0007] Furthermore, the first clamping assembly includes a first support seat arranged on the frame, two first support plates are symmetrically arranged at both ends of the first support seat, first clamping columns for cooperating to clamp the product are fixedly arranged at both ends of the first support plate, a first support plate for supporting the product to prevent the product from falling off is movably connected to the lower end surface of the first clamping column, a first slide rail and a first slider are arranged between the first support seat and the first support plate, the first slide rail is fixedly connected to the first support seat, the first slider is fixedly connected to the first support plate, the first slider moves horizontally along the first slide rail, and a first forward and reverse spiral screw rod for driving the first clamping column to move relative to each other and a first slider for driving the first The first motor driven by the forward and reverse spiral screw also includes an inner support column for supporting the product in a circular array under the first support seat, a telescopic cylinder for driving the inner support column to open or contract is arranged between the first support seat and the inner support column 2228, the telescopic cylinder is fixedly connected to the first support seat and the inner support column respectively, the first motor and the telescopic cylinder are connected to the control mechanism respectively, the multiple first clamping columns are used together to clamp the product, the first support plate is used to support the product to prevent the product from falling off, the first forward and reverse spiral screw is used to drive the first clamping column to move relative to each other, the first motor is used to drive the first forward and reverse spiral screw transmission, the inner support column is used to internally support the product, and the telescopic cylinder is used to drive the inner support column to open or contract.

[0008] Furthermore, the corner assembly includes a rotating motor arranged on a first vertical frame, and one end of the rotating motor with a driving shaft is close to the first clamping assembly, and the outer surface of the end of the driving shaft of the rotating motor close to the first clamping assembly is sleeved with a first gear, the first gear is fixedly connected to the driving shaft of the rotating motor, one side of the first gear is meshed with a second gear, a connecting column is fixedly connected at the center position of the second gear, and the end of the connecting column away from the second gear is fixedly connected to the first support seat, and the rotating motor is used to drive the first clamping assembly to rotate an angle.

[0009] Furthermore, the suction assembly includes a first connecting seat slidably connected to the first vertical frame, the first connecting seat is arranged in an L shape, and a plurality of suction cups for sucking products are fixedly arranged on the lower end surface of the first connecting seat, and also includes a first cylinder fixedly arranged on the first vertical frame for driving the first connecting seat to move up and down, a second slide rail is fixedly arranged on a side of the first vertical frame close to the first connecting seat, a second slider is fixedly connected to a side of the first connecting seat close to the second slide rail, the second slider moves up and down along the second slide rail, the first cylinder is electrically connected to a control mechanism, the suction cup is used to suck products, and the first cylinder is used to drive the first connecting seat to move up and down, thereby driving the suction cup to move up and down.

[0010] Furthermore, the second feeding robot mechanism includes a second vertical frame slidably connected to a side of the first support frame close to the temporary storage mechanism, a second clamping assembly for clamping the product is fixedly connected to the lower end of the second vertical frame, and also includes a second front-to-back moving assembly arranged on the first support frame for driving the second clamping assembly to move forward and backward and a second up-and-down moving assembly for driving the second clamping assembly to move up and down, the second clamping assembly, the second front-to-back moving assembly and the second up-and-down moving assembly are respectively connected to the control mechanism, the second clamping assembly is used to clamp the product, the second front-to-back moving assembly is used to drive the second clamping assembly to move forward and backward, and the second up-and-down moving assembly is used to drive the second clamping assembly to move up and down;

[0011] The second control board has two guide wheels, each of which has two guide wheels, each of which has two guide wheels, each of which has two guide wheels, each of which has two guide wheels, each of which has two guide wheels, each of which has two guide wheels.

[0012] The third clamping assembly is used to clamp the product after the processing is completed, and the second clamping assembly is used to clamp the product after the processing is completed.

[0013] The third support plate is used to hold the third support plate, and the third motor is used to drive the third clamping column to move relative to the third clamping column and to drive the third motor to drive the third clamping column to move.

[0014] The second left-right moving assembly includes a fourth motor arranged on one side of the second supporting frame, the outer surface of the driving shaft of the fourth motor is fixedly connected to a reducer, two ends of the reducer are symmetrically connected to a transmission shaft, the transmission shaft and the reducer are fixedly connected through a coupling, the transmission shaft is fixedly connected to an end away from the coupling with a third gear, the truss is fixedly connected to a third rack, the third gear is meshed with the third rack, and also includes a fourth slide rail fixedly arranged on the truss, the fourth slide rail is slidably connected to a fourth slider on a side away from the truss, and the fourth slider is fixedly connected to the second supporting frame on a side away from the fourth slide rail, and the fourth motor rotates to drive the transmission shaft, thereby driving the third gear to rotate, and the rotation of the third gear drives the third rack to drive the third clamping assembly to move left and right;

[0015] The third forward and backward moving assembly includes a fourth rack fixedly arranged on the upper end surface of the second support frame, one side of the fourth rack is meshed with a fourth gear, and the fourth gear is fixedly connected to a fifth motor on a side of the fourth gear away from the second support frame, and the fourth gear is fixedly connected to a driving shaft of the fifth motor, and also includes a fifth slide rail fixedly arranged on the upper end surface of the second support frame, and the fifth slide rail is connected to a fifth slider on a side of the fifth slide rail away from the second support frame, and the fifth slider moves horizontally along the fifth slide rail, and the fifth slider is fixedly connected to a first connecting block on a side of the fifth slide rail away from the fifth slide rail, and the first connecting block is fixedly connected to the third up and down moving assembly, and the fifth motor rotates to drive the fourth gear to rotate, and the rotation of the fourth gear drives the fourth rack to transmit, thereby driving the third clamping assembly to move forward and backward;

[0016] The third up and down moving assembly includes a fifth rack fixedly arranged on the third vertical frame, one side of the fifth rack is meshed with a fifth gear, the side of the fifth gear away from the third vertical frame is fixedly connected to a sixth motor, the fifth gear is fixedly connected to a driving shaft of the sixth motor, and also includes a sixth slide rail arranged on one side of the third vertical frame, the side of the sixth slide rail away from the third vertical frame is slidably connected to a sixth slider, the sixth slider moves up and down along the sixth slide rail, the side of the sixth slider away from the sixth slide rail is fixedly connected to a second connecting block, the second connecting block is fixedly connected to the first connecting block, and the rotation of the sixth motor drives the fifth gear to rotate, thereby driving the fifth rack and then driving the third clamping assembly to move up and down;

[0017] Furthermore, the temporary storage mechanism includes a temporary storage rack arranged on a frame, a base is fixedly arranged above the temporary storage rack, a positioning jig is fixedly arranged inside the base, a tray for placing products is sleeved on the positioning jig, the tray is slidably connected to the positioning jig, a transmission mechanism for driving the tray to move up and down is fixedly arranged at the middle position of the tray, a power mechanism is fixedly connected to the end of the transmission mechanism away from the tray, the power mechanism is connected to the control mechanism, the positioning jig is used to position the product so that the product is placed in the required direction, the tray is used to place the product, the transmission mechanism is used to drive the tray to move up and down, and the power mechanism is used to drive the transmission mechanism to transmit.

[0018] Furthermore, the positioning fixture includes positioning posts arranged in a circular array, positioning sheets are arranged between adjacent positioning posts, the positioning posts and the positioning sheets have the same height, a protrusion for positioning the product is fixedly arranged on the outer surface of the positioning sheet, the height of the protrusion is consistent with the height of the positioning sheet, the positioning posts are used to position the product to prevent the product from deviating, and the protrusion on the positioning sheet is used to locate the direction of the product;

[0019] The top of the protrusion is configured to be an isosceles triangle, so as to facilitate the product to be put on the positioning sheet;

[0020] A disc is arranged on the top of the positioning piece, and the disc and the positioning piece are an integrated structure;

[0021] The protrusion is arranged on the outer surface of the disc;

[0022] The disc is fixedly connected to the positioning column;

[0023] The transmission mechanism is a screw rod;

[0024] The power mechanism is a motor and a reducer, and the motor and the reducer are respectively connected to the control mechanism.

[0025] The beneficial effects of the present invention are as follows: the present invention can automatically drive a fixed number of motor stator buckle plates to be loaded, and arrange a fixed number of motor stator buckle plates neatly in a required direction, and can realize automatic unloading at the same time, the placement mechanism is used to place products, the loading robot mechanism is used to clamp products from the placement mechanism and place them on the temporary storage mechanism, clamp products on the temporary storage mechanism and place them on the buckle machine, the temporary storage mechanism is used to temporarily store products and position products, the buckle mechanism is used for buckling, and the unloading robot mechanism is used to unload products after buckling. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a device for loading and unloading motor stator buckles;

[0027] Figure 2 It is a structural diagram of the feeding robot mechanism;

[0028] Figure 3 It is a structural schematic diagram of the first feeding robot mechanism;

[0029] Figure 4 is a structural schematic diagram of a first clamping assembly;

[0030] Figure 5 It is a schematic diagram of the structure of the suction component;

[0031] Figure 6 It is a structural schematic diagram of the second feeding robot mechanism;

[0032] Figure 7 is a structural schematic diagram of a second clamping assembly;

[0033] Figure 8 It is a structural diagram of the unloading robot mechanism;

[0034] Fig. 9 is a structural schematic diagram of a third clamping assembly;

[0035] Fig.10 is a schematic diagram of the structure of the second left-right moving component;

[0036] Fig.11 It is a schematic diagram of the structure of the third front-rear moving component and the third up-and-down moving component;

[0037] Fig.12 It is a structural diagram of the temporary storage mechanism;

[0038] Fig.13 It is a structural schematic diagram of the positioning fixture;

[0039] The markings in the figure are: 1. Placement mechanism; 2. Loading robot mechanism; 3. Temporary storage mechanism; 4. Buckle mechanism; 5. Unloading robot mechanism; 6. Truss; 21. First support frame; 22. First loading robot mechanism; 23. Second loading robot mechanism; 24. Left and right moving assembly; 25. Visual sensor; 26. Laser ranging sensor; 221. First vertical frame; 222. First clamping assembly; 223. Corner assembly; 224. Suction assembly; 225. First front and back moving assembly; 226. First up and down moving assembly; 2221 , first support seat; 2222, first support plate; 2223, first clamping column; 2224, first support plate; 2225, first slide rail; 2226, first slider; 2227, first motor; 2228, inner support column; 2229, telescopic cylinder; 2241, first connecting seat; 2242, suction cup; 2243, first cylinder; 2244, second slide rail; 2245, second slider; 231, second vertical frame; 232, second clamping assembly; 233, second forward and backward moving assembly; 234, second up and down moving assembly; 23 21. second support seat; 2322. second support plate; 2323. second clamping column; 2324. second support plate; 2325. seventh slide rail; 2326. seventh slider; 2327. second motor; 51. second support frame; 52. third vertical frame; 53. third clamping assembly; 54. second left-right moving assembly; 55. third front-back moving assembly; 56. third up-and-down moving assembly; 521. third slide rail; 522. third slider; 523. third clamping column; 524. third support plate; 525. third motor; 541. third Four motors; 542, reducer; 543, transmission shaft; 544, coupling; 545, third gear; 551, fourth rack; 552, fourth gear; 553, fifth motor; 554, fifth slide rail; 555, fifth slider; 556, first connecting block; 561, fifth rack; 562, sixth motor; 563, sixth slide rail; 31, temporary storage rack; 32, base; 33, positioning fixture; 34, tray; 35, transmission mechanism; 36, power mechanism; 331, positioning column; 332, positioning sheet; 333, protrusion. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0041] like Figure 1The motor stator buckle plate loading and unloading device shown in the figure includes a frame, on which are arranged from left to right a placing mechanism 1 for placing products, a loading robot mechanism 2 for automatic loading, a temporary storage mechanism 3 for temporarily storing products and positioning the products, a buckle plate mechanism 4 for buckling plates, and a unloading robot mechanism 5 for unloading the products after buckling plates. The loading robot mechanism 2 is used to clamp the product from the placing mechanism 1 and place it on the temporary storage mechanism 3, and to clamp the product on the temporary storage mechanism 3 and place it on the buckle plate machine. A truss 6 is arranged on the frame, and the loading robot mechanism 2 and the unloading robot mechanism 5 are both arranged on the truss 6. It also includes a control mechanism for controlling the motor stator buckle plate loading and unloading device. The loading robot mechanism 4 is used to clamp the product from the placing mechanism 1 and place it on the temporary storage mechanism 3, and to clamp the product on the temporary storage mechanism 3 and place it on the buckle plate machine. The placing mechanism 1 is used for placing products, the loading robot mechanism 2 is used for clamping products from the placing mechanism 1 and placing them on the temporary storage mechanism 3, and clamping products on the temporary storage mechanism 3 and placing them on the buckling machine, the temporary storage mechanism 3 is used for temporarily storing products and positioning products, the buckling mechanism 4 is used for buckling, the unloading robot mechanism 5 is used for unloading products after buckling, the control mechanism is used for controlling the buckling loading and unloading device of the motor stator, the control mechanism includes a controller, the controller can be PCOXOOOABO or JC01-COD-202, and JC01-COD-202 is selected in this implementation case.

[0042] On the basis of the above, if Figure 2As shown, the feeding robot mechanism 2 includes a first support frame 21 arranged on the truss 6, and the first support frame 21 is provided with a first feeding robot mechanism 22 for clamping the product from the placement mechanism 1 and placing it on the temporary storage mechanism 3 and a second feeding robot mechanism 23 for clamping the product on the temporary storage mechanism 3 and placing it on the buckle machine. The first support frame 21 is provided with a left-right moving component 24 for driving the first feeding robot mechanism 22 and the second feeding robot mechanism 23 to move left and right, and also includes a visual sensor 25 for detecting the position and direction of the product on the first feeding robot mechanism 22 and a laser ranging sensor 26 for detecting the height of the product. The first feeding robot mechanism 22, the second feeding robot mechanism 23, the left-right moving component 24, the visual sensor 25 and the laser ranging sensor 26 are connected to the control mechanism respectively. The material robot mechanism 22 is used to clamp the product from the placement mechanism 1 and place it on the temporary storage mechanism 3. The second feeding robot mechanism 23 is used to clamp the product on the temporary storage mechanism 3 and place it on the buckle machine. The left and right moving component 24 is used to drive the first feeding robot mechanism 22 and the second feeding robot mechanism 23 to move left and right. The visual sensor 25 is used to detect the position and direction of the product on the first clamping component 222. The laser ranging sensor 26 is used to detect the height of the product. The direction of the product is pre-set on the control mechanism. The height of the product on the temporary storage mechanism 3 is pre-set on the control mechanism. The laser ranging sensor 26 can be BANNER / Q4X or DML40-2. DML40-2 is selected in this implementation case. The visual sensor 25 can be VTF18-4N1240 or CV-200C200. VTF18-4N1240 is selected in this implementation case.

[0043] On the basis of the above, if Figure 3As shown, the first feeding robot mechanism 22 includes a first vertical frame 221 arranged on a side of the first support frame 21 close to the temporary storage mechanism 3, a first clamping assembly 222 for clamping the stacked products is arranged at the lower end of the first vertical frame 221, a corner assembly 223 for driving the first clamping assembly 222 to rotate is arranged between the first vertical frame 221 and the first clamping assembly 222, the first clamping assembly 222 is fixedly arranged on the corner assembly 223, a suction assembly 224 for sucking the product is arranged on one side of the first vertical frame 221, the suction assembly 224 is fixedly connected to the first vertical frame 221, and also includes a first forward and backward moving assembly 225 fixedly arranged on the first support frame 21 for driving the first vertical frame 221 to move forward and backward and a first forward and backward moving assembly 225 for driving the first vertical frame 221 to move up and down The first up-and-down moving component 226 is movable, the visual sensor 25 is fixedly arranged on one side of the first vertical frame 221, the laser ranging sensor 26 is arranged on the first clamping component 222, the first clamping component 222, the corner component 223, the suction component 224, the first front-and-back moving component 225 and the first up-and-down moving component 226 are respectively connected to the control mechanism, the first clamping component 222 is used to clamp the stacked products, the corner component 223 is used to drive the first clamping component 222 to rotate an angle, the suction component 224 is used to suck the products and place them on the temporary storage mechanism 3 when there are a few products missing on the temporary storage mechanism 3, the first front-and-back moving component 225 is used to drive the first vertical frame 221 to move forward and backward, and the first up-and-down moving component 226 is used to drive the first vertical frame 221 to move up and down.

[0044] On the basis of the above, if Figure 4As shown, the first clamping assembly 222 includes a first support seat 2221 arranged on the frame, two first support plates 2222 are symmetrically arranged at both ends of the first support seat 2221, first clamping columns 2223 for cooperating in clamping the product are fixedly arranged at both ends of the first support plate 2222, and a first support plate 2224 for supporting the product to prevent the product from falling off is movably connected on the lower end surface of the first clamping column 2223, a first slide rail 2225 and a first slider 2226 are arranged between the first support seat 2221 and the first support plate 2222, the first slide rail 2225 is fixedly connected to the first support seat 2221, the first slider 2226 is fixedly connected to the first support plate 2222, the first slider 2226 moves horizontally along the first slide rail 2225, and a first forward and reverse spiral screw rod for driving the first clamping column 2223 to move relatively and a first forward and reverse spiral screw rod transmission for driving the first forward and reverse spiral screw rod transmission are arranged at the middle position of the first support seat 2221 The first motor 2227 also includes an inner support column 2228 for supporting the product arranged in a circular array under the first support seat 2221, a telescopic cylinder 2229 for driving the inner support column 2228 to open or contract is arranged between the first support seat 2221 and the inner support column 2228, the telescopic cylinder 2229 is fixedly connected to the first support seat 2221 and the inner support column 2228, respectively, the first motor 2227 and the telescopic cylinder 2229 are respectively connected to the control mechanism, the multiple first clamping columns 2223 are used to clamp the product, the first support plate 2224 is used to support the product to prevent the product from falling off, the first forward and reverse spiral screw is used to drive the first clamping column 2223 to move relative to each other, the first motor 2227 is used to drive the first forward and reverse spiral screw transmission, the inner support column 2228 is used to internally support the product, the telescopic cylinder 2229 is used to drive the inner support column 2228 to open or contract, and the first motor 2227 in this embodiment is a servo motor.

[0045] On the basis of the above, the corner component 223 includes a rotating motor arranged on the first vertical frame 221, and one end of the rotating motor with a driving shaft is close to the first clamping component 222, and the outer surface of the end of the driving shaft of the rotating motor close to the first clamping component 222 is sleeved with a first gear, and the first gear is fixedly connected to the driving shaft of the rotating motor, and one side of the first gear is meshed with a second gear, and a connecting column is fixedly connected at the center position of the second gear, and the end of the connecting column away from the second gear is fixedly connected to the first support seat 2221, and the rotating motor is used to drive the first clamping component 222 to rotate an angle, and the rotating motor is a servo motor.

[0046] On the basis of the above, if Figure 5As shown, the suction assembly 224 includes a first connecting seat 2241 slidably connected to the first vertical frame 221, the first connecting seat 2241 is configured to be L-shaped, and a plurality of suction cups 2242 for sucking products are fixedly arranged on the lower end surface of the first connecting seat 2241, and also includes a first cylinder fixedly arranged on the first vertical frame 221 for driving the first connecting seat 2241 to move up and down, a second slide rail 2244 is fixedly arranged on the side of the first vertical frame 221 close to the first connecting seat 2241, a second slider 2245 is fixedly connected to the side of the first connecting seat 2241 close to the second slide rail 2244, the second slider 2245 moves up and down along the second slide rail 2244, the first cylinder is electrically connected to the control mechanism, the suction cup 2242 is used to suck products, and the first cylinder is used to drive the first connecting seat 2241 to move up and down, thereby driving the suction cup 2242 to move up and down.

[0047] On the basis of the above, if Figure 6 As shown, the second feeding robot mechanism 23 includes a second vertical frame 231 slidably connected to the first support frame 21 on the side close to the temporary storage mechanism 3, the lower end of the second vertical frame 231 is fixedly connected with a second clamping assembly 232 for clamping the product, and also includes a second front-to-back moving assembly 233 arranged on the first support frame 21 for driving the second clamping assembly 232 to move forward and backward and a second up-and-down moving assembly 234 for driving the second clamping assembly 232 to move up and down, the second clamping assembly 232, the second front-to-back moving assembly 233 and the second up-and-down moving assembly 234 are respectively connected to the control mechanism, the second clamping assembly 232 is used to clamp the product, the second front-to-back moving assembly 233 is used to drive the second clamping assembly 232 to move forward and backward, and the second up-and-down moving assembly 234 is used to drive the second clamping assembly 232 to move up and down;

[0048] like Figure 7As shown, the second clamping assembly 232 includes a second support seat 2321 arranged on the frame, two second support plates 2322 are symmetrically arranged at both ends of the second support seat 2321, second clamping columns 2323 for cooperating to clamp the product are fixedly arranged at both ends of the second support plate 2322, and a second support plate 2324 for holding the product to prevent the product from falling is fixedly connected to the lower end surface of the second clamping column 2323, and a seventh slide rail 2325 and a seventh slider 2326 are arranged between the second support seat 2321 and the second support plate 2322, and the seventh slide rail 2325 is fixedly connected to the second support seat 2321, and the seventh slider 2326 is fixedly connected to the second support plate 2322 Fixedly connected, the seventh slider 2326 moves horizontally along the seventh slide rail 2325, and the second support seat 2321 is provided with a second forward and reverse screw rod for driving the second clamping column 2323 to move relative to each other and a second motor 2327 for driving the second forward and reverse screw rod to transmit. The second motor 2327 is connected to the control mechanism, and the plurality of second clamping columns 2323 are used to clamp the product, and the second support plate 2324 is used to support the product to prevent the product from falling off, and the second forward and reverse screw rod is used to drive the second clamping column 2323 to move relative to each other, and the second motor 2327 is used to drive the second forward and reverse screw rod to transmit. The second motor 2327 is a servo motor.

[0049] On the basis of the above, if Figure 8 As shown, the unloading robot mechanism 5 includes a second support frame 51 slidably connected to the truss 6, a third vertical frame 52 is vertically arranged on the second support frame 51, the third vertical frame 52 is slidably connected to the second support frame 51, a third clamping assembly 53 for clamping the finished product is fixedly connected to the lower end surface of the third vertical frame 52, a second left-right moving assembly 54 for driving the second support frame 51 to move left-right is arranged on the side of the second support frame 51 away from the third clamping assembly 53, and also includes a second left-right moving assembly 54 for driving the third clamping assembly 53 to move forward and backward, which is arranged on the second support frame 51 A third front-to-back moving assembly 55 and a third up-and-down moving assembly 56 for driving the third clamping assembly 53 to move up and down. The third clamping assembly 53, the second left-right moving assembly 54, the third front-to-back moving assembly 55 and the third up-and-down moving assembly 56 are respectively connected to the control mechanism. The third clamping assembly 53 is used to clamp the processed product. The second left-right moving assembly 54 is used to drive the second support frame 51 to move left and right. The third front-to-back moving assembly 55 is used to drive the third clamping assembly 53 to move forward and backward. The third up-and-down moving assembly 56 is used to drive the third clamping assembly 53 to move up and down.

[0050] like Fig. 9As shown, the third clamping assembly 53 includes a third slide rail 521 fixedly arranged on the lower end surface of the third vertical frame 52, a third slider 522 is arranged on the side of the third slide rail 521 away from the third vertical frame 52, the third slider 522 moves horizontally along the third slide rail 521, a third support plate is fixedly connected to the side of the third slider 522 away from the third slide rail 521, and third clamping columns 523 for clamping products are fixedly connected to the lower end surfaces of both ends of the third support plate, and a third clamping column 523 for holding the product to prevent the product from falling is fixedly connected to the lower end surface of the third clamping column 523. A support plate 524, a third forward and reverse screw rod for driving the third clamping column 523 to move relative to each other and a third motor 525 for driving the third forward and reverse screw rod to transmit are arranged between the third support plate and the third vertical frame 52, the third motor 525 is connected to the control mechanism, the plurality of third clamping columns 523 cooperate to clamp the product, the third support plate 524 is used to hold the product to prevent the product from falling off, the third forward and reverse screw rod is used to drive the third clamping column 523 to move relative to each other, the third motor 525 is used to drive the third forward and reverse screw rod to transmit, and the third motor 525 is a servo motor;

[0051] like Fig.10 As shown, the second left-right moving assembly 54 includes a fourth motor 541 arranged on one side of the second support frame 51, the outer surface of the driving shaft of the fourth motor 541 is fixedly connected with a reducer 542, and the two ends of the reducer 542 are symmetrically connected with a transmission shaft 543, the transmission shaft 543 and the reducer 542 are fixedly connected through a coupling 544, and the end of the transmission shaft 543 away from the coupling 544 is fixedly connected with a third gear 545, and the truss 6 is fixedly connected with a third rack, and the third gear 545 is meshed with the third rack, and also includes a fourth slide rail fixedly arranged on the truss 6, and the side of the fourth slide rail away from the truss 6 is slidably connected with a fourth slider, and the side of the fourth slider away from the fourth slide rail is fixedly connected to the second support frame 51, the fourth motor 541 rotates to drive the transmission shaft 543 to transmit, thereby driving the third gear 545 to rotate, and the third gear 545 rotates to drive the third rack to transmit, thereby driving the third clamping assembly 53 to move left and right, and the fourth motor 541 is a servo motor;

[0052] like Fig.11As shown, the third forward and backward moving assembly 55 includes a fourth rack 551 fixedly arranged on the upper end surface of the second support frame 51, a fourth gear 552 is meshedly connected to one side of the fourth rack 551, a fifth motor 553 is fixedly connected to the side of the fourth gear 552 away from the second support frame 51, the fourth gear 552 is fixedly connected to the driving shaft of the fifth motor 553, and also includes a fifth slide rail 554 fixedly arranged on the upper end surface of the second support frame 51, a fifth slider 555 is connected to the slide rail on the side of the fifth slide rail 554 away from the second support frame 51, the fifth slider 555 moves horizontally along the fifth slide rail 554, a first connecting block 556 is fixedly connected to the side of the fifth slider 555 away from the fifth slide rail 554, the first connecting block 556 is fixedly connected to the third up and down moving assembly 56, the fifth motor 553 rotates to drive the fourth gear 552 to rotate, the fourth gear 552 rotates to drive the fourth rack 551 to drive the third clamping assembly 53 to move forward and backward, and the fifth motor 553 is a servo motor;

[0053] like Fig.11 As shown, the third up-and-down moving assembly 56 includes a fifth rack 561 fixedly arranged on the third vertical frame 52, one side of the fifth rack 561 is meshedly connected with a fifth gear, the side of the fifth gear away from the third vertical frame 52 is fixedly connected with a sixth motor 562, the fifth gear is fixedly connected to the driving shaft of the sixth motor 562, and also includes a sixth slide rail 563 arranged on one side of the third vertical frame 52, the side of the sixth slide rail 563 away from the third vertical frame 52 is slidably connected with a sixth slider, the sixth slider moves up and down along the sixth slide rail 563, the side of the sixth slider away from the sixth slide rail 563 is fixedly connected with a second connecting block, the second connecting block is fixedly connected to the first connecting block 556, the rotation of the sixth motor 562 drives the fifth gear to rotate, thereby driving the fifth rack 561 and then driving the third clamping assembly 53 to move up and down, the sixth motor 562 is a servo motor;

[0054] On the basis of the above, if Fig.12As shown, the temporary storage mechanism 3 includes a temporary storage rack 31 arranged on a frame, a base 32 is fixedly arranged above the temporary storage rack 31, a positioning fixture 33 is fixedly arranged inside the base 32, a tray 34 for placing products is sleeved on the positioning fixture 33, the tray 34 is slidably connected to the positioning fixture 33, a transmission mechanism 35 for driving the tray 34 to move up and down is fixedly arranged at the middle position of the tray 34, the end of the transmission mechanism 35 away from the tray 34 is fixedly connected with a power mechanism | 36, the power mechanism | 36 is connected to the control mechanism, the positioning fixture 33 is used to position the product so that the product is placed in the required direction, the tray 34 is used to place the product, the transmission mechanism 35 is used to drive the tray 34 to move up and down, and the power mechanism | 36 is used to drive the transmission mechanism 35 to transmit.

[0055] On the basis of the above, if Fig.13 As shown, the positioning fixture 33 includes positioning posts 331 arranged in a circular array, positioning pieces 332 are arranged between adjacent positioning posts 331, the positioning posts 331 and the positioning pieces 332 have the same height, a protrusion 333 for positioning the product is fixedly arranged on the outer surface of the positioning piece 332, the height of the protrusion 333 is consistent with the height of the positioning piece 332, the positioning posts 331 are used to position the product to prevent the product from deviating, and the protrusion 333 on the positioning piece 332 is used to locate the direction of the product;

[0056] The top of the protrusion 333 is configured to be an isosceles triangle, so that the product can be easily put on the positioning sheet 332;

[0057] A disc is disposed on the top of the positioning piece 332, and the disc and the positioning piece 332 are an integrated structure;

[0058] The protrusion 333 is arranged on the outer surface of the disc;

[0059] The disc is fixedly connected to the positioning column 331;

[0060] The transmission mechanism 35 is a screw rod;

[0061] The power mechanism |36 is a motor and a reducer 542, and the motor and the reducer 542 are respectively connected to the control mechanism.

[0062] On the basis of the above, firstly, stacks of products are manually placed on the placement mechanism 1, the first loading robot mechanism 22 moves to the placement mechanism 1 to lift the entire stack of products, and at the same time the visual sensor 25 detects the position and direction of the products on the first loading robot mechanism 22. When the visual sensor 25 detects that the direction of the product is inconsistent with the preset direction, it sends a signal to the control mechanism, and the control mechanism controls the corner component 223 to drive the first clamping component 222 to drive the product to rotate so that the direction of the product is consistent. Then the control mechanism controls the first loading robot mechanism 22 to drive the product to move to the temporary storage mechanism 3 and put the product on the temporary storage mechanism 3. At the same time, the laser ranging sensor 26 measures the height of the product on the temporary storage mechanism 3. When the laser ranging sensor 26 detects that the direction of the product is inconsistent with the preset direction, it sends a signal to the control mechanism. When the distance sensor 26 detects that the height of the product is lower than a preset value, it sends a signal to the control mechanism, and the control mechanism controls the suction component 224 to suck the product at the placement mechanism 1 and place it on the temporary storage mechanism 3. When the laser distance sensor 26 detects that the height of the product is consistent with the preset value, it sends a signal to the control mechanism, and the control mechanism controls the suction component 224 to stop sucking the product. Then the second loading robot mechanism 23 lifts the product on the temporary storage mechanism 3 and drives the product on the temporary storage mechanism 3 to move to the buckling mechanism 4. The buckling mechanism 4 buckles the product. After buckling is completed, the product rolls out from the roller line on the buckling mechanism 4. The unloading robot mechanism 5 lifts the product on the roller line and drives the product to move to the empty pallet to complete unloading, and the operation is repeated.

[0063] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A motor stator buckle loading and unloading device, comprising a frame, characterized in that: The frame is provided with a placement mechanism (1) for placing products, a loading robot mechanism (2) for automatic loading, a temporary storage mechanism (3) for temporarily storing products and positioning the products, a clipping mechanism (4) for clipping, and a unloading robot mechanism (5) for unloading the products after clipping. The loading robot mechanism (2) is used to clamp the products from the placement mechanism (1) and place them on the temporary storage mechanism (3), and to clamp the products on the temporary storage mechanism (3) and place them on the clipping machine. The frame is provided with a truss (6). The loading robot mechanism (2) and the unloading robot mechanism (5) are both arranged on the truss (6). The frame also includes a control mechanism for controlling the loading and unloading device of the motor stator clip. The loading robot mechanism (2), the temporary storage mechanism (3), the clipping mechanism (4) and the unloading robot mechanism (5) are respectively connected to the control mechanism. The feeding robot mechanism (2) comprises a first support frame (21) arranged on a truss (6); the first support frame (21) is provided with a first feeding robot mechanism (22) for clamping a product from a placement mechanism (1) and placing it on a temporary storage mechanism (3) and a second feeding robot mechanism (23) for clamping a product on the temporary storage mechanism (3) and placing it on a buckle machine; the first support frame (21) is provided with a left-right moving assembly (24) for driving the first feeding robot mechanism (22) and the second feeding robot mechanism (23) to move left-right; the first support frame (21) also comprises a visual sensor (25) for detecting the position and direction of the product on the first feeding robot mechanism (22) and a laser distance sensor (26) for detecting the height of the product; the first feeding robot mechanism (22), the second feeding robot mechanism (23), the left-right moving assembly (24), the visual sensor (25) and the laser distance sensor (26) are respectively connected to a control mechanism; The unloading robot mechanism (5) comprises a second support frame (51) slidably connected to the truss (6); a third vertical frame (52) is vertically arranged on the second support frame (51); the third vertical frame (52) is slidably connected to the second support frame (51); a third clamping assembly (53) for clamping the processed product is fixedly connected to the lower end surface of the third vertical frame (52); a second left-right moving assembly (54) for driving the second support frame (51) to move left-right is arranged on a side of the second support frame (51) away from the third clamping assembly (53); and a third front-to-back moving assembly (55) for driving the third clamping assembly (53) to move forward and backward and a third up-and-down moving assembly (56) for driving the third clamping assembly (53) to move up and down are arranged on the second support frame (51); the third clamping assembly (53), the second left-to-right moving assembly (54), the third front-to-back moving assembly (55) and the third up-and-down moving assembly (56) are respectively connected to the control mechanism; The third clamping assembly (53) comprises a third slide rail (521) fixedly arranged on the lower end surface of the third vertical frame (52); a third slider (522) is arranged on the side of the third slide rail (521) away from the third vertical frame (52); the third slider (522) moves horizontally along the third slide rail (521); a third support plate is fixedly connected to the side of the third slider (522) away from the third slide rail (521); third clamping columns (523) for clamping products are fixedly connected to the lower end surfaces of both ends of the third support plate; a third support plate (524) for holding the product to prevent the product from falling is fixedly connected to the lower end surface of the third clamping column (523); a third forward and reverse spiral screw for driving the third clamping column (523) to move relative to each other and a third motor (525) for driving the third forward and reverse spiral screw for transmission are arranged between the third support plate and the third vertical frame (52); the third motor (525) is connected to the control mechanism; The second left-right moving component (54) comprises a fourth motor (541) arranged on one side of the second support frame (51); the outer surface of the driving shaft of the fourth motor (541) is fixedly connected to a reducer (542); the two ends of the reducer (542) are symmetrically connected to a transmission shaft (543); the transmission shaft (543) and the reducer (542) are fixedly connected via a coupling (544); the end of the transmission shaft (543) away from the coupling (544) is fixedly connected to a third gear (545); the truss (6) is fixedly connected to a third rack; the third gear (545) is meshingly connected to the third rack; and the fourth slide rail is fixedly arranged on the truss (6); the side of the fourth slide rail away from the truss (6) is slidably connected to a fourth slider; the side of the fourth slider away from the fourth slide rail is fixedly connected to the second support frame (51); The third forward and backward moving assembly (55) comprises a fourth rack (551) fixedly arranged on the upper end surface of the second support frame (51), a fourth gear (552) meshingly connected to one side of the fourth rack (551), a fifth motor (553) fixedly connected to the side of the fourth gear (552) away from the second support frame (51), the fourth gear (552) is fixedly connected to the driving shaft of the fifth motor (553), and also comprises a fifth slide rail (554) fixedly arranged on the upper end surface of the second support frame (51), a fifth slider (555) is connected to the side of the fifth slide rail (554) away from the second support frame (51), the fifth slider (555) moves horizontally along the fifth slide rail (554), a first connecting block (556) is fixedly connected to the side of the fifth slider (555) away from the fifth slide rail (554), and the first connecting block (556) is fixedly connected to the third up and down moving assembly (56); The third up-and-down moving assembly (56) comprises a fifth rack (561) fixedly arranged on the third vertical frame (52), a fifth gear meshingly connected to one side of the fifth rack (561), a sixth motor (562) fixedly connected to the side of the fifth gear away from the third vertical frame (52), the fifth gear fixedly connected to the driving shaft of the sixth motor (562), and further comprises a sixth slide rail (563) arranged on one side of the third vertical frame (52), a sixth slider slidably connected to the side of the sixth slide rail (563) away from the third vertical frame (52), the sixth slider moves up and down along the sixth slide rail (563), a second connecting block fixedly connected to the side of the sixth slider away from the sixth slide rail (563), and the second connecting block is fixedly connected to the first connecting block (556); The temporary storage mechanism (3) comprises a temporary storage rack (31) arranged on a frame, a base (32) being fixedly arranged above the temporary storage rack (31), a positioning fixture (33) being fixedly arranged inside the base (32), a tray (34) for placing products being sleeved on the positioning fixture (33), the tray (34) being slidably connected to the positioning fixture (33), a transmission mechanism (35) for driving the tray (34) to move up and down being fixedly arranged at a middle position of the tray (34), a power mechanism (36) being fixedly connected to one end of the transmission mechanism (35) away from the tray (34), and the power mechanism (36) being connected to a control mechanism.

2. A motor stator clip loading and unloading device as claimed in claim 1, characterized in that: The first loading robot mechanism (22) comprises a first vertical frame (221) arranged on a side of the first support frame (21) close to the temporary storage mechanism (3); a first clamping assembly (222) for clamping stacked products is arranged at the lower end of the first vertical frame (221); a corner assembly (223) for driving the first clamping assembly (222) to rotate an angle is arranged between the first vertical frame (221) and the first clamping assembly (222); the first clamping assembly (222) is fixedly arranged on the corner assembly (223); a suction assembly (224) for sucking products is arranged on one side of the first vertical frame (221); the suction assembly (224) and the first vertical frame (221) are connected to each other. A vertical frame (221) is fixedly connected, and also includes a first front-to-back moving assembly (225) fixedly arranged on the first support frame (21) for driving the first vertical frame (221) to move forward and backward, and a first up-down moving assembly (226) for driving the first vertical frame (221) to move up and down, the visual sensor (25) being fixedly arranged on one side of the first vertical frame (221), the laser ranging sensor (26) being arranged on the first clamping assembly (222), and the first clamping assembly (222), the corner assembly (223), the suction assembly (224), the first front-to-back moving assembly (225) and the first up-down moving assembly (226) being respectively connected to the control mechanism.

3. A motor stator buckle loading and unloading device as claimed in claim 2, characterized in that: The first clamping assembly (222) comprises a first support seat (2221) arranged on a frame, two first support plates (2222) are symmetrically arranged at both ends of the first support seat (2221), first clamping columns (2223) for cooperating with clamping products are fixedly arranged at both ends of the first support plate (2222), a first support plate (2224) for supporting products to prevent them from falling is movably connected to the lower end surface of the first clamping column (2223), a first slide rail (2225) and a first slider (2226) are arranged between the first support seat (2221) and the first support plate (2222), the first slide rail (2225) is fixedly connected to the first support seat (2221), the first slider (2226) is fixedly connected to the first support plate (2222), and the first slider (2226) moves horizontally along the first slide rail (2225), and a first forward and reverse spiral screw for driving the first clamping column (2223) to move relative to each other and a first motor (2227) for driving the first forward and reverse spiral screw for transmission are arranged at the middle position of the first support seat (2221), and also include inner support columns (2228) for supporting products arranged in a circular array under the first support seat (2221), and a telescopic cylinder (2229) for driving the inner support column (2228) to open or contract is arranged between the first support seat (2221) and the inner support column (2228), and the telescopic cylinder (2229) is fixedly connected to the first support seat (2221) and the inner support column (2228), respectively, and the first motor (2227) and the telescopic cylinder (2229) are respectively connected to the control mechanism.

4. A motor stator buckle loading and unloading device as claimed in claim 2, characterized in that: The corner assembly (223) comprises a rotating motor arranged on a first vertical frame (221); one end of the rotating motor with a driving shaft is close to the first clamping assembly (222); a first gear is sleeved on the outer surface of one end of the driving shaft of the rotating motor close to the first clamping assembly (222); the first gear is fixedly connected to the driving shaft of the rotating motor; a second gear is meshedly connected to one side of the first gear; a connecting column is fixedly connected to the center position of the second gear; and an end of the connecting column away from the second gear is fixedly connected to the first support seat (2221).

5. The motor stator buckle loading and unloading device according to claim 2, characterized in that: The suction assembly (224) comprises a first connection seat (2241) slidably connected to the first vertical frame (221), the first connection seat (2241) being arranged in an L shape, a plurality of suction cups (2242) for sucking products being fixedly arranged on the lower end surface of the first connection seat (2241), and a first cylinder (2243) fixedly arranged on the first vertical frame (221) for driving the first connection seat (2241) to move up and down, a second slide rail (2244) being fixedly arranged on a side of the first vertical frame (221) close to the first connection seat (2241), a second slider (2245) being fixedly connected to a side of the first connection seat (2241) close to the second slider (2244), the second slider (2245) moving up and down along the second slider (2244), and the first cylinder (2243) being electrically connected to a control mechanism.

6. A motor stator buckle loading and unloading device as claimed in claim 2, characterized in that: The second loading robot mechanism (23) comprises a second vertical frame (231) slidably connected to a side of the first support frame (21) close to the temporary storage mechanism (3), a second clamping assembly (232) for clamping a product is fixedly connected to the lower end of the second vertical frame (231), and further comprises a second front-to-back moving assembly (233) for driving the second clamping assembly (232) to move forward and backward, and a second up-and-down moving assembly (234) for driving the second clamping assembly (232) to move up and down, and the second clamping assembly (232), the second front-to-back moving assembly (233) and the second up-and-down moving assembly (234) are respectively connected to the control mechanism; The second clamping assembly (232) comprises a second support seat (2321) arranged on the frame, two second support plates (2322) are symmetrically arranged at both ends of the second support seat (2321), second clamping columns (2323) for cooperating with the clamping product are fixedly arranged at both ends of the second support plate (2322), a second support plate (2324) for holding the product and preventing the product from falling is fixedly connected to the lower end surface of the second clamping column (2323), and a seventh slide rail (2325) is arranged between the second support seat (2321) and the second support plate (2322). ) and a seventh slider (2326), the seventh slider (2325) is fixedly connected to the second support seat (2321), the seventh slider (2326) is fixedly connected to the second support plate (2322), the seventh slider (2326) moves horizontally along the seventh slider (2325), and a second forward and reverse spiral screw for driving the second clamping column (2323) to move relative to each other and a second motor (2327) for driving the second forward and reverse spiral screw for transmission are arranged at the middle position of the second support seat (2321), and the second motor (2327) is connected to the control mechanism.

7. A motor stator buckle loading and unloading device as claimed in claim 1, characterized in that: The positioning fixture (33) comprises positioning posts (331) arranged in a circular array, positioning pieces (332) are arranged between adjacent positioning posts (331), the positioning posts (331) and the positioning pieces (332) are of the same height, a protrusion (333) for positioning the product is fixedly arranged on the outer surface of the positioning piece (332), and the height of the protrusion (333) is consistent with the height of the positioning piece (332); The top of the protrusion (333) is arranged to be an isosceles triangle; A disc is arranged on the top of the positioning piece (332), and the disc and the positioning piece (332) form an integrated structure; The protrusion (333) is arranged on the outer surface of the disc; The disc is fixedly connected to the positioning column (331); The transmission mechanism (35) is a screw rod; The power mechanism|(36) is a motor and a reducer, and the motor and the reducer are respectively connected to the control mechanism.

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