A semi-iron core stator winding production line

Abstract

The present invention relates to a half-iron core stator winding production line. It includes a stator feeding tray for carrying a plurality of half-iron core stator clamps and the half-iron core stators thereon, a stator grabbing manipulator for disassembling and assembling the half-iron core stators on a plurality of half-iron core stator clamps on the stator feeding tray on the tray circulating feeding line, a tray circulating feeding line for circulatingly conveying the stator feeding tray to the stator clamp loading robot, and a stator feeding tray for conveying the stator feeding tray between the tray circulating feeding line and the stator winding machine. The present invention realizes the loading and unloading of the half-iron core stator, the circulating conveying of the tray, the loading and unloading of the half-iron core stator clamp, and the winding of the half-iron core stator through the stator grabbing manipulator, the tray circulating feeding line, the stator feeding tray, the stator clamp loading robot, and the stator winding machine. Therefore, the present invention has a high degree of automation, fast loading and unloading speeds, and high production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of a half-iron core stator winding machine, in particular to a half-iron core stator winding production line. Background Art

[0002] The existing semi-iron core stator winding production line has slow feeding speed, low production efficiency, large floor space, high production cost and low automation. Therefore, the existing semi-iron core stator winding production line needs to be further improved. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a semi-iron core stator winding production line which has a simple structure, is fully automated, occupies a small area, has high production efficiency and low cost.

[0004] The object of the present invention is achieved in that:

[0005] A semi-iron core stator winding production line comprises a stator material grabbing manipulator, a tray circulating feeding line, a stator feeding tray, a stator clamp feeding robot and a stator winding machine.

[0006] The stator feeding tray is used to carry a plurality of half-core stator fixtures and the half-core stators thereon. The plurality of half-core stator fixtures can be detachably mounted on the stator feeding tray, and the half-core stator can be detachably mounted on the half-core stator fixtures.

[0007] The stator grabbing manipulator is used to disassemble and assemble half-core stators on a plurality of half-core stator fixtures on a stator feeding tray on a tray circulating feeding line.

[0008] The pallet circulating feeding line is used for cyclically conveying the stator feeding pallet to the stator fixture loading robot.

[0009] The stator fixture loading robot is used to transport the stator feeding tray between the tray circulating feeding line and the stator winding machine, to grab the half-core stator fixture on the stator feeding tray on it and put it on the stator winding machine, and to grab the half-core stator fixture on the stator winding machine and put it on the stator feeding tray on it.

[0010] The stator winding machine is used for winding the half-iron core stator on the half-iron core stator fixture.

[0011] The present invention can also be further improved as follows.

[0012] The stator fixture loading robot comprises a stator fixture loading frame, a ground rail, a tray positioning mechanism and a stator fixture loading manipulator.

[0013] The tray positioning mechanism is arranged on the stator clamp feeding frame and is used for positioning the stator feeding tray on the stator clamp feeding frame.

[0014] The stator fixture feeding manipulator is arranged on the stator fixture feeding machine frame and is used for conveying the half-core stator fixture between the stator feeding tray and the stator winding machine.

[0015] The stator clamp material grabbing arm is provided on the rotating lifting shaft of the stator clamp material feeding manipulator. The stator clamp material grabbing arm includes a clamp material grabbing seat and at least two stator clamp material grabbing mechanisms, the clamp material grabbing seat is provided at the lower end of the rotating lifting shaft, the stator clamp material grabbing mechanism includes a clamp material grabbing cylinder, a clamp material grabbing claw and a clamp clamping groove, the clamp clamping groove is provided on the clamp material grabbing seat, the outer end of the clamp clamping groove is open, the clamp material grabbing claw is rotatably provided on the clamp material grabbing seat in the form of a lever, the clamp material grabbing cylinder is provided on the clamp material grabbing seat, the cylinder rod of the clamp material grabbing cylinder is connected to the inner end of the clamp material grabbing claw, and the outer end of the clamp material grabbing claw is located above the clamp clamping groove.

[0016] The stator clamp feeding frame is horizontally slidably arranged on the ground rail, and a plurality of stator winding machines are arranged on the left and right sides of the ground rail.

[0017] The stator fixture loading manipulator is a four-axis robot. The four-axis robot is a well-known technology. The four-axis robot has a rotating and lifting axis that can perform rotation, lifting, translation and other actions. Therefore, its working principle will not be described here.

[0018] The pallet positioning mechanism includes a pallet positioning frame, a pallet fixing cylinder and a pallet fixing plate. The pallet positioning frame is arranged on the stator clamp feeding frame, the front side of the pallet positioning frame is open and the rear side is closed, the left and right sides of the pallet positioning frame are provided with pallet supporting roller groups, and there is a pallet positioning gap between the pallet supporting roller group and the bottom of the pallet positioning frame. The pallet fixing plate is arranged on the stator clamp feeding frame for sliding up and down and is located below the pallet positioning frame. The pallet fixing cylinder is arranged on the stator clamp feeding frame and is located below the pallet fixing plate. The pallet fixing cylinder drives the pallet fixing plate to slide up and down.

[0019] The clamp material grabbing seat is provided with a hook, which is in a Γ shape. The hook is used to pull the stator feeding tray used to transport the half-core stator on the production line to move, so that the stator feeding tray can be moved from one line of the production line to another line of the production line, thereby preventing the stator feeding tray from having insufficient power to move at the end of the line.

[0020] The clamp grabbing seat is provided with four stator clamp grabbing mechanisms, and the four stator clamp grabbing mechanisms are arranged opposite to each other on both sides of the clamp grabbing seat. Therefore, the present invention can first unload two wound half-core stators on the stator winding machine, and then rotate the clamp grabbing seat 180°, and then install two unwound half-core stators on the stator winding machine, thereby realizing rapid loading and unloading of the half-core stators.

[0021] The clamping groove of the clamp is arranged at the periphery of the clamp material grasping seat, so as to facilitate the clamped block of the half-core stator clamp to be inserted into or separated from the clamping groove of the clamp.

[0022] The outer end of the clamp material grabbing claw is hook-shaped. The structural design of the clamp material grabbing claw of the present invention is reasonable, so that the outer end of the clamp material grabbing claw is convenient for clamping and matching with the clamping groove on the clamped block.

[0023] The clamp material grabbing cylinder is arranged at the bottom of the clamp material grabbing seat, and the clamp material grabbing seat is provided with a clearance hole corresponding to the cylinder rod of the clamp material grabbing cylinder. The cylinder rod of the clamp material grabbing cylinder passes upward through the clearance hole and is connected with the inner end of the clamp material grabbing claw.

[0024] The bottom of the groove clamped by the clamp is in a right-angle triangle shape.

[0025] A traveling rack is arranged on the ground rail along its length direction, a sliding drive motor is arranged on the stator clamp feeding frame, a driving gear is arranged on the sliding drive motor, and the driving gear is meshed with the traveling rack.

[0026] A plurality of fixture fixing seats are arranged on the stator feeding tray, and a half-iron core stator fixture is detachably provided on the fixture fixing seat.

[0027] The half-core stator clamp comprises a clamping seat, a clamping slider and a clamp opening driving slider, the back of the clamping seat is provided with a guide groove corresponding to the clamp opening driving slider, the clamp opening driving slider is slidably arranged in the guide groove along the vertical direction, the clamping slider is horizontally slidably arranged on the front of the clamping seat, a clamping compression spring is arranged between the bottom of the clamp opening driving slider and the clamping seat, a driving protrusion is arranged on the clamp opening driving slider, the clamping seat is arranged in the guide long hole along the vertical direction corresponding to the driving protrusion, and the clamping The slider is provided with a driven oblique long hole corresponding to the driving protrusion, and the driving protrusion passes through the guide long hole and the driven oblique long hole in sequence from the back to the front of the clamping seat, and the top of the clamping seat is provided with a driving clearance hole corresponding to the guide groove, and the driving clearance hole is connected with the guide groove. The front end of the clamping seat is provided with a clamping card plate that cooperates with the clamping slider, and the stator clamping mouth is between the clamping slider and the clamping card plate. The rear end of the clamping seat extends outward to form a clamped block, and the clamped block is provided with a clamping groove, and the clamping groove is used to cooperate with the clamp material grasping claw. In the semi-iron core stator clamp of the present invention, since the clamping compression spring is always pressing upward to open the clamp driving slider, the driving protrusion is pushing the clamping slider forward, and the clamping slider is always closing the stator clamping mouth, only when the clamp opening ejector pushes the clamp opening driving slider downward to slide, the driving protrusion can push the clamping slider backward, and the stator clamping mouth can be opened.

[0028] The pallet circulating feeding line comprises a pallet feeding line, a pallet feeding line and a pallet returning line.

[0029] The tray feeding line is used to transport the stator feeding tray to the stator fixture loading robot.

[0030] The pallet delivery line and the pallet delivery line are arranged side by side.

[0031] The tray delivery line is used to transport the stator feeding tray on the stator fixture loading robot to the tray return line.

[0032] The pallet return line is used to transport the stator feeding pallet transported by the pallet delivery line back to the pallet delivery line.

[0033] The tray feeding line and the tray feeding line are provided with a stator clamp opening mechanism, and the stator clamp opening mechanism is used to control the half-core stator clamp on the stator feeding tray to clamp or release the half-core stator.

[0034] The pallet return line is located at the front end of the pallet feeding line and the pallet sending line, and the stator clamp loading robot is located at the rear end of the pallet feeding line and the pallet sending line.

[0035] The pallet feeding line includes a pallet feeding frame, a pallet feeding chain assembly and a pallet feeding motor. The pallet feeding chain assembly includes a first sprocket, a second sprocket and a pallet feeding chain. The first sprocket and the second sprocket are respectively arranged at the front end and the rear end of the pallet feeding frame. The pallet feeding chain is arranged along the feeding direction of the pallet feeding frame. The pallet feeding chain connects the first sprocket and the second sprocket. The pallet feeding motor is connected to the first sprocket belt transmission.

[0036] The pallet delivery line includes a pallet delivery frame, a pallet delivery chain assembly and a pallet delivery motor. The pallet delivery chain assembly includes a third sprocket, a fourth sprocket and a pallet delivery chain. The third sprocket and the fourth sprocket are respectively arranged at the front end and the rear end of the pallet delivery frame. The pallet delivery chain is arranged along the feeding direction of the pallet delivery frame. The pallet delivery chain connects the third sprocket and the fourth sprocket. The pallet delivery motor is connected to the third sprocket belt transmission.

[0037] The pallet return line includes a pallet return frame, a pallet return sliding frame, a pallet return chain assembly and a pallet return cylinder. The pallet return frame is located at the same end of the pallet feeding line and the pallet sending line. The pallet return sliding frame is horizontally slidably arranged on the pallet return frame. The pallet return cylinder is arranged on the pallet return frame and drives the pallet return sliding frame to slide horizontally. The pallet return chain assembly includes a fifth sprocket, a sixth sprocket and a pallet return chain. The fifth sprocket and the sixth sprocket are respectively arranged at the front end and the rear end of the pallet return frame. The pallet return chain is arranged along the conveying direction of the pallet return frame. The pallet return chain connects the fifth sprocket and the sixth sprocket. The pallet return motor is connected to the fifth sprocket belt transmission.

[0038] The stator clamp opening mechanism includes a mounting frame, an ejector lifting cylinder, an ejector fixing frame, a plurality of clamp opening ejectors, a pallet positioning plate and a pallet positioning cylinder. The ejector fixing frame is slidably arranged on the mounting frame, the plurality of clamp opening ejectors are arranged on the ejector fixing frame, the ejector lifting cylinder is arranged on the mounting frame and drives the ejector fixing frame to slide up and down, the pallet positioning plate is slidably arranged on the mounting frame and is located below the clamp opening ejector, and the pallet positioning cylinder is arranged on the mounting frame and drives the pallet positioning plate to slide up and down.

[0039] The ejector fixing frame is provided with a plurality of ejector fixing guide shafts, the lower ends of the plurality of ejector fixing guide shafts are provided with the clamp opening ejector, the mounting frame is provided with a guide shaft sleeve corresponding to the ejector fixing guide shaft, and the ejector fixing guide shaft is slidably arranged on the guide shaft sleeve up and down.

[0040] The plurality of clamp opening ejector pins are vertically and side by side arranged on an ejector pin fixing frame.

[0041] The pallet positioning cylinder is arranged on the mounting frame, and an active inclined plane block is arranged on the mounting frame for horizontal sliding. The pallet positioning cylinder drives the active inclined plane block to slide horizontally. A driven inclined plane block is arranged on the bottom surface of the pallet positioning plate. The active inclined plane block cooperates with the inclined plane of the driven inclined plane block. The active inclined plane block slides in the horizontal direction to drive the driven inclined plane block to rise and fall.

[0042] The stator feeding tray is seated on the tray positioning plate and is located below a plurality of fixture opening ejector pins.

[0043] The tray positioning plate is provided with a first positioning boss and a second positioning boss, and the first positioning boss and the second positioning boss are arranged diagonally.

[0044] The stator feeding tray is provided with a first positioning hole and a second positioning hole at positions corresponding to the first positioning boss and the second positioning boss. When the stator feeding tray slides above the tray positioning plate, the tray positioning cylinder drives the tray positioning plate to rise, and the first positioning boss and the second positioning boss are respectively inserted into the first positioning hole and the second positioning hole, thereby realizing the positioning of the stator feeding tray.

[0045] The beneficial effects of the present invention are:

[0046] (i) The present invention realizes the loading and unloading of a half-core stator, the circulating conveying of a pallet, the loading and unloading of a half-core stator clamp, and the winding of a half-core stator through a stator grabbing manipulator, a pallet circulating feeding line, a stator feeding pallet, a stator clamp loading robot, and a stator winding machine. Therefore, the half-core stator winding production line of the present invention has no manual operation, a high degree of automation, low labor intensity, fast loading and unloading speeds, high production efficiency, and low production cost.

[0047] (ii) Moreover, the stator clamp opening mechanism of the present invention can first position the stator feeding tray, and then drive multiple clamp opening ejectors to synchronously open multiple half-core stator clamps on the stator feeding tray, thereby facilitating the stator grasping manipulator to synchronously disassemble multiple half-core stators or synchronously install multiple half-core stators on the stator feeding tray. Therefore, the loading speed and unloading speed of the present invention are fast, thereby improving the production efficiency of the half-core stator winding production line.

[0048] (iii) Furthermore, the stator clamp loading robot of the present invention can move with the stator feeding tray, that is, it can deliver multiple half-core stators to multiple stator winding machines. At the same time, it can also grab the wound half-core stators on multiple stator winding machines and temporarily store them on the stator feeding tray, and then transport them together. Therefore, the stator clamp loading robot of the present invention has a fast loading and unloading speed, thereby improving the production efficiency of the present invention.

[0049] (Four)In addition, when the stator clamp grabbing arm of the present invention grabs the half-core stator clamp, the clamp clamping groove is first aligned with the clamped block of the half-core stator clamp, and then the clamped block of the half-core stator clamp is inserted into the clamp clamping groove. Then, the clamp grabbing cylinder drives the inner end of the clamp grabbing claw to rotate upward, and the outer end of the clamp grabbing claw clamps downward to clamp the clamping groove on the clamped block, thereby grabbing the half-core stator clamp. Conversely, when the clamp grabbing cylinder drives the inner end of the clamp grabbing claw to rotate downward, the outer end of the clamp grabbing claw rotates upward to release the clamped block, and then the clamping groove is translated so that the clamp clamping groove is separated from the clamped block of the half-core stator clamp, thereby removing the half-core stator clamp. Therefore, the stator clamp grabbing arm of the present invention has a fast material grabbing and unloading speed, and the present invention improves the production efficiency of the half-core stator winding production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of the half-iron core stator winding production line of the present invention.

[0051] Figure 2 A top view of the half-core stator winding production line of the present invention ( Figure 2 The two large dotted boxes in the figure represent the stator main winding winding production line and the stator secondary winding winding production line, and the two small dotted boxes represent the first pallet circulating feeding line and the second pallet circulating feeding line.

[0052] Figure 3 This is a structural schematic diagram of the half-iron core stator winding production line of the present invention in which multiple main and auxiliary winding stators are omitted.

[0053] Figure 4 for Figure 3 A schematic diagram of the structure from another angle.

[0054] FIG. 5 is a schematic structural diagram of the stator material grabbing manipulator of the present invention.

[0055] FIG. 6 is a schematic structural diagram of the stator grabbing arm of the stator grabbing manipulator of the present invention.

[0056] Figure 7 FIG6 is a schematic structural diagram from another angle.

[0057] Figure 8 It is a schematic structural diagram of the pallet circulating feeding line of the present invention.

[0058] Fig. 9 for Figure 8 A schematic diagram of the structure from another angle.

[0059] Fig.10 It is a structural schematic diagram of the stator clamp opening mechanism of the present invention.

[0060] Fig.11It is a structural schematic diagram of the stator clamp opening mechanism of the present invention opening a half-core stator clamp.

[0061] Fig.12 It is a front view of the stator clamp opening mechanism of the present invention.

[0062] Fig.13 for Fig.12 Cross-sectional view at AA in the middle.

[0063] Fig.14 It is a structural schematic diagram of the stator feeding tray of the present invention.

[0064] Fig.15 It is a structural schematic diagram of installing the upper half-core stator on the stator feeding tray of the present invention.

[0065] Fig.16 It is a structural schematic diagram of the stator clamp loading robot of the present invention.

[0066] Fig.17 for Fig.16 A schematic diagram of the structure from another angle.

[0067] Fig.18 It is a side view of the stator fixture loading robot of the present invention.

[0068] Fig.19 for Figure 4 Magnified view of point A in .

[0069] Fig. 20 It is a schematic structural diagram of the stator clamp material grabbing arm of the present invention.

[0070] Fig.21 It is a partial exploded view of the stator clamp material grabbing arm of the present invention.

[0071] Fig. 22 It is a structural schematic diagram of the stator clamp material grabbing arm of the present invention grabbing four half-core stator clamps at the same time.

[0072] Fig.23 It is a schematic structural diagram of the half-core stator fixture of the present invention.

[0073] Fig.24 for Fig.23 A schematic diagram of the structure from another angle.

[0074] Fig.25 It is an exploded view of the half-core stator fixture of the present invention. DETAILED DESCRIPTION

[0075] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0076] Embodiment 1, as Figures 1 to 25As shown, a half-iron core stator winding production line includes a stator grabbing robot 1, a stator main winding winding production line 91 and a stator secondary winding winding production line 92.

[0077] The stator main winding winding production line 91 includes a first tray circulating feeding line 2, a first stator feeding tray 4, a first stator fixture loading robot 5, and a main winding stator winding machine 93.

[0078] The stator secondary winding winding production line 92 includes a second tray circulating feeding line 20 , a second stator feeding tray 40 , a second stator fixture loading robot 8 , and a secondary winding stator winding machine 94 .

[0079] The first and second stator feeding trays 4, 40 are used to carry multiple half-core stator clamps and the half-core stators 7 thereon. Multiple half-core stator clamps 6 are detachably mounted on the first and second stator feeding trays 4, 40, and the half-core stators 7 are detachably mounted on the half-core stator clamps 6.

[0080] The first pallet circulating feeding line 2 is used for cyclically conveying the first stator feeding pallet 4 to the first stator fixture loading robot 5 .

[0081] The second pallet circulating feeding line 20 is used for cyclically conveying the second stator feeding pallet 40 to the second stator fixture loading robot 8 .

[0082] The stator grabbing manipulator 1 is used to disassemble and assemble the half-core stators 7 on a plurality of half-core stator fixtures 6 on the first and second stator feeding trays.

[0083] The first stator fixture loading robot 5 is used to transport the first stator feeding tray 4 between the first tray circulating feeding line 2 and the main winding stator winding machine 93, to grab the half-core stator fixture 6 on the first stator feeding tray 4 and put it on the main winding stator winding machine, and to grab the half-core stator fixture 6 on the main winding stator winding machine and put it on the first stator feeding tray 4.

[0084] The second stator fixture loading robot 8 is used to transport the second stator feeding tray 40 between the second tray circulating feeding line 20 and the secondary winding stator winding machine 94, to grab the half-core stator fixture 6 on the second stator feeding tray 40 thereon and put it on the secondary winding stator winding machine, and to grab the half-core stator fixture 6 on the secondary winding stator winding machine and put it on the second stator feeding tray 40 thereon.

[0085] The main winding stator winding machine 93 is used to wind the main winding slots of the half-core stator 7 on the half-core stator fixture 6 .

[0086] The secondary winding stator winding machine 94 is used to wind the secondary winding slots of the half-core stator 7 on the half-core stator fixture 6 .

[0087] As a more specific technical solution of the present invention.

[0088] The stator material grabbing manipulator 1 is a six-axis robot, the structure and working principle of which are prior art and will not be described in detail herein. A stator material grabbing arm 10 is provided at the end of the stator material grabbing manipulator 1, and the stator material grabbing manipulator 1 can drive the stator material grabbing arm 1 to rotate, lift, translate, and perform other actions.

[0089] The stator grabbing arm 10 includes a stator grabbing seat 11, a clamp sliding seat 13, a plurality of sliding clamps 15, a plurality of fixed clamps 14 and a stator grabbing cylinder 12. The clamp sliding seat 13 is slidably set on the stator grabbing seat 11. The plurality of sliding clamps 15 and the plurality of fixed clamps 14 are alternately set at the bottom of the stator grabbing seat 11. Moreover, the plurality of sliding clamps 15 are slidably set at the bottom of the stator grabbing seat 11. The top ends of the plurality of sliding clamps 15 are fixedly connected to the clamp sliding seat 13. The plurality of sliding clamps 15 correspond to the plurality of fixed clamps 14 one by one. There is a semi-iron core stator clamping opening between the sliding clamps 15 and the fixed clamps. The stator grabbing cylinder 12 is set on the stator grabbing seat 11 and drives the clamp sliding seat 13 to slide. The clamp sliding seat 13 drives the plurality of sliding clamps to slide synchronously. When the stator material grabbing cylinder 12 drives the jaw sliding seat 13 to move forward, the multiple sliding jaws 15 and the multiple fixed jaws 14 are closed, thereby clamping multiple half-core stators at the same time. When the stator material grabbing cylinder 12 drives the jaw sliding seat 13 to move backward, the multiple sliding jaws 15 and the multiple fixed jaws 14 are separated, thereby releasing multiple half-core stators at the same time.

[0090] The clamping side surface of the fixed clamping jaw 14 is an arc surface.

[0091] As a more detailed technical solution of the present invention.

[0092] A plurality of clamp fixing seats 42 are arranged on the first and second stator feeding trays 4 , 40 , and a half-core stator clamp 6 is detachably provided on the clamp fixing seat 42 . A right-angled triangular clamp clamping groove 43 is provided on the clamp fixing seat 42 .

[0093] The half-core stator clamp 6 includes a clamping seat 61, a clamping slide 62 and a clamp opening driving slide 64. The back of the clamping seat 61 is provided with a guide groove 69 corresponding to the clamp opening driving slide 64. The clamp opening driving slide 64 is slidably arranged in the guide groove 69 along the vertical direction. The clamping slide 62 is horizontally slidably arranged on the front of the clamping seat 61. A clamping compression spring 63 is arranged between the bottom of the clamp opening driving slide 64 and the clamping seat 61. A driving protrusion 641 is arranged on the clamp opening driving slide 64. The clamping seat 61 is vertically arranged in the guide long hole 65 corresponding to the driving protrusion 641. The clamping slide 62 is arranged to The driving protrusion 641 is provided with a driven oblique long hole 66, and the driving protrusion 641 passes through the guide long hole 65 and the driven oblique long hole 66 in sequence from the rear side to the front side of the clamping seat 61. The top of the clamping seat 61 is provided with a driving clearance hole 68 corresponding to the guide groove 69, and the driving clearance hole 68 is connected with the guide groove 69. The front end of the clamping seat 61 is provided with a clamping plate 613 that cooperates with the clamping slider 62, and the stator clamping port 610 is between the clamping slider 62 and the clamping plate 613. The rear end of the clamping seat 61 extends outward to form a clamped block 612, and the clamped block 612 is provided with a clamping groove 67 for cooperating with the clamp grabbing claw 525.

[0094] The bottom of the half-core stator clamp 6 and the bottom of the clamped block 612 are both provided with a right-angled triangular clamping block 611. When the half-core stator clamp 6 is installed on the clamp fixing seat 42, the clamping block 611 is inserted into the clamp clamping groove 43, thereby fixing the half-core stator clamp 6 on the clamp fixing seat 42.

[0095] The first pallet circulating feeding line 2 includes a first pallet feeding line 21, a first pallet feeding line 22 and a first pallet return line 23. The first pallet feeding line 21 is used to convey the first stator feeding pallet 4 to the first stator fixture loading robot 5. The first pallet feeding line 22 is used to convey the first stator feeding pallet 4 on the first stator fixture loading robot 5 to the first pallet return line 23. The first pallet return line 23 is used to convey the first stator feeding pallet 4 on the first pallet feeding line 22 back to the first pallet feeding line 21.

[0096] The second pallet circulating feeding line 20 includes a second pallet feeding line 201, a second pallet feeding line 202 and a second pallet return line 203. The second pallet feeding line 201 is used to convey the second stator feeding pallet 40 to the second stator fixture loading robot 8. The second pallet feeding line 202 is used to convey the second stator feeding pallet 40 on the second stator fixture loading robot 8 to the second pallet return line 203. The second pallet return line 203 is used to convey the second stator feeding pallet 40 on the second pallet feeding line 202 back to the second pallet feeding line 201.

[0097] The first pallet return line 23 is located at the front end of the first pallet feeding line 21 and the first pallet delivery line 22 , and the first stator clamp loading robot 5 is located at the rear end of the first pallet feeding line 21 and the first pallet delivery line 22 .

[0098] The second pallet return line 203 is located at the front end of the second pallet feeding line 201 and the second pallet feeding line 202 , and the second stator clamp loading robot 8 is located at the rear end of the second pallet feeding line 201 and the second pallet feeding line 202 .

[0099] As a more specific technical solution of the present invention.

[0100] The first pallet feeding line 21 includes a first pallet feeding frame 24, a first pallet feeding chain assembly 25 and a first pallet feeding motor 26. The first pallet feeding chain assembly 25 includes a first sprocket 251, a second sprocket 252 and a first pallet feeding chain 253. The first sprocket 251 and the second sprocket 252 are respectively arranged at the front end and the rear end of the first pallet feeding frame 24. The first pallet feeding chain 253 is arranged along the feeding direction of the first pallet feeding frame 24. The first pallet feeding chain 253 connects the first sprocket 251 and the second sprocket 252. The first pallet feeding motor 26 is connected to the first sprocket 251 by belt transmission.

[0101] The first pallet delivery line 22 includes a first pallet delivery frame 27, a first pallet delivery chain assembly 28 and a first pallet delivery motor 29. The first pallet delivery chain assembly 28 includes a third sprocket 281, a fourth sprocket 282 and a pallet delivery chain 283. The third sprocket 281 and the fourth sprocket 282 are respectively arranged at the front end and the rear end of the first pallet delivery frame 27. The pallet delivery chain 283 is arranged along the feeding direction of the first pallet delivery frame 27. The pallet delivery chain 283 connects the third sprocket 281 and the fourth sprocket 282. The first pallet delivery motor 29 is connected to the third sprocket 281 by belt transmission.

[0102] The first pallet return line 23 includes a first pallet return frame 231, a first pallet return slide frame 232, a first pallet return motor 233, a first pallet return chain assembly 234 and a first pallet return cylinder 291. The first pallet return slide frame 232 is horizontally slidably arranged on the first pallet return frame 231. The first pallet return cylinder 291 is arranged on the first pallet return frame 231 and drives the first pallet return slide frame 232 to slide horizontally. The bar assembly 234 includes a fifth sprocket 235, a sixth sprocket 236 and a first pallet return chain 237. The fifth sprocket 235 and the sixth sprocket 236 are respectively arranged at the front end and the rear end of the first pallet return frame 231. The first pallet return chain 237 is arranged along the conveying direction of the first pallet return frame 231. The first pallet return chain 237 connects the fifth sprocket 235 and the sixth sprocket 236. The first pallet return motor 233 is connected to the fifth sprocket 235 by belt transmission.

[0103] The second pallet feeding line 201 includes a second pallet feeding frame 204, a second pallet feeding chain assembly 205 and a second pallet feeding motor 206. The second pallet feeding chain assembly 205 includes a seventh sprocket 207, an eighth sprocket 208 and a second pallet feeding chain 209. The seventh sprocket 207 and the eighth sprocket 208 are respectively arranged at the front end and the rear end of the second pallet feeding frame 204. The second pallet feeding chain 209 is arranged along the feeding direction of the second pallet feeding frame 204. The second pallet feeding chain 209 connects the seventh sprocket 207 and the eighth sprocket 208. The second pallet feeding motor 206 is connected to the seventh sprocket 207 by belt transmission.

[0104] The second pallet delivery line 202 includes a second pallet delivery frame 210, a second pallet delivery chain assembly 211 and a second pallet delivery motor 212. The second pallet delivery chain assembly 211 includes a ninth sprocket 213, a tenth sprocket 214 and a second pallet delivery chain 215. The ninth sprocket 213 and the tenth sprocket 214 are respectively arranged at the front end and the rear end of the second pallet delivery frame 210. The second pallet delivery chain 215 is arranged along the feeding direction of the second pallet delivery frame 210. The second pallet delivery chain 215 connects the ninth sprocket 213 and the tenth sprocket 214. The second pallet delivery motor 212 is connected to the ninth sprocket 213 by belt transmission.

[0105] The second pallet return line 203 includes a second pallet return frame 216, a second pallet return slide frame 217, a second pallet return motor 218, a second pallet return chain assembly 219 and a second pallet return cylinder 292. The second pallet return slide frame 217 is horizontally slidably arranged on the second pallet return frame 216. The second pallet return cylinder 292 is arranged on the second pallet return frame 216 and drives the second pallet return slide frame 217 to slide horizontally. 219 includes an eleventh sprocket 221, a twelfth sprocket 222 and a second pallet return chain 223, the eleventh sprocket 221 and the twelfth sprocket 222 are respectively arranged at the front end and the rear end of the second pallet return frame 216, the second pallet return chain 223 is arranged along the conveying direction of the second pallet return frame 216, the second pallet return chain 223 connects the eleventh sprocket 221 and the twelfth sprocket 222, and the second pallet return motor 218 is connected to the eleventh sprocket 221 with a belt transmission.

[0106] The first tray feeding line 21, the first tray feeding line 22, the second tray feeding line 201 and the second tray feeding line 202 are respectively provided with a first stator clamp opening mechanism 3a, a second stator clamp opening mechanism 3b, a third stator clamp opening mechanism 3c and a fourth stator clamp opening mechanism 3d. The stator clamp opening mechanism is used to control the half-core stator clamp 6 on the corresponding stator feeding tray to clamp or release the half-core stator 7.

[0107] The first stator clamp opening mechanism 3a, the second stator clamp opening mechanism 3b, the third stator clamp opening mechanism 3c, and the fourth stator clamp opening mechanism 3d all include a mounting frame 31, a pin lifting cylinder 32, a pin fixing frame 34, a plurality of clamp opening pins 35, a pallet positioning plate 37, and a pallet positioning cylinder 36. The pin fixing frame 34 is slidably arranged on the mounting frame 31, and the plurality of clamp opening pins 35 are arranged on the pin fixing frame 34. The pin lifting cylinder 32 is arranged on the mounting frame 31 and drives the pin fixing frame 34 to slide up and down. The pallet positioning plate 37 is slidably arranged on the mounting frame 31 and is located below the clamp opening pin 35. The pallet positioning cylinder 36 is arranged on the mounting frame 31 and drives the pallet positioning plate 37 to slide up and down.

[0108] The ejector fixing frame is provided with a plurality of ejector fixing guide shafts 33 , and the clamp opening ejector 35 is provided at the lower ends of the plurality of ejector fixing guide shafts 33 .

[0109] The mounting frame 31 is provided with a guide sleeve 30 corresponding to the ejector fixing guide shaft 33 , and the ejector fixing guide shaft 33 is slidably arranged on the guide sleeve 30 up and down.

[0110] The plurality of clamp opening ejector pins are vertically and side by side arranged on an ejector pin fixing frame.

[0111] The pallet positioning cylinder 36 is arranged on the mounting frame 31, and the mounting frame is provided with an active inclined plane block 39. The pallet positioning cylinder 36 drives the active inclined plane block 39 to slide horizontally. The bottom surface of the pallet positioning plate 37 is provided with a driven inclined plane block 38. The active inclined plane block 39 cooperates with the driven inclined plane block 38 in an inclined surface. The active inclined plane block slides in the horizontal direction to drive the driven inclined plane block 38 to rise and fall.

[0112] The stator feeding tray 4 is seated on the tray positioning plate 37 and is located below a plurality of fixture opening ejector pins 35 .

[0113] The tray positioning plate 37 is provided with a first positioning boss 371 and a second positioning boss 372 , and the first positioning boss 371 and the second positioning boss 372 are arranged diagonally.

[0114] The stator feeding tray 4 is provided with a first positioning hole 45 and a second positioning hole 46 at positions corresponding to the first positioning boss 371 and the second positioning boss. When the stator feeding tray 4 slides above the tray positioning plate 37, the tray positioning cylinder 36 drives the tray positioning plate 37 to rise, and the first positioning boss 371 and the second positioning boss 372 are respectively inserted into the first positioning hole 45 and the second positioning hole 46.

[0115] The first and second stator fixture loading robots 5 , 8 each include a ground rail 9 , a stator fixture loading frame 51 , a tray positioning mechanism 53 and a stator fixture loading manipulator 52 .

[0116] The tray positioning mechanism 53 is provided on the stator fixture loading frame 51 and is used to position the stator feeding tray 4 on the stator fixture loading frame;

[0117] The stator fixture feeding robot 52 is arranged on the stator fixture feeding machine frame 51, and is used to transport the half-core stator fixture between the stator feeding tray 4 and the stator winding machine.

[0118] The pallet positioning mechanism 53 includes a pallet positioning frame 533, a pallet fixing cylinder 532 and a pallet fixing plate 531. The pallet positioning frame 533 is arranged on the stator clamp feeding frame 51. The front side of the pallet positioning frame 533 is open and the rear side is closed. The left and right sides of the pallet positioning frame 533 are provided with pallet supporting roller groups 534. There is a pallet positioning gap 535 between the pallet supporting roller group 534 and the bottom of the pallet positioning frame 533. The pallet fixing plate 531 is arranged on the stator clamp feeding frame 51 to slide up and down and is located below the pallet positioning frame 533. The pallet fixing cylinder 532 is arranged on the stator clamp feeding frame 51 and is located below the pallet fixing plate 531. The pallet fixing cylinder 532 drives the pallet fixing plate 531 to slide up and down.

[0119] The stator fixture loading manipulator 52 is a four-axis robot. The four-axis robot is a prior art, and the four-axis robot has a rotating lifting shaft 520 that can perform rotation, lifting, translation and other actions, so its working principle will not be described here.

[0120] The stator clamp feeding manipulator 52 is provided with a stator clamp grabbing arm 521 on the rotating lifting shaft 520, and the stator clamp grabbing arm 521 includes a clamp grabbing seat 522 and at least two stator clamp grabbing mechanisms 523. The clamp grabbing seat 522 is arranged at the lower end of the rotating lifting shaft 520, and the stator clamp grabbing mechanism 523 includes a clamp grabbing cylinder 524, a clamp grabbing claw 525 and a clamp clamping groove 526. The clamping groove 526 is arranged on the clamp material grabbing seat 522, and the outer end of the clamp clamping groove 526 is open. The clamp material grabbing claw 525 is rotatably arranged on the clamp material grabbing seat 522 in the form of a lever. The clamp material grabbing cylinder 524 is arranged on the clamp material grabbing seat 522, and the cylinder rod of the clamp material grabbing cylinder 524 is rotatably connected to the inner end of the clamp material grabbing claw 525, and the outer end of the clamp material grabbing claw 525 is located above the clamp clamping groove 526.

[0121] The ground rail 9 is provided with a slide rail 97 and a travel rack 98 along its length direction. The stator clamp loading frame 51 of the first and second stator clamp loading robots 5 and 8 is horizontally slidably set on the slide rail 97. The stator clamp loading frame 51 is provided with a sliding drive motor 54. The sliding drive motor 54 is provided with a driving gear (not shown in the figure), and the driving gear is meshed with the travel rack 98.

[0122] The clamp clamping groove 526 is arranged at the periphery of the clamp grabbing seat 522 .

[0123] The clamp grabbing cylinder is arranged at the bottom of the clamp grabbing seat 522, and the clamp grabbing seat 522 is provided with a clearance hole 528 corresponding to the cylinder rod of the clamp grabbing cylinder. The cylinder rod of the clamp grabbing cylinder passes upward through the clearance hole 528 and is rotatably connected to the inner end of the clamp grabbing claw 525.

[0124] The outer end of the clamp material grabbing claw 525 is hook-shaped.

[0125] The clamp material grabbing seat 522 is provided with four stator clamp material grabbing mechanisms 523 , and the four stator clamp material grabbing mechanisms 523 are arranged on both sides of the clamp material grabbing seat 522 in pairs.

[0126] The clamp material grabbing seat 522 is provided with a hook 527. The first and second stator feeding trays 40 are provided with a pulling block 44 corresponding to the hook 527, and the pulling block 44 is provided with a pulling groove 441. When the stator clamp material grabbing arm pulls the first stator feeding tray, the hook 527 will be hooked in the pulling groove 441 of the pulling block 44, and then pull the first stator feeding tray to slide.

[0127] The retractor is in a Γ shape.

[0128] The working principle of the present invention is:

[0129] When the present invention starts working, the stator main winding winding production line 91 of the present invention is started first, the first stator clamp opening mechanism 3a of the first tray feeding line 21 is started, the tray positioning cylinder 36 of the first tray feeding line 21 drives the tray positioning plate 37 to rise, the tray positioning plate 37 positions and supports the first stator feeding tray 4 on the first tray feeding line 21, and then the ejector lifting cylinder 32 drives the ejector fixing frame 34 to descend, and the plurality of ejector fixing guide shafts 33 slide downward, and the plurality of ejector fixing guide shafts 33 are moved upward. The clamp opening ejector pins 35 on the upper part are respectively inserted downward into the corresponding driving clearance holes 68 of the half-core stator clamp, and push the clamp opening driving slider 64 to slide downward, the clamping compression spring 63 is compressed by the clamp opening driving slider 64, and the driving protrusion 641 also slides downward with the driving slider, and the driving protrusion 641 drives the clamping slider 62 to slide backward (moving in the direction away from the clamping card) by pushing the driven oblique long hole 66 backward, and the clamping slider 62 opens the stator clamping port 610 of the half-core stator clamp 6.

[0130] Then, the stator grabbing manipulator 1 of the present invention grabs multiple unwound half-core stators 7 on the half-core stator material tray (not shown in the figure) and transports them to the first stator feeding tray 4 of the first tray feeding line 21, and makes one end of the multiple half-core stators 7 be located at the stator clamping port 610 of the corresponding half-core stator clamp 6, then the ejector lifting cylinder 32 drives the ejector fixing frame 34 to rise, and multiple ejector fixing guide shafts 33 slide upward, and the clamps of multiple ejector fixing guide shafts 33 open and the ejector 35 moves out of the driving clearance hole 68, and the clamping compression spring 63 drives the clamp to open and drive the slider 64 to slide upward, and the driving protrusion 641 also slides upward with the driving slider, and the driving protrusion 641 pushes through the forward driven oblique long hole 66 to drive the clamping slider 62 to slide forward (move toward the direction close to the clamping card), and the front end of the clamping slider 62 cooperates with the clamping card to clamp one end of the half-core stator 7. Then the first stator grabbing robot 1 releases the multiple half-core stators 7.

[0131] Then, the first pallet feeding line 21 is started, and the first pallet feeding line 21 transports the first stator feeding pallet 4 backwards to the first stator clamp loading robot 5. When the first pallet feeding line 21 transports the first stator feeding pallet 4 to the rear end of the first pallet feeding frame 24, the first stator clamp loading robot 5 drives the hook 527 on the stator clamp loading manipulator 52 to pull the first stator feeding pallet 4 to the pallet positioning frame 533 of the first stator clamp loading robot 5, and the first stator feeding pallet 4 slides into the pallet positioning gap 535. Immediately afterwards, the pallet positioning mechanism 53 of the first stator clamp loading robot 5 is started, and the pallet positioning cylinder 36 drives the pallet positioning plate 37 to rise, and the pallet positioning plate 37 positions the first stator feeding pallet 4.

[0132] Next, the sliding drive motor 54 of the first stator fixture loading robot 5 is started, and the sliding drive motor 54 drives the active gear to rotate forward, and the active gear moves along the walking rack 98, and the first stator fixture loading robot 5 slides along the ground rail 9 toward the main winding stator winding machine 93, until the first stator fixture loading robot 5 slides to the side of the main winding stator winding machine 93, the sliding drive motor 54 stops rotating, and then the stator fixture loading manipulator 52 drives its stator fixture grabbing arm 521 to grab the half-core stator fixture 6 on the first stator feeding tray 4.

[0133] When the stator clamp material grabbing arm 521 grabs the material, the clamp material grabbing cylinder 524 first drives the outer end of the clamp material grabbing claw 525 to open, and then the stator clamp material feeding manipulator 52 drives the clamp material grabbing seat 522 to translate and lift, and then the clamp clamping groove 526 of the clamp material grabbing seat 522 is aligned with the clamped block 612 of the semi-core stator clamp 6, and then the clamped block 612 is inserted into the clamp clamping groove 526 of the clamp material grabbing seat 522, and then the clamp material grabbing cylinder 524 drives the clamp material grabbing cylinder 524 to drive the clamp material grabbing claw 525 to open, and then the stator clamp material feeding manipulator 52 drives the clamp material grabbing seat 522 to translate and lift, and then the clamp clamping groove 526 of the clamp material grabbing seat 522 is aligned with the clamped block 612 of the semi-core stator clamp 6, and then the clamped block 612 is inserted into the clamp clamping groove 526 of the clamp material grabbing seat 522. The outer end of the movable clamp material grabbing claw 525 rotates downward to clamp the clamping groove 67 on the clamped block 612. After the stator clamp material grabbing arm 521 grabs the two half-core stator clamps 6, the stator clamp material loading robot 52 drives the stator clamp material grabbing arm 521 to rotate, translate and lift to deliver the two half-core stator clamps 6 to the two winding stations of the main winding stator winding machine 93. Then, the main winding stator winding machine 93 winds the main winding wire slots of the half-core stator 7. After that, the first stator clamp material loading robot 5 will continue to move to the next main winding stator winding machine 93 and deliver the half-core stator clamp 6 to the main winding stator winding machine 93, thereby achieving the grabbing of the half-core stator clamp 6 to multiple main winding stator winding machines 93. During this process, the first stator fixture loading robot 5 will also unload the half-core stator and its half-core stator fixture 6 that have been wound on the main winding stator winding machine 93.

[0134] When the stator fixture loading robot 52 unloads on the main winding stator winding machine 93, the fixture grabbing cylinder 524 drives the outer end of the fixture grabbing claw 525 to rotate upward and open, and then the stator fixture grabbing arm 521 clamps the two half-core stator fixtures 6 on the main winding stator winding machine 93, and then the stator fixture grabbing arm 521 places the two half-core stator fixtures 6 on the first stator feeding tray 4. After the first stator feeding tray 4 is filled with a plurality of wound half-core stators 7, the sliding drive motor 54 of the first stator fixture loading robot 5 rotates in the opposite direction, and the first stator fixture loading robot 5 slides along the ground rail 9 to the rear end of the first tray delivery line 22, and then the hook 527 of the stator fixture loading robot 52 pushes the first stator feeding tray 4 to slide into the first tray delivery line 22.

[0135] The first tray delivery line 22 transports the first stator feeding tray 4 to the second stator clamp opening mechanism 3b, then the second stator clamp opening mechanism 3b is started, the second stator clamp opening mechanism 3b positions the first stator feeding tray 4, and then the second stator clamp opening mechanism 3b opens the half-core stator clamp 6 on the first stator feeding tray 4, followed by the stator grabbing robot 1 grabbing all the half-core stator clamps 6 on the first stator feeding tray 4 to the second stator feeding tray 40 on the second tray delivery line 201.

[0136] Afterwards, the empty first stator feeding tray 4 is transported to the first pallet returning line 23 by the first pallet delivery line 22. At the same time, the first pallet returning cylinder 291 drives the first pallet returning slide 232 to slide to align with the front end of the first pallet delivery line 22 to receive the first stator feeding tray 4 transported by the first pallet delivery line 22. The first pallet returning motor 233 drives the first pallet returning chain assembly 234 to rotate forward to drive the first stator feeding tray 4 to slide into the first pallet returning slide 232. Afterwards, the first pallet returning cylinder 291 drives the first pallet returning slide 232 to slide to align with the front end of the first pallet feeding line 21. The first pallet returning motor 233 drives the first pallet returning chain assembly 234 to rotate in the opposite direction. The first pallet returning chain assembly 234 transports the first stator feeding tray 4 back to the first pallet feeding line 21 to prepare for the next installation of the unwound half-core stator.

[0137] Then, the stator secondary winding winding production line 92 of the present invention is started, and the stator grabbing manipulator 1 cooperates with the third stator clamp opening mechanism 3c on the second tray feeding line 201 to install it on the second stator feeding tray 40 of the second tray circulating feeding line 20. The second tray feeding line 201 conveys the second stator feeding tray 40 to the second stator clamp loading robot 8, and the second stator clamp loading robot 8 conveys the second stator feeding tray 40 to the secondary winding stator winding machine 94 along the ground rail 9, and the stator clamp loading manipulator 52 of the second stator clamp loading robot 8 conveys the half-core stator clamp 6 on the second stator feeding tray 40 to the secondary winding stator winding machine 94 for winding. The secondary winding stator winding machine 94 winds the secondary winding wire slots on the half-core stator 7. After the secondary winding stator winding machine 94 winds the secondary winding slots of the half-core stator 7, the winding work of the half-core stator 7 is completed. Afterwards, the second stator fixture loading robot 8 grabs the half-core stator fixtures 6 wound with wires on multiple secondary winding stator winding machines 94 onto the second stator feeding tray 40. After a plurality of half-core stator clamps 6 are placed on the second stator feeding tray 40, the second stator clamp loading robot 8 transports the second stator feeding tray 40 to the second tray delivery line 202, and the second tray delivery line 202 transports the second stator feeding tray 40 to the fourth stator clamp opening mechanism 3d, and the fourth stator clamp opening mechanism 3d opens the half-core stator clamp 6 on the second stator feeding tray 40. At the same time, the stator grabbing robot 1 grabs the half-core stator on the second stator feeding tray 40 and takes it out to the stator secondary winding winding production line 92. At this point, the winding and delivery work of the half-core stator of the present invention has been completed.

[0138] Then, the second pallet delivery line 202 delivers the empty second stator feeding pallet 40 to the second pallet return line 203, and the second pallet return line 203 delivers the empty second stator feeding pallet 40 back to the second pallet delivery line 201 to prepare for the next loading and feeding. Since the working principle of the second pallet return line 203 is the same as that of the second pallet return line, it will not be described in detail here.

Claims

1. A semi-core stator winding production line, comprising a stator grabbing manipulator, a tray circulating feeding line, a stator feeding tray, a stator fixture feeding robot and a stator winding machine; The stator feeding tray is used to carry a plurality of half-core stator fixtures and the half-core stators thereon; The stator grabbing manipulator is used to disassemble and assemble half-core stators on a plurality of half-core stator fixtures on a stator feeding tray on a tray circulating feeding line; The pallet circulating feeding line is used to cyclically convey the stator feeding pallet to the stator fixture feeding robot; The stator fixture loading robot is used to transport the stator feeding tray between the tray circulating feeding line and the stator winding machine, to grab the half-core stator fixture on the stator feeding tray thereon to the stator winding machine, and to grab the half-core stator fixture on the stator winding machine to the stator feeding tray thereon; The stator winding machine is used to wind the half-core stator on the half-core stator fixture; The stator fixture feeding robot comprises a stator fixture feeding frame, a pallet positioning mechanism and a stator fixture feeding manipulator. The stator fixture feeding manipulator and the pallet positioning mechanism are arranged on the stator fixture feeding frame. The stator fixture feeding manipulator is a four-axis robot. A stator fixture grasping arm is arranged on the rotating lifting shaft of the stator fixture feeding manipulator. The pallet circulating feeding line includes a pallet feeding line, a pallet feeding line and a pallet returning line: The pallet feeding line is used to convey the stator feeding pallet to the stator fixture loading robot; The pallet delivery line is used to deliver the stator feeding pallet on the stator fixture loading robot to the pallet return line; The pallet delivery line and the pallet delivery line are arranged side by side; The pallet return line is used to transport the stator feeding pallet transported by the pallet delivery line back to the pallet delivery line; The tray feeding line and the tray feeding line are provided with a stator clamp opening mechanism, and the stator clamp opening mechanism is used to control the half-core stator clamp on the stator feeding tray to clamp or release the half-core stator; The stator clamp opening mechanism includes a mounting frame, an ejector pin lifting cylinder, an ejector pin fixing frame, a pallet positioning cylinder, a pallet positioning plate and a plurality of clamp opening ejectors. The ejector pin fixing frame is slidably arranged on the mounting frame, and the plurality of clamp opening ejectors are arranged on the ejector pin fixing frame. The ejector pin lifting cylinder is arranged on the mounting frame and drives the ejector pin fixing frame to slide up and down. The pallet positioning plate is slidably arranged on the mounting frame and is located below the clamp opening ejector. The pallet positioning cylinder is arranged on the mounting frame and drives the pallet positioning plate to slide up and down.

2. The half-core stator winding production line according to claim 1 is characterized in that: The pallet positioning mechanism includes a pallet positioning frame, a pallet fixing cylinder and a pallet fixing plate. The pallet positioning frame is arranged on the stator clamp feeding frame, the front side of the pallet positioning frame is open and the rear side is closed, the left and right sides of the pallet positioning frame are provided with pallet supporting roller groups, and there is a pallet positioning gap between the pallet supporting roller group and the bottom of the pallet positioning frame. The pallet fixing plate is arranged on the stator clamp feeding frame for sliding up and down and is located below the pallet positioning frame. The pallet fixing cylinder is arranged on the stator clamp feeding frame and is located below the pallet fixing plate. The pallet fixing cylinder drives the pallet fixing plate to slide up and down.

3. The half-core stator winding production line according to claim 1 is characterized in that: The stator clamp material grabbing arm includes a clamp material grabbing seat and at least two stator clamp material grabbing mechanisms, the clamp material grabbing seat is arranged at the lower end of the rotating lifting shaft, the stator clamp material grabbing mechanism includes a clamp material grabbing cylinder, a clamp material grabbing claw and a clamp clamping groove, the clamp clamping groove is arranged on the clamp material grabbing seat, the outer end of the clamp clamping groove is open, the clamp material grabbing claw is rotatably arranged on the clamp material grabbing seat in the form of a lever, the clamp material grabbing cylinder is arranged on the clamp material grabbing seat, the cylinder rod of the clamp material grabbing cylinder is connected to the inner end of the clamp material grabbing claw, and the outer end of the clamp material grabbing claw is located above the clamp clamping groove.

4. The half-core stator winding production line according to claim 1 is characterized in that: The pallet return line is located at the front end of the pallet feeding line and the pallet sending line, and the stator clamp loading robot is located at the rear end of the pallet feeding line and the pallet sending line.

5. The half-core stator winding production line according to claim 1 is characterized in that: The plurality of clamp opening ejector pins are vertically and side by side arranged on an ejector pin fixing frame.

6. The half-core stator winding production line according to claim 1 is characterized in that: The ejector fixing frame is provided with a plurality of ejector fixing guide shafts, the lower ends of the plurality of ejector fixing guide shafts are provided with the clamp opening ejector, the mounting frame is provided with a guide shaft sleeve corresponding to the ejector fixing guide shaft, and the ejector fixing guide shaft is slidably arranged on the guide shaft sleeve up and down.

7. The half-core stator winding production line according to claim 1 is characterized in that: The pallet positioning cylinder is arranged on the mounting frame, and an active inclined plane block is arranged on the mounting frame for horizontal sliding. The pallet positioning cylinder drives the active inclined plane block to slide horizontally. A driven inclined plane block is arranged on the bottom surface of the pallet positioning plate. The active inclined plane block cooperates with the inclined plane of the driven inclined plane block. The active inclined plane block slides in the horizontal direction to drive the driven inclined plane block to rise and fall.

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