Hairpin stator inspection device and method for testing the same

Abstract

The present invention relates to a hairpin stator inspection device and a method for testing the hairpin stator. The hairpin stator inspection device is provided to test the performance of a stator having a hairpin stator coil wound thereon. The hairpin stator inspection device includes a conveyor belt provided on a frame and configured to transfer a stator including a plurality of stator terminals along a predetermined path, a plurality of clamping terminals installed to be movable in up-down, front-back and left-right directions on the frame by a driver to clamp the stator terminals, a controller to apply a driving control signal to the driver to change the position of the clamping terminals according to the position of the stator terminals, and an inspection part to apply power to the stator terminals via the clamping terminals and to inspect the circuit of the stator.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0030501, filed on March 12, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] Embodiments of the present invention relate to a system for manufacturing a drive motor, and more specifically, the present invention relates to a hairpin stator inspection device and a method for testing the performance of a stator wound with hairpin stator coils. Background Technology

[0004] Hybrid or electric vehicles, often referred to as eco-friendly vehicles, typically employ a technology that generates driving torque through a drive motor. To reduce the weight and size of vehicles and components, automakers and eco-friendly component manufacturers are using drive motors with stators wound with hairpin-type stator coils.

[0005] A hairpin-wound stator is manufactured by inserting a hairpin stator coil into a slot in the stator core and welding the ends of the stator coil.

[0006] In this process, three-phase or four-phase coil lead sections are drawn from the stator coils, and terminals are connected to each coil lead section.

[0007] As described above, the hairpin-wound stator, during individual testing, connects the test terminals of the testing equipment to each terminal, applies power to the terminals via the test terminals, and checks the stator's performance.

[0008] However, in related technologies, manually connecting the test terminals of the testing equipment to the stator terminals reduces operability and takes too long to connect the terminals and test terminals as a whole. Furthermore, the connection process between the test terminals can damage the stator.

[0009] Furthermore, when the test terminals of the testing equipment are deformed or the stator terminals are unevenly arranged, it is difficult to ensure the reliability of the contact between the test terminals. Therefore, the reliability of performance testing will be reduced.

[0010] The information disclosed in this background section is intended only to enhance the understanding of the background of the present invention, and therefore the information it may contain does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0011] This invention aims to provide a hairpin stator inspection device and method, which has the following advantages: during the stator inspection process, test terminals for applying power to the stator terminals are automatically connected, and the hairpin stator is inspected to test the electrical performance of the stator.

[0012] Embodiments of the present invention relate to a hairpin stator inspection device for testing the performance of a stator wound with hairpin stator coils. The hairpin stator inspection device according to an embodiment of the present invention may include: a conveyor belt, a plurality of clamping terminals, a controller, and an inspection section; the conveyor belt is disposed on a frame and is used to transport a stator including a plurality of stator terminals along a predetermined path; the plurality of clamping terminals are mounted to be movable on the frame in the vertical, horizontal, and longitudinal directions by a driver to clamp the stator terminals; the controller applies drive control signals to the driver to change the position of the clamping terminals according to the position of the stator terminals; the inspection section applies power to the stator terminals via the clamping terminals and inspects the stator's circuitry.

[0013] The inspection device may further include a vision sensor mounted in the frame, which captures images of the stator terminals and outputs visual data to the controller.

[0014] The clamping terminals can clamp onto the stator terminals located on the coil lead portions of the four phases (U, V, W, and N) in the stator.

[0015] The inspection device may further include a grounding terminal, which is mounted to be movable on the frame by a driver and grounded to the stator core of the stator.

[0016] The controller can apply a first drive control signal to the driver to move the clamping terminal to a predetermined position corresponding to the stator terminal.

[0017] The controller can calculate the position data of the stator terminals by analyzing the visual data obtained from the vision sensor, and the controller can apply a second drive control signal to the driver based on the position data.

[0018] The driver may include multiple servo motors that perform forward / reverse operations according to the up / down, forward / backward, and left / right directions of each clamping terminal.

[0019] The inspection device may further include a barcode scanner mounted on the frame to identify barcodes attached to the stator.

[0020] The inspection device may further include a stator detection sensor mounted in the frame to detect the stator being conveyed to a predetermined position by the conveyor belt and to output a detection signal to the controller.

[0021] The inspection device may further include attachment members mounted on the conveyor belt to secure the stator.

[0022] The inspection device may further include a base member mounted on a conveyor belt to support the lower end of the stator; and the attachment member may be mounted on the base member such that the attachment member can be reciprocated by operating an actuating cylinder.

[0023] Embodiments of the present invention relate to a method for testing the performance of a stator wound with hairpin-type stator coils. The method according to an embodiment of the present invention may include: positioning the stator at a predetermined position via a conveyor belt; applying a first drive control signal to a driver by a controller and moving clamping terminals to predetermined positions corresponding to the stator terminals; photographing the stator terminals of the stator and outputting visual data to the controller; analyzing the visual data by the controller to calculate position data of the clamping terminals; applying a second drive control signal corresponding to the position data to the driver; and moving the clamping terminals according to the position data.

[0024] The stator terminals can be clamped by the clamping terminals, power can be applied to the stator terminals via the clamping terminals, and the stator circuitry can be inspected by the inspection section.

[0025] The inspection results stored in the inspection section can be sent to the main control unit.

[0026] When positioning the stator, a barcode scanner can be used to scan the barcode attached to the stator, and the product information of the stator can be output to the controller.

[0027] When positioning the stator, the stator can be detected by the stator detection sensor as it is conveyed by the conveyor belt. The detection signal can be output to the controller, and the controller can stop the conveyor belt based on the detection signal.

[0028] When positioning the stator, the stator can be fixed to the conveyor belt by an attachment member installed on the base member.

[0029] According to an embodiment of the present invention, the position of the clamping terminal is adjusted according to the position of the stator terminal, and the clamping terminal can be automatically connected to the stator terminal. Therefore, even if the position of the stator terminal shifts after assembly, the reliability of stator inspection can be improved.

[0030] Furthermore, the effects that can be obtained or predicted through the embodiments of the present invention will be disclosed directly or implicitly in the detailed description of the embodiments of the present invention. In other words, various effects predicted according to embodiments of the present invention are disclosed in the following detailed description. Attached Figure Description

[0031] These accompanying drawings are for reference only when describing embodiments of the present invention; therefore, the technical concept of the present invention should not be limited to the drawings.

[0032] Figure 1 and Figure 2 These are, respectively, a front view and a top view of a hairpin-wound stator applied to an embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram illustrating an inspection device for a hairpin-wound stator according to an embodiment of the present invention.

[0034] Figure 4 This is a schematic diagram showing the attachment member of an inspection device applied to a hairpin winding stator according to an embodiment of the present invention.

[0035] Figure 5 This is a schematic diagram illustrating the clamping terminals and driver of an inspection device applied to a hairpin winding stator according to an embodiment of the present invention.

[0036] Figure 6 This is a flowchart illustrating an inspection method for a hairpin-wound stator according to an embodiment of the present invention.

[0037] <Explanation of Figure Markers>

[0038] 1: Stator

[0039] 2: Coil lead section

[0040] 3: Stator core

[0041] 4: Busbar

[0042] 6: Terminal

[0043] 7: Stator coils

[0044] 8: Barcode

[0045] 10: Framework

[0046] 11: Barcode Scanner

[0047] 13: Stator detection sensor

[0048] 20: Conveyor Belt

[0049] 21: Attachment components

[0050] 23: Base components

[0051] 25: Operating the actuating cylinder

[0052] 30: Visual Sensor

[0053] 50: Terminal clamping

[0054] 51: Driver

[0055] 53: Servo Motor

[0056] 55: Grounding terminal

[0057] 70: Controller

[0058] 90: Inspection Section

[0059] 99: Main Control Unit

[0060] 100: Inspection device Detailed Implementation

[0061] The invention will now be described more fully with reference to the accompanying drawings, in which embodiments of the invention are illustrated. Those skilled in the art will recognize that the described embodiments can be modified in various ways without departing from the spirit or scope of the invention.

[0062] For the sake of clarity in describing the invention, parts that are not relevant to the description have been omitted, and throughout the specification, the same reference numerals denote the same or similar parts.

[0063] Since the dimensions and thicknesses of each component shown in the accompanying drawings are arbitrarily depicted for ease of description, the invention is not limited to the components shown in the drawings, and the thicknesses are enlarged to clearly show the individual parts and areas.

[0064] Additionally, in the detailed description below, configuration names are categorized as First, Second, etc., to distinguish configurations with the same relationship, but are not limited to the order in the following description.

[0065] Throughout this specification, unless explicitly stated otherwise, the words “comprising” and variations such as “including” or “containing” should be understood to imply the inclusion of the stated elements, but not to exclude any other elements.

[0066] In addition, the terms "unit", "device", "component", "building block", etc., described in the specification refer to units of a comprehensive structure that perform at least one function or operation.

[0067] Figure 1 and Figure 2 These are, respectively, a front view and a top view of a hairpin-wound stator applied to an embodiment of the present invention.

[0068] refer to Figure 1 and Figure 2According to an embodiment of the present invention, the hairpin-wound stator 1 can be applied to the drive motor of hybrid vehicles and / or electric vehicles (which are environmentally friendly vehicles that obtain driving torque through electrical energy). The drive motor may include the stator 1 according to an embodiment of the present invention and a rotor (not shown in the figure) arranged within the stator 1 with a certain air gap.

[0069] The stator 1 includes a stator core 3, in which multiple electrical steel plates are stacked. The stator core 3 has hairpin stator coils 7 (industrially referred to as conductors, sector coils, or flat coils) passing through multiple slots.

[0070] For example, the stator coil 7 can be configured as a U-shaped or V-shaped hairpin with a pair of legs, and can also be configured as a square coil with a rectangular cross-section.

[0071] These hairpin stator coils 7 are inserted into slots in the stator core 3. A pair of legs protrude through the bottom of the slots. The legs of the stator coils 7 can be soldered to form an electrical connection circuit.

[0072] According to an embodiment of the present invention, the stator 1 includes coil lead portions 2 for four phases (U, V, W, and N phases) extending from the stator coils 7, and stator terminals 6 connected to the coil lead portions 2 via busbars 4. Figure 1 As shown, terminal 6 is positioned on the upper side of stator core 3.

[0073] The positions of terminals 6 vary depending on the product specifications of stator 1, and each terminal is positioned at a virtual predetermined position based on the stator core 3.

[0074] In the following text, the conveying direction of the stator 1, which is conveyed along a predetermined conveying path, is defined as the front-back direction. The direction perpendicular to the front-back direction in a plane is the left-right direction, and the direction perpendicular to the plane direction is defined as the up-down direction.

[0075] Furthermore, in the following text, an end (one / an end or another / an end) can be defined as any end, and a specific portion (one / an end or another / an end) including that end can also be defined.

[0076] According to an embodiment of the present invention, the hairpin-type stator inspection device 100 automatically connects to the test terminals during the testing of the stator 1 to apply power to the terminals 6, and can test the electrical performance of the stator 1.

[0077] Figure 3 This is a schematic diagram illustrating an inspection device for a hairpin-wound stator according to an embodiment of the present invention.

[0078] refer to Figures 1 to 3According to an embodiment of the present invention, the inspection device 100 for a hairpin stator includes: a frame 10, a conveyor belt 20, a vision sensor 30, a plurality of clamping terminals 50, a controller 70, and an inspection section 90.

[0079] In an embodiment of the invention, frame 10 is used to mount the various constituent elements, which will be further described below, and is set on the ground at the work site. Frame 10 may comprise one or two or more interconnected frames.

[0080] Additionally, the frame 10 may include various auxiliary elements, such as brackets, rods, bars, plates, blocks, ribs, and collars for supporting the various constituent elements.

[0081] However, since the aforementioned auxiliary elements are used to mount each constituent element to be further described below in the frame 10, in embodiments of the present invention, the aforementioned auxiliary elements are collectively referred to as the frame 10, unless otherwise specified.

[0082] In an embodiment of the invention, the conveyor belt 20 is used to transport the stator 1, which has been assembled during the stator assembly process, along a predetermined transport path. The conveyor belt 20 is arranged on the frame 10 in a front-to-back direction according to the transport direction of the stator 1.

[0083] The conveyor belt 20 is a known conveyor belt device that supports stators 1 at predetermined intervals and is configured to be driven by a conveyor belt drive unit.

[0084] In an embodiment of the invention, a barcode scanner 11 is included, which is mounted in the frame 10. The barcode scanner 11 is mounted in the frame 10 on the entry side of the stator 1 via the conveyor belt 20.

[0085] Barcode scanner 11 identifies barcode 8 attached to stator 1. Barcode scanner 11 scans barcode 8 and can output product information of stator 1 as described below to controller 70.

[0086] The product information for stator 1 may include data on the number, spacing, length, height, and front / rear / left / right positions of the multiple terminals 6 for each model, as well as the specifications of each stator 1.

[0087] Since the barcode scanner 11 is made of a barcode reader device of known technology in the art, a more detailed description of its configuration is omitted in this specification.

[0088] Furthermore, in an embodiment of the invention, the inspection device 100 further includes a stator detection sensor 13 mounted in the frame 10. The stator detection sensor 13 can detect the stator 1 being conveyed to a predetermined position by the conveyor belt 20 and output a detection signal to the controller 70. For example, the stator detection sensor 13 may include a known infrared sensor.

[0089] Figure 4 This is a schematic diagram showing the attachment members of an inspection device applied to a hairpin-wound stator according to an embodiment of the present invention. The hairpin-wound stator inspection device 100 includes a base member 23 mounted on a drive belt 20 and a plurality of attachment members 22 mounted on the base member 23.

[0090] The base member 23 supports the lower part of the stator 1 and is fixedly mounted on the upper surface of the conveyor belt 20 at predetermined intervals along the conveying direction of the stator 1. The attachment member 22 is used to fix the stator 1 supported on the base member 23 and is mounted on the base member 23 so as to be able to move radially reciprocating.

[0091] The attachment member 22 may be an attachment block made of rubber material and installed such that the attachment member 22 can be radially reciprocated by the technical operation of a known actuating cylinder 25.

[0092] refer to Figures 1 to 3 In an embodiment of the present invention, a vision sensor 30 is mounted in the frame 10. The vision sensor 30 can capture images of the terminals 6 of the stator 1, which are conveyed to a predetermined position via the conveyor belt 20, and output visual data to the controller 70.

[0093] Since the vision sensor 30 is made of a vision system using known technology, including a camera unit and an illumination unit, a more detailed description of its configuration is omitted in this specification.

[0094] Figure 5 This is a schematic diagram illustrating the clamping terminals and driver of an inspection device applied to a hairpin winding stator according to an embodiment of the present invention.

[0095] refer to Figures 1 to 5 In an embodiment of the present invention, a plurality of clamping terminals 50 are configured as test terminals or connector terminals capable of being electrically connected to terminals 6 of the stator 1.

[0096] The clamping terminal 50 is mounted on the frame 10, enabling it to move up and down, forward and backward, and left and right. Alternatively, the clamping terminal 50 can be configured as an electrically operated gripper finger. The clamping terminal 50 can be moved in multiple directions (up / down, forward / backward, and left / right) by a driver 51 mounted in the frame 10.

[0097] The driver 51 may include a plurality of servo motors 53, which apply forward and backward operating forces along the up-down, forward-backward, and left-right directions of each clamping terminal 50, respectively. The servo motors 53 are equipped with servo motors of known technology capable of servo control of rotation direction and rotation speed.

[0098] Additionally, the driver 51 may further include a guide rod and guide structure (not shown) of known techniques for converting the rotary movement of the servo motor 53 into linear movement.

[0099] In embodiments of the present invention, the controller 70 can control the overall operation of the inspection device 100 and can be implemented as at least one control processor operated by a predetermined program. The controller 70 may include a series of instructions for executing the contents of embodiments according to the present invention.

[0100] As described above, the controller 70 can apply predetermined control signals to the conveyor belt drive and the driver 51. The controller 70 can control the driving of the conveyor belt 20 and the driver 51.

[0101] In other words, the controller 70 can apply a drive control signal to the conveyor belt drive to stop the movement of the conveyor belt 20 based on the conveying position of the stator 1. The controller 70 can also apply a drive control signal to the driver 51 to change the position of the clamping terminal 50 according to the distance, length, height, and position of the terminal 6.

[0102] Specifically, the controller 70 can apply a first drive control signal to the drive unit 51 based on the product information of the stator 1 obtained by the barcode scanner 11 (i.e., the position information of the terminal 6) to move the clamping terminal 50 to a preset position (predetermined position).

[0103] Furthermore, the controller 70 can determine the actual position data of the terminal 6 by analyzing the visual data obtained via the aforementioned vision sensor 30 and based on the assembly distribution of the terminal 6. Then, the controller 70 can apply a second drive control signal to the driver 51 to move the clamping terminal 50 to a position suitable for the position data.

[0104] In an embodiment of the invention, the inspection section 90 applies power to the terminal 6 via the clamping terminal 50 through the controller 70 to inspect the circuitry of the stator 1.

[0105] The inspection section 90 can obtain the inspection results of stator 1, such as the current value of each phase of stator 1 through terminal 6, or determine whether stator 1 has defects, and can store the inspection results. The inspection results or test results can be transmitted to the main control unit 99 (e.g., main control PC).

[0106] Reference numeral 55, not described in the accompanying drawings, indicates a grounding terminal of known technology grounded to the stator core 3 of the stator 1. The grounding terminal 55 can be mounted to be movable along a multi-axis direction on the frame 10 by the aforementioned driver 51.

[0107] The operation of the hairpin-type stator inspection device 100 configured as described above according to an embodiment of the present invention and the stator inspection method using the inspection device 100 will be described in detail below with reference to the above-described drawings.

[0108] Figure 6 This is a flowchart illustrating an inspection method for a hairpin-wound stator according to an embodiment of the present invention.

[0109] Referring to the accompanying drawings, in an embodiment of the present invention, the stator 1 assembled during the stator assembly process is loaded onto the conveyor belt 20 of the frame 10. The stator 1 is conveyed along a predetermined conveying path via the conveyor belt 20 (step S11).

[0110] In this process, the stator 1 is mounted on the base member 23 on the conveyor belt 20, the attachment member 22 moves forward radially by the operation of the actuation cylinder 25, and the lower part of the stator 1 is fixed to the base member 23 by the attachment member 22.

[0111] During the above process, the barcode 8 attached to the stator 1 at the entrance side of the stator 1 on the conveyor belt 20 is scanned by the barcode scanner 11, and the product information of the stator 1 is output to the controller 70 (step S12).

[0112] Next, in an embodiment of the present invention, the stator 1 is correctly positioned at a predetermined position on the transport path of the stator 1 by the conveyor belt 20 (step S13).

[0113] In the above process, the stator 1, conveyed by the conveyor belt 20, is detected by the stator detection sensor 13, and a detection signal is output to the controller 70. Then, based on the detection signal, the controller 70 applies a control signal to the conveyor belt drive device to stop the conveyor belt 20. The stator 1 can then be correctly positioned at a predetermined location.

[0114] In this state, the controller 70 applies a first drive signal to the driver 51 corresponding to the product information of the stator 1 obtained by the barcode scanner 11 (i.e., the position information of the terminal 6) (step S14).

[0115] Based on the position information of terminal 6, by driving servo motor 53, clamping terminal 50 and grounding terminal 55 are moved to a predetermined position (predetermined position) along the up-down, front-back and left-right directions (step S15).

[0116] Next, the vision sensor 30 captures images of terminal 6 of stator 1 and outputs the visual data to controller 70 (step S16).

[0117] Then, the controller 70 compares and analyzes the visual data obtained from the vision sensor 30 with the reference data. If it is determined that the visual data meets the reference data (step S17), a predetermined control signal is applied to the clamping terminal 50.

[0118] Visual data that meets the reference data refers to data that falls within a set error range. The error within the set range refers to the error within which the clamping terminal 50 can clamp the terminal 6 of the stator 1. This error can be preset.

[0119] Therefore, the clamping terminal 50 is connected to the terminal 6 and the terminal 6 is clamped (step S18). The reference data refers to the predetermined position information of the terminal 6 generated due to the product information of the stator 1.

[0120] On the other hand, if it is determined in step S17 that the visual data does not meet the reference data, the controller 70 compares and analyzes the visual data with the reference data to calculate the actual position data of the terminal 6 based on the assembly distribution of the terminal 6 (step S19).

[0121] Then, the controller 70 applies a second drive control signal corresponding to the actual position data to the driver 51 (step S20). Accordingly, by driving the servo motor 53, the clamping terminal 50 is moved to the position corresponding to the actual position data in the up-down, front-back, and left-right directions (step S21). Thus, as in step S18, the clamping terminal 50 is connected to and clamped to the terminal 6.

[0122] In this state, power is applied to terminal 6 via clamping terminal 50 by controller 70, and the circuit of stator 1 is checked by inspection section 90 (step S22).

[0123] Next, test results such as the current value of each phase of stator 1 passing through terminal 6 and whether stator 1 has defects are stored in the inspection section 90. At the same time, the test results are sent to the main control unit 99 (step S23).

[0124] Therefore, according to the hairpin winding type stator inspection device 100 and method described so far according to the embodiment of the present invention, as a test terminal (connector) that applies power to the terminal 6 of the stator 1 during the testing process of the stator 1, the clamping terminal 50 is automatically connected to the terminal 6, and the electrical performance of the stator 1 can be tested.

[0125] Accordingly, in an embodiment of the invention, the position of the clamping terminal 50 is adjusted according to the position of the terminal 6. The clamping terminal 50 can be automatically connected to the terminal 6, so even if the position of the terminal 6 is offset after assembly, the reliability of the electrical inspection of the stator 1 can be improved.

[0126] Furthermore, in embodiments of the present invention, the inspection time for checking the circuitry of stator 1 can be significantly reduced. By reducing inspection time, inspection operability is improved, and the stability of the inspection operation can be ensured. Damage to terminals 6 can also be minimized.

[0127] While the invention has been described in conjunction with embodiments now considered practical, it should be understood that the invention is not limited to the disclosed embodiments. Rather, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A hairpin-type stator inspection device for testing the performance of a stator wound with hairpin-type stator coils, the hairpin-type stator inspection device comprising: A conveyor belt, which is mounted on a frame, is used to transport a stator comprising multiple stator terminals along a predetermined path; Multiple clamping terminals are mounted to be movable on a frame in the up-down, front-back and left-right directions via a driver, and the multiple clamping terminals are configured to clamp stator terminals. The controller applies drive control signals to the driver to change the position of the clamping terminals according to the position of the stator terminals; as well as The inspection section applies power to the stator terminals via the clamping terminals and inspects the stator circuitry. The driver includes three mutually orthogonal servo motors, which perform one-dimensional movement operations on each clamping terminal in multiple directions relative to the frame.

2. The hairpin-type stator inspection device according to claim 1, further comprising a vision sensor mounted in the frame, the vision sensor taking pictures of the stator terminals and outputting visual data to the controller.

3. The hairpin-type stator inspection device according to claim 1, wherein, The clamping terminals clamp the stator terminals on the coil lead portions of the four phases disposed in the stator.

4. The hairpin-type stator inspection device according to claim 1, further comprising a grounding terminal, the grounding terminal being mounted to be movable on the frame by a driver and grounded to the stator core of the stator.

5. The hairpin-type stator inspection device according to claim 2, wherein, The controller applies a first drive control signal to the driver to move the clamping terminal to a predetermined position corresponding to the stator terminal.

6. The hairpin-type stator inspection device according to claim 5, wherein: The controller calculates the position data of the stator terminals by analyzing visual data obtained from the vision sensor; The controller applies a second drive control signal to the driver based on the position data.

7. The hairpin-type stator inspection device according to claim 1, further comprising a barcode scanner mounted on the frame to identify barcodes attached to the stator.

8. The hairpin-type stator inspection device according to claim 1, further comprising a stator detection sensor mounted in a frame to detect a stator conveyed to a predetermined position by a conveyor belt and to output a detection signal to the controller.

9. The hairpin-type stator inspection device according to claim 1, further comprising an attachment member mounted on a conveyor belt to fix the stator.

10. The hairpin-type stator inspection device according to claim 9, further comprising a base member mounted on a conveyor belt to support the lower end of the stator; in, The attachment member is mounted on the base member, enabling the attachment member to reciprocate by operating the actuating cylinder.

11. A method for testing the performance of a stator wound with hairpin stator coils, the method comprising: The stator is positioned at a predetermined location using a conveyor belt; The controller applies a first drive control signal to the driver and moves the clamping terminal to a predetermined position corresponding to the stator terminal; The stator terminals are photographed and the visual data is output to the controller. The controller analyzes the visual data to calculate the position data of the clamping terminal, applies a second drive control signal corresponding to the position data to the driver, and moves the clamping terminal according to the position data. The driver includes three mutually orthogonal servo motors, which perform one-dimensional movement operations on each clamping terminal in multiple directions relative to the frame.

12. The method according to claim 11, wherein: The stator terminals are clamped by the clamping terminals; Power is applied to the stator terminals via the clamping terminals; The stator circuit is inspected by the inspection section.

13. The method according to claim 12, wherein, The inspection results stored in the inspection section are sent to the main control unit.

14. The method according to claim 11, wherein, When positioning the stator, a barcode scanner is used to scan the barcode attached to the stator and output the stator's product information to the controller.

15. The method according to claim 11, wherein: When positioning the stator, The stator is detected by a stator detection sensor conveyed by the conveyor belt, and the detection signal is output to the controller. The controller stops the conveyor belt based on the detection signal.

16. The method according to claim 11, wherein, When positioning the stator, the stator is fixed by an attachment member, which is mounted on a base member located on the conveyor belt.

Images