Lamination forming method for stator core of high power motor

Abstract

A high-power motor core punching forming method, with the lamination center of the high-power motor stator core as the Z axis, according to the distribution rule of the arc-shaped punching of the high-power motor stator core, around the Z axis of the high-power motor stator core, multiple automatic lamination and robot lamination devices are arranged on the periphery of the Z axis of the high-power motor stator core, through the coordinated operation of the multiple automatic lamination and robot lamination devices, orderly automatic lamination and lamination of the arc-shaped punching of the high-power motor stator core are performed, and the automation of the high-power motor stator core punching process is realized. The present invention automatically divides the lamination of the high-power motor stator core punching into regions by multiple automatic lamination and robot lamination devices, which will replace the traditional manual lamination production method, can improve productivity, reduce the use of labor, reduce production costs, and ensure the production qualification rate.

Description

Technical Field

[0001] The invention relates to a stator core lamination method, in particular to a high-power motor stator core punching and forming method; the high-power motor stator core lamination forming method can automatically perform lamination forming according to the requirements of the motor stator lamination; and belongs to the technical field of motor coil manufacturing. Background Art

[0002] After more than 200 years of development, the motor manufacturing industry has become an indispensable core and basic industry in modern production and life. It is an important part of the national economy and a labor-intensive industry. my country has unique advantages in developing the motor manufacturing industry. In recent years, as the country vigorously promotes new energy policies, many domestic motor manufacturers are increasing their investment in the development of wind power generation, etc., and the motor market and corresponding electromechanical equipment have been well developed.

[0003] The stator core lamination process is a key process in the entire motor manufacturing process, and its production efficiency directly determines the production efficiency of the motor. However, major manufacturers currently use the traditional manual lamination method, which is to manually stack the stamped silicon steel sheets on the stator core. This traditional lamination method has the following main disadvantages:

[0004] 1. Depending on the model of the motor, there are usually thousands to tens of thousands of silicon steel sheets on a motor stator. It takes several to a dozen workers to work for more than ten hours to stack a large motor stator, which is inefficient. All silicon steel sheets are manually transported. The total weight of silicon steel sheets on a motor stator is several tons to more than ten tons, and the workers have to work hard;

[0005] 2. Due to the large variety of motors, the models and sizes of motor stators are also different. Therefore, it is difficult for workers to control the assembly quality during the lamination process, and defects such as wrong laminations, multiple laminations, and missing laminations are prone to occur;

[0006] 3. Silicon steel sheets are prone to collision and various defects if they are not protected by any tooling during transportation;

[0007] 4. Since workers need to stack laminations while walking around the motor stator core during the lamination process, each worker needs to walk a long distance and walk a lot in a day. The high-intensity labor will also damage the workers' health to a certain extent.

[0008] Therefore, in response to the current labor-intensive and inefficient situation, all motor manufacturers hope to develop a fully automatic lamination machine that can replace workers in lamination, which has the characteristics of high degree of automation, high production efficiency, simple and convenient operation, and easy maintenance.

[0009] Through patent search, no relevant patent technology literature has been found. The closest one is a paper. The relevant literatures are as follows:

[0010] 1. The invention patent with the patent number CN201910858058.2 and the name of "A fully automatic stacking machine system" discloses a fully automatic stacking machine system, which belongs to the field of fully automatic stacking machine technology. A fully automatic stacking machine system includes an ion sheet feeding mechanism, an ion sheet pick-and-place system, a spacer pick-and-place system, a workpiece discharging system, a robot handling system, a storage line, an ion sheet assembly system, and a PLC control box. The number of PLC control boxes is four, and the number of ion sheet feeding mechanisms, ion sheet pick-and-place systems, spacer pick-and-place systems, storage lines, and ion sheet assembly systems are two sets and are electrically connected to two PLC control boxes respectively. The robot handling system includes two robotic arms and a grabbing tooling, and the grabbing tooling is connected to the robotic arms.

[0011] 2. The utility model patent with patent number CN201921600351.0 and name “An automatic stacking robot workstation” discloses an automatic stacking robot workstation, including a horizontal joint robot, an end picker gripper, a destacking centering platform, a positioning and conveying device and an electric control box. The horizontal joint robot is installed on the destacking centering platform, the end picker gripper is driven by the horizontal joint robot, the positioning and conveying device and the electric control box are installed on one side of the destacking centering platform, and the horizontal joint robot, the end picker gripper, the destacking centering platform and the positioning and conveying device are all connected to the electric control box.

[0012] 3. Patent number CN201410823069.4, invention patent named "An automatic stacking machine and automatic stacking method", which discloses an automatic stacking machine and automatic stacking method. The automatic stacking machine includes an electric control cabinet, a loading device, a stacking platform, a stacking output device, a stacking robot, a material throwing device, a positioning device and a manipulator system; the stacking output device is installed around the stacking robot; the stacking platform is set on the left side of the stacking robot; the material throwing device is installed on the left side of the stacking platform; the positioning device is installed on the left side of the material throwing device; the loading device is installed near the positioning device; the manipulator system is installed in the middle of the loading device and the positioning device. Automatic stacking is achieved through loading, two-axis manipulator for taking sheets, positioning by the positioning device, stacking robot for throwing materials and stacking, and stacking by the stacking output device.

[0013] Through the analysis of the above patent documents, we found that although they all involve stacking machines and stacking methods, and even propose some automatic stacking methods and devices, after careful analysis, we found that these technical solutions are not applicable when stacking large motors and electronics because the punching sheets are very large, especially when stacking around a ring with a large diameter. There is no improvement measure proposed for how to automatically stack large motors and electronics, so the problems mentioned above still exist, and it is still necessary to conduct further research on this. Summary of the invention

[0014] The purpose of the present invention is to address the shortcomings of the existing lamination forming of the stator core of a high-power motor, which lacks automatic lamination and still needs to be completed manually, and to propose a new lamination forming method and device for the stator core of a high-power motor. The lamination forming method and device for the stator core of a high-power motor can effectively improve the entire method of punching and forming the stator core of a high-power motor, and realize the automatic lamination forming of the stator core of a large motor.

[0015] In order to achieve this purpose, the present invention provides a method for forming a high-power motor stator core punching sheet, taking the stacking center of the high-power motor stator core as the Z axis, arranging a plurality of automatic segmentation and robot stacking devices around the Z axis of the high-power motor stator core and on the periphery of the Z axis of the high-power motor stator core according to the distribution rule of the arc-shaped punching sheets of the high-power motor stator core according to the distribution rule of the arc-shaped punching sheets of the high-power motor stator core, and through the coordinated operation of the plurality of automatic segmentation and robot stacking devices, orderly automatic segmentation and stacking of the arc-shaped punching sheets of the high-power motor stator core are performed, thereby realizing the automation of the high-power motor stator core punching process.

[0016] Furthermore, the arrangement of multiple automatic slicing and robotic lamination devices on the periphery of the Z-axis of the motor stator core is based on the size of the high-power motor stator core, to produce a high-power motor stator core lamination operation platform, and then around the periphery of the high-power motor stator core lamination operation platform, with the Z-axis of the high-power motor stator core as the center, 3-8 automatic slicing and robotic lamination devices are evenly arranged; each automatic slicing and robotic lamination device is responsible for the lamination operation of a fan-shaped area of ​​the high-power motor stator core, and the control system is used to control the coordinated operation of multiple automatic slicing and robotic lamination devices to complete the automation of the entire high-power motor stator core punching process.

[0017] Furthermore, each of the automatic lamination and robotic lamination devices is responsible for the lamination operation of a sector-shaped area of ​​the high-power motor stator core punching, and each automatic lamination and robotic lamination device automatically completes the lamination operation process in the process of high-power motor stator core punching through multiple automatic lamination and robotic lamination devices within the determined sector-shaped area of ​​the high-power stator core punching.

[0018] Furthermore, the process flow of automatically completing the lamination operation in the stator core punching process by multiple automatic lamination and robotic lamination devices is that the automatic lamination devices and robots of the automatic lamination and robotic lamination devices cooperate with the high-power motor stator core lamination operation platform to jointly complete all the automatic lamination and lamination processes in the high-power motor stator core punching process, including lamination loading, lamination, visual defect detection, robotic automatic lamination and slot sample rod shaping, the entire automated operation process of the high-power motor stator core punching process.

[0019] Furthermore, the orderly automatic slicing and lamination of arc-shaped punching sheets of the stator core of a high-power motor is firstly to neatly stack the punching sheets in the automatic slicing device of the automatic slicing and robot lamination device as required, and to send the punching sheets from the loading device in the automatic slicing device to the slicing tooling through the conveying device, and then to the slicing mechanism of the slicing tooling to slicing, and to ensure that the slicing sheets are single sheets, and then to inspect the punching sheets by the detection device in the slicing tooling, to remove unqualified punching sheets and to inspect; finally, to automatically stack and form the punching sheets in a determined area by the lamination robot of the slicing and robot lamination device according to the requirements and order of the motor stator lamination; to perform slot sample rod shaping during lamination, and to ensure that the lamination robot only stacks one sheet at a time, and multiple automatic slicing and robot lamination devices work together to realize the automation of the process of punching the stator core of a high-power motor.

[0020] Furthermore, the inspection of the punched sheets by the inspection device in the sheeting tooling is performed by providing a defect visual recognition system in the sheeting and robot stacking device, and the small defects of the incoming punched sheets are identified by the defect visual recognition system, and the defects of each incoming punched sheet are inspected, and unqualified punched sheets are picked out to prevent the defective punched sheets from being assembled into the motor and thus affecting the motor quality.

[0021] Furthermore, the stacking robot is equipped with an automatic teaching system, which is used to adjust the stacking position of the punched sheets of the stacking robot and automatically correct the position change caused by the size error of the punched sheets.

[0022] Furthermore, in order to ensure the straightness of the wire groove for shaping the groove sample rod during stacking, the groove sample rod adopts a follow-up structure, and the groove sample rod rises synchronously according to the stacking height; and a visual correction device is added to the robot. The robot automatically adjusts the stacking position and angle according to the placement position of the motor stator, and regularly corrects the position during the stacking process to ensure the stacking quality of the automatic stacking machine.

[0023] Furthermore, the lamination process of the automatic lamination forming includes: punching and feeding, lamination, visual defect detection, robot automatic lamination and groove sample rod shaping; the specific operation process steps are as follows:

[0024] 1) Sheet loading: transport the stacked sheets to the automatic sheet sorting and robot stacking device, and neatly stack the sheets into the loading device of the automatic sheet sorting device through a handling device or manually as required;

[0025] 2) Slicing: The neatly stacked sheets in the feeding device are moved to the slicing tooling in the automatic slicing device through the conveying device, and the slicing process is performed by the grabbing mechanism of the slicing tooling. The grabbing mechanism grabs the sheets from the feeding device and puts them into the stacking positioning device. The weight detection device in the stacking positioning device is used to detect the weight of the separated sheets to ensure that only one sheet is separated each time.

[0026] 3) Visual defect detection: After the grabbing mechanism of the slicing tool grabs the punched sheets from the feeding device and sorts them out, they are sent to the stacking positioning device at the front end of the slicing tool and inspected by the visual defect detection system on the slicing tool. The visual defect detection system identifies defects based on ultrasonic scanning. When defects are found during scanning, the defective punched sheets will be removed and the slicing tool will re-slice them.

[0027] 4) Robotic automatic lamination: The laminations that have passed the visual defect inspection will be automatically laminarized by the lamination robot according to the placement of the motor stator core;

[0028] 5) Groove sample rod shaping: When the punching sheets are stacked by the robot, the position will be corrected regularly during the stacking process through the groove sample rod to ensure the positioning accuracy of the stacking.

[0029] The present invention also relates to a lamination forming device for a high-power motor stator core, comprising a stator core lamination workbench for stacking stator core punchings, the stator core punchings being laminated and formed on the stator core lamination workbench; a plurality of automatic lamination and robot lamination devices are arranged on the periphery of the stator core lamination workbench; the plurality of automatic lamination and robot lamination devices are evenly arranged on the periphery of the stator core lamination workbench around the lamination center Z axis of the stator core lamination workbench according to the arc-shaped punching distribution rule of the stator core punchings, and the lamination forming of the motor stator core is completed on the stator core lamination workbench by the plurality of automatic lamination and robot lamination devices.

[0030] Furthermore, the multiple automatic lamination and robotic lamination devices are arranged on the periphery of the stator core lamination work platform, that is, 3-8 automatic lamination and robotic lamination devices are arranged on the periphery of the stator core lamination work platform for stator core punching, and the 3-8 automatic lamination and robotic lamination devices are evenly arranged in a ring around the periphery of the stator core lamination work platform, and each automatic lamination and robotic lamination device is responsible for the lamination operation of a fan-shaped area of ​​the motor stator core, and the 3-8 automatic lamination and robotic lamination devices are combined to form the entire stator core punching operation equipment.

[0031] Furthermore, the automatic lamination and robotic lamination device consists of two parts: an automatic lamination device and a robotic lamination device; the robotic lamination device is located between the automatic lamination device and the stator core lamination workbench, and the robotic lamination device transfers the stator core punchings separated by the automatic lamination device to the stator core lamination workbench for lamination.

[0032] Furthermore, the automatic sheet separation device includes a punching and feeding mechanism and an automatic sheet separation mechanism, which are installed on a gantry-type working platform, the working platform is installed on two columns of the gantry, the columns are provided with guide rails, the working platform is installed on the guide rails that can be moved up and down, and the working platform can move up and down along the guide rails under the drive of the driving device; the punching and feeding mechanism and the automatic sheet separation mechanism are installed on the working platform in a front-to-back order.

[0033] Furthermore, the punching sheet feeding mechanism includes a feeding plate, and the punching sheets to be stacked are stacked on the feeding plate; the feeding plate is installed on the horizontal guide rail of the working platform, and is moved along the horizontal guide rail into the automatic sheet separation device under the drive of the driving device, and after arriving in the automatic sheet separation device, the automatic sheet separation device performs sheet separation.

[0034] Furthermore, the automatic sheeting mechanism includes a suction cup plate that can move up and down and horizontally. The suction cup plate is installed on the sheeting moving track of the working platform through a connecting piece. After the suction cup moves up and down to suck up the punched sheet to be stacked, it moves horizontally to a punching positioning device located on the inner surface of the working platform, and the punched sheet is placed on the positioning plate of the punching positioning device to accurately position the punched sheet so that the stacking robot can stack the sheets.

[0035] Furthermore, a defect visual recognition system is installed on the suction cup plate, and small defects in the incoming punching sheets are identified by the defect visual recognition system. By detecting the defects of each incoming punching sheet, unqualified punching sheets are picked out to prevent defective punching sheets from being assembled into the motor and affecting the motor quality.

[0036] Furthermore, the robot stacking device is installed on the inner side of the working platform close to the stator core stacking work frame, and is located next to the automatic stacking mechanism; the robot stacking device is a six-axis working robot, and a punching suction cup is connected to the front end of the six axes. The punching suction cup grabs the stacked sheets in the automatic stacking mechanism and transports them to the stator core stacking work frame for stacking through the six-axis rotation.

[0037] Furthermore, the robot stacking device is equipped with an automatic teaching system and a visual correction device; the automatic teaching system is used to adjust the stacking position of the punching sheets of the stacking robot, and the position change caused by the size error of the punching sheets is automatically corrected; the visual correction device is used to guide the robot to automatically adjust the stacking position and angle according to the placement position of the motor stator, and the position can be corrected regularly during the stacking process.

[0038] Furthermore, the stator core lamination workbench is a circular stand arranged according to the size of the stator, and a plurality of lamination positioning and shaping devices are arranged on the circular stand according to the arc size of the punching sheet, and the positioning and shaping devices are used to perform positioning and shaping during the lamination of the punching sheet; the stator core lamination workbench is a circular stator lamination work platform formed by a combination of multiple arc-shaped sub-platforms, including a punching sheet lamination seat, a lamination radial adjustment device and a lamination shaping adjustment device, and the lamination diameter size of the punching sheet is adjusted by the lamination radial adjustment device; the position of the punching sheet during lamination is adjusted by the lamination shaping adjustment device to ensure the accuracy of the lamination; a plurality of slot sample rod shaping devices are arranged on the stator core lamination workbench, and a movable slot sample rod is arranged in the slot sample rod shaping device, and the movable slot sample rod rises synchronously according to the lamination height to ensure the straightness of the wire embedding slot.

[0039] Furthermore, the automatic sheet separation and robot stacking device is also provided with: an automatic sheet punching data collection device, a statistical device, an automatic stacking position alignment device, a sheet drop alarm device, a sheet sticking alarm device, an automatic material shortage alarm and a safety protection device. The stacking height is automatically controlled by the automatic sheet punching data collection device, the statistical device, the automatic stacking position alignment device, the sheet drop alarm device, the sheet sticking alarm device, the automatic material shortage alarm and the safety protection device, and the intelligent control of the stacking is realized.

[0040] The advantages of the present invention are:

[0041] The present invention changes the previous manual handling, stacking, and positioning of slot sample rods. When the sheet supplier receives materials, the sheets are neatly stacked in the tooling as required. Workers can use a labor-saving manipulator to carry the tooling together with the sheets to the equipment, and then the sheet separation device of the equipment separates the sheets to ensure that the robot only stacks one sheet at a time, avoiding the possibility of errors in manual stacking. The robot's stacking positioning accuracy can reach 0.01mm, which is much higher than the manual stacking quality. In order to ensure the straightness of the wire embedding groove, the slot sample rod rises synchronously according to the stacking height. A visual correction device is added to the robot. The robot can automatically adjust the stacking position and angle according to the placement of the motor stator, and can correct the position regularly during the stacking process. Through the guarantee of the above technology, the stacking quality of the automatic stacking machine is much higher than that of manual stacking, and the manual shaping process is saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the principle of the present invention;

[0043] Figure 2 A three-dimensional schematic diagram of the overall structure of an embodiment;

[0044] Figure 3 A schematic diagram of the structure of a slicing device according to an embodiment of the present invention;

[0045] Figure 4 for Figure 4 A schematic diagram of a top view structure;

[0046] Figure 5 for Figure 4 A schematic diagram of the side structure of

[0047] Figure 6 A schematic diagram of the structure of a stator stacking platform according to an embodiment;

[0048] Figure 7 for Figure 6 Schematic diagram of the top view structure. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Embodiment 1

[0050] A lamination forming device for a high-power motor stator core comprises a stator core lamination workbench 2 for stacking stator core punching sheets, and the stator core punching sheets are laminated and formed on the stator core lamination workbench 2; a plurality of automatic lamination and robot lamination devices 3 are arranged on the periphery of the stator core lamination workbench 2; the plurality of automatic lamination and robot lamination devices 3 are uniformly arranged on the periphery of the stator core lamination workbench 2 around a lamination center Z axis 1 of the stator core lamination workbench according to the arc-shaped sheet distribution rule of the stator core punching sheets, and the lamination forming of the motor stator core is completed on the stator core lamination workbench by the plurality of automatic lamination and robot lamination devices 3.

[0051] Furthermore, the stator core lamination work platform 2 is provided with a plurality of automatic lamination and robotic lamination devices 3, and 3-8 automatic lamination and robotic lamination devices 3 are arranged on the periphery of the stator core lamination work platform 2 for stator core punching. The 3-8 automatic lamination and robotic lamination devices 3 are evenly arranged in a ring around the stator core lamination work platform 2, and each automatic lamination and robotic lamination device 3 is responsible for the lamination operation of a sector-shaped area of ​​the motor stator core. The 3-8 automatic lamination and robotic lamination devices 3 are combined to form the entire stator core punching operation equipment.

[0052] Furthermore, the automatic lamination and robotic lamination device 3 consists of two parts: an automatic lamination device 4 and a robotic lamination device 5; the robotic lamination device 5 is located between the automatic lamination device 4 and the stator core lamination workbench 2, and the robotic lamination device 5 transfers the stator core punchings separated by the automatic lamination device 4 to the stator core lamination workbench 2 for lamination.

[0053] Furthermore, the automatic sheet separation device 4 includes a punching feeding mechanism 6 and an automatic sheet separation mechanism 7, which are installed on a gantry-type working platform 8, and the working platform 8 is installed on two columns 10 of the gantry 11, and the columns 10 are provided with guide rails 12. The working platform 8 is installed on the guide rails 12 that can be moved up and down. The working platform 8 can move up and down along the guide rails 12 under the drive of the driving device; the punching feeding mechanism 6 and the automatic sheet separation mechanism 7 are installed on the working platform 8 in a front-to-back order.

[0054] Furthermore, the punching sheet feeding mechanism 6 includes a feeding plate 13, and the punching sheets to be stacked are stacked on the feeding plate 13; the feeding plate 13 is installed on the horizontal guide rail 14 of the working platform 8, and is driven by the driving device to move along the horizontal guide rail 14 into the automatic sheet separation device 4, and after arriving in the automatic sheet separation device 4, the automatic sheet separation device 4 performs sheet separation.

[0055] Furthermore, the automatic sheet separation mechanism 7 includes a suction cup plate 15 that can move up and down and horizontally. The suction cup plate 15 is installed on the sheet separation moving track 17 of the working platform 8 through a connecting piece 16. After the suction cup plate 15 moves up and down to suck up the sheet to be stacked, it moves horizontally to the sheet positioning device 18 located on the inner surface of the working platform 8, and puts the sheet into the positioning plate 19 of the sheet positioning device 18 to accurately position the sheet so that the stacking robot can stack the sheets.

[0056] Furthermore, a defect visual recognition system 20 is installed on the suction cup plate 15, and small defects in the incoming punching sheets are identified by the defect visual recognition system 20. By detecting the defects of each incoming punching sheet, unqualified punching sheets are picked out to prevent defective punching sheets from being assembled into the motor and affecting the motor quality.

[0057] Furthermore, the robot stacking device 5 is installed on the working platform 8 near the inner side of the stator core stacking work frame 2, and is located next to the automatic stacking mechanism 7; the robot stacking device 5 is a six-axis working robot, and a punching suction cup 21 is connected to the front end of the six axes. The punching suction cup 21 grabs the stacked sheets in the automatic stacking mechanism 7 and transports them to the stator core stacking work frame for stacking through six-axis rotation.

[0058] Furthermore, the robot stacking device 5 is installed with an automatic teaching system and a visual correction device 22; the automatic teaching system is used to adjust the stacking position of the punching sheets of the stacking robot, and the position change caused by the size error of the punching sheets is automatically corrected; at the same time, the visual correction device is used to guide the robot to automatically adjust the stacking position and angle according to the placement position of the motor stator, and the position can be corrected regularly during the stacking process.

[0059] Furthermore, the stator core lamination workbench 2 is a circular ring-shaped workbench arranged according to the size of the stator core, and a plurality of lamination positioning and shaping devices 23 are arranged on the circular ring-shaped workbench according to the arc size of the punching sheet, and the lamination positioning and shaping devices 23 are used to position and shape the punching sheet during lamination; the stator core lamination workbench 2 is a circular ring-shaped stator lamination work platform formed by a combination of multiple arc-shaped sub-platforms, including a punching sheet lamination seat 24, a lamination radial adjustment device 25 and a lamination positioning and shaping device 23, and the lamination diameter size of the punching sheet is adjusted by the lamination radial adjustment device 25; the position of the punching sheet during lamination is adjusted by the lamination positioning and shaping device 23 to ensure the accuracy of lamination; a plurality of slot sample rod shaping devices 26 are arranged on the stator core lamination workbench 2, and a movable slot sample rod 27 is arranged in the slot sample rod shaping device 26, and the movable slot sample rod rises synchronously according to the lamination height to ensure the straightness of the wire embedding groove.

[0060] Furthermore, the automatic sheet separation and robot stacking device is also provided with: an automatic sheet punching data collection device, a statistical device, an automatic stacking position alignment device, a sheet drop alarm device, a sheet sticking alarm device, an automatic material shortage alarm and a safety protection device (these devices are not drawn in the attached drawings). The stacking height is automatically controlled by the automatic sheet punching data collection device, the statistical device, the automatic stacking position alignment device, the sheet drop alarm device, the sheet sticking alarm device, the automatic material shortage alarm and the safety protection device, and intelligent stacking control is realized.

[0061] It can be seen from the above-mentioned device that the present invention also relates to a method for forming high-power motor stator core punching sheets, taking the stacking center Z axis 1 of the motor stator core as the Z axis, according to the distribution rule of the arc-shaped punching sheets of the high-power motor stator core, around the Z axis of the motor stator core, outside the Z axis of the motor stator core, around the stator core stacking work stand 2 of the stator core, multiple automatic sheet separation and robot stacking devices 3 are arranged, through the coordinated operation of multiple automatic sheet separation and robot stacking devices 3, orderly automatic sheet separation and stacking of the arc-shaped punching sheets of the high-power motor stator core are carried out, thereby realizing the automation of the high-power motor stator core punching process.

[0062] The arrangement of multiple automatic lamination and robot lamination devices 3 around the stator core lamination work bench 2 of the stator core is based on the size of the stator core of the high-power motor. A stator core lamination work bench 2 of the stator core of the high-power motor is made, and then around the periphery of the stator core lamination work bench 2 of the stator core of the high-power motor, with the Z axis of the stator core of the high-power motor as the center, 3-8 automatic lamination and robot lamination devices 3 are evenly arranged; each automatic lamination and robot lamination device 3 is responsible for the lamination operation of a fan-shaped area of ​​the stator core of the high-power motor, and the control system controls the coordinated operation of multiple automatic lamination and robot lamination devices 3 to complete the automation of the entire high-power motor stator core punching process. Among them, the coordinated operation of the robot lamination device and the automatic lamination operation control are controlled by conventional PLC.

[0063] Each of the automatic lamination and robotic lamination devices 3 is responsible for the lamination operation of a sector-shaped area of ​​the high-power motor stator core. Each automatic lamination and robotic lamination device 3 is within the determined sector-shaped area of ​​the high-power motor stator core punching, and the lamination operation process in the stator core punching process is automatically completed by multiple automatic lamination and robotic lamination devices.

[0064] The process flow of automatically completing the lamination operation in the stator core punching process by multiple automatic lamination and robot lamination devices is that the automatic lamination device and robot lamination device 3 cooperate with the high-power motor stator core lamination operation platform to jointly complete all the automatic lamination and lamination processes in the stator core punching process, including lamination loading, lamination, visual defect detection, robot automatic lamination and slot sample rod shaping, and the entire stator core punching process is automated.

[0065] The orderly automatic lamination and lamination of arc-shaped punching sheets of the stator core of a high-power motor is firstly to neatly stack the punching sheets in the automatic lamination device of the automatic lamination and robot lamination device according to the requirements, and to send the punching sheets from the feeding device in the automatic lamination device to the lamination tooling through the conveying device, and then to the lamination mechanism of the lamination tooling to perform lamination, and ensure that the sliced ​​sheets are single sheets, and then to detect the punching sheets by the detection device in the lamination tooling, and to remove unqualified punching sheets and to detect; finally, the lamination robot of the lamination and robot lamination device automatically laminates and forms the punching sheets in a determined area according to the requirements and order of the motor stator lamination by the lamination robot; during lamination, the slot sample rod is shaped, and it is ensured that the lamination robot only stacks one sheet at a time, and multiple automatic lamination and robot lamination devices work in coordination to realize the automation of the stator core punching process.

[0066] Furthermore, the inspection of the punched sheets by the inspection device in the sheeting tooling is performed by providing a defect visual recognition system in the sheeting and robot stacking device, and the small defects of the incoming punched sheets are identified by the defect visual recognition system, and the defects of each incoming punched sheet are inspected, and unqualified punched sheets are picked out to prevent the defective punched sheets from being assembled into the motor and thus affecting the motor quality.

[0067] Furthermore, the stacking robot is equipped with an automatic teaching system, which is used to adjust the stacking position of the punched sheets of the stacking robot and automatically correct the position change caused by the size error of the punched sheets.

[0068] Furthermore, in order to ensure the straightness of the wire groove for shaping the groove sample rod during stacking, the groove sample rod adopts a follow-up structure, and the groove sample rod rises synchronously according to the stacking height; and a visual correction device is added to the robot. The robot automatically adjusts the stacking position and angle according to the placement position of the motor stator, and regularly corrects the position during the stacking process to ensure the stacking quality of the automatic stacking machine.

[0069] Furthermore, the lamination process of the automatic lamination forming includes: punching and feeding, lamination, visual defect detection, robot automatic lamination and groove sample rod shaping; the specific operation process steps are as follows:

[0070] 1) Sheet loading: transport the stacked sheets to the automatic sheet sorting and robot stacking device, and neatly stack the sheets into the loading device of the automatic sheet sorting device through a handling device or manually as required;

[0071] 2) Slicing: The neatly stacked sheets in the feeding device are moved to the slicing tooling in the automatic slicing device through the conveying device, and the slicing process is performed by the grabbing mechanism of the slicing tooling. The grabbing mechanism grabs the sheets from the feeding device and puts them into the stacking positioning device. The weight detection device in the stacking positioning device is used to detect the weight of the separated sheets to ensure that only one sheet is separated each time.

[0072] 3) Visual defect detection: After the grabbing mechanism of the slicing tool grabs the punched sheets from the feeding device and sorts them out, they are sent to the stacking positioning device at the front end of the slicing tool and inspected by the visual defect detection system on the slicing tool. The visual defect detection system identifies defects based on ultrasonic scanning. When defects are found during scanning, the defective punched sheets will be removed and the slicing tool will re-slice them.

[0073] 4) Robotic automatic lamination: The laminations that have passed the visual defect inspection will be automatically laminarized by the lamination robot according to the placement of the motor stator core;

[0074] 5) Groove sample rod shaping: When the punching sheets are stacked by the robot, the position will be corrected regularly during the stacking process through the groove sample rod to ensure the positioning accuracy of the stacking.

[0075] The above-listed embodiments are only used to clearly and completely describe the technical solutions of the present invention in combination with the accompanying drawings; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and the terms such as "upper", "lower", "front", "back", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the present invention without substantial change in the technical content. At the same time, the structure, proportion, size, etc. illustrated in the drawings of the specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effect and purpose that can be achieved by the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0076] The advantages of the present invention are:

[0077] The present invention changes the previous manual handling, lamination, placement of slot sample rods and other operations. When the sheet supplier receives the materials, the sheets are neatly stacked in the tooling as required. The workers can use a labor-saving manipulator to carry the tooling together with the sheets to the equipment, and then the sheet separation device of the equipment will separate the sheets to ensure that the robot only stacks one sheet at a time, avoiding the possibility of errors during manual lamination. The robot's lamination positioning accuracy can reach 0.01mm, which is much higher than the manual lamination quality. In order to ensure the straightness of the embedded wire groove, the slot sample rod rises synchronously according to the lamination height. A visual correction device is added to the robot. The robot can automatically adjust the lamination position and angle according to the placement position of the motor stator core, and can correct the position regularly during the lamination process. Through the above technical guarantee, the lamination quality of the automatic lamination machine is much higher than that of manual lamination, and the manual shaping process is saved. There are some specific advantages as follows:

[0078] 1) The present invention performs orderly automatic lamination and lamination of arc-shaped laminations of high-power motor stator cores through lamination feeding, lamination, visual defect detection, robot automatic lamination lamination and slot sample rod shaping, thereby realizing the automation of the lamination process of high-power motor stator cores.

[0079] 2) A defect vision recognition system is used to identify small defects in incoming punching sheets. The defect vision recognition system can efficiently and accurately identify defects larger than 1.6X1.6mm. By detecting the defects of each incoming sheet, unqualified punching sheets can be picked out to prevent defective punching sheets from being assembled into the motor and affecting the motor quality.

[0080] 3) Robot automatic teaching can greatly save teaching time. Due to the limitations of motor stator structure design and processing accuracy, the positioning accuracy of the motor stator core when it is hoisted to the lamination equipment cannot be very high, but the position accuracy of the lamination is very high. If it relies on manual teaching, the efficiency is low and the time is long, which cannot meet the requirements of automated production. For this reason, our company has specially developed a robot automatic teaching system. The system includes a camera (equivalent to eyes), a control system (equivalent to the brain), and a robot (equivalent to hands). The entire teaching process is automatically realized. By developing an automatic teaching system, the teaching time can be shortened to a few seconds, and multiple teachings can be performed during the lamination process to correct the lamination position.

[0081] 4) The lamination mechanism of the fully automatic lamination machine can avoid the phenomenon of two sheets sticking together, and solve the problem of different thicknesses on both sides of the incoming material and difficulty in lamination due to different burrs on the cutting edges of the punching sheets.

[0082] 5) The slot sample rod of the fully automatic lamination machine is designed to move along with the placement of the stator, which reduces the positioning accuracy requirements of the stator and improves production efficiency.

[0083] At the same time, with the promotion and application of automated production lines in the motor manufacturing industry, fully automatic lamination machines will gradually replace traditional manual lamination production methods, which can improve productivity, reduce the use of labor, reduce production costs, and protect the occupational health of employees. Specific economic benefits:

[0084] 1. The full-automatic stacking machine is put into use. One full-automatic stacking machine is equivalent to the stacking efficiency of 20 workers, which can increase the production capacity by more than double. The manpower input can be reduced from the original 10 workers to 2 workers, greatly improving labor productivity;

[0085] 2. The error prevention and error correction capabilities of the fully automatic lamination machine can improve the lamination quality, better ensure the assembly quality of large motors, and reduce the subsequent maintenance and repair costs of large motors;

[0086] 3. Reduce the labor intensity of workers and avoid the damage to their health caused by high-intensity labor.

Claims

1. A method for forming a high-power motor stator core punching sheet, taking the lamination center of the high-power motor stator core as the Z axis, arranging a plurality of automatic lamination and robot lamination devices around the Z axis of the high-power motor stator core and on the periphery of the Z axis of the high-power motor stator core according to the distribution rule of the arc-shaped lamination of the high-power motor stator core according to the distribution rule of the arc-shaped lamination of the high-power motor stator core, and performing orderly automatic lamination and lamination of the arc-shaped lamination of the high-power motor stator core through the coordinated operation of the plurality of automatic lamination and robot lamination devices, thereby realizing the automation operation of the high-power motor stator core punching process; characterized in that: According to the size of the high-power motor stator core, a high-power motor stator core lamination work bench is made; the stator core lamination work bench is a circular stator lamination work platform formed by the combination of multiple arc-shaped sub-platforms, including a punching lamination seat, a lamination radial adjustment device and a lamination shaping adjustment device, and the lamination diameter size of the punching lamination is adjusted by the lamination radial adjustment device; the position of the punching lamination during lamination is adjusted by the lamination shaping adjustment device to ensure the accuracy of lamination; a plurality of slot sample rod shaping devices are arranged on the stator core lamination work bench, and movable slot sample rods are arranged in the slot sample rod shaping device, and the movable slot sample rods rise synchronously according to the lamination height to ensure the straightness of the embedded wire slot; around the periphery of the high-power motor stator core lamination work bench, a high-power motor is used to form a large number of slot sample rods, and a large number of slot sample rods are used to form a large number of slot sample rods. The Z axis of the stator core of the high-power motor is taken as the center, and 3-8 automatic slicing and robot laminating devices are evenly arranged; each automatic slicing and robot laminating device is responsible for the laminating operation of a sector-shaped area of ​​the stator core of the high-power motor, and the control system controls the coordinated operation of multiple automatic slicing and robot laminating devices to complete the automation operation of the entire high-power motor stator core punching process; each automatic slicing and robot laminating device is responsible for the laminating operation of a sector-shaped area of ​​the stator core of the high-power motor, that is, each automatic slicing and robot laminating device is within the determined sector-shaped area of ​​the stator core of the high-power motor, and the laminating operation in the stator core punching process is automatically completed by multiple automatic slicing and robot laminating devices. Process; the automatic lamination and robot lamination device consists of two parts: an automatic lamination device and a robot lamination device; the robot lamination device is located between the automatic lamination device and the stator core lamination workbench, and the robot lamination device transfers the stator core punchings separated by the automatic lamination device to the stator core lamination workbench for lamination; the automatic lamination device includes a punching feeding mechanism and an automatic lamination mechanism, which are installed on a gantry-type working platform, the working platform is installed on two upright posts of the gantry, the upright posts are provided with guide rails, the working platform is installed on the guide rails that can be moved up and down, and the working platform can move up and down along the guide rails under the drive of the driving device; the punching feeding mechanism and the automatic lamination mechanism are in the working The platform is installed in a front-to-back order; the punching feeding mechanism includes a feeding plate, and the punching sheets to be stacked are stacked on the feeding plate; the feeding plate is installed on the horizontal guide rail of the working platform, and is driven by the driving device to move along the horizontal guide rail into the automatic sheet separation mechanism, and the automatic sheet separation mechanism performs sheet separation after arriving in the automatic sheet separation mechanism; the automatic sheet separation mechanism includes a suction cup plate that can move up and down and horizontally, and the suction cup plate is installed on the sheet separation moving track of the working platform through a connecting piece, and after the suction cup plate moves up and down to suck up the punching sheets to be stacked, it moves horizontally to the punching sheet positioning device located on the inner surface of the working platform, and the punching sheet is placed on the positioning plate of the punching sheet positioning device, and the punching sheet is accurately positioned so that the robot stacking device can stack the sheets;The automatic lamination mechanism and robot lamination device work together with the high-power motor stator core lamination operation platform to complete all the automatic lamination and lamination processes in the stator core lamination process, including lamination loading, lamination, visual defect detection, robot automatic lamination and slot sample bar shaping, and the entire stator core lamination process. ; 2. The method for forming a high-power motor stator core punching sheet according to claim 1, characterized in that: The specific process steps of punching and loading, slicing, visual defect detection, automatic lamination by robot and slot sample bar shaping are as follows: 1) Sheet loading: transport the stacked sheets to the side of the automatic sheet separation and robot stacking device, and neatly stack the sheets into the sheet loading mechanism of the automatic sheet separation device through a handling device or manually as required; 2) Sheet separation: The neatly stacked sheets in the sheet feeding mechanism are moved to the automatic sheet separation mechanism in the automatic sheet separation device through the conveying device, and the sheet separation process is carried out by the grabbing mechanism of the automatic sheet separation mechanism. The grabbing mechanism grabs the sheets from the sheet feeding mechanism and puts them into the sheet positioning device. The weight detection device in the sheet positioning device is used to detect the weight of the separated sheets to ensure that only one sheet is separated each time; 3) Visual defect detection: After the grabbing mechanism of the automatic sheet separation mechanism grabs and sorts the sheets from the sheet feeding mechanism, they are sent to the sheet positioning device at the front end of the automatic sheet separation mechanism and are detected by the defect visual recognition system on the automatic sheet separation mechanism. The defect visual recognition system recognizes defects based on ultrasonic scanning. When defects are found in the scanning, the defective sheets will be removed and the automatic sheet separation mechanism will re-slice them. 4) Robotic automatic lamination: The laminations that have passed the visual defect inspection will be automatically laminarized in different areas according to the program by the robot lamination device based on the placement of the motor stator; 5) Groove sample rod shaping: When the punching sheets are stacked in the robot stacking device, the position will be corrected regularly during the stacking process through the groove sample rod to ensure the positioning accuracy of the stacking.

3. The method for forming a high-power motor stator core punching sheet according to claim 1 or 2, characterized in that: The robot stacking device is equipped with an automatic teaching system, which is used to adjust the stacking position of the punching sheets of the stacking robot and automatically correct the position change caused by the size error of the punching sheets.

4. The method for forming a high-power motor stator core punching sheet according to claim 1 or 2, characterized in that: A visual correction device is added to the robot stacking device. The robot stacking device automatically adjusts the stacking position and angle according to the placement of the motor stator, and corrects the position regularly during the stacking process to ensure the stacking quality of the automatic stacking machine.

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