Multi-workpiece gripping device and elevator traction machine production line

Abstract

The application discloses a multi-workpiece clamping device and an elevator traction machine production line. The multi-workpiece clamping device comprises a carrying arm, a base arranged on the carrying arm, a first clamping mechanism, and a second clamping mechanism arranged on the base. The first clamping mechanism comprises a screw rod rotatably arranged on the base, a first sliding seat, a second sliding seat, a first arm embracing arranged on the first sliding seat, a second arm embracing arranged on the second sliding seat, and a first driver in transmission connection with the screw rod. The first arm embracing is provided with a first hook seat, and the second arm embracing is provided with a second hook seat. The second clamping mechanism comprises a first lifting arm arranged on the first sliding seat and a second lifting arm arranged on the second sliding seat. The first lifting arm is provided with a first abutting surface, and the second lifting arm is provided with a second abutting surface. The first abutting surface and the second abutting surface are opposite to each other. The first abutting surface is provided with a first lifting seat, and the second abutting surface is provided with a second lifting seat. The application realizes the carrying of various workpieces, reduces the labor intensity of workers, and improves the hoisting efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of elevators, specifically relating to a multi-workpiece clamping device and an elevator traction machine production line. Background Technology

[0002] The elevator traction machine, also known as the elevator main unit, is the power equipment of an elevator. Its function is to deliver and transmit power to make the elevator run. The casing, rotor, and windings are the main components of the elevator traction machine. During the production process of the elevator traction machine, the casing, rotor, and windings need to be transported.

[0003] Currently, the main method of conveying the casing, rotor, and windings is manual labor, with the assistance of cranes. However, due to the large structural differences between the casing, rotor, and windings, different auxiliary workpieces or methods are required for fixing during crane lifting, resulting in high labor intensity for workers and low lifting efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-workpiece clamping device and an elevator traction machine production line. This invention can reduce the labor intensity of workers during elevator traction machine production and improve hoisting efficiency.

[0005] The present invention provides a multi-workpiece clamping device, including a transport arm, a base disposed on the transport arm, a first clamping mechanism, and a second clamping mechanism disposed on the base;

[0006] The first clamping mechanism includes a lead screw rotatably mounted on the base, a first sliding seat, a second sliding seat, a first clamping arm disposed on the first sliding seat, a second clamping arm disposed on the second sliding seat, and a first driver connected to the lead screw; the first clamping arm is provided with a first hook seat, the second clamping arm is provided with a second hook seat, the lead screw has a first threaded section and a second threaded section with opposite thread directions, the first sliding seat is threadedly connected to the first threaded section, and the second sliding seat is threadedly connected to the second threaded section;

[0007] The second clamping mechanism includes a first lifting arm disposed on the first sliding seat and a second lifting arm disposed on the second sliding seat; the first lifting arm has a first abutting surface and the second lifting arm has a second abutting surface, the first abutting surface and the second abutting surface are opposite to each other, a first lifting seat is provided on the first abutting surface and a second lifting seat is provided on the second abutting surface.

[0008] In some embodiments, the first clamping mechanism further includes a first linear slide rail disposed on the base; the first sliding seat and the second sliding seat are both slidably disposed on the first linear slide rail.

[0009] In some embodiments, the first clamping mechanism further includes a second linear slide rail disposed on a base, a second driver mounted on the base, and a lifting block slidably disposed on the second linear slide rail and drivenly connected to the second driver; the axial direction of the lead screw is perpendicular to the extension direction of the second linear slide rail, a clamping area is formed between the first clamping arm and the second clamping arm, and the lifting block is located within the clamping area.

[0010] In some embodiments, the base is provided with a fixed seat, the second linear slide rail and the second driver are both mounted on the fixed seat, and the fixed seat is provided with a nitrogen spring.

[0011] In some embodiments, one end of the first arm is connected to the first sliding seat, the other end of the first arm extends along a first direction and is provided with the first hook seat, one end of the second arm is connected to the second sliding seat, the other end of the second arm extends along the first direction and is provided with the second hook seat, the first hook seat and the second hook seat are both located in the clamping area and are arranged opposite to each other, and the lifting block has an arc surface.

[0012] In some embodiments, there are multiple first hook seats and multiple second hook seats. The first arm and the second arm have an arc-shaped cross section perpendicular to the first direction and are located on a first circular trajectory. Multiple first hook seats are arranged at intervals along the first circular trajectory, and multiple second hook seats are arranged at intervals along the first circular trajectory. A first sensor is provided between adjacent first hook seats and / or between adjacent second hook seats. The first sensor is located on the first circular trajectory.

[0013] In some embodiments, the multi-workpiece clamping device further includes a third driver disposed on the first abutment surface, a first locking block drivenly connected to the third driver, a fourth driver disposed on the second abutment surface, and a second locking block drivenly connected to the fourth driver; the first lifting seat is located on the moving path of the first locking block, and the second lifting seat is located on the moving path of the second locking block.

[0014] In some embodiments, a positioning area is provided between the first lifting arm and the second lifting arm. The first lifting arm also has a first positioning surface, and the second lifting arm also has a second positioning surface. The first positioning surface and the second positioning surface are both located within the positioning area and are arranged opposite to each other. A first center adjustment mechanism is installed on the first positioning surface, and a second center adjustment mechanism is installed on the second positioning surface. The first center adjustment mechanism and the second center adjustment mechanism are arranged opposite to each other.

[0015] In some embodiments, the first center adjustment mechanism includes a first positioning seat mounted on the first positioning surface and a first rotating wheel rotatably mounted on the first positioning seat; there are multiple first rotating wheels.

[0016] The second center adjustment mechanism includes a second positioning seat mounted on the second positioning surface and a second rotating wheel rotatably mounted on the second positioning seat; there are multiple second rotating wheels.

[0017] Multiple first rotating wheels are arranged at intervals, and multiple second rotating wheels are arranged at intervals, with each first rotating wheel and each second rotating wheel located on a second circular track, the center of which is located within the positioning area.

[0018] The present invention also provides an elevator traction machine production line, including a conveyor, a conveying platform, a feeding mechanism, a third clamping mechanism, a pressing mechanism, and a multi-workpiece clamping device as described above; the conveying platform is disposed on the conveyor, and the multi-workpiece clamping device, the feeding mechanism, the third clamping mechanism, and the pressing mechanism are arranged along the extension path of the conveyor.

[0019] The technical solution provided by this invention has the following advantages and effects:

[0020] The multi-workpiece clamping device of the present invention can simultaneously clamp three types of workpieces: windings, housings, and rotors, reducing the labor intensity of workers during elevator traction machine production; the multi-workpiece clamping device can switch back and forth between clamping windings, housings, and rotors without manual assistance, thus improving hoisting efficiency. Attached Figure Description

[0021] Figure 1 This is a structural diagram of the base, the first clamping mechanism, and the second clamping mechanism;

[0022] Figure 2 yes Figure 1 A structural diagram from another perspective;

[0023] Figure 3 yes Figure 2 The main view;

[0024] Figure 4 yes Figure 2 Top view;

[0025] Figure 5 yes Figure 2 A magnified view of point A;

[0026] Figure 6 yes Figure 2 A magnified view of point B;

[0027] Figure 7 yes Figure 2A magnified view at point C;

[0028] Figure 8 yes Figure 2 A magnified view of point D;

[0029] Figure 9 This is a schematic diagram showing the installation of the third drive, the first locking block, and the first central adjustment mechanism;

[0030] Figure 10 This is a structural diagram of the fixed base, lifting block, and second actuator;

[0031] Figure 11 This is a schematic diagram of the structure of the first sliding seat;

[0032] Figure 12 This is a schematic diagram of the first arm;

[0033] Figure 13 This is a structural diagram of the conveyor, conveyor table, feeding mechanism, third clamping mechanism, and pressing mechanism. Only a section of the conveyor is shown in the diagram.

[0034] Figure 14 This is a schematic diagram of the feeding mechanism;

[0035] Figure 15 It is a half-sectional view of the main view of the feeding mechanism;

[0036] Figure 16 yes Figure 15 A magnified view at point E;

[0037] Figure 17 This is a structural diagram of the feeding plate;

[0038] Figure 18 This is a schematic diagram of the first lifting mechanism;

[0039] Figure 19 It is a half-sectional view of the main view of the first lifting mechanism;

[0040] Figure 20 yes Figure 19 A magnified view at point F;

[0041] Figure 21 This is a schematic diagram of the third clamping mechanism;

[0042] Figure 22 yes Figure 21 A magnified view at point G;

[0043] Figure 23 yes Figure 13 The main view;

[0044] Figure 24 yes Figure 23A magnified view at point H.

[0045] Explanation of reference numerals in the attached figures:

[0046] 10. First clamping mechanism; 11. Second clamping mechanism; 12. Conveyor; 13. Conveyor table; 14. Feeding mechanism; 15. Third clamping mechanism; 16. Pressing mechanism; 17. Base; 18. Third driver; 19. First locking block; 20. Fourth driver; 21. Second locking block; 22. First gripper; 23. Camera; 24. Fifth driver; 25. Protective plate; 26. Mounting platform; 27. Nitrogen spring; 28. Winding; 29. ​​Housing; 30. Sealing ring;

[0047] 1000, Lead screw; 1001, First linear guide rail; 1002, First sliding seat; 1003, Second sliding seat; 1004, First clamping arm; 1005, Second clamping arm; 1006, First actuator; 1007, Second linear guide rail; 1008, Second actuator; 1009, Lifting block; 1010, Clamping area; 1011, First hook seat; 1012, Second hook seat;

[0048] 10001, First threaded section; 10002, Second threaded section; 10021, Third slider; 10022, Fifth connecting plate;

[0049] 10041, First slot; 10042, Third abutment surface; 10043, Fourth abutment surface; 10044, Hook; 10045, First sensor; 10046, Notch; 10047, First reinforcing plate; 10048, Fifth abutment surface; 10049, Sixth abutment surface; 10111, Locking strip; 10112, Support strip; 10113, Bayonet opening;

[0050] 1101. First lifting arm; 1102. Second lifting arm; 1103. First lifting seat; 1104. Second lifting seat; 1105. Damage protection pad; 1106. Positioning area; 1107. First center adjustment mechanism; 1108. Second center adjustment mechanism; 1109. Second reinforcement plate;

[0051] 11011, First abutting surface; 11012, First positioning surface; 11021, Second abutting surface; 11022, Second positioning surface; 11031, Clamping surface; 11032, Suspension surface; 11033, Hanging groove; 11071, First positioning seat; 11072, First rotating wheel; 11081, Second positioning seat; 11082, Second rotating wheel; 110711, Straight plate; 110712, Arc plate; 110713, Wheel groove; 110714, Wheel axle;

[0052] 1201, First wheel-rail; 1202, Second wheel-rail; 1203, First conveyor wheel; 1204, Second conveyor wheel; 1205, First lifting mechanism; 1206, Stopping mechanism; 1207, Second sensor; 1208, Trigger;

[0053] 12050, Positioning plate; 12051, Slide rod; 12052, Moving plate; 12053, Lifting seat; 12054, Eleventh actuator; 12055, Limiting connecting plate; 12056, Fifth linear slide rail; 12057, Twelfth actuator; 12058, Fifth slider; 12059, Anti-fall seat; 120521, Pad; 120522, First engaging slot; 120523, First engaging part; 120524, Second engaging slot; 120525, Pin; 120531, Second engaging part; 120581, Clearance slot;

[0054] 1301, Lifting Hole;

[0055] 1400, Support frame; 1401, Storage plate; 1402, Seventh driver; 1403, Feeding plate; 1404, Baffle plate; 1405, Drop hole; 1406, Drop area; 1407, Feeding area; 1408, Third linear slide rail; 1409, First limit rod;

[0056] 14001, Sixth connecting plate; 14002, Second support column; 14003, Seventh connecting plate; 14004, Third support column; 14005, Third sensor; 14031, First limiting plate; 14032, Second limiting plate; 14033, Positioning stage; 14034, Groove; 14081, First slider; 14091, Material storage area;

[0057] 1501, Support beam; 1502, Locking ring; 1503, Eighth actuator; 1504, Ninth actuator; 1505, Connecting frame; 1506, Second gripper; 1507, Fourth linear guide rail; 1508, Second slider; 1509, Fourth sensor;

[0058] 15051, Longitudinal plate; 15052, Transverse plate; 15053, Third reinforcing plate; 15061, Third clamping finger; 15062, Fourth clamping finger; 15063, Arc-shaped clamping groove;

[0059] 1601, Tenth actuator; 1602, Compactor seat; 1603, Positioning sleeve; 1604, Pressing block; 1605, Elastic element; 1606, Sliding shaft; 1607, Limiting frame;

[0060] 16031, First socket; 10632, First socket shoulder; 16041, Second socket; 16042, Second socket shoulder; 16043, Snap ring;

[0061] 1701, First connecting plate; 1702, Second connecting plate; 1703, Third connecting plate; 1704, Fourth connecting plate; 1705, Mounting groove; 1706, Fixing seat; 1707, Flange;

[0062] 17061, First fixing plate; 17062, Second fixing plate; 17063, Third fixing plate; 17064, Fourth fixing plate; 17065, Drive hole; 17066, Drive plate;

[0063] 2201, First clamping finger; 2202, Second clamping finger; 2203, Pin groove; 2204, Clamping hole;

[0064] 2601. Bottom frame; 2602. First support column; 2603. Upper plate; 2604. Lower plate;

[0065] 2801, Protrusion;

[0066] 2901, Shaft body; 29011, First shaft segment; 29012, Second shaft segment; 29013, Third shaft segment; 29014, Fourth shaft segment;

[0067] 3001, Annular groove. Detailed Implementation

[0068] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0069] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0070] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "communication," "abutment," "clamping," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0071] Unless otherwise specified or defined, it should be understood in the description of the invention that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms, which are only used to distinguish information of the same type from one another. For example, without departing from the scope of the invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0072] Unless otherwise stated or defined, the term "and / or" as used in this invention includes any and all combinations of one or more of the associated listed items.

[0073] Example 1

[0074] For ease of description, unless otherwise stated, the terms "up" and "down" in the following text refer to the same direction as "top" and "bottom". Figure 11 Its vertical direction is consistent.

[0075] like Figures 1 to 10 As shown, a multi-workpiece gripping device includes a transport arm, a first gripping mechanism 10 mounted on the transport arm, and a second gripping mechanism 11 mounted on the transport arm. The transport arm is a conventional six-degree-of-freedom robot, which drives the first gripping mechanism 10 and the second gripping mechanism 11 to have a large range of motion and flexible movement. The transport arm is not shown in the figure. The first gripping mechanism 10 is used to grip the rotor and winding 28, and the second gripping mechanism 11 is used to grip the housing 29.

[0076] The transport arm is provided with a base 17. The base 17 is located at the execution end of the transport arm. The first clamping mechanism 10 and the second clamping mechanism 11 are both mounted on the base 17. The transport arm can drive the first clamping mechanism 10 and the second clamping mechanism 11 to move through the base 17.

[0077] The first clamping mechanism 10 includes a lead screw 1000 rotatably mounted on the base 17, a first linear slide rail 1001 disposed on the base 17, a first sliding seat 1002 slidably disposed on the first linear slide rail 1001, a second sliding seat 1003 slidably disposed on the first linear slide rail 1001, a first clamping arm 1004 disposed on the first sliding seat 1002, a second clamping arm 1005 disposed on the first sliding seat 1002, and a first driver 1006 drivenly connected to the lead screw 1000. The first sliding seat 1002 and the second sliding seat 1003 both slide on the first linear slide rail 1001, thereby driving the first clamping arm 1004 and the second clamping arm 1005 to move, respectively. The first driver 1006 is a motor, and the first driver 1006 is drivenly connected to the lead screw 1000, thereby driving the lead screw 1000 to rotate.

[0078] The lead screw 1000 has a first threaded section 10001 and a second threaded section 10002. The lead screw 1000 is divided into two sections, one of which has the first threaded section 10001 and the other has the second threaded section 10002. The helical direction of the thread in the first threaded section 10001 is opposite to the helical direction of the thread in the second threaded section 10002. The first sliding seat 1002 is threadedly connected to the first threaded section 10001 through a threaded hole, and the second sliding seat 1003 is threadedly connected to the second threaded section 10002 through a threaded hole. When the lead screw 1000 rotates in one direction, the first sliding seat 1002 and the second sliding seat 1003 respectively drive the first clamping arm 1004 and the second clamping arm 1005 to move away from each other. When the lead screw 1000 rotates in the other direction, the first sliding seat 1002 and the second sliding seat 1003 respectively drive the first clamping arm 1004 and the second clamping arm 1005 to move closer to each other, so that the first clamping arm 1004 and the second clamping arm 1005 jointly clamp the rotor or winding 28.

[0079] The second gripping mechanism 11 includes a first lifting arm 1101 mounted on the first sliding seat 1002 and a second lifting arm 1102 mounted on the second sliding seat 1003. The first lifting arm 1101 and the second lifting arm 1102 can move closer to or further away from each other as the lead screw 1000 rotates. The first lifting arm 1101 and the second lifting arm 1102 extend into the housing 29, and then move away from each other, abutting against both sides inside the housing 29, thereby supporting and transporting the housing. This application uses a single lead screw 1000 to simultaneously move the first clamping arm 1004 and the second clamping arm 1005, or the first lifting arm 1101 and the second lifting arm 1102, thereby achieving the gripping of three materials: the rotor, the winding 28, and the housing 29. The first lifting arm 1101 has a first abutting surface 11011, and the second lifting arm 1102 has a second abutting surface 11021. The first abutting surface 11011 and the second abutting surface 11021 are opposite to each other, with the first abutting surface 11011 facing away from the second lifting arm 1102 and the second abutting surface 11021 facing away from the first lifting arm 1101. A first lifting seat 1103 is provided on the first abutting surface 11011, and a second lifting seat 1104 is provided on the second abutting surface 11021. The first lifting base 1103 and the second lifting base 1104 are both square blocks. The first lifting base 1103 and the second lifting base 1104 match the square holes on both sides inside the housing 29. The first lifting arm 1101 and the second lifting arm 1102 are far apart from each other so that the first lifting base 1103 and the second lifting base 1104 are respectively inserted into the square holes on both sides, so that the first lifting arm 1101 and the second lifting arm 1102 support the housing 29 outward. Then, the first lifting arm 1101 and the second lifting arm 1102 are driven by the transport arm to move the housing 29.

[0080] Key reference Figure 2 and Figure 6 In one embodiment, the base 17 includes a first connecting plate 1701, a second connecting plate 1702, a third connecting plate 1703, and a fourth connecting plate 1704. The first connecting plate 1701 and the third connecting plate 1703 are parallel and spaced apart from each other. The two ends of the second connecting plate 1702 and the fourth connecting plate 1704 are respectively connected to the first connecting plate 1701 and the third connecting plate 1703. The first connecting plate 1701, the second connecting plate 1702, the third connecting plate 1703, and the fourth connecting plate 1704 are sequentially connected to form a square mounting groove 1705, and the lead screw 1000 is installed in the mounting groove 1705.

[0081] Preferably, there are four first linear slide rails 1001, arranged in pairs opposite each other. Two of the first linear slide rails 1001 are spaced apart on the first connecting plate 1701 and located on the inner wall of the mounting groove 1705, while the other two are spaced apart on the third connecting plate 1703 and located on the inner wall of the mounting groove 1705. This makes the sliding of the first sliding seat 1002 and the second sliding seat 1003 smoother. The first sliding seat 1002 and the second sliding seat 1003 are located within the mounting groove 1705.

[0082] Key reference Figure 6 and Figure 11 The first sliding seat 1002 and the second sliding seat 1003 have the same structure. Both the first sliding seat 1002 and the second sliding seat 1003 include a third slider 10021 and a fifth connecting plate 10022; there are two third sliders 10021 and two fifth connecting plates 10022, with each end of the two fifth connecting plates 10022 connected to one of the two third sliders 10021, improving the structural stability of the first sliding seat 1002 and the second sliding seat 1003. The cross-section of the third slider 10021 along the extension direction of the first linear slide rail 1001 is π-shaped, facilitating installation on the first linear slide rail 1001 and connection with the fifth connecting plate 10022. One third slider 10021 slides on two first linear slide rails 1001 mounted on the first connecting plate 1701, and the other third slider 10021 slides on two first linear slide rails 1001 mounted on the third connecting plate 1703.

[0083] Key reference Figures 1 to 3In one embodiment, the first clamping mechanism 10 further includes a second linear slide rail 1007 disposed on a base 17, a second driver 1008 mounted on the base 17, and a lifting block 1009 slidably disposed on the second linear slide rail 1007 and drivenly connected to the second driver 1008. Both the workpiece winding 28 and the rotor are annular in shape, with the rotor placed flat on the storage rack and its axis vertically positioned. After the first process is completed, the winding 28 is generally placed vertically, i.e., its axis is horizontal. To reduce the number of flips, the winding 28 is placed directly vertically on the storage rack to avoid damaging the frame on the winding 28 due to excessive flipping. The second driver 1008 is a cylinder or hydraulic cylinder, and it can drive the lifting block 1009 to move linearly. The extension direction of the first linear slide rail 1001 is perpendicular to the extension direction of the second linear slide rail 1007. Both the extension directions of the first linear slide rail 1001 and the second linear slide rail 1007 are radially aligned with the winding 28. The first clamping arm 1004 and the second clamping arm 1005 clamp the winding 28 radially. A clamping area 1010 is formed between the first clamping arm 1004 and the second clamping arm 1005. The second driver 1008, the second linear slide rail 1007, and the lifting block 1009 are all located within the clamping area 1010. When the first clamping arm 1004 and the second clamping arm 1005 grip the rotor, they approach each other to directly grip the rotor. When the first clamping arm 1004 and the second clamping arm 1005 grip the winding 28, they move to the winding 28. The first clamping arms 1004 and the second clamping arm 1005 are horizontally spaced, so that the winding 28 is within the clamping area 1010 and the lifting block 1009 is located in the center hole of the winding 28. At this time, the second linear slide rail 1007 is vertically positioned. Then, the second driver 1008 drives the lifting block 1009 to lift the winding 28 upwards (along the radial direction of the winding 28), causing the winding 28 to rise away from the storage rack. Then, the first clamping arms 1004 and the second clamping arm 1005 move closer together to clamp the winding 28. Finally, the transport arm moves the first clamping arms 1004 and the second clamping arm 1005 to transport the winding 28. The lifting block 1009 prevents the winding 28 from falling along its own radial direction. During the handling process, the winding 28 needs to be flipped and placed flat inside the housing 29. After the winding 28 is lifted, the first clamping arm 1004 and the second clamping arm 1005 clamp the outer circumference of the winding 28. At this time, the axis of the winding 28 is horizontal. The winding 28 is prone to falling due to its own weight. At this time, the lifting block 1009 can provide some support. The winding 28 is lifted to a certain height, making it easier for the winding 28 to be placed flat inside the housing 29.When the first clamping arm 1004 and the second clamping arm 1005 jointly hold the winding 28, the end face of the winding 28 abuts against the ends of the first clamping arm 1004 and the second clamping arm 1005. This prevents the winding 28 from falling along its own axis during the rotation process driven by the transport arm. Therefore, the lifting block 1009, in conjunction with the first clamping arm 1004 and the second clamping arm 1005, ensures that the winding 28 will not fall during the transport and rotation process.

[0084] In one embodiment, one end of the first clamping arm 1004 is connected to the first sliding seat 1002, and the other end of the first clamping arm 1004 extends along a first direction and is provided with a first hook seat 1011, which is located at the end of the first clamping arm 1004. One end of the second clamping arm 1005 is connected to the second sliding seat 1003, and the other end of the first clamping arm 1004 extends along the first direction and is provided with a second hook seat 1012, which is located at the end of the second clamping arm 1005. The first hook seat 1011 and the second hook seat 1012 are used to support the winding 28, and can prevent the winding 28 from falling along its own axis direction during the rotation of the winding 28 by the transport arm. The first hook seat 1011 and the second hook seat 1012 are both located within the clamping area 1010 and are arranged opposite to each other, and the lifting block 1009 has an arc surface. The center of the arc surface coincides with the center of the winding 28, while the arc surface faces away from the center of the winding 28 and towards the inner wall of the central through hole of the winding 28. When the lifting block 1009 lifts the winding 28, the arc surface abuts against the inner wall of the central through hole of the winding 28 and fits tightly, so that the winding 28 will not shake when it rises and the arc surface will not scratch the inner wall of the central through hole of the winding 28.

[0085] refer to Figures 1 to 3 , Figure 24 The outer surface of the winding 28's frame is provided with multiple protrusions 2801, which are arranged closely along the axial direction of the outer surface of the winding 28. When the winding 28 is placed vertically, the first hook seat 1011 and the second hook seat 1012 abut against the left and right sides of the protrusions 2801, and the left and right sides of the protrusions 2801 face the same direction as the end face of the winding 28. Then, the lifting block 1009 lifts the winding 28 upward, giving the winding 28 room to rotate. The transport arm drives the first clamping arm 1004 and the second clamping arm 1005 to rotate, so that the winding 28 is placed horizontally. The protrusions 2801 abut against the first hook seat 1011 and the second hook seat 1012, which provide upward support for the winding 28. Finally, the transport arm places the winding 28 into the housing 29 on the conveyor 12.

[0086] In one embodiment, a fixed seat 1706 is mounted on the base 17, and the second linear slide rail 1007, the second driver 1008, and the lifting block 1009 are all mounted on the fixed seat 1706. A nitrogen spring 27 is provided on the fixed seat 1706. After the lifting block 1009 raises the winding 28 so that the first clamping arm 1004, the second clamping arm 1005, and the center of the winding 28 are aligned on the same horizontal line, the nitrogen spring 27 is used for buffering and limiting the winding 28.

[0087] Key reference Figure 10 In one embodiment, the fixing base 1706 includes a first fixing plate 17061, a second fixing plate 17062, a third fixing plate 17063, and a fourth fixing plate 17064. The first fixing plate 17061 is n-shaped, and its two ends are connected to the base 17. The second fixing plate 17062 and the third fixing plate 17063 are spaced apart on the first fixing plate 17061. The two ends of the fourth fixing plate 17064 are respectively mounted on the second fixing plate 17062 and the third fixing plate 17063. The second driver 1008 is mounted on the second fixing plate 17062.

[0088] There are two second linear slide rails 1007, which are spaced apart on the fourth fixed plate 17064. The fourth fixed plate 17064 has a drive hole 17065 located between the two second linear slide rails 1007. The output end of the second driver 1008 has a drive plate 17066, which passes through the drive hole 17065 and connects to the lifting block 1009, making the thrust on the lifting block 1009 more uniform and stable. The lifting block 1009 is mounted on the two second linear slide rails 1007 respectively via two fourth sliders.

[0089] Key reference Figure 5 and Figure 12 In one embodiment, the first arm 1004 is provided with a first slot 10041, and the second arm 1005 is provided with a second slot. A portion of the first hook seat 1011 is fitted into the first slot 10041, and the remaining portion of the first hook seat 1011 is located within the clamping area 1010. A portion of the second hook seat 1012 is fitted into the second slot, and the remaining portion of the second hook seat 1012 is located within the clamping area 1010. The first slot 10041 and the second slot extend through the first arm 1004 and the second arm 1005 respectively along the circumference of the winding 28.

[0090] In one embodiment, both the first hook seat 1011 and the second hook seat 1012 are L-shaped, and both include a retaining strip 10111 and a support strip 10112. The support strip 10112 is used to support the winding 28. The retaining strip 10111 and the support strip 10112 are integrally formed and perpendicular to each other. The housing 29 abuts against the inner side of the connection between the retaining strip 10111 and the support strip 10112. A retaining slot 10113 is provided on the outer side of the connection between the retaining strip 10111 and the support strip 10112. Both the first arm 1004 and the second arm 1005 have a third abutting surface 10042 and a fourth abutting surface 10043. The third abutment surface 10042 of the first arm 1004 and the third abutment surface 10042 of the second arm 1005 are arranged opposite to each other, and the fourth abutment surface 10043 of the first arm 1004 and the fourth abutment surface 10043 of the second arm 1005 are arranged opposite to each other. The distance between the third abutment surface 10042 of the first arm 1004 and the third abutment surface 10042 of the second arm 1005 is greater than the distance between the fourth abutment surface 10043 of the first arm 1004 and the fourth abutment surface 10043 of the second arm 1005. That is, the planes containing the two side edges of the first slot 10041 and the second slot are parallel but not in the same plane. The retaining strip 10111 is engaged in the first retaining groove 10041, with its bottom surface abutting against the bottom wall of the first retaining groove 10041. The top surface of the retaining strip 10111 is flush with the third abutting surface 10042, allowing the top surface of the retaining strip 10111 and the third abutting surface 10042 to abut against the winding 28 or the rotor. The end of the first retaining arm 1004 or the second retaining arm 1005 forms a hook 10044 with the fourth abutting surface 10043. The hook 10044 engages within the retaining opening 10113. The end of the first retaining arm 1004 or the second retaining arm 1005 is flush with the end of the support bar 10112, preventing the first hook seat 1011 and the second hook seat 1012 from loosening due to impact. The support bar 10112 has an arc-shaped surface that abuts against the outer circumferential side of the winding 28 or the rotor.

[0091] In one embodiment, there are multiple first hook seats 1011 and multiple second hook seats 1012. The first clamping arm 1004 and the second clamping arm 1005 are located on a first circular trajectory with an arc-shaped cross-section perpendicular to the first direction. The first circular trajectory is a circular trajectory concentric with the winding 28. Both the first clamping arm 1004 and the second clamping arm 1005 are plates with a certain curvature, thereby adapting to and abutting against the outer circumferential side of the winding 28. During the clamping and transporting of the winding 28, the first clamping arm 1004 and the second clamping arm 1005 can prevent the winding 28 from moving radially. Multiple first hook seats 1011 are spaced apart along the first circular trajectory, and multiple second hook seats 1012 are spaced apart along the first circular trajectory. When the first clamping arm 1004 and the second clamping arm 1005 clamp the winding 28, the multiple first hook seats 1011 and the multiple second hook seats 1012 are circumferentially spaced along the outer circumferential side of the winding 28. A first sensor 10045 is provided between adjacent first hook seats 1011 and / or adjacent second hook seats 1012, and the first sensor 10045 is located on the first circular track. The first sensor 10045 is a position sensor. When the first clamping arm 1004 and the second clamping arm 1005 abut against the outer circumferential side of the winding 28, the first sensor 10045 detects that the first clamping arm 1004 and the second clamping arm 1005 are clamping the winding 28, and the transport arm begins to transport it. The first clamping arm 1004 and the second clamping arm 1005 can directly clamp the rotor, and then the rotor is placed on the conveyor 12 by the transport arm.

[0092] In one embodiment, the first arm 1004 and the second arm 1005 are provided with notches 10046, and there are two notches 10046 on each arm 1004 and the second arm 1005. A first sensor 10045 is installed at each of the two notches 10046 on the first arm 1004. The distance between the two first sensors 10045 on the first arm 1004 is equal to the width along the axial direction of the winding 28, and the two first sensors 10045 on the first arm 1004 are spaced apart along a first direction. Similarly, a first sensor 10045 is installed at each of the two notches 10046 on the second arm 1005. The distance between the two first sensors 10045 on the second arm 1005 is equal to the width along the axial direction of the winding 28, and the two first sensors 10045 on the second arm 1005 are spaced apart along the first direction. When the first clamping arm 1004 and the second clamping arm 1005 clamp the winding 28, two first sensors 10045 on the first clamping arm 1004 and two first sensors 10045 on the second clamping arm 1005 are arranged along the axis of the winding 28. These sensors can detect whether both ends of the winding 28 are in position, specifically whether one end of the winding 28 is abutting against the first hook seat 1011 and the second hook seat 1012. Detecting whether both ends of the winding 28 are in position prevents the winding 28 from tilting during clamping, thus preventing the axis of the winding 28 from being non-parallel to the first direction.

[0093] In one embodiment, both the first clamping arm 1004 and the second clamping arm 1005 are L-shaped. Both the first clamping arm 1004 and the second clamping arm 1005 are provided with a first reinforcing plate 10047. The first clamping arm 1004 and the second clamping arm 1005 also have a fifth abutting surface 10048, which is connected to and perpendicular to the third abutting surface 10042. The first reinforcing plate 10047 has a sixth abutting surface 10049 that is connected to and parallel to the fifth abutting surface 10048. The fifth abutting surface 10048 and the sixth abutting surface 10049 together form a first limiting surface. When the first clamping arm 1004 and the second clamping arm 1005 clamp the winding 28 or the rotor and other workpieces, the support bar 10112 of the first hook seat 1011 or the second hook seat 1012 and the first limiting surface together clamp the two ends of the workpiece to achieve axial positioning of the workpiece.

[0094] In one embodiment, the multi-workpiece clamping device further includes a third actuator 18 disposed on the first abutment surface 11011, a first locking block 19 pulverizedly connected to the third actuator 18, a fourth actuator 20 disposed on the second abutment surface 11021, and a second locking block 21 pulverizedly connected to the fourth actuator 20. The third actuator 18 and the fourth actuator 20 are both pneumatic cylinders, hydraulic cylinders, or electric telescopic devices. The first lifting seat 1103 is located on the moving path of the first locking block 19, and the second lifting seat 1104 is located on the moving path of the second locking block 21. After the first lifting seat 1103 and the second lifting seat 1104 are respectively engaged in the square holes on both sides of the housing 29, the first locking block 19 and the second locking block 21 can abut against the end face of the housing 29 under the drive of the third actuator 18 and the fourth actuator 20, improving the stability of the housing 29 during transport.

[0095] In one embodiment, both the first lifting base 1103 and the second lifting base 1104 have a clamping surface 11031 and a mounting surface; both the clamping surface 11031 and the mounting surface are adjacent sides of a square block. The clamping surface 11031 is located on the moving path of the first locking block 19 or the second locking block 21. Anti-damage pads 1105 are provided on the first locking block 19, the second locking block 21, and the mounting surface. The anti-damage pads 1105 can prevent damage to the housing 29 when clamping it. The bottom surfaces of the first lifting base 1103 and the second lifting base 1104 are respectively mounted on the first lifting arm 1101 and the second lifting arm 1102.

[0096] In one embodiment, a positioning area 1106 is provided between the first lifting arm 1101 and the second lifting arm 1102. The first lifting arm 1101 further has a first positioning surface 11012, and the second lifting arm 1102 further has a second positioning surface 11022. Both the first positioning surface 11012 and the second positioning surface 11022 are located within the positioning area 1106 and are arranged opposite to each other. A first center adjustment mechanism 1107 is mounted on the first positioning surface 11012, and a second center adjustment mechanism 1108 is mounted on the second positioning surface 11022. The first center adjustment mechanism 1107 and the second center adjustment mechanism 1108 are arranged opposite to each other. When the first lifting arm 1101 and the second lifting arm 1102 are far apart, they can support the transport housing 29. After the first clamping mechanism 10 places the winding 28 inside the housing 29, the first lifting arm 1101 and the second lifting arm 1102 move closer to each other. Through the cooperation of the first center adjustment mechanism 1107 and the second center adjustment mechanism 1108, the centers of the housing 29 and the winding 28 are aligned.

[0097] Key reference Figure 7In one embodiment, the first center adjustment mechanism 1107 and the second center adjustment mechanism 1108 have the same structural composition and are arranged in a mirror-symmetrical manner. The first center adjustment mechanism 1107 includes a first positioning seat 11071 mounted on the first positioning surface 11012 and a first rotating wheel 11072 rotatably mounted on the first positioning seat 11071; there are multiple first rotating wheels 11072; the first rotating wheels 11072 are preferably bearings to reduce friction.

[0098] The second center adjustment mechanism 1108 includes a second positioning seat 11081 mounted on the second positioning surface 11022 and a second rotating wheel 11082 rotatably mounted on the second positioning seat 11081; there are multiple second rotating wheels 11082, and the second rotating wheels 11082 are preferably bearings, which can reduce friction.

[0099] The outer surfaces of multiple first rotating wheels 11072 and multiple second rotating wheels 11082 are tangent to the machine housing to form a self-aligning effect, reducing the friction between the first center adjustment mechanism 1107, the second center adjustment mechanism 1108 and the machine housing during the center adjustment process.

[0100] Multiple first rotating wheels 11072 are spaced apart, and multiple second rotating wheels 11082 are spaced apart. Each first rotating wheel 11072 and each second rotating wheel 11082 is located on a second circular track. The second circular track is parallel to the first circular track, and its center lies on the same straight line perpendicular to either the plane containing the first or second circular track. The center of the second circular track is located within the positioning area 1106. The diameter of the second circular track changes with the movement of the first positioning seat 11071 and the second positioning seat 11081, but the position of the center of the second circular track remains unchanged. When the center of the housing 29 is aligned with the center of the winding 28, the first lifting arm 1101 and the second lifting arm 1102 first move away from each other to support the housing 29. At this time, the center of the second circular trajectory coincides with the center of the inner hole of the housing 29. Then, the first lifting arm 1101 and the second lifting arm 1102 move closer to each other at the same speed and move the same distance to clamp the winding 28. When the first lifting arm 1101 and the second lifting arm 1102 move closer to each other, the center position of the second circular trajectory remains unchanged, thereby ensuring that the center of the winding 28 is aligned with the center of the inner hole of the housing 29.

[0101] In one embodiment, the first positioning seat 11071 and the second positioning seat 11081 are C-shaped. The first positioning seat 11071 is provided with a first rotating wheel 11072 at both ends, and the second positioning seat 11081 is provided with a second rotating wheel 11082 at both ends. The central area of ​​the first positioning seat 11071 is mounted on the first lifting arm 1101, and the central area of ​​the second positioning seat 11081 is mounted on the second lifting arm 1102.

[0102] Specifically, both the first positioning seat 11071 and the second positioning seat 11081 include a straight plate 110711 and an arc plate 110712. The straight plate 110711 is bolted to the first lifting arm 1101 or the second lifting arm 1102. Both ends of the straight plate 110711 are provided with arc plates 110712. The straight plate 110711 and the arc plate 110712 are integrally formed and smoothly connected. The outer side of the arc plate 110712 abuts against the workpiece to facilitate the positioning of the workpiece center. The arc plate 110712 is located in the wheel groove 110713 through the wheel axle 110714. The outer circumferential side of the first rotating wheel 11072 or the second rotating wheel 11082 is located outside the wheel groove 110713 to prevent the first positioning seat 11071 and the second positioning seat 11081 from scratching the workpiece.

[0103] In one embodiment, a second reinforcing plate 1109 is provided on the first lifting arm 1101 and the second lifting arm 1102; the second reinforcing plate 1109 is provided on the first positioning surface 11012 or the second positioning surface 11022. The second reinforcing plate 1109 can strengthen the first lifting arm 1101 and the second lifting arm 1102.

[0104] In one embodiment, the top and side surfaces of the first lifting seat 1103 and the second lifting seat 1104 are chamfered, and the anti-damage pad 1105 is also chamfered, so that the first lifting seat 1103, the second lifting seat 1104, and the anti-damage pad 1105 can be inserted into the two sides of the housing 29.

[0105] In one embodiment, the base 17 has a first side, a second side, and a third side; the first side and the second side are opposite to each other, and both the first side and the second side are connected to the third side; the first arm 1004 and the second arm 1005 are both located on the first side; the first lifting arm 1101 and the second lifting arm 1102 are both located on the second side; a flange 1707 is provided on the third side, and the base 17 is connected to the transport arm through the flange 1707.

[0106] Key reference Figure 8In one embodiment, the multi-workpiece clamping device further includes a first gripper 22 mounted on the base 17; the first gripper 22 has a first gripping finger 2201 and a second gripping finger 2202. Both the first gripping finger 2201 and the second gripping finger 2202 are L-shaped, and when they approach and abut against each other, they together form a U-shape. Both the first gripping finger 2201 and the second gripping finger 2202 are provided with pin grooves 2203, located at the connection point of the first gripping finger 2201 and the second gripping finger 2202, and the pin grooves 2203 are V-shaped. When the first gripping finger 2201 and the second gripping finger 2202 approach and abut against each other, the inner wall of the pin groove 2203 of the first gripping finger 2201 and the inner wall of the pin groove 2203 of the second gripping finger 2202 together form a clamping hole 2204, the cross-section of which is square. The clamping hole 2204 can clamp the positioning pin. After the winding 28 is placed inside the housing 29 and the center position is adjusted, the positioning pin is inserted into the pin hole of the winding 28 and the housing 29 to achieve relative fixation of the winding 28 and the housing 29, preventing relative displacement of the winding 28 and the housing 29 during the conveyor 12 process, and ensuring production quality.

[0107] like Figures 1 to 3 As shown, in one embodiment, the multi-workpiece clamping device further includes a camera 23 mounted on the base 17, a fifth driver 24 mounted on the base 17, and a protective plate 25 pulsatorically connected to the fifth driver 24. The camera 23 has a camera lens located on the moving path of the protective plate 25. The camera 23 can identify the position of the winding 28, rotor, and housing 29 by observing their shape and orientation, thereby enabling the conveying arm to accurately move the first clamping mechanism 10 and the second clamping mechanism 11 to the material's location. This facilitates automatic material identification. The fifth driver 24 is a motor that drives the protective plate 25 to rotate. When not in use, the protective plate 25 covers the camera lens to prevent it from being damaged or covered by dust.

[0108] Specifically, flange 1707 is mounted on the first connecting plate 1701, and first actuator 1006 is mounted on the second connecting plate 1702. First gripper 22, camera 23, and fifth actuator 24 are all mounted on the fourth connecting plate 1704.

[0109] Example 2

[0110] like Figure 13As shown, the elevator traction machine production line includes a conveyor 12, a conveyor table 13, a feeding mechanism 14, a third clamping mechanism 15, a pressing mechanism 16, and a multi-workpiece clamping device as described above. The conveyor table 13 is mounted on the conveyor 12, and the multi-workpiece clamping device, the feeding mechanism 14, the third clamping mechanism 15, and the pressing mechanism 16 are arranged along the extension path of the conveyor 12. The transport arm is located upstream of the conveyor 12, allowing the first clamping mechanism 10 and the second clamping mechanism 11 to grab materials and place them on the conveyor table 13 on the conveyor 12. There are two conveyors 12: one conveyor 12 transports the machine housing and winding 28 via the conveyor table 13 mounted on it, and the other conveyor 12 transports the rotor via the conveyor table 13 mounted on it. The winding 28 to be conveyed is placed inside the housing 29. Then, the housing 29 and winding 28 are sent together to the next process for the installation of the sealing ring 30 to form the stator. The feeding mechanism 14, the third clamping mechanism 15, and the pressing mechanism 16 are located downstream of the conveyor 12. The feeding mechanism 14 stores and conveys the sealing ring 30. The third clamping mechanism 15 grasps the sealing ring 30 and places it onto the winding 28 inside the housing 29. Finally, the pressing mechanism 16 completes the compaction and installation of the sealing ring 30. After the housing 29 and winding 28 are assembled to form the stator, they are sent to the next process for assembly with the rotor. The rotor, after undergoing processes such as screwing on another production line, is then assembled with the stator.

[0111] In one embodiment, the conveyor 12 may be provided as a single line, which alternately transports the rotor and the stator composed of the winding 28 and the housing 29.

[0112] In one embodiment, the elevator traction machine production line further includes a storage rack; the storage rack is not shown in the figure. There are three types of storage racks, used to store the winding 28, rotor, and housing 29, respectively. The storage rack is located upstream of the conveyor 12 and within the movement range of the transport arm. Both the first lifting seat 1103 and the second lifting seat 1104 also have a suspension surface 11032, which is the top surface of either the first lifting seat 1103 or the second lifting seat 1104. The suspension surface 11032 faces the same direction as the first abutment surface 11011 or the second abutment surface 11021. The hanging surface 11032 is provided with a hanging groove 11033, which is a square groove. The storage rack is provided with a hanging seat that is adapted to the hanging groove 11033. The hanging seat is C-shaped. One end of the hanging seat is connected to the storage rack. The cross-section of the other end of the hanging seat matches the shape of the hanging groove 11033 and is inserted into the hanging groove 11033. The area between one edge of the hanging groove 11033 and the side of the first lifting seat 1103 or the second lifting seat 1104 is inserted into the groove between the two ends of the hanging seat.

[0113] In one embodiment, the elevator traction machine production line further includes a transfer platform and a support platform disposed on the transfer platform. The support platform is provided with multiple positioning blocks; the transfer platform, support platform, and positioning blocks are not shown in the figure. The multiple positioning blocks are spaced apart along a third circular path, which is identical to the edge contour of the inner hole of the winding 28. The positioning blocks are used for initial centering of the winding 28. When the winding 28 is placed on the support platform, the winding 28 fits onto all the positioning blocks through its inner hole, and all the positioning blocks abut against the inner wall of the inner hole of the winding 28. When the multi-workpiece clamping device is in operation, the first clamping mechanism 10 first places the winding 28 on the support platform and centers it using the positioning blocks. Then, the second clamping mechanism 11 places the housing 29 on the conveyor table 13 of the conveyor 12. Immediately afterwards, the first clamping mechanism 10 places the winding 28 on the support platform into the housing 29 on the conveyor table 13.

[0114] In one embodiment, each positioning block is provided with a guide slope; the guide slope faces away from the center of the third circular path. The guide slope is inclined from top to bottom along the direction away from the center of the third circular path, and the cross-section of each positioning block gradually decreases along the direction away from the support platform. The guide slope facilitates the positioning of the winding 28 by fitting it onto each positioning block through the inner hole.

[0115] like Figures 13 to 24 As shown, in one embodiment, the conveyor 12 includes a first wheel rail 1201, a second wheel rail 1202 spaced apart from the first wheel rail 1201, a first conveyor wheel 1203 rotatably mounted on the first wheel rail 1201, a second conveyor wheel 1204 rotatably mounted on the second wheel rail 1202, and a sixth driver that is drively connected to the first conveyor wheel 1203 and / or the second conveyor wheel 1204. The sixth driver is not shown in the figure. The first wheel rail 1201 and the second wheel rail 1202 are horizontally spaced apart and parallel to each other.

[0116] There are multiple first conveyor wheels 1203 and multiple second conveyor wheels 1204. These multiple first conveyor wheels 1203 and multiple second conveyor wheels 1204 are spaced apart along the extension direction of the first wheel rail 1201 or the second wheel rail 1202. One end of the conveyor platform 13 abuts against a portion of the first conveyor wheels 1203, and the other end of the conveyor platform 13 abuts against a portion of the second conveyor wheels 1204. The sixth drive includes a motor, a conveyor chain, sprockets, etc., with the motor and sprockets connected for transmission. Sprockets are provided on both the first conveyor wheels 1203 and the second conveyor wheels 1204, connected to and coaxially rotating with either the first or second conveyor wheels 1203. The conveyor chain is fitted onto all the sprockets. This allows all the first conveyor wheels 1203 and the second conveyor wheels 1204 to rotate simultaneously. The simultaneous rotation of all the first conveyor wheels 1203 and the second conveyor wheels 1204 allows the conveyor platform 13 to move along the extension direction of the conveyor 12.

[0117] Key reference Figures 18 to 21 In one embodiment, the conveyor 12 further includes a first lifting mechanism 1205. The first lifting mechanism 1205 is disposed between the first wheel rail 1201 and the second wheel rail 1202. The first lifting mechanism 1205 has a telescopic end that can move up and down. A lifting hole 1301 is provided on the conveyor table 13. When the conveyor table 13 is stopped at the position where the upper sealing cavity needs to be located, the lifting hole 1301 of the conveyor table 13 is located on the movement path of the telescopic end. The raising of the telescopic end of the first lifting mechanism 1205 lifts the housing 29 and the winding 28 inside the housing 29, preventing excessive pressure on the conveyor table 13 during the compaction of the sealing ring 30, which could cause damage.

[0118] In one embodiment, the conveyor 12 further includes a stop mechanism 1206; the stop mechanism 1206 has a stop block located between the first wheel rail 1201 and the second wheel rail 1202. The stop block can rise and fall. When the stop block rises, it is located on the moving path of the conveyor table 13, causing the conveyor table 13 to stop at the position where the sealing cavity needs to be installed. After the sealing ring 30 is installed, the stop block falls, and the conveyor table 13 sends the workpiece to the next process.

[0119] In one embodiment, the elevator traction machine production line further includes an installation platform 26; the installation platform 26 has a conveying channel through which the conveyor 12 passes. When the conveyor platform 13 moves into the conveying channel, the blocking mechanism 1206 blocks the conveyor platform 13, causing it to stop in the conveying channel, and the conveyor 12 stops working. Then, the installation of the sealing ring 30 is completed using the feeding mechanism 14, the third clamping mechanism 15, and the pressing mechanism 16. The feeding mechanism 14, the third clamping mechanism 15, and the pressing mechanism 16 are all mounted on the installation platform 26, with the pressing mechanism 16 located within the conveying channel and above the conveyor 12. When the conveyor platform 13 moves into the conveying channel, the pressing mechanism 16 is located directly above the conveyor platform 13 and the workpiece on it.

[0120] In one embodiment, the mounting platform 26 includes a base frame 2601, a plurality of first support columns 2602 disposed on the base frame 2601, and an upper plate 2603 disposed on the first support columns 2602; the base frame 2601 has a lower plate 2604, and the plurality of first support columns 2602 are spaced apart between the upper plate 2603 and the lower plate 2604, forming a conveying channel between the upper plate 2603 and the lower plate 2604. A pressing mechanism 16 is disposed on the upper plate 2603, and a conveyor 12 passes between the upper plate 2603 and the lower plate 2604.

[0121] In one embodiment, a first lifting mechanism 1205 is disposed between the lower plate 2604 and the conveyor table 13. The first lifting mechanism 1205 includes a positioning plate 12050 fixed to the lower plate 2604 and spaced apart from it, a sliding rod 12051 slidably mounted on the positioning plate 12050, a moving plate 12052 mounted on the sliding rod 12051 and located above the positioning plate 12050, a top lifting seat 12053 mounted on the moving plate 12052, and an eleventh actuator 12054 mounted on the top lifting seat 12053. The eleventh actuator 12054 is a cylinder, hydraulic cylinder, or electric telescopic rod, etc., and its telescopic end is connected to the moving plate 12052. The lifting hole 1301 of the conveyor table 13 is located on the moving path of the top lifting seat 12053. A linear drive unit drives the moving plate 12052 to move up and down, thereby causing the top lifting seat 12053 to lift the workpiece.

[0122] In one embodiment, the positioning plate 12050 is provided in multiple rod holes, and there are multiple slide rods 12051, with each slide rod 12051 corresponding to one of the multiple rod holes. The first lifting mechanism 1205 also includes a limiting connecting plate 12055; the lower ends of adjacent slide rods 12051 are connected by the limiting connecting plate 12055, thereby preventing the slide rods 12051 from detaching from the positioning plate 12050 when sliding upward. When the slide rods 12051 slide downward and the limiting connecting plate 12055 abuts against the lower plate 2604, the lifting seat 12053 returns to its initial position.

[0123] In one embodiment, the first lifting mechanism 1205 further includes a fifth linear slide rail 12056 disposed on the positioning plate 12050, a twelfth actuator 12057 disposed on the positioning plate 12050, a fifth slider 12058 that is drively connected to the twelfth actuator 12057, and a fall arrestor 12059 disposed on the fifth slider 12058 or on the lifting seat 12053.

[0124] When the anti-fall seat 12059 is installed on the fifth slider 12058, the twelfth actuator 12057 is a cylinder, hydraulic cylinder, or electric telescopic rod, etc. The twelfth actuator 12057 drives the fifth slider 12058 to slide horizontally. After the lifting seat 12053 lifts the workpiece upward, the fifth slider 12058 slides and drives the anti-fall seat 12059 to move directly below the lifting seat 12053. The upper end of the anti-fall seat 12059 abuts against the lower end of the lifting seat 12053 to prevent the lifting seat 12053 and the moving plate 12052 from collapsing during the compaction of the sealing ring 30.

[0125] When the anti-fall seat 12059 is mounted on the lifting seat 12053, the lower end of the lifting seat 12053 is connected to the upper end of the anti-fall seat 12059. The lower end of the anti-fall seat 12059 is located on the moving path of the fifth slider 12058. After the lifting seat 12053 lifts the workpiece upward, the fifth slider 12058 moves below the lifting seat 12053 and abuts against the lower end of the anti-fall seat 12059, preventing the lifting seat 12053 and the moving plate 12052 from collapsing during the compaction of the sealing ring 30. The fifth slider 12058 is provided with a clearance groove 120581. After the sealing ring 30 is compacted, the clearance groove 120581 moves directly below the anti-fall seat 12059, the anti-fall seat 12059 falls into the clearance groove 120581, and the lifting seat 12053 descends.

[0126] In one embodiment, a pad 120521 is bolted to the movable plate 12052. The movable plate 12052 has a first engaging groove 120522, and the pad 120521 has a first engaging portion 120523 that matches the first engaging groove 120522, allowing the pad 120521 to be detachably mounted on the movable plate 12052. The pad 120521 has a second engaging groove 120524, and the lifting seat 12053 has a second engaging portion 120531 that matches the second engaging groove 120524, allowing the lifting seat 12053 to be detachably mounted on the pad 120521. The detachable mounting of the lifting seat 12053 and the pad 120521 facilitates maintenance and replacement.

[0127] In one embodiment, there are two fifth linear slide rails 12056. The cross-section of the fifth linear slide rail 12056 along its extension direction is inverted L-shaped. The two fifth linear slide rails 12056 and the positioning plate 12050 form a slide groove. The fifth slider 12058 is slidably disposed in the slide groove to prevent the fifth slider 12058 from disengaging from the positioning plate 12050.

[0128] In one embodiment, the upper surface of the movable plate 12052 is provided with a pin 120525, and the lower surface of the conveyor table 13 is provided with a pin hole (not shown in the figure). When the movable plate 12052 moves upward and abuts against the conveyor table 13, the pin 120525 is inserted into the pin hole to position the movable plate 12052. When the movable plate 12052 moves upward and abuts against the conveyor table 13, the lifting seat 12053 completes the lifting of the workpiece.

[0129] In one embodiment, the conveyor 12 is provided with a second sensor 1207 and the conveyor table 13 is provided with a trigger 1208. When the conveyor table 13 moves directly below the pressing mechanism 16, the trigger 1208 triggers the second sensor 1207, the second sensor 1207 feeds back a signal, and the first lifting mechanism 1205 lifts the workpiece.

[0130] Key reference Figures 14 to 17In one embodiment, the feeding mechanism 14 includes a support frame 1400 mounted on a base frame 2601 of the mounting platform 26, a storage plate 1401 mounted on the support frame 1400, a seventh actuator 1402 mounted on the support frame 1400, a feeding plate 1403 driven by the seventh actuator 1402, and a baffle plate 1404 connected to the feeding plate 1403. The storage plate 1401 is used to store sealing rings 30, and multiple sealing rings 30 are stacked sequentially from top to bottom on the storage plate 1401. The seventh actuator 1402 is a cylinder, a hydraulic cylinder, or an electric telescopic rod. The seventh actuator 1402 pushes the feeding plate 1403 to move horizontally, thereby feeding out a single sealing ring 30. The storage plate 1401 is located above the support frame 1400, and the storage plate 1401 and the support frame 1400 are arranged at intervals from top to bottom. A material drop area 1406 is provided between the storage plate 1401 and the support frame 1400. The storage plate 1401 has a material drop hole 1405 communicating with the material drop area 1406. Multiple sealing rings 30 are stacked sequentially from top to bottom directly above the material drop hole 1405. Under the influence of gravity, the sealing rings 30 fall one by one from the material drop hole 1405 into the material drop area 1406, where a feeding plate 1403 catches them. Both the feeding plate 1403 and the baffle plate 1404 are horizontally slidably installed between the storage plate 1401 and the support frame 1400. A feeding area 1407 is provided between the feeding plate 1403 and the storage plate 1401. The height of the feeding area 1407 is greater than or equal to the thickness of one sealing ring 30 and less than the thickness of two sealing rings 30, so that the sealing rings 30 can only fall onto the feeding plate 1403 one by one. Only after the sealing ring 30 on the feeding plate 1403 is removed can the next sealing ring 30 fall from the storage plate 1401 onto the feeding plate 1403. The discharge hole 1405 is located on the moving path of the feeding plate 1403 and the baffle plate 1404. The feeding plate 1403 and the baffle plate 1404 are arranged sequentially along the moving direction of the feeding plate 1403. When the feeding plate 1403 moves to deliver the sealing ring 30, the baffle plate 1404 covers the discharge hole 1405 from the lower end of the storage plate 1401 to prevent material from falling. When the feeding plate 1403 returns to its original position directly below the discharge hole 1405, the next sealing ring 30 falls onto the feeding plate 1403.

[0131] In one embodiment, the support frame 1400 includes a sixth connecting plate 14001, a plurality of second support columns 14002 disposed on the sixth connecting plate 14001, and a seventh connecting plate 14003 mounted on the second support columns 14002. The storage plate 1401 is mounted on the seventh connecting plate 14003 of the support frame 1400 via a plurality of third support columns 14004.

[0132] In one embodiment, the feeding mechanism 14 further includes a third linear slide rail 1408 and a first slider 14081 slidably mounted on the third linear slide rail 1408; the third linear slide rail 1408 extends horizontally along the moving direction of the feeding plate 1403 and the baffle plate 1404. The first slider 14081 is connected to the baffle plate 1404, and the feeding plate 1403 and the baffle plate 1404 are arranged sequentially along the extending direction of the third linear slide rail 1408. The baffle plate 1404 abuts against the lower end face of the storage plate 1401, making the sliding of the feeding plate 1403 and the baffle plate 1404 more stable.

[0133] In one embodiment, the upper surface of the feeding plate 1403 is provided with a first limiting plate 14031, a second limiting plate 14032, and a positioning platform 14033. The first limiting plate 14031 and the second limiting plate 14032 are arranged at intervals along the moving direction of the feeding plate 1403, and the positioning platform 14033 is located between the first limiting plate 14031 and the second limiting plate 14032. The positioning platform 14033 is disc-shaped, and its diameter is the same as the inner diameter of the sealing ring 30. When the sealing ring 30 falls onto the upper surface of the feeding plate 1403, the sealing ring 30 is located between the first limiting plate 14031 and the second limiting plate 14032 and is fitted onto the positioning platform 14033. To ensure that the sealing ring 30 falls smoothly and fits onto the positioning platform 14033, the positioning platform 14033 is provided with a guide slope. The guide slope is located at the upper end of the positioning platform 14033, and the diameter of the upper end of the positioning platform 14033 gradually decreases from top to bottom.

[0134] In one embodiment, both the first limiting plate 14031 and the second limiting plate 14032 are provided with arc surfaces. The outer circumferential side of the sealing ring 30 abuts against the arc surfaces of the first limiting plate 14031 and the second limiting plate 14032, thereby aligning the center of the sealing ring 30 with the center of the positioning table 14033.

[0135] In one embodiment, the upper surface of the positioning platform 14033 is provided with a groove 14034. The groove 14034 is circular. When the sealing ring 30 is fitted onto the positioning platform 14033, the lower end face of the sealing ring 30 abuts against the bottom wall of the groove 14034. The outer diameter of the sealing ring 30 is larger than the diameter of the positioning platform 14033, so that the outer side of the sealing ring 30 is suspended at a certain height, which makes it easy for the third clamping mechanism 15 to clamp the sealing ring 30.

[0136] In one embodiment, the feeding mechanism 14 further includes first limiting rods 1409 mounted on the storage plate 1401; there are at least three first limiting rods 1409, and the plurality of first limiting rods 1409 are spaced apart along a fourth circular trajectory, the fourth circular trajectory being slightly larger than the diameter of the sealing ring 30 and the center of the fourth circular trajectory being the same as the center of the sealing ring 30. The plurality of first limiting rods 1409 together enclose a storage area 14091, and the discharge hole 1405 is located within the storage area 14091. At least one first limiting rod 1409 is detachably mounted to facilitate placing the sealing ring 30 within the storage area 14091.

[0137] In one embodiment, a third sensor 14005 is provided on the seventh connecting plate 14003 of the support frame 1400. After the third sensor 14005 detects that the sealing ring 30 is stored in the storage area 14091 of the storage plate 1401, the third sensor 14005 sends a signal, and the feeding mechanism 14 starts to feed out the sealing ring 30.

[0138] Key reference Figures 21 to 22 In one embodiment, the third gripping mechanism 15 includes a support beam 1501 mounted on the mounting platform 26, an eighth actuator 1503 mounted on the support beam 1501, a ninth actuator 1504 driven by the eighth actuator 1503, a connecting frame 1505 driven by the ninth actuator 1504, and a second gripper 1506 mounted on the connecting frame 1505. The support beam 1501 is horizontally positioned above the conveyor 12. Both the eighth actuator 1503 and the ninth actuator 1504 are pneumatic cylinders, hydraulic cylinders, or electric telescopic devices. The eighth actuator 1503 drives the ninth actuator 1504 to move horizontally left and right, and the ninth actuator 1504 drives the connecting frame 1505 to move vertically, thereby achieving position adjustment of the second gripper 1506 in both directions. The second gripper 1506 grips the sealing ring 30 fed by the feed plate 1403 and places it on the workpiece. The second gripper 1506 has a third gripping finger 15061 and a fourth gripping finger 15062, both of which have arc-shaped clamping grooves 15063, allowing them to jointly clamp the sealing ring 30. The workpiece and the feeding mechanism 14 are both located on the movement paths of the third gripping finger 15061 and the fourth gripping finger 15062.

[0139] In addition, in order to avoid damaging the lip of the sealing ring 30 (i.e. the outermost part of the sealing ring 30) during the clamping process, the diameter of the arc-shaped clamping groove 15063 is slightly larger than the outer diameter of the sealing ring 30.

[0140] In one embodiment, locking rings 1502 are provided at both ends of the support beam 1501, and the two ends of the support beam 1501 are respectively mounted on two first support columns 2602 via the locking rings 1502. The connecting frame 1505 includes a longitudinal plate 15051 connected to the ninth actuator 1504, a transverse plate 15052 connected to the longitudinal plate 15051, and a third reinforcing plate 15053 connecting the transverse plate 15052 and the longitudinal plate 15051. A second gripper 1506 is installed at the end of the transverse plate 15052.

[0141] In one embodiment, the arc-shaped clamping groove 15063 is a stepped groove, comprising multiple semi-circular grooves arranged sequentially from top to bottom, with the centers of the multiple semi-circular grooves located on the same vertical line. The diameters of the multiple semi-circular grooves gradually decrease from top to bottom, forming steps between adjacent semi-circular grooves. Each step is distributed in a stepped manner, and each step matches the outer contour of the sealing ring 30. When the sealing ring 30 falls into the positioning platform 14033, the outer side of the sealing ring 30 is suspended at a certain height. The third clamping finger 15061 and the fourth clamping finger 15062 clamp the sealing ring 30 through the arc-shaped clamping groove 15063, and the outer contour of the sealing ring 30 abuts against each step to prevent it from falling, thereby realizing the handling of the sealing ring 30 and avoiding excessive force from the third clamping finger 15061 and the fourth clamping finger 15062 clamping the sealing ring 30, which could cause deformation of the sealing ring 30 and affect subsequent installation.

[0142] In one embodiment, the third clamping mechanism 15 further includes a fourth linear slide rail 1507 disposed on the support beam 1501 and a second slider 1508 slidably disposed on the fourth linear slide rail 1507; the ninth actuator 1504 is connected to the second slider 1508, and the moving direction of the connecting frame 1505 is perpendicular to the extending direction of the fourth linear slide rail 1507. The fourth linear slide rail 1507 may be used to make the sliding of the ninth actuator 1504 more stable.

[0143] In one embodiment, a fourth sensor 1509 is provided on the support beam 1501. After the feeding plate 1403 delivers the sealing ring 30 and the fourth sensor 1509 detects that the workpiece is in place, the first lifting mechanism 1205 lifts the workpiece, and the third clamping mechanism 15 begins to clamp the sealing ring 30 onto the workpiece.

[0144] Key reference Figures 23 to 24In one embodiment, the pressing mechanism 16 includes a tenth actuator 1601 mounted on the mounting platform 26 and a compaction seat 1602 pulverizedly connected to the tenth actuator 1601. The tenth actuator 1601 is a hydraulic cylinder or pneumatic cylinder, etc. Specifically, for pressure stability, a hydraulic cylinder is preferred, and the telescopic end of the hydraulic cylinder is connected to the compaction seat 1602. The compaction seat 1602 is located above the conveyor 12. The compaction seat 1602 can move up and down under the drive of the tenth actuator 1601, thereby compacting the sealing ring 30.

[0145] In one embodiment, the compaction seat 1602 includes a positioning sleeve 1603 with a first sleeve hole 16031, a pressing block 1604 slidably disposed within the first sleeve hole 16031, and an elastic element 1605. The elastic element 1605 is a columnar spring that can extend and retract vertically. The positioning sleeve 1603 is sleeve-shaped, and the elastic element 1605 is clamped between the pressing block 1604 and the inner wall of the first sleeve hole 16031. The pressing block 1604 can slide vertically, and its upper end abuts against the elastic element 1605. There are multiple elastic elements 1605, which are circumferentially spaced along the axis of the sleeve shape. The elastic elements 1605 prevent excessive pressure from the pressing block 1604 when pressing down on the sealing ring 30, which could damage the sealing ring 30 or the workpiece.

[0146] In one embodiment, the upper plate 2603 is provided with multiple shaft holes, and the compaction seat 1602 further includes a limiting frame 1607 and multiple sliding shafts 1606. The multiple sliding shafts 1606 correspond one-to-one with the multiple shaft holes, and the multiple sliding shafts 1606 slide up and down within the shaft holes of the upper plate 2603. The limiting frame 1607 is located above the upper plate 2603 and connected to the upper end of each sliding shaft 1606. The tenth actuator 1601 is located within the area enclosed by the limiting frame 1607. The lower end of each sliding shaft 1606 is connected to the positioning sleeve 1603, making the up-and-down sliding of the positioning sleeve 1603 more stable and ensuring equal pressure at all points of the sealing ring 30.

[0147] In one embodiment, the housing 29 has a shaft 2901 at its center. When the winding 28 is placed inside the housing 29, it is fitted onto the shaft 2901. The third clamping mechanism 15 places the sealing ring 30 on the shaft 2901 and within the winding 28.

[0148] The shaft body 2901 includes a first shaft segment 29011, a second shaft segment 29012, a third shaft segment 29013, and a fourth shaft segment 29014 arranged sequentially from bottom to top. The diameter of the first shaft segment 29011 is larger than the diameter of the second shaft segment 29012, the diameter of the second shaft segment 29012 is larger than the diameter of the third shaft segment 29013, and the diameter of the third shaft segment 29013 is larger than the diameter of the fourth shaft segment 29014.

[0149] During the descent of the positioning sleeve 1603, the positioning sleeve 1603 presses the winding 28 down into the housing 29 and makes the winding 28 fit on the first shaft section 29011 until the bottom end face of the winding 28 is flush with the bottom surface of the housing 29. The inner wall of the first hole 16031 of the positioning sleeve 1603 is provided with a first shoulder 10632. When the bottom end face of the winding 28 is flush with the bottom surface of the housing 29, the first shoulder 10632 abuts against the upper end face of the first shaft section 29011 to achieve positioning.

[0150] The lower end of the pressing block 1604 has a second sleeve hole 16041. The pressing block 1604 is fitted onto the fourth shaft section 29014 through the second sleeve hole 16041. The inner wall of the second sleeve hole 16041 has a second shoulder 16042. The lower end of the pressing block 1604 is provided with a retaining ring 16043 that is encircled by the edge of the second sleeve hole 16041. The retaining ring 16043 is used to engage with the annular groove 3001 on the sealing ring 30 to prevent the sealing ring 30 from moving radially during the compaction process. When the positioning sleeve 1603 descends, it drives the pressing block 1604 to descend and compact the sealing ring 30. During the descent of the positioning sleeve 1603, the pressing block 1604 is driven to press down the sealing ring 30. The retaining ring 16043 at the lower end of the pressing block 1604 is engaged in the annular groove 3001 on the sealing ring 30. The second shoulder 16042 abuts against the upper end face of the sealing ring (the upper groove edge of the annular groove 3001). The pressing block 1604 pushes the sealing ring 30 down and onto the third shaft section 29013. The lower end of the sealing ring 30 abuts against the upper end face of the second shaft section 29012, and the inner wall of the sealing ring 30 abuts against the outer circumferential side of the third shaft section 29013.

[0151] When the pressing block 1604 presses down on the sealing ring 30, causing the sealing ring 30 to move downwards, the elastic element 1605 is compressed. When the sealing ring 30 is fitted onto the third shaft segment 29013, the first shoulder 10632 abuts against the upper end face of the first shaft segment 29011, and the positioning sleeve 1603 achieves positioning. At this time, under the action of the elastic element 1605, the pressing block 1604 presses the lower end face of the sealing ring 30 until it is flush with the upper end face of the third shaft segment 29013. After the lower end face of the sealing ring 30 is flush with the upper end face of the third shaft segment 29013, the second shoulder 16042 of the pressing block 1604 abuts against the upper end face of the third shaft segment 29013, achieving positioning of the pressing block 1604. After pressing is completed, the pressing block 1604 and the positioning sleeve 1603 move upwards back to their initial positions.

[0152] The working principle of the elevator traction machine production line with a multi-workpiece clamping device is as follows:

[0153] The first gripping mechanism places the rotor onto the conveyor platform on one of the conveyors.

[0154] The second gripping mechanism places the housing on a conveyor table on another conveyor.

[0155] The first clamping mechanism places the winding inside the housing located on the conveyor table.

[0156] In the above steps, the transport arm can first drive the first clamping mechanism to place the winding on the transfer table, where the initial alignment of the winding center is completed. Then, the transport arm drives the second clamping mechanism to place the housing on the conveyor platform of the conveyor. Finally, the transport arm drives the first clamping mechanism to place the winding on the transfer table into the housing on the conveyor platform.

[0157] The second clamping mechanism aligns the winding and the housing; the second clamping mechanism can push the winding to move so that the center of the winding coincides with the center of the housing.

[0158] The conveyor transports the conveyor table to the area below the pressing mechanism;

[0159] The feeding mechanism delivers the sealing ring;

[0160] The third clamping mechanism delivers the sealing ring to the winding and the housing;

[0161] The press-fitting mechanism presses the sealing ring onto the winding to form the stator;

[0162] The conveyor sends the stator to the next station to assemble it with the rotor on another conveyor.

[0163] The above steps are not in any particular order. For example, the rotor can be grabbed first, or the housing and windings can be grabbed first. The rotor, housing and windings can also be loaded simultaneously by multiple sets of clamping mechanisms.

[0164] The above embodiments are not an exhaustive list based on the present invention, and there may be many other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. A multi-workpiece clamping device, characterized in that, It includes a transport arm, a base disposed on the transport arm, a first clamping mechanism, and a second clamping mechanism disposed on the base; The first clamping mechanism includes a lead screw rotatably mounted on the base, a first sliding seat, a second sliding seat, a first clamping arm disposed on the first sliding seat, a second clamping arm disposed on the second sliding seat, and a first driver connected to the lead screw; the first clamping arm is provided with a first hook seat, the second clamping arm is provided with a second hook seat, the lead screw has a first threaded section and a second threaded section with opposite thread directions, the first sliding seat is threadedly connected to the first threaded section, and the second sliding seat is threadedly connected to the second threaded section; The second gripping mechanism includes a first lifting arm disposed on the first sliding seat and a second lifting arm disposed on the second sliding seat; the first lifting arm has a first abutting surface, the second lifting arm has a second abutting surface, the first abutting surface and the second abutting surface are opposite to each other, a first lifting seat is provided on the first abutting surface, and a second lifting seat is provided on the second abutting surface; The first clamping mechanism further includes a second linear slide rail disposed on the base, a second driver mounted on the base, and a lifting block slidably disposed on the second linear slide rail and connected to the second driver for transmission; the axial direction of the lead screw is perpendicular to the extension direction of the second linear slide rail, a clamping area is formed between the first clamping arm and the second clamping arm, and the lifting block is located within the clamping area; One end of the first arm is connected to the first sliding seat, and the other end of the first arm extends along the first direction and is provided with the first hook seat. One end of the second arm is connected to the second sliding seat, and the other end of the second arm extends along the first direction and is provided with the second hook seat. The first hook seat and the second hook seat are both located in the clamping area and are arranged opposite to each other. The lifting block has an arc surface. There is a positioning area between the first lifting arm and the second lifting arm. The first lifting arm also has a first positioning surface, and the second lifting arm also has a second positioning surface. The first positioning surface and the second positioning surface are both located within the positioning area and are arranged opposite to each other. A first center adjustment mechanism is installed on the first positioning surface, and a second center adjustment mechanism is installed on the second positioning surface. The first center adjustment mechanism and the second center adjustment mechanism are arranged opposite to each other. The first center adjustment mechanism includes a first positioning seat mounted on the first positioning surface and a first rotating wheel rotatably mounted on the first positioning seat; there are multiple first rotating wheels. The second center adjustment mechanism includes a second positioning seat mounted on the second positioning surface and a second rotating wheel rotatably mounted on the second positioning seat; there are multiple second rotating wheels. Multiple first rotating wheels are arranged at intervals, and multiple second rotating wheels are arranged at intervals, with each first rotating wheel and each second rotating wheel located on a second circular track, the center of which is located within the positioning area; When the first lifting arm and the second lifting arm are far apart, they can support the transport housing. After the first clamping mechanism places the winding inside the housing, the first lifting arm and the second lifting arm move closer to each other. Through the cooperation of the first center adjustment mechanism and the second center adjustment mechanism, the centers of the housing and the winding are aligned.

2. The multi-workpiece clamping device according to claim 1, characterized in that, The first clamping mechanism further includes a first linear slide rail disposed on the base; both the first sliding seat and the second sliding seat are slidably disposed on the first linear slide rail.

3. The multi-workpiece clamping device according to claim 1, characterized in that, The base is provided with a fixed seat, and the second linear slide rail and the second driver are both mounted on the fixed seat. The fixed seat is provided with a nitrogen spring.

4. The multi-workpiece clamping device according to claim 1, characterized in that, There are multiple first hook seats and multiple second hook seats. The first arm and the second arm have an arc-shaped cross section perpendicular to the first direction and are located on the first circular track. Multiple first hook seats are arranged at intervals along the first circular track, and multiple second hook seats are arranged at intervals along the first circular track. A first sensor is provided between adjacent first hook seats and / or between adjacent second hook seats. The first sensor is located on the first circular track.

5. The multi-workpiece clamping device according to claim 1, characterized in that, It also includes a third driver disposed on the first abutment surface, a first locking block drivenly connected to the third driver, a fourth driver disposed on the second abutment surface, and a second locking block drivenly connected to the fourth driver; the first lifting seat is located on the moving path of the first locking block, and the second lifting seat is located on the moving path of the second locking block.

6. An elevator traction machine production line, characterized in that, It includes a conveyor, a conveying table, a feeding mechanism, a third clamping mechanism, a pressing mechanism, and a multi-workpiece clamping device as described in any one of claims 1 to 5; the conveying table is disposed on the conveyor, and the multi-workpiece clamping device, the feeding mechanism, the third clamping mechanism, and the pressing mechanism are arranged along the extension path of the conveyor.

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