Automatic stator core feeding machine and application method thereof

Abstract

The invention relates to an automatic stator core feeding machine and an application method thereof.The automatic stator core feeding machine comprises a rack, and the rack comprises a lower-layer platform, an upper-layer platform and a longitudinal frame; two first groove positions are formed in the lower-layer platform, and two second groove positions and a clamping transverse moving assembly are formed in the upper-layer platform. A locking unit and a lifting unit are arranged on the longitudinal frame; a cross beam is arranged on the upper-layer platform, a material moving manipulator and a transverse moving unit are arranged on the cross beam, a visual detection unit and a stator iron core jig are arranged on the upper-layer platform, and a conveying belt for conveying the stator iron core jig is arranged on the upper-layer platform; by applying the device, butt joint with the moving trolley can be completed, stator iron cores of a plurality of trays can be fed at a time, full-automatic operation can be achieved, meanwhile, the function of automatically adjusting the angles of the stator iron cores is achieved, the integrity is good, the space layout is reasonable and compact, the space utilization rate is high, and the labor cost can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor assembly and processing, and more specifically, to an automatic stator core feeding machine and an application method thereof. Background Art

[0002] The stator core is an important part of the stator and a major component of the motor magnetic circuit. It is usually punched into fan-shaped sheets from silicon steel sheets and stacked on positioning ribs. The positioning ribs are welded to the machine base ring plate through a support plate, and the core is compressed into a whole by tension bolts through upper and lower tooth pressure plates. At present, the automatic loading of the stator core is usually done by manually placing the plate on a shelf, then being clamped by a robot and placed on a set fixture. After the loading is completed, the empty plate will be sent out and the next plate with the material arranged will continue to be loaded. Although this method can also achieve automatic loading, it requires workers to frequently load the plate with the stator core arranged and unload the empty plate. The labor intensity is high, the overall volume of the equipment is large, and it occupies more space. There is a need for an automatic stator core loading machine and an application method thereof that can reduce the labor intensity and reduce the overall volume. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic stator core feeding machine and an application method of the automatic stator core feeding machine in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A stator core automatic feeding machine is constructed, comprising a frame, wherein the frame comprises a lower platform, an upper platform and a longitudinal frame; the lower platform is formed with two first slots for parking trolleys side by side, and the upper platform is formed with two second slots that are directly opposite to the first slots and a clamping and transverse moving assembly located at the periphery of the two second slots; the lower platform is provided with two groups of locking units for locking the trolleys parked in the first slots, and the longitudinal frame is provided with two groups of lifting units for lifting the stacked material trays on the trolleys as a whole; the upper platform is provided with a crossbeam located above the second slot, and a material moving machine is provided on the crossbeam for transverse sliding. A material transfer robot and a transverse movement unit driving the material transfer robot to slide, the movement trajectory of the material transfer robot is perpendicular to the arrangement direction of the two first slots; the upper platform is provided with a visual inspection unit and a stator core fixture distributed along the movement trajectory of the material transfer robot, and the upper platform is provided with a conveyor belt for transferring the stator core fixture; the clamping transverse movement component is used to clamp the material tray and transfer it from one second slot to another second slot; the stator core automatic loader also includes a control host, a first position sensor for detecting whether the trolley is parked in place in the first slot, and a second position sensor for detecting whether the material tray rises to the clamping position.

[0006] The automatic stator core loading machine described in the present invention, wherein the trolley includes a base plate, a plurality of support platforms are provided on the upper surface of the base plate, and a plurality of walking wheels are provided on the lower surface of the base plate; limiting columns are provided on the support platforms, and a plurality of the limiting columns enclose a positioning cavity for positioning the material tray; a plurality of the support platforms jointly support the lowest material tray, so that there is a spacing between the material tray and the base plate.

[0007] The stator core automatic feeding machine described in the present invention, wherein the lifting unit includes a lifting plate extending into the spacing and a screw assembly driving the lifting plate to lift; the screw assembly is arranged on the longitudinal frame; the lifting plate is composed of two longitudinal vertical plates and a connecting plate connecting the two vertical plates; the lower surface of the vertical plate is provided with an inclined surface, and the front side of the bottom plate is provided with an avoidance groove facing the inclined surface.

[0008] The automatic stator core feeding machine of the present invention is characterized in that guide bars are arranged on both sides of the first slot, and the front end of the guide bar is provided with a guide inclined surface cooperating with the outer surface of the support platform.

[0009] The stator core automatic feeding machine described in the present invention, wherein positioning seats are provided on both sides of the front end of the trolley, and a positioning groove is provided on the upper surface of the positioning seat; the locking unit includes a positioning column cooperating with the positioning groove and a driving cylinder driving the positioning column.

[0010] The automatic stator core loading machine described in the present invention, wherein the material transfer robot includes a Z-axis moving unit, a rotating motor and a rotating bearing are fixed to the movable end of the Z-axis moving unit, a coupling is rotatably arranged on the rotating bearing, one end of the coupling is connected to the movable end of the rotating motor, and the other end is connected to a clamping cylinder, and the movable end of the clamping cylinder is provided with a first support plate and a second support plate; during operation, the first support plate and the second support plate extend into the stator core to provide an outward supporting force to the inner hole of the stator core to fix the stator core.

[0011] The stator core automatic loader described in the present invention, wherein the clamping and transverse movement assembly includes a first slide rail, a first conveyor belt located directly above the first slide rail, a second slide rail and a second conveyor belt located directly above the second slide rail, sliding seats are slidably arranged on the first slide rail and the second slide rail, and the sliding seats are provided with a clamping unit for clamping against the end surface of the material tray; the two sliding seats are respectively driven to move by the first conveyor belt and the second conveyor belt; the clamping and transverse movement assembly also includes a synchronous shaft for synchronously driving the first conveyor belt and the second conveyor belt to run, and a servo motor driving the synchronous shaft.

[0012] The stator core automatic feeding machine described in the present invention, wherein the sliding seat includes a first slider and a second slider; the tightening unit includes a mounting plate, and support plates are respectively provided at both ends of the mounting plate, and the two support plates are respectively connected to the first slider and the second slider; the support plate is provided with a slot for the first conveyor belt or the second conveyor belt to pass through.

[0013] The automatic stator core loading machine described in the present invention is characterized in that a transverse clamping cylinder is installed on the upper surface of the mounting plate, a clamping plate is horizontally penetrated on the mounting plate, and the end of the clamping plate is connected to the movable end of the clamping cylinder through a vertical plate; a clamping plate for clamping the first conveyor belt or the second conveyor belt is fixed to the lower surface of the mounting plate by a plurality of screws, and a positioning groove corresponding to the screw is opened on the clamping plate; a clamping groove corresponding to the clamping plate is provided on the material tray.

[0014] A method for applying a stator core automatic feeder, using the above-mentioned stator core automatic feeder, wherein the method comprises the steps of:

[0015] The loading trolley loaded with stacked material trays of stator cores enters one of the first slots, and the corresponding first position sensor senses and sends a signal to control the locking unit to lock the loading trolley; the empty unloading trolley enters another first slot, and the corresponding first position sensor senses and sends a signal to control the locking unit to lock the unloading trolley;

[0016] The lifting unit corresponding to the loading trolley lifts the stacked trays on the loading trolley, and stops the lifting action when the second position sensor senses the trays; the clamping and transverse moving assembly clamps the trays and transversely moves the trays to the bottom of the material transfer robot, and the material transfer robot takes out the stator cores on the trays one by one, and transfers the stator cores to the visual inspection unit for visual photography to determine the angle of the stator cores. The material transfer robot adjusts the angle of the stator cores and puts them into the stator core fixture; the trays that have been taken out are sent to the top of the unloading trolley, and the lifting unit corresponding to the unloading trolley lifts the trays; the lifting unit corresponding to the loading trolley drives the trays to rise to a set height;

[0017] Repeat the previous step until all the stator cores in the trays on the loading trolley are taken out. The locking unit unlocks the loading trolley and moves the loading trolley away. The lifting unit corresponding to the unloading trolley places the lifted stacked empty trays on the unloading trolley and moves the unloading trolley away.

[0018] The beneficial effects of the present invention are: the device of the present application can be docked with a mobile cart, and the stator cores of multiple trays can be loaded at a time, which can be fully automated and have the function of automatically adjusting the angle of the stator cores. It has good integrity, reasonable and compact spatial layout, high space utilization, and can greatly reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work:

[0020] Figure 1 It is a structural schematic diagram of a stator core automatic feeding machine of a preferred embodiment of the present invention;

[0021] Figure 2 yes Figure 1 The enlarged schematic diagram at A in the middle;

[0022] Figure 3 It is a top view of the stator core automatic feeding machine of a preferred embodiment of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the stator core automatic feeding machine from another perspective of a preferred embodiment of the present invention;

[0024] Figure 5 yes Figure 4 The enlarged schematic diagram of point B in the middle;

[0025] Figure 6 yes Figure 4Enlarged schematic diagram of point C in the middle (the support plate and the slider are not connected). DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0027] The stator core automatic feeding machine of the preferred embodiment of the present invention is as follows: Figure 1 See also Figure 2-Figure 6 , including a frame, the frame including a lower platform 1, an upper platform 2 and a longitudinal frame 3 connecting the lower platform and the upper platform; the lower platform 1 is formed with two first slots 10 for parking the trolley 5 side by side, the upper platform 2 is formed with two second slots 20 that are opposite to the first slots 10 one by one, and a clamping and transverse shifting assembly 21 located on the periphery of the two second slots 20; the lower platform 1 is provided with two sets of locking units 11 for locking the trolley parked on the first slots 10, and the longitudinal frame 3 is provided with two sets of lifting units 30 for lifting the stacked material trays 4 on the trolley 5 as a whole; the upper platform 2 is provided with a crossbeam 22 located above the second slots 20, and the crossbeam 22 is provided with a transverse sliding arrangement There is a material transfer robot 23 and a transverse movement unit 24 for driving the material transfer robot to slide, and the movement trajectory of the material transfer robot 23 is perpendicular to the arrangement direction of the two first slots 10; the upper platform 2 is provided with a visual inspection unit 25 and a stator core fixture 26 distributed along the movement trajectory of the material transfer robot, and the upper platform 2 is provided with a conveyor belt 27 for transferring the stator core fixture; the clamping transverse movement component 21 is used to clamp the material tray 4 and transfer it from one second slot 20 to another second slot 20; the stator core automatic feeding machine also includes a control host, a first position sensor 6 for detecting whether the trolley is parked in place in the first slot, and a second position sensor 7 for detecting whether the material tray rises to the clamping position;

[0028] A loading trolley (a trolley used for loading is defined as a loading trolley) loaded with stacked material trays 4 with stator cores arranged in a row enters one of the first slots 10, and the corresponding first position sensor 6 senses and sends a signal to control the locking unit 11 to lock the loading trolley; an empty unloading trolley (a trolley used for unloading is defined as an unloading trolley) enters another first slot 10, and the corresponding first position sensor senses and sends a signal to control the locking unit 11 to lock the unloading trolley;

[0029] The lifting unit 30 corresponding to the loading trolley lifts the stacked tray 4 on the loading trolley, and stops the lifting action when the second position sensor 7 senses the tray; the clamping and transverse moving assembly 21 clamps the tray 4 and transversely moves the tray 4 to just below the material transfer robot 23, and the material transfer robot takes out the stator cores on the tray one by one, and transfers the stator cores to the visual inspection unit for visual photography to determine the angle of the stator core. The material transfer robot adjusts the angle of the stator core and puts it into the stator core fixture; the tray with the material taken out is sent to just above the unloading trolley, and the lifting unit 30 corresponding to the unloading trolley lifts the tray; the lifting unit 30 corresponding to the loading trolley drives the tray to rise to a set height;

[0030] Repeat the previous operation until all the stator cores in the trays on the loading trolley are taken out, the locking unit 11 unlocks the loading trolley, and the loading trolley is moved away; the lifting unit corresponding to the unloading trolley places the lifted stacked empty trays on the unloading trolley, and the unloading trolley is moved away;

[0031] The device of the present application can be docked with a mobile cart, and stator cores of multiple trays can be loaded at a time. It can be fully automated and has the function of automatically adjusting the angle of the stator core. It has good integrity, reasonable and compact spatial layout, high space utilization, and can significantly reduce labor costs.

[0032] Preferably, the trolley 5 includes a base plate 50, a plurality of support platforms 51 are provided on the upper surface of the base plate 50, and a plurality of walking wheels 52 are provided on the lower surface of the base plate 50; a limiting column 53 is provided on the support platform 51, and the plurality of limiting columns 53 enclose a positioning cavity for positioning the material tray 4; the plurality of support platforms 51 jointly support the lowest material tray 4, so that there is a distance between the material tray 4 and the base plate 50; the structure is simple, the material tray 4 is easy to stack, the operation stability is good, and the cost is low.

[0033] Preferably, the lifting unit 30 includes a lifting plate 300 with a corresponding extension spacing and a screw assembly that drives the lifting plate to lift; the screw assembly is arranged on the longitudinal frame 3; the lifting plate 300 is composed of two longitudinal vertical plates 3000 and a connecting plate 3001 connecting the two vertical plates; the lower surface of the vertical plate 3000 is provided with an inclined surface 3002, and the front side of the bottom plate 50 is provided with an avoidance groove 500 that is opposite to the inclined surface 3002; the lifting plate 300 adopts this structural design, which can better ensure the strength and provide greater supporting force for the material tray 4; in order to reduce the dead weight of the lifting plate 300, some weight-reducing grooves can be opened on the vertical plate 3000.

[0034] Preferably, guide bars 12 are provided on both sides of the first slot 10 , and the front end of the guide bars 12 is provided with guide slopes 120 cooperating with the outer surface of the support platform 51 , so as to facilitate guiding the trolley into the first slot 10 .

[0035] Preferably, positioning seats 54 are provided on both sides of the front end of the trolley 5, and positioning grooves 540 are provided on the upper surface of the positioning seats 54; the locking unit 11 includes a positioning column 110 cooperating with the positioning groove 540 and a driving cylinder 111 driving the positioning column; the structure is simple and has a good locking effect on the trolley.

[0036] Preferably, the material transfer robot 23 includes a Z-axis moving unit 230, and a rotating motor 231 and a rotating bearing 232 are fixed to the movable end of the Z-axis moving unit 230. A coupling 233 is rotatably arranged on the rotating bearing 232. One end of the coupling 233 is connected to the movable end of the rotating motor 231, and the other end is connected to a clamping cylinder 234. The movable end of the clamping cylinder 234 is provided with a first support plate 235 and a second support plate 236. During operation, the first support plate 235 and the second support plate 236 extend into the stator core to provide an outward supporting force to the inner hole of the stator core to fix the stator core. The structure is simple, and the stator core can be stably fixed, lifted, and rotated to adjust the angle.

[0037] Preferably, the clamping and transverse movement assembly 21 includes a first slide rail 210, a first conveyor belt 211 located directly above the first slide rail 210, a second slide rail 212 and a second conveyor belt 213 located directly above the second slide rail 212, and sliding seats 214 are slidably arranged on the first slide rail 210 and the second slide rail 212, and the sliding seats 214 are provided with a clamping unit 215 that presses against the end surface of the material tray 4; the two sliding seats 214 are respectively driven to move by the first conveyor belt 211 and the second conveyor belt 213; the clamping and transverse movement assembly 21 also includes a synchronous shaft 216 that synchronously drives the first conveyor belt and the second conveyor belt to operate, and a servo motor 217 that drives the synchronous shaft; the synchronous shaft 216 is driven to rotate by the servo motor 217, thereby driving the first conveyor belt 211 and the second conveyor belt 213 to operate synchronously, thereby driving the two clamping units 215 to move, thereby ensuring the consistency of the clamping movement of the two ends of the material tray.

[0038] Preferably, the sliding seat 214 includes a first slider 2140 and a second slider 2141; the pressing unit 215 includes a mounting plate 2150, and support plates 2151 are respectively provided at both ends of the mounting plate 2150, and the two support plates 2151 are respectively connected to the first slider 2140 and the second slider 2141; the support plate 2151 is provided with a slot 2152 for the first conveyor belt or the second conveyor belt to pass through; a transverse pressing cylinder 2153 is installed on the upper surface of the mounting plate 2150, and a pressing plate 2154 is transversely penetrated on the mounting plate 2150, and the end of the pressing plate 2154 is connected to the pressing plate 2154 through a vertical plate 2155 The movable end of the cylinder 2153 is connected; the lower surface of the mounting plate 2150 is fixed with a clamping plate 2156 for clamping the first conveyor belt or the second conveyor belt by a plurality of screws, and the clamping plate 2154 is provided with a positioning groove 2157 which corresponds to the screw one by one; the material tray 4 is provided with a clamping groove 40 corresponding to the clamping plate 2154; the integrity is good, and the screw plays the role of installing the clamping plate 2156 to clamp and fix the first conveyor belt or the second conveyor belt, and also cooperates with the positioning groove 2157 to move and position the clamping plate 2154. Combined with the sliding design of the sliding seat 214, the reliability of the clamping of the material tray can be well guaranteed.

[0039] A method for applying a stator core automatic feeding machine, using the stator core automatic feeding machine as described above, wherein the method comprises the steps of:

[0040] The loading trolley loaded with stacked material trays of stator cores enters one of the first slots, and the corresponding first position sensor senses and sends a signal to control the locking unit to lock the loading trolley; the empty unloading trolley enters another first slot, and the corresponding first position sensor senses and sends a signal to control the locking unit to lock the unloading trolley;

[0041] The lifting unit corresponding to the loading trolley lifts the stacked trays on the loading trolley, and stops the lifting action when the second position sensor senses the trays; the clamping and transverse moving assembly clamps the trays and transversely moves the trays to the bottom of the material transfer robot, and the material transfer robot takes out the stator cores on the trays one by one, and transfers the stator cores to the visual inspection unit for visual photography to determine the angle of the stator cores. The material transfer robot adjusts the angle of the stator cores and puts them into the stator core fixture; the tray with finished materials is sent to the top of the unloading trolley, and the lifting unit corresponding to the unloading trolley lifts the tray; the lifting unit corresponding to the loading trolley drives the tray with finished materials to rise to a set height;

[0042] Repeat the previous step until all the stator cores in the trays on the loading trolley are taken out. The locking unit unlocks the loading trolley and moves the loading trolley away. The lifting unit corresponding to the unloading trolley places the lifted stacked empty trays on the unloading trolley and moves the unloading trolley away.

[0043] By applying the method of the present application, docking with a mobile cart can be completed, and stator cores of multiple trays can be loaded at a time. It can be fully automated and has the function of automatically adjusting the angle of the stator core. It has good integrity, reasonable and compact spatial layout, high space utilization, and can greatly reduce labor costs.

[0044] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A stator core automatic feeding machine, comprising a frame, characterized in that: The frame includes a lower platform, an upper platform and a longitudinal frame; the lower platform is formed with two first slots for parking trolleys side by side, and the upper platform is formed with two second slots that are directly opposite to the first slots and a clamping and transverse movement component located at the periphery of the two second slots; the lower platform is provided with two groups of locking units for locking the trolleys parked in the first slots, and the longitudinal frame is provided with two groups of lifting units for lifting the stacked material trays on the trolley as a whole; the upper platform is provided with a crossbeam located above the second slot, and a material transfer robot and a material transfer machine that drives the material transfer robot are provided on the crossbeam for transverse sliding. A lateral movement unit for the sliding of the manipulator, the moving trajectory of the material transferring manipulator is perpendicular to the arrangement direction of the two first slots; the upper platform is provided with a visual inspection unit and a stator core fixture distributed along the moving trajectory of the material transferring manipulator, and the upper platform is provided with a conveyor belt for transferring the stator core fixture; the clamping lateral movement component is used to clamp the material tray and transfer it from one second slot to another second slot; the stator core automatic loader also includes a control host, a first position sensor for detecting whether the trolley is parked in place in the first slot, and a second position sensor for detecting whether the material tray rises to the clamping position.

2. The automatic stator core feeding machine according to claim 1, characterized in that: The trolley comprises a bottom plate, a plurality of support platforms are arranged on the upper surface of the bottom plate, and a plurality of walking wheels are arranged on the lower surface of the bottom plate; a limiting column is arranged on the support platform, and a plurality of the limiting columns enclose a positioning cavity for positioning the material tray; The plurality of support platforms jointly support the lowest material tray, so that there is a distance between the material tray and the bottom plate.

3. The automatic stator core feeding machine according to claim 2, characterized in that: The lifting unit includes a lifting plate extending into the spacing and a screw assembly driving the lifting plate to lift; the screw assembly is arranged on the longitudinal frame; the lifting plate is composed of two longitudinal vertical plates and a connecting plate connecting the two vertical plates; the lower surface of the vertical plate is provided with an inclined surface, and the front side of the bottom plate is provided with an avoidance groove facing the inclined surface.

4. The automatic stator core feeding machine according to claim 2, characterized in that: Guide bars are arranged on both sides of the first slot, and the front end of the guide bar is provided with a guide inclined surface cooperating with the outer surface of the support platform.

5. The automatic stator core feeding machine according to claim 1, characterized in that: Both sides of the front end of the trolley are provided with positioning seats, and the upper surface of the positioning seats is provided with positioning grooves; the locking unit includes a positioning column matched with the positioning groove and a driving cylinder driving the positioning column.

6. The automatic stator core feeding machine according to claim 1, characterized in that: The material transfer robot includes a Z-axis moving unit, a rotating motor and a rotating bearing are fixed to the movable end of the Z-axis moving unit, a coupling is rotatably arranged on the rotating bearing, one end of the coupling is connected to the movable end of the rotating motor, and the other end is connected to a clamping cylinder, and a first support plate and a second support plate are arranged on the movable end of the clamping cylinder; during operation, the first support plate and the second support plate extend into the stator core to provide an outward supporting force to the inner hole of the stator core to fix the stator core.

7. The automatic stator core feeding machine according to claim 1, characterized in that: The clamping and transverse movement assembly includes a first slide rail, a first conveyor belt located directly above the first slide rail, a second slide rail, and a second conveyor belt located directly above the second slide rail. The first slide rail and the second slide rail are both slidably provided with sliding seats, and the sliding seats are provided with a clamping unit for clamping against the end surface of the material tray; the two sliding seats are respectively driven to move by the first conveyor belt and the second conveyor belt; the clamping and transverse movement assembly also includes a synchronous shaft for synchronously driving the first conveyor belt and the second conveyor belt to run, and a servo motor driving the synchronous shaft.

8. The automatic stator core feeding machine according to claim 7, characterized in that: The sliding seat includes a first slider and a second slider; the clamping unit includes a mounting plate, and support plates are respectively provided at both ends of the mounting plate, and the two support plates are respectively connected to the first slider and the second slider; the support plate is provided with a slot for the first conveyor belt or the second conveyor belt to pass through.

9. The automatic stator core feeding machine according to claim 8, characterized in that: A transverse clamping cylinder is installed on the upper surface of the mounting plate, a clamping plate is transversely passed through the mounting plate, and the end of the clamping plate is connected to the movable end of the clamping cylinder through a vertical plate; a clamping plate for clamping the first conveyor belt or the second conveyor belt is fixed to the lower surface of the mounting plate through a plurality of screws, and a positioning groove corresponding to the screw is opened on the clamping plate; a clamping groove corresponding to the clamping plate is provided on the material tray.

10. An application method of a stator core automatic feeder, using the stator core automatic feeder as claimed in any one of claims 1 to 9, characterized in that: The method comprises the steps of: The loading trolley loaded with stacked material trays of stator cores enters one of the first slots, and the corresponding first position sensor senses and sends a signal to control the locking unit to lock the loading trolley; the empty unloading trolley enters another first slot, and the corresponding first position sensor senses and sends a signal to control the locking unit to lock the unloading trolley; The lifting unit corresponding to the loading trolley lifts the stacked trays on the loading trolley, and stops the lifting action when the second position sensor senses the trays; The clamping and transverse moving assembly clamps the material tray and transversely moves the material tray to the bottom of the material transfer robot. The material transfer robot takes out the stator cores on the material tray one by one, and transfers the stator cores to the visual inspection unit for visual photography to determine the angle of the stator cores. The material transfer robot adjusts the angle of the stator cores and puts them into the stator core fixture. The material tray after taking out the material is sent to the top of the unloading trolley, and the lifting unit corresponding to the unloading trolley lifts the material tray. The lifting unit corresponding to the loading trolley drives the material tray to rise to a set height. Repeat the previous step until all the stator cores in the trays on the loading trolley are taken out. The locking unit unlocks the loading trolley and moves the loading trolley away. The lifting unit corresponding to the unloading trolley places the lifted stacked empty trays on the unloading trolley and moves the unloading trolley away.

Images