Automatic stator trimming machine and trimming method thereof

Abstract

The invention relates to an automatic stator wire shearing machine and a wire shearing method thereof. The automatic stator wire shearing machine comprises a machining table, and a product conveying belt, an automatic wire shearing station, a first manipulator, a visual inspection station and a second manipulator are arranged on the machining table; a product jig, a transverse moving unit, a wire arranging unit and a wire cutting unit are arranged on the automatic wire cutting station; the wire arranging unit comprises a wire arranging frame, a mounting seat and a cylinder for driving the mounting seat are longitudinally arranged on the wire arranging frame in a sliding manner, and a wire arranging jig is arranged on the lower surface of the mounting seat; the wire arranging jig comprises a positioning column, a rotating sheet and a limiting step, a wire clamping unit is arranged on the rotating sheet, the wire clamping unit comprises a wire clamping head, an infrared transmitting tube and an infrared receiving tube, and a control panel and a rotating motor are arranged on the mounting seat; by means of the method, positioning-free wire arranging operation of the stator can be achieved, the method can be suitable for stator machining of various different numbers of wire clamping grooves, the structure is greatly simplified, the automation degree is high, and automatic wire arranging and trimming operation of the stator can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor processing, and more particularly to a stator automatic wire trimming machine and a wire trimming method thereof. Background Art

[0002] The stator is usually composed of a stator core and a coil wound on the stator core. After the stator core is wound by a winding machine, multiple joints are usually left. At this time, manual intervention is required to further press the wire ends into the wire slots on the stator and then shorten them with pliers. However, since this step involves manual operation, it will affect the entire automated production line and the consistency of the products, and the labor load of the workers is also large. The existing wire management structure requires precise positioning of the stator and the design of the fixture to ensure reliable positioning before the wire management operation can be performed. This involves the coordination of more components, increases the overall cost of the equipment, and consumes more energy. A stator automatic wire cutting machine and a wire cutting method thereof that do not require additional positioning components and positioning fixtures for this step are needed. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a stator automatic wire trimmer and a wire trimming method of the stator automatic wire trimmer 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 automatic wire trimming machine is constructed, which includes a processing table, on which a product conveyor belt and an automatic wire trimming station located on one side of the product conveyor belt, a first manipulator cooperating with the automatic wire trimming station, a visual inspection station and a second manipulator cooperating with the visual inspection station are arranged; the automatic wire trimming station is provided with a product fixture, a lateral movement unit for driving the product fixture to move horizontally, a wire management unit for pressing and holding the product on the product fixture to manage the wires, and a wire trimming unit located downstream of the wire management unit; the wire management unit includes a wire management frame, on which a mounting seat and a cylinder for driving the mounting seat are longitudinally slidably arranged, A wire management fixture is arranged on the lower surface of the mounting seat; the wire management fixture comprises a positioning column extending into the inner hole of the stator for positioning, a rotating plate arranged around the outside of the positioning column, and a C-shaped limiting step semi-surrounding the rotating plate, and the rotating plate is provided with a plurality of wire clamping units corresponding to the wire clamping grooves one by one, and the wire clamping unit comprises a cross-shaped wire clamping head and an infrared transmitting tube and an infrared receiving tube located on both sides of the cross-shaped wire clamping head, and the mounting seat is provided with a control board for receiving the signal of the infrared receiving tube and a rotating motor for driving the rotating plate to rotate, and the rotating motor is electrically connected to the control board and controlled by it.

[0006] The stator automatic wire trimmer described in the present invention, wherein the wire trimming unit includes a wire trimming seat and a lifting unit for driving the wire trimming seat to rise and fall; the wire trimming seat is provided with a mounting plate and a deflection motor for driving the mounting plate to rotate; the mounting plate is provided with pneumatic scissors and an air blowing head cooperating with the pneumatic scissors; when trimming the wire, the deflection motor is controlled by the control panel to drive the pneumatic scissors to move one by one to the positions corresponding to the plurality of thread clamping heads to trim the wire.

[0007] The stator automatic wire trimmer described in the present invention, wherein the transverse movement unit includes a base plate, two side-by-side transverse movement track bars are arranged on the base plate, the product fixture is slidably arranged on the two transverse movement track bars, and a screw rod assembly that drives the product fixture to slide is arranged on the base plate.

[0008] The stator automatic wire trimming machine described in the present invention, wherein the screw rod assembly is located on the outside of any of the transverse track bars and a cross bar is provided at the movable end of the screw rod assembly, and the length direction of the cross bar is perpendicular to the sliding direction of the product fixture; a slot for the cross bar to extend into is provided on the product fixture; a material receiving hopper corresponding to the wire trimming unit is provided on the bottom plate, and the material receiving hopper is located between the two transverse track bars.

[0009] The stator automatic wire trimmer described in the present invention, wherein an installation chamber is provided in the mounting seat, the rotating plate is rotatably connected to the positioning column, an outer gear ring is provided on the upper surface edge of the rotating plate, the outer gear ring is located in the installation chamber, and a driving gear meshing with the outer gear ring is provided at the movable end of the rotating motor.

[0010] The stator automatic wire trimmer of the present invention, wherein the control board is arranged on the upper surface of the rotating plate, and the rotating motor is invertedly installed on the mounting seat with the movable end extending into the mounting chamber.

[0011] In the stator automatic wire trimmer of the present invention, a through-hole slip ring for routing the rotating piece is provided on the positioning column, and the rotating motor is connected to a terminal end of the through-hole slip ring.

[0012] The stator automatic wire trimming machine described in the present invention, wherein the visual inspection station is provided with a workpiece placement seat, an annular light source located above the workpiece placement seat, and a camera unit located above the annular light source.

[0013] The stator automatic wire trimming machine described in the present invention, wherein a plurality of NG stations are arranged on the processing table, and the visual inspection station and the plurality of NG stations are distributed side by side along the material moving direction of the second manipulator.

[0014] A method for trimming a stator automatic wire trimmer, using the stator automatic wire trimmer as described above, wherein the method comprises the steps of:

[0015] The stator is transported by the product conveyor belt;

[0016] When the stator reaches the material picking position of the first manipulator, the first manipulator grabs the stator and places it on the product fixture;

[0017] The lateral movement unit drives the product jig to move below the wire management jig;

[0018] The mounting seat moves downward for a first distance, the positioning column extends into the inner hole of the stator for positioning, the rotating motor drives the rotating piece to rotate, and the infrared transmitting tube and the infrared receiving tube operate;

[0019] When the multiple infrared receiving tubes cannot receive signals, the multiple wire clamping heads arrive at the position where they are directly opposite to the multiple wire clamping slots on the stator, and the control board controls the rotating motor to stop moving;

[0020] The mounting seat moves downward for a second distance, and the wire clamping head extends into the wire clamping groove to compress the internal wire ends;

[0021] The mounting seat moves upward to reset, and the lateral movement unit drives the product fixture to move to the bottom of the thread trimming unit, and the thread trimming unit performs thread trimming;

[0022] The traverse unit drives the product fixture to move to the initial position, and the first manipulator moves the stator back to the product conveyor belt;

[0023] When the product conveyor belt transports the stator to the material picking position of the second manipulator, the second manipulator grabs the stator and moves it to the visual inspection station for visual inspection;

[0024] The second robot moves the qualified stators back to the product conveyor belt, and the unqualified stators are placed in the NG station by the second robot.

[0025] The beneficial effects of the present invention are as follows: the stator is transported by the product conveyor belt; when the stator reaches the material picking position of the first manipulator, the first manipulator grabs the stator and places it on the product fixture; the transverse movement unit drives the product fixture to move to the bottom of the wire management fixture; the mounting seat descends a first distance, the positioning column extends into the inner hole of the stator for positioning, the rotating motor drives the rotating piece to rotate, and the infrared transmitting tube and the infrared receiving tube operate; when multiple infrared receiving tubes cannot receive signals, at this time, multiple wire clamping heads arrive at the position facing the multiple wire clamping grooves on the stator one by one, and the control board controls the rotating motor to stop moving; the mounting seat descends a second distance, and the wire clamping heads extend into the wire clamping grooves to press the internal wire heads; the mounting seat resets upward, and the transverse movement unit drives The product fixture moves to the bottom of the wire trimming unit, and the wire trimming unit performs wire trimming; the transverse movement unit drives the product fixture to move to the initial position, and the first manipulator moves the stator back to the product conveyor belt; when the product conveyor belt transports the stator to the material picking position of the second manipulator, the second manipulator grabs the stator and moves it to the visual inspection station for visual inspection; the stator that passes the inspection is moved back to the product conveyor belt by the second manipulator, and the stator that fails the inspection is placed in the NG station by the second manipulator; by applying the method of the present application, the non-positioning wire management operation of the stator can be realized, and it can be applicable to the processing of stators with a variety of different numbers of wire slots, greatly simplifying the structure, and having a high degree of automation, and can realize automatic wire management and wire trimming operations of the stator. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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:

[0027] Figure 1 It is a structural schematic diagram of a stator automatic wire trimmer of a preferred embodiment of the present invention;

[0028] Figure 2 yes Figure 1 The enlarged schematic diagram at A in the middle;

[0029] Figure 3 This is a schematic diagram of the structure of a wire-making fixture for an automatic stator wire trimmer according to a preferred embodiment of the present invention;

[0030] Figure 4 It is a cross-sectional view of a wire-making fixture of a stator automatic wire trimmer according to a preferred embodiment of the present invention;

[0031] Figure 5 1. It is a structural schematic diagram of a thread trimming unit of a stator automatic thread trimming machine according to a preferred embodiment of the present invention;

[0032] Figure 6It is a flow chart of the thread trimming method of the stator automatic thread trimmer according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0033] 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.

[0034] The stator automatic wire cutting machine of the preferred embodiment of the present invention is as follows Figure 1 See also Figure 2-Figure 5 , including a processing table, on which a product conveyor belt 1 and an automatic wire trimming station located on one side of the product conveyor belt 1, a first manipulator 3 cooperating with the automatic wire trimming station, a visual inspection station and a second manipulator 5 cooperating with the visual inspection station are arranged; the automatic wire trimming station is provided with a product fixture 20, a lateral movement unit 21 for driving the product fixture 20 to move horizontally, a wire management unit 22 for pressing and holding the product on the product fixture 20 and a wire trimming unit 23 located downstream of the wire management unit 22;

[0035] The wire management unit 22 includes a wire management frame 220, on which a mounting seat 221 and a cylinder 222 for driving the mounting seat 221 are longitudinally slidably arranged, and a wire management fixture 223 is arranged on the lower surface of the mounting seat 221; the wire management fixture 223 includes a positioning column 2230 extending into the inner hole of the stator for positioning, a rotating sheet 2231 arranged around the outside of the positioning column 2230, and a C-shaped limiting step 2232 semi-enclosing the rotating sheet 2231 (for downward limiting, positioning the outer contour of the stator, and also for the rotating sheet 2231 and its upper portion) The rotating piece 2231 is provided with a plurality of line clamping units 2233 corresponding to the line clamping slots one by one, and the line clamping unit 2233 includes a cross-shaped line clamping head 22330 and an infrared emitting tube 22331 and an infrared receiving tube 22332 located on both sides of the cross-shaped line clamping head 22330. The mounting seat 221 is provided with a control board 2210 that receives the signal of the infrared receiving tube 22332 and a rotating motor 2211 that drives the rotating piece 2231 to rotate. The rotating motor 2211 is electrically connected to the control board 2210 and is controlled by it;

[0036] The stator is transported by the product conveyor belt 1; when the stator reaches the material picking position of the first manipulator 3, the first manipulator 3 grabs the stator and places it on the product fixture 20; the lateral movement unit 21 drives the product fixture 20 to move to the bottom of the wire management fixture 223; the mounting seat 221 moves downward for a first distance, the positioning column 2230 extends into the inner hole of the stator for positioning, the rotating motor 2211 drives the rotating sheet 2231 to rotate, and the infrared transmitting tube 22331 and the infrared receiving tube 22332 operate (the infrared transmitting tube 22331 emits infrared rays obliquely toward the stator). , the infrared receiving tube 22332 receives the reflected infrared light obliquely); when the multiple infrared receiving tubes 22332 receive no signal (the specific state is: when reaching the edge of the wire clamping slot, the multiple infrared receiving tubes will receive the reflected infrared light, and when entering the wire clamping slot, the multiple infrared receiving tubes will lose the induction of infrared light at the same time, that is, it can be determined that the position of the wire clamping slot has been found), at this time, the multiple wire clamping heads arrive at the position facing the multiple wire clamping slots on the stator one by one, and the control board 2210 controls the rotating motor 2211 to stop moving;

[0037] The mounting seat 221 moves downward for a second distance, and the thread clamping head 22330 extends into the thread clamping groove to compress the internal thread head; the mounting seat 221 moves upward to reset, and the lateral movement unit 21 drives the product fixture 20 to move to the bottom of the thread trimming unit 23, and the thread trimming unit 23 performs thread trimming;

[0038] The lateral movement unit 21 drives the product fixture 20 to move to the initial position, and the first manipulator 3 moves the stator back to the product conveyor belt 1; when the product conveyor belt 1 transports the stator to the material picking position of the second manipulator 5, the second manipulator 5 grabs the stator and moves it to the visual inspection station for visual inspection; the stator that passes the inspection is moved back to the product conveyor belt 1 by the second manipulator, and the stator that fails the inspection is placed in the NG station by the second manipulator;

[0039] By applying the method of the present application, the non-positioning wire-managing operation of the stator can be realized, and it can be applicable to the processing of stators with a variety of different numbers of wire slots, greatly simplifying the structure, and having a high degree of automation, and can realize automatic wire-managing and wire-cutting operations of the stator.

[0040] Preferably, the wire trimming unit 23 includes a wire trimming seat 230 and a lifting unit 231 (which can be implemented by a cylinder, a screw rod, etc.) for driving the wire trimming seat 230 to rise and fall; the wire trimming seat 230 is provided with a mounting plate 2300 and a deflection motor 2301 for driving the mounting plate to rotate; the mounting plate 2300 is provided with pneumatic scissors 2302 and a blowing head 2303 (for cooperating with the pneumatic scissors to blow off the cut wire ends) that cooperate with the pneumatic scissors; when trimming the wire, the deflection motor 2301 is controlled by the control board 2210 to drive the pneumatic scissors 2302 to move one by one to the positions corresponding to the plurality of wire clamping heads 22330 to trim the wire;

[0041] After the control board 2210 obtains the position of the stator by means of the cooperation between the infrared transmitting tube 22331 and the infrared receiving tube 22332, the pneumatic scissors 2302 will be adjusted to cut the wire in accordance with the position coordinate information, thereby realizing precise thread cutting operation without the cooperation of positioning components.

[0042] Preferably, the transverse movement unit 21 includes a bottom plate 210, on which two transverse movement rails 211 are arranged side by side, the product fixture 20 is slidably arranged on the two transverse movement rails 211, and a screw assembly 212 for driving the product fixture 20 to slide is arranged on the bottom plate 210; the screw assembly 212 is located on the outside of any transverse movement rail 211 and a cross bar 213 is arranged at the movable end of the screw assembly 212, and the length direction of the cross bar 213 is perpendicular to the sliding direction of the product fixture 20; the product fixture 20 is provided with a slot 200 for the cross bar 213 to extend into; a receiving hopper 2100 corresponding to the thread cutting unit 23 is arranged on the bottom plate 210, and the receiving hopper 2100 is located between the two transverse movement rails 211;

[0043] During operation, the screw assembly 212 drives the cross bar 213 to move, thereby driving the product fixture 20 to slide on the two transverse track bars 211; adopting this design method, the transverse driving part can avoid the lower area of ​​the product fixture, so that after the shearing is completed, the blown-off thread ends can directly fall into the receiving hopper 2100.

[0044] Preferably, an installation chamber is provided in the mounting seat 221, the rotating piece 2231 is rotatably connected with the positioning column 2230, an outer gear ring 2234 is provided on the edge of the upper surface of the rotating piece 2231, the outer gear ring 2234 is located in the installation chamber, and the movable end of the rotating motor 2211 is provided with a driving gear 2212 meshing with the outer gear ring; the control board 2210 is provided on the upper surface of the rotating piece 2231, and the rotating motor 2211 is invertedly installed on the mounting seat 221 and the movable end extends into the installation chamber; a through-hole slip ring 2235 for wiring of the rotating piece 2231 is provided on the positioning column 2230, and the rotating motor 2211 is connected to the terminal end of the through-hole slip ring 2235; the structure is reasonable and compact, and can well complete the driving rotation, wiring and signal transmission of the rotating piece 2231, and at the same time has good anti-interference performance.

[0045] Preferably, the visual inspection station is provided with a workpiece placement seat 40, an annular light source 41 located above the workpiece placement seat 40, and a photographing unit 42 located above the annular light source; the structure is simple and the photographing reliability is good.

[0046] Preferably, a plurality of NG stations 6 are provided on the processing table, and the visual inspection station and the plurality of NG stations are distributed side by side along the material moving direction of the second manipulator 5, so as to facilitate visual inspection and NG unloading.

[0047] A stator automatic wire trimming machine wire trimming method, using the stator automatic wire trimming machine as described above, such as Figure 6 As shown, the method comprises the steps of:

[0048] S01: The stator is transported by the product conveyor belt;

[0049] S02: When the stator reaches the material picking position of the first manipulator, the first manipulator grabs the stator and places it on the product fixture;

[0050] S03: The lateral movement unit drives the product fixture to move to the bottom of the line management fixture;

[0051] S04: The mounting seat moves downward for a first distance, the positioning column extends into the inner hole of the stator for positioning, the rotating motor drives the rotating piece to rotate, and the infrared transmitting tube and the infrared receiving tube operate;

[0052] S05: When the multiple infrared receiving tubes cannot receive any signal, the multiple wire clamping heads are aligned with the multiple wire clamping slots on the stator, and the control board controls the rotating motor to stop moving;

[0053] S06: The mounting seat moves downward for a second distance, and the wire clamping head extends into the wire clamping groove to compress the internal wire ends;

[0054] S07: The mounting seat moves upward and resets, and the lateral movement unit drives the product fixture to move to the bottom of the thread trimming unit, and the thread trimming unit performs thread trimming;

[0055] S08: The lateral movement unit drives the product fixture to move to the initial position, and the first manipulator moves the stator back to the product conveyor belt;

[0056] S09: When the product conveyor belt transports the stator to the material picking position of the second manipulator, the second manipulator grabs the stator and moves it to the visual inspection station for visual inspection;

[0057] S10: The second robot moves the qualified stators back to the product conveyor belt, and the unqualified stators are placed in the NG station by the second robot;

[0058] By applying the method of the present application, the non-positioning wire-managing operation of the stator can be realized, and it can be applicable to the processing of stators with a variety of different numbers of wire slots, greatly simplifying the structure, and having a high degree of automation, and can realize automatic wire-managing and wire-cutting operations of the stator.

[0059] 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 automatic wire cutting machine, characterized in that: The invention comprises a processing table, on which a product conveyor belt and an automatic wire trimming station located on one side of the product conveyor belt, a first manipulator cooperating with the automatic wire trimming station, a visual inspection station and a second manipulator cooperating with the visual inspection station are arranged; the automatic wire trimming station is provided with a product fixture, a lateral movement unit for driving the product fixture to move horizontally, a wire management unit for pressing and holding the product on the product fixture to manage the wires, and a wire trimming unit located downstream of the wire management unit; the wire management unit comprises a wire management frame, on which a mounting seat and a cylinder for driving the mounting seat are longitudinally slidably arranged, and the lower surface of the mounting seat A wire management fixture is arranged on the surface; the wire management fixture includes a positioning column extending into the inner hole of the stator for positioning, a rotating plate arranged around the outside of the positioning column, and a C-shaped limiting step semi-surrounding the rotating plate, and the rotating plate is provided with a plurality of wire clamping units corresponding to the wire clamping grooves one by one, and the wire clamping unit includes a cross-shaped wire clamping head and an infrared transmitting tube and an infrared receiving tube located on both sides of the cross-shaped wire clamping head. A control board that receives the signal of the infrared receiving tube and a rotating motor that drives the rotating plate to rotate are arranged on the mounting seat, and the rotating motor is electrically connected to the control board and controlled by it.

2. The stator automatic wire trimming machine according to claim 1, characterized in that: The thread trimming unit includes a thread trimming seat and a lifting unit for driving the thread trimming seat to rise and fall; the thread trimming seat is provided with a mounting plate and a deflection motor for driving the mounting plate to rotate; the mounting plate is provided with pneumatic scissors and an air blowing head cooperating with the pneumatic scissors; when trimming the thread, the deflection motor is controlled by the control panel to drive the pneumatic scissors to move one by one to the positions corresponding to the multiple thread clamping heads to trim the thread.

3. The stator automatic wire trimming machine according to claim 2, characterized in that: The transverse movement unit comprises a bottom plate, on which two side-by-side transverse movement track bars are arranged, on which the product fixture is slidably arranged, and on which a screw rod assembly for driving the product fixture to slide is arranged.

4. The stator automatic wire trimming machine according to claim 3, characterized in that: The screw rod assembly is located on the outside of any of the transverse track bars and a cross bar is provided at the movable end of the screw rod assembly, and the length direction of the cross bar is perpendicular to the sliding direction of the product fixture; a slot for the cross bar to extend into is provided on the product fixture; a material receiving hopper corresponding to the wire cutting unit is provided on the bottom plate, and the material receiving hopper is located between the two transverse track bars.

5. The stator automatic wire trimming machine according to claim 1, characterized in that: An installation chamber is provided in the installation seat, the rotating plate is rotatably connected to the positioning column, an outer gear ring is provided on the upper surface edge of the rotating plate, the outer gear ring is located in the installation chamber, and a driving gear meshing with the outer gear ring is provided at the movable end of the rotating motor.

6. The stator automatic wire trimming machine according to claim 5, characterized in that: The control board is arranged on the upper surface of the rotating sheet, and the rotating motor is invertedly mounted on the mounting seat with the movable end extending into the mounting cavity.

7. The stator automatic wire trimming machine according to claim 6, characterized in that: The positioning column is provided with a through-hole slip ring for routing the rotating piece, and the rotating motor is connected to the terminal of the through-hole slip ring.

8. The stator automatic wire trimming machine according to claim 1, characterized in that: The visual inspection station is provided with a workpiece placement seat, an annular light source located above the workpiece placement seat, and a photographing unit located above the annular light source.

9. The stator automatic wire trimming machine according to claim 1, characterized in that: A plurality of NG stations are arranged on the processing table, and the visual inspection station and the plurality of NG stations are distributed side by side along the material moving direction of the second robot.

10. A method for trimming a stator automatic wire trimmer, using the stator automatic wire trimmer as claimed in any one of claims 1 to 9, characterized in that: The method comprises the steps of: The stator is transported by the product conveyor belt; When the stator reaches the material picking position of the first manipulator, the first manipulator grabs the stator and places it on the product fixture; The lateral movement unit drives the product jig to move below the wire management jig; The mounting seat moves downward for a first distance, the positioning column extends into the inner hole of the stator for positioning, the rotating motor drives the rotating piece to rotate, and the infrared transmitting tube and the infrared receiving tube operate; When the multiple infrared receiving tubes cannot receive signals, the multiple wire clamping heads arrive at the position where they are directly opposite to the multiple wire clamping slots on the stator, and the control board controls the rotating motor to stop moving; The mounting seat moves downward for a second distance, and the wire clamping head extends into the wire clamping groove to compress the internal wire ends; The mounting seat moves upward to reset, and the lateral movement unit drives the product fixture to move to the bottom of the thread trimming unit, and the thread trimming unit performs thread trimming; The traverse unit drives the product fixture to move to the initial position, and the first manipulator moves the stator back to the product conveyor belt; When the product conveyor belt transports the stator to the material picking position of the second manipulator, the second manipulator grabs the stator and moves it to the visual inspection station for visual inspection; The second robot moves the qualified stators back to the product conveyor belt, and the unqualified stators are placed in the NG station by the second robot.

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