Motor stator carrying mechanism and method

Abstract

The motor stator carrying mechanism comprises a stator gripper for carrying a stator, the stator gripper comprises a connecting piece, one side of the connecting piece is connected with a stator carrying robot, and the other side of the connecting piece is connected with a power device; the power device comprises a plurality of driving ends, each driving end is connected with one clamping part, when the motor stator is carried, the clamping parts are located in a stator iron core, and the driving ends work to drive the clamping parts to move in the direction away from or close to the inner wall of the stator iron core; the carrying mechanism further comprises a partition plate gripper, the partition plate gripper is used for carrying partition plates for bearing the motor stators, and a visual device is arranged on the connecting plate and used for determining the positions of the motor stators and the partition plates. The automatic feeding and discharging device can be used for the continuous and automatic feeding and discharging process of the stator iron core and the stator assembly in the stator production process, the carrying device is simple in mechanical structure, the procedure of switching back and forth between different grabbing mechanisms can be reduced in the carrying process, and use is convenient.

Description

Technical Field

[0001] This invention belongs to the field of motor stator assembly technology, specifically relating to a flat wire motor stator handling mechanism and handling method. Background Technology

[0002] In the automated manufacturing process of stator assemblies for flat wire motors used in new energy vehicles, the stator core needs to be transported onto the production line pallet. On the production line pallet, the stator core undergoes various forming processes such as paper insertion, twisting, and welding to form the stator assembly. Then, the stator assembly is transported off the production line and transferred to the warehouse.

[0003] The production line layout typically places stator core loading and stator assembly unloading at the same station, using robots to handle the stator loading and unloading. Since the incoming stator cores are packaged in multiple stacks, with partitions between each layer to support the stator cores (usually plastic blister packs), these blister packs must be removed after each layer of cores is picked up before the next layer can be picked. Similarly, stator assembly packaging also requires multiple stacks to maximize container utilization. After one layer of stator assemblies is placed, a material tray partition is placed on top, and then the stator assembly is placed on the material tray partition. These material tray partitions are typically made of heavy steel plates.

[0004] Existing automated designs typically involve gripping the iron core, the blister pack for the iron core, the stator assembly, and the steel support plate for the stator assembly using a gripping mechanism. When gripping multiple materials, it is necessary to switch back and forth between several different gripping mechanisms, and the gripping mechanism structure is relatively complex and the operation steps are cumbersome. Summary of the Invention

[0005] The purpose of this invention is to provide a stator handling mechanism and method for flat wire motors, so as to realize the automated loading and unloading of stator cores and stator assemblies.

[0006] To achieve the above objectives, the technical solution of this invention is as follows:

[0007] A motor stator handling mechanism includes a stator gripper for handling motor stators, which are arranged in multiple layers. Adjacent layers of stators are separated by partitions. The stator gripper includes a connector, one side of which is connected to a stator handling robot, and the other side to a power unit. The power unit includes multiple drive ends, each connected to a clamping part. When handling the motor stator, the clamping part is located inside the stator core, and the drive ends move the clamping part away from or towards the inner wall of the stator core. The handling mechanism also includes a partition gripper for handling the partitions that hold the motor stators. The partition gripper includes a connecting plate connected to a robotic arm. One side of the connecting plate is connected to a plurality of adsorption mechanisms for adsorbing the partitions. A vision device is provided on the connecting plate to determine the position of the motor stator and the partitions.

[0008] Furthermore, the connector is a gun-changing disc, and the power unit is a three-jaw cylinder. The male disc of the gun-changing disc is connected to the stator handling robot, and the female disc of the gun-changing disc is connected to the three-jaw cylinder. Each drive end of the three-jaw cylinder is connected to a clamping part, which includes a support plate. The upper part of each support plate is connected to the drive end, and a clamping block is provided on the lower outer surface of each support plate. The clamping block is generally stepped. When the drive end of the three-jaw cylinder runs to the limit position, the three support plates are fully open and the three clamping blocks are evenly spaced on a circumference. When the drive end of the three-jaw cylinder retracts, the three support plates close.

[0009] Furthermore, the vertical surface of the lower step of the clamping block is a curved surface, which is a contoured surface that mates with the inner wall of the stator core. Wear identification features are provided on the contoured surface, which are marking lines of a different color from the clamping block.

[0010] Furthermore, the vision device is a 3D camera, and the connecting plate is connected to a side plate, with the 3D camera mounted on the side plate.

[0011] Furthermore, the robotic arm is a three-axis truss robotic arm, which is connected to the top surface of the connecting plate and drives the connecting plate to move in the XYZ directions.

[0012] Furthermore, the bottom surface of the connecting plate is provided with one or more slides, and the bottom surface of the slides is provided with grooves. The grooves are used as slide rails and are movably connected to the top ends of multiple connecting rods. The connecting rods can slide back and forth along the slides. The bottom end of each connecting rod is provided with a trumpet-shaped suction cup or an electromagnetic adsorption part. The connecting rod connected to the suction cup is provided with a solenoid valve. The suction cups and electromagnetic adsorption parts are spaced apart below the connecting plate. The suction cups are used to adsorb the vacuum-formed plate that supports the stator core, and the electromagnetic adsorption parts are used to adsorb the material support plate made of steel plate that supports the stator assembly.

[0013] Furthermore, a valve island is provided at the top end of the connecting plate, and the valve island is used to control the opening or closing of the solenoid valve.

[0014] The method for moving a motor stator using the aforementioned motor stator handling mechanism includes the following steps:

[0015] A 3D camera identifies the position coordinates of the stator core at the loading station, and the position coordinates are sent to the stator handling robot.

[0016] After receiving the position coordinates of the stator core, the stator handling robot transports the stator core to the assembly line tray according to the position coordinates. When the 3D camera identifies that there is no stator core on a certain partition, all stator cores on that partition are loaded.

[0017] After all the stator cores on the partition plate have been loaded, the partition plate gripper grabs and moves the partition plate that supports the stator cores.

[0018] After the partition that supports the stator core is removed, the 3D camera identifies the location of the stator core in the next layer. The stator handling robot then moves the stator core to place it on the assembly line tray. The above actions are repeated until all the stator cores on each partition have been moved to the assembly line tray.

[0019] The stator core completes various processes on the assembly line tray to form a stator assembly. The stator assembly is located in a fixed position on the assembly line. A 3D camera identifies the empty position on the side partition of the lower assembly line, and the coordinates of the empty position are sent to the stator handling robot.

[0020] The stator handling robot picks up the stator assembly from a fixed position on the production line and moves the stator assembly to the empty position according to the coordinates of the empty position on the partition.

[0021] When there is no free space on the first-layer material tray partition, the partition gripper grabs and moves the partition, carrying it up and placing it at the unloading station;

[0022] After the partition is placed, the 3D camera identifies the empty positions on the partition. The stator handling robot uses the stator gripper to grab the stator assembly from the fixed position on the production line. The stator handling robot moves the stator assembly to the empty position on the material tray partition according to the coordinates of the empty position on the material tray partition until the stator assembly is completed and the production line is completed.

[0023] Furthermore, the method for handling the motor stator using the stator handling robot is as follows:

[0024] The stator handling robot places three support plates and clamping blocks, which are in a closed state, into the interior of the stator core according to the position coordinates of the stator core or stator assembly. After the clamping blocks move downward a preset distance, the three-jaw cylinder operates, and the three drive ends of the three-jaw cylinder drive one support plate to move towards the inner wall of the stator core. When the drive end reaches the limit position, that is, when the contoured surface of the clamping block is tightly attached to the inner wall of the stator core, the stator handling robot moves and drives the support plates to move upward, thereby moving the motor stator. The stator handling robot transports the motor stator to the designated position according to the coordinates of the specified position.

[0025] When the motor stator reaches the designated position, the drive end of the three-jaw cylinder retracts. When the drive end is fully retracted, the stator handling robot moves to drive the support plate upward, causing the support plate and clamping block to exit from the inside of the stator core.

[0026] Furthermore, the method for gripping the partition using the partition gripper is as follows:

[0027] The 3D camera identifies the position coordinates of the partition, and the control program controls the three-axis truss robot to move the connecting plate above the partition according to the position coordinates. When the connecting plate is above the partition, the three-axis truss robot moves the connecting plate downward according to the position coordinates of the partition, so that the adsorption mechanism is adsorbed on the upper surface of the partition. When the adsorption mechanism is adsorbed on the partition, the three-axis truss robot moves the connecting plate to move the partition, placing the partition at the specified position according to the specified position coordinates.

[0028] The beneficial effects of this invention are:

[0029] 1. In practical applications, the partitions for placing the stator core are generally made of lighter plastic plates, while the partitions for placing the stator assembly are generally made of heavier steel plates. In this invention, the partition gripper includes both a trumpet-shaped suction cup for adsorbing the lighter plastic plates and an electromagnetic adsorption part for adsorbing the heavier steel plates. The same partition gripper can grip partitions of different materials and weights. When gripping the partitions for the core and the partitions for the stator assembly, there is no need to switch between different partition grippers, making it more convenient to move the partitions for the core and the partitions for the stator assembly. This reduces the procedure of switching back and forth between different gripping mechanisms during transportation, making it convenient to use.

[0030] 2. The stator gripper of the present invention can be used to grip both the stator core and the stator assembly. When the stator core is on the production line and when the stator core is off the production line, the same stator gripper can be used. There is no need to develop different stator grippers for the stator core and the stator assembly, which helps to reduce the repetitive research and development and investment of equipment required for the production line.

[0031] 3. In this invention, a three-jaw cylinder drives a clamping block, which is pressed tightly against the inner wall of the iron core to transport the motor stator. By adjusting the extension stroke of the cylinder, the stator gripper of this invention can be used to transport motor stators of different sizes, which helps to reduce product changeover losses during the production process and improve production efficiency.

[0032] 4. The present invention relates to a material handling device and method for automated production line loading and unloading of stator cores and stator assemblies in new energy flat wire motors. It can be used for continuous automated loading and unloading of stator cores and stator assemblies during stator production. The clamping blocks of the material handling device are made of flexible polyurethane material, which will not damage the stator core. The mechanical structure of the material handling device is simple. At the same time, the present invention realizes the handling of stator cores, stator assemblies, cores and stator assembly partitions through an automated program, which is convenient to use. Attached Figure Description

[0033] Figure 1 This is a schematic diagram showing the stator gripper of the present invention located inside the iron core.

[0034] Figure 2 This is a schematic diagram illustrating the present invention with multiple support plates in a closed state.

[0035] Figure 3 This is a schematic diagram of the multiple support plates of the present invention in an open state.

[0036] Figure 4 This is a schematic diagram of the stator gripper of the present invention.

[0037] Figure 5 This is a schematic diagram of the clamping block of the present invention.

[0038] Figure 6 This is a schematic diagram of the partition gripper of the present invention.

[0039] Figure 7 This is a schematic diagram of the partition gripper of the present invention.

[0040] In the figure: Stator gripper 1; Connector 11; Power unit 12; Support plate 13; Clamping block 14; Wear identification feature 141; Bolt 15; Partition gripper 2; Connecting plate 21; Through hole 211; Side plate 212; Slide rail 22; Suction cup device 23; Suction cup 231; Solenoid valve 232; Cylinder 233; Electromagnetic adsorption device 24; Electromagnetic adsorption part 241; Valve island 25; 3D camera 26; Stator core 3. Detailed Implementation

[0041] To make the purpose, technical solution, and advantages of the invention clearer, the invention will be further described below with reference to the accompanying drawings.

[0042] like Figure 1 , Figure 6 and Figure 7As shown, the handling mechanism of the present invention includes a stator gripper 1 and a partition gripper 2.

[0043] The stator core 3 or stator assembly is placed in multiple layers, with each layer of stator core or stator assembly separated by a partition. The stator core 3 or stator assembly is placed on the partition.

[0044] The vacuum-formed sheet serves as a partition for the stator core, used to hold the stator core 3. The material support partition serves as a partition for the stator assembly, used to hold the stator assembly; the material support partition is generally made of heavier steel plate.

[0045] The stator core 3 is picked up by the stator gripper 1 and placed onto the production line tray for welding and other processes to form a stator assembly. After each layer of stator core 3 is picked up, the blister pack is removed by the partition gripper 2 so that the stator gripper 1 can pick up the next layer of stator core 3. After the stator core completes multiple processes on the production line tray to form the stator assembly, the stator assembly is picked up from the production line tray by the stator gripper 1 and transported off the production line. After each layer of stator assembly is placed, a material tray partition is placed by the partition gripper 2, and then the stator gripper 1 picks up the stator assembly of another layer and places the stator assembly on the material tray partition.

[0046] The stator gripper 1 of this invention includes a connector 11, through which a power unit 12 is connected to a robot. The robot is used to transport stator cores 3 or stator assemblies. In a specific embodiment, the connector 11 can be a gun-changing disc, and the power unit 12 can be a cylinder, specifically a three-jaw cylinder. The male disc of the gun-changing disc is connected to the flange of the stator transport robot, and the female disc of the gun-changing disc is connected to the top surface of the cylinder, thus connecting the cylinder to the robot. The power unit 12, i.e., the three-jaw cylinder, includes three drive ends, each drive end being connected to the upper part of a support plate 13. A clamping block 14 is provided on the outer surface of the lower part of each support plate 13, such as... Figure 2 As shown, the clamping block 14 is generally stepped. To facilitate clamping the stator core, the height of the lower step of the clamping block 14 is greater than the height of the upper step. Bolt holes are provided on the vertical surface of the corner of the clamping block 14, i.e., on the vertical surface of the upper step. The clamping block 14 is fixedly connected to the support plate 13 by bolts 15. To maintain the stability of the connection between the clamping block 14 and the support plate 13, as a preferred embodiment, bolt holes and bolts can be provided on the vertical surface of the lower step of the clamping block 14 to firmly connect the clamping block 14 and the support plate 13. The movement of the three drive ends of the cylinder can drive the three support plates 13 to open or close.

[0047] The vertical surface of the lower step of clamping block 14 is curved. Because the vertical surface of the lower step of clamping block 14 is in contact with the inner wall of the stator core 3 during the gripping process of the stator core 3, it is a contoured surface that mates with the inner wall of the core. This contoured surface achieves contact or release with the inner wall of the core through the extension and retraction displacement of the three-jaw cylinder. When the drive end of the three-jaw cylinder moves, the three support plates 13 can move horizontally back and forth under the drive of the drive end.

[0048] When the drive end of the three-jaw cylinder reaches its limit position, the three support plates 13 are fully open, the three clamping blocks 14 are on the same horizontal plane, and the connecting line of the three clamping blocks 14 can form a circumference. The three support plates 13 are evenly spaced along the circumference, and the contoured surface is in close contact with the inner wall of the iron core. When the drive end of the three-jaw cylinder retracts, the three support plates 13 close. In the initial state, the three support plates 13 are in a closed state.

[0049] The clamping block 14 is made of polyurethane material. When the clamping block 14 is pressed against the inner wall of the iron core, it deforms. Wear identification features 141 are provided on the vertical surface (i.e., the contour surface) of the lower step of the clamping block 14. These wear identification features are marking lines of a different color than the clamping block 14. When the wear identification features 141 on the contour surface disappear, it indicates that the contour surface is severely worn and the contact between the contour surface and the inner circle of the iron core is insufficient. In this case, the clamping block 14 needs to be replaced promptly.

[0050] When the clamping block 14 included in the stator gripper 1 is located inside the stator core, the drive end of the three-jaw cylinder moves to drive the support plate to translate towards the inner wall of the core, so that the contoured surface of the clamping block 14 fits tightly against the inner wall of the core. At this time, the stator handling robot works to drive the stator gripper 1 to move. The stator core or stator assembly is moved by the stator handling robot. By adjusting the extension stroke of the three-jaw cylinder, the stator gripper of the present invention can be used to handle motor stators of different sizes.

[0051] like Figure 3 As shown, the partition gripper 2 includes a connecting plate 21, which is used to connect to a commonly used three-axis gantry robot. The three-axis gantry robot is installed in the workshop and can move in three directions (X, Y, and Z). A through hole 211 is provided in the middle of the connecting plate 21, and multiple bolt holes are provided around the through hole 211. One side of the flange is connected to the three-axis gantry robot, and the other side of the flange is connected to the connecting plate 21. The connection between the connecting plate 21 and the three-axis gantry robot is achieved through the flange, the multiple bolt holes around the through hole 211, and the bolts.

[0052] One or more slides 22 are provided on the bottom surface of the connecting plate 21. In a specific embodiment, two slides 22 are provided at intervals on the bottom surface of the connecting plate 21. The slides 22 are generally cuboid in shape. The top surface of the slides 22 is connected to the bottom surface of the connecting plate 21. A groove is provided on the bottom surface of the slides 22, and the groove is used as a slide rail.

[0053] The partition gripper 2 also includes multiple suction cup devices 23 and multiple electromagnetic adsorption devices 24, which are spaced apart on the bottom surface of the slide 22.

[0054] The suction cup device 23 is a lateral moving mechanism. The suction cup device 23 includes a connecting rod and a trumpet-shaped suction cup 231 located at the bottom of the connecting rod. The trumpet-shaped suction cup 231 is made of plastic and can be deformed when squeezed. The top end of the connecting rod is movably connected to the slide 22, and the connecting rod can slide back and forth along the slide 22. Specifically, a slider is set at the top end of the connecting rod. The slider is located in a groove on the bottom surface of the slide 22. The slider and the groove are fitted with a clearance so that the top end of the connecting rod can slide back and forth along the slide 22. The trumpet-shaped suction cup 231 is located at the bottom end of the connecting rod. The connecting rod can be a hollow pipe, and a solenoid valve 232 is installed on the pipe.

[0055] The electromagnetic adsorption device 24 is a lateral moving mechanism. The electromagnetic adsorption device 24 includes a connecting rod and an electromagnetic adsorption part 241 located at the bottom end of the connecting rod. The top end of the connecting rod is movably connected to the slide rail 22, and the connecting rod can slide back and forth along the slide rail 22. Specifically, a slider is provided at the top end of the connecting rod. The slider is located in a groove on the bottom surface of the slide rail 22. The slider and the groove are fitted with a clearance so that the top end of the connecting rod can slide back and forth along the slide rail 22. The electromagnetic adsorption part 241 is located at the bottom end of the connecting rod.

[0056] In practical applications, the partition for placing the stator core 3 is generally a lighter plastic plate, specifically a vacuum-formed plate. The partition for placing the stator assembly is generally a heavier steel plate, specifically a material tray partition. The magnetic attraction force of the electromagnetic adsorption part 241 is greater than that of the horn-shaped suction cup 231. The horn-shaped suction cup 231 is used to adsorb the vacuum-formed plate for placing the stator core 3, so as to remove the vacuum-formed plate. The electromagnetic adsorption part 241 is used to adsorb the material tray partition for placing the stator assembly, so as to grasp the material tray partition. As a preferred embodiment, to ensure that the electromagnetic adsorption part 241 firmly adsorbs the material tray partition, multiple magnets can be spaced apart on the surface of the material tray partition.

[0057] Before the partition gripper 2 grasps the motor stator partition, the connecting rod of the adsorption mechanism can be manually moved using a tool according to the partition size. This allows the connecting rod to slide along the slide rail 22, adjusting the distance between two adjacent suction cups 231 or two adjacent electromagnetic adsorption parts 241. This ensures that when the adsorption mechanism adsorbs onto the partition and grasps it, the adsorption mechanism is evenly distributed on the upper surface of the partition. In a preferred embodiment, the adsorption mechanisms at both ends of the slide rail 22 are movably connected to the slide rail 22, and the top end of the adsorption mechanism between the two ends can be fixedly connected to the slide rail 22. In a preferred embodiment of the present invention, the two slide rails 22 can slide relative to each other along the connecting plate 21. Specifically, two grooves are provided on the bottom surface of the connecting plate 21 as slide rails, and a slider is provided on the top surface of each slide rail 22. The slider on the top surface of the slide rail 22 is fitted with the groove on the bottom surface of the connecting plate 21 with a clearance, so that the two slide rails 22 can slide relative to each other along the connecting plate 21. The two slide rails 22 can slide relative to each other by using an external power device such as a motor or cylinder to drive the slide rails 22 to slide, or the slide rails 22 can be manually moved by a tool before grabbing the partition that supports the motor stator, and the distance between the two slide rails 22 can be adjusted according to the size of the partition. The horn-shaped suction cup 231 is used to grip and remove the plastic blister pack of the stator core when it is on the production line. The electromagnetic adsorption part 241 is used to grip and stack the steel plate material support partition of the stator assembly when it is off the production line. Through the electromagnetic adsorption part 241 and the horn-shaped suction cup 231, the partition gripper 2 can grip partitions of different materials, so that the partition gripper 2 can achieve compatibility in gripping partitions of different materials.

[0058] In this invention, the suction cup 231 can be at the same height as the electromagnetic adsorption part 241. In another embodiment of this invention, the height of the suction cup 231 can be higher than the height of the electromagnetic adsorption part 241. The top end of the connecting rod is movably connected to the slide 22, and the bottom end of the connecting rod is connected to the cylinder 233. The driving end of the cylinder 233 is connected to the top end of the pipe, and the bottom end of the pipe is connected to the trumpet-shaped suction cup 231. An electromagnetic valve 232 is provided on the pipe. When the stator gripper 2 grabs the blister board, the cylinder 233 works to drive the suction cup 231 to move downward, so that the suction cup 231 contacts and connects with the blister board. When the blister board is transported to the destination, the cylinder 233 works to drive the suction cup 231 to move upward.

[0059] A valve island 25 is installed at the top end of the connecting plate 21. The valve island 25 is used to control the opening and closing of the solenoid valve 232. When the partition gripper 2 grabs the blister plate that supports the stator core, the solenoid valve 232 is in the closed state. The horn-shaped suction cup 231 is squeezed against the blister plate, so that a vacuum is formed between the blister plate and the suction cup 231. When the blister plate is moved to the storage position by the partition gripper 2 and the suction cup 231, the valve island 25 controls the solenoid valve 232 to open. After the solenoid valve 232 is opened, air enters the hollow connecting rod connected to the suction cup 231, causing the suction cup 231 to separate from the blister plate. Thus, the blister plate is stored in the target position by the partition gripper 2. The opening time of the solenoid valve 232 can be preset according to the requirements. After the preset opening time is reached, the solenoid valve 232 will close.

[0060] As a preferred embodiment, a vacuum generator can be installed on the side of the connecting plate 21. The vacuum generator is connected to the pipe of the suction cup 231 through an air pipe. When the three-axis gantry robot moves the suction cup 231 to the position of the blister board according to the position coordinates of the blister board, the PLC controls the vacuum generator to work so that the suction cup 231 and the blister board are in a vacuum state, which is conducive to the suction cup 231 firmly adsorbing the blister board.

[0061] The connecting plate 21 is also equipped with a set of vision devices, namely a 3D camera 26. Figure 6 As shown, the connecting plate 21 is connected to the side plate 212, and the 3D camera is mounted on the side plate 212.

[0062] The 3D camera 26 is used to identify the position of the stator core 3 on the blister plate and the empty position on the material support partition of the stator assembly. It can also identify the position of the blister plate and the material support partition.

[0063] In this invention, the operation of stator gripper 1 and partition gripper 2 is controlled by a PLC program. The method for transporting stator cores or stator assemblies using the transport mechanism of this invention is as follows:

[0064] During the production process, the 3D camera 26 identifies the position coordinates of the stator core 3 at the loading station. Through the communication protocol between the 3D camera and the stator handling robot, the position coordinates of the stator core 3 are sent to the stator handling robot. Alternatively, after receiving the position coordinates, the control program sends the position coordinates to the stator handling robot.

[0065] After receiving the position coordinates of the stator core 3, the stator handling robot places the three support plates 13 and clamping blocks 14, which are in a closed state, into the stator core 3 according to the position coordinates. The movement trajectory of the stator handling robot is preset. After the stator handling robot drives the support plates 13 to the position coordinates of the stator core, the distance that the stator handling robot drives the support plates 13 to move downward from the stator core is preset. When the clamping blocks 14 move downward a preset distance, the PLC controls the power unit 12, i.e., the three-jaw cylinder, to work. The three drive ends of the three-jaw cylinder respectively drive one support plate 13 to move horizontally towards the inner wall of the stator core.

[0066] The support plate 13 moves towards the inner wall of the stator core, causing the contoured surface of the clamping block 14 to fit against the inner wall of the stator core 3. In this invention, a magnetic induction switch is installed on the three-jaw cylinder. The magnetic induction switch is used to sense the travel of the cylinder's drive end. When the drive end reaches its limit, the contoured surface of the clamping block 14 fits tightly against the inner wall of the stator core 3. After the magnetic induction switch sends the sensing signal that the drive end is at its limit to the control program via a signal line, the PLC controls the robot to move and transport the stator core.

[0067] When the contoured surface of the clamping block 14 is tightly fitted with the inner wall of the stator core 3, the drive end of the stator handling robot moves, causing the support plate 13 to move upward, thus lifting the stator core 3. The stator handling robot's memory has pre-stored the coordinates of the production line tray. The stator handling robot transports the stator core 3 onto the production line tray. After the stator core 3 is placed on the production line tray, the PLC controls the drive end of the three-jaw cylinder to retract. When the drive end is fully retracted, the stator handling robot moves, causing the support plate 13 to move upward a preset distance, causing the support plate 13 and the clamping block 14 to exit from the inside of the stator core 3. The stator handling robot uses the stator gripper 1 to grab the stator core 3 to achieve loading. This cycle repeats until all stator cores on a certain layer of vacuum forming board have been loaded. The partition gripper 2 grasps and moves the vacuum-formed plate on which the stator core 3 is placed. Specifically, after the 3D camera 26 identifies that there is no stator core on a certain layer of vacuum-formed plate, the 3D camera 26 sends the information that there is no stator core on a certain layer of vacuum-formed plate to the control program. At the same time, the 3D camera 26 sends the position coordinates of the vacuum-formed plate to the control program. The PLC controls the partition gripper 2 to grasp and remove the vacuum-formed plate that supports the stator core according to the position coordinates of the vacuum-formed plate. Specifically, the control program controls the three-axis truss manipulator to move the connecting plate 21 to the top of the vacuum-formed plate. When the connecting plate 21 is above the vacuum-formed plate, the three-axis truss manipulator moves the connecting plate 21 downward. At the same time, the PLC controls multiple horn-shaped suction cups 231 to move downward, so that the multiple horn-shaped suction cups 231 are firmly attached to the upper surface of the vacuum-formed plate.

[0068] After the suction cup 231 adheres to the upper surface of the thermoformed plate, the three-axis truss robot moves the connecting plate 21 to remove the thermoformed plate that supports the stator core, and lifts the thermoformed plate to place it on an empty tray at the adjacent workstation. The position coordinates of the empty tray at the adjacent workstation are fixed. The control program can control the partition gripper 2 to move the thermoformed plate to the empty tray at the adjacent workstation according to the position coordinates of the empty tray. After the thermoformed plate is removed, the 3D camera 26 identifies the position of the stator core 3 on the next layer. The stator handling robot moves the stator core 3 to place the stator core on the assembly line tray. The above actions are repeated until the handling of the stator cores on each layer of thermoformed plates is completed.

[0069] After the stator core 3 undergoes various forming processes such as paper insertion, twisting, and welding on the assembly line pallet, it forms a stator assembly. The stator assembly is located in a fixed position on the assembly line and needs to be moved off the assembly line by a stator handling robot.

[0070] The method for transporting stator assemblies off the production line using a stator handling robot is as follows: A 3D camera 26 identifies vacant positions on the material tray partitions on the production line side and sends the coordinates of these vacant positions to the stator handling robot. In this invention, the vacant positions on the material tray partitions for placing stator assemblies are multiple cavities set on the material tray partitions. The cavities are designed according to the shape of the stator assemblies, with one stator assembly placed in each cavity. In a specific embodiment, each layer of material tray partitions has nine cavities for accommodating stator assemblies, arranged in a 3x3 grid. When there are multiple vacant positions (i.e., multiple vacant cavities) on a layer of material tray partitions, the 3D camera scans an vacant cavity and sends its position coordinates to the stator handling robot.

[0071] The coordinates of the fixed positions for placing the stator assembly on the production line are pre-stored in the robot's memory. The stator handling robot uses the stator gripper 1 to pick up the stator assembly from the fixed positions on the production line. Specifically, after the stator handling robot reaches the position where the stator assembly is placed, it places the three support plates 13 and clamping blocks 14, which are in a closed state, into the stator core 3 included in the stator assembly. When the clamping blocks 14 move downward a preset distance, the PLC controls the power unit 12, i.e., the three-jaw cylinder, to work. The three drive ends of the three-jaw cylinder drive one support plate 13 to move towards the inner wall of the stator core. When the contoured surface of the clamping blocks 14 is in close contact with the inner wall of the stator core 3, the drive end of the stator handling robot moves, causing the support plates 13 to move upward, thus moving the stator assembly. The stator handling robot moves the stator assembly according to the coordinates of the empty positions on the material tray partition. The material is transported to an empty position on the material tray partition, and this process is repeated until there is no more empty position on the first layer of material tray partitions. The position coordinates of the material tray partitions are set in the control program. The PLC controls the partition gripper 2 to grab and move the material tray partitions according to the position coordinates. Specifically, the control program controls the three-axis truss robot to drive the connecting plate 21 to move above the material tray partitions according to the position coordinates. When the connecting plate 21 is above the material tray partitions, the three-axis truss robot drives the connecting plate 21 to move downwards. The three-axis truss robot moves downwards according to the position coordinates of the material tray partitions, so that the electromagnetic adsorption part 241 is adsorbed on the upper surface of the steel material tray partitions. When the electromagnetic adsorption part 241 is adsorbed on the upper surface of the material tray partitions, the three-axis truss robot drives the connecting plate 21 to move the material tray partitions, and transport the material tray partitions to the position coordinates of the unloading station. When the material tray partition reaches the unloading station, the PLC controls the electromagnetic adsorption unit 241 to de-energize, so that the material tray partition is placed at the unloading station. The de-energization time of the electromagnetic adsorption unit 241 can be preset according to the requirements. After the preset de-energization time is reached, the electromagnetic adsorption unit 241 can be energized.

[0072] After the material tray partition is placed, the 3D camera 26 identifies the empty position on the material tray partition. The stator handling robot uses the stator gripper 1 to grab the stator assembly from the fixed position on the production line. The stator handling robot moves the stator assembly to the empty position on the material tray partition according to the coordinates of the empty position on the material tray partition. The above actions are repeated until the stator assembly is completed and the production line is completed.

[0073] In this invention, since the stator assembly is vertically stacked in multiple layers, each layer of the stator assembly is supported by a layer of material support partition. The height of the stator assembly is fixed, so the vertical distance between two adjacent layers of material support partition is a fixed distance. When the partition gripper 2 is placed by the three-axis truss robot, the vertical movement trajectory of the three-axis truss robot needs to be changed according to the fixed distance after each layer of material support partition is placed. As long as the movement trajectory of the three-axis truss robot is set in advance according to the fixed distance, the three-axis truss robot can drive the partition gripper 2 to place the multi-layer material support partition supporting the stator assembly according to the position coordinates of the unloading station.

[0074] In the description of this invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

Claims

1. A motor stator handling mechanism, comprising a stator gripper (1), wherein the stator gripper (1) is used to handle the motor stators, wherein the motor stators are placed in multiple layers, and the motor stators of two adjacent layers are separated by a partition plate that receives the motor stators, and wherein: The stator gripper (1) comprises a connecting piece (11), one side of the connecting piece (11) is connected to the stator handling robot, and the other side is connected to the power device (12); the power device (12) comprises a plurality of driving ends, each driving end is connected to a clamping part, when the motor stator is handled, the clamping part is located inside the stator core (3), and the driving end drives the clamping part to move away from or close to the inner wall of the stator core (3); the handling mechanism also comprises a partition gripper (2), the partition gripper (2) is used to handle the partition supporting the motor stator, the partition gripper (2) comprises a connecting plate (21), the connecting plate (21) is connected to the robot, one side of the connecting plate (21) is connected to a plurality of adsorption mechanisms for adsorbing the partition, and a visual device is arranged on the connecting plate (21), the visual device is used to determine the position of the motor stator and the partition.

2. The motor stator transport mechanism according to claim 1, characterized in that: The connecting member (11) is a gun-changing disk, and the power device (12) is a three-claw cylinder. The male disk of the gun-changing disk is connected to the stator handling robot, and the female disk of the gun-changing disk is connected to the three-claw cylinder. Each driving end of the three-claw cylinder is connected to a clamping part, and the clamping part includes a support plate (13). The upper part of each support plate (13) is connected to the driving end, and a clamping block (14) is arranged on the outer surface of the lower part of each support plate (13). The clamping block (14) is stepped as a whole. When the driving end of the three-claw cylinder runs to the extreme position, the three support plates (13) are in a fully opened state and the three clamping blocks (14) are evenly spaced on a circumference. When the driving end of the three-claw cylinder is retracted, the three support plates (13) are closed.

3. The motor stator transport mechanism according to claim 2, characterized in that: The vertical surface of the lower step of the clamping block (14) is a curved surface, which is a contoured surface that matches the inner wall of the stator core (3). A wear identification feature (141) is provided on the contoured surface, and the wear identification feature (141) is an identification line of a different color from that of the clamping block (14).

4. The motor stator transport mechanism according to claim 1, characterized in that: The visual device is a 3D camera (26), the connecting plate (21) is connected to a side plate (212), and the 3D camera is laterally mounted on the side plate (212).

5. The motor stator transport mechanism according to claim 1, characterized in that: The manipulator is a three-axis truss manipulator, which is connected to the top surface of the connecting plate (21) and drives the connecting plate (21) to move in three directions of X, Y and Z.

6. The motor stator transport mechanism according to claim 1, characterized in that: One or more slideways (22) are arranged on the bottom surface of the connecting plate (21), and a groove is arranged on the bottom surface of the slideway (22). The groove is used as a slide rail, and the groove is movably connected to the top ends of multiple connecting rods. The connecting rods can slide back and forth along the slideway (22). A trumpet-shaped suction cup (231) or an electromagnetic adsorption portion (241) is arranged at the bottom end of each connecting rod. An electromagnetic valve (232) is arranged on the connecting rod connected to the suction cup (231). The suction cup (231) and the electromagnetic adsorption portion (241) are arranged at intervals below the connecting plate (21). The suction cup (231) is used to adsorb the blister plate that receives the stator core (3), and the electromagnetic adsorption portion (241) is used to adsorb the material support partition made of steel plate that receives the stator assembly.

7. The motor stator transport mechanism according to claim 6, characterized in that: A valve island (25) is provided at the end of the top surface of the connection plate (21), and the valve island (25) is used to control the opening or closing of the solenoid valve (232).

8. A method for transporting a motor stator using the motor stator transport mechanism according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: A 3D camera (26) identifies the position coordinates of the stator core (3) at the loading station, and the position coordinates are sent to the stator handling robot; After receiving the position coordinates of the stator core (3), the stator handling robot transports the stator core (3) to the assembly line tray according to the position coordinates. When the 3D camera (26) recognizes that there is no stator core on a certain layer of partition, all the stator cores (3) on the said layer of partition are loaded; After all the stator cores (3) on one layer of partitions are loaded, the partition gripper (2) grabs and moves the partition that receives the stator cores (3); After the partition receiving the stator core (3) is removed, the 3D camera (26) identifies the position of the stator core (3) of the next layer, and the stator handling robot carries the stator core (3) to place the stator core on the assembly line tray, and the above-mentioned action is repeated until the stator cores on each layer of the partition are all carried to the assembly line tray; The stator core (3) completes various processes on the assembly line tray to form a stator assembly, and the stator assembly is located at a fixed position on the assembly line. The 3D camera (26) identifies the coordinates of the idle position on the side partition of the lower assembly line, and the coordinates of the idle position are sent to the stator handling robot; The stator handling robot grabs the stator assembly from a fixed position of the assembly line, and the stator handling robot carries the stator assembly to the idle position according to the coordinates of the idle position on the partition; When there is no free space on a layer of material support partitions, the partition gripper (2) grabs and moves the partition, and carries the partition to the unloading station; After the partition is placed, the 3D camera (26) identifies the free position on the partition, and the stator handling robot uses the stator gripper (1) to grab the stator assembly from the fixed position of the assembly line. The stator handling robot transports the stator assembly to the free position on the material tray partition according to the coordinates of the free position on the material tray partition, until the stator assembly offline process is completed.

9. A method for transporting a motor stator according to claim 8, characterized in that: The method of transporting the motor stator by the stator transport robot is: The stator handling robot places the three support plates (13) and the clamping block (14) in a closed state into the interior of the stator core (3) according to the position coordinates of the stator core or the stator assembly. When the clamping block (14) moves downward by a preset distance, the three-claw cylinder starts to work, and the three driving ends of the three-claw cylinder respectively drive a support plate (13) to move toward the inner wall of the stator core. When the driving end of the three-claw cylinder moves to the extreme position, that is, the contoured surface of the clamping block (14) is in contact with the inner wall of the stator core (3), the stator handling robot drives the support plate (13) to move upward so that the motor stator is moved, and the motor stator is transported to the designated position by the stator handling robot according to the coordinates of the designated position. When the motor stator reaches the specified position, the driving end of the three-claw cylinder retracts. When the driving end is fully retracted, the stator handling robot moves to drive the support plate (13) to move upward, so that the support plate (13) and the clamping block (14) withdraw from the inside of the stator core (3).

10. The method for transporting a motor stator according to claim 8, characterized in that: The method of grabbing the partition by the partition gripper (2) is: The 3D camera (26) identifies the position coordinates of the partition, and the control program controls the three-axis truss manipulator to drive the connecting plate (21) to move to the top of the partition according to the position coordinates. When the connecting plate (21) is located above the partition, the three-axis truss manipulator drives the connecting plate (21) to move downward according to the position coordinates of the partition, so that the adsorption mechanism is adsorbed on the upper surface of the partition. When the adsorption mechanism is adsorbed on the partition, the three-axis truss manipulator drives the connecting plate (21) to move the partition, and places the partition at the designated position according to the coordinates of the designated position.

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