Intelligent assembly system and process method for stator iron core of hydraulic generator

Abstract

The invention belongs to the technical field of mechanical and electrical installation, and discloses an intelligent stacking system and process method for a stator core of a hydraulic generator. The hydraulic generator stator core intelligent stacking system is composed of an intelligent logistics warehousing system, an automatic lamination system, an automatic measurement system and a digital twinning system. The process method comprises an iron core punching sheet intelligent storage and transfer process, an iron core punching sheet automatic stacking process and an iron core size automatic measurement process. According to the invention, full-process automation, punching sheet storage, intelligent transfer, punching sheet stacking and measurement process automation are realized in the stator core assembling and laminating process, a digital twin technology is adopted, a real-time installation scene is mapped in front of a computer screen, and the working state of the system can be remotely controlled. The labor intensity of personnel is relieved, the safety of the personnel is guaranteed, the installation quality is improved, the installation period is shortened, automatic measurement is achieved, measurement is efficient, measurement data is accurate, and whole-process data storage and query are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of generator stator installation technology, and in particular to an intelligent assembly system and process method for a hydro-generator stator core. Background Art

[0002] The stator core of the hydro-turbine generator is large in size and heavy in weight, and needs to be assembled on-site in the installation room. The stator core is mainly composed of tens of thousands of stator punchings stacked layer by layer according to certain rules. The traditional stacking method is manual, which is labor-intensive and prone to installation problems such as wrong sheets and missing sheets. The stacking efficiency is low, and the installation quality often varies from person to person.

[0003] In addition, during the installation process, the ceiling of the installation room needs to be opened constantly to lift the punching sheets. It is difficult to ensure the stability and consistency of the environment and temperature of the installation room, which has an adverse effect on the quality of the stacking. During the installation process, a construction platform needs to be set up. On the one hand, it costs money to design and manufacture the platform. On the other hand, the platform needs to be adjusted repeatedly, which increases the installation cycle. In addition, the core is often damaged and bumped during the platform erection and lifting process, affecting the product quality. In order to meet the rapid development of the hydropower field and meet the needs of intelligent, high-quality and high-standard assembly of the overall stator core, it is necessary to provide a hydro-turbine generator stator core intelligent assembly system and process method. Summary of the invention

[0004] In view of this, the purpose of the present invention is to disclose a hydraulic generator stator core intelligent assembly system and process method, to realize the intelligent assembly of hydraulic generator stator core, with the characteristics of high efficiency, good safety, reusability and no human intervention. The technical solution of the present invention is:

[0005] A hydro-generator stator core construction site intelligent assembly system comprises an integral stator core, wherein the integral stator core is a cylindrical structure with a circumferential surface inside, and is formed by core punchings stacked layer by layer on a stator base, the bottom of the integral stator core is supported on the ground by piers, an intelligent logistics warehousing system arranged outside the integral stator core, an automatic lamination system coaxially arranged in an inner cavity of the integral stator core, a rotary lifting platform arranged below the automatic lamination system, an automatic measuring system arranged on a support arm of the rotary lifting platform, and a digital twin system.

[0006] As a preferred embodiment, the intelligent logistics warehousing system includes a sideline warehouse, which adopts a layered structure with a layer height of 800 mm and is provided with pallets; an information collector is provided at the entrance of the sideline warehouse; a cantilever beam is provided at the entrance of the sideline warehouse, and the intelligent logistics warehousing system is equipped with AGV forklifts and jack-up AGVs. The intelligent logistics warehousing system is equipped with an AGV scheduling system, including vehicle scheduling, task management and graphic monitoring.

[0007] As a preferred embodiment, the rotary lifting platform includes a central column, a Y-axis guide rail is arranged on the central column along the vertical direction, and a Y-axis transmission mechanism and a Y-axis motor are arranged on the Y-axis support arm.

[0008] As a preferred embodiment, the rotary lifting platform includes a slewing support, and the slewing support includes a box body, on which an active cam is installed, the active cam is engaged with a driven roller, an output flange is connected to the driven roller, the output flange is connected to a center column, and a servo motor is fixed on the box body.

[0009] As a preferred embodiment, the automatic stacking system includes a robot gripper, on which are provided a 2D camera, a vacuum suction cup, a multi-layer detection device, and a magnetic spreader.

[0010] As a preferred embodiment, the automatic stacking system includes two robots, the robots are installed on the Y-axis support arm of the rotating lifting platform, the robot grippers are installed on the robots, and the Y-axis support arm is equipped with two 3D vision systems, two punching placement platforms, and two defective product storage areas / manual carriers.

[0011] As a preferred embodiment, the automatic measuring system includes a thickness detector installed on the robot gripper; the automatic measuring system includes a diameter detector, the diameter detector is installed on a diameter detection arm, and the diameter detection arm is connected to the Y-axis support arm.

[0012] A process method of a hydro-generator stator core intelligent assembly system is as follows:

[0013] S1. Storage and transportation of punching sheets. The punching sheets are transported to the entrance of the sideline warehouse. The cantilever beam hoists the punching sheets onto the pallet from the information collector. The information collector enters the pallet information. The AGV forklift receives the relevant instructions and sends the pallet fork to the designated position of the sideline warehouse. When the automatic stacking system sends information that new punching sheets need to be added, the top-lift AGV immediately goes to the inner cavity of the integral stator core, the Y-axis arm descends, and rotates to the designated position. The top-lift AGV rises, identifies and picks up the pallet that needs to be replaced, and then moves from the inner cavity of the integral stator core to the position of the information collector at the entrance of the sideline warehouse, places the pallet at the designated position, and updates the information of the pavilion. At the same time, the AGV forklift takes the designated pallet from the sideline warehouse, and then sends the pallet fork to the top-lift AGV. The top-lift AGV moves the pallet to the inner cavity of the integral stator core according to the specified route, and places the pallet on the punching sheet placement platform. At this point, the punching sheet storage and transportation process is completed.

[0014] S2, identification and stacking of punching sheets, the rotating lifting platform rises to the specified height, the 3D vision identifies the position of the punching sheet on the punching sheet placement platform, issues instructions to control the robot's movements, the robot moves to the specified position, the robot gripper controls the vacuum suction cup to grab the punching sheet, the 2D camera scans to check whether the punching sheet is qualified, the multi-layer detection device detects whether the grabbed punching sheet is multi-layered, and controls the magnetic separator according to the detection result to ensure that only one punching sheet is grabbed each time. If the 2D camera detects that the punching sheet is defective, the 3D vision issues an instruction to control the robot to move to the defective product storage area / manual stage position, and then controls the robot gripper to place the defective punching sheet at the specified position; if the 2D camera detects that the punching sheet is qualified, the 3D vision issues an instruction to control the robot to move to the integral stator core stacking position, and then controls the robot gripper (, adjust the robot gripper posture once, put one positioning slot of the punching sheet into the positioning rib, adjust the robot gripper posture again, put the other positioning slots of the punching sheet into the positioning rib, and then control the robot gripper to fall and stack the punching sheet to the correct position. When stacking When the punching position exceeds the robot's maximum range of motion, the rotary lifting platform will automatically rotate to a certain angle; when the core stacking height exceeds the robot's maximum range of motion, the rotary lifting platform will automatically rise and fall to a certain height. When the number of punches on the defective product storage area / manual carrier reaches the set number, the automatic stacking system stops stacking, the rotary lifting platform descends and rotates to the specified position, the jacking AGV enters the inner cavity of the integral stator core, takes away the corresponding pallet, and transports it to the information collector. The AGV forklift places the pallet at the specified position of the sideline warehouse. When the punches on the punching platform are used up, the above-mentioned S1 punching storage and transportation process begins.

[0015] S3, core measurement record, when the core stacking reaches the set stage, the automatic stacking system stops stacking, the rotary lifting platform is lifted and rotated to the specified position, the diameter detector works to measure the core inner diameter data, at the same time, the robot drives the robot gripper to move to the specified position, the robot gripper adjusts its posture, the thickness detector works to measure the core stacking height data.

[0016] S4. Stacking process mapping. The digital twin system collects production line data in real time by installing sensors in the working area, including equipment operating status, alarms, production data, and other unique equipment operating data, establishes a three-dimensional digital model of the production line, maps the physical production line to the digital production line, and drives the digital production line to move synchronously in real time. It supports the collection, aggregation and calculation of various data, including the summary time of production line downtime, mean time to recovery (MTTR), average production cycle, etc.

[0017] S5. Human-machine collaboration. During the stator core stacking process, if personnel need to enter the production line for inspection, the automatic stacking system stops stacking, the rotary lifting platform is lifted and rotated to the specified position, and the jacking AGV enters the inner cavity of the integral stator core, takes away the pallet on the defective product storage area / manual platform, and transports it to the information collector. The AGV forklift places the pallet at the specified position of the sideline warehouse, and the personnel stand on the defective product storage area / manual platform and manually control the lifting and rotation of the rotary lifting platform to complete the corresponding operations.

[0018] Due to the adoption of the above scheme, the beneficial effects of the present invention are:

[0019] The present invention innovatively realizes the intelligent on-site assembly of the stator core of the hydro-turbine generator, greatly improves the installation quality and work efficiency of the assembly process, and has the functions of convenient installation and disassembly, reusability, and intelligent storage and query of installation process data. At the same time, the device of the present invention is universal and can be used on the on-site installation of the stator core of the existing full series of hydro-turbine generators. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the main view of the on-site intelligent assembly system for the stator core of the hydro-generator.

[0021] Figure 2 This is a top view of the on-site intelligent assembly system for the stator core of a hydro-generator.

[0022] Figure 3 This is a picture of the robot gripper of the intelligent assembly system on site for the stator core of a hydro-generator.

[0023] Figure 4 This is a three-dimensional diagram of the automatic lamination system of the on-site intelligent assembly system for the stator core of the hydro-generator.

[0024] Figure 5 This is the front view of the automatic lamination system of the on-site intelligent assembly system for the stator core of the hydro-generator.

[0025] Figure 6 This is a diagram of the on-site intelligent assembly system for the stator core of the hydro-generator.

[0026] Figure 7 The figure is a flow chart of the intelligent assembly process of the stator core of a hydro-turbine generator.

[0027] Description of component numbers in the accompanying drawings:

[0028] 100-integrated stator core; 200-intelligent logistics warehousing system; 201-sideline warehouse; 202-pallet; 203-information collector; 204-cantilever beam; 205-AGV forklift; 206-lifting AGV; 300-automatic stacking system; 301-robot gripper; 302-2D camera; 303-vacuum suction cup; 304-multi-layer detection device; 305-magnetic separator; 306-robot; 307-3D vision; 308-punching placement platform; 309-no Qualified product storage area / manual stage; 400-rotating lifting platform; 401-center column; 402-Y-axis guide rail; 403-Y-axis transmission mechanism; 404-Y-axis support arm; 405-Y-axis motor; 406-slewing support; 407-box; 408-active cam; 409-driven roller; 410-output flange; 411-servo motor; 500-automatic measuring system; 501-thickness detector; 502-diameter detector; 503-diameter detection arm; 600-digital twin system. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solution of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1:

[0031] like Figure 1-6 As shown, a site intelligent assembly system for a stator core of a hydro-turbine generator comprises an integral stator core 100, wherein the integral stator core 100 is a cylindrical structure with a circumferential surface inside, and is formed by stacking core punching sheets layer by layer on a stator frame, wherein the bottom of the integral stator core 100 is supported on the ground by a pier 101, an intelligent logistics storage system 200 is arranged outside the integral stator core, an automatic lamination system 300 is coaxially arranged in the inner cavity of the integral stator core, and a rotating lifting platform 400 is arranged Located below the automatic lamination stacking system 300, the automatic measuring system 500, which is arranged on the support arm of the rotating lifting platform 400, and the digital twin system 600, have a fault shutdown function to avoid product installation quality problems caused by equipment failure; have safety protection measures for personnel mistakenly entering the shutdown, effectively ensuring the safety of personnel, and have a human-computer interaction working mode. This mode system supports and guarantees relevant personnel to perform stator core shaping, pre-stressing, inspection, acceptance and other operations without the need for additional work platforms and other core stacking auxiliary tools.

[0032] Furthermore, the intelligent logistics warehousing system 200 includes a sideline warehouse 201, which adopts a layered structure with a layer height of 800 mm. The sideline warehouse 201 is provided with a pallet 202; an information collector 203 is provided at the entrance of the sideline warehouse 201; a cantilever beam 204 is provided at the entrance of the sideline warehouse 201, and the intelligent logistics warehousing system 200 is equipped with an AGV forklift 205 and a jacking AGV 206. The intelligent logistics warehousing system 200 is equipped with an AGV scheduling system, including vehicle scheduling, task management and graphic monitoring. The present invention realizes full process automation of the stator core assembly lamination process, greatly reduces the labor intensity of personnel, and ensures personnel safety.

[0033] Furthermore, the rotary lifting platform 400 includes a central column 401 , a Y-axis guide rail 402 is arranged on the central column 401 along the vertical direction, and a Y-axis transmission mechanism 403 and a Y-axis motor 405 are arranged on the Y-axis support arm 404 .

[0034] Furthermore, the rotary lifting platform 400 includes a slewing support 406, and the slewing support 406 includes a box body 407, on which an active cam 408 is installed, the active cam 408 engages with a driven roller 409, and the driven roller 409 is connected to an output flange 410, which is connected to the center column 401, and a servo motor 411 is fixed on the box body 407.

[0035] Furthermore, the automatic stacking system 300 includes a robot gripper 301 , on which a 2D camera 302 , a vacuum suction cup 303 , a multi-layer detection device 304 , and a magnetic spreader 305 are provided.

[0036] Furthermore, the automatic lamination system 300 includes two robots 306, which are mounted on the Y-axis support arm 404 of the rotating lifting platform 400, and the robot gripper 301 is mounted on the robot 306. The Y-axis support arm 404 is provided with two 3D vision systems 307, two punching sheet placement platforms 308, and two defective product storage areas / manual platforms 309. The automatic identification and elimination of damaged punching sheets during the stacking process is realized, and the storage, transportation, grabbing, and stacking processes of punching sheets are intelligentized without human intervention. The actual process is digitally twinned, and the system operation status can be viewed in real time on the PC side. Remote control, remote diagnosis and other functions can be realized. The stator stacking quality is good, there is no missing sheet or wrong sheet phenomenon, the tooth misalignment between sheets is small, and all-weather uninterrupted work is realized, and the installation cycle is short.

[0037] Furthermore, the automatic measuring system 500 includes a thickness detector 501 installed on the robot gripper 301; the automatic measuring system 500 includes a diameter detector 502, and the diameter detector 502 is installed on a diameter detection arm 503, and the diameter detection arm 503 is connected to the Y-axis support arm 404, so as to realize automatic measurement of the stacking height and roundness of the stator core, with high measurement accuracy and fast speed, and quickly generate an acceptance report according to the algorithm.

[0038] Embodiment 2:

[0039] A process method for an intelligent assembly system of a stator core of a hydro-generator, such as Figure 7 The following steps are shown:

[0040] S1. Storage and transportation of punching sheets. The punching sheets are transported to the entrance of the sideline warehouse. The cantilever beam hoists the punching sheets onto the pallet from the information collector. The information collector enters the pallet information. The AGV forklift receives the relevant instructions and sends the pallet fork to the designated position of the sideline warehouse. When the automatic stacking system sends information that new punching sheets need to be added, the top-lift AGV immediately goes to the inner cavity of the integral stator core, the Y-axis arm descends, and rotates to the designated position. The top-lift AGV rises, identifies and picks up the pallet that needs to be replaced, and then moves from the inner cavity of the integral stator core to the position of the information collector at the entrance of the sideline warehouse, places the pallet at the designated position, and updates the information of the pavilion. At the same time, the AGV forklift takes the designated pallet from the sideline warehouse, and then sends the pallet fork to the top-lift AGV. The top-lift AGV moves the pallet to the inner cavity of the integral stator core according to the specified route, and places the pallet on the punching sheet placement platform. At this point, the punching sheet storage and transportation process is completed.

[0041] S2, identification and stacking of punching sheets, the rotating lifting platform rises to the specified height, the 3D vision identifies the position of the punching sheet on the punching sheet placement platform, issues instructions to control the robot's movements, the robot moves to the specified position, the robot gripper controls the vacuum suction cup to grab the punching sheet, the 2D camera scans to check whether the punching sheet is qualified, the multi-layer detection device detects whether the grabbed punching sheet is multi-layered, and controls the magnetic separator according to the detection result to ensure that only one punching sheet is grabbed each time. If the 2D camera detects that the punching sheet is defective, the 3D vision issues an instruction to control the robot to move to the defective product storage area / manual stage position, and then controls the robot gripper to place the defective punching sheet at the specified position; if the 2D camera detects that the punching sheet is qualified, the 3D vision issues an instruction to control the robot to move to the integral stator core stacking position, and then controls the robot gripper (, adjust the robot gripper posture once, put one positioning slot of the punching sheet into the positioning rib, adjust the robot gripper posture again, put the other positioning slots of the punching sheet into the positioning rib, and then control the robot gripper to fall and stack the punching sheet to the correct position. When stacking When the punching position exceeds the robot's maximum range of motion, the rotary lifting platform will automatically rotate to a certain angle; when the core stacking height exceeds the robot's maximum range of motion, the rotary lifting platform will automatically rise and fall to a certain height. When the number of punches on the defective product storage area / manual carrier reaches the set number, the automatic stacking system stops stacking, the rotary lifting platform descends and rotates to the specified position, the jacking AGV enters the inner cavity of the integral stator core, takes away the corresponding pallet, and transports it to the information collector. The AGV forklift places the pallet at the specified position of the sideline warehouse. When the punches on the punching platform are used up, the above-mentioned S1 punching storage and transportation process begins.

[0042] S3, core measurement record, when the core stacking reaches the set stage, the automatic stacking system stops stacking, the rotary lifting platform is lifted and rotated to the specified position, the diameter detector works to measure the core inner diameter data, at the same time, the robot drives the robot gripper to move to the specified position, the robot gripper adjusts its posture, the thickness detector works to measure the core stacking height data.

[0043] S4. Stacking process mapping. The digital twin system collects production line data in real time by installing sensors in the working area, including equipment operating status, alarms, production data, and other unique equipment operating data, establishes a three-dimensional digital model of the production line, maps the physical production line to the digital production line, and drives the digital production line to move synchronously in real time. It supports the collection, aggregation and calculation of various data, including the summary time of production line downtime, mean time to recovery (MTTR), average production cycle, etc.

[0044] S5. Human-machine collaboration. During the stator core stacking process, if personnel need to enter the production line for inspection, the automatic stacking system stops stacking, the rotary lifting platform is lifted and rotated to the specified position, and the jacking AGV enters the inner cavity of the integral stator core, takes away the pallet on the defective product storage area / manual platform, and transports it to the information collector. The AGV forklift places the pallet at the specified position of the sideline warehouse, and the personnel stand on the defective product storage area / manual platform and manually control the lifting and rotation of the rotary lifting platform to complete the corresponding operations.

[0045] Preferably, the inner diameter of the integral stator core 100 is φ4500~φ5500mm, and the height of the integral stator core 100 is ≤5000mm; the robot 406 is six-axis motion, with a rated load ≥50kg, a repeat positioning accuracy ≤0.05mm, and a working radius ≥2500mm; the minimum height of the lifting AGV206 from the ground is ≤500mm, and the maximum lifting weight is ≥2.5t.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0047] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0048] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A hydraulic generator stator core construction site intelligent assembly system, characterized in that: The invention comprises an integral stator core (100), wherein the integral stator core (100) is a cylindrical structure, and the interior is a circumferential surface, and is formed by stacking core punching sheets layer by layer on a stator base; the bottom of the integral stator core (100) is supported on the ground by a pier (101); an intelligent logistics storage system (200) is arranged outside the integral stator core; an automatic lamination system (300) is coaxially arranged in the inner cavity of the integral stator core; a rotating lifting platform (400) is arranged below the automatic lamination system (300); and an automatic measuring system (500) is arranged on the support arm of the rotating lifting platform (400).

2. The intelligent assembly system for stator core of a hydro-generator according to claim 1, characterized in that: The intelligent logistics warehousing system (200) is provided with a sideline warehouse (201), the sideline warehouse (201) adopts a layered structure with a layer height of 800 mm, and the sideline warehouse (201) is provided with a pallet (202); an information collector (203) is provided at the entrance of the sideline warehouse (201); a cantilever beam (204) is provided at the entrance of the sideline warehouse (201), the intelligent logistics warehousing system (200) is equipped with an AGV forklift (205), a jack-up AGV (206), and the intelligent logistics warehousing system (200) is equipped with an AGV scheduling system, including vehicle scheduling, task management and graphic monitoring.

3. The intelligent assembly system for stator core of a hydro-generator according to claim 1, characterized in that: The rotary lifting platform (400) is provided with a central column (401), a Y-axis guide rail (402) is arranged on the central column (401) in the vertical direction, and a Y-axis transmission mechanism (403) and a Y-axis motor (405) are arranged on the Y-axis support arm (404).

4. The intelligent assembly system for stator core of a hydro-generator according to claim 1, characterized in that: A slewing support (406) is provided below the rotary lifting platform (400), and the slewing support (406) includes a box body (407), and an active cam (408) is installed on the box body (407), and the active cam (408) engages with a driven roller (409), and an output flange (410) is connected to the driven roller (409), and the output flange is connected to the center column (401), and a servo motor (411) is fixed on the box body (407).

5. The intelligent assembly system for stator core of a hydro-generator according to claim 1, characterized in that: The robot gripper (301) in the automatic lamination system (300) is provided with a 2D camera (302), a vacuum suction cup (303), a multi-layer detection device (304), and a magnetic spreader (305).

6. The intelligent assembly system for stator core of a hydro-generator according to claim 1, characterized in that: The automatic lamination system (300) is provided with two robots (306), the robots (306) are installed on the Y-axis support arm (404) of the rotating lifting platform (400), the robot gripper (301) is installed on the robot (306), and the Y-axis support arm (404) is provided with two 3D vision systems (307), two punching placement platforms (308), and two defective product storage areas / manual carriers (309).

7. The intelligent assembly system for stator core of a hydro-generator according to claim 1, characterized in that: The automatic measuring system (500) is provided with a thickness detector (501) installed on the robot gripper (301); the automatic measuring system (500) is provided with a diameter detector (502), the diameter detector (502) is installed on a diameter detection arm (503), and the diameter detection arm (503) is connected to the Y-axis support arm (404).

8. A process method for a hydro-generator stator core intelligent assembly system, using the hydro-generator stator core intelligent assembly system as claimed in claims 1 to 7, Its characteristics include the following steps: S1, storage and transportation of punched sheets. The punched sheets are transported to the entrance of the edge warehouse (201). The cantilever beam (204) hangs the punched sheets on the pallet (202) from the information collector (203). The information collector (203) enters the information of the pallet (202). The AGV forklift (205) receives the relevant instructions and forks the pallet (202) to the designated position of the edge warehouse (201). When the automatic stacking system (300) sends a message that a new punched sheet needs to be added, the jacking AGV (206) Immediately go to the inner cavity of the integral stator core (100), the Y-axis support arm (404) descends and rotates to the specified position, the lifting AGV (206) rises, identifies and takes the pallet (202) that needs to be replaced, and then moves from the inner cavity of the integral stator core (100) to the position of the information collector (203) at the entrance of the sideline warehouse (201), places the pallet (202) at the specified position, and updates the hall information; at the same time, the AGV forklift (205) takes the specified pallet (202) from the sideline warehouse (201), and then forks the pallet (202) to the lifting AGV (206), and the lifting AGV (206) puts the pallet (202) into the inner cavity of the integral stator core (100) according to the specified route, and places the pallet (202) on the punching sheet placement platform (308), and the punching sheet storage and transportation process is completed; S2, the punching sheets are identified and stacked, the rotating lifting platform (400) rises to a specified height, the 3D vision (307) identifies the position of the punching sheets on the punching sheet placement platform (308), issues a command to control the robot (306) to move, the robot (306) moves to the specified position, the robot gripper (301) controls the vacuum suction cup (303) to grab the punching sheets, the 2D camera (302) scans to check whether the punching sheets are qualified, the multi-layer detection device (304) detects whether the grabbed punching sheets are multi-layered, and controls the action of the magnetic separator (305) according to the detection result to ensure that only one punching sheet is grabbed each time; if the 2D camera (302) detects that the punching sheet is defective, the 3D vision (307) issues a command to control the vacuum suction cup (303) to grab the punching sheets, and the 2D camera (302) scans to check whether the punching sheets are qualified. The robot (306) moves to the position of the unqualified product storage area / manual platform (309), and then controls the robot gripper (301) to place the unqualified punching sheet at the designated position; if the 2D camera (302) detects that the punching sheet is a qualified product, the 3D vision (307) issues a command to control the robot (306) to move to the stacking position of the integral stator core (100), and then controls the robot gripper (301), adjusts the posture of the robot gripper (301) for the first time, puts one positioning groove of the punching sheet into the positioning rib, adjusts the posture of the robot gripper (301) again, puts the other positioning grooves of the punching sheet into the positioning rib, and then controls the robot gripper (301) to fall, and stacks the punching sheet to the correct position. When the stacking position of the punching sheet exceeds the maximum range of motion of the robot (306), the rotating lifting platform (400) will automatically rotate to a certain angle; when the core stacking height exceeds the maximum range of motion of the robot (306), the rotating lifting platform (400) will automatically rise and fall to a certain height. When the number of punches on the defective product storage area / manual platform (309) reaches the set number, the automatic stacking system (300) stops stacking, the rotary lifting platform (400) descends and rotates to the specified position, the jacking AGV (206) enters the inner cavity of the integral stator core (100), takes away the corresponding pallet (202), and transports it to the information collector (203), and the AGV forklift (205) places the pallet (202) at the specified position of the edge warehouse (201). When the punches on the punch placement platform (308) are used up, the above-mentioned S1 punch storage and transportation process begins; S3, iron core measurement record, when the iron core is stacked to the set stage, the automatic lamination system (300) stops lamination, the rotary lifting platform (400) is lifted and rotated to a specified position, the diameter detector (502) works to measure the inner diameter data of the iron core, and at the same time, the robot (306) drives the robot gripper (301) to move to a specified position, the robot gripper (301) adjusts its posture, and the thickness detector (501) works to measure the core stacking height data; S4, stacking process mapping, the digital twin system collects production line data in real time by installing sensors in the working area, including equipment operating status, alarms, production data, and other unique equipment operating data, establishes a three-dimensional digital model of the production line, maps the physical production line to the digital production line, drives the digital production line to move synchronously in real time, and supports the collection, aggregation and calculation of multiple data, including the summary time of production line downtime, average fault recovery time, and average production cycle; S5. Human-machine collaborative work. During the stator core stacking process, if personnel need to enter the production line for inspection, the automatic stacking system (300) stops stacking, the rotary lifting platform (400) is lifted and rotated to a specified position, and the jacking AGV (206) enters the inner cavity of the integral stator core (100), takes away the pallet (202) on the defective product storage area / manual platform (308), and transports it to the information collector (203). The AGV forklift (205) places the pallet (202) at a specified position in the sideline warehouse (201), and the personnel stand on the defective product storage area / manual platform (308) and manually control the lifting and rotation of the rotary lifting platform (400) to complete the corresponding operation.

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