Motor shaft feeding mechanism

Abstract

The motor shaft feeding mechanism belongs to the technical field of new energy motor machining, and is full-automatic assembly, high in assembly efficiency and low in cost. The motor shaft feeding mechanism can realize automatic feeding and discharging of the to-be-inserted shaft stator, automatic feeding and discharging of the motor shaft, and transplanting of the motor shaft, and further includes a collection process of empty material disc, realizes full automation of motor shaft assembly, greatly improves processing efficiency, and has wide application prospect.

Description

Technical Field

[0001] This invention relates to a motor shaft feeding mechanism, belonging to the field of new energy motor processing technology. Background Technology

[0002] Currently, new energy motors typically consist of components such as stators, rotors, end covers, and bearings. During production, the assembly of these components is necessary. In the existing automated production system, automated assembly is essential to improve production capacity. However, current generator assembly is mostly manual or semi-automated, resulting in low efficiency and high costs. Furthermore, the assembly of existing generator bearings cannot be automated, requiring manual handling of each bearing, which further impacts assembly efficiency and leads to unsatisfactory overall performance.

[0003] In view of the above-mentioned shortcomings, the present invention aims to create a motor shaft feeding mechanism that has greater industrial application value. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the purpose of this invention is to provide a motor shaft feeding mechanism.

[0005] The present invention discloses a motor shaft loading mechanism, comprising a frame, wherein the upper surface of the frame is provided with a line tray lifting and positioning mechanism for transferring the motor shaft to be processed and a material tray transfer mechanism for transferring the material trays. Above the material tray transfer mechanism are a full material tray stacking mechanism and an empty material tray stacking mechanism for stacking full material trays and empty material trays, respectively. Shaft material trays are stacked on both the full material tray stacking mechanism and the empty material tray stacking mechanism. A motor shaft is placed on the surface of the stacked shaft material trays in the full material tray stacking mechanism. A transfer and rotation picking mechanism is also provided between the full material tray stacking mechanism and the empty material tray stacking mechanism for transferring and picking up the motor shaft.

[0006] Furthermore, the line tray lifting and positioning mechanism includes a line servo slide rail arranged horizontally. A line lifting and positioning mechanism is fixedly installed at the middle section of the line servo slide rail. A line tray is slidably sleeved on the surface of the line servo slide rail. A stator to be inserted is clamped on the line tray. Photoelectric sensors are installed on both sides of the line lifting and positioning mechanism to detect whether the line tray is in place at the position of the line lifting and positioning mechanism and to determine whether there is a motor shaft on the stator to be inserted, so as to facilitate the next process.

[0007] Furthermore, the production line lifting and positioning mechanism includes a production line lifting cylinder mounting plate. A production line lifting and positioning plate is arranged parallel to the mounting plate above it. Two symmetrically arranged production line lifting cylinders are fixedly mounted on the bottom surface of the mounting plate. The top output end of each cylinder passes through the mounting plate and is connected to the bottom surface of the positioning plate. A production line lifting guide post is fixedly installed at each of the four corners of the bottom surface of the positioning plate. The lifting guide posts of the production line pass through the lifting guide sleeves located at the four corners of the lifting cylinder mounting plate to achieve vertical movement. The bottom of the two lifting guide posts located on the same side of the lifting cylinder is connected to a horizontal lifting limit plate, which is used to limit the lifting height of the lifting positioning plate. The top surface of the lifting positioning plate is provided with two lifting positioning pins. The lifting positioning pins are correspondingly set with the pin holes at the bottom of the production line tray to fix the transmitted production line tray and achieve lifting.

[0008] Furthermore, the material tray transfer mechanism includes a horizontally arranged material tray lifting mechanism slide rail. A material tray lifting cylinder mounting plate is slidably sleeved on the surface of the material tray lifting mechanism slide rail via a material tray lifting mechanism slider. The material tray lifting cylinder mounting plate and the material tray lifting mechanism conveyor belt are connected by transmission. The material tray lifting mechanism conveyor belt and a material tray lifting mechanism servo motor installed at one end of the material tray lifting mechanism slide rail are connected by transmission. The material tray lifting mechanism servo motor and the material tray lifting mechanism conveyor belt drive the material tray lifting cylinder mounting plate to move back and forth along the material tray lifting mechanism slide rail.

[0009] Furthermore, a material tray lifting positioning plate is arranged parallel to the material tray lifting cylinder mounting plate above it. A material tray lifting cylinder is fixedly installed on the bottom surface of the material tray lifting cylinder mounting plate. The top output end of the material tray lifting cylinder passes through the material tray lifting cylinder mounting plate and is connected to the bottom surface of the material tray lifting positioning plate. A material tray lifting guide post is fixedly installed at each of the four corners of the bottom surface of the material tray lifting positioning plate. The material tray lifting guide post passes through the material tray lifting guide sleeves set at the four corners of the material tray lifting cylinder mounting plate to move up and down. The bottom of the two material tray lifting guide posts located on the same side of the material tray lifting cylinder is connected to a horizontal material tray lifting limit plate to limit the lifting height of the material tray lifting positioning plate. Two material tray lifting positioning pins are provided on the top surface of the material tray lifting positioning plate. The material tray lifting positioning pins are correspondingly set with the pin holes at the bottom of the shaft material tray to fix the shaft material tray and realize the lifting.

[0010] Furthermore, the full-load tray stacking mechanism and the empty-load tray stacking mechanism respectively include a full-load tray mounting frame and an empty-load tray mounting frame with frame-like structures. Multiple layers of shaft trays are stacked and installed in both the full-load tray mounting frame and the empty-load tray mounting frame. Four tray removers are symmetrically arranged on both sides of the bottom of the full-load tray mounting frame, and four tray installers are symmetrically arranged on both sides of the bottom of the empty-load tray mounting frame. These are used to remove shaft trays from the full-load tray mounting frame and to install empty shaft trays into the empty-load tray mounting frame, respectively. Four tray stacking pins are provided at the four corners of each shaft tray. The tray stacking pins are correspondingly arranged with the pin holes at their bottoms. The stacking of shaft trays is achieved by matching and connecting the tray stacking pins of the lower layer shaft trays with the pin holes on the bottom surface of the upper layer shaft trays.

[0011] Furthermore, the tray remover includes a tray remover base fixedly installed at the bottom of the full tray placement frame. A tray remover housing is fixedly installed on the front surface of the tray remover base. Inside the tray remover housing, a tray remover lever is hinged via a tray remover hinge rod. A tray remover return spring is also provided between the tray remover lever and the inner wall of the tray remover housing for automatic reset after the external force on the tray remover lever is removed. A tray remover cylinder is fixedly installed on the outer surface of the tray remover housing. The bottom output end of the tray remover cylinder is drivenly connected to the bottom end of the tray remover lever. By pressing down the tray remover cylinder, the top end of the tray remover lever is tilted upward to make room, thereby facilitating the removal of a shaft tray by the tray transfer mechanism and its transport to the transplanting station.

[0012] Furthermore, the tray loader includes a tray loader base fixedly installed at the bottom of the empty tray placement frame, a tray loader housing fixedly installed on the front surface of the tray loader base, a tray loader rocker arm hinged inside the tray loader housing, and a tray loader return spring provided between the tray loader rocker arm and the inner wall of the tray loader housing for automatic reset after the external force on the tray loader rocker arm is removed.

[0013] Furthermore, the transplanting rotary material handling mechanism includes a material handling bracket, on the surface of which a horizontal servo slide rail is arranged in the horizontal direction. The direction of the horizontal servo slide rail is perpendicular to that of the line servo slide rail. A vertical servo slide rail is slidably connected to the surface of the horizontal servo slide rail. A gripper mounting slide rail is slidably sleeved on the surface of the vertical servo slide rail. A rotatable rotary cylinder is arranged on the surface of the gripper mounting slide rail. A material handling gripper is arranged at the end of the rotary cylinder for gripping the motor shaft and inserting it into the stator of the shaft to be inserted.

[0014] By means of the above-described solution, the present invention has at least the following advantages:

[0015] The motor shaft loading mechanism of this invention is a fully automated assembly system with high assembly efficiency and low cost. It can automatically load and unload the stator shaft to be inserted, as well as automatically load and unload the motor shaft, transfer the motor shaft, and collect empty material trays. This achieves fully automated motor shaft assembly, greatly improves processing efficiency, and has broad application prospects.

[0016] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show a certain embodiment of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the motor shaft feeding mechanism of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the line tray lifting and positioning mechanism in the motor shaft feeding mechanism of the present invention;

[0020] Figure 3 This is a schematic diagram of the linear lifting and positioning mechanism in the motor shaft feeding mechanism of the present invention;

[0021] Figure 4 This is a schematic diagram of the assembly structure of the material tray transfer mechanism, the full material tray stacking mechanism, and the empty material tray stacking mechanism in the motor shaft feeding mechanism of the present invention.

[0022] Figure 5 This is a schematic diagram of the material tray transfer mechanism in the motor shaft feeding mechanism of the present invention;

[0023] Figure 6 This is a schematic diagram of the assembly structure of the full material tray stacking mechanism and the empty material tray stacking mechanism in the motor shaft feeding mechanism of the present invention;

[0024] Figure 7 This is a schematic diagram of the dismantling device in the motor shaft feeding mechanism of the present invention;

[0025] Figure 8 This is a schematic diagram of the tray loading device in the motor shaft feeding mechanism of the present invention;

[0026] Figure 9 This is a schematic diagram of the transfer and rotation material handling mechanism in the motor shaft feeding mechanism of the present invention.

[0027] In the figure;

[0028] 1. Frame; 2. Line pallet lifting and positioning mechanism; 3. Material tray transfer mechanism; 4. Full material tray stacking mechanism; 5. Empty material tray stacking mechanism; 6. Transfer and rotating material picking mechanism; 7. Shaft material tray; 8. Motor shaft;

[0029] 21. Line servo guide rail; 22. Line tray; 23. Photoelectric sensor; 24. Line lifting and positioning mechanism;

[0030] 221. Stator to be inserted;

[0031] 241. Installation plate for the lifting cylinder of the production line; 242. Lifting cylinder of the production line; 243. Lifting positioning plate of the production line; 244. Lifting guide sleeve of the production line; 245. Lifting guide post of the production line; 246. Lifting limit plate of the production line; 247. Lifting positioning pin of the production line;

[0032] 31. Material tray lifting cylinder mounting plate; 32. Material tray lifting positioning plate; 33. Material tray lifting guide sleeve; 34. Material tray lifting guide post; 35. Material tray lifting limit plate; 36. Material tray lifting cylinder; 37. Material tray lifting mechanism slider; 38. Material tray lifting mechanism conveyor belt; 39. Material tray lifting mechanism servo motor; 310. Material tray lifting mechanism slide rail;

[0033] 321. Material tray lifting positioning pin;

[0034] 41. Full tray support frame; 42. Tray remover;

[0035] 421. Base of the disc remover; 422. Housing of the disc remover; 423. Hinge rod of the disc remover; 424. Rocker lever of the disc remover; 425. Cylinder of the disc remover; 426. Return spring of the disc remover;

[0036] 51. Empty material tray rack; 52. Tray loading device;

[0037] 521. Tray loader base; 522. Tray loader housing; 523. Tray loader hinge rod; 524. Tray loader rocker arm; 525. Tray loader return spring;

[0038] 61. Material handling bracket; 62. Horizontal servo slide rail; 63. Vertical servo slide rail; 64. Gripper mounting slide rail; 65. Rotary cylinder; 66. Material handling gripper;

[0039] 71. Material tray stacking pin. Detailed Implementation

[0040] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0041] See Figure 1 A preferred embodiment of the present invention describes a motor shaft loading mechanism, comprising a frame 1. The upper surface of the frame 1 is laterally provided with a line tray lifting and positioning mechanism 2 for transferring the motor shaft to be processed, and a tray transfer mechanism 3 for transferring the trays. Above the tray transfer mechanism 3 are a full tray stacking mechanism 4 and an empty tray stacking mechanism 5, respectively used for stacking full and empty trays. Shaft trays 7 are stacked on both the full tray stacking mechanism 4 and the empty tray stacking mechanism 5. A motor shaft 8 is placed on the surface of the stacked shaft trays 7 in the full tray stacking mechanism 4. A transfer and rotation picking mechanism 6 is also provided between the full tray stacking mechanism 4 and the empty tray stacking mechanism 5 for transferring and picking up the motor shaft 8.

[0042] See Figure 2 The line tray lifting and positioning mechanism 2 includes a line servo slide rail 21 arranged horizontally. A line lifting and positioning mechanism 24 is fixedly installed at the middle section of the line servo slide rail 21. A line tray 22 is slidably sleeved on the surface of the line servo slide rail 21. A stator 221 to be inserted is clamped on the line tray 22. Photoelectric sensors 23 are arranged on both sides of the line lifting and positioning mechanism 24 to detect whether the line tray 22 is in place when it is transported to the position of the line lifting and positioning mechanism 24 and to determine whether there is a motor shaft 8 on the stator 221 to be inserted, so as to facilitate the next process.

[0043] See Figure 3 The line lifting and positioning mechanism 24 includes a line lifting cylinder mounting plate 241. A line lifting and positioning plate 243 is arranged parallel to and above the line lifting cylinder mounting plate 241. Two symmetrically arranged line lifting cylinders 242 are fixedly mounted on the bottom surface of the line lifting cylinder mounting plate 241. The top output end of each line lifting cylinder 242 passes through the line lifting cylinder mounting plate 241 and is connected to the bottom surface of the line lifting and positioning plate 243. A line lifting guide post 245 is fixedly installed at each of the four corners of the bottom surface of the line lifting and positioning plate 243. The lifting guide column 245 passes through the line lifting guide sleeve 244 set at the four corners of the line lifting cylinder mounting plate 241 to achieve up and down movement. The bottom of the two line lifting guide columns 245 located on the same side of the line lifting cylinder 242 is connected to a horizontal line lifting limit plate 246, which is used to limit the lifting height of the line lifting positioning plate 243. The top surface of the line lifting positioning plate 243 is provided with two line lifting positioning pins 247. The line lifting positioning pins 247 are correspondingly set with the pin holes at the bottom of the line tray 22, which are used to fix the transmitted line tray 22 and achieve lifting.

[0044] See Figures 4-5The material tray transfer mechanism 3 includes a horizontally arranged material tray lifting mechanism slide rail 310. A material tray lifting cylinder mounting plate 31 is slidably sleeved on the surface of the material tray lifting mechanism slide rail 310 via a material tray lifting mechanism slider 37. The material tray lifting cylinder mounting plate 31 and the material tray lifting mechanism conveyor belt 38 are connected by transmission. The material tray lifting mechanism conveyor belt 38 and the material tray lifting mechanism servo motor 39 installed at one end of the material tray lifting mechanism slide rail 310 are connected by transmission. The material tray lifting mechanism servo motor 39 and the material tray lifting mechanism conveyor belt 38 drive the material tray lifting cylinder mounting plate 31 to move back and forth along the material tray lifting mechanism slide rail 310.

[0045] A material tray lifting positioning plate 32 is arranged parallel to and above the material tray lifting cylinder mounting plate 31. A material tray lifting cylinder 36 is fixedly installed on the bottom surface of the material tray lifting cylinder mounting plate 31. The top output end of the material tray lifting cylinder 36 passes through the material tray lifting cylinder mounting plate 31 and is connected to the bottom surface of the material tray lifting positioning plate 32. A material tray lifting guide post 34 is fixedly installed at each of the four corners of the bottom surface of the material tray lifting positioning plate 32. The material tray lifting guide post 34 passes through the material tray. The material tray lifting guide sleeves 33 at the four corners of the lifting cylinder mounting plate 31 can move up and down. The bottom of the two material tray lifting guide columns 34 located on the same side of the material tray lifting cylinder 36 is connected to a horizontal material tray lifting limit plate 35, which is used to limit the lifting height of the material tray lifting positioning plate 32. The top surface of the material tray lifting positioning plate 32 is provided with two material tray lifting positioning pins 321. The material tray lifting positioning pins 321 are correspondingly set with the pin holes at the bottom of the shaft material tray 7, which are used to fix the shaft material tray 7 and realize the lifting.

[0046] See Figure 6 The full-load tray stacking mechanism 4 and the empty-load tray stacking mechanism 5 respectively include a full-load tray mounting frame 41 and an empty-load tray mounting frame 51 with a frame structure. Multiple layers of shaft trays 7 are stacked in both the full-load tray mounting frame 41 and the empty-load tray mounting frame 51. Four tray removers 42 are symmetrically arranged on both sides of the bottom of the full-load tray mounting frame 41, and four tray installers 52 are symmetrically arranged on both sides of the bottom of the empty-load tray mounting frame 51. These are used to remove shaft trays 7 from the full-load tray mounting frame 41 and to install empty shaft trays 7 into the empty-load tray mounting frame 51, respectively. Four tray stacking pins 71 are provided at the four corners of the shaft trays 7. The tray stacking pins 71 and their bottom pin holes are correspondingly arranged. The stacking of shaft trays 7 is achieved by matching and connecting the tray stacking pins 71 of the lower layer shaft trays 7 with the pin holes on the bottom surface of the upper layer shaft trays 7.

[0047] See Figure 7The tray remover 42 includes a tray remover base 421 fixedly installed at the bottom of the full tray placement frame 41. A tray remover housing 422 is fixedly installed on the front surface of the tray remover base 421. A tray remover lever 424 is hinged inside the tray remover housing 422 via a tray remover hinge rod 423. A tray remover return spring 426 is also provided between the tray remover lever 424 and the inner wall of the tray remover housing 422 for automatic reset after the external force on the tray remover lever 424 is removed. A tray remover cylinder 425 is fixedly installed on the outer surface of the tray remover housing 422. The bottom output end of the tray remover cylinder 425 is connected to the bottom end of the tray remover lever 424. The tray remover cylinder 425 presses down to make the top end of the tray remover lever 424 tilt upward to make room, thereby facilitating the removal of a shaft tray 7 by the tray transfer mechanism 3 and transporting it to the transplanting station.

[0048] See Figure 8 The tray loader 52 includes a tray loader base 521 fixedly installed at the bottom of the empty tray placement frame 51. A tray loader housing 522 is fixedly installed on the front surface of the tray loader base 521. A tray loader rocker arm 524 is hinged inside the tray loader housing 522 via a tray loader hinge rod 523. A tray loader return spring 525 is also provided between the tray loader rocker arm 524 and the inner wall of the tray loader housing 522 for automatically resetting after the external force on the tray loader rocker arm 524 is removed.

[0049] See Figure 9 The transplanting rotary material handling mechanism 6 includes a material handling bracket 61. A horizontal servo slide rail 62 is provided on the surface of the material handling bracket 61 in the horizontal direction. The direction of the horizontal servo slide rail 62 is perpendicular to that of the line servo slide rail 21. A vertical servo slide rail 63 is slidably connected to the surface of the horizontal servo slide rail 62. A gripper mounting slide rail 64 is slidably sleeved on the surface of the vertical servo slide rail 63. A rotatable rotary cylinder 65 is provided on the surface of the gripper mounting slide rail 64. A material handling gripper 66 is provided at the end of the rotary cylinder 65 for gripping the motor shaft 8 and inserting it into the stator 221 to be inserted.

[0050] The working principle of this invention is as follows:

[0051] In actual use, the motor shaft feeding mechanism of the present invention;

[0052] 1. After the line tray 22 is conveyed to the planting work position via the line servo slide rail 21, the line lifting and positioning mechanism 24 at the bottom lifts and positions the line tray 22. Then, the photoelectric sensor 23 detects whether there is a motor shaft 8 on the stator 221 to be inserted on the surface of the line tray 22 that has been transported to the position of the line lifting and positioning mechanism 24. If there is no motor shaft 8, the second step is performed.

[0053] 2. At this time, the material tray transfer mechanism 3 starts to work. First, the material tray lifting and positioning plate 32 lifts the shaft material tray 7 on the full material tray stacking mechanism 4 through the material tray lifting and positioning pin 321. At the same time, the tray remover 42 starts to work. The tray remover cylinder 425 presses down, causing the top of the tray remover lever 424 to tilt upward and make room. At this time, the material tray lifting and positioning plate 32 moves down with the shaft material tray 7 stacked at the bottom. After it moves down to the set height, the tray remover cylinder 425 resets, and the tray remover reset spring 426... Under the action, the dismantling device rocker 424 automatically resets, thus getting stuck on the bottom surface of the second bottom shaft material tray 7. This causes the bottommost shaft material tray 7 to move down, and the second bottom shaft material tray 7 falls on the top of the dismantling device rocker 424 to continue stacking. This cycle completes the unloading of the shaft material tray 7 on the full material tray stacking mechanism 4. After unloading, the shaft material tray 7 is transferred together with the material tray lifting positioning plate 32 to the planting station between the full material tray stacking mechanism 4 and the empty material tray stacking mechanism 5.

[0054] 3. At this time, the picking jaws 66 of the transfer rotary picking mechanism 6 remove the motor shaft 8 from the shaft material tray 7. Then, the picking jaws 66 of the transfer rotary picking mechanism 6 rise and rotate 90 degrees. The picking jaws 66 of the transfer rotary picking mechanism 6 lower and place the motor shaft 8 into the stator 221 to be inserted on the surface of the line tray 22. Then, the picking jaws 66 of the transfer rotary picking mechanism 6 return to their original position, and the line tray 22 carries the stator product after transfer to the next process.

[0055] 4. After the motor shafts 8 on the shaft material tray 7 are removed, the empty shaft material tray 7 is transported by the material tray transfer mechanism 3 to the bottom of the empty material tray placement frame 51. Then, the material tray lifting positioning plate 32 lifts the shaft material tray 7 into the empty material tray placement frame 51 through the material tray lifting positioning pin 321. At the same time, the tray loading device 52 starts to work. The lifted shaft material tray 7 lifts the tray loading device 52's tray loading device lever 524 upward until the shaft material tray 7 passes through and enters the upper layer. Then, under the action of the tray loading device return spring 525, the upward-raised tray loading device lever 524 returns to the horizontal state. At this time, the material tray lifting positioning plate 32 is removed and retracted, so that the shaft material tray 7 is placed on the surface of the tray loading device lever 524. The material tray lifting positioning plate 32 returns to its original position with the material tray transfer mechanism 3 to unload the next shaft material tray 7. This cycle is repeated to complete the insertion of the motor shaft.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A motor shaft feeding mechanism, comprising a frame, characterized in that: The upper surface of the frame is laterally equipped with a line pallet lifting and positioning mechanism for transferring the motor parts to be machined, and a material tray transfer mechanism for transferring the material trays. Above the material tray transfer mechanism are a full material tray stacking mechanism and an empty material tray stacking mechanism, which are used to stack full material trays and empty material trays, respectively. Shaft material trays are stacked on both the full material tray stacking mechanism and the empty material tray stacking mechanism. The surface of the shaft material trays stacked in the full material tray stacking mechanism is where the motor shaft is placed. A transfer and rotation picking mechanism is also provided between the full material tray stacking mechanism and the empty material tray stacking mechanism for transferring and picking up the motor shaft. The line tray lifting and positioning mechanism includes a line servo slide rail arranged horizontally. A line lifting and positioning mechanism is fixedly installed at the middle section of the line servo slide rail. A line tray is slidably sleeved on the surface of the line servo slide rail. A stator to be inserted is clamped on the line tray. Photoelectric sensors are installed on both sides of the line lifting and positioning mechanism to detect whether the line tray is in place at the position of the line lifting and positioning mechanism and to determine whether there is a motor shaft on the stator to be inserted, so as to facilitate the next process. The line lifting and positioning mechanism includes a line lifting cylinder mounting plate. A line lifting positioning plate is arranged parallel to the mounting plate above it. Two symmetrically arranged line lifting cylinders are fixedly installed on the bottom surface of the mounting plate. The top output end of each line lifting cylinder passes through the mounting plate and is connected to the bottom surface of the positioning plate. A line lifting guide post is fixedly installed at each of the four corners of the bottom surface of the positioning plate. The line lifting guide posts pass through the line lifting guide sleeves located at the four corners of the mounting plate to move up and down. A horizontal line lifting limit plate is connected to the bottom of the two line lifting guide posts on the same side of the line lifting cylinders to limit the lifting height of the positioning plate. Two line lifting positioning pins are provided on the top surface of the positioning plate. The pins correspond to the pin holes on the bottom of the line tray to fix the transmitted line tray and achieve lifting. The full-load tray stacking mechanism and the empty-load tray stacking mechanism each include a frame-shaped full-load tray mounting frame and an empty-load tray mounting frame. Multiple layers of shaft trays are stacked and installed in both the full-load tray mounting frame and the empty-load tray mounting frame. Four tray removers are symmetrically arranged on both sides of the bottom of the full-load tray mounting frame. Each tray remover includes a tray remover base fixedly installed at the bottom of the full-load tray mounting frame. A tray remover housing is fixedly installed on the front surface of the tray remover base. A tray remover is hinged inside the tray remover housing via a tray remover hinge rod. The tilting rod of the tray remover has a Z-shaped structure. A tray remover return spring is also provided between the tray remover tilting rod and the inner wall of the tray remover housing, which is used to automatically reset the tray remover tilting rod after the external force is removed. A tray remover cylinder is fixedly installed on the outer surface of the tray remover housing. The bottom output end of the tray remover cylinder is connected to the bottom end of the tray remover tilting rod. The tray remover tilting rod is tilted upward by pressing down the tray remover cylinder, so as to facilitate the removal of a shaft tray by the tray transfer mechanism and transport it to the transplanting station.

2. The motor shaft feeding mechanism according to claim 1, characterized in that: The material tray transfer mechanism includes a horizontally arranged material tray lifting mechanism slide rail. A material tray lifting cylinder mounting plate is slidably sleeved on the surface of the material tray lifting mechanism slide rail via a material tray lifting mechanism slider. The material tray lifting cylinder mounting plate and the material tray lifting mechanism conveyor belt are connected by transmission. The material tray lifting mechanism conveyor belt and the material tray lifting mechanism servo motor installed at one end of the material tray lifting mechanism slide rail are connected by transmission. The material tray lifting mechanism servo motor and the material tray lifting mechanism conveyor belt drive the material tray lifting cylinder mounting plate to move back and forth along the material tray lifting mechanism slide rail.

3. The motor shaft feeding mechanism according to claim 2, characterized in that: A material tray lifting positioning plate is installed parallel to the material tray lifting cylinder mounting plate above it. A material tray lifting cylinder is fixedly installed on the bottom surface of the material tray lifting cylinder mounting plate. The top output end of the material tray lifting cylinder passes through the material tray lifting cylinder mounting plate and is connected to the bottom surface of the material tray lifting positioning plate. A material tray lifting guide post is fixedly installed at each of the four corners of the bottom surface of the material tray lifting positioning plate. The material tray lifting guide post passes through the material tray lifting guide sleeves located at the four corners of the material tray lifting cylinder mounting plate to move up and down. The bottom of the two material tray lifting guide posts located on the same side of the material tray lifting cylinder is connected to a horizontal material tray lifting limit plate to limit the lifting height of the material tray lifting positioning plate. Two material tray lifting positioning pins are provided on the top surface of the material tray lifting positioning plate. The material tray lifting positioning pins are correspondingly set with the pin holes at the bottom of the shaft material tray to fix the shaft material tray and realize the lifting.

4. The motor shaft feeding mechanism according to claim 1, characterized in that: Four tray loaders are symmetrically arranged on both sides of the bottom of the empty tray mounting frame. These are used to remove shaft trays from the full tray mounting frame and to load empty shaft trays into the empty tray mounting frame. Four tray stacking pins are provided at the four corners of each shaft tray. The tray stacking pins are corresponding to the pin holes at their bottoms. The stacking pins of the lower shaft trays are matched and connected with the pin holes on the bottom surface of the upper shaft trays to achieve the stacking of shaft trays layer by layer.

5. The motor shaft feeding mechanism according to claim 4, characterized in that: The tray loader includes a tray loader base fixedly installed at the bottom of the empty tray placement frame. A tray loader housing is fixedly installed on the front surface of the tray loader base. A tray loader rocker arm is hinged inside the tray loader housing via a tray loader hinge rod. A tray loader return spring is also provided between the tray loader rocker arm and the inner wall of the tray loader housing to automatically reset the tray loader rocker arm after the external force is removed.

6. The motor shaft feeding mechanism according to claim 1, characterized in that: The transplanting rotary material handling mechanism includes a material handling bracket. A horizontal servo slide rail is provided on the surface of the material handling bracket in the horizontal direction. The direction of the horizontal servo slide rail is perpendicular to that of the line servo slide rail. A vertical servo slide rail is slidably connected to the surface of the horizontal servo slide rail. A gripper mounting slide rail is slidably sleeved on the surface of the vertical servo slide rail. A rotatable rotary cylinder is provided on the surface of the gripper mounting slide rail. A material handling gripper is provided at the end of the rotary cylinder for gripping the motor shaft and inserting it into the stator of the shaft to be inserted.

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