Visual inspection machine for appearance of stator core

Abstract

The invention relates to a stator core appearance visual inspection machine which comprises a rack, a multi-station feeding manipulator, a code scanning device, a first mechanical vision, a second mechanical vision, a third mechanical vision, a fourth mechanical vision, a fifth mechanical vision and a sixth mechanical vision. The appearance of the stator iron core is detected by arranging a plurality of detection stations, the stator iron core is rapidly carried by arranging a multi-detection-station feeding manipulator, each detection station rotates the stator iron core through a rotating mechanism, and whether the appearance of each position of the stator iron core has defects or not is detected in cooperation with mechanical vision. Therefore, the device is high in detection efficiency, accurate in detection, low in labor intensity and high in automation intensity.

Description

Technical Field

[0001] The present invention relates to the technical field of stator core appearance detection, and particularly relates to a visual inspection machine for stator core appearance. Background Art

[0002] At present, the detection of the stator core appearance still relies on workers to observe whether there are situations such as slot insulation breakage, slot insulation deformation, insulation paper entanglement, insulation paper offset, slot wedge protrusion, copper wire exposure, wire not inserted, insert piece breakage, copper wire protrusion, insert piece with less wire, double insert piece, insert piece being too high, copper wire crossing, insufficient safety distance, and core bracket breakage. In the above method, the labor intensity of workers is high, the detection effects vary, and the detection efficiency is low. Therefore, there is an urgent need for a device that can automatically detect the stator appearance on the market. Summary of the Invention

[0003] The purpose of the present invention is to provide a visual inspection machine for stator core appearance with high detection efficiency and accuracy.

[0004] The purpose of the present invention is achieved as follows: A visual inspection machine for stator core appearance includes a frame, a multi-station feeding manipulator, a code scanning device, a first machine vision, a second machine vision, a third machine vision, a fourth machine vision, a fifth machine vision, and a sixth machine vision.

[0005] On the frame, a first detection station, a second detection station, a third detection station, a fourth detection station, and a fifth detection station are sequentially arranged horizontally.

[0006] Corresponding to the positions of the first detection station, the second detection station, the third detection station, the fourth detection station, and the fifth detection station on the frame, a first rotation mechanism, a second rotation mechanism, a third rotation mechanism, a fourth rotation mechanism, and a fifth rotation mechanism are respectively provided.

[0007] The multi-station feeding manipulator is arranged on the frame and is used for conveying the stator core.

[0008] The first machine vision is arranged on the multi-station feeding manipulator and is located directly above the first detection station, and is used for taking pictures of the top surface of the stator core for the code scanning device to scan.

[0009] The first rotation mechanism is used to cooperate with the first machine vision to drive the stator core on the first detection station to rotate to determine the position of the stator core.

[0010] The code scanning device is arranged on the frame and on one side of the first detection station, and is used for scanning the code of the stator core with a determined position.

[0011] The second machine vision is installed on the multi-station feeding robot arm and is located above the second inspection station. It is used to take pictures of the top of the inner ring of the stator core to detect whether there are situations such as slot insulation damage, deformation, insulation paper entanglement, insulation paper deviation, slot wedge protrusion, copper wire exposure, etc. on the top of the inner ring of the stator core 7.

[0012] The second rotating mechanism is used to drive the stator core on the second inspection station to rotate so that the second machine vision can take pictures of the stator core.

[0013] The third machine vision is installed on the multi-station feeding robot arm and is located above the third inspection station. It is used to take pictures of the bottom of the inner ring of the stator core to detect whether there are situations such as slot insulation damage, deformation, insulation paper entanglement, insulation paper deviation, slot wedge protrusion, copper wire exposure, etc. on the bottom of the inner ring of the stator core 7.

[0014] The third rotating mechanism is used to drive the stator core on the third inspection station to rotate so that the third machine vision can take pictures of the stator core.

[0015] The fourth machine vision is installed on the multi-station feeding robot arm and is located directly above the fourth inspection station. It is used to take pictures of the top view row of the terminals of the stator core; it is used to detect whether there are situations such as wires not inserted, insert piece damage, copper wire protrusion, insert piece with less wire, double insert pieces, insert piece height exceeding the standard, etc. on the top view of the terminal row of the stator core.

[0016] The fifth machine vision is installed on the frame and is located on one side of the fourth inspection station. It is used to take pictures of the side of the stator core; it is used to detect whether there are situations such as wires not inserted, insert piece damage, copper wire protrusion, insert piece with less wire, double insert pieces, insert piece height exceeding the standard, etc. on the side of the terminal row of the stator core.

[0017] The fourth rotating mechanism is used to drive the stator core on the fourth inspection station to rotate so that the fourth machine vision and the fifth machine vision can take pictures of the stator core.

[0018] The sixth machine vision is installed on the frame and is located on one side of the fifth inspection station. It is used to take pictures of the side of the stator core to detect whether there are situations such as copper wire crossing, insufficient safety distance, core support damage, etc. on the side of the stator core.

[0019] The fifth rotating mechanism is used to drive the stator core on the fifth inspection station to rotate so that the sixth machine vision can take pictures of the stator core.

[0020] The present invention detects the appearance of the stator core by setting multiple detection stations and sets a multi-station feeding manipulator to quickly transport the stator core. Each detection station rotates the stator core through a rotating mechanism and cooperates with machine vision to detect whether there are defects in the appearance of each position of the stator core. Therefore, the detection efficiency of the present invention is high, the detection is accurate, the labor intensity is low, and the automation intensity is high.

[0021] The present invention can also be further improved as follows.

[0022] The multi-station feeding manipulator includes a base, a lifting motor, a translation cylinder, a translation seat, a lifting seat, and multiple material-gripping manipulators. The base is arranged on the frame. The lifting seat is slidably arranged up and down on the base. The lifting motor is arranged on the base and drives the lifting seat to slide up and down. The translation cylinder is arranged on the lifting seat and drives the translation seat to slide horizontally. The translation seat is horizontally slidably arranged on the lifting seat. Multiple material-gripping manipulators are horizontally arranged in sequence on the translation seat.

[0023] The motor shaft of the lifting motor is in screw drive connection with the lifting seat screw.

[0024] An installation plate is arranged on the frame. The structures of the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism are the same. The first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism are arranged on the installation plate in sequence. The first rotating mechanism includes a rotating motor and a rotating tooling. The rotating tooling is horizontally rotatably arranged on the top surface of the installation plate. The rotating motor is arranged on the bottom surface of the installation plate and drives the rotating tooling to rotate horizontally.

[0025] The multi-station feeding manipulator further includes a stator core flipping assembly. The stator core flipping assembly includes a flipping driving cylinder, a slider, a first gear, a second gear, a belt, a first bearing, a second bearing, a first rotating seat, and a second rotating seat. The slider is horizontally slidably arranged on the translation seat. The slider is fixedly connected with the belt. The flipping driving cylinder drives the slider to slide horizontally. The two material-gripping manipulators are respectively arranged on the first rotating seat and the second rotating seat. The belt connects the first gear and the second gear. The first rotating seat and the second rotating seat are respectively fixedly connected with the first gear and the second gear. The first rotating seat and the second rotating seat are respectively arranged on the first bearing and the second bearing. The first bearing and the second bearing are rotatably arranged on the translation seat with the horizontal line as the axis of rotation.

[0026] The material-gripping manipulator is a double-jaw cylinder.

[0027] The multi-station feeding manipulator further includes a lifting cylinder and a lifting sliding seat. The lifting seat slides up and down on the translation seat. The lifting cylinder is arranged on the translation seat and drives the lifting sliding seat to slide up and down. The second mechanical vision and the third mechanical vision are arranged on the lifting sliding seat. The lifting cylinder drives the lifting sliding seat, the second mechanical vision and the third mechanical vision to slide upward to prevent the second mechanical vision and the third mechanical vision from interfering with the flipping of the third material grabbing manipulator and the fourth material grabbing manipulator.

[0028] The beneficial effects of the present invention are as follows: 1. The present invention detects the appearance of the stator core by setting multiple detection stations and uses a multi-detection station feeding manipulator to quickly transport the stator core. Each detection station rotates the stator core through a rotating mechanism and cooperates with mechanical vision to detect whether there are defects in the appearance of each position of the stator core. Therefore, the detection efficiency of the present invention is high, the detection is accurate, the labor intensity is low, and the automation intensity is high.

[0029] 2. The stator core flipping assembly of the present invention can synchronously drive two material grabbing manipulators and the stator cores thereon to flip 180°, which helps to quickly flip the stator core back and forth and facilitates the mechanical vision to quickly take pictures and detect. Description of the Drawings

[0030] Figure 1 is a schematic structural diagram of the stator core appearance vision detection machine of the present invention.

[0031] Figure 2 is a schematic structural diagram of the stator core appearance vision detection machine of the present invention from another angle.

[0032] Figure 3 is a schematic structural diagram of the stator core appearance vision detection machine of the present invention after omitting the lifting cylinder, the lifting sliding seat, the second mechanical vision and the third mechanical vision.

[0033] Figure 4 is a schematic structural diagram of the stator core appearance vision detection machine of the present invention after omitting the machine frame.

[0034] Figure 5 is a schematic structural diagram of the stator core appearance vision detection machine of the present invention from another angle after omitting the machine frame.

[0035] Figure 6 is a schematic connection structure diagram of the stator core flipping assembly of the present invention with the third material grabbing manipulator and the fourth material grabbing manipulator.

[0036] Figure 7 is a schematic connection structure diagram of the stator core flipping assembly of the present invention with the third material grabbing manipulator and the fourth material grabbing manipulator from another angle.

[0037] Figure 8It is a schematic structural diagram of the stator core flipping assembly of the present invention.

[0038] Figure 9 It is a schematic structural diagram of the stator core flipping assembly of the present invention from another angle.

[0039] Figure 10 It is a schematic structural diagram of the first rotating mechanism of the present invention.

[0040] Figure 11 It is a schematic structural diagram of the first rotating mechanism of the present invention from another angle. Detailed implementation manners

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] Embodiment 1, as Figures 1 to 11 shown, a stator core appearance vision inspection machine includes a frame 1, a multi-station feeding manipulator 2, a code scanning device 5, a first machine vision 31, a second machine vision 32, a third machine vision 33, a fourth machine vision 34, a fifth machine vision 35, and a sixth machine vision 36.

[0043] On the frame 1, a first inspection station 51, a second inspection station 52, a third inspection station 53, a fourth inspection station 54, and a fifth inspection station 55 are sequentially arranged horizontally.

[0044] Corresponding to the positions of the first inspection station 51, the second inspection station 52, the third inspection station 53, the fourth inspection station 54, and the fifth inspection station 55 on the frame 1, a first rotating mechanism 11, a second rotating mechanism 12, a third rotating mechanism 13, a fourth rotating mechanism 14, and a fifth rotating mechanism 15 are respectively provided.

[0045] The multi-station feeding manipulator 2 is arranged on the frame 1 and is used for conveying the stator core 7.

[0046] The first machine vision 31 is arranged on the multi-station feeding manipulator 2 and is located directly above the first inspection station 51, and is used for taking a picture of the top surface of the stator core 7 for the code scanning device 5 to scan.

[0047] The first rotating mechanism 11 is used to cooperate with the first machine vision 31 to drive the stator core 7 on the first inspection station 51 to rotate to determine the position of the stator core 7.

[0048] The code scanning device 5 is arranged on the frame 1 and is on one side of the first inspection station 51 and is used for scanning the code of the stator core 7 with a determined position.

[0049] The second machine vision 32 is provided on the multi-station feeding manipulator 2 and above the second detection station 52, and is used to take pictures of the top of the inner ring of the stator core 7 for detecting whether there are situations such as slot insulation breakage, deformation, insulation paper entanglement, insulation paper deviation, slot wedge protrusion, and copper wire exposure at the top of the inner ring of the stator core 7.

[0050] The second rotating mechanism 12 is used to drive the stator core 7 on the second detection station 52 to rotate so that the second machine vision 32 can take pictures of the stator core 7.

[0051] The third machine vision 33 is provided on the multi-station feeding manipulator 2 and above the third detection station 53, and is used to take pictures of the bottom of the inner ring of the stator core 7 for detecting whether there are situations such as slot insulation breakage, deformation, insulation paper entanglement, insulation paper deviation, slot wedge protrusion, and copper wire exposure at the bottom of the inner ring of the stator core 7.

[0052] The third rotating mechanism 13 is used to drive the stator core 7 on the third detection station 53 to rotate so that the third machine vision 33 can take pictures of the stator core 7.

[0053] The fourth machine vision 34 is provided on the multi-station feeding manipulator 2 and directly above the fourth detection station 54, and is used to take pictures of the top view row of the terminals of the stator core 7 for detecting whether there are situations such as wires not inserted, insert pieces damaged, copper wires protruding, insert pieces with less wires, double insert pieces, and insert pieces exceeding the height at the top view of the terminal row of the stator core 7.

[0054] The fifth machine vision 35 is provided on the frame 1 and on one side of the fourth detection station 54, and is used to take pictures of the side of the stator core 7 for detecting whether there are situations such as wires not inserted, insert pieces damaged, copper wires protruding, insert pieces with less wires, double insert pieces, and insert pieces exceeding the height at the side of the terminal row 71 of the stator core 7.

[0055] The fourth rotating mechanism 14 is used to drive the stator core 7 on the fourth detection station 54 to rotate so that the fourth machine vision 34 and the fifth machine vision 35 can take pictures of the stator core 7.

[0056] The sixth machine vision 36 is provided on the frame 1 and on one side of the fifth detection station 55, and is used to take pictures of the side of the stator core 7 for detecting whether there are situations such as wire crossing, insufficient safety distance, and core support damage at the side of the stator core 7.

[0057] The fifth rotating mechanism 15 is used to drive the stator core 7 on the fifth detection station 55 to rotate so that the sixth machine vision 36 can take pictures of the stator core 7.

[0058] As a more specific technical solution of the present invention.

[0059] The multi-station feeding manipulator 2 includes a base 21, a lifting motor 22, a translation cylinder 24, a translation seat 25, a lifting seat 23, and multiple material-gripping manipulators. The base 21 is arranged on the frame 1. The lifting seat 23 is slidably arranged up and down on the base 21. The lifting motor 22 is arranged on the base 21 and drives the lifting seat 23 to slide up and down. The translation cylinder 24 is arranged on the lifting seat 23 and drives the translation seat 25 to slide horizontally. The translation seat 25 is slidably arranged horizontally on the lifting seat 23. Multiple material-gripping manipulators are arranged horizontally and sequentially on the translation seat 25.

[0060] The multiple material-gripping manipulators are respectively a first material-gripping manipulator 40, a second material-gripping manipulator 41, a third material-gripping manipulator 42, a fourth material-gripping manipulator 43, and a fifth material-gripping manipulator 44.

[0061] The motor shaft of the lifting motor 22 is in screw transmission connection with the lifting seat 23.

[0062] An installation plate 10 is arranged on the frame 1. The first rotating mechanism 11, the second rotating mechanism 12, the third rotating mechanism 13, the fourth rotating mechanism 14, and the fifth rotating mechanism 15 have the same structure. The first rotating mechanism 11, the second rotating mechanism 12, the third rotating mechanism 13, the fourth rotating mechanism 14, and the fifth rotating mechanism 15 are sequentially arranged on the installation plate 10. The first rotating mechanism 11 includes a rotating motor and a rotating tooling. The rotating tooling is horizontally rotatably arranged on the top surface of the installation plate 10. The rotating motor is arranged on the bottom surface of the installation plate 10 and drives the rotating tooling to rotate horizontally.

[0063] The multi-station feeding manipulator 2 further includes a stator core flipping assembly 6. The stator core flipping assembly 6 includes a flipping driving cylinder 61, a slider 62, a first gear 68, a second gear 69, a belt 63, a first bearing 66, a second bearing 67, a first rotating seat 65, and a second rotating seat 64. The slider 62 is horizontally slidably arranged on the translation seat 25. The slider 62 is fixedly connected with the belt 63. The flipping driving cylinder 61 drives the slider 62 to slide horizontally. Two of the material-gripping manipulators are respectively arranged on the first rotating seat 65 and the second rotating seat 64. The belt 63 connects the first gear 68 and the second gear 69. The first rotating seat 65 and the second rotating seat 64 are respectively fixedly connected with the first gear 68 and the second gear 69. The first rotating seat 65 and the second rotating seat 64 are respectively arranged on the first bearing 66 and the second bearing 67. The first bearing 66 and the second bearing 67 are rotatably arranged on the translation seat 25 with the horizontal line as the axis of rotation.

[0064] The second material-gripping manipulator 41, the third material-gripping manipulator 42, the fourth material-gripping manipulator 43, and the fifth material-gripping manipulator 44 are double-jaw cylinders.

[0065] The multi-station feeding manipulator 2 further includes a lifting cylinder 37 and a lifting sliding seat 38. The lifting seat 23 slides up and down on the translation seat 25. The lifting cylinder 37 is arranged on the translation seat 25 and drives the lifting sliding seat 38 to slide up and down. The second mechanical vision 32 and the third mechanical vision 33 are arranged on the lifting sliding seat 38.

[0066] The working principle of the present invention is as follows: When the present invention starts to work, the multi-station feeding manipulator 2 and multiple mechanical visions are started. The lifting motor 22 drives the lifting seat 23 to slide up and down, and multiple material-gripping manipulators slide up and down together. The translation cylinder 24 drives the translation seat 25 to slide horizontally, and multiple material-gripping manipulators slide horizontally together. The first material-gripping manipulator 40 grabs a stator core 7 and places it on the first rotating mechanism 11 at the first detection station 51. The first rotating mechanism 11 drives the stator core 7 to rotate. At the same time, the first mechanical vision 31 starts to take a photo of the top view of the stator core 7 and sends the photo to the control system. The control system will detect whether the stator core 7 rotates in place. Until the control system detects that the stator core 7 rotates in place, the first rotating mechanism 11 stops driving the stator core 7 to rotate. At this time, the code on the side of the stator core 7 is facing the code scanning device 5, and the scanning device scans and enters the code on the side of the stator core 7 into the system.

[0067] The second material-gripping manipulator 41 grabs the stator core 7 at the first detection station 51 and places it on the second detection station 52. The second rotating mechanism 12 drives the stator core 7 to rotate 360°. At the same time, the second mechanical vision 32 starts to take a photo of the top of the inner circle of the stator core 7 and sends the photo to the control system. The control system detects whether there are situations such as slot insulation breakage, slot insulation deformation, insulation paper entanglement, insulation paper deviation, slot wedge protrusion, copper wire exposure, etc. at the slot insulation position on the top of the stator core 7. Then, the lifting cylinder 37 drives the lifting sliding seat 38, the second mechanical vision 32 and the third mechanical vision 33 to slide up to avoid the second mechanical vision 32 and the third mechanical vision 33 interfering with the flipping of the third material-gripping manipulator 42 and the fourth material-gripping manipulator 43.

[0068] The third material grabbing manipulator 42 grabs the stator core 7 on the second detection station 52. Then, the stator core flipping assembly 6 is activated. The flipping drive cylinder 61 drives the slider 62 to slide horizontally to the left. The slider 62 drives the belt 63 to rotate. The rotation of the belt 63 drives the first gear 68 and the second gear 69 to rotate 180°. The first gear 68 and the second gear 69 respectively drive the first rotating seat 65 and the second rotating seat 64 to rotate 180°. The first rotating seat 65 drives the second material grabbing manipulator 41 and the stator core 7 thereon to rotate 180°. At this time, the bottom of the stator core 7 is on top and the top is at the bottom. After the third material grabbing manipulator 42 moves horizontally above the third detection station 53 and then descends, the third material grabbing manipulator 42 places the stator core 7 on the third detection station 53.

[0069] Then, the third rotating mechanism 13 drives the stator core 7 on the third detection station 53 to rotate 360°. At the same time, the third machine vision 33 starts to take pictures of the bottom of the inner ring of the stator core 7 and sends the pictures to the control system. The control system detects whether there are situations such as slot insulation breakage, slot insulation deformation, insulation paper entanglement, insulation paper deviation, slot wedge protrusion, copper wire exposure, etc. at the slot insulation position at the bottom of the stator core 7.

[0070] The fourth material grabbing manipulator 43 descends and grabs the stator core 7 on the third detection station 53. The flipping action of the fourth material grabbing manipulator 43 is synchronized with the previous flipping action of the third material grabbing manipulator 42. The second rotating seat 64 drives the fourth material grabbing manipulator 43 and the stator core 7 thereon to rotate 180°. At this time, the top of the stator core 7 is on top and the bottom is at the bottom.

[0071] Then, the fourth material grabbing manipulator 43 places the stator core 7 on the fourth detection station 54. After that, the fourth rotating mechanism 14 drives the stator core 7 to rotate 360°. At the same time, the fourth machine vision 34 starts to take pictures of the top view surface of the terminal row of the stator core 7 and sends the pictures to the control system. The fifth machine vision 35 starts to take pictures of the side surface of the stator core 7 and sends the pictures to the control system. The control system detects whether there are situations such as copper wire not inserted, insert piece breakage, copper wire protrusion, insert piece with less wire, double insert pieces, insert piece with excessive height, etc. at the terminal row position at the top of the stator core 7.

[0072] After that, the fifth material grabbing manipulator 44 descends and grabs the stator core 7 on the fourth detection station 54. The fifth material grabbing manipulator 44 places the stator core 7 on the fifth detection station 55. After that, the fifth rotating mechanism 15 drives the stator core 7 to rotate 360°. At the same time, the sixth machine vision starts to take pictures of the side surface of the stator core 7 and sends the pictures to the control system. The control system detects whether there are situations such as copper wire crossing, insufficient safety distance, core support breakage, etc. in the stator core 7.

[0073] When the above-mentioned multiple inspection stations are performing inspections, if the control system determines that there are defects in the appearance of the stator core, it will record the code of the stator core into the system for subsequent maintenance by workers.

Claims

1. A stator core appearance visual inspection machine, comprising a frame, a multi-station feeding manipulator, a code scanning device, a first machine vision, a second machine vision, a third machine vision, a fourth machine vision, a fifth machine vision and a sixth machine vision, The first inspection station, the second inspection station, the third inspection station, the fourth inspection station and the fifth inspection station are arranged horizontally on the frame in sequence; The positions corresponding to the first inspection station, the second inspection station, the third inspection station, the fourth inspection station and the fifth inspection station on the frame are respectively provided with a first rotating mechanism, a second rotating mechanism, a third rotating mechanism, a fourth rotating mechanism and a fifth rotating mechanism; The multi-station feeding manipulator is installed on the frame and is used to transport the stator core; The first machine vision is installed on the multi-station feeding robot and is located directly above the first inspection station, and is used to take a picture of the top view of the stator core so that the barcode scanning device can scan it; A first rotating mechanism, used to cooperate with the first machine vision to drive the stator core on the first inspection station to rotate, so as to determine the position of the stator core; The code scanning device is arranged on the frame and on one side of the first detection station, and is used to scan the code of the stator core at a determined position; The second machine vision is provided on the multi-station feeding robot and is located above the second inspection station, and is used to take a picture of the top of the inner ring of the stator core and inspect the top of the inner ring of the stator core; The second rotating mechanism is used to drive the stator core on the second inspection station to rotate so that the second machine vision can take a picture of the stator core; The third machine vision is arranged on the multi-station feeding robot and is located above the third inspection station, and is used to take pictures of the bottom of the inner ring of the stator core; and is used to inspect the bottom of the inner ring of the stator core; A third rotating mechanism is used to drive the stator core on the third inspection station to rotate so that the third machine vision can take a picture of the stator core; The fourth machine vision is installed on the multi-station feeding robot and is located directly above the fourth inspection station, and is used to take pictures of the top view of the terminals of the stator core; A top view of a terminal block for detecting a stator core; The fifth machine vision is arranged on the frame and located on one side of the fourth inspection station, and is used to take pictures of the side surface of the stator core; The side of the terminal block used to detect the stator core; The fourth rotating mechanism is used to drive the stator core on the fourth inspection station to rotate so that the fourth machine vision and the fifth machine vision can take pictures of the stator core; The sixth machine vision is arranged on the frame and located on one side of the fifth inspection station, and is used to take pictures of the side surface of the stator core and inspect the side surface of the stator core; The fifth rotating mechanism is used to drive the stator core on the fifth inspection station to rotate so that the sixth machine vision can take a picture of the stator core.

2. The stator core appearance visual inspection machine according to claim 1, characterized in that: The multi-station feeding robot includes a base, a lifting motor, a translation cylinder, a translation seat, a lifting seat and multiple grabbing robots. The base is arranged on the frame, the lifting seat slides up and down on the base, the lifting motor is arranged on the base and drives the lifting seat to slide up and down, the translation cylinder is arranged on the lifting seat and drives the translation seat to slide horizontally, the translation seat is arranged on the lifting seat for horizontal sliding, and multiple grabbing robots are arranged horizontally on the translation seat in sequence.

3. The stator core appearance visual inspection machine according to claim 2, characterized in that: The motor shaft of the lifting motor is transmission-connected with the lifting seat lead screw.

4. The stator core appearance visual inspection machine according to claim 3, characterized in that: The multi-station feeding robot also includes a lifting cylinder and a lifting sliding seat. The lifting seat slides up and down on the translation seat. The lifting cylinder is arranged on the translation seat and drives the lifting sliding seat to slide up and down. The second mechanical vision and the third mechanical vision are arranged on the lifting sliding seat.

5. The stator core appearance visual inspection machine according to claim 4, characterized in that: A mounting plate is provided on the frame, and the first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism have the same structure. The first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism are sequentially arranged on the mounting plate. The first rotating mechanism includes a rotating motor and a rotating tool. The rotating tool is horizontally rotated and arranged on the top surface of the mounting plate. The rotating motor is arranged on the bottom surface of the mounting plate and drives the rotating tool to rotate horizontally.

6. The stator core appearance visual inspection machine according to claim 5, characterized in that: The multi-station feeding robot also includes a stator core flipping assembly, which includes a flipping drive cylinder, a slider, a first gear, a second gear, a belt, a first bearing, a second bearing, a first rotating seat and a second rotating seat. The slider is horizontally slidably arranged on the translation seat, and the slider is fixedly connected to the belt. The flipping drive cylinder drives the slider to slide horizontally. The two grabbing robots are respectively arranged on the first rotating seat and the second rotating seat. The belt connects the first gear and the second gear. The first rotating seat and the second rotating seat are respectively fixedly connected to the first gear and the second gear. The first rotating seat and the second rotating seat are respectively arranged on the first bearing and the second bearing. The first bearing and the second bearing are rotatably arranged on the translation seat with the horizontal line as the axis of rotation.

7. The stator core appearance visual inspection machine according to claim 6, characterized in that: The material grabbing robot is a double-claw cylinder.

Images