Robot flexible workstation for producing stator coil of hydro-generator

Abstract

The invention discloses a robot flexible workstation for producing a stator coil of a hydro-generator, belongs to the field of intelligent equipment for industrial production, and aims to solve the problem that an existing automatic production line cannot realize automatic processing treatment of a complex surface of the stator coil. Comprising an automatic feeding and discharging station, a stator coil workpiece grinding station, an overflowing glue grinding station, a dotting and painting station and a transferring and marking station which are sequentially arranged along a servo conveying line, full-automatic feeding and discharging, workpiece surface grinding, overflowing glue grinding, dotting and painting and transferring of coil workpieces are achieved, and three-dimensional full-angle grinding, cleaning, painting and self-adaptive tool adjustment are achieved. The stator coil welding flux polishing, cleaning and paint brushing uniformity is ensured, the complex machining problem caused by inconsistency of product deformation and uncontrollable welding is solved, automatic processing production of flexible complex surfaces is achieved, and standardization of the product production process is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent equipment for industrial production, and particularly relates to a robot flexible workstation for production of a stator coil of a hydroelectric generator. BACKGROUND

[0002] Hydroelectric, thermal and nuclear power generating units cannot be separated from large generators. The stator coil of the large generator is a customized product designed and produced according to the actual situation of power generation or energy storage engineering. The product has the characteristics of small batch, multiple varieties, soft material, strict product quality requirements, high added value, etc. The stator coil, which is the most core component in the motor set, has long relied on manual production. In the actual production process, workers face the problems of heavy and inconvenient operation, heavy workload, the need to contact organic solvent glue, shielding paint, metal dust, inorganic mineral fiber debris, toxic and harmful working environment, poor labor conditions, inconsistent product production quality, etc.

[0003] The stator coil is designed and customized according to the project, and is a non-standardized component with a spatial curve shape. It is difficult to achieve automatic production. There is no production line on the market that can automatically process various non-standard stator coils. It is necessary to design an automatic production line that can solve the problem of automatic processing of the complex surface of the stator coil and ensure the processing quality. SUMMARY

[0004] The purpose of the present application is to provide a robot flexible workstation for production of a stator coil of a hydroelectric generator, which solves the problem that the existing automatic production line cannot achieve automatic processing of the complex surface of the stator coil. The technical solution adopted by the present application is as follows:

[0005] A robot flexible workstation for production of a stator coil of a hydroelectric generator, comprising:

[0006] A servo conveying line for conveying stator coil workpieces;

[0007] An automatic feeding and discharging station arranged at one end of the servo conveying line, for feeding the stator coil workpieces to be added on the AGV feeding trolley to the servo conveying line, or discharging the stator coil workpieces processed on the servo conveying line to the AGV discharging trolley;

[0008] A stator coil workpiece polishing station arranged above the servo conveying line, for polishing the stator coil workpiece;

[0009] A glue overflow polishing station arranged above the servo conveying line, for removing the glue overflow on the stator coil workpiece;

[0010] A dotting and painting station arranged above the servo conveying line, for dotting and brushing shielding paint on the stator coil workpiece;

[0011] The transfer marking station is arranged above the servo conveying line and is used for receiving the transferred and marked and painted stator coil workpiece and marking the stator coil workpiece;

[0012] The stator coil workpiece polishing station, the glue overflow polishing station, the dot painting station and the transfer marking station are arranged in sequence along the conveying direction of the servo conveying line and away from the automatic feeding and discharging station.

[0013] Further, the automatic feeding and discharging station comprises a first robot ground rail and a feeding and discharging robot, the feeding and discharging robot slides along the first robot ground rail, the end of the feeding and discharging robot is provided with an octagonal tube frame, a linear module is arranged on the octagonal tube frame, a parallel air gripper is slidably arranged on the linear module, two clamping blocks are arranged on the parallel air gripper and slide towards or away from each other, anti-skid rubber plates are attached to the opposite sides of the two clamping blocks, and a visual sensor is further arranged at the end of the feeding and discharging robot.

[0014] Further, the servo conveying line is composed of a plurality of first conveying frames, the first conveying frame comprises an outer support, a spacing adjustment sliding table is slidably arranged on the horizontal side of the outer support, an inner support is arranged on the spacing adjustment sliding table, the spacing between the outer support and the inner support is adjusted by the spacing adjustment sliding table, and the outer support and the inner support are connected with a servo carrying sliding table and a jacking clamping tool.

[0015] Further, the jacking clamping tool comprises a guide rod cylinder connected to the first conveying frame, a parallel air gripper fixed to the piston rod of the guide rod cylinder, and two clamping blocks slidably arranged on the parallel air gripper of the guide rod cylinder and moving towards or away from each other.

[0016] Further, the stator coil workpiece polishing station comprises a polishing tool library and two first robot trusses arranged in parallel above the servo conveying line, a clamping and positioning robot and a polishing robot are correspondingly slidably arranged on the two first robot trusses, the end of the clamping and positioning robot is connected with a parallel air gripper, two clamping blocks are slidably arranged on the parallel air gripper of the clamping and positioning robot and move towards or away from each other, the polishing robot comprises a sliding seat, a grinding disc motor and a grinding roller motor are arranged on the sliding seat, a grinding disc is sleeved on the output shaft of the grinding disc motor, and a grinding roller is sleeved on the output shaft of the grinding roller motor.

[0017] Further, the glue overflow polishing station has the same structure as the stator coil workpiece polishing station.

[0018] Further, the dot painting station comprises a third robot truss arranged above the servo conveying line, a dot painting robot is slidably arranged on the third robot truss, a mounting block is connected to the dot painting robot, two second guide rod cylinders are arranged on the mounting block and face away from each other, two electric rods are connected to the piston rods of the two second guide rod cylinders through a limiting fence, and a ball milling head is connected to the end of the electric rod.

[0019] Further, the third robot truss is connected with a paint roller.

[0020] Further, the transfer marking station comprises a second robot ground rail and a transfer marking robot, which has the same structure as the feeding and discharging robot.

[0021] Further, the application further comprises:

[0022] An electrical part is arranged in the automatic feeding and discharging station, the servo conveying line, the workpiece polishing station of the stator coil, the glue overflow polishing station, the dotting and painting station and the transfer marking station, and is used for controlling the equipment of each station.

[0023] An information part is composed of a professional robot platform, a professional vision platform, a generation vision feature and model training algorithm, a process production model and a trajectory optimization control model.

[0024] Compared with the prior art, the application has the following beneficial effects:

[0025] The application comprises the automatic feeding and discharging station, the servo conveying line, the workpiece polishing station, the glue overflow polishing station, the dotting and painting station and the transfer marking station to form a full-automatic production line, realizes full-automatic feeding and discharging of the coil workpiece, workpiece surface polishing, glue overflow polishing, dotting and painting and transfer, achieves three-dimensional full-angle polishing and cleaning, and realizes self-adaptive tool adjustment, ensures uniformity of the stator coil solder polishing, cleaning and painting, solves the inconsistency caused by product deformation and the complex processing problem caused by uncontrollable welding, realizes flexible and complex surface automatic processing production, and guarantees product production process standardization.

[0026] In addition, the electrical part and the information part are arranged to cooperate with the mechanical part of the robot flexible work station, the production digital explicit model is established by extracting the on-site production process features, the method of generation and model training based on feature vision extraction can be adopted to reduce the development amount, the digital process parameterization card based on the analysis optimization of the STEP model is developed to realize the flexible processing path based on the vision feature positioning and the product digital process parameter, and then the automation of the production line and the automatic processing of the flexible and complex surface of the workpiece are realized. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the application;

[0028] Figure 2 It is a schematic diagram of the automatic feeding and discharging station structure of the application Figure 1 ;

[0029] Figure 3 It is a schematic diagram of the automatic feeding and discharging station structure of the application Figure 2 ;

[0030] Figure 4 Figure is the schematic diagram of the octagonal tube frame and parallel air claw connection structure of the present application;

[0031] Figure 5 Figure is the schematic diagram of the parallel air claw structure of the present application;

[0032] Figure 6 Figure is the schematic diagram of the servo conveying line structure of the present application;

[0033] Figure 7 Figure is the schematic diagram of the jacking clamping tool structure of the present application;

[0034] Figure 8 Figure is the schematic diagram of the workpiece polishing station structure of the present application;

[0035] Figure 9 Figure is the schematic diagram of the polishing disc and polishing roller structure of the present application;

[0036] Figure 10 Figure is the schematic diagram of the dotting and painting station structure of the present application;

[0037] Figure 11 Figure is the schematic diagram of the mounting block and ball milling head structure of the present application;

[0038] Figure 12 Figure is the schematic diagram of the paint brushing roller structure of the present application.

[0039] In the figure: 1, automatic feeding and discharging station; 101, first robot ground rail; 102, feeding and discharging robot; 103, octagonal tube frame; 104, linear module; 105, parallel air claw; 106, clamping block; 107, visual sensor; 2, servo conveying line; 201, outer support; 202, spacing adjustment sliding table; 203, inner support; 204, servo carrying sliding table; 205, jacking clamping tool; 2051, guide rod cylinder; 3, workpiece polishing station; 301, first robot truss; 302, polishing cutter library; 303, clamping positioning robot; 304, polishing robot; 3041, polishing disc; 3042, polishing roller; 4, glue overflow polishing station; 401, second robot truss; 5, dotting and painting station; 501, third robot truss; 502, dotting and painting robot; 503, mounting block; 504, second guide rod cylinder; 505, limit rest; 506, electric rod; 507, ball milling head; 508, paint brushing roller; 6, transfer and marking station; 601, second robot ground rail; 602, marking robot. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described below in detail through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of the known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0041] The connection mentioned in the present application is divided into fixed connection and detachable connection, the fixed connection, that is, the non-detachable connection, includes but is not limited to the conventional fixed connection modes such as the edge folding connection, rivet connection, bonding connection and welding connection, and the detachable connection includes but is not limited to the conventional detachable modes such as the bolt connection, buckle connection, pin connection and hinge connection, and when the specific connection mode is not specifically limited, at least one connection mode can be found in the existing connection mode to realize the function, and the person skilled in the art can select it according to the needs. For example, the fixed connection selects the welding connection, and the detachable connection selects the bolt connection.

[0042] The present application will be further described in detail below with reference to the drawings, and the following embodiments are only an explanation of the present application, and the present application is not limited to the following embodiments.

[0043] Embodiment: as shown in the figure, a robot flexible work station for water turbine generator stator coil production, comprising: Figures 1-12

[0044] A servo conveying line 2 is used for conveying the stator coil workpiece;

[0045] An automatic feeding and discharging station 1 is arranged at one end of the servo conveying line 2, and is used for feeding the stator coil workpiece to be added on the AGV feeding trolley to the servo conveying line 2, or discharging the stator coil workpiece processed on the servo conveying line 2 to the AGV discharging trolley;

[0046] A stator coil workpiece polishing station 3 is arranged above the servo conveying line 2, and is used for polishing the stator coil workpiece;

[0047] An overflow glue polishing station 4 is arranged above the servo conveying line 2, and is used for removing the overflow glue on the stator coil workpiece;

[0048] A dotting and painting station 5 is arranged above the servo conveying line 2, and is used for dotting and brushing shielding paint on the stator coil workpiece;

[0049] A transfer and marking station 6 is arranged above the servo conveying line 2, and is used for receiving the stator coil workpiece after dotting and painting, and marking on the stator coil workpiece;

[0050] The stator coil workpiece polishing station 3, the overflow glue polishing station 4, the dotting and painting station 5 and the transfer and marking station 6 are arranged in sequence away from the automatic feeding and discharging station 1 along the conveying direction of the servo conveying line 2.​

[0051] From the above, by setting the automatic feeding and discharging station 1, the servo conveying line 2, the workpiece polishing station 3, the overflow glue polishing station 4, the dotting and painting station 5 and the transfer marking station 6 to form a full-automatic production line, full-automatic feeding and discharging, workpiece surface polishing, overflow glue polishing, dotting and painting and transfer of the coil workpiece are realized, three-dimensional full-angle polishing, cleaning and painting are achieved, self-adaptive tool adjustment is realized, and the uniformity of coil solder polishing, cleaning and painting is ensured, the inconsistency caused by product deformation is solved, the complex processing problem caused by uncontrollable welding is solved, flexible and complex surface automatic processing production is realized, and product production process standardization is ensured.

[0052] Referring to Figures 2-5 , the automatic feeding and discharging station 1 comprises a first robot ground rail 101 and a feeding and discharging robot 102. The feeding and discharging robot 102 slides along the first robot ground rail 101. An octagonal pipe frame 103 is arranged at the tail end of the feeding and discharging robot 102. A linear module 104 is arranged on the octagonal pipe frame 103. Parallel air claws 105 are slidably arranged on the linear module 104. Two clamping blocks 106 are arranged on the parallel air claws 105 and slide towards or away from each other. Anti-slip rubber plates are attached to the opposite sides of the two clamping blocks 106. A visual sensor 107 is further arranged at the tail end of the feeding and discharging robot 102.

[0053] When feeding, the feeding and discharging robot 102 is moved to a suitable position by the first robot ground rail 101. Then, the feeding and discharging robot 102 moves the parallel air claws 105 above the workpiece through the rotation of the robot joint. The position of the workpiece is determined through the visual sensor 107. The feeding and discharging robot 102 and the parallel air claws 105 are controlled to accurately act. The workpiece is clamped by the clamping blocks 106 and is moved to the servo conveying line 2.

[0054] Referring to Figure 6 , Figure 7 , the servo conveying line 2 is composed of multiple first conveying frames. The first conveying frame comprises an outer support 201. A spacing adjustment sliding table 202 is slidably arranged on the horizontal side of the outer support 201. An inner support 203 is arranged on the spacing adjustment sliding table. The spacing between the outer support 201 and the inner support 203 is adjusted by the spacing adjustment sliding table 202. The outer support 201 and the inner support 203 are connected with a servo carrying sliding table 204 and a jacking clamping tool 205.

[0055] The workpiece placed on the servo conveying line 2 is moved by the servo carrying sliding table 204 to each station for processing. At the same time, the jacking clamping tool 205 can clamp the workpiece to prevent the workpiece from moving during processing. When conveying workpieces of different specifications, the distance between the outer support 201 and the inner support 203 can be adjusted by the spacing adjustment sliding table 202, so that the servo carrying sliding tables 204 on the two supports can stably support and carry the workpiece.

[0056] The lifting and clamping tooling 205 includes a guide rod cylinder 2051 connected to the first conveyor frame, and a parallel air claw 105 fixed on the piston rod of the guide rod cylinder 2051. Two clamping blocks 106 are provided on the parallel air claw 105 of the guide rod cylinder 2051 for sliding close or away. When the workpiece needs to be clamped, the guide rod cylinder 2051 extends to drive the parallel air claw 105 close to the workpiece, and the parallel air claw 105 drives the clamping block 106 to clamp the workpiece.

[0057] Reference Figure 8 、 Figure 9 The stator coil workpiece grinding station 3 includes a grinding tool magazine 302 and two parallel first robot girder trusses 301 arranged above the servo conveyor line 2. The clamping and positioning robot 303 and the grinding robot 304 are respectively slidably arranged on the two first robot girder trusses 301. The end of the clamping and positioning robot 303 is connected with a parallel air claw 105. Two clamping blocks 106 are slidably arranged on the parallel air claw 105 of the clamping and positioning robot 303. The grinding robot 304 includes a slide seat, on which a grinding disc motor and a grinding roller motor are arranged. The grinding disc 3041 is sleeved on the output shaft of the grinding disc motor, and the grinding roller 3042 is sleeved on the output shaft of the grinding roller motor.

[0058] When the workpiece is moved to the workpiece grinding station 3 for grinding, the workpiece can first be clamped by the jacking clamping tooling 205, and the clamping and positioning robot 303 and the grinding robot 304 can be moved to the appropriate position through the first robot truss 301, and the clamping and positioning robot 303 is controlled to move, and the parallel air claws 105 and the clamping block 106 at the end of the clamping and positioning robot 303 are controlled to clamp the end of the workpiece to be processed. At this time, the grinding robot 304 drives the grinding disc 3041 and the grinding roller 3042 to grind the surface of the workpiece respectively, and the grinding robot 304 can replace the grinding tool through the grinding tool magazine 302.

[0059] Reference Figure 8 、 Figure 9 The structure of the overflow glue grinding station 4 is the same as that of the stator coil workpiece grinding station 3.

[0060] When the workpiece is moved to the overflow glue grinding station 4 for grinding, the workpiece can be clamped by the jacking clamping tooling 205 first, and the clamping and positioning robot 303 and the grinding robot 304 can be moved to the appropriate position through the first robot truss 301 of the overflow glue grinding station 4. The movement of the clamping and positioning robot 303 is controlled, and the parallel air claws 105 and the clamping block 106 at the end of the clamping and positioning robot 303 are controlled to clamp the end of the workpiece to be processed. At this time, the grinding robot 304 drives the grinding disc 3041 and the grinding roller 3042 to grind the overflow glue on the surface of the workpiece respectively.

[0061] The polishing shape of the polishing disc 3041 is circular, and the contact area with the workpiece is large, which can be used for polishing the wide surface of the workpiece, while the polishing roller 3042 relies on the curved surface of the roller for polishing, and the contact area with the workpiece is small, which can be used for polishing the narrow surface of the workpiece.

[0062] Referring to Figures 10-12 The dot painting and painting station 5 comprises a third robot gantry 501 arranged across the servo conveying line 2, and a dot painting and painting robot 502 is slidingly arranged on the third robot gantry 501. The dot painting and painting robot 502 is connected with a mounting block 503, and two second guide rod cylinders 504 are arranged on the mounting block 503 in a back-to-back manner. Two electric rods 506 are connected with the piston rods of the two second guide rod cylinders 504 through limiting stop lattices 505, and a ball milling head 507 is connected with the end of the electric rod 506.

[0063] The dot painting and painting station 5 comprises a third robot gantry 501 arranged across the servo conveying line 2, and a dot painting and painting robot 502 is slidingly arranged on the third robot gantry 501. The dot painting and painting robot 502 is connected with a mounting block 503, and two second guide rod cylinders 504 are arranged on the mounting block 503 in a back-to-back manner. Two electric rods 506 are connected with the piston rods of the two second guide rod cylinders 504 through limiting stop lattices 505, and a ball milling head 507 is connected with the end of the electric rod 506.

[0064] As can be seen from the above, in the specific production line arrangement, two third robot gantries 501 can be arranged, one for dotting and one for painting. When the dotting operation is performed, the third robot gantry 501 drives the dot painting and painting robot 502 to move, and then the dot painting and painting robot 502 moves the dotting tool to a suitable position on the surface of the workpiece, clamps the workpiece through the limiting stop lattices 505, controls the second guide rod cylinders 504 to extend, and then the rotating ball milling head 507 is attached to the surface of the workpiece to perform dotting. When the painting operation is performed, the third robot gantry 501 drives the dot painting and painting robot 502 to move, and then the dot painting and painting robot 502 moves the painting roller 508 to a suitable position on the workpiece, drives the painting roller 508 to move on the surface of the workpiece, and realizes painting on the surface of the workpiece.

[0065] The transfer marking station 6 comprises a second robot ground rail 601 and a transfer marking robot 602, and the structure of the transfer marking robot 602 is the same as that of the feeding and discharging robot 102.

[0066] When the workpiece is finished with dotting and painting, it is moved backward on the servo conveying line 2. The second robot ground rail 601 moves the transfer marking robot 602 to a suitable position. After the transfer marking robot 602 learns the position of the workpiece through the vision sensor 107, the joints of the transfer marking robot 602 are controlled to move the parallel gripper 105 and the clamping block 106 to a suitable position, clamp the workpiece, and then control the transfer marking robot 602 and the second robot ground rail 601 to move, so as to move the finished workpiece to the next process.

[0067] A force control module can be installed on the robots at each of the above-mentioned stations. This is because during the grinding process, the workpiece is highly flexible and will inevitably vibrate under the action of the grinding tool. Force control can ensure that the grinding force between the grinding tool and the workpiece is constant, compensate for the workpiece error and the robot's trajectory error. It has the characteristics of fast release and real-time response, and can ensure the fit between the grinding tool and the product. The force control module is installed between the processing tooling and the robot to facilitate the robot to understand the force on the processing tooling.

[0068] In addition, force control has a gravity compensation function, which can offset the influence of the weight of the grinding tool on the grinding force, ensure the grinding accuracy at any angle in space, and achieve repeatable grinding consistency.

[0069] For some products, force control can adaptively compensate for complex surface concave and convex surfaces and provide real-time response feedback to the robot.

[0070] In addition to the various mechanical structures mentioned above, it also includes an electrical department and an information department. The electrical part is installed in the automatic loading and unloading station, servo conveyor line, workpiece grinding station, overflow glue grinding station, dot painting station and transfer marking station, and is used to control the equipment at each station; the information department is composed of a professional robot platform, a professional vision platform, a visual feature generation and model training algorithm, a process production model and a trajectory optimization control model.

[0071] Through the electrical department and the information department, precise control of each part of the mechanical department is achieved, forming a coil production system that combines software and hardware to achieve conformal grinding of the stator coil surface, ensuring that the surface quality of the workpiece meets the processing requirements. Moreover, the grinding process can be fully automated and has the function of automatic abrasive replacement, which significantly improves the processing efficiency. The system can automatically simulate the motion trajectory through the information department to avoid problems such as unreachable, axial fibers, interference collisions and other undesirable target points. Users can automatically initialize the parameters of the grinding positive pressure and grinding speed before use. During the grinding process, the system can adjust the grinding speed and grinding pressure in real time according to the surface conditions of the grinding part, and the process parameters such as grinding pressure and speed can be uploaded to the digital management system in real time. The system end can see a series of indicators such as process parameter data and change curves in real time.

[0072] In addition to the mechanical part, information department and electrical department, users can also set up peripheral safety protection fences, safety gratings, safety door locks and other safety protection facilities to ensure the safety and reliability of the equipment system through physical protection, electrical safety protection and other means. Dust removal equipment can also be added to deal with dust and odor generated during the workpiece grinding and painting process.

[0073] The above examples are only illustrative of the present application and do not limit the protection scope thereof, and the person skilled in the art can also make partial changes thereto, as long as the changes do not exceed the spirit and essence of the present application and are within the protection scope of the present application.

Claims

1. A robot flexible workstation for the production of hydro-generator stator coils, characterized in that: include: A servo conveyor line (2) for conveying a stator coil workpiece; An automatic loading and unloading station (1) is provided at one end of the servo conveyor line (2) and is used to load the stator coil workpiece to be added on the AGV feeding trolley onto the servo conveyor line (2), or to unload the stator coil workpiece processed on the servo conveyor line (2) onto the AGV discharging trolley; A stator coil workpiece grinding station (3) is arranged above the servo conveyor line (2) and is used for grinding the stator coil workpiece; An overflow glue polishing station (4) is arranged above the servo conveyor line (2) and is used to remove overflow glue on the stator coil workpiece; A dotting and painting station (5) is arranged above the servo conveyor line (2) and is used to dot the stator coil workpiece and apply shielding paint; A transfer marking station (6) is arranged above the servo conveyor line (2) and is used to receive the stator coil workpiece that has been transferred, dotted and painted, and mark the stator coil workpiece; The stator coil workpiece grinding station (3), the overflow glue grinding station (4), the dot painting station (5) and the transfer marking station (6) are arranged in sequence away from the automatic loading and unloading station (1) along the conveying direction of the servo conveyor line (2).

2. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 1, characterized in that: The automatic loading and unloading station (1) comprises a first robot ground rail (101) and a loading and unloading robot (102), wherein the loading and unloading robot (102) slides along the first robot ground rail (101), an octagonal tube frame (103) is provided at the end of the loading and unloading robot (102), a linear module (104) is provided on the octagonal tube frame (103), a parallel air gripper (105) is slidably provided on the linear module (104), two clamping blocks (106) that are slidably arranged close to or away from each other are provided on the parallel air gripper (105), and anti-slip rubber plates are adhered to opposite sides of the two clamping blocks (106). A visual sensor (107) is also provided at the end of the loading and unloading robot (102).

3. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 1, characterized in that: The servo conveyor line (2) is composed of a plurality of first conveyor frames, wherein the first conveyor frame comprises an outer frame (201), a spacing adjustment slide (202) is slidably provided on a horizontal side of the outer frame (201), an inner frame (203) is provided on the spacing adjustment slide, and the spacing between the outer frame (201) and the inner frame (203) is adjusted by the spacing adjustment slide (202), and the outer frame (201) and the inner frame (203) are both connected to a servo transport slide (204) and a lifting and clamping tool (205).

4. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 3, characterized in that: The lifting and clamping tool (205) comprises a guide rod cylinder (2051) connected to the first conveying frame, a parallel air claw (105) fixed on the piston rod of the guide rod cylinder (2051), and two clamping blocks (106) are provided on the parallel air claw (105) of the guide rod cylinder (2051) so as to slide toward or away from each other.

5. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 1, characterized in that: The stator coil workpiece grinding station (3) includes a grinding tool library (302) and two first robot trusses (301) arranged in parallel above the servo conveyor line (2). The clamping and positioning robot (303) and the grinding robot (304) are respectively and correspondingly arranged on the two first robot trusses (301). The end of the clamping and positioning robot (303) is connected to a parallel air claw (105). Two clamping blocks (106) are arranged on the parallel air claw (105) of the clamping and positioning robot (303) to slide close to or away from each other. The grinding robot (304) includes a slide seat. A grinding disc motor and a grinding roller motor are arranged on the slide seat. The grinding disc (3041) is sleeved on the output shaft of the grinding disc motor, and the grinding roller (3042) is sleeved on the output shaft of the grinding roller motor.

6. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 5, characterized in that: The overflow glue grinding station (4) has the same structure as the stator coil workpiece grinding station (3).

7. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 1, characterized in that: The dot painting station (5) includes a third robot truss (501) arranged across the servo conveyor line (2), a dot painting robot (502) is slidably arranged on the third robot truss (501), a mounting block (503) is connected to the dot painting robot (502), two second guide rod cylinders (504) are arranged on the mounting block (503) in a back-facing manner, two electric rods (506) are connected to the piston rods of the two second guide rod cylinders (504) through a limit fence (505), and a ball milling head (507) is connected to the end of the electric rod (506).

8. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 7, characterized in that: A paint roller (508) is connected to the third robot truss (501).

9. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 1, characterized in that: The transfer marking station (6) includes a second robot ground rail (601) and a transfer marking robot (602). The transfer marking robot (602) has the same structure as the loading and unloading robot (102).

10. A robot flexible workstation for producing stator coils of a hydro-generator according to claim 1, characterized in that: Also includes: The electrical department is located in the automatic loading and unloading station (1), the servo conveyor line (2), the stator coil workpiece grinding station (3), the overflow glue grinding station (4), the dot painting station (5) and the transfer marking station (6), and is used to control the equipment of each station; The Information Department consists of a professional robot platform, a professional vision platform, a visual feature generation and model training algorithm, a process production model, and a trajectory optimization control model.

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