Automatic loading and unloading device and method for stator coil linear hot pressing process

Abstract

The invention discloses an automatic loading and unloading device and method for a stator coil linear hot pressing process, belongs to the field of stator coil manufacturing, and aims to improve loading and unloading efficiency and guarantee personal production safety. The device comprises a ground rail parallel to a linear hot press, a first joint robot and a second joint robot are arranged on the ground rail in a sliding mode, and loading and unloading devices are arranged at the tail ends of the first joint robot and the second joint robot. The first joint robot and the second joint robot convey a mold pressing plate on the lifting frame and a stator coil on the second power roller way into a mold cavity of the linear hot press through the loading and unloading device. Or the first joint robot and the second joint robot send the mold pressing plate in the mold cavity of the linear hot press to the placing lifting frame through the loading and unloading device, and the stator coil subjected to hot pressing is conveyed to the first power roller way. The loading and unloading efficiency is improved, manual loading and unloading operation is replaced, and the problems of high manual operation intensity, low loading and unloading efficiency and the like are solved.

Description

Technical Field

[0001] This invention belongs to the field of stator coil manufacturing, and particularly relates to an automatic loading and unloading device and method for a linear hot pressing process of stator coils. Background Technology

[0002] The stator coil is one of the core components of a generator set. It is installed on the stator core of a large generator set, and its performance directly affects the overall lifespan of the generator set, making its role crucial.

[0003] The hot pressing process for the straight section of the stator coil is a key core process. Specifically, it involves heating and pressurizing the straight section where a full-length stator coil is installed with the stator core. When the insulating sheet on the straight section of the stator coil is melted into a soft state in the mold cavity, it is pressed and shaped according to the mold cavity dimensions. This ensures that the dimensions and insulation performance of the straight section of the stator coil after melting, pressing and shaping meet the requirements.

[0004] In traditional production methods, the loading and unloading of multiple stator coils and their corresponding molds for linear hot pressing is typically done manually. Cranes are used to lift the stator coils and molds, and the loading and unloading is carried out step-by-step according to the established procedure. Because hydropower units have a large number of stator coils and a wide variety of mold sizes and types, and thermal power units have long and heavy stator coils with corresponding long and heavy molds, the linear hot pressing process for both hydropower and thermal power stator coils presents significant challenges: high labor intensity, low efficiency, and safety risks associated with falling heavy objects and the high temperatures of the linear hot pressing environment, which could result in injuries or burns to operators.

[0005] Therefore, achieving automatic loading and unloading of stator coils of different sizes and specifications before and after the linear hot pressing process, and realizing automation to replace manual labor, reduce the intensity of manual operation, improve loading and unloading efficiency, and improve production safety is one of the urgent problems to be solved in the linear hot pressing process of stator coils.

[0006] To overcome the above situation, it is necessary to design an automatic loading and unloading device and method for the linear hot pressing process of stator coils in hydropower and thermal power units, so as to realize the automatic loading and unloading of stator coils of different sizes and corresponding molds, improve loading and unloading efficiency, and ensure personal safety in production. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic loading and unloading device and method for the linear hot pressing process of stator coils, to solve the problems of high labor intensity, low efficiency, and safety risks associated with traditional manual crane lifting and unloading of stator coils and molds, as well as the risk of falling heavy objects injuring personnel and the high-temperature working environment of linear hot pressing scalding operators. The technical solution adopted by this invention is as follows:

[0008] An automatic loading and unloading device for a linear hot pressing process of stator coils includes a ground rail, a first joint robot, a second joint robot, a loading and unloading device, a first power roller conveyor, a lifting frame, and a second power roller conveyor. The ground rail, the first power roller conveyor, and the linear hot press are arranged in parallel and spaced apart from front to back. Both the first and second joint robots are slidably mounted on the ground rail. The ends of both the first and second joint robots are equipped with loading and unloading devices. The lifting frame is located on the front side of the linear hot press. The second power roller conveyor is located between the lifting frame and the linear hot press. Both the first and second joint robots use the loading and unloading device to transport the mold plate on the lifting frame and the stator coil on the second power roller conveyor to the mold cavity of the linear hot press. Alternatively, both the first and second joint robots use the loading and unloading device to send the mold plate in the mold cavity of the linear hot press to the lifting frame and transport the hot-pressed stator coil to the first power roller conveyor.

[0009] Furthermore, the loading and unloading device includes a crossbeam, a middle magnetic adsorption device, and end magnetic adsorption devices. The crossbeam is arranged on the left and right sides, the middle magnetic adsorption device is located in the middle of the crossbeam, and the two end magnetic adsorption devices slide along the crossbeam on both sides of the middle magnetic adsorption device.

[0010] Furthermore, the intermediate magnetic adsorption device includes a fixed sheet metal and a fifth cylinder. The first joint robot or the second joint robot is connected to the middle of the crossbeam through the fixed sheet metal. The fifth cylinder is located at the rear end of the fixed sheet metal, and the piston rod of the fifth cylinder is set downward and connected to the first electromagnetic adsorption device.

[0011] Furthermore, racks are provided along the crossbeam on both sides of the fixed sheet metal. The end magnetic adsorption device includes a sheet metal frame, which is slidably mounted on the crossbeam by a first guide rail slider module. A servo motor drive module and a third cylinder are provided on the sheet metal frame. A gear is sleeved on the output shaft of the servo motor drive module. The gears of the two end magnetic adsorption devices mesh with the two racks. The H-shaped bracket is vertically slidably mounted at the rear end of the sheet metal frame by a second guide rail slider module. The piston rod of the third cylinder is set downward and connected to the H-shaped bracket. A second electromagnetic adsorption device is provided on the H-shaped bracket.

[0012] Furthermore, the end magnetic adsorption device is provided with an end clamping device, which includes a fixed clamping jaw, a movable clamping jaw, and a third guide rail slider module. The guide rail of the third guide rail slider module is arranged front and rear on the lower end surface of the sheet metal frame. The fixed clamping jaw is connected to the sheet metal frame and located at the rear end of the guide rail of the third guide rail slider module. The movable clamping jaw is connected to the slider of the third guide rail slider module. The piston rod of the first cylinder is arranged rearward and connected to the movable clamping jaw.

[0013] Furthermore, the first cylinder is fixed on the T-shaped block, which is connected to another slider of the third guide rail slider module. The second cylinder is fixed on the sheet metal frame via an L-shaped block, and the piston rod of the second cylinder is positioned forward and fixedly connected to the T-shaped block.

[0014] Furthermore, the two sliding claws are vertically slidably mounted on the H-shaped bracket, the fourth cylinder is fixedly connected to the H-shaped bracket, and the piston rods of the two fourth cylinders are set upward and correspondingly connected to the two sliding claws.

[0015] Furthermore, the first-joint robot, the second-joint robot, and the loading / unloading device are adapted to the length and size specifications of the stator coil, and can operate individually or in coordination with each other.

[0016] This invention also provides an automatic loading and unloading method for a stator coil linear hot pressing process, which is based on the aforementioned automatic loading and unloading device for a stator coil linear hot pressing process, and includes the following steps:

[0017] Step 1: In the initial state, several mold plates are stacked on the lifting frame. A pressure strip group is provided between any two adjacent layers of mold plates. The pressure strip group consists of a second side pressure mold strip and a first side pressure mold strip arranged at intervals. The thickness of the second side pressure mold strip and the first side pressure mold strip is set according to the stator coil. The bottom surface of the mold cavity of the linear hot press is lower than the transmission plane of the second power roller by at least one mold plate thickness.

[0018] Step 2: The top mold platen is picked up by the first and second electromagnetic adsorption devices of the two unloading devices and transported into the bottom surface of the mold cavity of the linear hot press.

[0019] Step 3: The first side pressure mold strip at the top is picked up by the first electromagnetic adsorption device and the second electromagnetic adsorption device of the two unloading devices, and transported to the mold plate that has been placed in the mold cavity of the straightening hot press.

[0020] Step 4: First, a stator coil is automatically transferred to the front of the linear hot press via the second power roller conveyor. Then, the stator coil is pushed backward by the sliding claws of the two unloading devices and pushed into the mold plate that has been placed at the bottom of the mold cavity of the linear hot press, and it is abutted against the front side of the corresponding first side pressure mold strip.

[0021] Step 5: The second side pressure mold strip at the top is picked up by the first and second electromagnetic adsorption devices of the two unloading devices, and transported to the mold plate already placed in the mold cavity of the straightening hot press, and abutted against the front side of the corresponding stator coil.

[0022] Step 6: The mold cavity of the linear hot press automatically descends, and the descent height is equal to the total thickness of one stator coil and one layer of mold platen;

[0023] Step 7: Repeat steps 1 to 6 to sequentially feed the remaining stator coils, mold plates, first side pressure mold strips and second side pressure mold strips into the mold cavity of the linear hot press;

[0024] The unloading method includes the following steps:

[0025] Step 1: In the initial state, the linear hot press completes the hot pressing process of the stator coil. Several mold plates are stacked in the mold cavity of the linear hot press. A stator coil is placed between any two adjacent mold plates. A second side pressure mold strip is placed against the front side of the stator coil, and a first side pressure mold strip is placed against the rear side of the stator coil. The upper plane of the lifting frame is raised to be level with the transmission plane of the second power roller.

[0026] Step 2: The top mold platen is picked up from the linear hot press by the first and second electromagnetic adsorption devices of the two unloading devices and transported to the lifting frame.

[0027] Step 3: The first side-pressure mold strip of the top layer is picked up from the linear hot press by the first and second electromagnetic adsorption devices of the two unloading devices and transported to the mold platen on the lifting frame.

[0028] Step 4: The second side pressure mold strip of the top layer is picked up from the linear hot press by the first and second electromagnetic adsorption devices of the two unloading devices and transported to the mold pressure plate that has been placed on the lifting frame.

[0029] Step 5: The lifting frame automatically descends, and the descent height is equal to the total thickness of one second side pressure mold strip and one layer of mold pressure plate;

[0030] Step 6: The stator coil is clamped from the linear hot press by the fixed and moving jaws of the two unloading devices, and the stator coil is transported onto the first power roller conveyor.

[0031] Step 7: The mold cavity of the linear hot press automatically rises, and the rising height is equal to the total thickness of one stator coil and one layer of mold platen;

[0032] Step 8: Repeat steps 1 to 7 to unload the remaining stator coils, mold plates, first side pressure mold strips and second side pressure mold strips in sequence.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] Compared with the traditional manual method, the device of this invention enables automatic loading and unloading of stator coils, mold plates, first side mold strips, and second side mold strips before the linear hot pressing process, and automatic unloading of stator coils, mold plates, first side mold strips, and second side mold strips after the linear hot pressing process. This improves loading and unloading efficiency, replaces manual loading and unloading operations, solves the inconvenience of manual loading and unloading of stator coils and molds, and overcomes the problems of high manual labor intensity and low loading and unloading efficiency. It is compatible with the loading and unloading of stator coils and molds of different sizes and specifications, applicable to various working conditions, easy to promote, and highly applicable. Attached Figure Description

[0035] Figure 1 This is a top view of the device of the present invention;

[0036] Figure 2 This is a side view of the device of the present invention;

[0037] Figure 3 This is an isometric schematic diagram of the device of the present invention;

[0038] Figure 4 This is a bottom view diagram of the loading and unloading device;

[0039] Figure 5 This is a front view schematic diagram of the intermediate magnetic adsorption device;

[0040] Figure 6 This is a front view schematic diagram of the end magnetic adsorption device;

[0041] Figure 7 This is a bottom view of the end magnetic adsorption device;

[0042] Figure 8 This is a side view of the end magnetic adsorption device;

[0043] Figure 9 This is an isometric schematic diagram of the end magnetic adsorption device;

[0044] Figure 10 A schematic diagram showing the state of the unloading device picking up the mold platen;

[0045] Figure 11 A schematic diagram showing the state of the loading and unloading device pushing the stator coil horizontally through the sliding claw side stop;

[0046] Figure 12 for Figure 2 Enlarged view of point A;

[0047] Figure 13 for Figure 2 Enlarged view of point B.

[0048] In the diagram: 1-Ground rail; 2-First joint robot; 3-Second joint robot; 4-Loading / unloading device; 5-First power roller conveyor; 6-Lifting frame; 7-Second power roller conveyor; 8-Linear hot press; 9-Mold pressure plate; 10-First side pressure mold strip; 11-Second side pressure mold strip; 12-Stator coil; 13-Crossbeam; 14-First guide rail slider module; 15-Rack; 16-Fixed sheet metal; 17-Fifth cylinder; 18-First electromagnetic adsorption device; 19-Servo motor drive module; 20-Gear; 21-Sheet metal frame; 22-Fixed gripper; 23-Third guide rail slider module; 24-Moving gripper; 25-First cylinder; 26-T-block; 27-Second cylinder; 28-L-block; 29-Second electromagnetic adsorption device; 30-Third cylinder; 31-H-shaped bracket; 32-Sliding claw; 33-Fourth cylinder; 34-Second guide rail slider module. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0050] The connections mentioned in this invention are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as bolted connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can be found to achieve this function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a bolted connection can be chosen for detachable connections.

[0051] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0052] Example 1: As Figures 1 to 11As shown, an automatic loading and unloading device for a linear hot pressing process of stator coils includes a ground rail 1, a first articulated robot 2, a second articulated robot 3, a loading and unloading device 4, a first power roller conveyor 5, a lifting frame 6, and a second power roller conveyor 7. The ground rail 1, the first power roller conveyor 5, and the linear hot press 8 are arranged in parallel from front to back. The first articulated robot 2 and the second articulated robot 3 are both slidably mounted on the ground rail 1. The ends of the first articulated robot 2 and the second articulated robot 3 are equipped with the loading and unloading device 4. The lifting frame 6 is located on the front side of the linear hot press 8. The second power roller conveyor 7 is located between the lifting frame 6 and the linear hot press 8. The first articulated robot 2 and the second articulated robot 3 use the loading and unloading device 4 to transport the mold plate 9 on the lifting frame 6 and the stator coil 12 on the second power roller conveyor 7 into the mold cavity of the linear hot press 8. Alternatively, the first articulated robot 2 and the second articulated robot 3 use the loading and unloading device 4 to send the mold plate 9 in the mold cavity of the linear hot press 8 to the lifting frame 6 and transport the hot-pressed stator coil 12 to the first power roller conveyor 5.

[0053] The loading and unloading device 4 includes a crossbeam 13, a middle magnetic adsorption device, and end magnetic adsorption devices. The crossbeam 13 is arranged on the left and right sides. The middle magnetic adsorption device is located in the middle of the crossbeam 13. The two end magnetic adsorption devices slide along the crossbeam 13 on both sides of the middle magnetic adsorption device.

[0054] The intermediate magnetic adsorption device includes a fixed sheet metal 16 and a fifth cylinder 17. The first articulated robot 2 or the second articulated robot 3 is connected to the middle of the crossbeam 13 through the fixed sheet metal 16. The fifth cylinder 17 is located at the rear end of the fixed sheet metal 16. The piston rod of the fifth cylinder 17 is set downward and connected to the first electromagnetic adsorption device 18.

[0055] Both sides of the fixed sheet metal 16 are provided with racks 15 along the crossbeam 13. The end magnetic adsorption device includes a sheet metal frame 21. The sheet metal frame 21 is slidably mounted on the crossbeam 13 via the first guide rail slider module 14. The sheet metal frame 21 is provided with a servo motor drive module 19 and a third cylinder 30. A gear 20 is sleeved on the output shaft of the servo motor drive module 19. The gears 20 of the two end magnetic adsorption devices mesh with the two racks 15. The H-shaped bracket 31 is vertically slidably mounted at the rear end of the sheet metal frame 21 via the second guide rail slider module 34. The piston rod of the third cylinder 30 is set downward and connected to the H-shaped bracket 31. The H-shaped bracket 31 is provided with a second electromagnetic adsorption device 29.

[0056] The crossbeam 13 is fixedly connected to the guide rail in the first guide rail slider module 14. The rack 15 and the fixed sheet metal 16 are fixedly connected to the crossbeam 13. The fixed sheet metal 16 is fixedly connected to the fifth cylinder 17. The piston rod of the fifth cylinder 17 is fixedly connected to the first electromagnetic adsorption device 18. The piston rod of the fifth cylinder 17 extends and retracts to drive the first electromagnetic adsorption device 18 to move up and down, thereby enabling electromagnetic adsorption pickup of the middle position of the mold pressure plate 9.

[0057] By engaging the gear 20 with the corresponding rack 15, the servo motor drive module 19 can drive the end magnetic adsorption device to move to both ends of the stator coil mold pressure plate 9. The third cylinder 30 drives the H-shaped bracket 31 to slide up and down, which in turn drives the second electromagnetic adsorption device 29 to move up and down, thereby realizing that the second electromagnetic adsorption device 29 is driven by the third cylinder 30 to extend and adsorb onto the mold pressure plate 9, and is picked up when it retracts.

[0058] The end magnetic adsorption device is equipped with an end clamping device, which includes a fixed clamping jaw 22, a movable clamping jaw 24, and a third guide rail slider module 23. The guide rails of the third guide rail slider module 23 are arranged front and rear on the lower end surface of the sheet metal frame 21. The fixed clamping jaw 22 is connected to the sheet metal frame 21 and is located at the rear end of the guide rail of the third guide rail slider module 23. The movable clamping jaw 24 is connected to the slider of the third guide rail slider module 23. The piston rod of the first cylinder 25 is arranged rearward and connected to the movable clamping jaw 24.

[0059] The first cylinder 25 is fixed on the T-block 26, which is connected to another slider of the third guide rail slider module 23. The second cylinder 27 is fixed on the sheet metal frame 21 via the L-block 28. The piston rod of the second cylinder 27 is forward-facing and fixedly connected to the T-block 26.

[0060] Two sliding claws 32 are vertically slidably mounted on the H-shaped bracket 31. Specifically, the two sliding claws 32 are located on the left and right sides of the second electromagnetic adsorption device 29, respectively. The fourth cylinder 33 is fixedly connected to the H-shaped bracket 31, and the piston rods of the two fourth cylinders 33 are set upward and correspondingly connected to the two sliding claws 32.

[0061] The piston rod of the first cylinder 25 extends and retracts, causing the movable gripper 24 to slide along the sheet metal frame 21, making the movable gripper 24 approach or move away from the fixed gripper 22 to form a clamping and releasing action, thereby achieving the clamping and releasing of the stator coil. The extension and retraction of the second cylinder 27 causes the T-shaped block 26 and the first cylinder 25 to slide along the sheet metal frame 21, thereby controlling the initial position of the movable gripper 24, and thus adjusting the stroke between the movable gripper 24 and the fixed gripper 22, compatible with the clamping and releasing of stator coils of different widths. The retraction of the piston rod of the fourth cylinder 33 can drive the sliding gripper 32 to slide downward along the H-shaped bracket 31, so that the sliding gripper 32 protrudes from the lower end face of the H-shaped bracket 31. The protruding part of the sliding gripper 32 can block the stator coil 12 for lateral limiting. The extension of the piston rod of the fourth cylinder 33 can drive the sliding gripper 32 to slide upward along the H-shaped bracket 31, and retract the sliding gripper 32 to be flush with the lower end face of the H-shaped bracket 31.

[0062] When the device of the present invention is loading material, the first joint robot 2 and the second joint robot 3 push the stator coil 12 on the second power roller 7 into the mold cavity of the linear hot press 8 through the loading and unloading device 4. When the device of the present invention is unloading material, the first joint robot 2 and the second joint robot 3 grab the stator coil 12 and place it on the first power roller 5 through the loading and unloading device 4.

[0063] When the device of the present invention is loading materials, the first joint robot 2 and the second joint robot 3 use the loading and unloading device 4 to grab the mold plate 9, the first side pressure mold strip 10 and the second side pressure mold strip 11 on the lifting frame 6 in sequence and transport them to the mold cavity of the linear hot press 8. When unloading materials, the first joint robot 2 and the second joint robot 3 use the loading and unloading device 4 to grab the mold plate 9, the first side pressure mold strip 10 and the second side pressure mold strip 11 from the mold cavity of the linear hot press 8 in sequence and transport them to the lifting frame 6.

[0064] Compared with the traditional manual method, the device of this invention enables automatic loading and unloading of stator coils 12, mold plate 9, first side pressure mold strip 10, and second side pressure mold strip 11 before the linear hot pressing process, and automatic unloading of stator coils 12, mold plate 9, first side pressure mold strip 10, and second side pressure mold strip 11 after the linear hot pressing process. This improves loading and unloading efficiency, replaces manual loading and unloading operations, solves the inconvenience of manual loading and unloading of stator coils 12 and molds, overcomes the problems of high manual labor intensity and low loading and unloading efficiency, is compatible with the loading and unloading of stator coils and molds of different sizes and specifications, is applicable to various working conditions, is easy to promote, and has strong applicability.

[0065] The first joint robot 2, the second joint robot 3, and the loading and unloading device 4 are adapted to the length and size specifications of the stator coil 12, and can operate independently or in cooperation with each other. For shorter stator coils 12, the first joint robot 2 or the second joint robot 3 can load and unload the coils through the loading and unloading device 4. For longer stator coils 12, the first joint robot 2 and the second joint robot 3 can load and unload the coils through the loading and unloading device 4 in cooperation with each other. This can realize loading before the linear hot pressing process and unloading after the linear hot pressing process of hydropower and thermal power stator coils with different sizes and specifications.

[0066] Example 2: Figures 1 to 13 As shown, an automatic loading and unloading method for a stator coil linear hot pressing process is implemented based on the automatic loading and unloading device for a stator coil linear hot pressing process described in Embodiment 1, and includes the following steps:

[0067] Step 1: In the initial state, several mold plates 9 are stacked on the lifting frame 6. A pressure strip group is provided between any two adjacent layers of mold plates 9. The pressure strip group consists of a second side pressure mold strip 11 and a first side pressure mold strip 10 arranged at intervals. The thickness of the second side pressure mold strip 11 and the first side pressure mold strip 10 is set according to the stator coil 12. The bottom surface of the mold cavity of the linear hot press 8 is lower than the transmission plane of the second power roller conveyor 7 by at least one thickness of the mold plate 9.

[0068] Step 2: The top mold platen 9 is picked up by the first electromagnetic adsorption device 18 and the second electromagnetic adsorption device 29 of the two loading and unloading devices 4 and transported into the bottom surface of the mold cavity of the linear hot press 8.

[0069] Step 3: The first side pressure mold strip 10 at the top is picked up by the first electromagnetic adsorption device 18 and the second electromagnetic adsorption device 29 of the two loading and unloading devices 4 and transported to the mold plate 9 already placed in the mold cavity of the straightening hot press 8.

[0070] Step 4: First, the stator coil 12 is automatically transferred to the front of the linear hot press 8 via the second power roller conveyor 7. Then, the stator coil 12 is pushed backward by the sliding claws 32 of the two unloading devices 4 and pushed into the mold plate 9 that has been placed at the bottom of the mold cavity of the linear hot press 8, and abutted against the front side of the corresponding first side pressure mold strip 10.

[0071] Step 5: The second side pressure mold strip 11 at the top is picked up by the first electromagnetic adsorption device 18 and the second electromagnetic adsorption device 29 of the two loading and unloading devices 4, and transported to the mold plate 9 already placed in the mold cavity of the straightening hot press 8, and abutted against the front side of the corresponding stator coil 12.

[0072] Step 6: The mold cavity of the linear hot press 8 automatically descends, and the descent height is equal to the total thickness of one stator coil 12 and one layer of mold platen 9;

[0073] Step 7: Repeat steps 1 to 6 to sequentially feed the remaining stator coils 12, mold platen 9, first side pressure mold strip 10 and second side pressure mold strip 11 into the mold cavity of the linear hot press 8;

[0074] The unloading method includes the following steps:

[0075] Step 1: In the initial state, the linear hot press 8 completes the hot pressing process of the stator coil 12. Several mold plates 9 are stacked in the mold cavity of the linear hot press 8. A stator coil 12 is provided between any two adjacent mold plates 9. A second side pressing mold strip 11 is placed against the front side of the stator coil 12, and a first side pressing mold strip 10 is placed against the rear side of the stator coil 12. The upper plane of the lifting frame 6 is raised to be level with the transmission plane of the second power roller conveyor 7.

[0076] Step 2: The top mold platen 9 is picked up from the linear hot press 8 by the first electromagnetic adsorption device 18 and the second electromagnetic adsorption device 29 of the two loading and unloading devices 4 and transported to the lifting frame 6.

[0077] Step 3: The first side-pressure mold strip 10 of the top layer is picked up from the linear hot press 8 by the first electromagnetic adsorption device 18 and the second electromagnetic adsorption device 29 of the two loading and unloading devices 4, and transported to the mold pressure plate 9 that has been placed on the lifting frame 6.

[0078] Step 4: The second side pressure mold strip 11 of the top layer is picked up from the linear hot press 8 by the first electromagnetic adsorption device 18 and the second electromagnetic adsorption device 29 of the two loading and unloading devices 4, and transported to the mold pressure plate 9 that has been placed on the lifting frame 6.

[0079] Step 5: The lifting frame 6 automatically descends, and the descent height is equal to the total thickness of a second side pressure mold strip 11 and a layer of mold pressure plate 9;

[0080] Step 6: The stator coil 12 is clamped from the linear hot press 8 by the fixed jaws 22 and the moving jaws 24 of the two loading and unloading devices 4, and the stator coil 12 is transported onto the first power roller conveyor 5.

[0081] Step 7: The mold cavity of the linear hot press 8 rises automatically, and the rising height is equal to the total thickness of one stator coil 12 and one layer of mold platen 9.

[0082] Step 8: Repeat steps 1 to 7 to unload the remaining stator coils 12, mold plate 9, first side pressure mold strip 10 and second side pressure mold strip 11 in sequence.

[0083] The above embodiments are merely illustrative examples of the present invention and do not limit its scope of protection. Those skilled in the art can make partial changes to them, as long as they do not exceed the spirit and essence of the present invention, they are all within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading device for a stator coil linear hot pressing process, characterized in that: The system includes a ground rail (1), a first joint robot (2), a second joint robot (3), an unloading device (4), a first power roller conveyor (5), a lifting frame (6), and a second power roller conveyor (7). The ground rail (1), the first power roller conveyor (5), and the linear hot press (8) are arranged in parallel from front to back. The first joint robot (2) and the second joint robot (3) are both slidably mounted on the ground rail (1). The ends of the first joint robot (2) and the second joint robot (3) are equipped with unloading devices (4). The lifting frame (6) is located on the front side of the linear hot press (8). A second power roller conveyor (7) is provided between the first joint robot (2) and the linear hot press (8). The first joint robot (2) and the second joint robot (3) use the loading and unloading device (4) to transport the mold plate (9) on the lifting frame (6) and the stator coil (12) on the second power roller conveyor (7) to the mold cavity of the linear hot press (8). Alternatively, the first joint robot (2) and the second joint robot (3) use the loading and unloading device (4) to send the mold plate (9) in the mold cavity of the linear hot press (8) to the lifting frame (6) and transport the stator coil (12) that has completed hot pressing to the first power roller conveyor (5).

2. The automatic loading and unloading device for the linear hot pressing process of stator coils according to claim 1, characterized in that: The loading and unloading device (4) includes a crossbeam (13), a middle magnetic adsorption device and an end magnetic adsorption device. The crossbeam (13) is arranged on the left and right sides. The middle magnetic adsorption device is located in the middle of the crossbeam (13). The two end magnetic adsorption devices slide along the crossbeam (13) on both sides of the middle magnetic adsorption device.

3. The automatic loading and unloading device for the linear hot pressing process of stator coils according to claim 2, characterized in that: The intermediate magnetic adsorption device includes a fixed sheet metal (16) and a fifth cylinder (17). The first joint robot (2) or the second joint robot (3) is connected to the middle of the crossbeam (13) through the fixed sheet metal (16). The fifth cylinder (17) is located at the rear end of the fixed sheet metal (16). The piston rod of the fifth cylinder (17) is set downward and connected to the first electromagnetic adsorption device (18).

4. The automatic loading and unloading device for the linear hot pressing process of stator coils according to claim 3, characterized in that: Both sides of the fixed sheet metal (16) are provided with racks (15) along the crossbeam (13). The end magnetic adsorption device includes a sheet metal frame (21). The sheet metal frame (21) is slidably mounted on the crossbeam (13) by the first guide rail slider module (14). The sheet metal frame (21) is provided with a servo motor drive module (19) and a third cylinder (30). A gear (20) is sleeved on the output shaft of the servo motor drive module (19). The gears (20) of the two end magnetic adsorption devices mesh with the two racks (15). The H-shaped bracket (31) is vertically slidably mounted at the rear end of the sheet metal frame (21) by the second guide rail slider module (34). The piston rod of the third cylinder (30) is set downward and connected to the H-shaped bracket (31). The H-shaped bracket (31) is provided with a second electromagnetic adsorption device (29).

5. An automatic loading and unloading device for a stator coil linear hot pressing process according to claim 4, characterized in that: The end magnetic adsorption device is provided with an end clamping device, which includes a fixed clamp (22), a movable clamp (24) and a third guide rail slider module (23). The guide rail of the third guide rail slider module (23) is arranged front and rear on the lower end surface of the sheet metal frame (21). The fixed clamp (22) is connected to the sheet metal frame (21) and is located at the rear end of the guide rail of the third guide rail slider module (23). The movable clamp (24) is connected to the slider of the third guide rail slider module (23). The piston rod of the first cylinder (25) is arranged rearward and connected to the movable clamp (24).

6. An automatic loading and unloading device for a stator coil linear hot pressing process according to claim 5, characterized in that: The first cylinder (25) is fixed on the T-block (26), the T-block (26) is connected to another slider of the third guide rail slider module (23), the second cylinder (27) is fixed on the sheet metal frame (21) through the L-block (28), the piston rod of the second cylinder (27) is set forward and fixedly connected to the T-block (26).

7. An automatic loading and unloading device for a stator coil linear hot pressing process according to claim 6, characterized in that: Two sliding claws (32) are vertically slidably mounted on the H-shaped bracket (31). The fourth cylinder (33) is fixedly connected to the H-shaped bracket (31). The piston rods of the two fourth cylinders (33) are set upward and are correspondingly connected to the two sliding claws (32).

8. An automatic loading and unloading device for a stator coil linear hot pressing process according to claim 7, characterized in that: The first joint robot (2), the second joint robot (3), and the loading and unloading device (4) are adapted to the length and size specifications of the stator coil (12) and can operate individually or in cooperation with each other.

9. An automatic loading and unloading method for a stator coil linear hot pressing process, implemented based on the automatic loading and unloading device for a stator coil linear hot pressing process as described in claim 8, characterized in that, The feeding method includes the following steps: Step 1: In the initial state, several mold plates (9) are stacked on the lifting frame (6). A pressure strip group is provided between any two adjacent mold plates (9). The pressure strip group consists of a second side pressure mold strip (11) and a first side pressure mold strip (10) arranged at intervals. The thickness of the second side pressure mold strip (11) and the first side pressure mold strip (10) is set according to the stator coil (12). The bottom surface of the mold cavity of the linear hot press (8) is lower than the transmission plane of the second power roller (7) by at least one mold plate (9) thickness. Step 2: The top mold platen (9) is picked up by the first electromagnetic adsorption device (18) and the second electromagnetic adsorption device (29) of the two loading and unloading devices (4) and transported into the bottom surface of the mold cavity of the linear hot press (8). Step 3: The first side pressure mold strip (10) at the top is picked up by the first electromagnetic adsorption device (18) and the second electromagnetic adsorption device (29) of the two loading and unloading devices (4), and transported to the mold plate (9) already placed in the mold cavity of the straightening hot press (8); Step 4: First, the stator coil (12) is automatically transferred to the front of the linear hot press (8) via the second power roller conveyor (7). Then, the stator coil (12) is pushed backward by the sliding claws (32) of the two unloading devices (4) and pushed into the mold plate (9) already placed at the bottom of the mold cavity of the linear hot press (8), and abutted against the front side of the corresponding first side pressure mold strip (10). Step 5: The second side pressure mold strip (11) at the top is picked up by the first electromagnetic adsorption device (18) and the second electromagnetic adsorption device (29) of the two loading and unloading devices (4), and transported to the mold plate (9) already placed in the mold cavity of the straightening hot press (8), and abutted against the front side of the corresponding stator coil (12). Step 6: The mold cavity of the linear hot press (8) automatically descends, and the descent height is equal to the total thickness of one stator coil (12) and one layer of mold platen (9); Step 7: Repeat steps 1 to 6 to sequentially feed the remaining stator coils (12), mold platen (9), first side pressure mold strip (10) and second side pressure mold strip (11) into the mold cavity of the linear hot press (8); The unloading method includes the following steps: Step 1: In the initial state, the linear hot press (8) completes the hot pressing process of the stator coil (12). Several mold plates (9) are stacked in the mold cavity of the linear hot press (8). A stator coil (12) is provided between any two adjacent mold plates (9). A second side pressure mold strip (11) is placed against the front side of the stator coil (12), and a first side pressure mold strip (10) is placed against the rear side of the stator coil (12). The upper plane of the lifting frame (6) is raised to be level with the transmission plane of the second power roller conveyor (7). Step 2: The top mold platen (9) is picked up from the linear hot press (8) by the first electromagnetic adsorption device (18) and the second electromagnetic adsorption device (29) of the two loading and unloading devices (4) and transported to the lifting frame (6); Step 3: The first side pressure mold strip (10) of the top layer is picked up from the linear hot press (8) by the first electromagnetic adsorption device (18) and the second electromagnetic adsorption device (29) of the two loading and unloading devices (4), and transported to the mold pressure plate (9) already placed on the lifting frame (6); Step 4: The second side pressure mold strip (11) of the top layer is picked up from the linear hot press (8) by the first electromagnetic adsorption device (18) and the second electromagnetic adsorption device (29) of the two loading and unloading devices (4), and transported to the mold pressure plate (9) placed on the lifting frame (6); Step 5: The lifting frame (6) automatically descends, and the descent height is equal to the total thickness of a second side pressure mold strip (11) and a layer of mold pressure plate (9); Step 6: The stator coil (12) is held in place from the linear hot press (8) by the fixed jaws (22) and moving jaws (24) of the two loading and unloading devices (4), and the stator coil (12) is transported to the first power roller conveyor (5); Step 7: The mold cavity of the linear hot press (8) rises automatically, and the rising height is equal to the total thickness of a stator coil (12) and a mold plate (9); Step 8: Repeat steps 1 to 7 to unload the remaining stator coils (12), mold plate (9), first side pressure mold strip (10) and second side pressure mold strip (11) in sequence.

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