Segmented stator round building apparatus

Abstract

The application relates to the technical field of motor stator processing, in particular to a block stator circle splicing equipment, which comprises a rack, a stator demolding mechanism for demolding treatment of the block stator, a feeding and carrying mechanism for material transfer, a quarter circle splicing mechanism, a semicircle splicing mechanism, a six-axis robot, a semicircle transfer mechanism, a semicircle unloading mechanical arm, a whole circle unloading mechanical arm and a whole circle splicing mechanism which are integrally arranged on the rack; the block stator is pre-wound, and then circle splicing is carried out, so that the process of manually arranging the winding after traditional whole stator winding is completely eliminated; meanwhile, the stator assembly efficiency is greatly improved through the automatic splicing process, and the overall production capacity of the production line is improved.

Description

Technical Field

[0001] This invention relates to the field of motor stator processing technology, and in particular to a device for assembling segmented stators into a circle. Background Technology

[0002] As the core component of a motor, the stator's processing quality and production efficiency directly affect the motor's performance and manufacturing cost. Traditional motor stator manufacturing processes commonly employ an integral stator core structure. This involves first creating a complete toroidal stator core through processes such as stamping and lamination, and then winding the coils onto the integral core using winding equipment. This processing method has the following significant technical drawbacks:

[0003] Limited winding operation: The inner and outer ring structures of the integral stator core form a closed space. During the winding process, the enameled wire needs to pass through the core slot to complete the winding. Due to the limitations of the slot size and core thickness, the wire path of the winding equipment is easily interfered with. This not only makes it difficult to achieve high-density winding, but also easily causes wear on the winding insulation layer, affecting the product qualification rate.

[0004] High rate of manual intervention: Due to the tendency of crossover and stacking between windings during the overall winding process, the winding ends must be manually sorted and shaped after winding to meet the subsequent assembly requirements. This process is not only time-consuming and labor-intensive, but the quality of sorting also depends on the experience of the operators, and consistency is difficult to guarantee.

[0005] The equipment debugging is complicated: For stator cores of different specifications, the winding equipment needs to readjust the winding tension, angle, speed and other parameters, and the changeover time is long (usually 2 to 4 hours), which seriously restricts the flexibility of multi-variety and small-batch production.

[0006] Low material utilization: The integral stator core is mostly made of silicon steel sheet by integral stamping. The scrap generated during the stamping process accounts for as much as 15% to 20%, especially for large-size stators, the problem of material waste is more prominent.

[0007] In recent years, segmented stator structures have gradually attracted attention. These structures decompose the stator core into several independent sector-shaped blocks, allowing for independent winding on each block before being assembled into a complete stator. While this method addresses the inherent drawbacks of monolithic winding, the assembly of existing segmented stators largely relies on manual positioning and assembly, resulting in low efficiency, poor consistency, and difficulties in industrial-scale mass production. Therefore, we propose a segmented stator assembly device to solve these problems. Summary of the Invention

[0008] This invention addresses the shortcomings of existing technologies where the splicing of segmented stators relies heavily on manual positioning and assembly, resulting in low splicing efficiency and poor consistency. It provides a device for assembling segmented stators into a circular shape.

[0009] This invention is achieved through the following technical solution:

[0010] A segmented stator assembly equipment includes a frame, on which a quarter-circle assembly mechanism, a semi-circle assembly mechanism and a full-circle assembly mechanism are provided. The frame is also equipped with a six-axis robot that cooperates with the semi-circle assembly mechanism.

[0011] The quarter-circle splicing mechanism includes a movable plate slidably mounted on a frame. Both sides of the movable plate are provided with first support seats fixed on the frame. Movable plates are slidably mounted on the first support seats on both sides. The movable plates are driven by a third cylinder fixed on the first support seats. Both movable plates are provided with a gripper base at their respective ends that are close to each other. Fixed grippers and movable grippers for inward rotation are installed on both sides of the gripper base. The gripping directions of the fixed grippers and movable grippers on the gripper bases on both sides are arranged in opposite directions.

[0012] The moving plate is equipped with a third pneumatic gripper for simultaneously transferring the pre-assembled stator on both sides of the gripper base.

[0013] The semi-circular splicing mechanism includes two second support bases, each of which is equipped with a movable frame that is laterally driven by a second linear module. The outer end of the movable frame is engaged with a locking frame for fixing the pre-assembled stator.

[0014] The six-axis robot is used to grab, rotate and splice the pre-assembled stator on one side onto the quarter-pre-assembled stator on the other side to form a semi-circular stator;

[0015] The full-circle splicing mechanism is used to splice and transport two semi-circular stators.

[0016] In a preferred embodiment of the present invention, a second slide rail and a ball screw are provided between the two gripper bases. The ball screw is driven by a servo motor located at its end and is arranged parallel to the second slide rail. The moving plate is slidably mounted on the second slide rail and threadedly connected to the ball screw. The operation of the servo motor drives the ball screw to rotate and move the moving plate to transfer the gripped quarter-circle stator.

[0017] In a preferred embodiment of the present invention, a transmission plate driven by a fourth cylinder is slidably mounted on the lower end of the gripper base. Both ends of the transmission plate are rotatably connected to two movable grippers on the gripper base via hinge rods. The fourth cylinder drives the movable grippers on both sides to rotate inward simultaneously, thereby splicing the stator components on both sides onto the stator component in the middle to form a quarter circle.

[0018] In a preferred embodiment of the present invention, a limiting seat driven by a push cylinder is slidably installed on one side of the movable frame. A limiting rod is installed at the end of the limiting seat. By engaging the limiting rod between two quarter stators, it is easier to use a six-axis robot to grasp one side of the stator for rotation and splicing.

[0019] In a preferred embodiment of the present invention, the full circle splicing mechanism includes a seventh linear module mounted on a frame. A third mounting base is slidably mounted on the seventh linear module and driven by it. Both ends of the upper surface of the third mounting base are fixed with clamping plates by clamping cylinders. The clamping cylinders at both ends drive the two clamping plates to move closer to each other to perform a splicing operation on the semi-circular stator.

[0020] In a preferred embodiment of the present invention, a stator demolding mechanism is further provided on the frame. The stator demolding mechanism includes a support frame and support corner plates fixed on both sides of the support frame. The support frame is provided with a plurality of stator placement slots, and a pneumatic clamping plate is provided on one side of each stator placement slot.

[0021] A flip plate is rotatably mounted between the two support corner plates. The flip plate is provided with the same number of first grippers as the stator placement slots. The flip plate achieves a 0-180° flipping action through a drive motor fixed on the support corner plates. The flip plate drives the first grippers to rotate and flip and unfold the stator component with the winding mold placed in the stator placement slot.

[0022] In a preferred embodiment of the present invention, a material feeding and conveying mechanism is provided above the stator demolding mechanism. The material feeding and conveying mechanism includes multiple support columns that are vertically fixed to the frame, and a transverse conveying component is provided at the top of the multiple support columns.

[0023] The lateral transfer component includes a first slide rail and a first linear module arranged in parallel. A mounting plate is provided between the first slide rail and the first linear module. One end of the mounting plate is fixedly connected to the moving end of the first linear module, and the other end of the mounting plate is slidably mounted on the first slide rail.

[0024] One side of the mounting plate is provided with a plurality of first cylinders arranged in a linear fashion, and the bottom end of each first cylinder is provided with a first pneumatic gripper. The other side of the mounting plate is provided with a plurality of second cylinders arranged in a linear fashion, and the bottom end of each second cylinder is fixed with a first mounting base. The bottom end of the first mounting base is provided with two second pneumatic grippers. The first pneumatic grippers grip the stator component of the mold frame and place it in the stator placement slot. The two second pneumatic grippers grip and transfer the unfolded stator component.

[0025] In a preferred embodiment of the present invention, a semi-circular transfer mechanism is further included. The semi-circular transfer mechanism includes a third linear module mounted on the frame and a first mounting frame driven by the third linear module. A first rotary motor is fixed on the first mounting frame, and a second mounting base is fixed on the output end of the first rotary motor. A limiting component for fixing the semi-circular stator is provided on the second mounting base.

[0026] The limiting component includes a limiting block fixed on a second mounting base and multiple limiting cylinders arranged in a fan shape around the limiting block. The limiting cylinders are used to fix and transport the assembled semicircle.

[0027] In a preferred embodiment of the present invention, two semi-circular unloading robots arranged in opposite directions are provided above the semi-circular transfer mechanism. Each semi-circular unloading robot includes a fourth linear module that is horizontally fixed to the frame by a support column. A fifth linear module is vertically arranged on the fourth linear module. The fifth linear module is driven by the fourth linear module, and a second mounting frame driven by the fifth linear module is installed on the fifth linear module. A second rotary motor is fixed on the second mounting frame. A limiting component for fixing the semi-circular stator is installed at the output end of the second rotary motor. The semi-circular stator is gripped and placed into the whole circle splicing mechanism for whole circle splicing by the limiting component.

[0028] In a preferred embodiment of the present invention, one of the semi-circular unloading robots is further equipped with a full-circular unloading robot. The full-circular unloading robot includes a sixth linear module that is slidably mounted on a fourth linear module. A third mounting frame that is driven by the sixth linear module is mounted on the sixth linear module. A full-circular gripping claw is provided at the bottom of the third mounting frame. The full-circular gripping claw grips and places the assembled full-circular stator onto the full-circular bearing mold frame for removal.

[0029] The beneficial effects of this invention are:

[0030] 1. This application completely eliminates the need for manual winding of the windings after the traditional integral stator winding by pre-winding the segmented stator and then assembling it into a circle. At the same time, the automated splicing process greatly improves the stator assembly efficiency and increases the overall production capacity of the production line.

[0031] 2. This equipment achieves accurate positioning of the segmented stator through a precision mechanical structure and servo control system, with the splicing concentricity error controlled within 0.03mm, far superior to the 0.1mm error standard of manual splicing; standardized splicing pressure and angle control ensure that the magnetic circuit continuity between each segment remains consistent, effectively reducing vibration and noise during motor operation. Attached Figure Description

[0032] Figure 1 This is a front view of the three-dimensional structure of the segmented stator assembly device of the present invention;

[0033] Figure 2 This is a three-dimensional rear view of the stator assembly device of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the segmented stator assembly equipment of the present invention, excluding the feeding and handling mechanism and the six-axis robot.

[0035] Figure 4 This is a three-dimensional structural diagram of the component-bearing mold frame in the segmented stator assembly equipment of the present invention;

[0036] Figure 5 This is a three-dimensional structural diagram of the stator demolding mechanism in the segmented stator assembly equipment of the present invention;

[0037] Figure 6 This is a three-dimensional structural diagram of the material handling mechanism in the segmented stator assembly equipment of the present invention;

[0038] Figure 7 This is a schematic diagram showing the distribution of the first and second pneumatic grippers in the material handling mechanism.

[0039] Figure 8 This is a three-dimensional structural diagram of the quarter-circle assembly mechanism in the segmented stator assembly device of the present invention;

[0040] Figure 9 for Figure 8 Schematic diagram of the structure at point A;

[0041] Figure 10 for Figure 8 A top-view structural diagram;

[0042] Figure 11 This is a three-dimensional structural diagram of the six-axis robot in the segmented stator assembly equipment of the present invention;

[0043] Figure 12 This is a three-dimensional structural diagram of the semi-circular splicing mechanism in the segmented stator splicing device of the present invention;

[0044] Figure 13 This is a three-dimensional structural diagram of the semi-circular transfer mechanism in the segmented stator assembly equipment of the present invention;

[0045] Figure 14 This is a three-dimensional structural diagram of the semi-circular unloading robot in the segmented stator assembly equipment of the present invention;

[0046] Figure 15 This is a three-dimensional structural diagram of the whole-circle unloading robot in the segmented stator assembly equipment of the present invention;

[0047] Figure 16 This is a three-dimensional structural diagram of the whole circle splicing mechanism in the segmented stator splicing device of the present invention;

[0048] Figure 17 This is a three-dimensional structural diagram of the whole-circle bearing mold frame in the segmented stator assembly equipment of the present invention;

[0049] Figure 18 This is a schematic diagram of the initial state of the stator and winding mold in the segmented stator assembly device of the present invention;

[0050] Figure 19 This is a schematic diagram of the structure of the stator after it has been unfolded in the segmented stator assembly device of the present invention.

[0051] In the diagram: 1. Frame;

[0052] 2. Component support mold frame;

[0053] 3. Stator demolding mechanism; 31. Support frame; 32. Support corner plate; 33. Flip plate; 34. Stator placement slot; 35. Clamping plate; 36. First gripper;

[0054] 4. Material handling mechanism; 41. Support column; 42. First slide rail; 43. First linear module; 44. Mounting plate; 45. First cylinder; 451. First pneumatic gripper; 46. Second cylinder; 461. First mounting base; 462. Second pneumatic gripper;

[0055] 5. Quarter-circle splicing mechanism; 51. First support base; 511. Third cylinder; 512. Movable plate; 513. Gripper base; 514. Movable gripper; 515. Fourth cylinder; 516. Transmission plate; 517. Hinge rod; 518. Fixed gripper; 52. Second slide rail; 53. Moving plate; 531. Third pneumatic gripper; 54. Ball screw; 541. Servo motor;

[0056] 6. Semicircular splicing mechanism; 61. Second support base; 62. Second linear module; 63. Movable frame; 64. Snap-fit ​​frame; 65. Push cylinder; 66. Limit seat; 67. Limit rod;

[0057] 7. Six-axis robot;

[0058] 8. Semicircular transfer mechanism; 81. Third linear module; 82. First mounting bracket; 83. First rotary motor; 84. Second mounting base; 85. Limit block; 86. Limit cylinder;

[0059] 9. Semi-circular unloading robot; 91. Fourth linear module; 92. Fifth linear module; 93. Second mounting bracket; 94. Second rotary motor; 95. Limiting assembly;

[0060] 10. Round blanking robot; 101. Sixth linear module; 102. Third mounting frame; 103. Round gripper;

[0061] 11. Circular splicing mechanism; 111. Seventh linear module; 112. Third mounting base; 113. Clamping cylinder; 114. Clamping plate;

[0062] 12. Full-circle bearing mold frame. Detailed Implementation

[0063] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of the present invention. The directional terms used in this invention, such as "up," "down," "front," "back," "left," "right," "top," and "bottom," are merely for reference to the accompanying drawings. Therefore, the directional terms used are for illustrating and understanding the present invention, and not for limiting the present invention.

[0064] like Figure 1-19 The stator assembly equipment shown includes a frame 1, a conveyor belt in front of the frame 1, a component carrying mold 2 and a whole circle carrying mold 12 on the conveyor belt. The component carrying mold 2 is used to place and input the wound stator components, and the whole circle carrying mold 12 is used to place and output the stator assembled into a whole circle.

[0065] The frame 1 is equipped with a stator demolding mechanism 3 for demolding the segmented stator, a material handling mechanism 4 for material transfer, a quarter circle splicing mechanism 5, a semi circle splicing mechanism 6, a six-axis robot 7, a semi circle transfer mechanism 8, a semi circle unloading robot 9, a full circle unloading robot 10, and a full circle splicing mechanism 11.

[0066] like Figure 5 As shown, the stator demolding mechanism 3 includes a support frame 31 fixed on the frame 1 and support corner plates 32 fixed on both sides of the support frame 31. The support frame 31 is provided with three stator placement slots 34. Each stator placement slot 34 is provided with a pneumatic pressing plate 35 on one side. The pressing plate 35 is used to press the stator components placed in the stator placement slot 34.

[0067] A flip plate 33 is rotatably mounted between two support corner plates 32. The initial position of the flip plate 33 is below the support frame 31. The flip plate 33 is provided with the same number of first grippers 36 as the stator placement slot 34. The flip plate 33 achieves a 0-180° flipping action through a drive motor fixed on the support corner plates 32. The flip plate 33 drives the first grippers 36 to rotate and flip and unfold the lower end of the stator component with the winding mold placed in the stator placement slot 34.

[0068] like Figure 6-7As shown, a material feeding and conveying mechanism 4 is provided above the stator demolding mechanism 3. The material feeding and conveying mechanism 4 includes multiple support columns 41 that are vertically fixed to the frame 1. The multiple support columns 41 are linearly arranged on both sides of the stator demolding mechanism 3.

[0069] The tops of the two side support columns 41 are equipped with parallel first slide rails 42 and first linear modules 43. A mounting plate 44 is provided between the first slide rails 42 and the first linear modules 43. One end of the mounting plate 44 is fixedly connected to the moving end of the first linear module 43, and the other end of the mounting plate 44 is slidably mounted on the first slide rails 42. Three first cylinders 45 are arranged linearly on one side of the mounting plate 44. Each first cylinder 45 has a first pneumatic gripper 451 at its bottom end. Three second cylinders 45 are arranged linearly on the other side of the mounting plate 44. 6. Each second cylinder 46 has a first mounting base 461 fixed at its bottom end. Each first mounting base 461 has two second pneumatic grippers 462 at its bottom end. The first pneumatic grippers 451 grip the stator component of the bearing frame 2 and place it in the stator placement slot 34. The two second pneumatic grippers 462 grip the unfolded stator component. After the first pneumatic grippers 451 and the second pneumatic grippers 462 grip the stator component, the first linear module 43 drives the mounting plate 44 to move laterally, thereby transferring the stator component.

[0070] After grasping the three unfolded top components, move them to the quarter-circle splicing mechanism 5;

[0071] like Figure 8-10 As shown, the quarter circle splicing mechanism 5 includes a movable plate 53 that is slidably mounted on the frame 1. Both sides of the movable plate 53 are provided with first support seats 51 fixed on the frame 1. Movable plates 512 are slidably mounted on the first support seats 51 on both sides. The movable plates 512 are driven by a third cylinder 511 fixed on the first support seats 51. The third cylinder 511 drives the movable plates 512 on both sides to move closer to each other or further away from each other.

[0072] Each of the two movable plates 512 has a gripper base 513 at one end close to each other. Fixed grippers 518 and movable grippers 514 for inward rotation are mounted on both sides of the fixed grippers 518. In the initial state, the three grippers on the same side of the movable grippers 514 are horizontally positioned, and the distance between each gripper is the same as the distance between the second pneumatic grippers 462 on different first mounting seats 461. The second pneumatic grippers 462 then grip the unfolded stator component. After the movement, the stator component is gripped by the fixed gripper 518 and the movable gripper 514. The lower end of the gripper base 513 is slidably mounted with a transmission plate 516 driven by a fourth cylinder 515. Both ends of the transmission plate 516 are rotatably connected to the two movable grippers 514 on the gripper base 513 through hinge rods 517. The fourth cylinder 515 drives the movable grippers 514 on both sides to rotate inward at the same time, thereby splicing the stator components on both sides onto the stator component in the middle to form a quarter circle.

[0073] It should be noted that the fixed gripper 518 and movable gripper 514 on the two gripper bases 513 are set in opposite directions, so that the quarter circle stator component after splicing is set in opposite directions, which facilitates the subsequent splicing of the semi circle.

[0074] Secondly, the moving plate 53 is equipped with a third pneumatic gripper 531 for simultaneously transferring the pre-assembled stator on the two gripper bases 513. A second slide rail 52 and a ball screw 54 are arranged between the two gripper bases 513. The ball screw 54 is driven by a servo motor 541 at its end. The ball screw 54 is parallel to the second slide rail 52. The moving plate 53 is slidably mounted on the second slide rail 52 and threadedly connected to the ball screw 54. The operation of the servo motor 541 drives the ball screw 54 to rotate and move the moving plate 53 to transfer the gripped quarter-circle stator.

[0075] like Figure 12 As shown, the semi-circular splicing mechanism 6 includes two second support seats 61, which are located on both sides of the movable plate 53. Each of the two second support seats 61 is provided with a movable frame 63 that is driven laterally by the second linear module 62. The outer end of the movable frame 63 is clamped with a clamping frame 64 for fixing the pre-assembled stator. The clamping frames 64 on both sides are driven by the second linear module 62 to move closer to each other and fix the stator component on the third pneumatic gripper 531. The six-axis robot 7 is used to grab, rotate and splice the pre-assembled stator on one side to the quarter-pre-assembled stator on the other side to form a semi-circular stator.

[0076] Meanwhile, a limiting seat 66 driven by a push cylinder 65 is slidably installed on one side of the movable frame 63. A limiting rod 67 is installed at the end of the limiting seat 66. By locking the limiting rod 67 between the two quarter stators, it is easier to use the six-axis robot 7 to grab one side of the stator for rotation and splicing.

[0077] like Figure 13 As shown, it also includes a semi-circular transfer mechanism 8. The semi-circular transfer mechanism 8 includes a third linear module 81 mounted on the frame 1 and a first mounting frame 82 driven by the third linear module 81. A first rotary motor 83 is fixed on the first mounting frame 82. A second mounting base 84 is fixed to the output end of the first rotary motor 83. A limiting component 95 for fixing the semi-circular stator is provided on the second mounting base 84. The limiting component 95 includes a limiting block 85 fixed on the second mounting base 84 and a plurality of limiting cylinders 86 arranged in a fan shape around the limiting block 85. The spliced ​​semi-circle is fixed and transferred by the limiting cylinders 86.

[0078] like Figure 14 As shown, two semi-circular unloading robots 9 are arranged in opposite directions above the semi-circular transfer mechanism 8. The semi-circular unloading robot 9 includes a fourth linear module 91 that is horizontally fixed to the frame 1 by a support column. A fifth linear module 92 is vertically arranged on the fourth linear module 91. The fifth linear module 92 is driven by the fourth linear module 91. A second mounting frame 93 that is driven by the fifth linear module 92 is installed on the fifth linear module 92. A second rotary motor 94 is fixed on the second mounting frame 93. A limiting component 95 for fixing the semi-circular stator is installed at the output end of the second rotary motor 94. The semi-circular stator is gripped and placed into the whole circle splicing mechanism 11 for whole circle splicing through the limiting component 95.

[0079] like Figure 16 As shown, the full circle splicing mechanism 11 includes a seventh linear module 111 mounted on the frame 1. A third mounting base 112 is slidably mounted on the seventh linear module 111 and driven by it. Both ends of the upper surface of the third mounting base 112 are fixed with clamping plates 114 by clamping cylinders 113. The clamping cylinders 113 at both ends drive the two clamping plates 114 to move closer to each other to perform the splicing operation on the semi-circular stator.

[0080] like Figure 15As shown, one of the semi-circular unloading robots 9 is also equipped with a full-circular unloading robot 10. The full-circular unloading robot 10 includes a sixth linear module 101 that is slidably mounted on the fourth linear module 91. A third mounting frame 102 that is driven by the sixth linear module 101 is mounted on the sixth linear module 101. A full-circular gripping claw 103 is provided at the bottom end of the third mounting frame 102. After the stator full circle is spliced ​​by the full-circular splicing mechanism 11, the full-circular gripping claw 103 grips and places the spliced ​​full-circular stator onto the full-circular bearing mold frame 12 for removal.

[0081] In this embodiment, the first pneumatic gripper 451 at the front end of the feeding and conveying mechanism 4 grabs the three stators on the component carrier mold frame 2 and places them on the stator demolding mechanism 3 for demolding. The stators are then unfolded. After unfolding, the second pneumatic gripper 462 grabs them and drives them through the first linear module 43 to the quarter circle splicing mechanism 5. The third cylinder 511 drives the gripper bases 513 on both sides to move closer to each other. The movable gripper 514 and the fixed gripper 518 grab the unfolded stators. At the same time, the fourth cylinder 515 drives the movable gripper 514 on both sides to rotate inward at the same time, splicing the stator components on both sides onto the stator component in the middle to form a quarter circle.

[0082] After splicing, the third pneumatic gripper 531 grips the assembly, and the servo motor 541 drives the ball screw 54 to rotate, thereby driving the moving plate 53 to move, so that the third pneumatic gripper 531 and the stator component move to the lower station.

[0083] The second linear module 62 drives the two side clips 64 to approach each other and fix the quarter-circle stator. After fixing, the six-axis robot 7 grabs one side of the quarter-circle stator, rotates it around the limiting rod 67, and splices it onto the other side of the quarter-circle stator to form a semi-circle stator.

[0084] After the semicircular stator is assembled, it is picked up by a six-axis robot 7 and placed in a semicircular transfer mechanism 8 for transfer to the area below a semicircular unloading robot 9. The semicircular unloading robot 9 then picks up the semicircular stator and places it in a full-circle splicing mechanism 11 for full-circle splicing. The other semicircular unloading robot 9 can pick up and splice the semicircular stator in another segmented stator splicing machine (the two segmented stator splicing machines are parallel and work simultaneously). After the full-circle splicing mechanism 11 splices the two semicircular stators into a full circle, it is picked up by a full-circle unloading robot 10 and transferred to a full-circle support mold frame 12 for removal.

[0085] It should be noted that the parts not covered in this invention are the same as or can be implemented using existing technologies; the various drives in this invention can be implemented using corresponding power structures such as cylinders, hydraulic cylinders, electric cylinders, and motors in conjunction with connecting rods, guide rods, etc., and are not limited to the structures described in the specification and the drawings.

[0086] In the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," "set up," "equipped with," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0087] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A segmented stator assembly and reassembly device, comprising a frame (1), characterized in that: The frame (1) is provided with a quarter circle splicing mechanism (5), a semi circle splicing mechanism (6) and a full circle splicing mechanism (11), and a six-axis robot (7) that cooperates with the semi circle splicing mechanism (6) is also provided on the frame (1). The quarter-circle splicing mechanism (5) includes a movable plate (53) slidably mounted on the frame (1). Both sides of the movable plate (53) are provided with a first support seat (51) fixed on the frame (1). Movable plates (512) are slidably mounted on the first support seats (51) on both sides. The movable plates (512) are driven by a third cylinder (511) fixed on the first support seat (51). Both movable plates (512) are provided with a gripper base (513) at their respective ends. Both sides of the gripper base (513) are provided with a fixed gripper (518) and a movable gripper (514) on both sides of the fixed gripper (518) for rotating inward. The fixed gripper (518) and the movable gripper (514) on the gripper base (513) on both sides are arranged in opposite directions. The movable plate (53) is equipped with a third pneumatic gripper (531) for simultaneously transporting the pre-assembled stator on the gripper bases (513) on both sides; The semicircular splicing mechanism (6) includes two second support seats (61), each of which is provided with a movable frame (63) that is driven laterally by a second linear module (62). The outer end of the movable frame (63) is snapped with a snap-fit ​​frame (64) for fixing the pre-assembled stator. The six-axis robot (7) is used to grab, rotate and splice the pre-assembled stator on one side to the quarter-pre-assembled stator on the other side, so as to form a semi-circular stator; The full-circle splicing mechanism (11) is used to splice and transfer two semi-circular stators.

2. The segmented stator assembly equipment according to claim 1, characterized in that: A second slide rail (52) and a ball screw (54) are provided between the two gripper bases (513). The ball screw (54) is driven by a servo motor (541) located at its end. The ball screw (54) is arranged parallel to the second slide rail (52). The moving plate (53) is slidably mounted on the second slide rail (52) and threadedly connected to the ball screw (54).

3. The segmented stator assembly equipment according to claim 2, characterized in that: The lower end of the gripper base (513) is slidably mounted with a transmission plate (516) driven by a fourth cylinder (515). Both ends of the transmission plate (516) are rotatably connected to two movable grippers (514) on the gripper base (513) via hinge rods (517).

4. The segmented stator assembly equipment according to claim 1, characterized in that: A limiting seat (66) driven by a push cylinder (65) is slidably mounted on one side of the movable frame (63), and a limiting rod (67) is installed at the end of the limiting seat (66).

5. The segmented stator assembly equipment according to claim 1, characterized in that: The full circle splicing mechanism (11) includes a seventh linear module (111) mounted on a frame (1). A third mounting base (112) driven by the seventh linear module (111) is slidably mounted on the seventh linear module (111). Both ends of the upper surface of the third mounting base (112) are fixed with clamping plates (114) by clamping cylinders (113).

6. The segmented stator assembly equipment according to claim 1, characterized in that: It also includes a stator demolding mechanism (3) mounted on the frame (1). The stator demolding mechanism (3) includes a support frame (31) and support corner plates (32) fixed on both sides of the support frame (31). The support frame (31) is provided with a plurality of stator placement slots (34), and each stator placement slot (34) is provided with a pneumatic clamping plate (35) on one side. A flip plate (33) is rotatably mounted between the two support corner plates (32). The flip plate (33) is provided with the same number of first grippers (36) as the stator placement slots (34). The flip plate (33) achieves a 0-180° flipping action through a drive motor fixed on the support corner plates (32).

7. The segmented stator assembly equipment according to claim 6, characterized in that: Above the stator demolding mechanism (3) is a feeding and conveying mechanism (4), which includes multiple support columns (41) vertically fixed to the frame (1), and a transverse conveying component is provided at the top of the multiple support columns (41). The transverse transfer assembly includes a first slide rail (42) and a first linear module (43) arranged in parallel. A mounting plate (44) is provided between the first slide rail (42) and the first linear module (43). One end of the mounting plate (44) is fixedly connected to the moving end of the first linear module (43), and the other end of the mounting plate (44) is slidably mounted on the first slide rail (42). A plurality of first cylinders (45) are arranged linearly on one side of the mounting plate (44), and a first pneumatic gripper (451) is provided at the bottom of each first cylinder (45). A plurality of second cylinders (46) are arranged linearly on the other side of the mounting plate (44), and a first mounting seat (461) is fixed at the bottom of each second cylinder (46). Two second pneumatic grippers (462) are provided at the bottom of the first mounting seat (461).

8. The segmented stator assembly equipment according to claim 1, characterized in that: It also includes a semi-circular transfer mechanism (8), which includes a third linear module (81) mounted on the frame (1) and a first mounting frame (82) driven by the third linear module (81). A first rotary motor (83) is fixed on the first mounting frame (82), and a second mounting base (84) is fixed at the output end of the first rotary motor (83). A limiting component (95) for fixing the semi-circular stator is provided on the second mounting base (84). The limiting assembly (95) includes a limiting block (85) fixed on the second mounting base (84) and a plurality of limiting cylinders (86) arranged in a fan shape around the limiting block (85).

9. The segmented stator assembly equipment according to claim 8, characterized in that: Above the semicircular transfer mechanism (8) are two semicircular unloading manipulators (9) arranged in opposite directions. The semicircular unloading manipulator (9) includes a fourth linear module (91) that is horizontally fixed on the frame (1) by a support column. A fifth linear module (92) is vertically arranged on the fourth linear module (91). The fifth linear module (92) is driven by the fourth linear module (91). A second mounting bracket (93) that is driven by the fifth linear module (92) is installed on the fifth linear module (92). A second rotary motor (94) is fixed on the second mounting bracket (93). A limiting component (95) for fixing the semicircular stator is installed at the output end of the second rotary motor (94).

10. The segmented stator assembly equipment according to claim 9, characterized in that: One of the semi-circular unloading robots (9) is also equipped with a full-circular unloading robot (10), which includes a sixth linear module (101) slidably mounted on a fourth linear module (91). A third mounting frame (102) driven by the sixth linear module (101) is mounted on the sixth linear module (101), and a full-circular gripper (103) is provided at the bottom end of the third mounting frame (102).

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