Multi-station full-automatic equipment for stitch welding of motor iron core

Abstract

The invention discloses multi-station full-automatic equipment for stitch welding of a motor iron core. The device is characterized by further comprising a rotating disc rotationally arranged on the machine frame, an indexing driving device arranged on the machine frame, a plurality of clamp stations arranged in the circumferential direction of the rotating disc, a position sensor arranged on the rotating disc, a plurality of process execution devices arranged around the rotating disc and sequentially corresponding to the parking positions of the clamp stations, and a control device arranged on the rotating disc, the control system is electrically connected with the position sensor and the indexing driving device; intermittent circulation of the clamp stations is achieved through the rotating disc and the indexing driving device, iron chips clamped on the clamp stations are subjected to full-automatic continuous machining among the working procedures of pretreatment, height measurement compensation, welding and online detection, laser marking, welding slag cleaning and the like, and manual transfer and intervention among different devices are not needed; therefore, the production cycle of a single product is greatly shortened, and the production efficiency and the product consistency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of motor core manufacturing technology, specifically to a multi-station fully automated equipment for lap welding of motor cores. Background Technology

[0002] As the core component of a motor, the manufacturing quality of the motor core directly affects the motor's performance, efficiency, and service life. Motor cores are typically made by stacking multiple silicon steel sheets. To ensure the stability of the stacked core structure, the silicon steel sheets must be reliably connected through a welding process.

[0003] Currently, existing motor core lap welding equipment suffers from the following shortcomings: First, low automation; most equipment can only complete a single welding process, and core pretreatment, height detection, and post-weld cleaning must be manually transferred to other equipment, resulting in low production efficiency and easy damage to the core during transport. Second, lagging welding quality control; traditional equipment relies on offline sampling for welding quality inspection, which cannot detect welding defects in real time, easily leading to batches of unqualified products and increasing production costs. Third, poor equipment compatibility; frequent adjustments to fixtures and process parameters are required for different core specifications, resulting in long changeover times. Fourth, poor coordination between processes; the lack of a unified positioning and drive system makes it difficult to guarantee the positional accuracy of the core between processes, affecting the final product quality. Therefore, this invention proposes a multi-station fully automated equipment for motor core lap welding. Summary of the Invention

[0004] The purpose of this invention is to solve the above problems by proposing a multi-station fully automatic equipment for stacking and welding motor cores.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-station fully automatic equipment for lap welding of motor cores, comprising a frame, characterized in that: it further comprises a turntable rotatably mounted on the frame, an indexing drive device mounted on the frame for intermittently rotating the turntable, a plurality of fixture stations arranged circumferentially along the turntable for supporting and positioning the cores to be processed, position sensors mounted on the turntable for detecting the status of each fixture station, a plurality of process execution devices arranged around the turntable and sequentially corresponding to the stopping positions of the fixture stations, and a control system electrically connected to the process execution devices, position sensors, and indexing drive device for controlling their coordinated operation; the process execution devices include at least one welding and online inspection device for performing lap welding on the cores and detecting the welding quality at the same station.

[0006] More preferably, the welding and online inspection device includes an adaptive clamping mechanism rotatably mounted on the frame for pressing the iron core from above, a plurality of welding actuators arranged around the adaptive clamping mechanism, quality detectors spaced apart from the welding actuators for detecting the welding quality after welding, and an actuator located at the bottom of the frame for lifting and driving the corresponding fixture station to rotate during welding.

[0007] Further preferably, the process execution device also includes a pretreatment device for cleaning or drying the surface of the iron core, a height compensation device for measuring and automatically compensating the height of the iron core, a laser marking device for marking the welded iron core, and a slag cleaning device for cleaning the weld slag.

[0008] More preferably, the pretreatment device includes a steam generating mechanism that is movably mounted on the frame for injecting high-temperature steam into the iron core, an adaptive clamping mechanism for pressing the iron core during pretreatment, and an execution mechanism for lifting and driving the corresponding fixture station to rotate during treatment.

[0009] More preferably, the height compensation device includes a height detection unit for measuring the height of the iron core, a first driver for driving the height detection unit to move up and down, a robotic arm for adding or removing iron core chips, and a replenishment station set on the frame that can automatically adjust its height for robotic arm gripping operations.

[0010] More preferably, the welding slag cleaning device includes a second driver mounted on a frame, a dust cover disposed on the output end of the second driver, a plurality of cleaning brushes disposed circumferentially inside the dust cover, and a negative pressure suction port disposed on the dust cover for collecting welding slag.

[0011] More preferably, the adaptive clamping mechanism includes a third driver mounted on the frame, a rotating shaft driven by the third driver, a telescopic link axially telescopically mounted within the rotating shaft, and a pressure joint connected to the lower end of the telescopic link.

[0012] More preferably, the actuator includes a lifting cylinder mounted at the bottom of the frame, a drive plate connected to the output shaft of the lifting cylinder, and a fourth driver mounted on the drive plate for driving the rotation of the fixture station.

[0013] More preferably, the fixture station includes, in sequence along the rotation direction of the turntable, a loading and unloading station, a pretreatment station, a height compensation station, a welding and online inspection station, a laser marking station, and a welding slag cleaning station.

[0014] In a further preferred embodiment, the bottom of the frame is also provided with a fifth drive for lifting the corresponding fixture station during the processing, corresponding to the filling station, the welding slag cleaning device and the height compensation device.

[0015] The beneficial effects of this invention are as follows: The intermittent flow of the fixture station is achieved through a turntable and indexing drive device. Combined with multiple process execution devices precisely arranged around the turntable, including pretreatment, height compensation, welding and online inspection, laser marking, and slag cleaning, a complete circular production line is formed. After the iron chip is fixed at the fixture station, it moves with the turntable, sequentially passing through each process execution device to complete all processes such as surface cleaning, height measurement and compensation, lap welding and online quality inspection, product marking, and slag cleaning. Finally, the finished product is unloaded at the loading and unloading station. The entire process is fully automated and continuous, requiring no manual transfer or intervention between different devices, thereby significantly shortening the production cycle of a single product and significantly improving production efficiency and product consistency. By arranging welding actuators and quality detectors at intervals, and combining the "up and down movement" and "indexing rotation" of the iron core, efficient and sequential welding and online inspection of vertical welds are achieved at the same workstation, shortening the process flow time and forming a closed-loop quality control for inspection and repair. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the system of the present invention; Figure 2 This is a schematic diagram of the overall structure of the system of the present invention from another perspective; Figure 3 This is a schematic diagram of the structure of the turntable, indexing drive device, fixture station and position sensor of the system of the present invention. Figure 4 This is a schematic diagram of the welding and online inspection device of the present invention on the frame 1; Figure 5 This is a partial structural schematic diagram of the welding and online inspection device of the present invention; Figure 6 This is a schematic diagram of the adaptive clamping mechanism structure of the system of the present invention; Figure 7 This is a schematic diagram of the actuator structure of the system of the present invention; Figure 8 This is a schematic diagram of the pretreatment device of the system of the present invention on the frame; Figure 9 This is a schematic diagram of the steam generation mechanism of the system of the present invention; Figure 10 This is a schematic diagram of the height compensation device of the system of the present invention on the frame; Figure 11This is a schematic diagram of the height measurement compensation device of the system of the present invention; Figure 12 This is a partial structural schematic diagram of the height compensation device of the system of the present invention. Legend: 1. Frame; 2. Turntable; 3. Indexing drive device; 4. Fixture station; 41. Loading and unloading station; 42. Pre-processing station; 43. Height compensation station; 44. Welding and online inspection station; 45. Laser marking station; 46. Weld slag cleaning station; 5. Position sensor; 6. Welding and online inspection device; 61. Adaptive clamping mechanism; 611. Third driver; 612. Rotating shaft; 613. Telescopic connecting rod; 614. Press joint; 62. Welding actuator; 63. 64. Quality detector; 64. Actuator; 641. Lifting cylinder; 642. Drive plate; 643. Fourth drive; 7. Pretreatment device; 71. Steam generator; 8. Height compensation device; 81. Height detection unit; 82. First drive; 83. Robotic arm; 84. Filling station; 9. Laser marking device; 10. Welding slag cleaning device; 101. Second drive; 102. Dust cover; 103. Cleaning brush; 104. Negative pressure dust suction interface; 11. Fifth drive. Detailed Implementation

[0017] The following description, in conjunction with the accompanying drawings, further illustrates a multi-station fully automated equipment for stacking and welding motor cores according to the present invention.

[0018] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0019] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly; for example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can also mean a mechanical connection, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] See appendix Figure 1 -Appendix Figure 12As shown, a multi-station fully automatic equipment for lap welding of motor cores includes a frame 1. It is characterized by further including: a turntable 2 rotatably mounted on the frame 1; an indexing drive device 3 mounted on the frame 1 for intermittently rotating the turntable 2; several fixture stations 4 arranged circumferentially around the turntable 2 for supporting and positioning the core to be processed; position sensors 5 mounted on the turntable 2 for detecting the status of each fixture station 4; several process execution devices arranged around the turntable 2 and sequentially corresponding to the stopping positions of the fixture stations 4; and a control system electrically connected to the process execution devices, position sensors 5, and indexing drive device 3 for controlling their coordinated operation; the process execution devices include at least one welding and online inspection device 6 for performing lap welding on the core and detecting the welding quality at the same station.

[0021] The frame 1 is the supporting structure of the entire equipment, including a rigid frame welded from square tubes, a base plate mounted on the frame, and a top plate for mounting some process execution devices. The turntable 2 is rotatably mounted on the frame 1 via a central rotating shaft. The indexing drive device 3 is preferably a combination of a servo motor and a high-precision cam divider, mounted on the base plate of the frame 1, with its output shaft connected to the central rotating shaft of the turntable 2, driving the turntable 2 to perform precise intermittent rotation. The rotation angle and dwell time of the turntable 2 can be flexibly adjusted by the control system, thereby ensuring that each fixture station 4 can accurately stop at the position corresponding to each process execution device.

[0022] The fixture stations 4 are evenly arranged around the turntable 2, preferably 6 in this embodiment; each fixture station 4 is equipped with a special fixture (such as a pneumatic chuck or positioning pin) to support and firmly position the motor core to be processed; several iron cores can be directly sleeved on the positioning structure of the fixture station 4; the turntable 2 is equipped with a fixed plate that does not rotate with it for mounting the position sensor 5; the position sensor 5 adopts photoelectric sensor, proximity switch, etc., and is mounted on the fixed plate, corresponding to each fixture station 4; it can detect in real time whether there is an iron core on the corresponding fixture station 4, whether the iron core is clamped in place, whether it has been rotated to a predetermined angle, and other status information, and transmit this information to the control system in real time; if the control system receives an abnormal signal (such as material shortage, misalignment), it can issue an audible and visual alarm in time and stop the equipment operation to avoid the generation of scrap or damage to the equipment.

[0023] The control system is typically a programmable logic controller (PLC) or an industrial computer, and can be housed inside or in an electrical cabinet on the side of the rack 1. This system is electrically connected to the position sensor 5, the indexing drive device 3, and all process execution devices via cables. Based on a preset process program, the control system comprehensively processes the feedback signals from the position sensor 5, precisely coordinating and controlling the start and stop of the indexing drive device 3, the start-up timing of each process execution device, the sequence of actions, and process parameters, thereby directing the entire equipment to operate collaboratively and orderly.

[0024] The intermittent rotation of the fixture station 4 is achieved through the turntable 2 and the indexing drive device 3. Combined with multiple process execution devices such as pretreatment, height compensation, welding and online inspection, laser marking, and welding slag cleaning, which are precisely arranged around the turntable 2, a complete circular production line is formed. After the iron chip is fixed on the fixture station 4, it moves step by step with the turntable 2 and passes through each process execution device in sequence to complete all processes such as surface cleaning, height measurement and compensation, stacking and online quality inspection, product marking, and welding slag cleaning. Finally, the finished product is unloaded at the loading and unloading station. The entire process is fully automatic and continuous, without the need for manual transfer and intervention between different devices, thereby greatly shortening the production cycle of a single product and significantly improving production efficiency and product consistency.

[0025] See appendix Figure 1 -Appendix Figure 2 Appendix Figure 4 -Appendix Figure 7 As shown, the welding and online inspection device 6 includes an adaptive clamping mechanism 61 rotatably mounted on the frame 1 for clamping the iron core from above, a plurality of welding actuators 62 arranged around the adaptive clamping mechanism 61, a quality detector 63 spaced apart from the welding actuators 62 for detecting the welding quality after welding, and an actuator 64 located at the bottom of the frame 1 for lifting and driving the corresponding fixture station 4 to rotate during welding.

[0026] The welding actuator 62 is preferably an arc welding gun, which is suspended on the top plate of the frame 1 by a ring-shaped fixing frame and evenly arranged around the adaptive clamping mechanism 61. In this embodiment, four welding actuators 62 are preferably set, which can simultaneously weld four evenly distributed welds in the circumference of the iron core, thereby improving welding efficiency. The quality detector 63 is a visual sensor or an ultrasonic flaw detector, and its number is the same as that of the welding actuators 62. It is installed on the same ring-shaped fixing frame at intervals with the welding actuators 62.

[0027] During operation, the actuator 64 first moves, lifting the fixture station 4 and the iron chip it carries upwards, so that it fits tightly with the adaptive clamping mechanism 61 above, thereby reliably clamping and fixing the iron core in the processing position. After clamping, the actuator 64 drives the iron chip to reciprocate at a uniform speed along its axial direction. When a vertical welding line on the iron core enters the effective working range of a welding actuator 62 during its movement, the welding actuator 62 is triggered to weld the welding line. Since multiple welding actuators 62 are uniformly fixed circumferentially, as the iron chip moves in one complete up-and-down stroke, the vertical welding lines at different circumferential positions can pass through the corresponding welding guns in sequence, thus being welded one by one.

[0028] After welding, the iron chip rotates at a certain angle with the fixture station 4, aligning the welded seam with the quality detector 63, while simultaneously aligning the unwelded area with the welding actuator 62. Then, the actuator 64 drives the angled station 4 and the iron chip to move up and down again. During this process, the quality detector 63 scans and inspects the welded seam, while the welding actuator 62 simultaneously welds the unwelded area. This cycle repeats, sequentially completing the vertical welding and inspection of the iron chip through a "welding, rotation, inspection / synchronous welding" step-by-step approach.

[0029] If the quality detector 63 detects a defective weld, the control system will record its location. After all the preset welds have been completed, or in the next cycle, the defective weld is realigned with a welding actuator 62 by controlling the rotation, and the iron core is driven to move up and down to perform spot welding at that location until the weld is qualified.

[0030] By arranging the welding actuator 62 and the quality detector 63 at intervals, and by combining the "up and down movement" and "indexing rotation" of the iron core, efficient and sequential welding and online inspection of vertical welds are achieved at the same workstation, shortening the process flow time and forming a closed-loop quality control for inspection and repair.

[0031] See appendix Figure 1 -Appendix Figure 2 As shown, the process execution device also includes a pretreatment device 7 for cleaning or drying the surface of the iron core, a height compensation device 8 for measuring and automatically compensating the height of the iron core, a laser marking device 9 for marking the welded iron core, and a slag cleaning device 10 for cleaning the weld slag.

[0032] The pretreatment device 7 is used to remove oil and other adhering impurities from the surface of the iron chip to eliminate the adverse effects of oil on subsequent welding quality. The height compensation device 8 can automatically and accurately measure the real-time height of the iron chip. If the measured value deviates from the preset standard, the device can automatically add or remove iron chips to ensure that the height of each iron core meets the process accuracy requirements. The laser marking device 9 uses standard laser marking equipment to engrave product model, production date, serial number and other identification information on the surface of the welded iron core to achieve product traceability management. The slag cleaning device 10 is specifically used to remove the slag residue generated during the welding process to prevent the slag from affecting the subsequent assembly accuracy and long-term performance of the iron core.

[0033] Each process execution device is arranged sequentially around the turntable 2 according to the process flow, working in coordination with the welding and online inspection device 6, which serves as the core workstation. Each device corresponds one-to-one with the six fixture workstations 4 evenly distributed around the turntable 2 in terms of spatial position, thereby jointly realizing the automated pre-processing of iron chips, the automated measurement and compensation of stacking height, the automated welding and online inspection of iron chips, and the automated cleaning of welding slag after welding – a fully continuous and efficient process.

[0034] See appendix Figure 1 Appendix Figure 8 -Appendix Figure 9 As shown, the pretreatment device 7 includes a steam generating mechanism 71 that is movably mounted on the frame 1 for injecting high-temperature steam into the iron core, an adaptive clamping mechanism 61 for clamping the iron core during pretreatment, and an execution mechanism 64 for lifting and driving the corresponding fixture station 4 to rotate during treatment.

[0035] The steam generating mechanism 71 includes a steam conveying riser installed on the frame 1, a steam conveying pipe connected to the upper end of the steam conveying riser, and an annular nozzle arranged around the fixture station 4. The annular nozzle has several steam outlets facing the side of the iron chip.

[0036] During operation, high-temperature saturated steam generated by an external steam source or integrated steam generator flows into the annular nozzle through the steam delivery riser and steam delivery pipeline, and is finally sprayed evenly and continuously from each outlet onto the entire outer circumferential surface of the iron core. The high-temperature steam can quickly soften, dissolve, and wash away the oil and impurities adhering to the surface of the iron core and the gaps between the iron cores, resulting in high cleaning efficiency and no chemical residue. The steam generating mechanism 71 is driven by a lifting cylinder and can move smoothly up and down along a vertical guide rail fixed on the steam delivery riser, thereby enabling the annular nozzle to precisely adjust its spray position according to the different heights of the iron cores to be treated, ensuring optimal cleaning coverage and effect.

[0037] During the pretreatment process, the actuator 64, located at the bottom of the frame 1, pushes the angled station 5 upwards, causing the adaptive clamping mechanism 61 and the fixture station 4 to clamp the iron chip, providing a stable process reference. Simultaneously, the actuator 64 drives the fixture station 4 to rotate the iron chip at a uniform speed. Under the combined action of rotation and steam jetting, every surface of the outer circumference of the iron chip and the gaps between the iron chips can be fully and evenly cleaned by high-temperature steam, ensuring the comprehensiveness and consistency of the pretreatment effect and laying a good foundation for subsequent high-quality welding.

[0038] See appendix Figure 1 -Appendix Figure 2 Appendix Figure 10 As shown, the height compensation device 8 includes a height detection unit 81 for measuring the height of the iron core, a first driver 82 for driving the height detection unit 81 to move up and down, a robotic arm 83 for adding or removing iron core chips, and a replenishment station 84 set on the frame 1 that can automatically adjust its height for the robotic arm 83 to grasp and operate.

[0039] The height detection unit 81 employs a high-precision displacement sensor, achieving a measurement accuracy of ±0.01mm, which meets the precise height detection requirements of the iron chip. During operation, the first driver 82 drives the height detection unit 81 to descend slowly and smoothly until its probe makes slight contact with the upper surface of the iron chip, instantly completing the accurate height measurement. The measurement data is transmitted to the control system in real time, which compares it with a preset target height threshold and automatically determines whether to add or remove chips. The addition station 84 typically has two locations: one for stacking standard iron chips to be added, and the other as a collection station to receive excess iron chips removed from the fixture station 4. Each replenishment station 84 integrates an independent fifth actuator 11, which can automatically adjust the height of the material tray or receiving platform according to the current optimal gripping height of the robotic arm 83, thereby significantly improving the success rate and efficiency of gripping and placement. The robotic arm 83 is preferably a multi-degree-of-freedom industrial robot, which can only grip one iron chip at a time. Its execution end is equipped with a vacuum suction cup, which uses negative pressure adsorption to smoothly grip the iron chip, avoiding sheet deformation or surface damage that may be caused by mechanical clamping. All actions of the robotic arm 83, including movement path, gripping and releasing, are precisely planned and controlled by the control system based on the height measurement comparison results. When it is determined that the overall height of the iron chip is insufficient, the control system instructs the robotic arm 83 to move to the replenishment station 84, grip one iron chip, and then accurately place it on top of the iron chip; when it is determined that the height is too high, the robotic arm 83 performs the opposite operation, sucking up the excess iron chip on the top layer and transferring it to the receiving station. The entire height measurement, judgment and compensation process is completed automatically without any manual intervention. During this process, in order to coordinate with the operation of the robot arm 83, the fifth drive 11 at the bottom of the frame 1 will move synchronously to lift the corresponding fixture station 4 to a preset height that is most suitable for the robot arm 83 to perform fine picking and placing operations.

[0040] See appendix Figure 1 -Appendix Figure 2 Appendix Figure 11 -Appendix Figure 12 As shown, the welding slag cleaning device 10 includes a second driver 101 mounted on the frame 1, a dust cover 102 disposed on the output end of the second driver 101, a plurality of cleaning brushes 103 disposed circumferentially inside the dust cover 102, and a negative pressure dust suction port 104 disposed on the dust cover 102 for collecting welding slag.

[0041] The second actuator 101 drives the dust cover 102 to move up and down as a whole. When the cleaning operation begins, the dust cover 102 descends under the drive of the second actuator 101 until its lower edge forms a closed or semi-closed space with the table surface of the fixture station 4 or the bottom iron chip, thereby completely covering the iron chip to be cleaned and effectively preventing welding slag from splashing and polluting the environment during the cleaning process. The cleaning brushes 103 are made of hard steel wire brushes, and their number corresponds to the number of iron cores around the perimeter. In this embodiment, it is preferable to have 8 brushes evenly arranged around the inner wall of the dust cover 102, with each cleaning brush 103 precisely aligned with a vertical weld seam of the iron core. During cleaning, the fifth actuator 11 at the bottom of the frame 1 is activated, driving the corresponding fixture station 4 and the iron core to move up and down reciprocally. Through the up and down movement of the iron core, each weld seam on its surface passes through and rubs against the corresponding fixed cleaning brush 103 in sequence, thereby efficiently scraping away the welding slag attached to the weld seam and its surroundings. The negative pressure suction port 104 is located on the side wall or top of the dust cover 102 and is connected to an external central dust collection system or a stand-alone industrial vacuum cleaner via a pipe. While the cleaning brush 103 is working, the negative pressure suction system is activated, creating a stable directional airflow inside the dust cover 102. This instantly draws the welding slag dust off the brush into the pipe and transports it to the collection device, achieving online, centralized collection and treatment of welding slag and maintaining a clean working environment. To further improve the cleaning effect, the dust cover 102 can also be equipped with an air inlet to introduce a small amount of compressed air to assist in blowing away stubborn welding slag or disturbing the airflow to improve suction efficiency.

[0042] See appendix Figure 4 -Appendix Figure 6 Appendix Figure 8 As shown, the adaptive clamping mechanism 61 includes a third driver 611 mounted on the frame 1, a rotating shaft 612 driven by the third driver 611, a telescopic link 613 axially telescopically mounted within the rotating shaft 612, and a pressure joint 614 connected to the lower end of the telescopic link 613.

[0043] The third drive 611 preferably uses a high-precision servo motor, which is fixed to the top plate of the frame 1 by a rigid mounting bracket, and has precise speed and torque control capabilities. The rotating shaft 612 is designed as a hollow structure with teeth at one end, and is connected to the output shaft of the third drive 611 through a synchronous belt drive system. This transmission method can achieve a precise speed ratio, effectively isolate motor vibration, and provide layout flexibility. The telescopic connecting rod 613 is installed in the hollow cavity of the rotating shaft 612 by a precision spline or guide key, and its effective stroke length is specially designed to be sufficient. The design satisfies the maximum vertical movement range required by the iron core during pretreatment, welding, and online inspection. This design ensures that the telescopic link 613 can achieve synchronous rotation without slippage with the rotating shaft 612, and can also slide freely and smoothly along the axial direction within the cavity, thereby allowing the workpiece to perform necessary axial process movements while being pressed. The pressure joint 614 is fixed to the lower end of the telescopic link 613 by a threaded locking or quick-change interface. Its bottom is machined with a contact surface that precisely matches the shape of the top of the iron core, such as a plane or a structure with a positioning boss, to provide stable and reliable pressing and ensure the effective transmission of rotational driving force.

[0044] When the actuator 64 drives the fixture station 4 to rise, the top of the iron core actively presses against the pressure connector 614. At this time, the upward reaction force on the pressure connector 614 is transmitted to the telescopic link 613, causing the telescopic link 613 to overcome the resistance of the built-in buffer element (such as a disc spring or nitrogen spring) and smoothly retract upward relative to the rotating shaft 612. This floating design can effectively absorb and buffer the speed difference and rigid impact during the lifting process, avoiding damage to the iron core or the clamping mechanism itself. When the system detects or determines that the clamping force has reached the preset process value, the lifting action stops, and the mechanism reaches dynamic balance under the combined action of the buffer element and the driving force, thereby achieving stable, smooth and reliable clamping of the iron core. At the same time, the third drive 611 drives the rotating shaft 612, the telescopic link 613 and the pressure connector 614 to rotate precisely as a whole through the synchronous belt according to the control command, thereby driving the clamped iron core to achieve synchronous and controllable rotation, so as to meet the requirements of pre-treatment cleaning, multi-angle welding and other processes for circumferential processing of the workpiece. The clamping force can be adjusted and maintained in several ways: first, by precisely adjusting the input air pressure of the lifting cylinder 641 through the control system; second, by directly setting the torque control mode of the servo motor; the entire process can be monitored in real time and feedback is provided by the integrated pressure sensor to ensure that the clamping force is always within the safe and effective range required by the process.

[0045] See appendix Figure 4 Appendix Figure 7 -Appendix Figure 8As shown, the actuator 64 includes a lifting cylinder 641 installed at the bottom of the frame 1, a drive plate 642 connected to the output shaft of the lifting cylinder 641, and a fourth driver 643 installed on the drive plate 642 for driving the rotation of the fixture station 4.

[0046] The lifting cylinder 641 serves as the main power source, precisely driving the drive plate 642 to rise and fall smoothly in the vertical direction. When a rotation operation is required, the lifting cylinder 641 extends, pushing the drive plate 642 and the fourth driver 643 fixed on it to rise as a whole, so that the transmission structure at the output end of the fourth driver 643 reliably connects and engages with the driven connecting shaft at the bottom of the fixture station 4; when the rotation operation is completed, the lifting cylinder 641 retracts, driving the fourth driver 643 to safely disengage from the fixture station 4. The fourth driver 643 preferably adopts a high-precision servo motor, and its output shaft is equipped with a flexible coupling or floating joint. This design can transmit precise rotational torque and compensate for small axial and radial alignment deviations, ensuring smooth and precise cooperation with the connecting shaft at the bottom of the fixture station 4, thereby achieving high-precision, programmable rotational indexing of the iron core under the clamped state. To ensure the rigidity and stability of the entire lifting and docking process, the drive plate 642 is typically equipped with linear bearings or sliders, which cooperate with precision slide rails vertically fixed on the frame 1 to form a sliding pair. This guiding mechanism effectively constrains the movement trajectory of the drive plate 642, preventing it from shifting or swaying during lifting and lowering, and fundamentally avoiding transmission failure, mechanism wear, or equipment damage caused by docking deviation.

[0047] See appendix Figure 1 -Appendix Figure 3 As shown, the fixture station 4 includes a loading / unloading station 41, a pre-processing station 42, a height compensation station 43, a welding and online inspection station 44, a laser marking station 45, and a welding slag cleaning station 46, arranged sequentially along the rotation direction of the turntable 2. The loading / unloading station 41 is used for loading and unloading the iron core. Two cooperating robotic arms 83 can be configured at this position to perform loading and unloading operations respectively, or the iron core can be clamped and the finished product can be picked up and placed manually. Each station is arranged strictly according to the above process flow sequence. The indexing drive device 3 is driven by the control system to drive the turntable 2 to rotate precisely intermittently, thereby quickly and accurately switching the fixture station 4 and the iron core to the next corresponding process position, realizing fully automated continuous processing.

[0048] See appendix Figure 10-12 As shown, the bottom of the frame 1 is also equipped with a fifth driver 11 for lifting the corresponding fixture station 4 during the processing, corresponding to the filling station 84, the welding slag cleaning device 10 and the height compensation device 8.

[0049] The first driver 82, the second driver 101, and the fifth driver 11 can be any one of a pneumatic cylinder, a hydraulic cylinder, or an electric actuator. In this embodiment, a pneumatic cylinder is preferred.

[0050] When the present invention is in operation, its entire process is uniformly scheduled and coordinated by the control system according to the preset program, realizing the fully automatic and continuous stacking welding process of the motor core from blank to finished product.

[0051] After the equipment is started, the control system first performs a self-check to confirm that all process execution devices, sensors, and drive devices are in a ready state. The operator or loading robot accurately clamps the iron chip blank to be welded onto the corresponding fixture station 4 at the loading / unloading station 41; the position sensor 5 monitors the clamping status in real time, and sends a "ready" signal to the control system after confirming that it is in place.

[0052] After receiving the loading completion signal, the control system instructs the indexing drive device 3 to operate, driving the turntable 2 to rotate precisely by one station angle. The turntable 2 drives the six circumferentially distributed clamping stations 4 to rotate synchronously, allowing the clamped iron core to flow from the loading / unloading station 41 to the pre-processing station 42. At the same time, the vacated clamping stations 4 are rotated back to the loading / unloading position to prepare for receiving the next workpiece. This indexing rotation process is fast and smooth, with precise stops at each station.

[0053] After the iron chip stops at the pre-processing station 42, the pre-processing device 7 at this station is activated. The actuator 64 operates, and the output shaft of its lifting cylinder 641 pushes the drive plate 642 and the fourth driver 643 mounted on the drive plate 642 to rise, and pushes the fixture station 4 and the iron chip to rise synchronously, so that the top of the iron chip abuts against the pressure joint 614 of the adaptive clamping mechanism 61. At the same time, the telescopic connecting rod 613 of the adaptive clamping mechanism 61 floats upward within the rotating shaft 612 under the thrust of the lifting cylinder 641 to buffer the rigid impact and achieve adaptive clamping. After clamping is completed, the fourth driver 4 operates, driving the fixture station 4 to rotate the iron chip at a uniform speed. At the same time, the steam generating mechanism 71 descends to a preset height, and its annular nozzle evenly sprays high-temperature saturated steam onto the outer surface of the rotating iron chip, quickly softening, dissolving and washing away the oil and impurities on the surface of the iron chip and in the gaps between the stacks. After cleaning is completed, all mechanisms reset. After this process is completed, the control system instructs the turntable 2 to rotate to the next station.

[0054] The iron chip flows to the height compensation station 43, where the height compensation device 8 begins operation. The fifth driver 11 at the bottom of the frame 1 actuates, lifting the fixture station 4 to a suitable operating height. Then, the first driver 82 drives the height detection unit 81 to descend, lightly touching the upper surface of the top iron chip to complete the height measurement. The measurement data is transmitted to the control system in real time and compared with the preset value. If the height is insufficient, the robotic arm 83 picks up an iron chip from the feeding tray at the replenishment station 84 and precisely adds it to the top of the iron core. If the height is too high, the excess chip on the top layer is removed to the receiving tray. The entire process is fully automatic and fast, ensuring that the iron core height is accurately calibrated. After completion, the fifth driver 11 descends and resets, and the turntable 2 rotates.

[0055] After the iron core enters the welding and online inspection station 44, the welding and online inspection device 6 operates according to a precise program. The lifting cylinder 641 of the bottom actuator 64 is activated, driving the drive plate 642 and the fourth actuator 643 to rise and align with the bottom of the fixture station 4, and then rise to abut against the pressure joint 614 of the adaptive clamping mechanism 61, jointly clamping the iron core. Subsequently, the actuator 64 drives the iron core to reciprocate up and down. During the movement, the circumferentially fixed welding actuator 62 welds the vertical weld seams passing below it. After completing a set of weld seams, the fourth actuator 643 drives the iron core to rotate by a division angle, so that the welded seams are aligned with the quality detector 63, while the unwelded seams are aligned with the welding gun. The iron core moves up and down, while the welding gun welds new seams, and the detector simultaneously scans and inspects the welded seams. If the detector finds a weld seam to be unqualified, the control system records its position. In subsequent cycles, the iron core can be controlled to rotate to a specific angle, driving the welding gun to perform targeted repair welding at the defective position until all weld seams are qualified. This process integrates welding, inspection, and repair, achieving high-quality closed-loop production.

[0056] During the welding process, the lifting cylinder 641 pushes the clamping station 4 to move up and down reciprocally, and the pressure joint 614 and the telescopic connecting rod 614 float up and down in the rotating shaft 612, ensuring the iron chip is pressed tightly while coordinating the welding and inspection work.

[0057] The welded iron core is transferred to the laser marking station 45; the laser marking device 9 receives instructions from the control system and quickly engraves traceability information such as product model, serial number, and production date on the designated surface of the iron core. After completion, the turntable 2 is transferred.

[0058] After the iron core enters the slag cleaning station 46, the slag cleaning device 10 is activated. The second drive 101 drives the dust cover 102 to descend and cover the iron core, while the fifth drive 11 at the bottom of the frame 1 lifts the fixture station 4 again. Subsequently, the fifth drive 11 drives the iron core to move up and down reciprocatingly, causing the weld seam on its surface to rub against the steel wire cleaning brush 103 fixed inside the dust cover 102, thoroughly scraping off the slag. At the same time, the dust collection system connected to the negative pressure dust suction interface 104 is activated, instantly sucking in the scraped slag for processing; after cleaning is completed, all mechanisms reset.

[0059] The finished iron core, having completed all processes, is transferred back to the loading / unloading station 41 via turntable 2. The unloading robot or operator unloads the finished product and simultaneously clamps the new blank onto the vacated fixture station 4. Thus, a complete processing cycle ends, and the control system immediately instructs turntable 2 to perform the next indexing rotation, starting a new cycle.

[0060] Position sensor 5 monitors the status of each workstation throughout the process, and the control system processes all sensor data and equipment feedback in real time. Once any abnormality is detected, the system will immediately alarm and stop the machine to prevent the generation of waste products and equipment damage. The entire process does not require manual intervention. The cycle time of each process is optimized and matched to achieve efficient, stable and high-quality continuous automated production, which greatly improves the manufacturing efficiency and product consistency of motor core lamination welding.

[0061] The scope of protection of this invention is not limited to the above embodiments and their variations. Conventional modifications and substitutions made by those skilled in the art based on the content of these embodiments are all within the scope of protection of this invention.

Claims

1. A multi-station fully automatic equipment for lap welding of motor cores, comprising a frame (1), characterized in that: It also includes a turntable (2) rotatably mounted on the frame (1), an indexing drive device (3) mounted on the frame (1) for intermittently rotating the turntable (2), several fixture stations (4) arranged around the turntable (2) for carrying and positioning the iron core to be processed, a position sensor (5) mounted on the turntable (2) for detecting the status of each fixture station (4), several process execution devices arranged around the turntable (2) and corresponding to the stopping positions of the fixture stations (4) in sequence, and a control system electrically connected to the process execution devices, position sensor (5) and indexing drive device (3) for controlling their coordinated operation; the process execution devices include at least one welding and online inspection device (6) for performing lap welding on the iron core and detecting the welding quality at the same station.

2. The multi-station fully automatic equipment for stacking and welding motor cores according to claim 1, characterized in that: The welding and online inspection device (6) includes an adaptive clamping mechanism (61) rotatably mounted on the frame (1) for clamping the iron core from above, a plurality of welding actuators (62) arranged around the adaptive clamping mechanism (61), a quality detector (63) spaced apart from the welding actuators (62) for detecting the welding quality after welding, and an actuator (64) located at the bottom of the frame (1) for lifting and driving the corresponding fixture station (4) to rotate during welding.

3. The multi-station fully automatic equipment for stacking and welding motor cores according to claim 2, characterized in that: The process execution device also includes a pretreatment device (7) for cleaning or drying the surface of the iron core, a height compensation device (8) for measuring and automatically compensating the height of the iron core, a laser marking device (9) for marking the welded iron core, and a slag cleaning device (10) for cleaning the weld slag.

4. A multi-station fully automatic equipment for stacking and welding motor cores according to claim 3, characterized in that: The pretreatment device (7) includes a steam generating mechanism (71) that is movably mounted on the frame (1) for injecting high-temperature steam into the iron core, an adaptive clamping mechanism (61) for clamping the iron core during pretreatment, and an actuator (64) for lifting and driving the corresponding fixture station (4) to rotate during treatment.

5. A multi-station fully automatic equipment for stacking and welding motor cores according to claim 3, characterized in that: The height compensation device (8) includes a height detection unit (81) for measuring the height of the iron core, a first driver (82) for driving the height detection unit (81) to move up and down, a robot (83) for adding or removing iron chips, and a replenishment station (84) set on the frame (1) that can automatically adjust its height and is suitable for the robot (83) to grasp.

6. A multi-station fully automatic equipment for stacking and welding motor cores according to claim 3, characterized in that: The welding slag cleaning device (10) includes a second driver (101) mounted on a frame (1), a dust cover (102) set on the output end of the second driver (101), a number of cleaning brushes (103) arranged circumferentially inside the dust cover (102), and a negative pressure dust suction port (104) set on the dust cover (102) for collecting welding slag.

7. A multi-station fully automated equipment for stacking and welding motor cores according to claim 2 or 4, characterized in that: The adaptive clamping mechanism (61) includes a third driver (611) mounted on the frame (1), a rotating shaft (612) driven by the third driver (611), a telescopic link (613) axially telescopically mounted in the rotating shaft (612), and a pressure joint (614) connected to the lower end of the telescopic link (613).

8. A multi-station fully automated equipment for stacking and welding motor cores according to claim 2 or 4, characterized in that: The actuator (64) includes a lifting cylinder (641) mounted at the bottom of the frame (1), a drive plate (642) connected to the output shaft of the lifting cylinder (641), and a fourth driver (643) mounted on the drive plate (642) for driving the rotation of the fixture station (4).

9. A multi-station fully automatic equipment for lap welding of motor cores according to claim 3, characterized in that: The fixture station (4) includes a loading and unloading station (41), a pretreatment station (42), a height compensation station (43), a welding and online inspection station (44), a laser marking station (45), and a welding slag cleaning station (46) arranged sequentially along the rotation direction of the turntable (2).

10. A multi-station fully automatic equipment for stacking and welding motor cores according to claim 5 or 6, characterized in that: The bottom of the frame (1) is also equipped with a fifth driver (11) for lifting the corresponding fixture station (4) during the processing, corresponding to the filling station (84), the welding slag cleaning device (10) and the height compensation device (8).

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