A ship plate reforming machine

Abstract

This application provides a ship plate changing machine. The ship plate changing machine includes a double-speed chain, a conveying assembly, a first belt assembly, and a second belt assembly. The double-speed chain is used to convey a jig tray carrying a stator jig along a first direction, and a material-picking position is provided on the double-speed chain. The first belt assembly and the second belt assembly are arranged side-by-side within the working range of the conveying assembly. The conveying assembly is configured to: when the jig tray moves to the material-picking position, grab and transfer the stator jig from the jig tray to the first belt assembly; and grab another stator jig from the second belt assembly and transfer it to the jig tray located at the material-picking position, thereby completing the jig changing. This ship plate changing machine can automate the changing process, thus solving the problems caused by manual changing in the prior art.

Description

Technical Field

[0001] This application relates to the field of industrial production technology, and in particular to a ship plate changing machine. Background Technology

[0002] In the motor manufacturing industry, the stator, as a core component, is typically produced using assembly line operations. To adapt to the demands of multi-variety, small-batch production, the production line often needs to frequently change the tooling fixtures (called stator fixtures) that carry different stator models; this process is called "changeover." Traditional changeover methods mainly rely on manual operation, where operators manually remove the pallet carrying the old stator fixture from the conveyor line and then move the pallet carrying the new stator fixture onto the line and position it. This method depends on the individual operating experience of the changeover operators and is prone to human errors such as incorrect or reversed installation, severely restricting the flexibility and intelligence of the production line.

[0003] Therefore, there is an urgent need to provide an automated changeover solution to address the problems caused by the current reliance on manual operation for changeover. Summary of the Invention

[0004] The purpose of this application is to provide a ship plate changing machine to solve the problems caused by manual changing in the prior art.

[0005] To address the aforementioned technical problems, this application provides a ship plate changing machine, comprising a double-speed chain, a conveying assembly, a first belt assembly, and a second belt assembly, wherein:

[0006] The double-speed chain is used to convey a jig tray carrying a stator jig along a first direction, wherein the double-speed chain is provided with a material pick-up position;

[0007] The first belt assembly and the second belt assembly are arranged side by side within the working range of the conveying assembly;

[0008] The transport component is configured as follows:

[0009] When the fixture tray moves to the picking position, the stator fixture on the fixture tray is grasped and transferred to the first belt assembly; and...

[0010] Another stator fixture is picked up from the second belt assembly and transferred to the fixture tray located at the pick-up position to complete the fixture changeover.

[0011] Preferably, the fixture tray is provided with a fixture locking mechanism, wherein the fixture locking mechanism is used to lock and unlock the stator fixture located on the fixture tray.

[0012] Preferably, the fixture locking mechanism includes a lifting drive unit, a locking tongue, and a linkage mechanism;

[0013] The lifting drive unit is configured to drive the locking tongue to perform a lifting movement in a direction perpendicular to the bearing surface of the fixture tray;

[0014] The linkage mechanism is configured to convert the lifting motion of the locking tongue into a rotational motion to lock or unlock the stator fixture placed on the fixture tray.

[0015] Preferably, the speed-increasing chain is further provided with a buffer position, which is used to temporarily store the fixture tray carrying the stator fixture.

[0016] Preferably, the material picking position is provided with a through-beam detection device for detecting whether the jig tray has reached the material picking position, and for detecting whether the stator jig placed on the jig tray is a preset model.

[0017] Preferably, the ends of the first belt assembly and the second belt assembly are respectively provided with fixture positioning forks, wherein the fixture positioning forks are used to position the stator fixtures on the corresponding belt assemblies.

[0018] Preferably, the ship plate forming machine further includes a sliding connection structure, wherein the sliding connection structure includes a fixed part disposed at the end of the corresponding belt assembly, and a movable part movable relative to the fixed part along a second direction; and,

[0019] The fixture positioning fork is disposed on the moving part;

[0020] The second direction is perpendicular to the first direction.

[0021] Preferably, the first belt assembly and the second belt assembly are provided with position sensors, which are used to detect the position of the stator fixture on the corresponding belt assembly.

[0022] Preferably, the ship plate changing machine further includes a mistake prevention detection module, which is configured to perform image acquisition and recognition on the stator fixture on the fixture tray through visual recognition to determine whether the stator fixture is in the correct placement orientation.

[0023] Preferably, the conveying assembly includes:

[0024] The longitudinal guide rail extends in a direction parallel to the arrangement direction of the first belt assembly and the second belt assembly;

[0025] A longitudinal motion mechanism, mounted on the longitudinal guide rail and capable of moving along the longitudinal guide rail; and,

[0026] A gripper mechanism is mounted on the longitudinal motion mechanism and configured to move vertically relative to the longitudinal motion mechanism.

[0027] The ship plate changing machine provided in this application includes a double-speed chain, a conveying assembly, a first belt assembly, and a second belt assembly. The double-speed chain is used to convey a jig tray carrying a stator jig along a first direction, and a material-taking position is provided on the double-speed chain. The first belt assembly and the second belt assembly are arranged side-by-side within the working range of the conveying assembly. The conveying assembly is configured to: when the jig tray moves to the material-taking position, grab and transfer the stator jig from the jig tray to the first belt assembly; and grab another stator jig from the second belt assembly and transfer it to the jig tray located at the material-taking position to complete the jig changing. When the ship plate changing machine is used for automated changing, the double-speed chain is equipped with a material picking position with precise positioning function, which provides a highly repeatable gripping reference for the conveying components. This solves the problem of incorrect fixture installation caused by inaccurate positioning during manual changing. Furthermore, since the first belt assembly and the second belt assembly are set side by side within the working range of the conveying components and their functions are clearly separated, the unloading path of the old fixture and the supply path of the new fixture are completely isolated in physical space. This avoids material confusion caused by path intersection, improves the reliability of changing, and thus solves the problems caused by the current manual operation of changing. Attached Figure Description

[0028] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a top view of the ship plate forming machine provided in the embodiments of this application;

[0030] 3D structural diagram;

[0031] Figure 2 This is a three-dimensional structural schematic diagram of the ship plate forming machine provided in the embodiments of this application;

[0032] Figure 3 This is a side view of the ship plate changing machine provided in the embodiments of this application.

[0033] In the above view: 1-double speed chain; 11-fixture tray; 12-material picking position; 13-buffer position; 111-fixture locking mechanism; 121-through-shooting detection device; 2-transfer assembly; 21-longitudinal guide rail; 22-longitudinal motion mechanism; 23-gripper mechanism; 3-first belt assembly; 4-second belt assembly; 5-fixture positioning fork; 6-sliding connection structure; 61-fixed part; 62-moving part; 7-position sensor. Detailed Implementation

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0035] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0037] As mentioned earlier, in motor stator assembly lines, different stator models require corresponding stator fixtures for positioning and clamping. Therefore, production lines typically need to frequently change the stator fixtures that support different stator models, a process known as stator changeover. Traditional changeover methods rely heavily on manual operation, which depends on the operator's experience and is prone to human errors such as incorrect or reversed assembly, severely hindering the flexibility and intelligence of the production line. Therefore, an automated changeover solution is urgently needed to address the problems caused by current manual operation.

[0038] In view of this, this application proposes a ship plate changing machine. The technical concept is to construct a production line capable of automatically changing stator fixtures. It achieves high-speed positioning and conveying of pallets through a double-speed chain. The first and second belt assemblies arranged side by side are responsible for the unloading of old fixtures and the loading of new fixtures, respectively. Then, relying on the handling components, it completes a four-step coordinated action of picking up and placing at the picking position. Thus, the old fixture is removed and the new fixture is inserted simultaneously within a single pallet dwell cycle, eliminating the waiting time for changing fixtures and ensuring uninterrupted operation of the production line. The specific implementation method of the ship plate changing machine will be described later.

[0039] like Figures 1-3 The diagram shows the structure of the ship plate changing machine and its related components (hereinafter referred to as the test system). The ship plate changing machine includes a double-speed chain 1, a conveying assembly 2, a first belt assembly 3, and a second belt assembly 4. The double-speed chain 1 is used to convey a jig tray 11 carrying a stator jig along a first direction. The double-speed chain 1 is provided with a material pick-up position 12. The first belt assembly 3 and the second belt assembly 4 are arranged side by side within the working range of the conveying assembly 2. The conveying assembly 2 is configured to: when the jig tray 11 moves to the material pick-up position 12, grab and transfer the stator jig on the jig tray 11 to the first belt assembly 3; and grab another stator jig from the second belt assembly 4 and transfer it to the jig tray located at the material pick-up position 12 to complete the jig changing.

[0040] The terms "first belt assembly 3" and "second belt assembly 4" are used only to distinguish between the two belt assemblies. In this application, either of the two belt assemblies can be referred to as the first belt assembly 3, and the other belt assembly can be referred to as the second belt assembly 4.

[0041] In this application, the stator fixture on the fixture tray 11 of the double-speed chain 1 is transferred to the first belt assembly 3, and then another stator fixture is picked up from the second belt assembly 4 and transferred to the fixture tray 11, so that the other stator fixture continues to be conveyed by the double-speed chain 1. In practical terms, the stator fixture can be an old stator fixture that needs to be replaced (obviously, the old stator fixture is conveyed on the first belt assembly 3, and its end can be connected to the fixture recycling station or detection unit). At this time, the other stator fixture is the new stator fixture used to replace the old stator fixture, and the new stator fixture is conveyed on the second belt assembly 4, and its beginning can be connected to the fixture feeding station.

[0042] Of course, depending on the needs, the stator fixture can also be a new stator fixture used to replace the old stator fixture. Correspondingly, the new stator fixture is transported on the first belt assembly 3, and its starting end can be connected to the fixture feeding station. In this case, the other stator fixture is the old stator fixture that needs to be replaced. Correspondingly, the old stator fixture is transported on the second belt assembly 4, and its ending end can be connected to the fixture recycling station or the detection unit. The old stator fixture and the new stator fixture can be stator fixtures of the same or different models.

[0043] For example, in one embodiment, the stator fixture is a new stator fixture and the other stator fixture is an old stator fixture. In this case, the new stator fixture can be placed on the fixture tray 11 on the double-speed chain 1. The fixture tray 11 moves with the double-speed chain 1 to the pick-up position 12. In this way, the conveying component 2 can grab the new stator fixture and transfer it to the first belt assembly 3, and grab the old stator fixture from the second belt assembly 4 and transfer the old stator fixture to the fixture tray located at the pick-up position 12, thereby completing the fixture changeover.

[0044] The first direction and the subsequent second direction can also be described here, wherein the second direction is perpendicular to the first direction. For example, as shown in the attached figure, the first direction can be the X direction, the second direction can be the Y direction which is perpendicular to the X direction, and the subsequent vertical direction can be the Z direction, which is perpendicular to the first and second directions.

[0045] The double-speed chain 1 can be a differential transmission chain conveyor mechanism. Its link spacing, cycle speed, and tensioning method can be set according to the overall cycle of the production line. Its cycle range and chain speed are adjustable to adapt to different fixture tray sizes. The double-speed chain 1 can move along a first direction, thereby conveying the fixture tray 11 carrying the stator fixture. In practical applications, the double-speed chain 1 can be equipped with a position feedback device (such as an encoder or photoelectric switch) to track the position of the fixture tray 11 in real time.

[0046] The double-speed chain 1 is equipped with a material-picking position 12, which is a station area on the double-speed chain 1 with a position locking function. When the jig pallet 11 enters this area, the double-speed chain 1 partially brakes or switches to a low-speed precision positioning mode to ensure that the pallet is stationary within a certain relative accuracy, providing a stable gripping reference for the transport component 2. The material-picking position 12 is positioned as the trigger origin of the whole machine's action. It forms a spatial mapping relationship with the starting end of the longitudinal guide rail 21 of the transport component 2, so that the transport component 2 can directly perform the gripping action without additional positioning. Through the above cooperation, the double-speed chain 1 not only undertakes the conveying function, but also participates in the closed loop of the changeover action as a high-precision positioning platform, thereby supporting the stability of the whole machine's cycle time and the reliability of its actions.

[0047] In the ship plate changing machine provided in this application, a buffer position 13 may also be provided on the double speed chain 1. The buffer position 13 is used to temporarily store the fixture tray 11 carrying the stator fixture.

[0048] In practical applications, the buffer position 13 can refer to an independent and controllable section set on the conveying line of the double-speed chain 1. Its position is located upstream of the pick-up position 12 and maintains a certain physical distance from the pick-up position 12. The buffer position 13 can have independent start and stop control capabilities, which can make the jig pallet 11 entering it stop conveying and maintain a stable posture, and continue to move along the original path after the scheduling command is triggered.

[0049] In practical applications, the buffer position 13 functions as a temporary residing node on the speed-multiplying chain 1, used to adjust the spatiotemporal distribution rhythm of the jig tray 11 to adapt to the operating cycle of the handling component 2, the jig supply status of the first belt assembly 3 and the second belt assembly 4, and the readiness status of subsequent workstations. The buffer position 13 and the picking position 12 coordinate through the segmented drive logic of the speed-multiplying chain 1. They can share or not share the same drive unit, thereby ensuring that the buffering action and the picking action do not interfere with each other.

[0050] The buffer position 13 can be a link area on the double-speed chain 1 equipped with an independent motor and braking mechanism. Its link structure is consistent with the rest of the double-speed chain 1, and its surface is provided with positioning grooves or guide ribs that match the bottom of the fixture tray 11 to prevent the tray from shifting or tipping over during pauses. Alternatively, it can be a pneumatic lifting bracket added to the double-speed chain 1. When the fixture tray 11 moves to the corresponding position, the bracket rises to support it and detach it from the chain, achieving frictionless static temporary storage. It can also be an embedded electromagnetic adsorption platform, which uses magnetic attraction to adsorb and fix the metal parts at the bottom of the fixture tray 11 by applying electricity. All three implementations can ensure that the fixture tray 11 maintains a horizontal posture and spatial positioning accuracy within the buffer position 13. Moreover, all three can be set on either the straight section or the gently curved section of the double-speed chain 1 according to the actual production line layout, cycle time requirements, and the size of the fixture tray 11. This application embodiment does not impose any special limitations on this.

[0051] The main conveying logic of buffer position 13 and double-speed chain 1 can be uniformly coordinated through a PLC controller. For example, when the system detects that the conveying component 2 has not completed the preceding changeover action, or the target stator fixture on the second belt assembly 4 has not yet arrived, or the next process feedback is not ready, the controller can send a dwell command to buffer position 13, causing the current fixture tray 11 to enter buffer position 13 and remain stationary. After the relevant conditions are met, the controller releases the buffer lock and restores the conveying function of that section. This buffering mechanism does not change the overall conveying direction and basic speed setting of double-speed chain 1, but only introduces a programmable time delay locally. Therefore, it does not affect the continuity of the main line, nor does it require a large-scale reconstruction of the original double-speed chain 1 structure.

[0052] For example, during the continuous conveying of multiple fixture trays 11 carrying stator fixtures by the double-speed chain 1, if a fixture tray 11 is about to reach the pick-up position 12, but the transport component 2 is in the gripper return phase of the previous changeover cycle, or the second belt assembly 4 has not yet transported the stator fixture to be replaced to the designated handover position, the control system determines that a buffer strategy needs to be activated. This triggers the dwell action of the buffer position 13, for example, by activating the independent brake of the buffer position 13 or raising the lateral support, thus stopping the fixture tray 11 within the buffer position 13. After the transport component 2 completes its preparation, the control system releases the buffer position 13, and the fixture tray 11 continues to move to the pick-up position 12, entering the normal changeover process. This process achieves flexible buffering of the fixture tray 11 in the time dimension, avoiding forced shutdown of the entire double-speed chain 1 due to single-point cycle mismatch.

[0053] It should be further explained that the fixture tray 11 is provided with a fixture locking mechanism 111. The fixture locking mechanism 111 is used to lock and unlock the stator fixture located on the fixture tray 11. For example, during the process of the double speed chain 1 conveying the fixture tray 11, the fixture locking mechanism 111 can be used to lock the stator fixture located on the fixture tray 11. When the transport component 2 is transporting, the stator fixture can be unlocked, thereby facilitating the transport of the transport component 2.

[0054] In practical applications, the fixture locking mechanism 111 can refer to a mechanical movable locking structure set below the bearing surface or in the inner cavity of the side wall of the fixture tray 11. Its function is to provide radial or axial constraint force after the stator fixture is in place, so as to prevent it from being displaced or overturned during the conveying process of the double speed chain 1 due to vibration, acceleration and deceleration or gripping disturbance of the conveying component 2. The fixture locking mechanism 111 and the fixture tray 11 form an integrated support-locking unit, which forms a timing coordination relationship with the gripping action of the conveying component 2. That is, it is locked before the fixture tray 11 reaches the picking position 12 and unlocked before the conveying component 2 performs the gripping action, thereby ensuring gripping stability and changeover reliability.

[0055] In another optional embodiment of this application, the fixture locking mechanism 111 may include a lifting drive, a locking tongue, and a linkage mechanism. The lifting drive is configured to drive the locking tongue to perform a lifting movement in a direction perpendicular to the bearing surface of the fixture tray 11. The linkage mechanism is configured to convert the lifting movement of the locking tongue into a rotational movement to lock or unlock the stator fixture placed on the fixture tray 11.

[0056] The lifting drive unit can be a linear actuator consisting of a pneumatic drive unit, an electric push rod, or a servo motor and a lead screw pair. It is mounted on the bottom plate or lateral support structure of the fixture tray 11, and its output end is connected to the locking tongue. The lifting drive unit is used to provide a controllable linear driving force in the vertical direction (i.e., perpendicular to the bearing surface of the fixture tray 11). Its stroke range can be set according to the depth of the locking engagement structure at the bottom of the stator fixture. In this application, the lifting drive unit and the locking tongue form an initial action input link. Its movement direction is orthogonal to the bearing surface of the fixture tray 11, which is beneficial for arrangement in a limited thickness space and synchronous response with the transport cycle.

[0057] The locking tongue can be a rigid rod-shaped component with an L-shaped, T-shaped, or hook-shaped cross-section. One end of the locking tongue is fixedly connected to the output shaft of the lifting drive unit, and the other end is provided with a protrusion or rotating hook that matches the locking hole or slot at the bottom of the stator fixture. The locking tongue is used to move vertically under the action of the lifting drive unit, and converts the displacement into a rotational swing at the end through the linkage mechanism. Its functional position in the overall locking mechanism is as an intermediary component for bearing and transmitting force. It receives the linear driving force from the lifting drive unit and decouples the force into a rotational constraint force through the linkage mechanism, thereby realizing the spatial limitation of the stator fixture.

[0058] The linkage mechanism can be composed of a linkage assembly, a cam-follower combination, or a gear rack-swing arm composite mechanism; for example, the linkage mechanism includes a first link, a second link, and a rotating pin, wherein one end of the first link is hinged to the middle of the latch, and the other end is hinged to one end of the second link, and the other end of the second link is hinged to the fixture tray 11 body through the rotating pin. The vertical lifting and lowering of the latch causes the first link to swing, thereby driving the second link to rotate around the rotating pin, ultimately causing the end of the latch to rotate; it can also include a cam body and a roller follower, the cam body being fixed to the side of the latch, and the roller follower being embedded in the guide groove of the fixture tray 11 and The locking tongue rolls along the cam profile as it rises and falls, thereby pushing the locking tongue to deflect around its own axis; or it includes a rack, a sector gear, and a swing arm, with the rack fixed to the back of the locking tongue, the sector gear meshing with the rack, and the swing arm fixed to the sector gear shaft. When the locking tongue rises and falls, it drives the sector gear to rotate, causing the swing arm and the end of the locking tongue to rotate synchronously. All three forms can achieve a reliable conversion from linear motion to rotational motion, and have a compact structure, stable transmission ratio, and no risk of self-locking on the return stroke. The embodiments of this application do not limit the specific configuration of the linkage mechanism, but only require that it can mechanically decouple and reconstruct the vertical displacement of the locking tongue into a controllable rotational motion of the end of the locking tongue.

[0059] In this way, when the lifting drive unit starts and pushes the locking tongue upward, the locking tongue rises vertically. The linkage mechanism simultaneously converts this upward displacement into a clockwise rotation of the locking tongue end around its fulcrum, so that the hook structure at the end of the locking tongue inserts into the locking groove at the bottom of the stator fixture, thus completing the locking. When the lifting drive unit moves in the opposite direction and retracts the locking tongue downward, the linkage mechanism converts the downward displacement into a counterclockwise rotation of the locking tongue end, so that the hook structure exits the locking groove, thus unlocking. The whole process does not rely on external manual intervention, the action path is closed and the logic is determined, and all movements are constrained within the fixture tray 11 body or arranged along its edge, without occupying additional horizontal installation space of the equipment.

[0060] In one embodiment of this application, a through-beam detection device 121 is provided at the material picking position 12. The through-beam detection device 121 can be used to detect whether the jig tray 11 has reached the material picking position 12, and to detect whether the stator jig placed on the jig tray 11 is a preset model.

[0061] The through-beam detection device 121 can be a photoelectric sensor assembly consisting of a transmitter and a receiver arranged opposite each other. The transmitter emits an infrared or visible light beam, and the receiver receives the beam. When the jig tray 11 moves to the picking position 12, its edge or a special baffle on the tray blocks the light path, causing a change in the signal state of the receiver, thereby outputting a trigger signal to indicate that the jig tray is in place. In this application, the through-beam detection device 121 performs a position confirmation function. Its installation position strictly corresponds to the running trajectory of the double-speed chain 1 and the spatial coordinates of the picking position 12, ensuring that the detection response is synchronized with the action sequence of the conveying component 2. The through-beam detection device 121 is electrically connected to the control system of the conveying component 2, and its output signal serves as one of the prerequisites for starting the conveying action, used to avoid misalignment or collision of the grippers due to inaccurate positioning of the tray.

[0062] The through-beam detection device 121 can also be configured to have stator fixture model recognition capability. For example, the recognition method could involve setting differentiated baffle structures on the fixture tray 11 corresponding to different stator fixture models. For instance, the first model corresponds to a single baffle, the second model to a double-spaced baffle, and the third model to a continuous baffle with notches. When the fixture tray passes through the optical path, the receiving end generates an encoded signal based on the on / off timing, duration, or combination mode of the photoelectric signal. The controller then matches this signal with a pre-stored model mapping relationship to determine whether the currently loaded stator fixture belongs to a preset replacement target model. This recognition method does not rely on an additional image processing module; it is achieved solely through the physical cooperation between the mechanical baffles and the through-beam optical path, resulting in a simple structure, rapid response, and strong anti-interference capability. The model recognition function and position detection function of the through-beam detection device 121 share the same set of transmitting / receiving units. Alternatively, an integrated multi-channel through-beam sensor can be used, with at least one channel dedicated to position detection and the remaining channels arranged spatially to collect baffle feature information.

[0063] For example, during the process of the speed-increasing chain 1 driving the jig tray 11 to the material pick-up position 12, the control system monitors the output level of the receiver of the through-beam detection device 121 in real time. When the level changes from high to low (or from low to high, depending on the circuit design) and remains stable for a threshold time, it is determined that the jig tray 11 has accurately stopped at the material pick-up position 12. Subsequently, the system reads the multi-channel signal combination or timing characteristics, parses out the model identifier of the current stator jig, and compares it with the target model specified in the model change instruction issued by the host computer. If the models match, an enable signal for allowing the transfer operation is sent to the conveying component 2. If they do not match, an alarm is triggered and the process is paused, and the error information is uploaded to the human-machine interface.

[0064] The first belt assembly 3 and the second belt assembly 4 are arranged side by side within the working range of the conveying assembly 2. This layout means that the effective conveying sections of the first belt assembly 3 and the second belt assembly 4 are within the spatial envelope formed by the maximum horizontal extension stroke and the maximum vertical lifting stroke of the gripper mechanism 23 of the conveying assembly 2. This ensures that the gripper can cover the area at any time. Furthermore, this side-by-side arrangement can shorten the conveying path, allowing the unloading and loading of new components to be performed alternately in the same XY plane, avoiding frequent lifting in the Z direction and significantly reducing the action time. For example, the conveying assembly can pick up a stator fixture from the fixture tray 11, move it along the Y direction to above the first belt assembly 3, lower its height in the Z direction to transfer the stator fixture to the first belt assembly 3, then raise its height again and move along the Y direction to above the second belt assembly 4, pick up another stator fixture from the second belt assembly 4, and transfer it to the fixture tray 11.

[0065] In practical applications, both the first belt assembly 3 and the second belt assembly 4 can be synchronous belt drive structures, with the belt surface material being either polyurethane or rubber-coated, and the surface can be provided with anti-slip textures. Of course, the center distance between the first belt assembly 3 and the second belt assembly 4 can be set according to the external dimensions of the stator fixture. In addition, both the first belt assembly 3 and the second belt assembly 4 can be parallel to the speed-multiplying chain 1, and the conveying directions of the first belt assembly 3 and the second belt assembly 4 can be the same or opposite.

[0066] In this embodiment of the application, the ends (which may be the beginning or the end) of the first belt assembly 3 and the second belt assembly 4 are respectively provided with a fixture positioning fork 5, which can be used to position the stator fixture on the corresponding belt assembly.

[0067] In practical applications, the fixture positioning fork 5 can refer to a rigid positioning structure set at the end of the first belt assembly 3 and the end of the second belt assembly 4. Its function is to provide a physical limiting reference for the stator fixture, so that it can automatically correct its posture and stop stably when it is conveyed to the end of the belt. Generally speaking, the fixture positioning fork 5 can be a U-shaped, V-shaped or L-shaped groove structure with its opening facing the belt running direction. Its inner contour matches the bottom outer edge or positioning notch of the stator fixture to achieve guiding engagement and position constraint.

[0068] The fixture positioning fork 5 can be made of stainless steel, aluminum alloy or engineering plastic. Its size and shape are set according to the external dimensions and tolerance range of the stator fixture. This application embodiment does not make any special limitation on this. The fixture positioning fork 5 can be fixed to the bracket at the end of the corresponding belt assembly by bolt connection or embedded installation to ensure that the stator fixture is in a stable state of horizontal centering and consistent direction.

[0069] In another embodiment of this application, the ship plate changing machine may further include a sliding connection structure 6, which includes a fixed part 61 disposed at the end of the corresponding belt assembly and a movable part 62 that can move relative to the fixed part 61 along a second direction, wherein the fixture positioning fork 5 is disposed on the movable part 62, so that the fixture positioning fork 5 can also move along the second direction.

[0070] The fixed part 61 can be a longitudinally extending guide rail or mounting base, which can be fixed to the end bracket of the first belt assembly 3 or the second belt assembly 4 by bolts or welding to provide a stable support reference; the moving part 62 can be a slider, slide table or moving part of a linear module, which forms a sliding fit relationship with the fixed part 61, and the fit method is dovetail groove guidance, ball guide rail guidance or linear bearing guidance; the fixture positioning fork 5 can be directly installed on the top or side mounting surface of the moving part 62 by fasteners, and moves longitudinally synchronously with the moving part 62, thereby changing its projected position in the belt conveying direction.

[0071] The relative displacement between the fixed part 61 and the moving part 62 can be achieved by a manual adjustment mechanism, an electric drive mechanism, or a servo positioning mechanism. The manual adjustment mechanism includes an adjustment knob, a locking handle, and a scale. The operator rotates the knob to drive the lead screw, which pushes the moving part 62 to slide along the fixed part 61. The locking handle then fixes the moving part 62 to the target position. The scale indicates the current longitudinal coordinate value. The electric drive mechanism may include a micro motor, a synchronous belt drive assembly, and a limit switch. The micro motor drives the synchronous belt to reciprocate the moving part 62. The limit switch limits the travel boundaries. The servo positioning mechanism may include a servo motor, a high-precision encoder, and a PLC control system. Precise positioning of the moving part 62 is determined by preset parameters to match the center distance of the positioning holes in different types of stator fixtures.

[0072] For example, by displacing the moving part 62 in the second direction, the spatial coordinates of the fixture positioning fork 5 in the belt conveying direction are dynamically adjusted, so that it can be accurately embedded into the positioning structure corresponding to the bottom of different types of stator fixtures. This adjustment process does not change the conveying path and speed of the first belt assembly 3 and the second belt assembly 4, nor does it interfere with the gripping trajectory of the handling assembly 2. It only acts on the static positioning stage of the fixture on the belt. When the handling assembly 2 places the stator fixture at the end of the belt assembly, the stator fixture moves forward slightly under the action of conveying inertia or the initial tension of the belt until it is stopped by the fork arm of the fixture positioning fork 5, thereby completing the posture correction and position zeroing. Therefore, this structure realizes flexible adaptation to fixtures of multiple specifications without interrupting the production line cycle.

[0073] In addition, the first belt assembly 3 and the second belt assembly 4 are provided with position sensors 7, which are used to detect the position of the stator fixture on the corresponding belt assembly.

[0074] The position sensor 7 can be one or more of a photoelectric sensor, a proximity switch, an encoder, or a Hall sensor; the position sensor 7 can be installed at at least one key location along the conveying path of the first belt assembly 3 and the second belt assembly 4, such as near its input end, output end, or intermediate positioning station; the position sensor 7 is used to output a trigger signal when the stator fixture passes through the detection area it covers, and the trigger signal is received by the control system and parsed into the presence status and current position information of the stator fixture.

[0075] The position sensor 7 can be set above or to the side of the conveying surface of the first belt assembly 3, or above or to the side of the conveying surface of the second belt assembly 4. When set above the conveying surface, its detection direction is vertically downward, used to identify whether the stator fixture has entered the preset detection area. When set to the side of the conveying surface, its detection direction is horizontal towards the center line of the conveyor belt, used to identify whether the side profile of the stator fixture has reached the set position. The installation height, angle and detection distance of the position sensor 7 can be adaptively adjusted according to the external dimensions of the stator fixture, the running speed and the structural layout of the belt assembly. This application embodiment does not impose any special limitations on this.

[0076] The position sensor 7 and the conveying assembly 2 can be connected to the same control system via electrical wiring. After receiving the positioning signal sent by the position sensor 7, the system confirms that the stator fixture on the corresponding belt assembly has moved to the preset gripping position and sends a gripping command to the conveying assembly 2 accordingly. If the positioning signal is not received within the preset time window, the control system determines that the stator fixture is not in place or has deviated, blocked or other abnormalities, and can trigger response mechanisms such as pausing operation, audible and visual alarms or human-machine interface prompts.

[0077] In another embodiment of this application, the ship plate changing machine may further include a mistake prevention detection module, which is configured to perform image acquisition and recognition on the stator fixture on the fixture tray 11 through visual recognition to determine whether the stator fixture is in the correct placement direction, such as determining whether the stator fixture is placed backwards.

[0078] The error-proof detection module can refer to an industrial vision inspection unit set above or on a side-fixed bracket of the material picking position 12. It can include an image acquisition device, an image processing unit, and a communication control interface. The image acquisition device can be an industrial camera, whose optical axis is vertically or obliquely pointed to the stator fixture mounting area on the bearing surface of the fixture tray 11. It is used to acquire static images of the stator fixture while the fixture tray 11 is stationary at the material picking position 12. The image processing unit can be an embedded vision processor or an industrial control computer that communicates with the main control system. It has a pre-stored orientation template of the standard stator fixture. The template is built based on the inherent structural features of the stator fixture, including but not limited to positioning notches, process marking points, nameplate text arrangement, pin distribution outline, or asymmetrical shape edge lines. The communication control interface is used to feed back the recognition results to the control system of the conveying component 2 and the speed-multiplying chain 1 in real time. When the recognition result is an orientation error, it triggers a stop alarm, illuminates an indicator light, or prohibits the gripper mechanism 23 from performing the gripping action.

[0079] The installation position of the image acquisition device can be set according to the actual situation. For example, it can be set on the gantry beam directly above the material picking position 12, or on the support at the end of the longitudinal guide rail 21 of the conveying component 2, as long as its field of view can completely cover the recognition area of ​​the stator fixture on the fixture tray 11 and is not interfered with by the movement of the conveying component 2. Its lens focal length, aperture and supplementary light source (such as a ring LED light source) parameters can be adapted to the reflective characteristics of the stator fixture surface and the ambient illuminance. This application embodiment does not impose any special limitations on this. The recognition logic executed by the image processing unit can be a grayscale correlation algorithm based on template matching, or a direction discrimination method based on edge feature extraction and Hough transform, or a lightweight convolutional neural network model to classify and judge the orientation of the stator fixture. This recognition logic does not change the functional positioning of the error prevention detection module, that is, it is only used for direction discrimination and does not participate in the mechanical execution process such as fixture physical locking, transfer or path planning. Its recognition result output form can be a binary signal (correct direction / incorrect direction) or structured data with confidence, for the upper system to perform hierarchical response processing.

[0080] The error prevention detection module works in conjunction with the through-beam detection device 121 at the material pick-up position 12: the through-beam detection device 121 is used to confirm that the fixture tray 11 has been accurately positioned at the material pick-up position 12, thereby providing a stable triggering opportunity for image acquisition; while the error prevention detection module completes image acquisition and analysis in this stable state. The two form a functional link in the time sequence of position confirmation → image acquisition → direction determination; this link does not depend on the action state of the fixture locking mechanism 111, nor does it interfere with the conveying rhythm of the first belt assembly 3 or the second belt assembly 4, but is only embedded in the changeover process as an independent quality verification link.

[0081] It should be further explained that the conveying assembly 2 may include a longitudinal guide rail 21, a longitudinal motion mechanism 22, and a gripper mechanism 23. The longitudinal guide rail 21 extends perpendicularly to the arrangement direction of the first belt assembly 3 and the second belt assembly 4. The longitudinal motion mechanism 22 is mounted on the longitudinal guide rail 11 and can move along the longitudinal guide rail 21. The gripper mechanism 23 is mounted on the longitudinal motion mechanism 22 and is configured to move vertically relative to the longitudinal motion mechanism 22.

[0082] In practical applications, the longitudinal guide rail 21 can be one of a linear guide rail, a ball bearing guide rail, or a rigid slide rail, which can be used to provide a guiding reference and support rigidity for the longitudinal motion mechanism 22. The longitudinal guide rail 21 can be fixedly installed on the equipment frame, and its two ends can be provided with stroke limit blocks to constrain the movement range of the longitudinal motion mechanism 22. The extension direction of the longitudinal guide rail 21 is perpendicular to the arrangement direction of the two belt assemblies, so that the movement path of the longitudinal motion mechanism 22 covers the material picking position 12, the first belt assembly 3, and the second belt assembly 4, thereby ensuring that the conveying assembly 2 completes all transfer actions without changing its posture. The longitudinal guide rail 21 is perpendicular to the speed doubler chain 1 and the first belt assembly 3 and the second belt assembly 4 (the speed doubler chain 1 is parallel to the first belt assembly 3 and the second belt assembly 4), thus forming the X-axis motion reference in the two-dimensional rectangular coordinate system.

[0083] The longitudinal motion mechanism 22 can be one of a servo motor driven synchronous belt module, ball screw module or gear rack module. Its main structure forms a sliding fit with the longitudinal guide rail 21 through a slider, and performs reciprocating linear motion along the longitudinal guide rail 21 under the action of the drive unit.

[0084] The gripper mechanism 23 can be one of a pneumatic gripper, an electric gripper, or a vacuum suction cup assembly, and its mounting base is fixedly connected to the moving end of the longitudinal motion mechanism 22. The gripper mechanism 23 is configured to lift independently in the vertical direction relative to the longitudinal motion mechanism 22, and the lifting stroke can be set according to the height of the stator fixture and the height of the conveying surface of the belt assembly. The lifting action of the gripper mechanism 23 is controlled by an independent lifting drive unit, which can be a servo cylinder, a pneumatic actuator, or a stepper motor with a lead screw structure. In addition, the opening and closing action and the lifting action of the gripper mechanism 23 can be set to interlock, and the clamping command is triggered only after the gripper descends to the position and contacts the stator fixture to avoid empty gripping or collision. The clamping surface of the gripper mechanism 23 can be provided with a flexible buffer layer, the material of which can be silicone, polyurethane, or EPDM rubber, to adapt to the shape contour of different models of stator fixtures and prevent scratches.

[0085] The ship plate changing machine provided in this application includes a double-speed chain, a conveying assembly, a first belt assembly, and a second belt assembly. The double-speed chain is used to convey a jig tray carrying a stator jig along a first direction, and a material-taking position is provided on the double-speed chain. The first belt assembly and the second belt assembly are arranged side-by-side within the working range of the conveying assembly. The conveying assembly is configured to: when the jig tray moves to the material-taking position, grab and transfer the stator jig from the jig tray to the first belt assembly; and grab another stator jig from the second belt assembly and transfer it to the jig tray located at the material-taking position to complete the jig changing. When the ship plate changing machine is used for automated changing, the double-speed chain is equipped with a material picking position with precise positioning function, which provides a highly repeatable gripping reference for the conveying components. This solves the problem of incorrect fixture installation caused by inaccurate positioning during manual changing. Furthermore, since the first belt assembly and the second belt assembly are set side by side within the working range of the conveying components and their functions are clearly separated, the unloading path of the old fixture and the supply path of the new fixture are completely isolated in physical space. This avoids material confusion caused by path intersection, improves the reliability of changing, and thus solves the problems caused by the current manual operation of changing.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0087] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A ship plate forming machine, characterized in that, Includes a double-speed chain (1), a conveying assembly (2), a first belt assembly (3), and a second belt assembly (4), wherein: The double-speed chain (1) is used to transport the fixture tray (11) carrying the stator fixture along the first direction, wherein the double-speed chain (1) is provided with a material picking position (12). The first belt assembly (3) and the second belt assembly (4) are arranged side by side within the working range of the conveying assembly (2); The transport component (2) is configured as follows: When the jig tray (11) moves to the picking position (12), the stator jig on the jig tray (11) is picked up and transferred to the first belt assembly (3); and, Another stator fixture is picked up from the second belt assembly (4) and transferred to the fixture tray located at the pick-up position (12) to complete the fixture change.

2. The ship plate changing machine according to claim 1, characterized in that, The fixture tray (11) is provided with a fixture locking mechanism (111), wherein the fixture locking mechanism (111) is used to lock and unlock the stator fixture located on the fixture tray (11).

3. The ship plate changing machine according to claim 2, characterized in that, The fixture locking mechanism (111) includes a lifting drive unit, a locking tongue, and a linkage mechanism; The lifting drive unit is configured to drive the locking tongue to perform a lifting movement in a direction perpendicular to the bearing surface of the fixture tray (11); The linkage mechanism is configured to convert the lifting motion of the locking tongue into a rotational motion to lock or unlock the stator fixture placed on the fixture tray (11).

4. The ship plate changing machine according to claim 1, characterized in that, The speed-doubler chain (1) is also provided with a buffer position (13), which is used to temporarily store the fixture tray (11) carrying the stator fixture.

5. The ship plate changing machine according to claim 1, characterized in that, The material taking position (12) is provided with a through-beam detection device (121) for detecting whether the jig tray (11) has reached the material taking position (12) and for detecting whether the stator jig placed on the jig tray (11) is a preset model.

6. The ship plate changing machine according to claim 1, characterized in that, The ends of the first belt assembly (3) and the second belt assembly (4) are respectively provided with fixture positioning forks (5), wherein the fixture positioning forks (5) are used to position the stator fixtures on the corresponding belt assemblies.

7. The ship plate changing machine according to claim 6, characterized in that, The ship plate forming machine further includes a sliding connection structure (6), wherein the sliding connection structure (6) includes a fixing part (61) disposed at the end of the corresponding belt assembly, and a moving part (62) movable relative to the fixing part (61) along a second direction; and, The fixture positioning fork (5) is disposed on the moving part (62); The second direction is perpendicular to the first direction.

8. The ship plate changing machine according to claim 1, characterized in that, The first belt assembly (3) and the second belt assembly (4) are provided with position sensors (7), which are used to detect the position of the stator fixture on the corresponding belt assembly.

9. The ship plate changing machine according to claim 1, characterized in that, The ship plate changing machine also includes a mistake prevention detection module, which is configured to perform image acquisition and recognition on the stator fixture on the fixture tray (11) through visual recognition to determine whether the stator fixture is in the correct placement direction.

10. The ship plate changing machine according to claim 1, characterized in that, The transport component (2) includes: The longitudinal guide rail (21) extends in a direction parallel to the arrangement direction of the first belt assembly (3) and the second belt assembly (4); A longitudinal motion mechanism (22) is mounted on the longitudinal guide rail (11) and can move along the longitudinal guide rail (21); and, The gripper mechanism (23) is mounted on the longitudinal motion mechanism (22) and is configured to move vertically relative to the longitudinal motion mechanism (22).

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