Automatic wire cutting and copper pulling device and method for motor, compressor coil

Abstract

This invention provides an automatic wire cutting and copper extraction device and method for motor and compressor coils. The device includes: a pre-loading visual positioning component for identifying coil specifications and type; a loading robot component for grabbing the coil based on the identification result of the pre-loading visual positioning component; a cutting gripper component for receiving and clamping the coil delivered by the loading robot component; a cutting component for cutting the coil end fixed by the cutting gripper component; a pre-cutting visual positioning component for accurately locating and verifying the cutting position of the coil; a copper extraction gripper component for clamping the cut coil; and a copper extraction component, cooperating with the copper extraction gripper component, for extracting copper or aluminum wire from the clamped coil. This invention automates the entire process from coil loading, identification, cutting, copper extraction to unloading and sorting, greatly improving work efficiency and reducing reliance on manual labor.

Description

Technical Field

[0001] This invention relates to the field of waste household appliance recycling and processing technology, and more specifically, to an automatic wire cutting and copper stripping device and method for motor and compressor coils. Background Technology

[0002] With the increasing number of discarded household appliances, the efficient and environmentally friendly dismantling and recycling of core components such as motors and compressor coils has become crucial. Currently, most coil processing equipment on the market is semi-automated, exhibiting the following drawbacks: First, manual operation is required for coil handling, positioning, cutting, and copper extraction, making dismantling efficiency heavily dependent on worker skill. Second, the cutting and copper extraction processes are separated, typically handled by two independent machines, resulting in cumbersome operation, large space requirements, and poor process continuity. Third, for coils of different specifications, frequent manual adjustments to equipment parameters and positioning are necessary, which can easily damage the equipment if not handled properly, and automated product sorting is difficult to achieve. Summary of the Invention

[0003] The present invention aims to overcome the shortcomings of the prior art and provide a fully automatic, high-efficiency, highly adaptable, and automatically sortable and recyclable automatic wire cutting and copper stripping equipment and method for motor and compressor coils.

[0004] In a first aspect, the present invention provides an automatic wire cutting and copper stripping device for motor and compressor coils, comprising: a feeding conveyor for conveying coils to be processed; a pre-retrieving visual positioning component disposed at the unloading station of the feeding conveyor for identifying coil specifications and type; a feeding robot component for grasping coils according to the identification result of the pre-retrieving visual positioning component; a cutting gripper component for receiving and clamping the coils conveyed by the feeding robot component; and a cutting component for cutting the coil ends fixed by the cutting gripper component; and a cutting... The pre-cutting vision positioning component is used to accurately locate and re-judge the coil cutting position; the copper-pulling claw component is used to hold the cut coil; the copper-pulling component, in conjunction with the copper-pulling claw component, is used to pull out copper or aluminum wire from the held coil; the machine platform, located on one side of the feeding chain, is used to support the cutting claw component, the cutting component, the pre-cutting vision positioning component, the copper-pulling claw component, and the copper-pulling component; the bottom sorting component, located below the machine platform, is used to classify and collect the different materials generated after cutting and copper-pulling.

[0005] In one embodiment of the present invention, the automatic wire cutting and copper stripping equipment further includes a copper stripping jaw residue visual inspection component, which is used to take pictures of the jaws of the copper stripping jaw component to detect whether there is any copper or aluminum wire residue.

[0006] In one embodiment of the present invention, the cutting component further includes an end-face vision imaging component for taking pictures of the coil end face after cutting, so as to determine the material and measure the end face size.

[0007] In one embodiment of the present invention, the pre-receiving visual positioning component includes a 3D camera for taking three-dimensional visual photographs of the coil side from the unloading station.

[0008] In one embodiment of the present invention, the pre-cutting visual positioning component includes two sets of 2D cameras, one set for initially positioning the front end face of the coil, and the other set for re-judging the relative position between the front end face of the coil and the cutting blade of the cutting component.

[0009] In one embodiment of the present invention, an X-direction conveying device is provided below the copper-pulling jaw assembly, and the clamping center of the cutting jaw assembly is aligned with the effective stroke range of the copper-pulling jaw assembly in the X-axis direction.

[0010] In one embodiment of the present invention, the copper extraction assembly includes a claw assembly, a push fork assembly, and a stop assembly. The claw assembly includes a servo motor, a reducer, a ball screw, a connecting shaft, a fixed disk, a central flange, multiple hooks, a guide shaft, a central disk, and a gear disk. The servo motor is connected to the reducer, the reducer is connected to the ball screw via a coupling, the end of the ball screw is connected to the connecting shaft, the end of the connecting shaft is connected to the fixed disk, and the guide shaft is provided on the outer periphery of the connecting shaft. The fixed disk has multiple first through slots evenly distributed around its circumference, and pins are embedded in the first through slots. The end of each hook is hinged to the fixed disk via a pin. The central flange is provided on one side of the fixed disk, and the central flange has multiple second through slots evenly distributed around its circumference. A spring is provided between the central flange and each hook. The central disk is provided on the outer periphery of the central flange, and a gear disk is provided on the outer periphery of the central disk. The gear disk has external teeth on one side; the push fork assembly includes a horizontal cylinder, a cylinder connecting plate, a linear guide rail, a lifting cylinder, an L-shaped connecting plate, and a shift fork; the horizontal cylinder and the linear guide rail are respectively mounted on the upper side of the guide shaft via a base plate, the piston rod of the horizontal cylinder is connected to the cylinder connecting plate, and the bottom of the cylinder connecting plate is slidably connected to the linear guide rail; the lifting cylinder is mounted on the cylinder connecting plate, and the piston rod of the lifting cylinder is connected to the shift fork via the L-shaped connecting plate; the material blocking assembly includes a material blocking motor, a gear, a connecting rod, and a stop block; the stop block is disposed between any two adjacent hooks, one end of the stop block has a groove, which is rotatably connected to one end of the connecting rod via a pin, and the other end of the connecting rod is rotatably connected to the gear disk via a pin; the gear meshes with the external teeth of the gear disk, and the gear is connected to the rotating shaft of the material blocking motor.

[0011] In one embodiment of the present invention, the end effector of the loading robot component is an internal support pneumatic gripper.

[0012] In one embodiment of the present invention, the device further includes a control system, comprising a PLC or an industrial computer, the control system being configured to perform the following steps: receiving coil specification data from a pre-receiving visual positioning component; controlling a loading robot component to perform adaptive gripping; coordinating the movement of a cutting gripper component and a cutting component based on feedback from a pre-cutting visual positioning component; controlling a copper extraction component to output a corresponding copper extraction force based on the material judgment result from an end-face visual imaging component; and controlling a bottom-dividing component to classify materials according to material information.

[0013] Secondly, the present invention provides an automatic wire cutting and copper stripping method based on the above-described device, characterized by comprising the following steps:

[0014] S1. Feeding and Identification: The coil is placed on the feeding chain plate and identified by the pre-removal vision positioning component;

[0015] S2, Robot loading: The loading robot component picks up the coil based on the recognition result and transfers it to the chopping gripper component;

[0016] S3, Visual Positioning and Cutting: Before cutting, the visual positioning component locates and re-judges the cutting position, and the cutting component cuts the coil end from multiple angles.

[0017] S4. End face inspection: After cutting, visual inspection is performed on the end face of the coil to determine the material and size;

[0018] S5. Copper Pulling: The copper pulling jaw assembly clamps the coil and works with the copper pulling assembly to complete the copper pulling operation.

[0019] S6. Residual Material Inspection and Unloading: Visually inspect the copper-pulling jaws for residual material and push the copper-pulled silicon steel sheet into the unloading port;

[0020] S7. Automatic Product Sorting: The bottom sorting component automatically sorts and collects copper wire, aluminum wire, silicon steel sheet and NG products according to the material information.

[0021] In one embodiment of the present invention, in step S3, the cutting assembly, driven by the cutting gripper assembly, rotates and cuts the coil multiple times until the copper or aluminum wire at the end of the coil is completely cut off.

[0022] In one embodiment of the present invention, the feeding chain can be replaced by a manual feeding platform; and / or, the equipment can be controlled by a program to independently perform a separate cutting function or a separate copper stripping function.

[0023] In summary, this invention provides an automatic wire cutting and copper stripping device and method for motor and compressor coils. The beneficial effects of this invention are:

[0024] (1) The entire process of coil feeding, identification, cutting, copper extraction to unloading and sorting has been automated, which greatly improves work efficiency and reduces reliance on manual labor.

[0025] (2) By combining the pre-picking visual positioning component with the loading robot component, the problem of automatic identification and adaptive grasping of coils of different specifications is solved, replacing manual identification and adjustment.

[0026] (3) By combining the pre-cutting visual positioning component (two sets of 2D cameras) with the cutting gripper component, millimeter-level or even higher precision cutting position positioning and re-judgment are achieved, ensuring cutting quality and protecting the cutting blade, which is difficult to achieve manually or with a single camera system.

[0027] (4) By integrating the cutting gripper assembly, copper pulling gripper assembly and copper pulling assembly on the same machine, and supplementing it with the X / Y axis transfer module, the seamless connection and spatial integration of the cutting and copper pulling processes are realized, solving the problems of dispersed equipment, process interruption and large footprint of traditional solutions.

[0028] (5) It has end face material identification function and automated material sorting system, which can automatically classify and collect processed copper, aluminum, silicon steel sheets and other products, thereby improving the value and purity of resource recycling. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall assembly of the present invention.

[0030] Figure 2 This is a structural diagram of the loading robot component.

[0031] Figure 3 This is a schematic diagram of the chopping gripper assembly.

[0032] Figure 4 This is a schematic diagram of the cutting component.

[0033] Figure 5 This is a schematic diagram of the copper-pulling jaw assembly.

[0034] Figure 6 This is a schematic diagram of the copper stripping assembly.

[0035] Figure 7 This is a schematic diagram of the material blocking component for the copper stripping assembly.

[0036] Key elements: 1. Feeding conveyor belt; 2. Pre-removal vision positioning component; 3. Feeding robot component; 4. Chopping gripper component; 5. Chopping component; 6. Pre-chopping vision positioning component; 7. Copper pulling gripper component; 8. Copper pulling component; 9. Copper pulling gripper residual material vision inspection component; 10. Machine base;

[0037] 31. Robot; 32. Internal support pneumatic gripper;

[0038] 411. First Y-axis servo motor; 412. Y-axis ball screw; 413. First Y-axis linear guide; 42. Mounting bracket; 43. First lifting cylinder; 44. Transition plate; 45. Gripper mounting plate; 46. Vertical plate; 47. First electric three-jaw chuck assembly; 48. Rotary servo motor;

[0039] 51. Chopping frame; 52. Chopping blade assembly; 521. Hydraulic cylinder; 522. Z-axis linear guide; 523. Chopping center shaft; 531. First pusher cylinder; 532. First cylinder mounting plate; 533. Pusher rod; 534. First pusher plate; 54. End face vision imaging assembly;

[0040] 71. XY-axis transfer module; 711. Second Y-axis servo motor; 712. Second Y-axis ball screw; 713. Second Y-axis linear guide; 714. Mounting base plate; 715. X-axis linear guide; 716. Fixed base; 717. X-axis cylinder; 718. Mounting plate; 72. Second electric three-jaw chuck assembly; 73. Second pusher cylinder; 74. Second pusher plate; 75. Residual material visual inspection assembly;

[0041] 811. Servo motor; 812. Reducer; 813. Coupling; 814. Ball screw; 815. Guide shaft; 816. Center flange; 817. Hook; 818. Spring; 819. Gear disc; 821. Horizontal cylinder; 822. Cylinder connecting plate; 823. Second lifting cylinder; 824. L-shaped connecting plate; 825. Shift fork; 831. Stop block; 832. Second connecting rod; 833. External gear; 834. Gear; 835. Material stop motor. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, the present invention provides an automatic wire cutting and copper stripping device for motor and compressor coils, which includes: a feeding chain plate 1, a pre-receiving visual positioning component 2, a feeding robot component 3, a cutting gripper component 4, a cutting component 5, a pre-cutting visual positioning component 6, a copper stripping gripper component 7, a copper stripping component 8, a copper stripping gripper residual material visual inspection component 9, a machine base 10, and a bottom material distribution component 11.

[0044] Feeding chain plate line 1: Used to automatically transport the motor and compressor coils (hereinafter referred to as coils) to be processed to the unloading station.

[0045] Pre-removal visual positioning component 2: Located at the unloading station of the feeding chain 1, it is used to identify the coil before it is removed. Furthermore, the pre-removal visual positioning component 2 includes a 3D camera that can take three-dimensional visual photographs of the coil's side to obtain coil specification parameters (such as silicon steel sheet height), thereby automatically identifying the coil type.

[0046] Material loading robot component 3: Grabs the coil based on the parameters provided by the pre-retrieving vision positioning component 2. For example... Figure 2 As shown, the feeding robot component 3 includes a robot 31. The end effector of the robot 31 is an internal support pneumatic gripper 32, which can control the insertion depth according to the coil specifications. After opening, it clamps the center hole of the coil to achieve precise feeding.

[0047] Chopping gripper assembly 4: Located on the upper side of the machine base 10, it is used to receive and grip the coil from the feeding robot assembly 3, and to perform precise positioning and conveying to cooperate with chopping.

[0048] Among them, such as Figure 3As shown, the cutting gripper assembly 4 includes a Y-axis servo transfer module, a mounting bracket 42, a first lifting cylinder 43, a transition plate 44, a gripper mounting plate 45, a vertical plate 46, a first electric three-jaw chuck assembly 47, and a rotary servo motor 48. The Y-axis servo transfer module is used to achieve precise transfer of the coil on the cutting line. The Y-axis servo transfer module consists of a first Y-axis servo motor 411, a first Y-axis ball screw 412, and two first Y-axis linear guides 413. The first Y-axis ball screw 412 and the two first Y-axis linear guides 413 are arranged parallel to each other, and the first Y-axis servo motor 411 is installed at one end of the Y-axis ball screw. The bottom of the mounting bracket 42 is slidably connected to the two first Y-axis linear guides 413 and connected to the nut of the first Y-axis ball screw 412 through a connecting plate, thereby being driven by the first Y-axis servo motor 411 to move along the Y-axis direction. The first lifting cylinder 43 is used to drive the clamping unit to lift and lower. The first lifting cylinder 43 is vertically mounted on the mounting frame 42, and its piston rod is connected to the transition plate 44. The transition plate 44 is also vertically connected to the jaw mounting plate 45 and the upright plate 46. The first electric three-jaw chuck assembly 47 is mounted on the jaw mounting plate 45, and the first electric three-jaw chuck assembly 47 is provided with jaws. The rotary servo motor 48 is mounted on the upright plate 46, and the drive shaft of the rotary servo motor 48 is connected to the first electric three-jaw chuck assembly 47 through a flange, driving it to rotate around the axis to realize the circumferential indexing and cutting of the coil.

[0049] Furthermore, the clamping center of the first electric three-jaw chuck assembly 47 is located on the opposite side of the two first Y-axis linear guides 413 relative to the first Y-axis ball screw 412, avoiding mutual interference between the components. The clamping center of the chopping jaw assembly 4 is aligned with the effective stroke range of the copper-pulling jaw assembly 7 in the X-axis direction, facilitating workpiece transfer.

[0050] Next, we will introduce the cutting assembly 5, which is set on the upper side of the machine base 10. The cutting assembly 5 is used to cut the coil end fixed by the cutting gripper assembly 4.

[0051] Among them, such as Figure 4As shown, the chopping assembly 5 includes a chopping frame 51, a chopping blade assembly 52, a feeding assembly, and an end-face vision imaging assembly 54. The chopping frame 51 is vertically mounted above the machine base 10. The chopping blade assembly 52 is mounted on the chopping frame 51 via a Z-axis linear guide 522 and is driven by a hydraulic cylinder 521 to perform vertical chopping actions. A chopping central shaft 523 is located below the chopping blade assembly 52 and is fixedly mounted on the chopping frame 51. The feeding assembly consists of a first feeding cylinder 531, a first cylinder mounting plate 532, a first connecting rod, a connecting plate, a feeding rod 533, and a first feeding plate 534. The first cylinder mounting plate 532 is connected to the chopping frame 51 via four parallel first connecting rods. The first feeding cylinder 531 is mounted on the first cylinder mounting plate 532, and its piston rod is connected to the connecting plate. The connecting plate then passes through the chopping frame 51 via four other parallel push rods and is connected to the push plate 534. The first push plate 534 is sleeved on the outside of the chopping central shaft 523 and can move along the chopping central shaft 523 to push the cut thread ends away from the work station.

[0052] Furthermore, the end face vision imaging component 54 is located below the pusher component. It is used to take pictures of the end face of the coil after it is cut in order to determine the material and measure the end face size.

[0053] Next, we introduce the pre-cutting visual positioning component 6, which is used to accurately locate and verify the cutting position of the coil. The pre-cutting visual positioning component 6 includes two sets of 2D cameras, one set is used to initially locate the position of the coil's front end face, and the other set is used to verify the relative position between the coil's front end face and the cutting blade of the cutting component 5, ensuring accuracy and protecting the cutting blade.

[0054] The copper-pulling jaw assembly 7 is described below. It is used to clamp the cut coil and works in conjunction with the copper-pulling assembly 8 to complete the copper-pulling operation. Figure 5 As shown, the copper pulling jaw assembly 7 includes an XY axis transfer module 71 that can realize XY axis movement, a second electric three-jaw chuck assembly 72, a second pusher cylinder 73, a second pusher plate 74, and a claw residual material visual inspection assembly 75.

[0055] The XY-axis transfer module 71 consists of a second Y-axis servo motor 711, a second Y-axis ball screw 712, two second Y-axis linear guides 713, a mounting base 714, two X-axis linear guides 715, a fixed base 716, an X-axis cylinder 717, and two mounting plates 718. The second Y-axis ball screw 712 is arranged parallel to the two second Y-axis linear guides 713, and the second Y-axis servo motor 711 is mounted on one end of the second Y-axis ball screw 712. The bottom of the mounting base 714 is slidably connected to the two second Y-axis linear guides 713, and is connected to the nut of the second Y-axis ball screw 712 through a connecting plate, so that it can be driven by the second Y-axis servo motor 711 to move along the Y-axis. The two X-axis linear guides 715 are mounted on the upper surface of the mounting base 714, and their extension direction is perpendicular to the second Y-axis linear guides 713. The bottom of the fixed base 716 is slidably connected to two X-axis linear guides 715. Two mounting plates 718 are set perpendicular to and connected to the fixed base 716. An X-axis cylinder 717 is mounted on the mounting base plate 714 and located between the two mounting plates 718. Its piston rod is vertically connected to the two mounting plates 718 through a connecting block to drive the fixed base 716 and the mounting plates 718 to move along the X-axis linear guides 715. A second electric three-jaw chuck assembly 72 is mounted on the mounting plate 718. The second electric three-jaw chuck assembly 72 is provided with jaws and is used to clamp the coil.

[0056] The second pushing cylinder 73 and the second pushing plate 74 are used to push the silicon steel sheet into the dispensing port during material feeding. The top of the two mounting plates 718 is fixed with the second cylinder mounting plate. The second pushing cylinder 73 is horizontally mounted on the second cylinder mounting plate, and its piston rod is connected to the second pushing plate 74 to drive the second pushing plate 74 to move in the horizontal direction.

[0057] The claw residue visual inspection component 75 is located on the upper side of the second cylinder mounting plate and is used to take pictures of the claws of the second electric three-jaw chuck assembly 72 to detect whether there is any copper or aluminum wire residue.

[0058] The copper extraction component 8 is described below. It works in conjunction with the copper extraction gripper component 7 to extract the internal copper or aluminum wire from the clamped coil. Its core gripper component is driven by a high-power servo motor, reducer, and ball screw, providing high output force and adapting to the copper extraction needs of coils of various specifications.

[0059] Among them, such as Figure 6 , 7As shown, the copper extraction assembly 8 includes a claw extraction assembly, a push fork assembly, and a stop assembly. The claw extraction assembly is its core component. It is driven by a servo motor 811 via a reducer 812 to drive a ball screw 814. The ball screw 814 is then controlled by a connecting shaft, a fixed disc, and a linkage mechanism consisting of a spring, a claw 817, and a gear disc to synchronously open and close multiple claws 817 to grip the inner wall of the coil. Specifically, the claw assembly includes a servo motor 811, a reducer 812, a ball screw, a connecting shaft, a fixed disk, a central flange, multiple claws 817, a guide shaft, a central disk, and a gear disk. The servo motor 811 is connected to the reducer 812, and the reducer 812 is connected to the ball screw 814 via a coupling 813. The end of the ball screw 814 is connected to the connecting shaft, and the end of the connecting shaft is connected to the fixed disk. A guide shaft 815 is provided on the outer periphery of the connecting shaft. The fixed disk has multiple first through slots evenly distributed around its circumference, and pins are embedded in the first through slots. The end of each claw 817 is hinged to the fixed disk via a pin. A central flange 816 is provided on one side of the fixed disk, and multiple second through slots are evenly distributed around its circumference. A spring 818 is provided between the central flange and each claw 817. A central disk is provided on the outer periphery of the central flange 816, and a gear disk 819 is provided on the outer periphery of the central disk. An external tooth 833 is provided on one side of the gear disk 819.

[0060] The push fork assembly is used to push out the copper wire on the hook after copper extraction is completed. The push fork assembly includes a horizontal cylinder 821, a cylinder connecting plate 822, a push fork linear guide rail, a second lifting cylinder 823, an L-shaped connecting plate 824, and a shift fork 825. The horizontal cylinder 821 and the push fork linear guide rail are respectively mounted on the upper side of the guide shaft 815 through the base plate. The piston rod of the horizontal cylinder 821 is connected to the cylinder connecting plate 822, and the bottom of the cylinder connecting plate 822 is slidably connected to the push fork linear guide rail. The second lifting cylinder 823 is mounted on the cylinder connecting plate 822, and the piston rod of the second lifting cylinder 823 is connected to the shift fork 825 through the L-shaped connecting plate 824.

[0061] The stop assembly is used to provide a stop for the silicon steel sheet of the coil during the copper drawing process, ensuring that the copper drawing force acts between the copper wire and the silicon steel sheet. The stop assembly includes a stop motor 835, a gear 834, a second connecting rod 832, and a stop block 831; the stop block 831 is disposed between any two adjacent hooks 817, and one end of the stop block 831 is provided with a groove, which is rotatably connected to one end of the connecting rod 832 by a pin, and the other end of the connecting rod 832 is rotatably connected to the inside of the gear disk 819 by a pin; the gear 834 meshes with the external teeth 833 of the gear disk 819, and the gear 834 is connected to the rotating shaft of the stop motor 835.

[0062] Secondly, we introduce the visual inspection component 9 for residual copper-pulling jaws. It is used to take pictures of the jaws of the copper-pulling jaw assembly 7 after each copper-pulling operation to detect whether there is any copper / aluminum wire residue, ensuring the cleanliness of the equipment and the reliability of the next operation.

[0063] Next, the machine 10 is used to integrate, support and position the core working components such as the cutting jaws, cutting, vision positioning, copper pulling jaws and copper pulling, forming the main frame of the equipment.

[0064] The bottom material sorting component is located below the machine 10. It can automatically classify and collect copper wires, aluminum wires, silicon steel sheets and NG products (non-conforming products) generated after cutting and copper drawing according to the material signals provided by the previous process.

[0065] Finally, the automatic wire cutting and copper stripping equipment for motor and compressor coils also includes a control system, including a PLC or industrial computer, which is configured to perform the following steps: receiving coil specification data from the pre-receiving visual positioning component 2; controlling the loading robot component 3 to perform adaptive gripping; coordinating the actions of the cutting gripper component 4 and the cutting component 5 based on feedback from the pre-cutting visual positioning component 6; controlling the copper stripping component 8 to output the corresponding copper stripping force according to the material judgment result of the end face visual imaging component 54; and controlling the bottom sorting component 11 to classify according to the material information.

[0066] Based on the above-mentioned equipment, the present invention also provides an automatic wire cutting and copper stripping method for motor and compressor coils, comprising the following steps:

[0067] S1. Feeding and Identification: The coil is placed on the feeding chain plate 1 and identified by the pre-receiving visual positioning component 2.

[0068] Specifically, the operator places the coil on the universal fixture plate of the feeding chain plate 1, and the feeding chain plate 1 transports the coil to the unloading station at equal intervals. Before unloading, the vision positioning component 2 takes a visual picture of the side of the coil that has arrived at the unloading station using a 3D camera to obtain its specifications (such as the height of the silicon steel sheet) and transmits the data to the PLC controller to automatically identify the coil type.

[0069] S2, Robot loading: The loading robot component 3 grabs the coil according to the recognition result and transfers it to the chopping gripper component 4;

[0070] Specifically, the loading robot component 3 controls the inner support gripper at its end to precisely insert into the corresponding depth of the coil's central hole based on the coil parameters obtained from the PLC. After opening, it clamps the coil and precisely transfers and inserts it into the electric three-jaw chuck of the chopping gripper component 4.

[0071] S3, Visual Positioning and Cutting: Before cutting, the visual positioning component 6 locates and re-judges the cutting position, and the cutting component 5 cuts the coil end from multiple angles.

[0072] Specifically, the cutting gripper assembly 4 moves the coil, bringing the coil's front end into the field of view of the pre-cutting visual positioning assembly 6. A first set of 2D cameras positions the front face of the coil's silicon steel sheet, and the cutting gripper assembly 4 moves the coil to the calculated precise cutting position accordingly. A second set of cameras (retest cameras) takes another picture to confirm the relative position of the cutting blade and the coil's front end is correct. After confirmation, the cutting blade of the cutting assembly 5 falls, completing one cut. Subsequently, the cutting gripper assembly 4 drives the coil to rotate by an angle (e.g., 90° or 120°), the retest camera repositions, and the cutting blade performs the next cut. This "positioning-cutting-rotation" process is repeated 3-4 times until all copper or aluminum wires at the coil's end are completely cut off. After cutting, the cutting gripper assembly 4 returns to the handover position with the remaining coil portion.

[0073] S4. End face inspection: After cutting, visual inspection is performed on the end face of the coil to determine the material and size;

[0074] Specifically, the end-face visual imaging component of the cutting component 5 takes pictures of the coil end face, and determines the coil material (copper or aluminum) and measures the end face size through image analysis. This data will provide a basis for subsequent control of copper pulling force and product classification.

[0075] S5. Copper removal: The copper removal jaw assembly 7 clamps the coil and cooperates with the copper removal assembly 8 to complete the copper removal operation.

[0076] Specifically, the XY-axis transfer module 71 of the copper-pulling jaw assembly 7 moves to the handover position, where its electric three-jaw chuck clamps the cut coil. The cutting jaw assembly 4 releases, completing the workpiece handover. The copper-pulling jaw assembly 7 carries the coil to the copper-pulling station and moves in coordination with the copper-pulling assembly 8. When the front end of the silicon steel sheet of the coil touches the stop block of the copper-pulling assembly 8, the copper-pulling jaw assembly 7 stops, the hooks of the copper-pulling assembly 8 grip the inner wall of the coil, and then the high-power servo motor 811 drives the hooks to pull back forcefully through the transmission mechanism, completely pulling the copper or aluminum wire inside the coil out of the silicon steel sheet.

[0077] S6. Residual Material Inspection and Unloading: Visually inspect the copper-pulling jaws for residual material and push the copper-pulled silicon steel sheet into the unloading port;

[0078] Specifically, after copper extraction is completed, the copper extraction jaw assembly 7 retracts to a safe position, and its electric three-jaw chuck releases. Subsequently, the second pusher cylinder 73 actuates, pushing the remaining silicon steel sheet into the inlet of the bottom material distribution assembly via the second pusher plate 74. At the same time, the copper extraction jaw residual material visual inspection assembly 9 takes a picture of the jaws of the copper extraction jaws to check for any copper / aluminum wire residue, ensuring that no residue will affect the next clamping operation.

[0079] S7. Automatic Product Sorting: The bottom sorting component automatically sorts and collects copper wire, aluminum wire, silicon steel sheet and NG products according to the material information.

[0080] The bottom material distribution assembly receives material signals from the end face detection and controls the material distribution baffle, electromagnet and other mechanisms to guide the cut wire ends (copper / aluminum), the pulled-out complete copper / aluminum wires, silicon steel sheets and non-conforming products (NG products) generated during the process into different collection channels to achieve automatic classification and recycling of products throughout the entire process.

[0081] In other embodiments, the feeding chain plate 1 can be replaced by a manual feeding platform to suit workshops with limited space. Furthermore, by modifying the electrical control program, the equipment functions can be flexibly configured to be used as a stand-alone automatic chopping machine or an automatic copper drawing machine.

[0082] Tests have shown that using this equipment and method, the processing time for a single coil is reduced to 25 seconds, an efficiency improvement of 1.4 times compared to manual operation.

[0083] More than twice as many times; copper wire recycling integrity rate exceeds 95%; can automatically adapt to 30 different specifications of coils for motors and compressors without manual intervention.

[0084] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic wire cutting and copper stripping device for motor and compressor coils, characterized in that, It includes: The feeding chain conveyor is used to transport coils to be processed; A pre-receiving visual positioning component is installed at the unloading station of the feeding chain line to identify the coil specifications and type; The loading robot component grasps the coil based on the recognition result of the pre-retrieving visual positioning component; The cutting gripper assembly is used to receive and hold the coils delivered by the loading robot assembly; A cutting assembly for cutting the coil end that is fixed by the cutting gripper assembly; A pre-cutting visual positioning component is used to accurately locate and re-determine the cutting position of the coil; Copper-pulling jaw assembly, used to hold the cut coil; A copper wire puller assembly, in conjunction with a copper wire puller jaw assembly, is used to pull out copper or aluminum wire from a clamped coil. The machine is located on one side of the feeding chain plate line and is used to carry the chopping gripper assembly, chopping assembly, pre-chopping vision positioning assembly, copper pulling gripper assembly and copper pulling assembly; The bottom material sorting component is located below the machine and is used to classify and collect different materials generated after chopping and copper drawing.

2. The automatic wire cutting and copper stripping equipment according to claim 1, characterized in that, It also includes a visual inspection component for copper-pulling jaw residue, which is used to photograph the jaws of the copper-pulling jaw assembly to detect whether there is any copper or aluminum wire residue.

3. The automatic wire cutting and copper stripping equipment according to claim 1, characterized in that, The cutting assembly also includes an end-face vision imaging assembly, which is used to take pictures of the coil end face after cutting in order to determine the material and measure the end face size.

4. The automatic wire cutting and copper stripping equipment according to claim 1, characterized in that, The pre-receiving visual positioning component includes a 3D camera, used to take three-dimensional visual photos of the coil side from the unloading station.

5. The automatic wire cutting and copper stripping equipment according to claim 1, characterized in that, The pre-cutting visual positioning component includes two sets of 2D cameras, one set for initial positioning of the coil front end face, and the other set for re-judging the relative position between the coil front end face and the cutting blade of the cutting component.

6. The automatic wire cutting and copper stripping equipment according to claim 1, characterized in that, The copper extraction assembly includes a claw assembly, a push fork assembly, and a stop assembly. The claw assembly includes a servo motor, a reducer, a ball screw, a connecting shaft, a fixed disk, a central flange, multiple hooks, a guide shaft, a central disk, and a gear disk. The servo motor is connected to the reducer, which is connected to the ball screw via a coupling. The end of the ball screw is connected to the connecting shaft, and the end of the connecting shaft is connected to the fixed disk. The guide shaft is located on the outer periphery of the connecting shaft. The fixed disk has multiple first through slots evenly spaced around its circumference, and pins are embedded in the first through slots. The end of each hook is hinged to the fixed disk via a pin. The central flange is located on one side of the fixed disk, and multiple second through slots are evenly spaced around its circumference. A spring is provided between the central flange and each hook. The central disk is located on the outer periphery of the central flange, and the gear disk is located on the outer periphery of the central disk. The gear disk has external teeth on one side. The push fork assembly includes a horizontal cylinder, a cylinder connecting plate, a linear guide rail, a lifting cylinder, an L-shaped connecting plate, and a shift fork. The horizontal cylinder and the linear guide rail are respectively mounted on the upper side of the guide shaft via a base plate. The piston rod of the horizontal cylinder is connected to the cylinder connecting plate, and the bottom of the cylinder connecting plate is slidably connected to the linear guide rail. The lifting cylinder is mounted on the cylinder connecting plate, and the piston rod of the lifting cylinder is connected to the shift fork via the L-shaped connecting plate. The material-stopping assembly includes a material-stopping motor, a gear, a connecting rod, and a stop block; the stop block is disposed between any two adjacent hooks, one end of the stop block is provided with a groove, the groove is rotatably connected to one end of the connecting rod by a pin, and the other end of the connecting rod is rotatably connected to the gear disk by a pin; the gear meshes with the external teeth of the gear disk, and the gear is connected to the rotating shaft of the material-stopping motor.

7. The automatic wire cutting and copper stripping equipment according to claim 1, characterized in that, The end effector of the loading robot component is an internal support pneumatic gripper.

8. An automatic wire cutting and copper stripping method based on the device according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Feeding and Identification: The coil is placed on the feeding chain plate and identified by the pre-removal vision positioning component; S2, Robot loading: The loading robot component picks up the coil based on the recognition result and transfers it to the chopping gripper component; S3, Visual Positioning and Cutting: Before cutting, the visual positioning component locates and re-judges the cutting position, and the cutting component cuts the coil end from multiple angles. S4. End face inspection: After cutting, visual inspection is performed on the end face of the coil to determine the material and size; S5. Copper Pulling: The copper pulling jaw assembly clamps the coil and works with the copper pulling assembly to complete the copper pulling operation. S6. Residual Material Inspection and Unloading: Visually inspect the copper-pulling jaws for residual material and push the copper-pulled silicon steel sheet into the unloading port; S7. Automatic Product Sorting: The bottom sorting component automatically sorts and collects copper wire, aluminum wire, silicon steel sheet and NG products according to the material information.

9. The method according to claim 8, characterized in that, In step S3, the cutting component, driven by the cutting gripper component, rotates and cuts the coil multiple times until the copper or aluminum wire at the end of the coil is completely cut off.

10. The method according to claim 8, characterized in that, The feeding chain can be replaced by a manual feeding platform; and / or, the equipment can be controlled by a program to independently perform a separate cutting function or a separate copper stripping function.

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