Adjustable anti-deformation coil grabbing device

Abstract

The application discloses a kind of adjustable anti-deformation coil grabbing device, which is installed in the execution end of six-axis manipulator, including base, rotary adjustment mechanism, telescopic drive mechanism, front jaw mechanism, rear jaw and visual detection assembly.The front jaw mechanism is driven by telescopic cylinder to extend or retract, and the rotary adjustment mechanism can steplessly adjust the jaw clamping angle within the range of 0°-30°.When the coil span is less than 180mm, the front jaw mechanism retracts, and the rear jaw clamps alone;When the coil span is greater than 180mm, the front jaw mechanism extends, and the rear jaw forms a double-jaw clamping mode together.The visual detection assembly is used to detect the span size of the expanded coil and determine whether it is qualified.The application can effectively prevent the deformation of the coil during grabbing and transferring, and is compatible with multiple coils of direct drive and semi-direct drive, and does not need to be disassembled when changing type, which greatly improves the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, specifically to an adjustable anti-deformation coil gripping device. Background Technology

[0002] With the rapid development of the new energy and high-efficiency energy-saving motor industry, motor manufacturing production lines are gradually upgrading towards full automation, flexibility, and high precision. As a core component of the motor, the stator coil has strict requirements on the external dimensions of the expanded coil during the coil forming process. If deformation occurs during the gripping and transfer process by the robotic arm, it will directly affect the subsequent winding, shaping, and overall assembly quality. Furthermore, current automated production, multi-variety, small-batch, and rapid changeover have become the mainstream production mode in the industry, placing higher demands on the versatility and changeover efficiency of the gripping device.

[0003] In automated stator coil expansion operations, traditional coil gripping devices are mostly fixed structures with non-adjustable clamping positions, angles, and spacing. They are limited to a single product type and cannot simultaneously accommodate multiple coils. Furthermore, robotic arms are prone to bending and deformation when gripping coils with large spans. Especially when switching between coils with different spans, the machine must be stopped for disassembly and manual replacement and adjustment of the clamps, resulting in long changeover times, cumbersome operations, and low production efficiency, making it difficult to meet the actual needs of continuous and stable operation of automated production lines.

[0004] Currently, in the automated expansion process of stator coils, the coil gripping device mostly uses a single gripper with a fixed angle. The single gripper grips only one side of the coil, which applies force to only one side. Uneven force during gripping and transfer can easily lead to coil deformation. Moreover, the single gripper with a fixed angle can only be used for a single specification of coil. When switching production of coils with different spans, the machine must be stopped, disassembled, and the clamps must be manually adjusted and replaced. The adjustment process is complicated and time-consuming, which seriously affects the overall efficiency of the production line and the consistency of products.

[0005] The most commonly used solution is a fixed single-claw structure, where the clamping angle, position, and spacing are all fixed values. During operation, the single claw clamps the coil from one side and transports it to the expansion station. This solution has the following drawbacks: First, unilateral force application leads to asymmetrical stress on the coil, making it prone to bending deformation during transport, especially for semi-direct drive coils with large spans and narrow cross-sections, where deformation is particularly prominent; second, the fixed angle design prevents the clamping surface from fitting snugly against the straight edges of coils at different angles, causing localized stress concentration; and third, it can only accommodate coils of a single specification, resulting in poor versatility.

[0006] Another solution employs a manually adjustable structure, where the gripper angle and spacing can be manually adjusted via threads or grooves. This solution relies on operator experience for adjustment accuracy, making it difficult to guarantee product consistency. Furthermore, recalibration is required after adjustment, hindering rapid automatic switching and resulting in relatively low changeover efficiency.

[0007] In conclusion, existing equipment is insufficient to meet the actual needs of automated production lines for flexible, efficient, and high-quality production. Summary of the Invention

[0008] To address the aforementioned issues, this invention discloses an adjustable anti-deformation coil gripping device. During the automated expansion process of stator coils, this invention employs an adjustable dual-gripper gripping mechanism, which effectively solves the problem of deformation caused by the robotic arm gripping semi-direct drive coils due to their large span and narrow cross-section. It also addresses the issue of traditional gripping devices being compatible with only a limited range of products and unable to simultaneously support both direct drive and semi-direct drive coils. Furthermore, it eliminates the need for disassembly and adjustment when automating the production of coils with different spans, thus shortening the overall product changeover time and improving production efficiency.

[0009] An adjustable anti-deformation coil gripping device is installed on the actuator of a six-axis robot. It includes a base, the upper end of which is connected to the robot via a quick-change disc, and a connecting seat at the lower end of the base; a rotation adjustment mechanism, mounted on the base via a connecting plate, for adjusting the gripping angle; a telescopic drive mechanism, installed below the rotation adjustment mechanism; a rear gripper mechanism, fixedly mounted on the connecting seat; a front gripper mechanism, connected to the actuating end of the telescopic drive mechanism, driven by the telescopic drive mechanism to extend or retract; and a vision inspection component, mounted on the base, for detecting the span dimension of the coil after expansion. The front gripper mechanism has opposing front grippers, and the rear gripper mechanism has opposing rear grippers.

[0010] Furthermore, the base is designed to be wider.

[0011] Furthermore, the rotation adjustment mechanism includes a rotating plate with a waist hole. By adjusting the angle of the waist hole, the front gripper mechanism can be adjusted within the range of 0° to 30°.

[0012] Furthermore, the telescopic drive mechanism adopts a telescopic cylinder, the telescopic cylinder is equipped with an external position sensor, and the cylinder shaft of the telescopic cylinder is connected to the front gripper mechanism.

[0013] Furthermore, the front gripper mechanism includes symmetrically arranged front grippers, a connecting plate, and a double gripper cylinder. One end of the connecting plate is connected to the cylinder shaft of the telescopic cylinder, and the lower end is fixed with the double gripper cylinder. The telescopic ends on both sides of the double gripper cylinder are respectively connected to the front grippers.

[0014] Furthermore, the clamping surfaces of both the front and rear grippers are widened using nylon blocks.

[0015] A method for expanding an adjustable anti-deformation coil gripping device includes the following steps:

[0016] Step 1: Grip mode determination and adjustment

[0017] Determine the coil span size and check if the coil span is greater than 180mm;

[0018] If the span is less than 180mm, a single gripper mode is used, in which the front gripper mechanism rotates and retracts, and the rear gripper mechanism grips the object separately.

[0019] If the span is greater than 180mm, a double gripper mode is adopted. The front gripper mechanism extends and the angle of the rotating plate is adjusted so that the gripping surfaces of the front gripper mechanism and the rear gripper mechanism are in contact with the straight edges on both sides of the coil.

[0020] Step 2: Grabbing, Transfer and Expansion Operation. The robotic arm drives the gripping device to grab the coil from the loading frame and transfer it to the expansion station for coil expansion operation.

[0021] Step 3: Detection and subsequent processing: The visual detection component is used to photograph both ends of the expanded coil and calculate the span to determine whether the actual span is within the standard range.

[0022] If the actual span exceeds the standard range, it is deemed unqualified, the robot returns to the initial position and reports the unqualified information, and is then manually checked; if the actual span is within the standard range, it is deemed qualified, the robot picks up the expanded coil and transfers it to the next station, and the operation ends.

[0023] The beneficial effects of this invention are:

[0024] 1. By setting up a front gripper mechanism and a rear gripper mechanism, when the large-span coil adopts the double gripper mode, the front gripper mechanism and the rear gripper mechanism clamp the coil from both sides simultaneously. The coil is subjected to symmetrical and uniform force on both sides, avoiding the problem of uneven force on the coil caused by the single gripper applying force on one side in the prior art. This effectively prevents the coil from bending and deforming during the gripping and transportation process, and ensures the dimensional accuracy of the coil after expansion.

[0025] 2. This invention utilizes the waist-hole structure on the rotating plate to allow the front gripper mechanism to achieve stepless angle adjustment within the range of 0° to 30°. This adapts to different tilt angles on both sides of the straight edges of different coils, ensuring complete contact between the gripping surface and the straight edges of the coil, thus avoiding localized stress concentration. Simultaneously, the extension or retraction of the front gripper mechanism is driven by a telescopic cylinder, allowing for flexible switching between single-gripper and double-gripper modes. A single device can be compatible with multiple coil products of different specifications, both direct-drive and semi-direct-drive, significantly improving the equipment's versatility and flexible production capabilities.

[0026] 3. When producing coils with different spans, this invention only requires the extension or retraction of the front gripper mechanism driven by the telescopic cylinder, and the angle adjustment of the rotating plate to complete the switching between single gripper mode and double gripper mode. The entire mode switching process does not require disassembling any parts or stopping the machine to manually change the fixture, which greatly shortens the product changeover time and effectively improves the production efficiency of automated production lines.

[0027] 4. This invention integrates a visual inspection component, which can automatically capture and calculate the span size at both ends of the coil after expansion is completed. By importing the standard coil span range, it can automatically determine whether the product is qualified, realizing online automatic detection and judgment. Compared with the traditional method of relying on manual sampling inspection, quality control is more timely and accurate, which is conducive to ensuring product consistency and pass rate. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the adjustable anti-deformation coil gripping device of the present invention.

[0030] Figure 2 This is a schematic diagram of the rear gripper mechanism of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the base of this application;

[0032] Figure 4 This is a schematic diagram of the connection between the rotating mechanism and the front gripper mechanism in this application;

[0033] Figure 5 This is a flowchart of the expansion operation of the adjustable coil gripping device of the present invention.

[0034] Figure 6 This is a front view of the coil's shape after expansion.

[0035] Figure 7 This is a top view of the coil after expansion.

[0036] Figure 8 This is a schematic diagram of the front gripper mechanism. Detailed Implementation

[0037] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0038] like Figure 1As shown, the upper end of the base 1 is connected to the robot arm via a quick-change plate 9, and the lower end of the base 1 is provided with a connecting seat 2. A connecting plate 8 is mounted on the base 1, and a rotating plate 3 is mounted on the base 1 via the connecting plate 8. A telescopic cylinder 6 is mounted below the rotating plate 3, and the cylinder shaft of the telescopic cylinder 6 is connected to the front gripper mechanism 4 via a connecting plate 42. A rear gripper mechanism 5 is fixedly mounted on the connecting seat 2. The front gripper mechanism 4 has a front gripper 41 arranged opposite to each other, and the rear gripper mechanism 5 has a rear gripper 51 arranged opposite to each other. A vision inspection component 10 is mounted on the base 1 via the connecting plate 8 and is arranged side by side with the gripper component.

[0039] like Figure 2 As shown, the rear gripper mechanism 5 is fixedly installed on the connecting seat 2. The rear gripper mechanism 5 includes rear grippers 51 arranged opposite each other for gripping the coil from both sides.

[0040] like Figure 3 As shown, the base 1 adopts a widened plate-shaped structure design. The upper end is used to connect the quick-change plate 9, and the lower end is provided with a connecting seat 2 for installing the gripper assembly and the vision inspection assembly 10.

[0041] like Figure 4 As shown, the connection structure between the rotating mechanism and the front gripper mechanism includes a rotating plate 3, a telescopic cylinder 6, and a front gripper mechanism 4. The rotating plate 3 is mounted on the base 1, the telescopic cylinder 6 is fixed below the rotating plate 3, and the cylinder shaft of the telescopic cylinder 6 is connected to the front gripper mechanism 4 through a connecting plate 42.

[0042] like Figure 8 As shown, the front gripper mechanism 4 includes symmetrically arranged front grippers 41, a connecting plate 42, and a double-gripper cylinder 43. One end of the connecting plate 42 is connected to the cylinder shaft of the telescopic cylinder 6, and the lower end of the connecting plate 42 is fixed with the double-gripper cylinder 43. The telescopic ends on both sides of the double-gripper cylinder 43 are respectively connected to the front grippers 41, driving the front grippers 41 on both sides to open or close synchronously.

[0043] The base 1 serves as the main support structure, featuring a widened plate-like structure. The upper surface of the base 1 is detachably connected to the actuator of the six-axis robot via a quick-change disc 9, enabling rapid replacement. The lower surface of the base 1 is connected to the gripper assembly and vision inspection assembly via a connecting seat 2. The widened design of the base 1 allows for the simultaneous installation of multiple grippers and one vision inspection assembly in the width direction, ensuring the stability of the overall structure while providing installation space for multi-gripper collaborative operation.

[0044] The connecting plate 8 is fixedly installed on the lower end face of the base 1, serving as a transitional connector between the rotating plate 3 and the base 1.

[0045] The rotating plate 3 is mounted on the base 1 via the connecting plate 8, and the rotating plate 3 has a waist hole. By rotating the rotating plate 3 relative to the connecting plate 8, and cooperating with the locking device in the waist hole, the rotating plate 3 can achieve stepless adjustment and locking within the range of 0° to 30°. This angle adjustment function is used to adapt to different tilt angles of the straight edges on both sides of different models of coils, so that the clamping surface of the front gripper 41 remains parallel and in contact with the straight edge of the coil.

[0046] The telescopic cylinder 6 is fixedly installed below the rotating plate 3, and its cylinder shaft is connected to the front gripper mechanism 4 via the connecting plate 42. A position sensor is installed on the outside of the telescopic cylinder 6 to detect the extension position of the cylinder shaft in real time, thereby achieving precise control of the opening and closing distance of the front gripper mechanism 4. By adjusting the extension amount of the telescopic cylinder 6, coil products of different heights and sizes can be accommodated.

[0047] The front gripper mechanism 4 is connected to the cylinder shaft end of the telescopic cylinder 6 and is driven by the telescopic cylinder 6 to extend or retract. The front gripper mechanism 4 includes symmetrically arranged front grippers 41, a connecting plate 42, and a double-grip cylinder 43. One end of the connecting plate 42 is connected to the cylinder shaft of the telescopic cylinder 6, and the lower end of the connecting plate 42 is fixed with the double-grip cylinder 43. The telescopic ends on both sides of the double-grip cylinder 43 are respectively connected to the front grippers 41, driving the two front grippers 41 to open or close synchronously.

[0048] The rear gripper mechanism 5 is fixedly installed at the corresponding position of the connecting seat 2. The rear gripper mechanism 5 includes a rear gripper 51 that is disposed opposite to it.

[0049] The clamping surfaces of the front jaw 41 and the rear jaw 51 are both made of nylon blocks, and the nylon clamping surfaces are widened in the width direction. Compared with the traditional narrow strip clamping surfaces, the contact area with the coil is significantly increased, thereby effectively reducing the clamping contact stress and avoiding local deformation of the coil caused by stress concentration.

[0050] The installation positions of the front gripper mechanism 4 and the rear gripper mechanism 5 on the base 1 can be set to be symmetrically arranged left and right or arranged front and back, depending on the size of the coil span. When the span is less than 180mm, the left and right symmetrical arrangement is suitable for small span coils; when the span is greater than 180mm, the front and back arrangement is suitable for large span coils.

[0051] The visual inspection component mainly includes a light source, a camera, and sensors. The light source provides uniform illumination for taking pictures, the camera captures images of the span between the two ends of the expanded coil, and the sensors transmit the acquired image data to the control system for analysis and processing. The control system has a pre-stored standard coil span range, and the actual span size is analyzed by comparing it with the imported standard range. If the actual span exceeds the standard size range, the expanded coil is judged to be unqualified, and feedback is sent to the robot arm, which returns to its initial position, reminding the operator that the coil expansion is unqualified; otherwise, the coil expansion is qualified.

[0052] Combination Figure 5 As shown, the specific expansion operation process of the gripping device of the present invention is as follows.

[0053] Step 1: Grip mode determination and adjustment

[0054] Determine the coil span size and check if the coil span is greater than 180mm.

[0055] If the span is less than 180mm, a single gripper mode is used. The telescopic cylinder 6 drives the front gripper mechanism 4 to retract to the avoidance position, and only the rear gripper mechanism 5 performs the gripping action. The front gripper mechanism 4 and the rear gripper mechanism 5 are arranged symmetrically on the base 1, so that the coil is subjected to symmetrical force and the center of gravity is centered during gripping.

[0056] If the span is greater than 180mm, a double-claw mode is used. The telescopic cylinder 6 drives the front claw mechanism 4 to extend to the designated position. At the same time, according to the actual angle of the straight sides of the coil, the angle of the waist hole on the rotating plate 3 is adjusted so that the clamping angle of the front claw mechanism 4 is adjusted within the range of 0° to 30° to be completely in contact with the straight side of the coil, so that the clamping surface of the front claw 41 is parallel to the straight side of the coil, ensuring that the clamping force is perpendicular to the coil cross-section. The front claw mechanism 4 and the rear claw mechanism 5 are arranged one after the other on the base 1 to simultaneously grip both sides of the coil.

[0057] Throughout the entire mode switching and angle adjustment process, no disassembly is required; it can be completed simply by extending and retracting the telescopic cylinder 6 and adjusting the angle of the rotating plate 3.

[0058] Step 2: Grab, transfer, and expansion operations

[0059] The robotic arm moves the gripping device to the loading frame position, and the control system issues a clamping command. The pneumatic drive components of the front gripper mechanism 4 and the rear gripper mechanism 5 actuate, and the grippers close smoothly to clamp the coil. Because the clamping surfaces of the front gripper 41 and the rear gripper 51 are both designed with widened nylon blocks, the contact area is large, and the clamping force is evenly distributed on the coil surface, effectively avoiding stress concentration.

[0060] The robotic arm transfers the clamped coil to the expansion station, where the expansion equipment performs expansion processing on the coil to make it meet the design requirements for external dimensions, span, cross-sectional shape, and positional tolerances.

[0061] Step 3: Detection, Judgment, and Subsequent Processing

[0062] After the expansion is completed, the light source of the vision inspection component provides illumination, the camera captures an image of the span between the two ends of the expanded coil, and the sensor transmits the image data to the control system. The control system analyzes the actual span size by comparing it with an imported standard coil span range.

[0063] If the actual span exceeds the standard size range, the control system determines that the expansion coil is unqualified, sends a non-compliance signal to the robot arm, the robot arm drives the gripping device back to the initial position, and prompts the operator that the coil expansion is unqualified, requiring manual inspection.

[0064] If the actual span is within the standard size range, the control system determines that the expanded coil is qualified. The robot arm drives the gripping device to clamp the expanded coil and transfer it to the next station. After reaching the target station, the control system issues a release command, the gripper releases and resets, completing the entire expansion process of the coil.

[0065] Combination Figure 6 , Figure 7 As shown, the expanded coil has two straight sides with different tilt angles, and the span between the two straight sides is measured by a vision inspection component.

[0066] Example 1: Direct-drive small-span coil

[0067] Taking a certain type of direct-drive motor stator coil as an example, the coil span is less than 180mm. The operator selects this coil model in the control system, and the system automatically recognizes the span as less than 180mm. The telescopic cylinder 6 drives the front gripper mechanism 4 to retract to an avoidance position, switching to single-gripper mode; the front gripper mechanism 4 and the rear gripper mechanism 5 are arranged symmetrically from left to right. The robotic arm drives the gripping device to clamp the coil from the loading frame. The nylon-widened gripping surfaces of the front gripper 41 and the rear gripper 51 contact the coil, smoothly transferring it to the expansion station. After expansion, the vision inspection component captures and calculates the span, compares it with the standard range, and if it passes, transfers it to the next station.

[0068] Example 2: Semi-direct drive large span coil

[0069] Taking the stator coil of a certain type of semi-direct drive motor as an example, the coil span is greater than 180mm, and the angles of the straight edges on both sides are different. The operator selects this coil model in the control system, and the system automatically recognizes that the span is greater than 180mm. The telescopic cylinder 6 drives the front gripper mechanism 4 to extend to the designated position, switching to double gripper mode; the front gripper mechanism 4 and the rear gripper mechanism 5 are arranged in a front-to-back configuration. According to the angles of the straight edges on both sides of the coil, the operator adjusts the rotating plate 3 corresponding to the front gripper mechanism 4 and the rotating plate 3 corresponding to the rear gripper mechanism 5 respectively, so that they are locked so that they are completely parallel and in contact with their respective corresponding straight edges of the coil, and the clamping surfaces of the front gripper 41 and the rear gripper 51 are completely parallel and in contact with the straight edges on both sides of the coil. The robotic arm drives the gripping device to simultaneously clamp both sides of the coil from the loading frame, with symmetrical and balanced force, and smoothly transfers it to the expansion station. After expansion is completed, the vision inspection component takes pictures and calculates the span, compares it with the standard range, and after passing the test, transfers it to the next station.

[0070] Example 3: Quick Changeover

[0071] When the production of the above-mentioned semi-direct drive large span coils is completed, and it is necessary to switch back to the direct drive small span coils of Example 1, the control system automatically identifies the new coil model, the telescopic cylinder 6 drives the front gripper mechanism 4 to retract to the avoidance position, and the rotating plate 3 is reset to the initial angle, thus completing the switch from the double gripper mode to the single gripper mode without disassembling any parts.

[0072] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features.

Claims

1. An adjustable anti-deformation coil gripping device, installed on the actuator of a six-axis robot, characterized in that, The system includes a base (1), the upper end of which is connected to the robot arm via a quick-change plate (9), and a connecting seat (2) at the lower end of the base (1); a rotation adjustment mechanism, which is mounted on the base (1) via a connecting plate (8) and is used to adjust the clamping angle; a telescopic drive mechanism, which is mounted below the rotation adjustment mechanism; a rear gripper mechanism (5), which is fixedly mounted on the connecting seat (2); a front gripper mechanism (4), which is connected to the action end of the telescopic drive mechanism and is driven by the telescopic drive mechanism to extend or retract; and a vision inspection component, which is mounted on the base (1) and is used to inspect the span size of the coil after expansion; wherein, the front gripper mechanism (4) is provided with a front gripper (41) arranged opposite to each other, and the rear gripper mechanism is provided with a rear gripper (51) arranged opposite to each other.

2. The adjustable anti-deformation coil gripping device according to claim 1, characterized in that, The base (1) is designed to be widened.

3. The adjustable anti-deformation coil gripping device according to claim 1, characterized in that, The rotation adjustment mechanism includes a rotating plate (3) with a waist hole (31) on it. By adjusting the angle of the waist hole, the front gripper mechanism (4) can be adjusted within the range of 0° to 30°.

4. The adjustable anti-deformation coil gripping device according to claim 1, characterized in that, The telescopic drive mechanism adopts a telescopic cylinder (6), and the telescopic cylinder (6) is equipped with an external position sensor. The cylinder shaft of the telescopic cylinder (6) is connected to the front gripper mechanism (4).

5. The adjustable anti-deformation coil gripping device according to claim 4, characterized in that, The front gripper mechanism (4) includes a symmetrically arranged front gripper (41), a connecting plate (42), and a double gripper cylinder (43). One end of the connecting plate (42) is connected to the cylinder shaft of the telescopic cylinder (6), and the lower end is fixed with the double gripper cylinder (43). The telescopic ends on both sides of the double gripper cylinder (43) are connected to the front gripper (41) respectively.

6. The adjustable anti-deformation coil gripping device according to claim 1, characterized in that, The clamping surfaces of the front jaw (41) and the rear jaw (51) are both designed with widened nylon blocks.

7. A method for expanding a coil using the adjustable anti-deformation coil gripping device according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: Grip mode determination and adjustment Determine the coil span size and check if the coil span is greater than 180mm; If the span is less than 180mm, a single gripper mode is adopted, and the front gripper mechanism (4) rotates and retracts, and the rear gripper mechanism (5) grips it alone. If the span is greater than 180mm, a double gripper mode is adopted. The front gripper mechanism (4) extends and the angle of the rotating plate (3) is adjusted so that the gripping surfaces of the front gripper mechanism (4) and the rear gripper mechanism (5) are in contact with the straight edges on both sides of the coil. Step 2: Grabbing, Transfer and Expansion Operation. The robotic arm drives the gripping device to grab the coil from the loading frame and transfer it to the expansion station for coil expansion operation. Step 3: Detection and subsequent processing: The visual detection component is used to photograph both ends of the expanded coil and calculate the span to determine whether the actual span is within the standard range. If the actual span exceeds the standard range, it is deemed unqualified, the robot returns to the initial position and reports the unqualified information, and is then manually checked; if the actual span is within the standard range, it is deemed qualified, the robot picks up the expanded coil and transfers it to the next station, and the operation ends.

Images