Automatic stator feeding system for water pump assembly line

Abstract

The utility model relates to the technical field of water pump stator production, in particular to an automatic stator feeding system for a water pump assembly line. The device comprises a stator feeding station, a stator skip car, a ground positioning mechanism, a robot, a robot clamp and a visual mechanism, the robot is installed on the stator feeding station, the stator feeding station is provided with a skip car placing area and a stator target placing position, the ground positioning mechanism is installed in the skip car placing area, and the robot clamp is installed on the ground positioning mechanism. The stator skip car is placed in the skip car placing area and is in butt joint with the ground positioning mechanism, the visual mechanism and the robot clamp are both connected to the swing tail end of the robot, the robot drives the robot clamp to transfer stator materials in the stator skip car to a stator target placing position, and the visual mechanism obtains images of the stator materials. The robot clamp and the visual mechanism are carried by the robot, so that the stators are automatically transferred from the skip car to the target placement position, the labor cost is saved, the labor intensity of workers is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of water pump stator manufacturing technology, and in particular to an automatic stator feeding system for water pump assembly lines. Background Technology

[0002] Currently, in the water pump industry, the stator is mainly installed manually during the water pump assembly process. This not only results in high labor intensity for workers, low efficiency, and high costs, but also affects the stability of product quality due to inconsistent manual operation. Utility Model Content

[0003] This utility model provides an automatic stator feeding system for a water pump assembly line, which aims to solve the problems of low efficiency and unstable product quality caused by manual stator feeding in the past.

[0004] This utility model provides an automatic stator feeding system for a water pump assembly line, including a stator feeding station, a stator trolley, a ground positioning mechanism, a robot, a robot gripper, and a vision mechanism. The robot is installed on the stator feeding station, which has a trolley placement area and a stator target placement position. The ground positioning mechanism is installed in the trolley placement area, and the stator trolley is placed in the trolley placement area and docked with the ground positioning mechanism. The vision mechanism and the robot gripper are both connected to the swing end of the robot. The robot drives the robot gripper to transfer the stator material in the stator trolley to the stator target placement position, and the vision mechanism acquires an image of the stator material.

[0005] As a further improvement of this utility model, the stator material cart includes a cart body, casters, and a product positioning grid. The casters are connected to the bottom of the cart body, and the product positioning grid is connected to the top of the cart body. The product positioning grid has multiple material grids for placing stator materials.

[0006] As a further improvement of this utility model, the ground positioning mechanism includes a positioning base plate, a positioning baffle, a guide plate, and a positioning block. The positioning base plate is installed in the material cart placement area, the positioning baffle is connected to the end of the positioning base plate, the guide plate is connected to the side of the positioning base plate, and the positioning block is set on the positioning base plate and close to the positioning baffle. The positioning block is used to lock the casters.

[0007] As a further improvement of this utility model, the ground positioning mechanism also includes a positioning sensor, which is mounted on the positioning baffle.

[0008] As a further improvement of this utility model, the swing end of the robot is provided with a component mounting plate, and the robot gripper includes a multi-claw cylinder, gripper handles, and flexible gripping blocks. The multi-claw cylinder is connected to the component mounting plate, and the output end of the multi-claw cylinder is connected to multiple gripper handles. At least one flexible gripping block is connected to each gripper handle. The multi-claw cylinder drives the multiple gripper handles to expand or retract synchronously in multiple directions.

[0009] As a further improvement of this utility model, the gripper handle is an inverted L-shaped structure composed of a gripper horizontal arm and a gripper vertical arm. The gripper horizontal arm is connected to the multi-jaw cylinder. When the multi-jaw cylinder retracts, the inner sides of the gripper vertical arms of the multiple gripper handles move towards the center of the multi-jaw cylinder. The flexible clamping block is connected to the outer side of the gripper vertical arm.

[0010] As a further improvement of this utility model, the vision mechanism includes a vision camera and a light source, both of which are connected to a component mounting plate, with the light source located below the vision camera.

[0011] As a further improvement of this utility model, the robot gripper also includes a detection sensor, which is connected to the gripper handle.

[0012] As a further improvement of this utility model, the automatic stator feeding system for the water pump assembly line also includes a safety guardrail. The safety guardrail surrounds the outside of the stator feeding station, and the safety guardrail has a feeding gap in the material cart placement area. The safety guardrail is equipped with a safety light curtain at the feeding gap.

[0013] As a further improvement of this utility model, the robot is a multi-axis robot.

[0014] The beneficial effects of this utility model are: This system realizes the automatic transfer of the stator from the material cart to the target placement position through the automated structure of the robot carrying the robot fixture and the vision mechanism, which saves labor costs, reduces the labor intensity of workers, improves production efficiency, and enhances the automation level of enterprises. Attached Figure Description

[0015] Figure 1 This is an overall structural diagram of the automatic stator feeding system for a water pump assembly line according to this utility model.

[0016] Figure 2 This is a top view of the structure of the automatic stator feeding system for a water pump assembly line according to this utility model;

[0017] Figure 3 This is a structural diagram of the stator material car in this utility model;

[0018] Figure 4 This is a structural diagram of the ground positioning mechanism in this utility model;

[0019] Figure 5 This is a structural diagram of the robot in this utility model;

[0020] Figure 6 This is a structural diagram of the robot gripper and vision mechanism in this utility model;

[0021] Figure 7 This is a structural diagram of the safety railing in this utility model. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0023] like Figure 1 and Figure 2 As shown, this utility model discloses an automatic stator feeding system for a water pump assembly line, comprising a stator feeding station 1, a stator trolley 2, a ground positioning mechanism 3, a robot 4, a robot gripper 5, and a vision mechanism 6. The robot 4 is installed on the stator feeding station 1, which has a trolley placement area 11 and a stator target placement position 12. The ground positioning mechanism 3 is installed in the trolley placement area 11, and the stator trolley 2 is placed in the trolley placement area 11 and docked with the ground positioning mechanism 3. The vision mechanism 6 and the robot gripper 5 are both connected to the swing end of the robot 4. The robot 4 drives the robot gripper 5 to transfer the stator material 8 in the stator trolley 2 to the stator target placement position 12, and the vision mechanism 6 acquires an image of the stator material 8.

[0024] The stator trolley 2 is used to load the stator material 8 to be loaded. The ground positioning mechanism 3 is used to fix the stator trolley 2 on the stator loading station 1 to prevent the stator trolley 2 from shaking during loading. The robot 4 drives the robot gripper 5 to grab the stator material 8 on the stator trolley 2 and transfer it to the stator target placement position 12 to realize the automatic loading process. When grabbing and placing the stator material 8, the vision mechanism 6 takes pictures and positions the stator.

[0025] like Figure 3 As shown, the stator trolley 2 includes a body 21, casters 22, and a product positioning grid 23. The casters 22 are connected to the bottom of the body 21, and the product positioning grid 23 is connected to the top of the body 21. The product positioning grid 23 has multiple material compartments 24 for placing stator materials 8. The multiple material compartments 24 on the product positioning grid 23 are arranged in an array, and each material compartment 24 holds one stator material 8, which facilitates positioning by the vision mechanism 6 and gripping by the robot gripper 5. Multiple casters 22 are installed under the body 21 to facilitate moving the entire body 21.

[0026] like Figure 4As shown, the ground positioning mechanism 3 includes a positioning base plate 31, a positioning baffle 32, a guide plate 33, and a positioning block 34. The positioning base plate 31 is installed in the material cart placement area 11. The positioning baffle 32 is connected to the end of the positioning base plate 31. The guide plate 33 is connected to the side of the positioning base plate 31. The positioning block 34 is set on the positioning base plate 31 and close to the positioning baffle 32. The positioning block 34 is used to lock the caster 22. The ground positioning mechanism 3 is installed on the ground. The ground positioning mechanism 3 has a left positioning base plate 31 and a right positioning base plate 31 at the parking position of the material cart. The left positioning base plate 31 and the right positioning base plate 31 are opposite each other, which restricts the placement position of the stator material cart 2. The installation of the left positioning base plate 31 and the right positioning base plate 31 must be level. The guide plate 33 guides the stator trolley 2 to accurately enter the range defined by the left and right positioning base plates 31 when it is pushed in. The positioning baffle 32 blocks the forward direction of the stator trolley 2 and limits the stop position of the stator trolley 2 when it is pushed in. The positioning block 34 adopts a V-shaped structure. When the stator trolley 2 is pushed in, the caster 22 will be locked on the positioning block 34 and the caster 22 will slide. At the same time, the V-shaped positioning block 34 is designed to provide rough positioning for the stator trolley 2 in both manual handling and AGV trolley handling.

[0027] The ground positioning mechanism 3 also includes a positioning sensor 35, which is mounted on the positioning baffle 32. The positioning sensor 35 is used to detect whether the stator trolley 2 has been pushed into place.

[0028] like Figure 5 and Figure 6 As shown, the swing end of robot 4 is provided with a component mounting plate 41. The robot gripper 5 includes a multi-claw cylinder 51, gripper handles 52, and flexible gripping blocks 53. The multi-claw cylinder 51 is connected to the component mounting plate 41. The output end of the multi-claw cylinder 51 is connected to multiple gripper handles 52. Each gripper handle 52 is connected to at least one flexible gripping block 53. The multi-claw cylinder 51 drives multiple gripper handles 52 to expand or retract synchronously in multiple directions.

[0029] Robot 4 is a multi-axis robot, specifically a six-axis robot. Robot gripper 5 and vision mechanism 6 are mounted on the flange end face of the sixth axis of robot 4. Multiple gripper handles 52 of robot gripper 5 are driven simultaneously by a multi-jaw cylinder 51. The gripping surface formed by the multiple gripper handles 52 is a circular structure to adapt to the circular structure of stator material 8. The synchronous expansion or contraction of multiple gripper handles 52 can ensure uniform force on various points of stator material 8. The flexible gripping blocks 53 on the gripper handles 52 can make the contact with the stator material 8 flexible, playing a buffering role and avoiding direct damage to the stator.

[0030] The gripper handle 52 has an inverted L-shaped structure consisting of a gripper horizontal arm 54 and a gripper vertical arm 55. The gripper horizontal arm 54 is connected to the multi-jaw cylinder 51. When the multi-jaw cylinder 51 retracts, the inner sides of the gripper vertical arms 55 of the multiple gripper handles 52 move towards the center of the multi-jaw cylinder 51, and the flexible clamping block 53 is connected to the outer side of the gripper vertical arm 55. The gripper handle 52 with its L-shaped structure can extend into the hollow through hole in the stator to grip the stator from the inside out, forming an internal support clamp. At the same time, the design of the split gripper handle 52 and the flexible clamping block 53 enables the gripping of stators with inner hole diameters of 48mm and 58mm.

[0031] The vision mechanism 6 includes a vision camera 61 and a light source 62. Both the vision camera 61 and the light source 62 are connected to the component mounting plate 41, with the light source 62 located below the vision camera 61. The vision camera 61 takes pictures of the stator material 8 being gripped, and the light source 62 provides sufficient light for the vision camera 61 to take pictures. By designing the vision mechanism 6, the stator placed in the grid of the stator material cart 2 is accurately positioned, guiding the robot 4 to grip the stator. The vision mechanism 6 can also take pictures of the stator's posture at the target position to detect whether the stator's posture is correct.

[0032] The robot gripper 5 also includes a detection sensor 56, which is connected to the gripper handle 52. The detection sensor 56 is mounted on the robot gripper 5 to detect whether a product is being gripped.

[0033] like Figure 7 As shown, the automatic stator feeding system for the water pump assembly line also includes a safety guardrail 7. The safety guardrail 7 surrounds the stator feeding station 1, and has a feeding notch 71 in the material cart placement area 11. A safety light curtain 72 is installed at the feeding notch 71. The safety light curtain 72 is installed on the safety guardrail 7 to detect whether personnel have entered the robot 4's working area while the robot 4 is operating. By designing the safety light curtain 72, automation of each action is ensured, and the safety of the operators is protected.

[0034] The automatic stator feeding system for the water pump assembly line also includes a robot control cabinet 91 for controlling robot 4, a system control cabinet 92 for controlling the entire system, and an MES system 93.

[0035] The operating principle of the automatic stator feeding system used in this water pump assembly line is as follows:

[0036] The stator material cart 2 is manually transported or transported by an AGV to the ground positioning mechanism 3. After the positioning sensor 35 installed on the positioning plate of the ground positioning mechanism 3 detects the stator material cart 2, the system program is started. The vision mechanism 6 installed on the robot fixture 5 takes pictures and identifies the stator material 8 on the stator material cart 2. After visual positioning, the robot fixture 5 is guided to pick up the stator material 8. At the same time, the detection sensor 56 installed on the robot fixture 5 detects whether the robot fixture 5 has picked up the stator. If the stator has been picked up, the robot 4 places the stator on the stator tooling plate at the target position according to the preset path. The vision mechanism 6 installed on the robot fixture 5 takes pictures and identifies the stator posture of the stator placed at the target position. After the stator posture is determined to be qualified, the stator picking and placing function requirements of this system are realized, and the upper-level system, namely the MES system, is notified through the PLC of this system.

[0037] This utility model is applicable to the automatic stator feeding of a water pump intelligent assembly line. The automatic stator feeding system for the water pump assembly line achieves multiple functions through the following methods:

[0038] 1) Capable of coarse positioning of stator material cart 2, which is handled manually or by AGV trolley;

[0039] 2) Robot 4 drives vision mechanism 6 to perform imaging recognition and precise positioning of the stator on stator material cart 2;

[0040] 3) The vision mechanism 6 guides the robot gripper 5 to pick up the stator;

[0041] 4) The robot grips the stator and places it at the target position;

[0042] 5) The vision mechanism 6 performs visual image recognition on the stator placed at the target position to detect whether the stator is correctly positioned;

[0043] 6) It can realize a "one-click transformation" production mode, and is suitable for clamping stators with inner hole diameters of 48mm and 58mm;

[0044] 7) The system can communicate with the upper-level MES system 93.

[0045] This utility model's stator feeding system for water pump assembly lines is compatible with stator products with inner bore diameters of 48mm and 58mm. During production transitions, only different programs need to be switched, without requiring hardware replacement or adjustment. This utility model saves on operator labor, ensures consistent stator feeding posture, and improves the automation and intelligence level of the factory. Compared to traditional manual feeding, it significantly reduces factory costs and greatly increases production efficiency.

[0046] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. An automatic stator feeding system for a water pump assembly line, characterized in that, The system includes a stator loading station, a stator trolley, a ground positioning mechanism, a robot, a robot gripper, and a vision mechanism. The robot is installed on the stator loading station, which has a trolley placement area and a stator target placement position. The ground positioning mechanism is installed in the trolley placement area, and the stator trolley is placed in the trolley placement area and docked with the ground positioning mechanism. The vision mechanism and the robot gripper are both connected to the swing end of the robot. The robot drives the robot gripper to transfer the stator material in the stator trolley to the stator target placement position, and the vision mechanism acquires an image of the stator material.

2. The automatic stator feeding system for a water pump assembly line according to claim 1, characterized in that, The stator trolley includes a trolley body, casters, and a product positioning grid. The casters are connected to the bottom of the trolley body, and the product positioning grid is connected to the top of the trolley body. The product positioning grid has multiple material grids for placing stator materials.

3. The automatic stator feeding system for a water pump assembly line according to claim 2, characterized in that, The ground positioning mechanism includes a positioning base plate, a positioning baffle, a guide plate, and a positioning block. The positioning base plate is installed in the material cart placement area. The positioning baffle is connected to the end of the positioning base plate. The guide plate is connected to the side of the positioning base plate. The positioning block is set on the positioning base plate and close to the positioning baffle. The positioning block is used to lock the casters.

4. The automatic stator feeding system for a water pump assembly line according to claim 3, characterized in that, The ground positioning mechanism also includes a positioning sensor, which is mounted on the positioning baffle.

5. The automatic stator feeding system for a water pump assembly line according to claim 1, characterized in that, The robot's swing end is provided with a component mounting plate. The robot gripper includes a multi-claw cylinder, gripper handles, and flexible gripping blocks. The multi-claw cylinder is connected to the component mounting plate. The output end of the multi-claw cylinder is connected to multiple gripper handles. Each gripper handle is connected to at least one flexible gripping block. The multi-claw cylinder drives the multiple gripper handles to expand or retract synchronously in multiple directions.

6. The automatic stator feeding system for a water pump assembly line according to claim 5, characterized in that, The gripper handle is an inverted L-shaped structure composed of a gripper horizontal arm and a gripper vertical arm. The gripper horizontal arm is connected to the multi-jaw cylinder. When the multi-jaw cylinder retracts, the inner sides of the gripper vertical arms of the multiple gripper handles move towards the center of the multi-jaw cylinder. The flexible clamping block is connected to the outer side of the gripper vertical arm.

7. The automatic stator feeding system for a water pump assembly line according to claim 5, characterized in that, The vision mechanism includes a vision camera and a light source, both of which are connected to a component mounting plate, with the light source located below the vision camera.

8. The automatic stator feeding system for a water pump assembly line according to claim 5, characterized in that, The robot gripper also includes a detection sensor connected to the gripper handle.

9. The automatic stator feeding system for a water pump assembly line according to claim 1, characterized in that, It also includes a safety guardrail, which surrounds the stator loading station. The safety guardrail has a loading gap in the material cart placement area and a safety light curtain at the loading gap.

10. The automatic stator feeding system for a water pump assembly line according to claim 1, characterized in that, The robot is a multi-axis robot.

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