Stator appearance detection device

Abstract

The utility model relates to a stator appearance detection device, which comprises a rack, a multi-station feeding manipulator, a code scanning device, a first mechanical vision, a second mechanical vision, a third mechanical vision, a fourth mechanical vision, a fifth mechanical vision and a sixth mechanical vision, according to the utility model, the appearance of the stator iron core is detected by arranging a plurality of detection stations, the stator iron core is rapidly carried by arranging the multi-detection-station feeding manipulator, each detection station rotates the stator iron core through the rotating mechanism, and whether the appearance of each position of the stator iron core has defects or not is detected by matching with mechanical vision; therefore, the device is high in detection efficiency, accurate in detection, low in labor intensity and high in automation intensity.

Description

Technical Field

[0001] This utility model relates to the technical field of stator core appearance inspection, and in particular to a stator appearance inspection device. Background Technology

[0002] Currently, the inspection of stator core appearance still relies on manual inspection, where workers visually inspect the stator core for defects such as damaged or deformed slot insulation, wound or misaligned insulation paper, protruding slot wedges, exposed copper wires, missing wires, damaged ferrules, protruding copper wires, missing wires on ferrules, double ferrules, ferrules that are too high, crossed copper wires, insufficient safety distance, and damaged core supports. This method is labor-intensive, yields inconsistent inspection results, and is inefficient. Therefore, there is an urgent need in the market for equipment that can automatically inspect the stator's appearance. Utility Model Content

[0003] The purpose of this invention is to provide a stator appearance inspection device with high detection efficiency and accuracy.

[0004] The purpose of this utility model is achieved as follows:

[0005] A stator appearance inspection device includes a frame, a multi-station feeding robot, a barcode scanning device, a first machine vision, a second machine vision, a third machine vision, a fourth machine vision, a fifth machine vision, and a sixth machine vision.

[0006] The machine frame is horizontally arranged with the first inspection station, the second inspection station, the third inspection station, the fourth inspection station, and the fifth inspection station.

[0007] The frame is equipped with a first rotating mechanism, a second rotating mechanism, a third rotating mechanism, a fourth rotating mechanism, and a fifth rotating mechanism at the positions corresponding to the first inspection station, the second inspection station, the third inspection station, the fourth inspection station, and the fifth inspection station, respectively.

[0008] A multi-station feeding robot, mounted on a frame, is used to transport stator cores.

[0009] The first machine vision device is mounted on the multi-station feeding robot and located directly above the first inspection station. It is used to take pictures of the top view of the stator core so that the barcode scanning device can scan it.

[0010] The first rotating mechanism is used to cooperate with the first machine vision drive to rotate the stator core at the first inspection station in order to determine the position of the stator core.

[0011] The barcode scanning device is mounted on the frame and on one side of the first inspection station. It is used to scan the code of the stator core at the determined position.

[0012] The second machine vision system is mounted on the multi-station feeding robot and located above the second inspection station. It is used to take pictures of the top of the inner ring of the stator core to detect whether there are any issues such as slot insulation damage, deformation, insulation paper roll-in, insulation paper offset, slot wedge protrusion, or exposed copper wires on the top of the inner ring of the stator core 7.

[0013] The second rotating mechanism is used to drive the stator core on the second inspection station to rotate so that the second machine vision can take pictures of the stator core.

[0014] The third machine vision system is mounted on the multi-station feeding robot and located above the third inspection station. It is used to take pictures of the bottom of the inner ring of the stator core to detect whether there are any issues such as slot insulation damage, deformation, insulation paper roll-in, insulation paper offset, slot wedge protrusion, or exposed copper wires at the bottom of the inner ring of the stator core 7.

[0015] The third rotating mechanism is used to drive the stator core on the third inspection station to rotate so that the third machine vision can take pictures of the stator core.

[0016] The fourth machine vision system is mounted on the multi-station feeding robot and located directly above the fourth inspection station. It is used to take pictures of the top view of the stator core terminals and to detect whether there are any issues such as missing wires, damaged terminals, protruding copper wires, missing wires on terminals, double terminals, or terminals that are too high.

[0017] The fifth machine vision system, mounted on the frame and located to one side of the fourth inspection station, is used to take pictures of the side of the stator core. It is used to detect whether there are any issues such as wires not being inserted, damaged plates, protruding copper wires, missing wires on plates, double plates, or plates that are too high on the side of the stator core terminal blocks.

[0018] The fourth rotating mechanism is used to drive the stator core on the fourth inspection station to rotate so that the fourth and fifth machine vision systems can take pictures of the stator core.

[0019] The sixth machine vision system, mounted on the frame and located on one side of the fifth inspection station, is used to take pictures of the side of the stator core to detect whether there are issues such as copper wire crossings, insufficient safety distances, or damage to the core support.

[0020] The fifth rotating mechanism is used to drive the stator core on the fifth inspection station to rotate so that the sixth machine vision system can take pictures of the stator core.

[0021] This invention uses multiple inspection stations to inspect the appearance of the stator core and multiple inspection station feeding robots to quickly transport the stator core. Each inspection station rotates the stator core through a rotating mechanism, and uses machine vision to inspect the appearance of various positions of the stator core for defects. Therefore, this invention has high inspection efficiency, accurate inspection, low labor intensity, and high degree of automation.

[0022] The present invention can be further improved in the following ways.

[0023] The multi-station feeding robot includes a base, a lifting motor, a translation cylinder, a translation seat, a lifting seat, and multiple gripping robots. The base is mounted on the frame, the lifting seat slides up and down on the base, the lifting motor is mounted on the base and drives the lifting seat to slide up and down, the translation cylinder is mounted on the lifting seat and drives the translation seat to slide horizontally, the translation seat slides horizontally on the lifting seat, and multiple gripping robots are horizontally arranged sequentially on the translation seat.

[0024] The motor shaft of the lifting motor is connected to the lead screw of the lifting seat via a transmission.

[0025] The frame is equipped with a mounting plate. The first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism have the same structure. The first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism are arranged sequentially on the mounting plate. The first rotating mechanism includes a rotating motor and a rotating fixture. The rotating fixture is horizontally rotatably mounted on the top surface of the mounting plate, and the rotating motor is mounted on the bottom surface of the mounting plate and drives the rotating fixture to rotate horizontally.

[0026] The multi-station feeding robot also includes a stator core flipping assembly, which includes a flipping drive cylinder, a slider, a first gear, a second gear, a belt, a first bearing, a second bearing, a first rotating seat, and a second rotating seat. The slider is horizontally slidably mounted on a translation seat and is fixedly connected to the belt. The flipping drive cylinder drives the slider to slide horizontally. The two gripping robots are respectively mounted on the first rotating seat and the second rotating seat. The belt connects the first gear and the second gear. The first rotating seat and the second rotating seat are fixedly connected to the first gear and the second gear, respectively. The first rotating seat and the second rotating seat are respectively mounted on the first bearing and the second bearing. The first bearing and the second bearing are rotatably mounted on the translation seat with the horizontal line as the axis of rotation.

[0027] The material handling robot is a double-gripper cylinder.

[0028] The multi-station feeding robot also includes a lifting cylinder and a lifting sliding seat. The lifting seat slides up and down on a translational seat, and the lifting cylinder is located on the translational seat and drives the lifting sliding seat to slide up and down. The second and third machine vision systems are located on the lifting sliding seat. The lifting cylinder drives the lifting sliding seat, the second machine vision system, and the third machine vision system to slide upwards to avoid interference between the second and third machine vision systems and the third and fourth gripping robot systems when they are flipped.

[0029] The beneficial effects of this utility model are as follows:

[0030] 1. This utility model uses multiple inspection stations to inspect the appearance of the stator core and multiple inspection station feeding robots to quickly transport the stator core. Each inspection station rotates the stator core through a rotating mechanism, and uses machine vision to inspect whether there are defects in the appearance of various positions of the stator core. Therefore, this utility model has high inspection efficiency, accurate inspection, low labor intensity and high degree of automation.

[0031] 2. The stator core flipping assembly of this utility model can synchronously drive two gripping robots and the stator cores on them to flip 180°, which helps to quickly flip the stator core back and forth and facilitates rapid shooting and inspection by machine vision. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the stator appearance inspection device of this utility model.

[0033] Figure 2 This is a structural schematic diagram of the stator appearance inspection device of this utility model from another angle.

[0034] Figure 3 This is a schematic diagram of the stator appearance inspection device of this utility model after omitting the lifting cylinder, lifting sliding seat, second machine vision and third machine vision.

[0035] Figure 4 This is a schematic diagram of the stator appearance inspection device of this utility model after omitting the frame.

[0036] Figure 5 This is a schematic diagram of the stator appearance inspection device of this utility model from another angle after omitting the frame.

[0037] Figure 6 This is a schematic diagram of the connection structure between the stator core flipping assembly of this utility model and the third and fourth material-grabbing manipulators.

[0038] Figure 7 This is a schematic diagram of the connection structure between the stator core flipping assembly of this utility model and the third and fourth gripping robots from another angle.

[0039] Figure 8 This is a schematic diagram of the stator core flipping assembly of this utility model.

[0040] Figure 9 This is a structural schematic diagram of the stator core flipping assembly of this utility model from another angle.

[0041] Figure 10 This is a schematic diagram of the structure of the first rotating mechanism of this utility model.

[0042] Figure 11 This is a structural schematic diagram of the first rotating mechanism of this utility model from another angle. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0044] Example 1, as Figures 1 to 11 As shown, a stator appearance inspection device includes a frame 1, a multi-station feeding robot 2, a barcode scanning device 5, a first machine vision 31, a second machine vision 32, a third machine vision 33, a fourth machine vision 34, a fifth machine vision 35, and a sixth machine vision 36.

[0045] The frame 1 is horizontally arranged with a first inspection station 51, a second inspection station 52, a third inspection station 53, a fourth inspection station 54, and a fifth inspection station 55.

[0046] The frame 1 is equipped with a first rotating mechanism 11, a second rotating mechanism 12, a third rotating mechanism 13, a fourth rotating mechanism 14 and a fifth rotating mechanism 15 respectively at the positions corresponding to the first inspection station 51, the second inspection station 52, the third inspection station 53, the fourth inspection station 54 and the fifth inspection station 55.

[0047] A multi-station feeding robot 2 is mounted on the frame 1 and is used to transport the stator core 7.

[0048] The first machine vision 31 is mounted on the multi-station feeding robot 2 and located directly above the first inspection station 51. It is used to take pictures of the top view of the stator core 7 so that the barcode scanning device 5 can scan it.

[0049] The first rotating mechanism 11 is used to cooperate with the first machine vision 31 to drive the stator core 7 on the first inspection station 51 to rotate, so as to determine the position of the stator core 7.

[0050] The barcode scanning device 5 is mounted on the frame 1 and is used on one side of the first detection station 51 to scan the code of the stator core 7 in the determined position.

[0051] The second machine vision 32 is mounted on the multi-station feeding robot 2 and located above the second inspection station 52. It is used to take pictures of the top of the inner ring of the stator core 7 and to detect whether there are any issues such as slot insulation damage, deformation, insulation paper roll-in, insulation paper offset, slot wedge protrusion, or exposed copper wires on the top of the inner ring of the stator core 7.

[0052] The second rotating mechanism 12 is used to drive the stator core 7 on the second inspection station 52 to rotate so that the second machine vision 32 can take pictures of the stator core 7.

[0053] The third machine vision 33 is mounted on the multi-station feeding robot 2 and located above the third inspection station 53. It is used to take pictures of the bottom of the inner ring of the stator core 7 and to detect whether there are any issues such as slot insulation damage, deformation, insulation paper roll-in, insulation paper offset, slot wedge protrusion, or copper wire exposure at the bottom of the inner ring of the stator core 7.

[0054] The third rotating mechanism 13 is used to drive the stator core 7 on the third inspection station 53 to rotate so that the third machine vision 33 can take pictures of the stator core 7.

[0055] The fourth machine vision system 34 is mounted on the multi-station feeding robot 2 and located directly above the fourth inspection station 54. It is used to take pictures of the top view of the terminal block of the stator core 7. It is used to detect whether there are any issues such as wires not being inserted, broken inserts, protruding copper wires, missing wires in inserts, double inserts, or inserts being too high on the top view of the terminal block of the stator core 7.

[0056] The fifth machine vision device 35 is mounted on the frame 1 and located on one side of the fourth inspection station 54. It is used to take pictures of the side of the stator core 7 and to detect whether there are any issues such as wires not being inserted, broken plates, protruding copper wires, missing wires on plates, double plates, or plates being too high on the side of the terminal block 71 of the stator core 7.

[0057] The fourth rotating mechanism 14 is used to drive the stator core 7 on the fourth inspection station 54 to rotate so that the fourth machine vision 34 and the fifth machine vision 35 can take pictures of the stator core 7.

[0058] The sixth machine vision device 36 is mounted on the frame 1 and located on one side of the fifth inspection station 55. It is used to take pictures of the side of the stator core 7 to detect whether there are line crossings, insufficient safety distances, or damage to the core support on the side of the stator core 7.

[0059] The fifth rotating mechanism 15 is used to drive the stator core 7 on the fifth inspection station 55 to rotate so that the sixth machine vision 36 can take pictures of the stator core 7.

[0060] This is a more specific technical solution of the present invention.

[0061] The multi-station feeding robot 2 includes a base 21, a lifting motor 22, a translation cylinder 24, a translation seat 25, a lifting seat 23, and multiple gripping robots. The base 21 is mounted on the frame 1. The lifting seat 23 is slidably mounted on the base 21. The lifting motor 22 is mounted on the base 21 and drives the lifting seat 23 to slide up and down. The translation cylinder 24 is mounted on the lifting seat 23 and drives the translation seat 25 to slide horizontally. The translation seat 25 is slidably mounted on the lifting seat 23. Multiple gripping robots are horizontally and sequentially mounted on the translation seat 25.

[0062] The multiple gripping robotic arms are the first gripping robotic arm 40, the second gripping robotic arm 41, the third gripping robotic arm 42, the fourth gripping robotic arm 43, and the fifth gripping robotic arm 44.

[0063] The motor shaft of the lifting motor 22 is connected to the lead screw of the lifting seat 23.

[0064] The frame 1 is provided with a mounting plate 10. The first rotating mechanism 11, the second rotating mechanism 12, the third rotating mechanism 13, the fourth rotating mechanism 14, and the fifth rotating mechanism 15 have the same structure. The first rotating mechanism 11, the second rotating mechanism 12, the third rotating mechanism 13, the fourth rotating mechanism 14, and the fifth rotating mechanism 15 are arranged sequentially on the mounting plate 10. The first rotating mechanism 11 includes a rotating motor and a rotating fixture. The rotating fixture is horizontally rotatably located on the top surface of the mounting plate 10, and the rotating motor is located on the bottom surface of the mounting plate 10 and drives the rotating fixture to rotate horizontally.

[0065] The multi-station feeding robot 2 also includes a stator core flipping assembly 6. The stator core flipping assembly 6 includes a flipping drive cylinder 61, a slider 62, a first gear 68, a second gear 69, a belt 63, a first bearing 66, a second bearing 67, a first rotating seat 65, and a second rotating seat 64. The slider 62 is horizontally slidably mounted on the translation seat 25. The slider 62 is fixedly connected to the belt 63. The flipping drive cylinder 61 drives the slider 62 to slide horizontally. The two gripping robots are respectively mounted on the first rotating seat 65 and the second rotating seat 64. The belt 63 connects the first gear 68 and the second gear 69. The first rotating seat 65 and the second rotating seat 64 are fixedly connected to the first gear 68 and the second gear 69, respectively. The first rotating seat 65 and the second rotating seat 64 are respectively mounted on the first bearing 66 and the second bearing 67. The first bearing 66 and the second bearing 67 are rotatably mounted on the translation seat 25 with the horizontal line as the axis of rotation.

[0066] The second gripping robot 41, the third gripping robot 42, the fourth gripping robot 43, and the fifth gripping robot 44 are double-gripper cylinders.

[0067] The multi-station feeding robot 2 also includes a lifting cylinder 37 and a lifting sliding seat 38. The lifting seat 23 is slidably mounted on the translation seat 25. The lifting cylinder 37 is mounted on the translation seat 25 and drives the lifting sliding seat 38 to slide up and down. The second machine vision 32 and the third machine vision 33 are mounted on the lifting sliding seat 38.

[0068] The working principle of this utility model is as follows:

[0069] When this utility model starts working, the multi-station feeding robot 2 and multiple machine vision devices are activated. The lifting motor 22 drives the lifting seat 23 to slide up and down, and multiple gripping robots slide up and down together. The translation cylinder 24 drives the translation seat 25 to slide horizontally, and multiple gripping robots slide horizontally together. The first gripping robot 40 grabs a stator core 7 and places it on the first rotating mechanism 11 on the first detection station 51. The first rotating mechanism 11 drives the stator core 7 to rotate. At the same time, the first machine vision device 31 starts to take pictures of the top view of the stator core 7 and sends the pictures to the control system. The control system will detect whether the stator core 7 has rotated into place. Until the control system detects that the stator core 7 has rotated into place, the first rotating mechanism 11 stops driving the stator core 7 to rotate. At this time, the code on the side of the stator core 7 is facing the scanning device 5. The scanning device scans the code on the side of the stator core 7 and enters it into the system.

[0070] The second gripping robot 41 picks up the stator core 7 from the first inspection station 51 and places it on the second inspection station 52. The second rotating mechanism 12 drives the stator core 7 to rotate 360°. At the same time, the second mechanical vision 32 begins to take pictures of the top of the inner ring of the stator core 7 and sends the pictures to the control system. The control system detects whether there are any issues such as damaged slot insulation, deformed slot insulation, wound insulation paper, offset insulation paper, protruding slot wedges, or exposed copper wires at the top of the stator core 7. Afterward, the lifting cylinder 37 drives the lifting sliding seat 38, the second mechanical vision 32, and the third mechanical vision 33 to slide upward to avoid interference from the second and third mechanical vision 32 and the third gripping robot 42 and the fourth gripping robot 43 in flipping.

[0071] The third gripping robot 42 grips the stator core 7 on the second inspection station 52. Following this, the stator core flipping assembly 6 starts, and the flipping drive cylinder 61 drives the slider 62 to slide horizontally to the left. The slider 62 drives the belt 63 to rotate, which in turn drives the first gear 68 and the second gear 69 to rotate 180°. The first gear 68 and the second gear 69 then drive the first rotating seat 65 and the second rotating seat 64 to rotate 180° respectively. The first rotating seat 65 drives the second gripping robot 41 and the stator core 7 on it to rotate 180°. At this point, the bottom of the stator core 7 is up and the top is down. The third gripping robot 42 moves horizontally above the third inspection station 53 and then descends, placing the stator core 7 onto the third inspection station 53.

[0072] As the third rotating mechanism 13 drives the stator core 7 on the third inspection station 53 to rotate 360°, the third machine vision 33 begins to take pictures of the bottom of the inner ring of the stator core 7 and sends the pictures to the control system. The control system detects whether there are any issues such as slot insulation damage, slot insulation deformation, insulation paper roll-in, insulation paper offset, slot wedge protrusion, or copper wire exposure at the bottom of the stator core 7.

[0073] The fourth gripping robot 43 descends and grabs the stator core 7 on the third inspection station 53. The flipping action of the fourth gripping robot 43 is synchronized with the previous flipping action of the third gripping robot 42. The second rotating seat 64 drives the fourth gripping robot 43 and the stator core 7 on it to rotate 180°. At this time, the top of the stator core 7 is on top and the bottom is on the bottom.

[0074] Following the fourth material-grabbing robot 43, the stator core 7 is placed on the fourth inspection station 54. Then, the fourth rotating mechanism 14 drives the stator core 7 to rotate 360°. At the same time, the fourth machine vision 34 begins to take pictures of the top view of the terminal block of the stator core 7 and sends the pictures to the control system. The fifth machine vision 35 begins to take pictures of the side view of the stator core 7 and sends the pictures to the control system. The control system detects whether there are any problems such as copper wire not being inserted, broken inserts, protruding copper wires, missing wires in inserts, double inserts, or inserts being too high at the terminal block position on the top of the stator core 7.

[0075] Then, the fifth gripping robot 44 descends and grabs the stator core 7 from the fourth inspection station 54. The fifth gripping robot 44 places the stator core 7 on the fifth inspection station 55. Then, the fifth rotating mechanism 15 drives the stator core 7 to rotate 360°. At the same time, the sixth mechanical vision begins to take pictures of the side of the stator core 7 and sends the pictures to the control system. The control system detects whether there are copper wire crossings, insufficient safety distance, or damage to the core support of the stator core 7.

[0076] If the control system determines that the stator core has a defect in appearance during the inspection at the aforementioned multiple inspection stations, it will enter the stator core's code into the system for subsequent maintenance by workers.

Claims

1. A stator appearance inspection device, characterized in that, It includes a frame, a multi-station feeding robot, a barcode scanning device, a first machine vision system, a second machine vision system, a third machine vision system, a fourth machine vision system, a fifth machine vision system, and a sixth machine vision system. The machine frame is horizontally arranged with the first inspection station, the second inspection station, the third inspection station, the fourth inspection station, and the fifth inspection station. The frame is equipped with a first rotating mechanism, a second rotating mechanism, a third rotating mechanism, a fourth rotating mechanism, and a fifth rotating mechanism at the positions corresponding to the first inspection station, the second inspection station, the third inspection station, the fourth inspection station, and the fifth inspection station, respectively. A multi-station feeding robot, mounted on a frame, is used to transport stator cores; The first machine vision device is mounted on the multi-station feeding robot and located directly above the first inspection station. It is used to take pictures of the top view of the stator core so that the barcode scanning device can scan it. The first rotating mechanism is used to cooperate with the first machine vision drive to rotate the stator core at the first inspection station in order to determine the position of the stator core; The barcode scanning device is located on the frame and on one side of the first inspection station. It is used to scan the code of the stator core at the determined position. The second machine vision is mounted on the multi-station feeding robot and located above the second inspection station. It is used to take pictures of the top of the inner ring of the stator core for inspection. The second rotating mechanism is used to drive the stator core on the second inspection station to rotate so that the second machine vision can take pictures of the stator core. The third machine vision system, mounted on the multi-station feeding robot and located above the third inspection station, is used to take pictures of the bottom of the inner ring of the stator core; it is used to inspect the bottom of the inner ring of the stator core. The third rotating mechanism is used to drive the stator core on the third inspection station to rotate so that the third machine vision can take pictures of the stator core. The fourth machine vision system is mounted on the multi-station feeding robot and located directly above the fourth inspection station. It is used to take pictures of the top view of the terminals of the stator core. Top view of the terminal blocks used for testing the stator core; The fifth machine vision system, mounted on the frame and located to one side of the fourth inspection station, is used to take pictures of the side of the stator core. The side of the terminal block used for testing the stator core; The fourth rotating mechanism is used to drive the stator core on the fourth inspection station to rotate so that the fourth and fifth machine vision systems can take pictures of the stator core. The sixth machine vision system, mounted on the frame and located on one side of the fifth inspection station, is used to take pictures of the side of the stator core for inspection. The fifth rotating mechanism is used to drive the stator core on the fifth inspection station to rotate so that the sixth machine vision system can take pictures of the stator core.

2. The stator appearance inspection device according to claim 1, characterized in that, The multi-station feeding robot includes a base, a lifting motor, a translation cylinder, a translation seat, a lifting seat, and multiple gripping robots. The base is mounted on the frame, the lifting seat slides up and down on the base, the lifting motor is mounted on the base and drives the lifting seat to slide up and down, the translation cylinder is mounted on the lifting seat and drives the translation seat to slide horizontally, the translation seat slides horizontally on the lifting seat, and multiple gripping robots are horizontally arranged sequentially on the translation seat.

3. The stator appearance inspection device according to claim 2, characterized in that, The motor shaft of the lifting motor is connected to the lead screw of the lifting seat via a transmission.

4. The stator appearance inspection device according to claim 1, characterized in that, The multi-station feeding robot also includes a lifting cylinder and a lifting sliding seat. The lifting seat slides up and down on the translation seat, the lifting cylinder is located on the translation seat and drives the lifting sliding seat to slide up and down, and the second and third machine vision are located on the lifting sliding seat.

5. The stator appearance inspection device according to claim 2, characterized in that, The frame is equipped with a mounting plate. The first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism have the same structure. The first rotating mechanism, the second rotating mechanism, the third rotating mechanism, the fourth rotating mechanism, and the fifth rotating mechanism are arranged sequentially on the mounting plate. The first rotating mechanism includes a rotating motor and a rotating fixture. The rotating fixture is horizontally rotatably mounted on the top surface of the mounting plate, and the rotating motor is mounted on the bottom surface of the mounting plate and drives the rotating fixture to rotate horizontally.

6. The stator appearance inspection device according to claim 2, characterized in that, The multi-station feeding robot also includes a stator core flipping assembly, which includes a flipping drive cylinder, a slider, a first gear, a second gear, a belt, a first bearing, a second bearing, a first rotating seat, and a second rotating seat. The slider is horizontally slidably mounted on a translation seat and is fixedly connected to the belt. The flipping drive cylinder drives the slider to slide horizontally. The two gripping robots are respectively mounted on the first rotating seat and the second rotating seat. The belt connects the first gear and the second gear. The first rotating seat and the second rotating seat are fixedly connected to the first gear and the second gear, respectively. The first rotating seat and the second rotating seat are respectively mounted on the first bearing and the second bearing. The first bearing and the second bearing are rotatably mounted on the translation seat with the horizontal line as the axis of rotation.

7. The stator appearance inspection device according to claim 2, characterized in that, The material handling robot is a double-gripper cylinder.

Images