A two-station stator core segment rotation stack collection device
By using a multi-axis robot and visual recognition technology in a dual-station stator core segmented rotary stacking and collection device, the stator cores are rotated and stacked in a staggered manner, which solves the problem of uneven stator core thickness and improves manufacturing quality and production efficiency.
Patent Information
- Application Number
- CN202521615634.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-31
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-07-31
AI Technical Summary
In the current manufacturing process of motor stator cores, the thickness error of silicon steel sheets leads to uneven thickness of the stacked stator core, which affects the manufacturing quality. Furthermore, traditional rotary stacking molds are difficult to adapt to the requirements of high-speed stamping, thus affecting efficiency.
A dual-station stator core segmented rotary stacking and collection device is adopted. The stator core position is identified by a multi-axis robot and a vision recognition camera, realizing the rotary staggered stacking of segmented stator cores. The high and low combination design of the moving worktable ensures the uniformity of the overall thickness of the stator core and matches the cycle of the punch press.
It improves the manufacturing quality and production efficiency of stator cores, has a compact structure that saves equipment floor space, and offers good operational safety and high ergonomics.
Smart Images
Figure CN224677319U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of motor stator core manufacturing process equipment, specifically to a dual-station stator core segmented rotary stacking and collecting device. Background Technology
[0002] The stator core of a motor used in new energy vehicles is a core component of the motor, and it is made by stacking a number of core laminations. A typical manufacturing process for a motor stator core is as follows: First, strip silicon steel sheets are fed into the progressive stamping die of a stamping press. The sheets undergo several stamping processes to obtain core laminations. Then, the core laminations are sent to the stacking die of the progressive stamping die, where they are sequentially riveted and stacked to form the stator core. The stator core manufactured using the above process subsequently undergoes pressure shaping and heat treatment for degreasing.
[0003] However, the above-mentioned manufacturing method of motor stator core also has the following shortcomings: due to the thickness error of silicon steel sheets, the thickness (height) of the stacked stator core is often uneven. Even if pressure is applied and shaped later, this unevenness of stator core thickness (height) cannot be solved, thus affecting the manufacturing quality of the stator core.
[0004] One possible solution to the problem of uneven stator core thickness (height) is to set a rotary stacking die with staggered stacking on the stator core progressive stamping die. However, this method is difficult to adapt to the requirements of fast stamping cycle on high-speed presses and will affect the efficiency of high-speed stamping. Utility Model Content
[0005] To address the aforementioned problems, this utility model proposes a dual-station stator core segmented rotary stacking and collecting device, aiming to improve the uniformity of the overall thickness (height) of the stator core, thereby improving the manufacturing quality of the stator core. The specific technical solution is as follows: A dual-station stator core segmented rotary stacking and collecting device includes a pair of stacking and collecting fixtures arranged in a left-right direction for stacking segmented stator cores to form a complete stator core; a multi-axis robot arm positioned at the middle between the pair of stacking and collecting fixtures for gripping the segmented stator cores and placing them onto the stacking and collecting fixtures; and a pair of feeding conveyors spaced at intervals on the left and right sides in front of the multi-axis robot arm for conveying segmented stator cores from a punch press to a position close to the multi-axis robot arm; wherein a visual recognition camera is provided above the feeding conveyors for identifying the position of the segmented stator cores on the feeding conveyors.
[0006] The aforementioned visual recognition camera identifies the positions of the segmented stator cores on the feeding conveyor, including the identification of the center position of the segmented stator cores and the identification of the circumferential position of the segmented stator cores.
[0007] Preferably, the feeding conveyor is a step-type belt conveyor, the feeding end of the belt conveyor is connected to the stator core output position of the stator core progressive die of the punch press located at the stacking station, and the visual recognition camera is set above the discharge end of the belt conveyor.
[0008] Preferably, the discharge end of the belt conveyor is equipped with a barrier bar.
[0009] In this utility model, the multi-axis manipulator is a four-axis manipulator, which includes a first rotary indexing shaft rotatably mounted on a central support, a long cantilever arm connected to the first rotary indexing shaft, a second rotary indexing shaft rotatably mounted at the front end of the long cantilever arm, a short cantilever arm connected to the second rotary indexing shaft, a servo lifter movable in the vertical direction at the front end of the short cantilever arm, a third rotary indexing plate located at the lower end of the servo lifter, a pneumatic chuck located at the lower end of the third rotary indexing plate, and a self-centering jaw located on the pneumatic chuck.
[0010] Preferably, the servo lifter is a servo lifting cylinder or a servo electric push rod.
[0011] Preferably, the first rotary indexing axis, the second rotary indexing axis, and the third rotary indexing disk are driven by stepper motors to achieve circumferential rotation and indexing.
[0012] In this utility model, the stacking and collecting fixture includes a movable worktable that is moved along the guide rail in the front-back direction, and a core positioning fixture for positioning and stacking segmented stator cores on the movable worktable.
[0013] In this utility model, the iron core positioning fixture includes a positioning disk and a positioning post disposed on the positioning disk that is the same as the positioning post for the inner hole of the stator iron core.
[0014] In this invention, a vertical pole is fixedly installed next to the output end of the belt conveyor, and an extension arm is provided at the top of the vertical pole, extending to the position above the discharge end of the belt conveyor. The visual recognition camera is fixed at the end of the extension arm.
[0015] Preferably, a camera mounting hole is provided at the end of the extension arm in the vertical direction, and a camera mounting base is connected to the camera mounting hole. The visual recognition camera is fixed at the lower position of the end of the extension arm through the camera mounting base. The lens of the visual recognition camera is set downward. A ring-shaped illumination source concentric with the lens of the visual recognition camera is also provided on the camera mounting base around the lens of the visual recognition camera.
[0016] As a further improvement of this utility model, the number of the movable worktables is a pair, which includes a low-position movable worktable and a high-position movable worktable; the guide rails include a pair of outer guide rails and a pair of inner guide rails located between the pair of outer guide rails, the low-position movable worktable is movably mounted on the pair of inner guide rails, and the high-position movable worktable is movably mounted on the pair of outer guide rails via a gantry-type cable tray, and the low-position movable worktable can move through the gantry-type cable tray.
[0017] Preferably, the gantry-type cable tray includes a horizontal support frame and a pair of support legs vertically arranged on the left and right sides of the horizontal support frame. The lower ends of the pair of support legs are correspondingly movably arranged on the pair of outer guide rails. Among the pair of support legs, the support leg on the left arches to the left and the support leg on the right arches to the right, thereby forming a clearance space between the pair of support legs for the low-position moving worktable to move through.
[0018] Preferably, the guide rail is mounted on the guide rail mounting base plate; a lifting device for raising and lowering the low-position moving worktable is provided between the low-position moving worktable and the pair of inner guide rails; the lifting device includes a lower support plate that is movable along the guide rail direction and mounted on the pair of inner guide rails, a pair of support columns that are erected on the left and right sides of the lower support plate, an upper support plate connected to the upper end of the support columns, a number of guide holes provided on the upper support plate, a guide column that is erected below the low-position moving worktable and inserted into the guide hole of the upper support plate, and a servo electric cylinder that is erected at the center of the lower support plate, the upper telescopic rod of the servo electric cylinder being connected to the low-position moving worktable.
[0019] Preferably, a laser ranging sensor for detecting the height of the low-position moving worktable is vertically mounted on the lower support plate, and a pair of laser ranging sensors for detecting the positions of the low-position moving worktable and the high-position moving worktable are horizontally mounted at the ends of the guide rail mounting base plate.
[0020] Preferably, a sensor mounting bracket is provided at the end of the guide rail mounting base plate, and the pair of laser rangefinders are mounted on the sensor mounting bracket. The probes of the pair of laser rangefinders on the sensor mounting bracket point to the sides of the low-position moving worktable and the high-position moving worktable, respectively.
[0021] The probe of the laser rangefinder on the lower support plate points upward toward the back of the low-position moving worktable.
[0022] Preferably, the high-position moving worktable and the low-position moving worktable move on the guide rail through a lead screw transmission mechanism driven by a servo geared motor.
[0023] The dual-station stator core segmented rotating stacking and collecting device of this utility model also includes a control system. The belt conveyor, four-axis manipulator, laser rangefinder, servo geared motor, servo lifter, stepper motor and servo cylinder are respectively connected to the control system.
[0024] The working principle of this utility model is as follows: Stator core laminations, formed by stamping on a press through a progressive die, reach the stacking station of the progressive die and are pressed into the stacking die. This stacking and riveting process creates segmented stator cores (each segment is a section of a complete stator core, hence the name "segmented stator core"). These segmented stator cores are then conveyed by a belt conveyor to a multi-axis robot near a dual-station stator core segmentation and stacking collection device. The control system of this device uses a visual recognition camera to identify the center and circumferential positions of the segmented stator cores (the stator core laminations are stamped on a press). The stator core segments have toothed grooves in their inner holes and small holes on their end faces (their exact circumferential positions need to be confirmed). A multi-axis robotic arm then picks up the segmented stator cores from the belt conveyor and stacks them onto the core positioning fixture of the stacking collection tool until the total height of the stacked stator core segments equals that of a complete stator core. Each time the multi-axis robotic arm picks up a segmented stator core, it rotates it by a pre-set offset stacking angle before stacking it onto the core positioning fixture, forming a rotationally offset stacked arrangement of the segmented stator cores (the toothed grooves and small holes on each segmented stator core remain vertically aligned). This rotationally offset stacking ensures a more uniform overall thickness (height) of the stator core, thereby improving the manufacturing quality of the stator core.
[0025] After a complete stator core is stacked, the high-position moving worktable and the low-position moving worktable, which are mounted on the guide rail, move towards each other to exchange their positions. After the positions of the moving worktables are exchanged, the core positioning fixture on the front moving worktable is empty, waiting for the next stator core to be stacked. The completed stator core on the rear moving worktable is removed from the core positioning fixture by the operator and temporarily stored in a special collection box for use in subsequent workstations on the production line.
[0026] The beneficial effects of this utility model are: First, the dual-station stator core segmented rotary stacking and collecting device of this utility model, through a multi-axis manipulator and a core positioning fixture set on the moving worktable, realizes the rotary stator core segmented stator core segmented stacking, which can make the overall thickness (height) of the stator core more uniform, thereby improving the manufacturing quality of the stator core.
[0027] Secondly, the dual-station stator core segmented rotary stacking and collecting device of this utility model has movable worktables set on the left and right sides of the multi-axis robot, thus forming a dual-station design for stator core segmented rotary staggered stacking. It can accept segmented stator cores from two punch presses conveyed by belt conveyors, realize the balance of the working capacity of the punch presses and the multi-axis robot, and thus form a good rhythm with the segmented stator cores output from the two punch presses, which is conducive to improving the overall production efficiency of stator cores.
[0028] Third, the dual-station stator core segmented rotary stacking and collecting device of this utility model has a dual moving worktable with a high and low combination. The specially designed structure of the low moving worktable and the high moving worktable allows the low moving worktable to pass through the high moving worktable along the guide rail direction without interference, realizing the exchange of the front and rear positions of the two moving worktables. This ensures the smooth progress of the stator core segmented rotary staggered stacking cycle, and its structure is compact, saving the equipment's floor space.
[0029] Fourth, the present invention provides a dual-station stator core segmented rotary stacking and collecting device, wherein a lifting device is provided on the lower moving worktable. After the lower moving worktable passes through the higher moving worktable, it can be raised to the same height as the higher moving worktable by the lifting device, which greatly facilitates the operator in unloading operations to take away the stacked complete stator cores. It can well ensure the safety of the operator and avoid the operator bending over to pick up the parts, and has good ergonomics. Attached Figure Description
[0030] Figure 1 This is a schematic diagram (top view) of the layout structure of a dual-station stator core segmented rotating stacking and collecting device according to this utility model. Figure 2 yes Figure 1 A schematic diagram of the structure of a multi-axis robotic arm; Figure 3 This is a schematic diagram of a structure in which a visual recognition camera is installed on top of the pole. Figure 4 yes Figure 1 A schematic diagram of the moving worktable (front view).
[0031] In the diagram: 1. Stacking and collecting fixture; 2. Segmented stator core; 3. Multi-axis robot; 4. Feeding conveyor (belt conveyor); 5. Vision recognition camera; 6. Barrier bar; 7. Central support; 8. First rotary indexing shaft; 9. Long cantilever arm; 10. Second rotary indexing shaft; 11. Short cantilever arm; 12. Servo lift; 13. Third rotary indexing plate; 14. Pneumatic chuck; 15. Self-centering jaw; 16. Guide rail; 17. Core positioning fixture; 18. Positioning plate; 19. Positioning column; 20. Upright pole; 21. Extension arm; 22. Camera mounting hole; 23. Camera mounting base; 24. Circular lighting source; 25. Moving worktable; 26. Low-position moving worktable; 27. High-position moving worktable; 28. Outer guide rail; 29. Inner guide rail; 30. Gantry cable tray; 31. Horizontal support frame; 32. Support leg. 33. Guide rail mounting base plate; 34. Lifting device; 35. Lower support plate; 36. Support column; 37. Upper support plate; 38. Guide hole; 39. Guide column; 40. Servo electric cylinder; 41. Laser rangefinder sensor; 42. Sensor mounting bracket; 43. Complete stator core. Detailed Implementation
[0032] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.
[0033] like Figures 1 to 4 The illustration shows an embodiment of a dual-station stator core segmented rotary stacking and collecting device of this utility model. It includes a pair of stacking and collecting fixtures 1 arranged along the left-right direction for stacking segmented stator cores 2 to form a complete stator core; a multi-axis robot 3 positioned at the middle between the pair of stacking and collecting fixtures 1 for gripping the segmented stator cores 2 and placing them onto the stacking and collecting fixtures 1; and a pair of feeding conveyors 4 spaced apart on the left and right sides in front of the multi-axis robot 3 for conveying the segmented stator cores 2 from the punch press to a position close to the multi-axis robot 3. A visual recognition camera 5 is positioned above the feeding conveyors 4 for identifying the position of the segmented stator cores 2 on the feeding conveyors 4.
[0034] The visual recognition camera 5 identifies the position of the segmented stator core 2 on the feeding conveyor 4, including the identification of the center position of the segmented stator core 2 and the identification of the circumferential position of the segmented stator core 2.
[0035] Preferably, the feeding conveyor 4 is a belt conveyor using a stepping conveyor, and the feeding end of the belt conveyor is connected to the output position of the segmented stator core 2 located at the stacking station on the stator core progressive die of the punch press. The visual recognition camera 5 is located above the discharge end of the belt conveyor.
[0036] Preferably, the discharge end of the belt conveyor is provided with a barrier bar 6.
[0037] In this embodiment, the multi-axis manipulator 3 is a four-axis manipulator. The four-axis manipulator includes a first rotary indexing shaft 8 rotatably mounted on a central support 7, a long cantilever arm 9 connected to the first rotary indexing shaft 8, a second rotary indexing shaft 10 rotatably mounted at the front end of the long cantilever arm 9, a short cantilever arm 11 connected to the second rotary indexing shaft 10, a servo lifter 12 movable in the vertical direction at the front end of the short cantilever arm 11, a third rotary indexing plate 13 located at the lower end of the servo lifter 12, a pneumatic chuck 14 located at the lower end of the third rotary indexing plate 13, and a self-centering jaw 15 located on the pneumatic chuck 14.
[0038] Preferably, the servo lifter 12 is a servo lifting cylinder or a servo electric push rod.
[0039] Preferably, the first rotary indexing shaft 8, the second rotary indexing shaft 10, and the third rotary indexing disk 13 are driven by stepper motors to achieve circumferential rotation and indexing.
[0040] In this embodiment, the stacking and collecting fixture 1 includes a movable worktable 25 that is movable along the guide rail in the front-back direction, and a core positioning fixture 17 disposed on the movable worktable 25 for positioning and stacking the segmented stator cores 2.
[0041] In this embodiment, the core positioning fixture 17 includes a positioning disk 18 and a positioning post 19 disposed on the positioning disk 18 that is the same as the inner hole of the positioning stator core 42.
[0042] In this embodiment, a pole 20 is fixedly installed next to the output end of the belt conveyor 4, and an extension arm 21 extending to the top of the pole 20 extends to the position above the discharge end of the belt conveyor 4. The visual recognition camera 5 is fixed at the end of the extension arm 21.
[0043] Preferably, a camera mounting hole 22 is provided at the end of the extension arm 21 in the vertical direction, and a camera mounting base 23 is connected to the camera mounting hole 22. The visual recognition camera 5 is fixed to the lower position of the end of the extension arm 21 by the camera mounting base 23. The lens of the visual recognition camera 5 is set downward. A ring-shaped illumination source 24 concentric with the lens of the visual recognition camera 5 is also provided on the camera mounting base 23 around the lens of the visual recognition camera 5.
[0044] As a further improvement to this embodiment, the number of the movable worktables 25 is a pair, including a low-position movable worktable 26 and a high-position movable worktable 27; the guide rail 16 includes a pair of outer guide rails 28 and a pair of inner guide rails 29 located between the pair of outer guide rails 28, the low-position movable worktable 26 is movably disposed on the pair of inner guide rails 29, and the high-position movable worktable 27 is movably disposed on the pair of outer guide rails 28 through a gantry-type cable tray 30, and the low-position movable worktable 26 can move through the gantry-type cable tray 30.
[0045] Preferably, the gantry-type cable tray 30 includes a horizontal support frame 31 and a pair of support legs 32 vertically arranged on the left and right sides of the horizontal support frame 30. The lower ends of the pair of support legs 32 are correspondingly movably arranged on the pair of outer guide rails 28. Among the pair of support legs 32, the support leg 32 on the left arches to the left and the support leg 32 on the right arches to the right, thereby forming a clearance space between the pair of support legs 32 for the low-position moving worktable 26 to move through.
[0046] Preferably, the guide rail 16 is mounted on the guide rail mounting base plate 33; a lifting device 34 for raising and lowering the low-position moving worktable 26 is provided between the low-position moving worktable 26 and the pair of inner guide rails 29; the lifting device 34 includes a lower support plate 35 that is movably disposed on the pair of inner guide rails 29 along the direction of the guide rail 16, a pair of support columns 36 that are erected on the left and right sides of the lower support plate 35, an upper support plate 37 connected to the upper end of the support columns 36, a number of guide holes disposed on the upper support plate 37, a guide column 39 that is erected below the low-position moving worktable 26 and inserted into the guide hole 38 of the upper support plate 37, and a servo electric cylinder 40 that is erected at the center of the lower support plate 35, the upper telescopic rod of the servo electric cylinder 40 being connected to the low-position moving worktable 26.
[0047] Preferably, a laser rangefinder 41 for detecting the height position of the low-position moving worktable 26 is vertically mounted on the lower support plate 35, and a pair of laser rangefinders 41 for detecting the positions of the low-position moving worktable 26 and the high-position moving worktable 27 are horizontally mounted at the ends of the guide rail mounting base plate 33, respectively.
[0048] Preferably, a sensor mounting bracket 42 is provided at the end of the guide rail mounting base plate 33, and a pair of laser rangefinders 41 are mounted on the sensor mounting bracket 42. The probes of the pair of laser rangefinders 41 on the sensor mounting bracket 42 are respectively pointing to the sides of the low-position moving worktable 26 and the high-position moving worktable 27.
[0049] The probe of the laser rangefinder sensor 41 on the lower support plate 35 points upward toward the back of the low-position moving worktable 26.
[0050] Preferably, the high-position moving worktable 27 and the low-position moving worktable 26 move on the guide rail 16 through a lead screw transmission mechanism driven by a servo geared motor.
[0051] The dual-station stator core segmented rotary stacking and collecting device of this embodiment also includes a control system. The belt conveyor, four-axis manipulator, laser rangefinder, servo geared motor, servo lifter, stepper motor and servo electric cylinder are respectively connected to the control system.
[0052] The working principle of this embodiment is as follows: Stator core laminations, formed by stamping on a press through a progressive die, reach the stacking station of the progressive die and are pressed into the stacking die. This causes a number of stator core laminations to be stacked and riveted together to form segmented stator cores 2 (each segmented stator core 2 is a section of the complete stator core 43, hence the name segmented stator core 2). The segmented stator cores 2 are then conveyed by a belt conveyor 4 to a position near the multi-axis robot 3 of the dual-station stator core segmented rotary stacking and collecting device. The control system of the dual-station stator core segmented rotary stacking and collecting device uses a vision recognition camera 5 to identify the center and circumferential positions of the segmented stator cores 2 (the stator core laminations). The stator core 2 has grooves distributed in the inner hole and small holes on the end face (the exact position of these holes in the circumferential direction needs to be confirmed). Then, the multi-axis robot 3 picks up the segmented stator core 2 from the belt conveyor 4 and stacks them onto the core positioning fixture 17 of the stacking and collecting fixture 1 until the total height of the stacked segmented stator core 2 is the height of a complete stator core 43. Each time the multi-axis robot picks up a segmented stator core 2, it rotates the picked-up segmented stator core 2 by a pre-set staggered stacking angle before stacking it onto the core positioning fixture 17, forming a rotational staggered stacking of the segmented stator core 2 (the grooves and small holes on each segmented stator core 2 in the staggered stacking are still aligned vertically). Through rotational staggered stacking, the overall thickness (height) of the stator core 43 is more uniform, thereby improving the manufacturing quality of the stator core 43.
[0053] After a complete stator core 43 is stacked, the high-position moving worktable 27 and the low-position moving worktable 26, which are mounted on the guide rail 16, move towards each other to exchange the positions of the two moving worktables 25. After the positions of the moving worktables 25 are exchanged, the core positioning fixture 17 on the front moving worktable 25 is empty, waiting for the next stator core 43 to be stacked. The complete stator core 43 that has been stacked on the rear moving worktable 25 is removed from the core positioning fixture 17 by the operator and temporarily stored in a special collection box for use in the subsequent workstations of the production line.
[0054] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.
Claims
1. A dual-station stator core segmented rotary stacking and collecting device, characterized in that, The system includes a pair of stacking and collecting fixtures arranged in a left-right direction for stacking segmented stator cores to form a complete stator core; a multi-axis robot positioned between the pair of stacking and collecting fixtures for gripping the segmented stator cores and placing them onto the stacking and collecting fixtures; and a pair of feeding conveyors spaced at intervals on the left and right sides in front of the multi-axis robot for conveying segmented stator cores from a punch press to a position close to the multi-axis robot. A visual recognition camera is positioned above each feeding conveyor to identify the position of the segmented stator cores on the feeding conveyor.
2. The dual-station stator core segmented rotary stacking and collecting device according to claim 1, characterized in that, The feeding conveyor is a step-type belt conveyor. The feeding end of the belt conveyor is connected to the stator core progressive die of the punch press at the segmented stator core output position of the stacking station. The vision recognition camera is set above the discharge end of the belt conveyor.
3. The dual-station stator core segmented rotary stacking and collecting device according to claim 2, characterized in that, The belt conveyor is equipped with a barrier bar at the discharge end.
4. The dual-station stator core segmented rotary stacking and collecting device according to claim 1, characterized in that, The multi-axis manipulator is a four-axis manipulator, which includes a first rotary indexing axis rotatably mounted on a central support, a long cantilever arm connected to the first rotary indexing axis, a second rotary indexing axis rotatably mounted at the front end of the long cantilever arm, a short cantilever arm connected to the second rotary indexing axis, a servo lifter movable in the vertical direction at the front end of the short cantilever arm, a third rotary indexing plate located at the lower end of the servo lifter, a pneumatic chuck located at the lower end of the third rotary indexing plate, and a self-centering jaw located on the pneumatic chuck.
5. A dual-station stator core segmented rotary stacking and collecting device according to claim 3, characterized in that, The stacking and collecting fixture includes a movable worktable that moves along a guide rail in the front-to-back direction, and a core positioning fixture on the movable worktable for positioning and stacking segmented stator cores.
6. A dual-station stator core segmented rotary stacking and collecting device according to claim 5, characterized in that, A vertical pole is fixedly installed next to the output end of the belt conveyor, and an extension arm is provided on the top of the vertical pole, extending to a position above the discharge end of the belt conveyor. The visual recognition camera is fixed at the end of the extension arm.
7. A dual-station stator core segmented rotary stacking and collecting device according to claim 6, characterized in that, A camera mounting hole is provided at the end of the extension arm along the vertical direction. A camera mounting base is connected to the camera mounting hole. The visual recognition camera is fixed at the lower position of the end of the extension arm through the camera mounting base. The lens of the visual recognition camera is set downward. A ring-shaped illumination source concentric with the lens of the visual recognition camera is also provided on the camera mounting base around the lens of the visual recognition camera.
8. A dual-station stator core segmented rotary stacking and collecting device according to claim 7, characterized in that, The number of movable worktables is a pair, including a low-position movable worktable and a high-position movable worktable; the guide rails include a pair of outer guide rails and a pair of inner guide rails located between the pair of outer guide rails, the low-position movable worktable is movably mounted on the pair of inner guide rails, and the high-position movable worktable is movably mounted on the pair of outer guide rails via a gantry-type cable tray, and the low-position movable worktable can move through the gantry-type cable tray.
9. A dual-station stator core segmented rotary stacking and collecting device according to claim 8, characterized in that, The gantry-type cable tray includes a horizontal support frame and a pair of support legs that are vertically arranged on the left and right sides of the horizontal support frame. The lower ends of the pair of support legs are correspondingly movably arranged on the pair of outer guide rails. Among the pair of support legs, the support leg on the left arches to the left and the support leg on the right arches to the right, thereby forming a clearance space between the pair of support legs for the low-position moving worktable to move through.
10. A dual-station stator core segmented rotary stacking and collecting device according to claim 9, characterized in that, The guide rail is mounted on the guide rail mounting base plate; a lifting device for raising and lowering the low-position moving worktable is provided between the low-position moving worktable and the pair of inner guide rails; the lifting device includes a lower support plate that is movable along the guide rail direction and is mounted on the pair of inner guide rails, a pair of support columns that are erected on the left and right sides of the lower support plate, an upper support plate connected to the upper end of the support columns, a number of guide holes provided on the upper support plate, a guide column that is erected below the low-position moving worktable and inserted into the guide hole of the upper support plate, and a servo electric cylinder that is erected at the center of the lower support plate, the upper telescopic rod of the servo electric cylinder being connected to the low-position moving worktable.