Stator handling docking station

Abstract

The utility model discloses a kind of stator carrying connection table, comprising: bearing platform, positioning clamping assembly and PLC controller, the table top of bearing platform is installed with stator seat and stator seat fine adjustment mechanism, the positioning clamping assembly includes stator clamping mechanism, visual identification camera and photoelectric sensor, the stator clamping mechanism is installed on linear guide rail, the visual identification camera is installed on the stator clamping mechanism, the photoelectric sensor is installed on the bearing platform, the PLC controller is respectively with photoelectric sensor, visual identification camera and stator seat fine adjustment mechanism communication connection, can be according to the feedback signal given by photoelectric sensor and visual identification camera Control stator clamping mechanism and stator seat fine adjustment mechanism act in concert and place the stator into stator seat. By the above mode, the utility model can automatically complete carrying action, and action is accurate, efficient, stable.

Description

Technical Field

[0001] This utility model relates to the field of automated equipment, and in particular to a stator handling docking platform. Background Technology

[0002] In the field of motor manufacturing and assembly, the stator, as one of the core components, has a significant impact on production efficiency and product quality due to its handling and positioning process. Traditional stator handling relies heavily on manual operation or simple mechanical assistance, resulting in high labor intensity, low positioning accuracy, and easy damage to components. With the improvement of industrial automation, automated equipment such as robotic arms and conveyor belts are gradually being applied to stator handling processes. However, existing production lines typically use fixed structures or single fixtures for stator handling. These fixed structures or fixtures have drawbacks such as poor adaptability, insufficient flexibility, and poor compatibility with diverse stator models. They can only transport stators of limited sizes, shapes, or weights, and their structural design often does not fully consider the safety of human-machine collaboration, posing certain operational risks. In addition, during the handling process, the stator often needs to pass through multiple workstations, such as moving from the storage area to the assembly line and then to the inspection or processing stage. If there is a lack of effective buffering, positioning, or anti-collision mechanisms during this process, it is easy to cause scratches on the stator surface, damage to the internal windings, or increased assembly errors, affecting the overall performance of the motor. Moreover, existing handling systems still have shortcomings in terms of integration and intelligence. Most equipment lacks real-time sensing and feedback capabilities, and cannot dynamically adjust the handling strategy according to the actual state of the stator, resulting in limited production efficiency and poor performance in dealing with sudden working conditions. Utility Model Content

[0003] The main technical problem solved by this utility model is to provide a stator handling docking platform that can improve the intelligence level of the handling process, dynamically control the handling action based on the perceived information feedback, reduce the probability of stator damage, and improve overall production efficiency.

[0004] To solve the above-mentioned technical problems, the present invention provides a stator handling docking platform, comprising: a support platform, a positioning and clamping assembly, and a PLC controller. A stator base and a stator base fine-tuning mechanism are mounted on the platform surface. The stator base fine-tuning mechanism can fine-tune the position of the stator base as needed. The positioning and clamping assembly includes a stator clamping mechanism, a visual recognition camera, and a photoelectric sensor. The stator clamping mechanism is mounted on a linear guide rail and can move horizontally along the linear guide rail under the drive of a servo motor. The visual recognition camera is mounted on the stator clamping mechanism, and the photoelectric sensor is mounted on the support platform. The PLC controller is communicatively connected to the photoelectric sensor, the visual recognition camera, and the stator base fine-tuning mechanism, and can control the stator clamping mechanism and the stator base fine-tuning mechanism to coordinate their movements and place the stator into the stator base based on feedback signals from the photoelectric sensor and the visual recognition camera.

[0005] In a preferred embodiment of the present invention, a positioning pin is provided on the outer side of the positioning clamping assembly, which can initially position the stator.

[0006] In a preferred embodiment of this utility model, the positioning and clamping component is an electromagnetic gripper, a robotic arm is mounted on the electromagnetic gripper, a pressure sensor is mounted on the robotic arm, and the pressure sensor is communicatively connected to the PLC controller.

[0007] In a preferred embodiment of this utility model, the positioning and clamping component is a pneumatic gripper, which is driven by a servo-type driver with torque feedback. A pressure sensor is installed on the pneumatic gripper, and the pressure sensor is communicatively connected to the PLC controller. The clamping pressure range of the pneumatic gripper is 0.2 to 0.6 MPa.

[0008] In a preferred embodiment of this utility model, the stator base fine-tuning mechanism includes a cylinder and a servo motor. The power output shaft of the servo motor passes through the platform of the support platform and can be connected to the spline at the bottom of the stator base. The body of the servo motor is fixedly connected to the telescopic rod of the cylinder. When the telescopic rod of the cylinder extends, the power output shaft is connected to the stator base. When the telescopic rod of the cylinder retracts, the power output shaft is disengaged from the stator base.

[0009] In a preferred embodiment of this utility model, the photoelectric sensor is a diffuse reflection or through-beam photoelectric sensor, and the photoelectric sensor is mounted on the support platform using a flexible pole. The flexible pole can be bent as needed to adjust the angle and position of the photoelectric sensor.

[0010] The beneficial effects of this utility model are as follows: This utility model is applicable to the high-precision transfer and connection operation of stator-type workpieces in the production and assembly line of new energy motors. It has the advantages of reasonable structure, flexible operation, strong adaptability and high safety. Compared with the existing production and assembly line, it can intelligently and precisely adjust the placement action during the connection and transfer process, which significantly improves the positioning accuracy, clamping stability, safety and automation level during handling, avoids stator surface damage and handling errors, and has good industrial application prospects. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of a preferred embodiment of the present invention; The components in the attached diagram are labeled as follows: 1. Support platform, 2. Servo motor, 3. Stator, 4. Electromagnetic gripper, 5. Photoelectric sensor, 6. Cylinder, 7. Robotic arm, 8. Visual recognition camera, 9. Positioning pin, 10. Stator base. Detailed Implementation

[0012] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0013] Please see Figure 1 A preferred embodiment of this utility model includes: A stator handling dock includes a support platform 1, a positioning and clamping assembly, and a PLC controller. The support platform 1 adopts a high-bending-strength alloy structure, with a flat surface and customizable dimensions. A stator base 10 and a stator base fine-tuning mechanism are installed on the platform 1. The stator base fine-tuning mechanism can fine-tune the position of the stator base 10 as needed. The positioning and clamping assembly includes a stator clamping mechanism, a visual recognition camera 8, and a photoelectric sensor 5. The stator clamping mechanism is mounted on a linear guide rail and can move horizontally along the linear guide rail driven by a servo motor. The moving stroke of the holding mechanism is designed to be between 300mm ≤ L ≤ 1200mm, supporting speed adjustment of 0.1m / s ≤ V ≤ 1.5m / s. The visual recognition camera 8 is mounted on the stator clamping mechanism, and the photoelectric sensor 5 is mounted on the support platform. The photoelectric sensor 5 is a through-beam photoelectric sensor, mounted on the support platform 1 using a flexible upright. The flexible upright can be bent as needed to adjust the angle and position of the photoelectric sensor 5, enabling it to detect the center offset of the stator 3 after placement, with a detection deviation accuracy of ±0.5mm. The PLC controller uses a modular PLC high-performance motion control unit as its underlying hub. It communicates with the photoelectric sensor 5, the visual recognition camera 8, and the stator base fine-tuning mechanism via a data bus. The visual recognition camera 8 captures the appearance of the stator 3 and, in conjunction with the upper-level system, performs position and attitude recognition, feeding back the recognized signal to the PLC controller. The PLC controller then precisely corrects the motion trajectory of the stator clamping mechanism based on the feedback signal, achieving adaptive and precise gripping and placement of the stator 3. The photoelectric sensor 5 can instantly detect the condition inside the stator base 10 during placement, forming a dual positioning system with the visual recognition camera 8. This effectively determines whether the stator 3 is inside the stator base 10 and whether there is any positional offset during placement. If there is offset, the PLC controller, based on the offset signals from the photoelectric sensor 5 and the visual recognition camera 8, controls the stator base fine-tuning mechanism to rotate the stator base 10 horizontally and displace the positioning clamping assembly horizontally, ensuring that the bottom of the stator 3 aligns with the slot on the stator base 10, eliminating the offset problem during placement.

[0014] The positioning and clamping assembly is an electromagnetic gripper 4 with a clamping force of 300–900N. A robotic arm 7 is mounted on the electromagnetic gripper 4, and a pressure sensor is mounted on the robotic arm 7. The pressure sensor is communicatively connected to the PLC controller. By using the robotic arm 7 in conjunction with the electromagnetic gripper 4, the stator 3 can be clamped more stably. During the clamping process, the clamping force can be dynamically controlled by adjusting the excitation current. In actual clamping, as the pressure sensor on the robotic arm 7 transmits the instantaneous pressure to the PLC controller, the PLC controller can nonlinearly adjust the excitation current to gradually increase the clamping force. This prevents excessive force at the beginning from causing impact damage to the surface of the stator 3. Furthermore, for some stators 3 with sensitive surfaces or protruding windings, the program can adaptively adjust the clamping upper limit based on the pressure sensor feedback and historical data, achieving a "soft landing—tightening and locking—safe release" process to improve clamping safety.

[0015] The electromagnetic gripper 4 is equipped with a positioning pin 9 on its outer side. When the entire positioning and clamping assembly moves horizontally to the position of the positioning pin 9, the PLC controller will control the positioning and clamping assembly to stop moving. At this time, the electromagnetic gripper 4 is just above the stator base 10. Then, the PLC controller only needs to make a fine adjustment to the posture of the stator base 10 according to the feedback signal emitted by the visual recognition camera 8 and the photoelectric sensor 5 to put the stator 3 into the stator base 10.

[0016] The stator base fine-tuning mechanism includes a cylinder 6 and a servo motor 2. The power output shaft of the servo motor 2 passes through the platform 1 and can be splined to the bottom of the stator base 10. The body of the servo motor 2 is fixedly connected to the telescopic rod of the cylinder 6. When it is necessary to adjust the posture of the stator base 10, the PLC controller controls the upward extension of the telescopic rod of the cylinder 6, so that the power output shaft of the servo motor 2 is connected to the stator base 10 through the spline. Then, the power output shaft is controlled to rotate at a corresponding angle. After the adjustment is completed, the PLC controller controls the retraction of the telescopic rod of the cylinder 6, and the spline between the power output shaft of the servo motor 2 and the stator base 10 disengages, so that the servo motor 2 will not affect the stator base.

[0017] Another preferred embodiment of this utility model includes: A stator handling dock includes a support platform 1, a positioning and clamping assembly, and a PLC controller. The support platform 1 adopts a high-bending-strength alloy structure, with a flat surface and customizable dimensions. A stator base 10 and a stator base fine-tuning mechanism are installed on the platform 1. The stator base fine-tuning mechanism can fine-tune the position of the stator base 10 as needed. The positioning and clamping assembly includes a stator clamping mechanism, a visual recognition camera 8, and a photoelectric sensor 5. The stator clamping mechanism is mounted on a linear guide rail and can move horizontally along the linear guide rail driven by a servo motor. The travel distance of the stator clamping mechanism is designed to be between 300mm ≤ L ≤ 1200mm, and supports speed adjustment of 0.1m / s ≤ V ≤ 1.5m / s. The visual recognition camera 8 is mounted on the stator clamping mechanism. The photoelectric sensor 5 is mounted on the support platform and is a diffuse reflection photoelectric sensor. The photoelectric sensor 5 is mounted on the support platform using a flexible upright. On platform 1, the flexible upright can be bent as needed to adjust the angle and position of the photoelectric sensor 5, enabling the photoelectric sensor 5 to detect the center offset of the stator 3 after placement, with a detection deviation accuracy of ±0.5mm. The PLC controller uses a modular PLC high-performance motion control unit as the underlying hub, and communicates with the photoelectric sensor 5, the visual recognition camera 8, and the stator base fine-tuning mechanism through a data bus. The visual recognition camera 8 can collect the appearance of the stator 3 and perform position and posture recognition in conjunction with the upper system, feeding back the recognized signal to the PLC controller. The PLC controller accurately corrects the motion trajectory of the stator clamping mechanism based on the feedback signal, realizing the adaptive and precise gripping and placement of the stator 3. The photoelectric sensor 5 can detect the condition inside the stator base 10 in real time during placement, forming a dual positioning with the visual recognition camera 8, effectively determining whether there is a stator 3 inside the stator base 10 and whether there is a positional offset when the stator 3 is placed. If there is a misalignment, the PLC controller can control the stator base fine-tuning mechanism to drive the stator base 10 to rotate horizontally and the positioning clamping assembly to move horizontally according to the misalignment signal given by the photoelectric sensor 5 and the visual recognition camera 8, so that the bottom of the stator 3 can be aligned with the slot on the stator base 10 and placed in, thus eliminating the misalignment problem during placement.

[0018] The positioning and clamping assembly is a pneumatic gripper, driven by a servo-type driver with torque feedback. The pneumatic gripper is made of structural steel or aluminum alloy frame and wear-resistant rubber. The gripper opening and closing range supports stepless adjustment within 30–350 mm to adapt to stator cores or single-phase stators of different sizes. The gripping surface of the gripper is equipped with fine anti-slip textures and elastic silicone pads, with a thickness controlled at 3–5 mm to balance shock absorption and friction, preventing stator wear. A pressure sensor is installed on the pneumatic gripper, and the pressure sensor is communicatively connected to the PLC controller. The clamping pressure range of the pneumatic gripper is 0.2–0.6 MPa. In the actual clamping process, the pressure sensor on the pneumatic gripper transmits the pressure in real time to the PLC controller. The PLC controller can then control the pneumatic servo valve to provide a buffer pressure as low as 0.2MPa, which is then gradually increased to 0.6MPa. This prevents the surface of the stator 3 from being damaged by excessive force at the beginning. On the other hand, for some stators 3 with sensitive surfaces or protruding windings, the program can adaptively adjust the clamping upper limit based on the feedback from the pressure sensor and historical data, thus improving the safety of clamping by achieving a "soft landing - tight locking - safe release" process.

[0019] A positioning pin 9 is installed on the outside of the pneumatic gripper. When the entire positioning and clamping assembly moves horizontally to the position of the positioning pin 9, the PLC controller will control the positioning and clamping assembly to stop moving. At this time, the pneumatic gripper is just above the stator base 10. Then, the PLC controller only needs to make a fine adjustment to the posture of the stator base 10 according to the feedback signal emitted by the visual recognition camera 8 and the photoelectric sensor 5 to put the stator 3 into the stator base 10.

[0020] The stator base fine-tuning mechanism includes a cylinder 6 and a servo motor 2. The power output shaft of the servo motor 2 passes through the platform 1 and can be splined to the bottom of the stator base 10. The body of the servo motor 2 is fixedly connected to the telescopic rod of the cylinder 6. When it is necessary to adjust the posture of the stator base 10, the PLC controller controls the upward extension of the telescopic rod of the cylinder 6, so that the power output shaft of the servo motor 2 is connected to the stator base 10 through the spline. Then, the power output shaft is controlled to rotate at a corresponding angle. After the adjustment is completed, the PLC controller controls the retraction of the telescopic rod of the cylinder 6, and the spline between the power output shaft of the servo motor 2 and the stator base 10 disengages, so that the servo motor 2 will not affect the stator base.

[0021] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A stator handling docking platform, characterized in that, The stator handling and docking platform includes a carrying platform, a positioning and clamping assembly, and a PLC controller. A stator base and a stator base fine-tuning mechanism are mounted on the platform. The stator base fine-tuning mechanism can fine-tune the position of the stator base as needed. The positioning and clamping assembly includes a stator clamping mechanism, a visual recognition camera, and a photoelectric sensor. The stator clamping mechanism is mounted on a linear guide rail and can move horizontally along the linear guide rail under the drive of a servo motor. The visual recognition camera is mounted on the stator clamping mechanism, and the photoelectric sensor is mounted on the carrying platform. The PLC controller is communicatively connected to the photoelectric sensor, the visual recognition camera, and the stator base fine-tuning mechanism, and can control the stator clamping mechanism and the stator base fine-tuning mechanism to coordinate their movements and place the stator into the stator base based on feedback signals from the photoelectric sensor and the visual recognition camera.

2. The stator handling docking platform according to claim 1, characterized in that, The positioning clamping assembly has a positioning pin on its outer side, which can initially locate the position of the stator.

3. The stator handling docking platform according to claim 1, characterized in that, The positioning and clamping assembly is an electromagnetic gripper, on which a robotic arm is mounted. A pressure sensor is mounted on the robotic arm, and the pressure sensor is communicatively connected to the PLC controller.

4. The stator handling docking platform according to claim 1, characterized in that, The positioning and clamping assembly is a pneumatic gripper, which is driven by a servo-type driver with torque feedback. A pressure sensor is installed on the pneumatic gripper, and the pressure sensor is communicatively connected to the PLC controller. The clamping pressure range of the pneumatic gripper is 0.2 to 0.6 MPa.

5. The stator handling docking platform according to claim 1, characterized in that, The stator base fine-tuning mechanism includes a cylinder and a servo motor. The power output shaft of the servo motor passes through the platform and can be connected to the spline at the bottom of the stator base. The body of the servo motor is fixedly connected to the telescopic rod of the cylinder. When the telescopic rod of the cylinder extends, the power output shaft is connected to the stator base. When the telescopic rod of the cylinder retracts, the power output shaft is disengaged from the stator base.

6. The stator handling docking platform according to claim 1, characterized in that, The photoelectric sensor is a diffuse reflection or through-beam photoelectric sensor. The photoelectric sensor is mounted on the support platform using a flexible pole, which can be bent as needed to adjust the angle and position of the photoelectric sensor.

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