Automatic stacking system and method for stator cores

Abstract

The present invention relates to the field of generator stator core production and manufacturing. Disclosed are an automatic stacking system and method for stator cores. The system comprises a stacking positioning platform, stacking robots, feeding mechanisms, sheet separating mechanisms, centering platforms, iron sheet tray stations, and ventilation groove plate tray stations. In the system, the separating, centering and stacking processes of silicon steel sheets are carried out in parallel, shortening the stacking cycle time of stator cores to a great extent, thereby improving the overall stacking efficiency; and the system can implement stacking tasks of multi-model stator cores by changing a positioning device of the stacking positioning platform, adjusting the positions of fixtures and suction cups and changing the stacking process, thereby improving the processing and manufacturing capabilities of the stacking system.

Description

A stator core automatic stacking system and stacking method Technical Field

[0001] The present invention belongs to the field of generator stator core production and manufacturing, and particularly relates to a stator core automatic stacking system and a stacking method thereof. Background Art

[0002] The stator core is an important component of power generation equipment. It is composed of hundreds of thousands of positive sheets, iron sheets, and ventilation slot plates (hereinafter referred to as punching sheets), which are stacked in a specific order. The quality control and efficiency of the stacking process are of great significance to the overall performance of the product and the company's benefits.

[0003] Traditional stator core manufacturing mostly uses manual stacking technology. A dedicated stacking station is arranged in the factory. A gantry truck or forklift is used to transport the sheets (stacks, including positive sheets, iron sheets, and ventilation slot plates) to the outer area of ​​the stacking station. The sheet separation workers separate them, check for defects, and hand them over one by one to the stacking personnel located inside the stacking station. The stacking personnel, with the cooperation of the positioning tooling, complete the full circle stacking of the core layer one by one, and then move on to the second layer, the third layer, and finally the last layer. When the stacking reaches the specified height, the positioning tooling is lifted by the overhead crane, and then the stacking continues until the stacking task of the unit's stator core is completed. In actual production application scenarios, the nature of this work has the following main characteristics:

[0004] ① Workers need to manually separate all the punched sheets (the incoming materials are stacked, totaling hundreds of thousands of sheets) and fully check the surface quality, and then stack them in a specific order to form an integral stator core. The work efficiency is low and the work is mechanical and repetitive, with a large workload, a small working space, and workers need to carry heavy loads and bend over, which can easily cause occupational diseases.

[0005] ② Due to differences in the technical level and professional spirit of operators, it is easy for defects to be not detected properly and non-standard operations such as multiple stacking, mis-stacking, missing stacking, dragging, and scraping of punching sheets to occur, resulting in product quality problems and a high error rate.

[0006] ③ The stacking task generally requires 4 to 8 people to work together, and the demand for workstation personnel is too high.

[0007] ④ This stacking method is a single-threaded operation in the production process, with a long production time span. It is necessary to occupy the stacking station to complete the stacking of an entire stator core before the station can be released for use by other products, which affects the workshop station scheduling.

[0008] In recent years, with the increasing maturity of automation technology, a very small number of companies have adopted special equipment to complete the automatic segmented stacking of stator cores.

[0009] A Chinese patent application, published on June 13, 2017, with publication number CN106849533A, discloses an automatic external stacking device for motor stator cores. The device comprises a workbench, a robot, a centering platform, a stacking positioning platform, and a punching tray. The stacking positioning platform is located at the center of the workbench, which is divided into three equal parts, each equipped with a robot. The robot is equipped with an end suction cup at the end. The robot is surrounded by a centering platform, a punching tray, an iron tray, a waste tray, a ventilation slot plate tray, and a compensation tray. This allows the robot to pre-program its motion, selecting different parameters based on the product. Once the materials are prepared, the robot can execute the program according to the established program, thus replacing the monotonous and repetitive manual work. The method utilizes three evenly spaced robots to collaboratively perform the sheet removal and stacking tasks. The specific process is as follows: calibrating and adjusting the stacking positioning platform → robot motion path planning → incoming material inspection and loading → secondary positioning and re-inspection → core stacking. In this solution, the material picking, slicing and stacking operations are all completed by robots, which are serial operations in the time dimension. This wastes time to a certain extent and causes the punching and stacking cycle to be too long. At the same time, its stacking positioning platform is an integral structure, which can only meet the stator core stacking task of one type of generator model and lacks manufacturing flexibility.

[0010] Summary of the Invention

[0011] The purpose of the present invention is to solve the existing technical quality problems. The present invention provides an automatic stator core stacking system and a stacking method. In the system, the silicon steel sheet segmentation and centering processes are carried out in parallel with the stacking process, which greatly shortens the stator core stacking cycle and thus improves the overall stacking efficiency. The system can achieve the stacking task of multiple models of stator cores by replacing the positioning device of the stacking positioning platform, adjusting the position of the clamp suction cup, and changing the stacking program, thereby improving the processing and manufacturing capabilities of the stacking system.

[0012] The purpose of the present invention is achieved through the following technical solutions:

[0013] An automatic stator core stacking system includes a stacking positioning platform, a stacking robot, a loading mechanism, a slicing mechanism, a centering platform, an iron sheet tray station, and a ventilation slot plate tray station. The stacking positioning platform is located at the center of the system, and the stacking positioning platform, stacking robot, centering platform, slicing mechanism, and loading mechanism are arranged in sequence from the inside to the outside. The iron sheet tray station and ventilation slot plate tray station are located on both sides of the centering platform.

[0014] The stacked positioning platform is used to position and place the stator core;

[0015] The stacking robot is used to grab the ventilation slot plate and iron sheet from the ventilation slot plate tray station and the iron sheet tray station to the centering platform respectively, and is also responsible for taking the sheet from the centering platform to the stacking positioning platform to complete the stator core stacking in the 1 / 3 full circle area;

[0016] The loading mechanism is used to receive the stacked materials transported by the AGV or forklift;

[0017] The sheet separation mechanism is used to separate the silicon steel sheets at the feed inlet and transport them to the centering platform;

[0018] The middle platform is used to position and align all types of punched sheets, ensuring that the stacking robot takes the sheet from the same position each time;

[0019] The iron sheet tray station is used to hold iron sheets;

[0020] The ventilation slot plate tray station is used for holding ventilation slot plates.

[0021] Preferably, there are three of each of the stacking robot, the loading mechanism, the slicing mechanism, the centering platform, the iron sheet tray station and the ventilation slot plate tray station.

[0022] Preferably, the ends of the stacking robots are each equipped with a suction cup clamp.

[0023] Preferably, the stacking positioning platform includes a core placing platform, a core positioning tool and a lifting mechanism; the core placing platform is used to place the stator core during the stacking process; the core positioning tool is used to stack and position the core to ensure the accuracy of core stacking; the lifting mechanism is used to drive the core positioning tool to rise to adapt to the positioning requirements as the core stacking height changes.

[0024] Preferably, the sheet separation mechanism is provided with a visual inspection system, a sheet separation and detection device, the visual inspection system is used to detect the quality of the sheet processing; the sheet separation and detection device is used to separate the positive film.

[0025] Preferably, the centering platform includes an automatic alignment adjustment mechanism and a visual defect detection module; the automatic alignment adjustment mechanism is used to regularly position all incoming sheets to ensure the position consistency of the robot's material picking point each time; the visual defect detection device is used to perform surface defect detection on all incoming sheets.

[0026] Preferably, a defective sheet tray station is provided next to the iron sheet tray station, and the defective sheet tray station is used to hold defective sheets transported from the central platform.

[0027] A method for automatically stacking stator cores, comprising the following steps:

[0028] Step 1: Determine the stacking machine model according to the production order requirements, replace the core positioning tooling of the stacking positioning platform, and adjust the robot's end suction cup fixture;

[0029] Step 2: Place the trays with fixed ventilation slots and iron sheets at the corresponding tray stations respectively; the positive sheet is placed at the loading port, the ventilation slots are placed in the ventilation slot plate tray, the iron sheet is placed in the iron sheet tray, and the defective sheet tray is placed at the defective sheet tray station;

[0030] Step 3: Start the system, reset the system data, select the corresponding model program, and start automatic stacking;

[0031] Step 4: The stacking robot moves from the Home point to the position directly above the ventilation slot plate tray, and activates the visual position detection module integrated on the suction cup fixture to detect the position and height information of the ventilation slot plate;

[0032] Step 5: The stacking robot grabs the ventilation slot plate and places it on the centering platform and exits the area. The centering platform uses the automatic alignment adjustment mechanism to center the sheet and then turns on the defect detection function. If the defect inspection passes, the robot grabs it and places it on the stacking positioning platform for stacking. If the defect inspection fails, the stacking robot grabs it and places it on the defective sheet tray station. This step is repeated until the stacking robot completes the stacking of the full-circle ventilation slot plate of this layer.

[0033] Step 6: The loading mechanism connects the positive sheet stack, and the sheet separation mechanism grabs the positive sheet from the stack and transports it to the fixed centering platform. The centering platform aligns the incoming sheet through the automatic alignment adjustment mechanism and then starts the defect detection function; if the defect inspection passes, the stacking robot grabs it and places it on the stacking positioning platform for stacking; if the defect inspection fails, the stacking robot grabs it and places it on the defective sheet tray station; while the stacking robot removes the incoming sheet from the centering platform, the sheet separation mechanism and the centering platform continue to work for the next round, and this step is repeated until the stacking robot completes the stacking of the stator core positive sheet of this section;

[0034] Step 7: The stacking robot grabs the iron sheet, places it on the centering platform and pushes it out of the area. The centering platform uses the automatic alignment adjustment mechanism to center the sheet and then activates the defect detection function. If the defect inspection passes, the robot grabs it and moves it to the stacking positioning platform for stacking. If the defect inspection fails, the stacking robot grabs it and moves it to the defective sheet tray station. This step is repeated until the stacking robot completes the stacking of the whole round iron sheet.

[0035] Step 8. Repeat steps 5, 6, and 7 above until the number of stator core segments meets the requirements or the tray is missing or the tray is full of defective sheets;

[0036] Step 9. If the stator core reaches the specified number of sections, it will be lifted off the stacking positioning platform and the next group of stator core stacking tasks will be carried out; if the tray is missing or the defective sheet tray is full, the sheet should be reloaded or the tray should be replaced before continuing the stacking task.

[0037] Preferably, in step 1, the stacking positioning platform needs to be calibrated and adjusted when producing different product objects.

[0038] Preferably, in step six, the loading mechanism receives the stacked materials transported by the AGV or forklift.

[0039] The beneficial effects of this technical solution are as follows:

[0040] 1. The present invention provides an automatic stator core stacking system that uses mechanized and automated equipment to complete the stacking task, greatly reducing the number of personnel required; it also frees workers from repetitive labor and replaces them with equipment operators with higher comfort; at the same time, it eliminates the impact of human factors on product quality, ensuring the consistency of product quality; and it can also effectively improve stacking efficiency.

[0041] 2. The present invention provides an automatic stator core stacking system, in which the silicon steel sheet separation and centering processes are performed in parallel with the stacking process, which greatly shortens the stator core stacking cycle and thus improves the overall stacking efficiency. The system can achieve the stacking task of multiple models of stator cores by replacing the positioning device of the stacking positioning platform, adjusting the position of the clamp suction cup, and changing the stacking program, thereby improving the processing and manufacturing capabilities of the stacking system.

[0042] Third, the present invention provides an automatic stator core stacking system. This system incorporates an automatic lamination alignment mechanism to ensure consistent positioning of the stacking robot's material pickup point each time, thereby improving lamination stacking accuracy and core stacking quality. This system also reduces the system's requirements for incoming material alignment and placement consistency. This system can handle the stacking of multiple stator core models by replacing the stacking platform's positioning device, adjusting the fixture's suction cup position, and changing the stacking program, thereby enhancing system production flexibility and resource utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] FIG1 is a schematic structural diagram of the stator core automatic stacking system of the present invention;

[0044] In the figure: 100, stacking positioning platform; 200, stacking robot; 300, loading mechanism; 400, sheet separation mechanism; 500, centering platform; 600, iron sheet tray station; 700, ventilation slot plate tray station; 800, defective sheet tray station. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below with reference to the examples, but the embodiments of the present invention are not limited thereto.

[0046] Example 1

[0047] As shown in FIG1 , a stator core automatic stacking system includes a stacking positioning platform 100, a stacking robot 200, a feeding mechanism 300, a slicing mechanism 400, a centering platform 500, an iron sheet tray station 600, and a ventilation slot plate tray station 700. The stacking positioning platform 100 is located in the center of the system. The stacking positioning platform 100, the stacking robot 200, the centering platform 500, the slicing mechanism 400, and the feeding mechanism 300 are arranged in sequence from the inside to the outside. The iron sheet tray station 600 and the ventilation slot plate tray station 700 are located on both sides of the centering platform 500.

[0048] The stacked positioning platform 100 is used to position and place the stator core;

[0049] The stacking robot 200 is used to grab the ventilation slot plates and iron sheets from the ventilation slot plate tray station 700 and the iron sheet tray station 600 to the centering platform 500, and is also responsible for taking the sheets (all punched sheets) from the centering platform 500 to the stacking positioning platform 100 to complete the stator core stacking in the 1 / 3 full circle area;

[0050] The loading mechanism 300 is used to receive the stacked materials transported by the AGV or forklift and to deliver the positive film to the positive film tray station;

[0051] The sheet separation mechanism 400 is used to separate the silicon steel sheets at the feed inlet and transport them to the centering platform 500;

[0052] The middle platform is used to position and align all types of punched sheets, ensuring that the stacking robot 200 takes the sheet from the same position each time;

[0053] The iron sheet tray station 600 is used to hold iron sheets;

[0054] The ventilation slot plate tray station 700 is used to hold ventilation slot plates.

[0055] Example 2

[0056] The difference between this embodiment and embodiment 1 is that there are three stacking robots 200, loading mechanisms 300, slicing mechanisms 400, centering platforms 500, iron sheet tray stations 600 and ventilation slot plate tray stations 700; the three stacking robots 200, loading mechanisms 300, slicing mechanisms 400, centering platforms 500, iron sheet tray stations 600 and ventilation slot plate tray stations 700 are evenly distributed around the stacking positioning platform 100.

[0057] Wherein, a suction cup clamp is installed at the end of each stacking robot 200.

[0058] Among them, the stacking positioning platform 100 includes a core receiving platform, a core positioning tool and a lifting mechanism; the core receiving platform is annular, and the core receiving platform is used to receive the stator core during the stacking process; the core positioning tool is used for core stacking and positioning to ensure the accuracy of core stacking; the lifting mechanism is used to drive the core positioning tool to rise to adapt to the positioning requirements as the core stacking height changes.

[0059] Among them, the sheet separation mechanism 400 is provided with a visual inspection system, a sheet separation and detection device. The visual inspection system is used to detect the quality of the punched sheets, eliminate defects, missing stacking, multiple stacking and other phenomena in the punched sheets to ensure product quality; the sheet separation detection device is used to separate the positive film to prevent multiple grabbing and missing grabbing phenomena.

[0060] Among them, the centering platform 500 includes an automatic alignment adjustment mechanism and a visual defect detection module; the automatic alignment adjustment mechanism is used to regularly position all incoming sheets, ensure the position consistency of the robot's material picking point each time, and prevent the punching sheets from interfering with the core positioning tooling of the stacking positioning platform 100 during stacking; the visual defect detection device is used to perform surface defect detection on all incoming sheets to prevent defective sheets from being mixed in the stator core and affecting product quality.

[0061] Among them, a defective sheet tray station 800 is set next to the iron sheet tray station 600, and the defective sheet tray station 800 is used to hold defective sheets transported from the central platform.

[0062] A method for automatically stacking stator cores, comprising the following steps:

[0063] Step 1: Determine the stacking machine model according to the production order requirements, replace the core positioning tooling of the stacking positioning platform 100, and adjust the robot end suction cup fixture;

[0064] Step 2: Place the trays with fixed ventilation slot plates and iron sheets at the corresponding tray stations respectively; the positive sheet is placed at the loading port, the ventilation slot plates are placed in the ventilation slot plate tray, the iron sheets are placed in the iron sheet tray, and the defective sheet tray is placed at the defective sheet tray station 800;

[0065] Step 3: Start the system, reset the system data, select the corresponding machine program (different parameters are selected according to different products. You only need to prepare the materials and the robot can be implemented according to the established program), and start automatic stacking;

[0066] Step 4: The stacking robot 200 moves from the Home point to the position directly above the ventilation slot plate tray station 700 and activates the visual position detection module integrated in the suction cup fixture to detect the position and height information of the ventilation slot plate;

[0067] Step 5: The stacking robot 200 grabs the ventilation slot plate and places it on the centering platform 500 and exits the area. The centering platform 500 uses the automatic alignment adjustment mechanism to center the sheet and then activates the defect detection function. If the defect inspection passes, the robot grabs it and moves it to the stacking positioning platform 100 for stacking. If the defect inspection fails, the stacking robot 200 grabs it and moves it to the defective sheet tray station 800. This step is repeated until the stacking robot 200 completes the stacking of the entire circular ventilation slot plate.

[0068] Step 6: The loading mechanism 300 receives the positive sheet stack, and the sheet separation mechanism 400 grabs the positive sheet from the stack and transports it to the fixed centering platform 500. The centering platform 500 aligns the incoming sheet through the automatic alignment adjustment mechanism and then starts the defect detection function; if the defect inspection passes, the stacking robot 200 grabs it and moves it to the stacking positioning platform 100 for stacking; if the defect inspection fails, the stacking robot 200 grabs it and moves it to the defective sheet tray station 800; while the stacking robot 200 removes the incoming sheet from the centering platform 500, the sheet separation mechanism 400 and the centering platform 500 continue to work in the next round, and this step is repeated until the stacking robot 200 completes the stacking of the stator core positive sheet of this section;

[0069] Step 7: The stacking robot 200 grabs the iron sheet, places it on the centering platform 500 and pushes it out of the area. The centering platform 500 uses the automatic alignment adjustment mechanism to center the sheet and then activates the defect detection function. If the defect inspection passes, the robot grabs it and moves it to the stacking positioning platform 100 for stacking. If the defect inspection fails, the stacking robot 200 grabs it and moves it to the defective sheet tray station 800. This step is repeated until the stacking robot 200 completes the stacking of the whole round iron sheet of this layer.

[0070] Step 8. Repeat steps 5, 6, and 7 above until the number of stator core segments meets the requirements or the tray is missing or the tray is full of defective sheets;

[0071] Step 9: If the stator core reaches the specified number of sections, it will be lifted off the stacking positioning platform 100 to proceed to the next group of stator core stacking tasks; if the tray is missing or the defective sheet tray is full, the tray should be reloaded or replaced before continuing the stacking.

[0072] In step 1, when producing different product objects, it is necessary to calibrate and adjust the stacking positioning platform 100. Calibration and adjustment of the stacking positioning platform 100 is a prior art and will not be described in detail. For specific methods, please refer to patent publication number CN106849533A.

[0073] In step six, the loading mechanism 300 receives the stacked materials transported by the AGV or forklift.

[0074] The beneficial effects of this technical solution are as follows:

[0075] 1. The present invention provides an automatic stator core stacking system that uses mechanized and automated equipment to complete the stacking task, greatly reducing the number of personnel required; it also frees workers from repetitive labor and replaces them with equipment operators with higher comfort; at the same time, it eliminates the impact of human factors on product quality, ensuring the consistency of product quality; and it can also effectively improve stacking efficiency.

[0076] 2. The present invention provides an automatic stator core stacking system in which the silicon steel sheet separation and centering processes are performed in parallel with the stacking process, which greatly shortens the stator core stacking cycle and thus improves the overall stacking efficiency. The system can achieve the stacking task of multiple models of stator cores by replacing the positioning device of the stacking positioning platform 100, adjusting the position of the clamp suction cup, and changing the stacking program, thereby improving the processing and manufacturing capabilities of the stacking system.

[0077] Third, the present invention provides an automatic stator core stacking system. This system incorporates an automatic lamination alignment mechanism to ensure consistent positioning of the lamination pick-up point of the stacking robot 200 each time. This improves lamination stacking accuracy and contributes to improved core stacking quality. It also reduces the system's requirements for the neatness and placement consistency of incoming materials. This system can stack multiple stator core models by replacing the positioning device of the stacking positioning platform 100, adjusting the position of the fixture suction cup, and changing the stacking program, thereby enhancing system production flexibility and resource utilization.

[0078] Example 3

[0079] The difference between this embodiment and embodiment 2 is that the actions of the stacking robot 200, the loading mechanism 300, the slicing mechanism 400 and the centering platform 500 are coordinated and controlled by the controller. Such a setting can make the actions of each part coordinated in a unified manner, so that the actions cooperate with each other, the actions are accurately automated, and the stacking accuracy is improved.

[0080] Among them, the stacking positioning platform 100 includes a core holding platform, a core positioning tool, a yoke shaping mechanism and a lifting mechanism. The core holding platform is made of Q235 carbon steel through milling + grinding process to minimize the stress during the processing and ensure the flatness of the platform; the core positioning tool is installed at the center of the stacking platform, made of high-strength structural steel, and uses an inner circle + one piece and two slots positioning method to position the stator core; the yoke shaping mechanism uses 9 circumferentially evenly distributed "semi-circular" shaping blocks driven by cylinders. The shaping blocks are arranged radially toward the core and are driven by cylinders to cooperate with the pigeon slots of the stator core yoke to achieve the shaping purpose; the lifting mechanism uses a servo motor drive to ensure that the lifting distance of each time is accurately controllable, and at the same time uses 4 high-strength grinding-grade linear guide rails to ensure the reliable straightness of the lifting. The core positioning tool and the yoke shaping mechanism are installed on the lifting mechanism through a mechanical structure, thereby ensuring the positioning and shaping of the cores when stacked at any height. The stacking robot 200 is a KUKA KR90-R2700 model.

[0081] The stacking robot 200 grabs the material through a gripper device, which includes: an overall frame, a flange, a junction box, a pneumatic reversing valve assembly, a color sensor and a distance sensor connected to the robot above the overall frame, and three groups of pneumatic suction cup assemblies distributed below the overall frame according to the shape and size of the punching sheets, and a group of backward extending cylinder assemblies and a group of downward extending cylinder assemblies are arranged at the rear of the overall frame. The pneumatic reversing valve assembly is an electromagnetic reversing valve assembly with the function of inputting control signals and outputting status signals, and the reversing valve is directly connected to the pneumatic suction cup assembly with an up and down floating mechanism.

[0082] Among them, the signal acquisition of the visual inspection system is 4 industrial-grade cameras (taking pictures to obtain real-time images respectively, and the industrial control host has high-speed processing capabilities, and quickly compares the real-time images with the standard punched film images in grayscale, and gives the comparison results within 0.5 seconds after taking the picture, so as to judge whether the punched films have defects such as scratches, paint peeling, curling, and missing corners). Such a setting can use the visual inspection system to perform appearance inspection on the punched films, prevent unqualified materials from being stacked, and thus ensure the stacking quality; the sheet separation detection device includes a vacuum generator, a vacuum suction cup and a weight detection device. The sheet separation detection device grabs the punched films from the material stack through the vacuum suction cup, and then uses the weight detection device in the grabbing state to determine whether there is any missed grabbing or multiple grabbing. If the above two situations (missed grabbing or multiple grabbing) occur, the system alarm prompts manual intervention. At the same time, the sheet separation inspection device is used in conjunction with the magnetic sheet separator to ensure the reliability and stability of the system.

[0083] The centering platform 500 includes an automatic alignment adjustment mechanism and a visual defect detection module. The automatic alignment adjustment mechanism consists of a ball bearing plate, a positioning block on the front of the plate, and two positioning blocks on the rear side driven by a pneumatic push rod. The ball bearing plate is used to hold the punched sheets delivered by the sheet separation detection device. The positioning block on the front of the plate is used to position the punched sheets, while the positioning block on the rear of the plate is driven by a pneumatic cylinder to push the punched sheets into engagement with the positioning block on the front of the plate for accurate positioning. The balls on the ball bearing plate are primarily used to prevent damage to the paint film on the punched sheets during the pushing process. The visual defect detection device includes four industrial cameras on the centering platform, a visual system workstation, a monitor, and a set of visual inspection debugging software. The visual defect detection system divides the punched sheets into four inspection areas, and uses each of the four cameras to capture real-time images of the sheets. The visual inspection debugging software compares the captured images with standard images to determine whether the sheets contain defects such as scratches, curling, missing corners, and dents.

[0084] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A stator core automatic stacking system, characterized in that: The invention comprises a stacking positioning platform (100), a stacking robot (200), a feeding mechanism (300), a sheet separation mechanism (400), a centering platform (500), an iron sheet tray station (600) and a ventilation slot plate tray station (700); the stacking positioning platform (100) is located at the center, the stacking positioning platform (100), the stacking robot (200), the centering platform (500), the sheet separation mechanism (400) and the feeding mechanism (300) are arranged in sequence from the inside to the outside, and the iron sheet tray station (600) and the ventilation slot plate tray station (700) are located on both sides of the centering platform (500); The stacked positioning platform (100) is used to position and hold the stator core; The stacking robot (200) is used to grab the ventilation slot plates and iron sheets from the ventilation slot plate tray station (700) and the iron sheet tray station (600) to the centering platform (500), and is also responsible for taking the sheets from the centering platform (500) to the stacking positioning platform (100) to complete the stacking of the stator core in a 1 / 3 full circle area; The loading mechanism (300) is used to receive the stacked materials transported by the AGV or forklift; The sheet separation mechanism (400) is used to separate the silicon steel sheets at the material inlet and transport them to the centering platform (500); The centering platform (500) is used to position and align all types of punched sheets, ensuring that the stacking robot (200) takes the sheets from the same position each time; The iron sheet tray station (600) is used to hold iron sheets; The ventilation slot plate tray station (700) is used to hold the ventilation slot plates.

2. The stator core automatic stacking system according to claim 1, characterized in that: The stacking robot (200), the loading mechanism (300), the sheet separation mechanism (400), the centering platform (500), the iron sheet tray station (600) and the ventilation slot plate tray station (700) are all provided in three.

3. The stator core automatic stacking system according to claim 1, characterized in that: A suction cup clamp is installed at the end of the stacking robot (200).

4. The stator core automatic stacking system according to claim 1, characterized in that: The stacking positioning platform (100) comprises an iron core receiving platform, an iron core positioning tool and a lifting mechanism; the iron core receiving platform is used to receive the stator iron core during the stacking process; the iron core positioning tool is used to stack and position the iron cores to ensure the iron core stacking accuracy; the lifting mechanism is used to drive the iron core positioning tool to rise to meet the positioning requirements as the iron core stacking height changes.

5. The stator core automatic stacking system according to claim 1, characterized in that: The sheet separation mechanism (400) is provided with a visual inspection system and a sheet separation and detection device. The visual inspection system is used to detect the quality of the punched sheets; and the sheet separation and detection device is used to separate the positive sheets.

6. The stator core automatic stacking system according to claim 1, characterized in that: The centering platform (500) comprises an automatic alignment adjustment mechanism and a visual defect detection module; the automatic alignment adjustment mechanism is used to regularly position all incoming material sheets to ensure the position consistency of the robot's material picking point each time; the visual defect detection device is used to perform surface defect detection on all incoming material sheets.

7. The stator core automatic stacking system according to claim 1, characterized in that: A defective sheet tray station (800) is arranged next to the iron sheet tray station (600), and the defective sheet tray station (800) is used to hold defective sheets transported from the central platform.

8. A method for automatically stacking stator cores, characterized in that: The following steps are involved: Step 1: Determine the stacking machine model according to the production order requirements, replace the core positioning tooling of the stacking positioning platform (100), and adjust the robot end suction cup fixture; Step 2: Place the trays with fixed ventilation slot plates and iron sheets at the corresponding tray stations respectively; the positive sheet is placed at the loading port, the ventilation slot plate is placed in the ventilation slot plate tray, the iron sheet is placed in the iron sheet tray, and the defective sheet tray is placed at the defective sheet tray station (800); Step 3: Start the system, reset the system data, select the corresponding model program, and start automatic stacking; Step 4: The stacking robot (200) moves from the Home point to the top of the ventilation slot plate tray station (700), and turns on the visual position detection module integrated on the suction cup fixture to detect the position and height information of the ventilation slot plate; Step 5: The stacking robot (200) grabs the ventilation slot plate and places it on the centering platform (500) and then exits the area. The centering platform (500) uses an automatic alignment adjustment mechanism to center the sheet and then turns on the defect detection function. If the defect inspection passes, the robot grabs it to the stacking positioning platform (100) for stacking. If the defect inspection fails, the stacking robot (200) grabs it to the defective sheet tray station (800). This step is repeated until the stacking robot (200) completes the stacking of the whole-circle ventilation slot plate of this layer. Step 6: The loading device connects to the positive sheet stack, and the sheet separation mechanism (400) grabs the positive sheet from the stack and transports it to the fixed centering platform (500). The centering platform (500) aligns the incoming sheet through the automatic alignment adjustment mechanism and then starts the defect detection function; if the defect inspection passes, the stacking robot (200) grabs it to the stacking positioning platform (100) for stacking; if the defect inspection fails, the stacking robot (200) grabs it to the defective sheet tray station (800); while the stacking robot (200) takes the incoming sheet from the centering platform (500), the sheet separation mechanism (400) and the centering platform (500) continue the next round of work, and repeat this step until the stacking robot (200) completes the stacking of the positive sheet of the stator core section; Step 7: The stacking robot (200) grabs the iron sheet, places it on the centering platform (500) and pushes it out of the area. The centering platform (500) uses an automatic alignment adjustment mechanism to center the sheet and then turns on the defect detection function. If the defect inspection passes, the robot grabs it to the stacking positioning platform (100) for stacking. If the defect inspection fails, the stacking robot (200) grabs it to the defective sheet tray station (800). This step is repeated until the stacking robot (200) completes the stacking of the whole round iron sheet of this layer. Step 8: Repeat the above steps 5, 6, and 7 until the number of stator core segments meets the requirements or the tray punching is missing or defective. The tray is full; Step 9: If the stator core reaches the specified number of sections, it is lifted off the stacking positioning platform (100) to carry out the next group of stator core stacking tasks; if the tray punching sheet is missing or the defective sheet tray is full, the tray should be reloaded or replaced to continue stacking.

9. The method for automatically stacking stator cores according to claim 8, characterized in that: In the step 1, the stacking positioning platform (100) needs to be calibrated and adjusted when producing different product objects.

10. The method for automatically stacking stator cores according to claim 8, characterized in that: In step six, the loading mechanism (300) receives the stacked materials transported by the AGV or forklift.

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