CN111786519A - A semi-iron core stator winding production line - Google Patents

Abstract

The invention relates to a half-iron-core stator winding production line. The stator comprises a stator feeding tray, a stator grabbing manipulator, a tray circulating feeding line and a stator feeding tray, wherein the stator feeding tray is used for bearing a plurality of semi-iron core stator clamps and semi-iron core stators on the semi-iron core stator clamps, the stator grabbing manipulator is used for disassembling and assembling the semi-iron core stators on the plurality of semi-iron core stator clamps on the stator feeding tray on the tray circulating feeding line, the tray circulating feeding line is used for circularly conveying the stator feeding tray to a stator clamp feeding robot, and the stator feeding tray is used for conveying the stator feeding tray between the tray circulating feeding line and a stator winding machine. The semi-iron core stator winding machine has the advantages that the procedures of feeding and discharging of a semi-iron core stator, circulating conveying of the tray, feeding and discharging of the semi-iron core stator clamp, winding of the semi-iron core stator and the like are respectively realized through the stator grabbing mechanical arm, the tray circulating feeding line, the stator feeding tray, the stator clamp feeding robot and the stator winding machine, so that the semi-iron core stator winding machine is high in automation degree, high in feeding and discharging speed and high in production efficiency.

Description

A semi-iron core stator winding production line

technical field

The invention relates to the technical field of half-iron-core stator winding machines, in particular to a half-iron-core stator winding production line.

Background technique

The existing semi-iron-core stator winding production line has slow feeding speed, low production efficiency, large floor space, high production cost and low degree of automation. Therefore, the existing half-core stator winding production line needs to be further improved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a half-iron-core stator winding production line with simple structure, full automation, small footprint, high production efficiency and low cost.

The object of the present invention is achieved in this way:

A half-iron-core stator winding production line comprises a stator material grabbing manipulator, a tray circulating feeding line, a stator feeding tray, a stator clamp feeding robot and a stator winding machine.

The stator feeding tray is used to carry a plurality of half-iron-core stator fixtures and the half-iron-core stators thereon. The plurality of half-iron-core stator fixtures are detachably mounted on the stator feeding tray, and the half-iron-core stators are detachably mounted on the half-iron-core stator fixtures.

The stator material grabbing manipulator is used for disassembling and assembling the half-iron-core stators on a plurality of half-iron-core stator clamps on the stator feeding tray on the tray circulating feeding line.

The tray circulating feeding line is used for circulatingly conveying the stator feeding tray to the sub-clamp feeding robot.

The stator clamp feeding robot is used for conveying the stator feeding tray between the tray circulating feeding line and the stator winding machine, for grabbing the semi-iron core stator clamp on the stator feeding tray thereon to the stator winding machine, and Used to grab the half-core stator clamp on the stator winding machine onto the stator feed tray on it.

The stator winding machine is used for winding the half-iron-core stator on the half-iron-core stator fixture.

The present invention can be further improved as follows.

The stator fixture feeding robot includes a stator fixture feeding frame, a ground rail, a tray positioning mechanism and a stator fixture feeding manipulator.

The tray positioning mechanism is arranged on the stator fixture feeding frame, and is used for positioning the stator feeding tray on the stator fixture feeding frame.

The stator fixture feeding manipulator is set on the stator fixture feeding frame, and is used for conveying the half-iron core stator fixture between the stator feeding tray and the stator winding machine.

The rotating lifting shaft of the stator clamp feeding manipulator is provided with a stator clamp material grabbing arm. The stator gripper gripping arm includes a gripper gripper seat and at least two stator gripper gripping mechanisms, the gripper gripper seat is arranged at the lower end of the rotating lift shaft, and the stator gripper gripping mechanism includes a gripper gripping cylinder, a gripper The gripping claws and the jig clamp the groove, the jig gripping groove is provided on the jig gripping seat, the outer end of the jig gripping groove is open, and the jig gripping claws rotate in the form of a lever and are arranged on the jig A material grabbing seat, the clamp material grabbing cylinder is arranged on the clamp material grabbing seat, the cylinder rod of the clamp material grabbing cylinder is connected with the inner end of the clamp material grabbing claw, and the outer end of the clamp material grabbing claw is located in the clamp Clamp the top of the slot.

The stator clamp loading rack is horizontally slidably arranged on the ground rail, and a plurality of the stator winding machines are arranged on the left and right sides of the ground rail.

The stator fixture feeding manipulator is a four-axis robot, and the four-axis robot is a well-known technology. The four-axis robot has a rotating and lifting shaft that can rotate, lift, and translate. Therefore, its working principle will not be described here. .

The tray positioning mechanism includes a tray positioning frame, a tray fixing cylinder and a tray fixing plate, the tray positioning frame is set on the stator fixture loading rack, the front side of the tray positioning frame is open and the rear side is closed, and the tray The left and right sides of the positioning frame are provided with a tray supporting roller set, and there is a tray positioning gap between the tray supporting roller set and the bottom of the tray positioning frame. Below the pallet positioning frame, the pallet fixing cylinder is set on the stator fixture loading rack and below the pallet fixing plate, and the pallet fixing cylinder drives the pallet fixing plate to slide up and down.

A draw hook is provided on the gripper seat, and the draw hook is in the shape of a Γ. The draw hook is used to pull the stator feed tray for transporting the half-core stator to move on the production line, so that the stator feed tray can be moved from one wire body of the production line to another wire body of the production line, thereby preventing the stator feed tray from being at the end of the wire body There is not enough power to move.

There are four stator gripper gripping mechanisms on the gripper gripper seat, and the four stator gripper gripper mechanisms are arranged on both sides of the gripper gripper seat opposite to each other, so the present invention can first remove the two windings on the stator winding machine. The half-iron core stator with good wire, then rotate the gripper seat by 180°, and then install two unwound half-iron core stators on the stator winding machine, so as to realize the rapid feeding and unloading of the half-iron core stator. material.

The clamping groove of the clamp is arranged at the periphery of the material grabbing seat of the clamp, so that the clamped block of the half-iron-core stator clamp can be inserted into or removed from the clamping groove of the clamp.

The outer ends of the gripping claws of the clip are hook-shaped, and the structural design of the gripping claws of the gripper of the present invention is reasonable, so that the outer ends of the gripping claws of the gripper can be clamped and matched with the clamping grooves on the clamped block.

The clamp gripping cylinder is arranged at the bottom of the gripper gripping seat, the gripper gripping seat is provided with a clearance hole corresponding to the cylinder rod of the gripper gripping cylinder, and the cylinder rod of the gripper gripping cylinder passes upward through the clearance hole. , and is connected with the inner end of the gripping jaw of the fixture.

The bottom of the clamping groove is in the shape of a right-angled triangle.

The ground rail is provided with a traveling rack along its length direction, the stator clamp loading frame is provided with a sliding drive motor, and the sliding drive motor is provided with a driving gear, and the driving gear meshes with the traveling rack .

A plurality of fixture fixing seats are arranged on the stator feeding tray, and half-iron core stator fixtures are detachably arranged on the fixture fixing seats.

The half-iron core stator clamp includes a clamping seat, a clamping slider and a clamp opening driving slider. The back of the clamping seat is provided with a guide groove corresponding to the clamp opening driving slider, and the clamp opening driving slider is vertically arranged. The vertical sliding is arranged in the guide groove, the clamping slider is horizontally arranged on the front of the clamping seat, and a clamping pressure spring is arranged between the bottom of the clamp opening and driving the slider and the clamping seat, and the clamp There is a driving protrusion on the opening driving slider, the clamping seat is provided with a guiding long hole corresponding to the driving protrusion in the vertical direction, and the clamping slider is provided with a driven oblique long hole corresponding to the driving protrusion. The driving protrusion passes through the guide long hole and the driven oblique long hole in sequence from the rear of the clamping seat to the front. Connected, the front end of the clamping seat is provided with a clamping card plate that cooperates with the clamping slider, and the stator clamping port is between the clamping slider and the clamping card plate, and the rear end of the clamping seat is A clamped block extends outward, and the clamped block is provided with a clamping groove, and the clamping groove is used for cooperating with the material catching claws of the clamp. In the half-iron-core stator clamp of the present invention, because the clamping pressure spring presses the clamp upward all the time to open the driving slider, the driving protrusion pushes the clamping slider forward, and the clamping slider closes the stator clamping port all the time. , so only when the clamp is opened and the ejector pin pushes down the clamp to open the drive slider to slide, the drive protrusion can push the clamp slider back, and the stator clamping port can be opened.

The pallet circulating feeding line includes a pallet sending line, a pallet sending line and a pallet returning line.

The tray feeding line is used for feeding the stator feeding tray to the stator fixture feeding robot.

The tray feeding line and the tray feeding line are arranged side by side.

The tray feeding line is used to transport the stator feeding tray on the stator fixture feeding robot to the tray return line.

The pallet return line is used for conveying the stator feeding pallet conveyed by the pallet sending line back to the pallet sending line.

The tray feeding line and the tray feeding line are provided with a stator clamp opening mechanism, and the stator clamp opening mechanism is used to control the half iron core stator clamp on the stator feeding tray to clamp or loosen the half iron core stator.

The tray return line is located at the front end of the tray feeding line and the tray feeding line, and the stator clamp feeding robot is located at the rear end of the tray feeding line and the tray feeding line.

The tray feeding line includes a tray feeding rack, a tray feeding chain assembly and a tray feeding motor. The tray feeding chain assembly includes a first sprocket, a second sprocket and a tray feeding chain. A sprocket and a second sprocket are respectively arranged at the front and rear ends of the tray feeding rack, the tray feeding chain is arranged along the feeding direction of the tray feeding frame, and the tray feeding chain is connected to the first sprocket and the second sprocket, the tray feeding motor is connected with the first sprocket belt drive.

The pallet sending line includes a pallet sending rack, a pallet sending chain assembly and a pallet sending motor. The pallet sending chain assembly includes a third sprocket, a fourth sprocket and a pallet sending chain. The sprockets are respectively arranged at the front end and the rear end of the pallet sending rack, the pallet sending chain is arranged along the feeding direction of the pallet sending rack, the pallet sending chain is connected to the third sprocket and the fourth sprocket, the pallet sending The motor is connected with the third sprocket belt drive.

The pallet return line includes a pallet return rack, a pallet return slide frame, a pallet return chain assembly and a pallet return cylinder, and the pallet return rack is located at the same end of the pallet feed line and the pallet output line, The tray return sliding frame is horizontally slidable on the tray return frame, the tray return cylinder is arranged on the tray return frame, and drives the tray return slide frame to slide horizontally, and the tray return chain assembly includes a first The fifth sprocket, the sixth sprocket and the pallet return chain, the fifth sprocket and the sixth sprocket respectively set the front end and the rear end of the pallet return rack, and the pallet return chain returns to the rack along the pallet The conveying direction of the pallet is set, the pallet return chain is connected with the fifth sprocket and the sixth sprocket, and the pallet return motor is connected with the fifth sprocket belt drive.

The stator clamp opening mechanism includes an installation frame, a thimble lifting cylinder, a thimble fixing frame, a plurality of clamps to open the thimble, a tray positioning plate and a tray positioning cylinder. The opening thimble is arranged on the thimble fixing frame, the thimble lifting cylinder is arranged on the installation frame, and drives the thimble fixing frame to slide up and down, and the tray positioning plate is slid up and down on the installation frame, and is located below the clamp to open the thimble, so The tray positioning cylinder is arranged on the mounting frame and drives the tray positioning plate to slide up and down.

The thimble fixing frame is provided with a plurality of thimble fixing guide shafts, the lower ends of the plurality of thimble fixing guide shafts are provided with the clamp to open the thimble, and the mounting frame is provided with a guide bushing corresponding to the thimble fixing guide shaft. The thimble fixing guide shaft slides up and down and is arranged on the guide shaft sleeve.

The plurality of clamps open the thimble and are arranged vertically and side by side on the thimble fixing frame.

The tray positioning cylinder is arranged on the mounting frame, and the mounting frame is provided with an active inclined plane block horizontally sliding, the tray positioning cylinder drives the active inclined plane block to slide horizontally, and the bottom surface of the tray positioning plate is provided with a driven inclined plane block, The active incline block cooperates with the inclined surface of the driven incline block, and the active incline block slides in the horizontal direction to drive the driven incline block to rise and fall.

The stator feeding tray sits on the tray positioning plate and is located below the opening thimbles of the plurality of clamps.

The tray positioning plate is provided with a first positioning convex column and a second positioning convex column, and the first positioning convex column and the second positioning convex column are arranged diagonally.

The stator feeding tray is provided with a first positioning hole and a second positioning hole at the positions corresponding to the first positioning convex column and the second positioning convex column. When the stator feeding tray slides above the tray positioning plate, the tray positioning cylinder drives the tray positioning plate. Up, the first positioning convex column and the second positioning convex column are respectively inserted into the first positioning hole and the second positioning hole, so as to realize the positioning of the stator feeding tray.

The beneficial effects of the present invention are:

(1) The present invention realizes the loading and unloading of the half-iron core stator, the cyclic conveying of the tray, the half-iron core stator through the stator grasping manipulator, the tray circulating feeding line, the stator feeding tray, the stator clamp feeding robot and the stator winding machine respectively. The process of loading and unloading of the fixture and the winding of the semi-iron core stator, so the semi-iron core stator winding production line of the present invention has no manual operation, high degree of automation, low labor intensity, fast loading and unloading speed, high production efficiency, and production cost. Low.

(2) Moreover, the stator clamp opening mechanism of the present invention can first locate the stator feeding tray, and then drive multiple clamps to open the thimbles to simultaneously open the plurality of half-core stator clamps on the stator feeding tray, thereby facilitating the stator feeding manipulator in the stator feeding. The tray synchronously removes multiple half-iron core stators or synchronously installs multiple half-iron core stators, so the feeding speed and the discharging speed of the present invention are fast, thereby improving the production efficiency of the half-iron core stator winding production line.

(3) In addition, the stator fixture feeding robot of the present invention can move together with the stator feeding tray, that is, to convey multiple half-core stators to multiple stator winding machines, and at the same time, it can also load multiple stator winding machines. The coiled half-iron-core stator is grabbed onto the stator feeding tray for temporary storage, and then conveyed away together. Therefore, the loading and unloading speed of the stator fixture feeding robot of the present invention is fast, thereby improving the production of the present invention. efficiency.

(4) In addition, when the gripping arm of the stator clamp of the present invention grabs the half-iron core stator clamp, the clamping groove of the clamp is first aligned with the clamping block of the half-iron core stator clamp, and then the clamp of the half-iron core stator clamp is clamped. The block is inserted into the clamping groove of the clamp, and then the clamping cylinder drives the inner end of the clamping jaw to rotate upward, and the outer end of the clamping jaw clamps down on the clamping groove on the clamped block, so as to realize the grasping half. Iron core stator fixture. On the contrary, when the gripping cylinder drives the inner end of the gripping jaw to rotate downward, the outer end of the gripping jaw of the gripper rotates upwards to release the clamped block, and then translates to clamp the slot, so that the gripping slot of the gripper is separated from the half. The clamped block of the iron core stator fixture, so as to realize the removal of the half iron core stator fixture. Therefore, the grasping and unloading speed of the grasping arm of the stator clamp of the present invention is fast, and the present invention improves the production efficiency of the half-iron-core stator winding production line.

Description of drawings

FIG. 1 is a schematic structural diagram of the half-iron-core stator winding production line of the present invention.

Figure 2 is a top view of the half-iron-core stator winding production line of the present invention (the two large dashed boxes in Figure 2 represent the stator main winding winding production line and the stator secondary winding winding production line respectively, and the two small dashed boxes represent the first tray respectively. Circulating feeding line, 2nd pallet circulating feeding line).

FIG. 3 is a schematic structural diagram of the half-iron-core stator winding production line omitting a plurality of primary and secondary winding stators according to the present invention.

FIG. 4 is a schematic structural diagram of FIG. 3 from another angle.

FIG. 5 is a schematic structural diagram of the stator gripping manipulator of the present invention.

FIG. 6 is a schematic structural diagram of the stator material grabbing arm of the stator material grabbing manipulator of the present invention.

FIG. 7 is a schematic structural diagram of FIG. 6 from another angle.

FIG. 8 is a schematic diagram of the structure of the tray circulating feeding line of the present invention.

FIG. 9 is a schematic structural diagram of FIG. 8 from another angle.

FIG. 10 is a schematic structural diagram of the stator clamp opening mechanism of the present invention.

FIG. 11 is a schematic structural diagram of the stator clamp opening mechanism of the present invention in the process of opening the half-iron core stator clamp.

12 is a front view of the stator clamp opening mechanism of the present invention.

FIG. 13 is a cross-sectional view at A-A in FIG. 12 .

FIG. 14 is a schematic structural diagram of the stator feeding tray of the present invention.

FIG. 15 is a schematic structural diagram of the stator feeding tray installed with the upper half-core stator of the present invention.

FIG. 16 is a schematic structural diagram of the stator fixture loading robot of the present invention.

FIG. 17 is a schematic structural diagram of FIG. 16 from another angle.

FIG. 18 is a side view of the stator clamp loading robot of the present invention.

FIG. 19 is an enlarged view of A in FIG. 4 .

FIG. 20 is a schematic structural diagram of the material grabbing arm of the stator fixture of the present invention.

Figure 21 is a partial exploded view of the gripper arm of the stator clamp of the present invention.

FIG. 22 is a schematic structural diagram of the stator clamp material grabbing arm of the present invention grabbing four half-iron core stator clamps at the same time.

FIG. 23 is a schematic structural diagram of the half-iron core stator fixture of the present invention.

FIG. 24 is a schematic structural diagram of FIG. 23 from another angle.

25 is an exploded view of the half-core stator fixture of the present invention.

Detailed ways

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

Embodiment 1, as shown in FIG. 1 to FIG. 25 , a half-iron-core stator winding production line includes a stator grabbing manipulator 1 , a stator main winding winding production line 91 and a stator secondary winding winding production line 92 .

The stator main winding winding production line 91 includes a first tray circulating feeding line 2 , a first stator feeding tray 4 , a first stator clamp feeding robot 5 , and a main winding stator winding machine 93 .

The stator secondary winding winding production line 92 includes a second tray circulating feeding line 20 , a second stator feeding tray 40 , a second stator clamp loading robot 8 , and a secondary winding stator winding machine 94 .

The first and second stator feeding trays 4 and 40 are used to carry a plurality of half-iron core stator fixtures and the half-iron core stators 7 thereon. The first and second stator feeding trays 4 and 40 are detachably installed with A plurality of half-iron-core stator fixtures 6 , and the half-iron-core stator 7 is detachably mounted on the half-iron-core stator fixture 6 .

The first tray circulating feeding line 2 is used for circulatingly conveying the first stator feeding tray 4 to the first stator fixture loading robot 5 .

The second tray circulating feeding line 20 is used for circulatingly conveying the second stator feeding tray 40 to the second stator fixture loading robot 8 .

The stator material grabbing manipulator 1 is used for disassembling and assembling the half-iron-core stators 7 on the plurality of half-iron-core stator clamps 6 on the first and second stator feeding trays.

The first stator fixture feeding robot 5 is used to transport the first stator feeding tray 4 between the first tray circulating feeding line 2 and the main winding stator winding machine 93, and is used to grab the first stator feeding The half-core stator fixture 6 on the tray 4 is placed on the main winding stator winding machine and the half-core stator fixture 6 on the main winding stator winding machine is grabbed onto the first stator feeding tray 4 .

The second stator clamp feeding robot 8 is used to transport the second stator feeding tray 40 between the second tray circulating feeding line 20 and the secondary winding stator winding machine 94, and is used to grab the second stator feeding thereon The half-core stator clamp 6 on the tray 40 to the secondary winding stator winding machine and the second stator feed tray 40 for grabbing the half-core stator fixture 6 on the secondary winding stator winding machine onto it.

The main winding stator winding machine 93 is used for winding the main winding slot of the half iron core stator 7 on the half iron core stator fixture 6 .

The secondary winding stator winding machine 94 is used for winding the secondary winding slot of the half iron core stator 7 on the half iron core stator fixture 6 .

As a more specific technical solution of the present invention.

The stator gripping manipulator 1 is a six-axis robot, and the structure and working principle of the six-axis robot are in the prior art, and will not be described in detail here. The end of the stator gripping manipulator 1 is provided with a stator gripping arm 10, and the stator gripping manipulator 1 can drive the stator gripping arm 1 to rotate, lift, and translate.

The stator material grabbing arm 10 includes a stator material grabbing seat 11, a clamping jaw sliding seat 13, a plurality of sliding clamping jaws 15, a plurality of fixed clamping jaws 14 and a stator material grabbing cylinder 12, and the clamping jaw sliding seat 13 is slidably arranged on the On the stator gripper 11 , a plurality of sliding jaws 15 and a plurality of fixed jaws 14 are alternately arranged at the bottom of the stator gripper 11 , and a plurality of sliding jaws 15 are slidably arranged at the bottom of the stator gripper 11 , the top ends of the plurality of sliding jaws 15 are fixedly connected to the jaw sliding seat 13, the plurality of sliding jaws 15 are in one-to-one correspondence with the plurality of fixed jaws 14, and there is a half-core stator between the sliding jaws 15 and the fixed jaws Clamping the opening, the stator gripping cylinder 12 is set on the stator gripping seat 11 and drives the gripper sliding seat 13 to slide, and the gripper sliding seat 13 drives a plurality of sliding grippers to slide synchronously. When the stator gripping cylinder 12 drives the clamping jaw sliding base 13 to move forward, the plurality of sliding clamping jaws 15 and the plurality of fixed clamping jaws 14 are closed, so as to simultaneously clamp a plurality of half-iron core stators. When the stator gripping cylinder 12 drives the clamping jaw sliding base 13 to move backward, the plurality of sliding clamping jaws 15 are separated from the plurality of fixed clamping jaws 14 , thereby simultaneously releasing the plurality of half-iron core stators.

The clamping side surfaces of the fixed clamping jaws 14 are circular arc surfaces.

As a more detailed technical solution of the present invention.

The first and second stator feeding trays 4 and 40 are arranged with a plurality of fixture fixing bases 42 . There is a right-angled triangle-shaped jig holding groove 43 .

The half-iron-core stator clamp 6 includes a clamping seat 61, a clamping slider 62 and a clamp opening driving slider 64. The back of the clamping seat 61 is provided with a guide groove 69 corresponding to the clamping opening driving slider 64. The clamp opening driving slider 64 is slidably arranged in the guide groove 69 in the vertical direction, the clamping slider 62 is slid horizontally on the front side of the clamping seat 61, and the bottom of the clamping opening driving slider 64 is connected with the clamping seat. A clamping pressure spring 63 is arranged between 61, and a driving protrusion 641 is provided on the clamp opening driving slider 64. The clamping seat 61 is arranged in the guide long hole 65 in the vertical direction corresponding to the driving protrusion 641, so The clamping slider 62 is provided with a driven oblique long hole 66 corresponding to the driving protrusion 641, and the driving protrusion 641 sequentially passes through the guiding long hole 65 and the driven oblique long hole from the rear side of the clamping seat 61 to the front side. 66, the top of the clamping seat 61 is provided with a drive abdication hole 68 corresponding to the guide groove 69, the drive abdication hole 68 communicates with the guide groove 69, and the front end of the clamping seat 61 is provided with a clamping slider. 62-matched clamping card plate 613, between the clamping slider 62 and the clamping card plate 613 is a stator clamping port 610, the rear end of the clamping seat 61 extends out of the clamping block 612, the The clamped block 612 is provided with a clamping groove 67 for cooperating with the clamping claw 525 of the clamp.

The bottom of the half-iron core stator fixture 6 and the bottom of the clamped block 612 are provided with right-angled triangle-shaped clamping blocks 611. When the half-iron core stator fixture 6 is installed on the fixture fixing seat 42, the clamping block 611 is The block 611 is inserted into the clamp clamping groove 43 , so that the half-iron-core stator clamp 6 is fixed on the clamp fixing seat 42 .

The first pallet circulating feeding line 2 includes a first pallet sending line 21 , a first pallet sending line 22 and a first pallet returning line 23 . The first tray feeding line 21 is used to transport the first stator feeding tray 4 to the first stator fixture loading robot 5 . The first tray feeding line 22 is used to transport the first stator feeding tray 4 on the first stator fixture feeding robot 5 to the first tray returning line 23 . The first tray return line 23 is used to transport the first stator feed tray 4 on the first tray delivery line 22 back to the first tray delivery line 21 .

The second pallet circulating feeding line 20 includes a second pallet sending line 201 , a second pallet sending line 202 and a second pallet returning line 203 . The second tray feeding line 201 is used to transport the second stator feeding tray 40 to the second stator fixture loading robot 8 . The second tray feeding line 202 is used to transport the second stator feeding tray 40 on the second stator fixture feeding robot 8 to the second tray returning line 203 . The second tray return line 203 is used for transporting the second stator feeding tray 40 on the second tray feeding line 202 back to the second tray feeding line 201 .

The first pallet return line 23 is located at the front end of the first pallet feed line 21 and the first pallet output line 22, and the first stator clamp loading robot 5 is located at the first pallet feed line 21 and the first pallet feed line 22. The rear end of the feed line 22 is sent out.

The second pallet return line 203 is located at the front end of the second pallet feed line 201 and the second pallet feed line 202, and the second stator clamp loading robot 8 is located at the second pallet feed line 201 and the second pallet feed line 201. The rear end of line 202.

As a more specific technical solution of the present invention.

The first tray feeding line 21 includes a first tray feeding rack 24, a first tray feeding chain assembly 25, and a first tray feeding motor 26. The first tray feeding chain assembly 25 includes a first chain The wheel 251, the second sprocket 252 and the first pallet feeding chain 253 are respectively arranged at the front and rear ends of the first pallet feeding frame 24. A pallet feeding chain 253 is provided along the feeding direction of the first pallet feeding frame 24, the first tray feeding chain 253 is connected to the first sprocket 251 and the second sprocket 252, and the first tray feeding motor 26 is connected with the first sprocket 251 in a belt drive.

The first pallet sending line 22 includes a first pallet sending rack 27, a first pallet sending chain assembly 28 and a first pallet sending motor 29. The first pallet sending chain assembly 28 includes a third sprocket 281, a fourth A sprocket 282 and a pallet sending chain 283 are provided. The third sprocket 281 and the fourth sprocket 282 are respectively provided at the front and rear ends of the first pallet sending frame 27. The pallet sending chain 283 runs along the first pallet sending machine. The feeding direction of the frame 27 is set, the pallet sending chain 283 is connected to the third sprocket 281 and the fourth sprocket 282 , and the first pallet sending motor 29 is connected to the third sprocket 281 by belt driving.

The first pallet return line 23 includes a first pallet return rack 231, a first pallet return slide frame 232, a first pallet return motor 233, a first pallet return chain assembly 234 and a first pallet return The air cylinder 291, the first tray return sliding frame 232 is horizontally slid on the first tray return frame 231, the first tray return cylinder 291 is arranged on the first tray return frame 231, and drives the first tray return frame 231. The pallet return sliding frame 232 slides horizontally. The first pallet return chain assembly 234 includes a fifth sprocket 235, a sixth sprocket 236 and a first pallet return chain 237. The fifth sprocket 235, the sixth sprocket 235, the sixth sprocket The sprockets 236 are respectively provided with the front end and the rear end of the first pallet return rack 231, the first pallet return chain 237 is arranged along the conveying direction of the first pallet return rack 231, the first pallet return chain 237 is connected to the fifth sprocket 235 and the sixth sprocket 236 , and the first tray return motor 233 is connected to the fifth sprocket 235 by belt driving.

The second tray feeding line 201 includes a second tray feeding rack 204, a second tray feeding chain assembly 205 and a second tray feeding motor 206, the second tray feeding chain assembly 205 includes a seventh chain The wheel 207, the eighth sprocket 208 and the second pallet feeding chain 209, the seventh sprocket 207, the eighth sprocket 208 are respectively arranged at the front and rear of the second pallet feeding rack 204, the first Two pallet feeding chains 209 are arranged along the feeding direction of the second pallet feeding rack 204, the second pallet feeding chain 209 is connected to the seventh sprocket 207 and the eighth sprocket 208, and the second tray feeding motor 206 is connected with the seventh sprocket 207 for belt transmission.

The second pallet sending line 202 includes a second pallet sending rack 210, a second pallet sending chain assembly 211 and a second pallet sending motor 212. The second pallet sending chain assembly 211 includes a ninth sprocket 213, a tenth The sprocket 214 and the second pallet sending chain 215, the ninth sprocket 213 and the tenth sprocket 214 are respectively arranged at the front and rear ends of the second pallet sending frame 210, the second pallet sending chain 215 along the The feeding direction of the second pallet sending rack 210 is set, the second pallet sending chain 215 is connected to the ninth sprocket 213 and the tenth sprocket 214 , and the second pallet sending motor 212 is connected to the ninth sprocket 213 by belt driving.

The second pallet return line 203 includes a second pallet return rack 216, a second pallet return slide frame 217, a second pallet return motor 218, a second pallet return chain assembly 219 and a second pallet return The air cylinder 292, the second tray return sliding frame 217 is horizontally slid on the second tray return frame 216, the second tray return cylinder 292 is arranged on the second tray return frame 216, and drives the second tray return frame 216. The pallet return sliding frame 217 slides horizontally. The second pallet return chain assembly 219 includes an eleventh sprocket 221, a twelfth sprocket 222 and a second pallet return chain 223. The eleventh sprocket 221 The twelfth sprocket 222 is respectively provided with the front end and the rear end of the second pallet return rack 216. The second pallet return chain 223 is arranged along the conveying direction of the second pallet return rack 216. The pallet return chain 223 is connected to the eleventh sprocket 221 and the twelfth sprocket 222 , and the second pallet return motor 218 is connected to the eleventh sprocket 221 by belt driving.

The first tray feeding line 21, the first tray feeding wire 22, the second tray feeding wire 201 and the second tray feeding wire 202 are respectively provided with a first stator clamp opening mechanism 3a and a second stator clamp opening mechanism 3b, a third stator clamp opening mechanism 3c, and a fourth stator clamp opening mechanism 3d. The stator clamp opening mechanism is used to control the half iron core stator clamp 6 on the corresponding stator feeding tray to clamp or loosen the half iron core stator 7 .

The first stator clamp opening mechanism 3a, the second stator clamp opening mechanism 3b, the third stator clamp opening mechanism 3c, and the fourth stator clamp opening mechanism 3d all include a mounting frame 31, a thimble lifting cylinder 32, a thimble fixing frame 34, A plurality of clamps open the thimble 35, the tray positioning plate 37 and the tray positioning cylinder 36, the thimble fixing frame 34 is slid up and down on the mounting frame 31, the plurality of clamps open the thimble 35 and are arranged on the thimble fixing frame 34, the The ejector pin lifting cylinder 32 is arranged on the installation frame 31 and drives the ejector pin fixing frame 34 to slide up and down. The tray positioning plate 37 is slid up and down on the installation frame 31 and is located below the clamp to open the ejector pin 35. The tray positioning cylinder 36 It is arranged on the mounting frame 31 and drives the tray positioning plate 37 to slide up and down.

The thimble fixing frame is provided with a plurality of thimble fixing guide shafts 33 , and the lower ends of the plurality of thimble fixing guide shafts 33 are provided with the clamp opening thimble 35 .

The mounting frame 31 is provided with a guide bushing 30 corresponding to the thimble fixing guide shaft 33 , and the thimble fixing guide shaft 33 is slid up and down on the guide bushing 30 .

The plurality of clamps open the thimble and are arranged vertically and side by side on the thimble fixing frame.

The tray positioning cylinder 36 is arranged on the mounting frame 31, and the mounting frame is provided with an active inclined plane block 39, the tray positioning cylinder 36 drives the active inclined plane block 39 to slide horizontally, and the bottom surface of the tray positioning plate 37 is provided with a The moving inclined plane block 38, the active inclined plane block 39 and the driven inclined plane block 38 are inclined in cooperation, and the active inclined plane block slides in the horizontal direction to drive the driven inclined plane block 38 to rise and fall.

The stator feeding tray 4 sits on the tray positioning plate 37 and is located below the opening thimbles 35 of the plurality of clamps.

The tray positioning plate 37 is provided with a first positioning protrusion 371 and a second positioning protrusion 372, and the first positioning protrusion 371 and the second positioning protrusion 372 are arranged diagonally.

The stator feeding tray 4 is provided with a first positioning hole 45 and a second positioning hole 46 at the positions corresponding to the first positioning protrusions 371 and the second positioning protrusions. When the stator feeding tray 4 slides over the tray positioning plate 37, the tray The positioning cylinder 36 drives the tray positioning plate 37 to rise, and the first positioning protrusions 371 and the second positioning protrusions 372 are inserted into the first positioning holes 45 and the second positioning holes 46 respectively.

The first and second stator fixture feeding robots 5 and 8 each include a ground rail 9 , a stator fixture feeding frame 51 , a tray positioning mechanism 53 and a stator fixture feeding manipulator 52 .

The tray positioning mechanism 53 is set on the stator fixture loading rack 51, and is used for positioning the stator feeding tray 4 on the stator fixture loading rack;

The stator fixture feeding manipulator 52 is set on the stator fixture feeding frame 51 and is used to transport the half-iron core stator fixture between the stator feeding tray 4 and the stator winding machine.

The tray positioning mechanism 53 includes a tray positioning frame 533, a tray fixing cylinder 532 and a tray fixing plate 531, the tray positioning frame 533 is set on the stator fixture loading rack 51, and the front side of the tray positioning frame 533 is open, The rear side is closed, and the left and right sides of the tray positioning frame 533 are provided with tray support roller groups 534. There is a tray positioning gap 535 between the tray support roller group 534 and the bottom of the tray positioning frame 533, and the tray fixing plate 531 is up and down. The tray fixing cylinder 532 is set on the stator clamp feeding frame 51 and is located below the tray fixing plate 531 and is located below the tray positioning frame 533. The fixing cylinder 532 drives the tray fixing plate 531 to slide up and down.

The stator fixture loading manipulator 52 is a four-axis robot. The four-axis robot is in the prior art, and the four-axis robot has a rotating lift shaft 520 that can perform rotation, lift, translation, etc., and therefore, its working principle will not be described here.

The rotating lifting shaft 520 of the stator clamp feeding manipulator 52 is provided with a stator clamp material grabbing arm 521. The stator clamp material grabbing arm 521 includes a clamp material grab seat 522 and at least two stator clamp material grabbing mechanisms 523. The clamp gripping seat 522 is arranged at the lower end of the rotating lift shaft 520, and the stator gripper gripping mechanism 523 includes a gripper gripping cylinder 524, a gripper gripping claw 525 and a gripper clamping slot 526, and the gripper gripping slot 526 is provided. On the gripper seat 522, the outer end of the gripping groove 526 of the gripper is open, the gripper claws 525 are rotated in the form of levers and are arranged on the gripper seat 522, and the gripper cylinder 524 is arranged on the gripper seat 522. On the gripper seat 522 , the cylinder rod of the gripper cylinder 524 is rotatably connected to the inner end of the gripper jaw 525 , and the outer end of the gripper gripper 525 is located above the gripping groove 526 of the gripper.

The ground rail 9 is provided with a sliding rail 97 and a walking rack 98 along its length direction, and the stator fixture loading racks 51 of the first and second stator fixture loading robots 5 and 8 are horizontally arranged on the sliding rail. 97, the stator clamp loading frame 51 is provided with a sliding drive motor 54, the sliding drive motor 54 is provided with a driving gear (not shown in the figure), and the driving gear meshes with the traveling rack 98.

The clip holding groove 526 is disposed at the periphery of the clip gripping seat 522 .

The clamp gripping cylinder is arranged at the bottom of the gripper gripping seat 522, and the gripper gripping seat 522 is provided with an escape hole 528 corresponding to the cylinder rod of the gripper gripping cylinder, and the cylinder rod of the gripper gripping cylinder passes upwards. Give way to the hole 528 , and rotatably connect with the inner end of the gripping claw 525 of the jig.

The outer ends of the gripping claws 525 of the jig are hook-shaped.

The clamp material grabbing base 522 is provided with four stator clamp material grabbing mechanisms 523 , and the four stator clamp material grabbing mechanisms 523 are disposed on both sides of the clamp material grabbing base 522 opposite to each other.

A pull hook 527 is provided on the gripper seat 522 . The first and second stator feeding trays 40 are provided with pulling blocks 44 corresponding to the draw hooks 527 , and the pulling blocks 44 are provided with pulling grooves 441 . When the grasping arm of the stator clamp pulls the first stator feeding tray, the pull hook 527 will hook in the pulling groove 441 of the pulled block 44, and then pull the first stator feeding tray to slide.

The draw hook is in the shape of a Γ.

The working principle of the present invention is:

When the present invention starts to work, the stator main winding winding production line 91 of the present invention is started first, the first stator clamp opening mechanism 3a of the first tray feeding wire 21 is activated, and the tray positioning cylinder 36 of the first tray feeding wire 21 is driven The tray positioning plate 37 rises, the tray positioning plate 37 positions and supports the first stator feeding tray 4 on the first tray feeding line 21, and then the ejector pin lifting cylinder 32 drives the ejector pin fixing frame 34 to descend, and the plurality of ejector pin fixing guide shafts 33 Slide down, the clamps on the plurality of thimble fixing guide shafts 33 open the thimbles 35 and insert them downward into the drive absorptive holes 68 of the corresponding half-iron core stator clamps, and push the clamps to open the drive slider 64 to slide down, clamping The compression spring 63 is compressed by the clamp-opening driving slider 64, and the driving protrusion 641 also slides down with the driving slider. The driving protrusion 641 drives the clamping slider 62 to slide backward by pushing the driven oblique long hole 66 backward ( moving away from the clamping card plate), the clamping slider 62 opens the stator clamping opening 610 of the half-iron core stator clamp 6 .

Then, the stator material grabbing robot 1 of the present invention grabs a plurality of unwound half iron core stators 7 on the half iron core stator material tray (not shown in the figure), and transports them to the first tray for feeding The wire 21 is placed on the first stator feeding tray 4, and one end of the plurality of half-iron core stators 7 is located at the stator clamping port 610 of the corresponding half-iron core stator clamp 6, and the ejector pin fixing frame 34 is driven by the ejector pin lifting cylinder 32 to rise. , the plurality of thimble fixing guide shafts 33 slide upward, the clamps of the plurality of thimble fixing guide shafts 33 open the thimble 35 and move out of the drive abdication hole 68, the clamping pressure spring 63 drives the clamp to open the drive slider 64 and slides upward, and the drive protrusion 641 Also with the upward sliding of the driving slider, the driving protrusion 641 pushes the clamping slider 62 to slide forward through the forward driven oblique long hole 66 (moves toward the direction close to the clamping card plate), and the clamping slider 62 moves forward. The front end is matched with the clamping card plate to clamp one end of the half-iron core stator 7 . Next, the first stator gripper 1 releases the plurality of half-iron core stators 7 .

Then, the first tray feeding line 21 is activated, and the first tray feeding line 21 transports the first stator feeding tray 4 to the first stator clamp loading robot 5. When the first tray feeding line 21 feeds the first stator feeding When the stator feeding tray 4 is transported to the rear end of the first tray feeding the rack 24, the first stator clamp feeding robot 5 drives the hook 527 on the stator clamping feeding manipulator 52 to pull the first stator feeding tray 4. To the tray positioning frame 533 of the first stator fixture feeding robot 5, the first stator feeding tray 4 slides into the tray positioning gap 535, and then, the tray positioning mechanism 53 of the first stator fixture feeding robot 5 is activated , the tray positioning cylinder 36 drives the tray positioning plate 37 to rise, and the tray positioning plate 37 positions the first stator feeding tray 4 .

Next, the sliding drive motor 54 of the first stator fixture feeding robot 5 is started, the sliding driving motor 54 drives the driving gear to rotate in the forward direction, the driving gear travels along the walking rack 98, and the first stator fixture feeding robot 5 rotates along the The ground rail 9 slides toward the main winding stator winding machine 93 until the first stator fixture feeding robot 5 slides to the side of the main winding stator winding machine 93, the sliding drive motor 54 stops rotating, and then the stator fixture feeding robot 52 drives it. The stator clamp grabbing arm 521 grabs the half-iron core stator clamp 6 on the first stator feed tray 4 .

When the stator gripper grasping arm 521 grasps the material, the gripper cylinder 524 drives the outer end of the gripper claws 525 to open, and then the stator gripper feeding manipulator 52 drives the gripper seat 522 to translate and lift, and then makes The clamping groove 526 of the clamp gripping seat 522 is aligned with the clamping block 612 of the half-iron core stator clamp 6, and then the clamping block 612 is inserted into the clamp clamping groove 526 of the clamp gripping seat 522, and then the clamp grabbing cylinder 524 drives the outer end of the gripper jaw 525 to rotate downward to clamp the clamping groove 67 on the clamped block 612. After the gripper arm 521 of the stator gripper grabs the two half-iron core stator grippers 6, the stator gripper is loaded. The manipulator 52 drives the stator clamp gripping arm 521 to rotate, translate and lift, so as to deliver the two half-iron core stator clamps 6 to the two winding stations of the main winding stator winding machine 93, and then, the main winding stator winding machine 93 The main winding slot of the half-iron core stator 7 is wound. After that, the first stator fixture feeding robot 5 will continue to move to the next main winding stator winding machine 93, and deliver the half iron core stator fixture 6 to the main winding stator winding machine 93, so as to realize the grasping of the half iron winding machine 93. The core stator jig 6 gives a plurality of main windings to the stator winding machine 93 . During this process, the first stator fixture loading robot 5 also unloads the half-core stator and its half-core stator fixture 6 that have been wound on the main winding stator winding machine 93 .

When the stator clamp feeding manipulator 52 is unloading on the main winding stator winding machine 93, the clamp grab cylinder 524 drives the outer end of the clamp grab claw 525 to rotate upward to open, and then the stator clamp grab arm 521 clamps the material. The two half-core stator fixtures 6 on the main winding stator winding machine 93 , and then the stator fixture grabbing arms 521 place the two half-core stator fixtures 6 on the first stator feeding tray 4 . After the first stator feeding tray 4 is filled with a plurality of half-iron core stators 7 that have been wound, the sliding drive motor 54 of the first stator fixture feeding robot 5 rotates in the reverse direction, and the first stator fixture feeding robot 5. Slide along the ground rail 9 to the rear end of the first tray feeding line 22, and then the hook 527 of the stator clamp feeding manipulator 52 pushes the first stator feeding tray 4 to slide into the first tray feeding wire 22.

The first tray feeding line 22 transports the first stator feeding tray 4 to the second stator clamp opening mechanism 3b, and then the second stator clamp opening mechanism 3b is activated, and the second stator clamp opening mechanism 3b positions the first stator feeding tray 4 , and then the second stator clamp opening mechanism 3b opens the half-iron core stator clamps 6 on the first stator feeding tray 4, followed by the stator grabbing manipulator 1 to grab all the half-iron core stator clamps 6 on the first stator feeding tray 4 Take it to the second stator feed tray 40 on the second tray feed line 201 .

After that, the empty first stator feeding tray 4 is conveyed to the first tray return line 23 by the first tray delivery line 22. At the same time, the first tray return cylinder 291 drives the first tray return carriage 232 to slide to Aligned with the front end of the first tray feeding line 22 to catch the first stator feeding tray 4 conveyed by the first tray feeding wire 22, the first tray return motor 233 drives the first tray return chain assembly 234 to rotate forward , to drive the first stator feeding tray 4 to slide into the first tray return carriage 232 , and then the first tray return cylinder 291 drives the first tray return carriage 232 to slide to the front end of the first tray feed line 21 . Aligned, the first tray return motor 233 drives the first tray return chain assembly 234 to rotate in the reverse direction, and the first tray return chain assembly 234 transports the first stator feeding tray 4 back to the first tray feeding line 21 for the down Prepare the unwound half-core stator at a time.

Then, the stator secondary winding winding production line 92 of the present invention is started, and the stator gripping manipulator 1 cooperates with the third stator clamp opening mechanism 3c on the second tray feeding line 201, so as to install it on the second tray circulating feeding line 20. Two stator feeding trays 40 . The second tray feeding line 201 transports the second stator feeding tray 40 to the second stator fixture loading robot 8 , and the second stator fixture feeding robot 8 transports the second stator feeding tray 40 along the ground rail 9 to the secondary winding stator winding Next to the wire machine 94 , the stator clamp feeding manipulator 52 of the second stator clamp feeding robot 8 transports the half-core stator clamp 6 on the second stator feeding tray 40 to the secondary winding stator winding machine 94 for winding. The secondary winding stator winding machine 94 winds the secondary winding slot on the half-core stator 7 . After the secondary winding stator winding machine 94 winds the secondary winding slot for the half-iron-core stator 7, the winding work of the half-iron-core stator 7 is completed. After that, the second stator clamp loading robot 8 grabs the half-iron core stator clamps 6 wound on the plurality of secondary winding stator winding machines 94 onto the second stator feeding tray 40 . After the second stator feeding tray 40 is filled with a plurality of half-core stator clamps 6, the second stator clamp loading robot 8 transports the second stator feeding tray 40 to the second tray feeding line 202, and the second tray feeding line 202 202 The second stator feeding tray 40 is conveyed to the fourth stator clamp opening mechanism 3d, and the fourth stator clamp opening mechanism 3d opens the half-iron core stator clamp 6 on the second stator feeding tray 40. At the same time, the stator grabs the material. The manipulator 1 grabs the half-iron core stator on the second stator feeding tray 40 out of the stator secondary winding winding production line 92. So far, the winding and delivery work of the half-iron core stator of the present invention has been completed.

Then, the second tray delivery line 202 transports the empty second stator feed tray 40 to the second tray return line 203, and the second tray return line 203 transports the empty second stator feed tray 40 back to the second tray for feeding Line 201, prepare for the next loading and feeding. Since the working principle of the second pallet return line 203 is the same as that of the second pallet return line, it will not be described in detail here.

Claims (10)

1. A semi-iron core stator winding production line, comprising a stator grabbing manipulator, a tray circulating feeding line, a stator feeding tray, a stator fixture feeding robot and a stator winding machine; The stator feeding tray is used to carry a plurality of half-iron core stator fixtures and the half-iron core stators thereon; The stator gripping manipulator is used for disassembling and assembling the half-iron core stators on a plurality of half-iron-core stator fixtures on the stator feeding tray on the tray circulating feeding line; The tray circulating feeding line is used for circulatingly conveying the stator feeding tray to the sub-clamp feeding robot; The stator clamp feeding robot is used for conveying the stator feeding tray between the tray circulating feeding line and the stator winding machine, for grabbing the semi-iron core stator clamp on the stator feeding tray thereon to the stator winding machine, and Used to grab the half-core stator fixture on the stator winding machine to the stator feed tray on it; The stator winding machine is used for winding the half-iron-core stator on the half-iron-core stator fixture. 2. The half-iron-core stator winding production line according to claim 1, wherein the stator fixture feeding robot comprises a stator fixture feeding rack, a pallet positioning mechanism and a stator fixture feeding manipulator, and the stator fixture is The feeding manipulator and the tray positioning mechanism are set on the stator fixture feeding frame, the stator fixture feeding manipulator is a four-axis robot, and the stator fixture feeding manipulator is provided with a stator fixture grabbing arm on the rotating lifting shaft. 3. The half-iron-core stator winding production line according to claim 2, wherein the tray positioning mechanism comprises a tray positioning frame, a tray fixing cylinder and a tray fixing plate, and the tray positioning frame is set on the stator clamp feeding machine On the rack, the front side of the tray positioning frame is open and the rear side is closed, the left and right sides of the tray positioning frame are provided with tray support roller sets, and there is a tray positioning gap between the tray support roller set and the bottom of the tray positioning frame. , the tray fixing plate is slid up and down on the stator fixture loading frame, and is located below the tray positioning frame, the tray fixing cylinder is set on the stator fixture feeding frame, and is located below the tray fixing plate, so The pallet fixing cylinder drives the pallet fixing plate to slide up and down. 4. The half-iron-core stator winding production line according to claim 2, wherein the stator gripper gripping arm comprises a gripper gripper seat and at least two stator gripper gripper mechanisms, and the gripper gripper seat is provided on the Rotating the lower end of the lifting shaft, the stator clamp gripping mechanism includes a gripper gripping cylinder, a gripper gripping claw and a gripper gripping slot, the gripper gripping slot is provided on the gripper gripping seat, and the gripper gripping slot The outer end of the gripper is open, the gripping jaws of the gripper are rotated in the form of levers on the gripper gripper seat, the gripper gripping cylinder is arranged on the gripper gripper seat, and the cylinder rod of the gripper gripping cylinder is connected to the gripper gripper. The inner ends of the material claws are connected, and the outer ends of the jig catching claws are located above the clamping grooves of the jig. 5. The half-iron-core stator winding production line according to claim 1, is characterized in that, described pallet circulating feeding line comprises pallet feeding line, pallet sending line and pallet returning line: the tray feeding line is used to transport the stator feeding tray to the stator fixture feeding robot; The tray feeding line is used to transport the stator feeding tray on the stator fixture feeding robot to the tray return line; The tray feeding line and the tray feeding line are arranged side by side; The tray return line is used to transport the stator feeding tray conveyed by the tray feeding line back to the tray feeding line; The tray feeding line and the tray feeding line are provided with a stator clamp opening mechanism, and the stator clamp opening mechanism is used to control the half iron core stator clamp on the stator feeding tray to clamp or loosen the half iron core stator. 6. The half-iron-core stator winding production line according to claim 5, wherein the pallet return line is located at the front end of the pallet feed line and the pallet feed line, and the stator clamp feeding robot is located on the pallet feed line. , The rear end of the pallet feeding line. 7. The half-iron-core stator winding production line according to claim 5, wherein the stator clamp opening mechanism comprises a mounting frame, a thimble lifting cylinder, a thimble fixing frame, a tray positioning cylinder, a tray positioning plate and a plurality of clamps to open The thimble, the thimble fixing frame is slid up and down on the installation frame, the plurality of clamps are opened and the thimble is installed on the thimble fixing frame, the thimble lifting cylinder is arranged on the installation frame, and drives the thimble fixing frame to slide up and down, the The tray positioning plate is slid up and down on the installation frame and is located below the opening thimble of the clamp. The tray positioning cylinder is arranged on the installation frame and drives the tray positioning plate to slide up and down. 8 . The half-iron-core stator winding production line according to claim 7 , wherein the plurality of clamps open the ejector pins vertically and are arranged side by side on the ejector pin fixing frame. 9 . 9 . The half-iron-core stator winding production line according to claim 7 , wherein the thimble fixing frame is provided with a plurality of thimble fixing guide shafts, and the lower ends of the plurality of thimble fixing guide shafts are provided with the clamps. 10 . When the ejector pin is opened, a guide bushing is provided on the mounting frame corresponding to the ejector pin fixing guide shaft, and the ejector pin fixing guide shaft is slid up and down on the guide bushing. 10. The half-iron-core stator winding production line according to claim 7, wherein the tray positioning cylinder is arranged on an installation frame, and an active inclined plane block is horizontally slidably arranged on the installation frame, and the tray positioning cylinder drives the The active slope block slides horizontally, and the bottom surface of the tray positioning plate is provided with a driven slope block, the active slope block cooperates with the slope of the driven slope block, and the active slope block slides in the horizontal direction to drive the driven slope block to rise and fall .

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