CN113794336A - Device and method for automatically removing motor stator winding - Google Patents

Abstract

The invention provides equipment for automatically removing a motor stator winding, which comprises a feeding positioning device, a cutting and recovering device and an operating device, wherein the feeding positioning device is used for feeding a motor stator winding; the feeding positioning device comprises a feeding mechanism and a positioning mechanism, and the positioning mechanism is arranged at one end of the feeding mechanism; the cutting and recycling device comprises an automatic recycling mechanism, a cutting mechanism, a pulling-out mechanism and a steering mechanism, wherein the automatic recycling mechanism is arranged below the cutting mechanism and the pulling-out mechanism, the cutting mechanism is arranged on one side of the pulling-out mechanism, and the steering mechanism is arranged on the other side of the cutting mechanism; the operating device comprises a clamping mechanism, a robot and a control cabinet, wherein the clamping mechanism is arranged at one end of the robot, and the robot is connected with the control cabinet. The invention not only realizes the automation of the whole disassembling process, reduces the labor intensity of workers and improves the cold disassembling efficiency, but also reduces the danger of manual operation and improves the environmental protection.

Description

Device and method for automatically removing motor stator winding

Technical Field

The invention relates to the field of motor stator winding dismantling, in particular to equipment and a method for automatically dismantling a motor stator winding.

Background

The motor stator consists of a stator core and a stator winding. The stator winding is formed by arranging copper coils according to a certain rule, is embedded in a groove of an inner circle of the stator core, and meanwhile, the end part of the winding protrudes out and shields part of the side edge of the stator core. In order to protect the environment, the waste motor needs to be disassembled and classified for recycling, wherein the stator disassembling method comprises a cold disassembling method, a hot disassembling method and a solvent dissolving method. Generally, when a motor is disassembled, the stator core and the stator winding are completely separated by adopting a cold disassembling method, and the prior art adopts manual operation disassembling equipment. The stator is manually placed on the operating cam, the cutter cuts downwards, the winding end part on the contact surface of the cutter and the cam is cut, the staff needs to rotate the stator back and forth to cut, and the standard angle rotation needs to be rotated for 8 times, so that the cutting of the winding end part on the single side surface can be completed. Meanwhile, the opening and closing angle of the pulling claw is adjusted manually according to the size of the stator, the stator core and the rest part of the stator winding are installed on the pulling claw of the disassembling equipment, the complete separation of the rest winding and the core is realized, and the disassembly of the stator core and the stator winding is realized.

However, manual disassembly has a number of disadvantages. Firstly, the rotating angle is manually controlled, the rotating angle is not standard, a certain contact surface needs to rotate for multiple times, and the normal operation needs to rotate for 8-10 times, so that the cutting separation of the stator core with a single side surface and the end part of the stator winding can be realized. Secondly, whole operation process, artifical size according to the motor needs adjust the parameter: contain the height of positioning baffle, draw the angle size etc. that opens and shuts of claw, moreover because stator weight is great, operation process manual labor intensity is very big, and production efficiency is lower, and whole equipment danger is higher, causes the bodily injury easily. Finally, both hot-break and solvent dissolution methods can create other environmental hazards.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide an apparatus for automatically removing stator windings of an electric machine and a method thereof, which solve the above-mentioned problems.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the equipment for automatically removing the stator winding of the motor comprises a feeding positioning device, a cutting and recovering device and an operating device; the feeding positioning device comprises a feeding mechanism and a positioning mechanism, and the positioning mechanism is arranged at one end of the feeding mechanism; the cutting and recycling device comprises an automatic recycling mechanism, a cutting mechanism, a pulling-out mechanism and a steering mechanism, wherein the automatic recycling mechanism is arranged below the cutting mechanism and the pulling-out mechanism, the cutting mechanism is arranged on one side of the pulling-out mechanism, and the steering mechanism is arranged on the other side of the cutting mechanism; the operating device comprises a clamping mechanism, a robot and a control cabinet, wherein the clamping mechanism is arranged at one end of the robot, and the robot is connected with the control cabinet.

As a further improvement of the invention: the feeding mechanism comprises a bracket, a feeding belt line and a partition plate; the feeding belt line is arranged on the support, and the partition plate is arranged above the feeding belt line.

As a further improvement of the invention: the positioning mechanism comprises a first positioning mechanism and a second positioning mechanism; the first positioning mechanism is connected with the second positioning mechanism; the first positioning mechanism is a first positioning baffle; the second positioning mechanism comprises a second positioning baffle, a supporting plate, a positioning plate and a positioning cylinder; the second positioning baffle and the positioning plate are arranged on the supporting plate, and the positioning plate is connected with the positioning cylinder.

As a further improvement of the invention: the cutting mechanism comprises a pressing component, a front pressing component, a sliding component and a cutting component; the pressing assembly, the front pressing assembly and the cutting assembly are arranged on a guide rail of the sliding assembly.

As a further improvement of the invention: the pressing assembly comprises an operating platform, a pressing plate and a first air cylinder, the operating platform is fixedly arranged at the bottom of the sliding assembly, the pressing plate is arranged on the sliding assembly in a sliding mode, and the first air cylinder is arranged on the pressing plate.

As a further improvement of the invention: leading compressing tightly subassembly includes second cylinder, third cylinder, baffle and reinforcing plate, the baffle slides and sets up on the sliding assembly, the second cylinder with the third cylinder sets up respectively baffle both sides and rather than being connected, the reinforcing plate sets up sliding assembly's sliding guide is last and sets up the baffle is inboard.

As a further improvement of the invention: the cutting assembly comprises a cutter and a first oil cylinder, the first oil cylinder is arranged at the top of the sliding assembly, and the cutter is arranged on the sliding guide rail and is arranged on the inner side of the baffle.

As a further improvement of the invention: the pulling-out mechanism comprises a second oil cylinder, a spring claw, a central column, a profiling stop block and an electromagnetic valve; the central column is arranged in the center of the spring claw, the back of the spring claw is provided with the profiling stop block, the spring claw is connected with the second oil cylinder, and the electromagnetic valve is arranged on the second oil cylinder.

As a further improvement of the invention: the spring claw comprises a plurality of claws and a spring connected with the claws.

As a further improvement of the invention: the steering mechanism comprises a steering clamping plate, a steering clamping finger cylinder and a rotating cylinder; the steering clamping plate is arranged above the steering clamping finger cylinder, and the rotating cylinder is arranged below the steering clamping finger cylinder.

As a further improvement of the invention: the automatic recovery mechanism comprises a recovery bracket, a recovery belt line, a recovery baffle and a recovery box; the recycling belt line is arranged on the recycling support, the recycling baffle is arranged in the middle of the recycling belt line, the recycling belt line comprises a first recycling area and a second recycling area, one end of the recycling belt line is arranged to correspond to the recycling boxes of the first recycling area and the second recycling area, and the recycling boxes comprise a first recycling box and a second recycling box.

As a further improvement of the invention: the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism, and the first clamping mechanism is connected with the second clamping mechanism.

As a further improvement of the invention: the first clamping mechanism comprises a first clamping plate and a first clamping finger cylinder, and the first clamping plate is connected with the first clamping finger cylinder; the second clamping mechanism comprises a second clamping jaw and a four-jaw cylinder, and the second clamping jaw is connected with the four-jaw cylinder.

As a further improvement of the invention: the equipment also comprises induction devices respectively arranged on the positioning mechanism and the clamping mechanism; the sensing device of the positioning mechanism is a photoelectric switch arranged on the first positioning baffle, and the sensing device of the clamping mechanism is a magnetic ring switch arranged on the first clamping finger cylinder.

A method for automatically removing stator windings of an electric machine, comprising the equipment, and comprising the following steps:

(1) placing a motor stator on the feeding positioning device, and performing first positioning through a first positioning mechanism;

(2) after the photoelectric switch identifies the motor stator to complete the first positioning, the clamping mechanism clamps the motor stator and puts the motor stator on a second positioning mechanism to perform the second positioning, and meanwhile, a magnetic ring switch on the clamping mechanism identifies the size of the motor stator and sends a signal to a control box;

(3) the control cabinet controls the running distance of a baffle plate of the cutting mechanism, the opening and closing angle of a spring claw in the pulling-out mechanism and the extension amount of the central column;

(4) the clamping mechanism clamps the motor stator which completes the secondary positioning to the cutting mechanism, and the cutting mechanism cuts off a winding in the motor stator along the front surface of the stator core;

(5) the clamping mechanism clamps the cut motor stator and puts the motor stator into the steering mechanism, and the steering mechanism switches the front surface and the rear surface of the motor stator;

(6) the clamping mechanism clamps the switched motor stator and puts the switched motor stator into the pulling-out mechanism, and the pulling-out mechanism separates the rest windings from the stator core through retraction of the spring claws and the central column;

(7) after separation is completed, the clamping mechanism places the stator core in a first recovery area on a recovery belt line of the automatic recovery mechanism, then the spring claw and the central column stretch out, the clamping mechanism takes out the rest windings and places the rest windings in a second recovery area on the recovery belt line, and the stator core and the stator windings are classified and recovered through the recovery belt line;

(8) the clamping mechanism clamps and takes off the next motor stator to repeat the process.

Compared with the prior art, the invention has the beneficial effects that:

the automatic feeding and positioning of different types of stators can be realized, the steering of the rest part of the stator can be realized, the pulling-out operation of the rest winding can be ensured, the cutting and once pulling-out of the stator winding can be realized, and the automatic classification and recovery of the stator winding and the stator core after the disassembly can be realized. Not only realizes the automation of the whole disassembling process, reduces the labor intensity of workers and improves the cold disassembling efficiency, but also reduces the danger of manual operation and improves the environmental protection.

Drawings

FIG. 1 is a schematic view of the overall apparatus of the present invention.

FIG. 2 is a diagram of the positioning device of the present invention.

Fig. 3 is a structural view of the cutting mechanism and the drawing mechanism of the present invention.

Fig. 4 is a detailed view of the cutting mechanism and pulling mechanism assembly of the present invention.

Fig. 5 is a structural view of a steering mechanism of the present invention.

FIG. 6 is a structural view of an automatic recovery mechanism of the present invention.

Fig. 7 is a structural view of the gripping mechanism of the present invention.

Detailed Description

The invention will now be further described with reference to the accompanying description and examples:

according to the attached figure 1, the invention provides a device for automatically removing a stator winding of a motor, wherein the device comprises a feeding positioning device 1, a cutting and recovering device 2 and an operating device 3; the feeding positioning device 1 comprises a feeding mechanism 11 and a positioning mechanism 12, wherein the positioning mechanism 12 is arranged at one end of the feeding mechanism 11; the cutting and recycling device 2 comprises an automatic recycling mechanism 21, a cutting mechanism 22, a pulling-out mechanism 23 and a steering mechanism 24, wherein the automatic recycling mechanism 21 is arranged below the cutting mechanism 22 and the pulling-out mechanism 23, the cutting mechanism 22 is arranged on one side of the pulling-out mechanism 23, and the steering mechanism 24 is arranged on the other side of the cutting mechanism 22; the operating device 3 includes a gripping mechanism 31, a robot 32, and a control cabinet 33, the gripping mechanism 31 being provided at one end of the robot 32, and the robot 32 being connected to the control cabinet 33.

According to the illustration in fig. 2, in order to further solve the problem of inconsistent gripping height and inconsistent cutting depth of the stator, the feeding mechanism 11 is provided and comprises a bracket 111, a feeding belt line 112 and a partition 113; the feeding belt line 112 is arranged on the bracket 111, and a partition 113 is arranged above the feeding belt line 112. The positioning mechanism 12 includes a first positioning mechanism 121 and a second positioning mechanism 122; the first positioning mechanism 121 is connected with the second positioning mechanism 122; the first positioning mechanism 121 is a first positioning baffle; the second positioning mechanism 122 includes a second positioning baffle 1221, a support plate 1222, a positioning plate 1223, and a positioning cylinder 1224; a second positioning baffle 1221 and a positioning plate 1223 are provided on the support plate 1222, and the positioning plate 1223 is connected to the positioning cylinder 1224.

The positioning mechanism 12 is used for positioning the grabbing height of the stator, the first positioning mechanism 121 is used for positioning the stator for the first time, and the second positioning mechanism 122 is used for positioning the stator for the second time. Through twice location, the problem that different sizes of stators are inconsistent in grabbing height, and the depth is inconsistent during cutting to destroy the cutter 2241 or the cutting is incomplete is solved, and the automatic feeding and locating functions of different types of stators are realized.

According to fig. 3, in order to further solve the problem that the stator needs to be cut for multiple times in the conventional cutting mode, the cutting mechanism 22 is provided to include a pressing assembly 221, a front pressing assembly 222, a sliding assembly 223 and a cutting assembly 224; the pressing assembly 221, the pre-pressing assembly 222 and the cutting assembly 224 are disposed on a guide rail of the sliding assembly 223. Compress tightly the subassembly 221 and be used for compressing tightly fixedly from top to bottom to the stator itself, press from both sides simultaneously and get mechanism 31 clamp and get the stator and press from both sides tightly fixedly about going on to the stator, leading compress tightly subassembly 222 is used for compressing tightly fixedly to the leading face of stator, cutting assembly 224 carries out once cutting through sliding guide 2231 of sliding assembly 223 to the winding of leading face, the problem of stator winding rotatory cutting many times has been solved, realize stator winding a sword cutting, once pull out, realize that motor stator is cold to be disassembled fast.

As shown in fig. 3 to 4, the pressing assembly 221 includes an operating platform 2211, a pressing plate 2212 and a first cylinder 2213, the operating platform 2211 is fixedly disposed at the bottom of the sliding assembly 223, the pressing plate 2212 is slidably disposed on the sliding assembly 223, and the first cylinder 2213 is disposed on the pressing plate 2212. When the stator is pressed up and down, the first cylinder 2213 drives the pressing plate 2212 to move down through the sliding assembly 223 until the stator on the operating platform 2211 is pressed, and the pressing plate 2212 and the operating platform 2211 are used for pressing the stator up and down.

As shown in fig. 3 to 4, the front pressing assembly 222 includes a second cylinder 2221, a third cylinder 2222, a baffle 2223, and a reinforcement plate 2224, wherein the baffle 2223 is slidably disposed on the sliding assembly 223, the second cylinder 2221 and the third cylinder 2222 are respectively disposed on two sides of the baffle 2223 and connected thereto, and the reinforcement plate 2224 is disposed on the sliding rail 2231 of the sliding assembly 223 and disposed inside the baffle 2223. The second cylinder 2221 and the third cylinder 2222 drive the baffle 2223 to slide on the sliding assembly 223, so as to compress the front surface of the stator, and the reinforcing plate 2224 is used for preventing the cutting knife 2241 from shifting in the vertical direction due to resistance during cutting.

As shown in fig. 3 to 4, the cutting assembly 224 includes a cutting blade 2241 and a first cylinder 2242, the first cylinder 2242 is disposed on the top of the sliding assembly 223, and the cutting blade 2241 is disposed on the sliding guide 2231 and inside the barrier 2223. After the stator is fixed, the first oil cylinder 2242 drives the cutter 2241 to move downwards through the sliding guide rail 2231 of the sliding assembly 223, so that the front surface of the stator is cut once.

As shown in fig. 3, in order to further separate the remaining windings in the stator, the drawing mechanism 23 includes a second cylinder 231, a spring claw 232, a center post 233, a profile stopper 234, and an electromagnetic valve 235; the center post 233 is arranged at the center of the spring claw 232, the back of the spring claw 232 is provided with a profiling stop 234, the spring claw 232 is connected with the second oil cylinder 231, and the second oil cylinder 231 is provided with an electromagnetic valve 235. The extension amount of the center post 233 and the opening degree of the spring claw 232 are driven by the second cylinder 231, so that the remaining winding in the stator is pulled out, the clamping mechanism 31 is used for fixing the winding in the process, and the profiling stopper 234 has the function of reducing the opening degree of the spring claw 232.

Referring to fig. 4, the spring finger 232 includes a plurality of fingers 2321 and springs 2322 connected to the fingers, but the number and shape of the spring finger 232 are not limited in the present invention.

According to fig. 5, in order to further solve the steering problem of the stator after one cutting, the steering mechanism 24 comprises a steering clamp plate 241, a steering clamp finger cylinder 242 and a rotating cylinder 243; the steering clamp plate 241 is disposed above the steering finger cylinder 242, and the rotating cylinder 243 is disposed below the steering finger cylinder 242. The opening and closing degree of the steering clamping plate 241 is controlled by the steering clamping finger cylinder 242, so that the stator is clamped, the steering clamping plate 241 is rotated by the rotating cylinder 243, the steering problem of the stator is adjusted, the problem that residual windings cannot be placed in the spring claw 232 after the unilateral end face of the stator winding is cut is solved, the steering of the residual part of the stator is realized, and the residual windings can be pulled out.

According to fig. 6, in order to further solve the problem of recycling the stator and the winding in the dismantling process, an automatic recycling mechanism 21 is provided, which comprises a recycling bracket 211, a recycling belt line 212, a recycling baffle 213 and a recycling box 214; the recovery belt line 212 is disposed on the recovery holder 211, the recovery flap 213 is disposed in the middle of the recovery belt line 212, the recovery belt line 212 includes a first recovery section 2121 and a second recovery section 2122, one end of the recovery belt line 212 is disposed with a recovery box 214 corresponding to the first recovery section 2121 and the second recovery section 2122, and the recovery box 214 includes a first recovery box 214 and a second recovery box 214. Through retrieving baffle 213 will retrieve belt line 212 and divide into first recovery area 2121 and second recovery area 2122, set up the collection box 214 that corresponds two recovery areas respectively again, can realize the categorised recovery of stator and winding, automatic recovery mechanism 21 sets up and can also save space in cutting mechanism 22 and pull-out mechanism 23 below, more conveniently retrieves. The problem of winding, the winding and the stator core of pulling out after the artifical follow equipment of taking the cutting is solved, the automatic classification of stator winding and stator core is retrieved after having realized disassembling.

As shown in fig. 7, in order to further match the operations of positioning, cutting, pulling out, and turning, the gripping mechanism 31 is provided to include a first gripping mechanism 311 and a second gripping mechanism 312, and the first gripping mechanism 311 and the second gripping mechanism 312 are connected. The first clamping mechanism 311 includes a first clamping plate 3111 and a first finger clamping cylinder 3112, the first clamping plate 3111 is connected to the first finger clamping cylinder 3112; the second gripping mechanism 312 includes a second clamping jaw 3121 and a four-jaw cylinder 3122, and the second clamping jaw 3121 is connected to the four-jaw cylinder 3122. The first clamping mechanism 311 is arranged to cooperate with clamping, moving and fixing of the stator, and the second clamping mechanism 312 is arranged to drive the second clamping jaw 3121 to take out the residual winding by the four-jaw cylinder 3122 after the stator and the residual winding are separated by the pulling-out mechanism 23, and place the residual winding on the winding recovery area corresponding to the automatic recovery mechanism 21, so as to realize the classified recovery of the winding and the stator core. The functions of stator identification, movement, transfer and automatic taking out and placing of the stator core on the recovery belt line 212 are realized.

According to the attached drawings 2 and 7, in order to enable the device of the invention to be used more flexibly through the feeding positioning device 1 and the cutting recovery device 2, the device can be matched with a robot 32 and a control system to realize automatic disassembly of a motor stator and complete classification and recovery of a stator core and a stator winding. The apparatus of the present invention further comprises sensing means respectively provided on the positioning mechanism 12 and the gripping mechanism 31; the sensing device of the positioning mechanism 12 is a photoelectric switch 34 disposed on the first positioning baffle, and the sensing device of the gripping mechanism 31 is a magnetic ring switch 35 disposed on the first finger-gripping cylinder 3112. The photoelectric switch 34 and the magnetic ring switch 35 can send signals to the control box, so that the control box controls each mechanism to execute corresponding commands.

The invention also discloses a method for automatically removing the stator winding of the motor, which comprises the following steps:

(1) placing a motor stator on the feeding positioning device 1, and performing first positioning through a first positioning mechanism 121;

(2) after the photoelectric switch 34 recognizes that the motor stator is positioned for the first time, the clamping mechanism 31 clamps the motor stator and puts the motor stator on the second positioning mechanism 122 for the second positioning, and meanwhile, the magnetic ring switch 35 on the clamping mechanism 31 recognizes the size of the motor stator and sends a signal to the control box;

(3) the control cabinet 33 controls the running distance of the baffle 2223 of the cutting mechanism 22, the opening and closing angle of the spring claw 232 in the pulling-out mechanism 23 and the extension amount of the central column 233;

(4) the clamping mechanism 31 clamps the motor stator which completes the secondary positioning to the cutting mechanism 22, and the winding in the motor stator is cut off along the front surface of the stator core by the cutting mechanism 22;

(5) the clamping mechanism 31 clamps and places the cut motor stator into the steering mechanism 24, and the steering mechanism 24 switches the front surface and the rear surface of the motor stator;

(6) the clamping mechanism 31 clamps the switched motor stator and puts the switched motor stator into the pulling-out mechanism 23, and the pulling-out mechanism 23 retracts through the spring claw 232 and the central column 233 to separate the rest of windings from the stator core;

(7) after the separation is completed, the clamping mechanism 31 places the stator core in the first recovery area 2121 on the recovery belt line 212 of the automatic recovery mechanism 21, then the spring claw 232 and the center column 233 extend out, the clamping mechanism 31 takes out the remaining windings and places the remaining windings in the second recovery area 2122 on the recovery belt line 212, and the stator core and the stator windings are classified and recovered through the recovery belt line 212;

(8) the gripping mechanism 31 grips the next motor stator and repeats the above process.

The machine body work flow of the invention is as follows:

in the positioning process, a motor stator is manually placed on the feeding belt line 112, the width between the partition plates 113 is used for limiting the size of the stator, the stator on the line is guaranteed to be within the limit range of the secondary positioning device supporting plate 1222, the stator is conveyed to the position of the first positioning mechanism 121 through the belt line, and the photoelectric switch 34 identifies that the stator runs to a specified position and then stops running of the feeding belt line 112.

At this time, the motor stator is a stator winding and is in surface contact with the feeding belt line 112, and because the size of the stator is different, the thickness of the stator core is different from that of the stator winding, when the robot 32 drives the clamping mechanism 31 to clamp the motor stator, the clamping position is not unique, and the position of the stator at the cutting depth on the operation platform 2211 cannot be determined. Therefore, a secondary positioning device is designed, namely, the second positioning mechanism 122, the robot 32 drives the clamping mechanism 31 to clamp the stator and transfer the stator to the second positioning baffle 1221, the supporting plate 1222 is directly contacted with the stator core, all the stator cores are kept consistent in the horizontal reference height, the positioning cylinder 1224 runs to drive the positioning plate 1223, the stator is clamped between the positioning plate 1223 and the second positioning baffle 1221, it is ensured that the position of the stator core clamped by the clamping mechanism of the robot 32 is consistent, and further it is ensured that the depth position of the stator is consistent when the robot 32 conveys the stator to the operation platform 2211 for cutting.

In the cutting process, the second cylinder 2221 and the third cylinder 2222 operate to drive the baffle 2223 to operate to an accurate position, so that the stator clamped by the robot 32 is not beyond a depth position. The well positioned stator is clamped by the robot 32, the stator is placed on the operating platform 2211 of the cutting mechanism 22, the first cylinder 2213 drives the pressing plate 2212 to move downwards, the pressing plate 2212 presses the upper portion of the stator iron core tightly, the bottom end of the stator is tightly attached to the operating platform 2211 at the moment, the upper end of the stator is tightly pressed by the pressing plate 2212, the left side and the right side of the stator are clamped by the clamping mechanism 31 driven by the robot 32, the front face is tightly attached to the baffle 2223, and the winding end face of the front face just exceeds the baffle 2223. The cutter 2241 is connected with a sliding guide 2231 of the sliding assembly 223 through a sliding block 4, and runs downwards along the guide structure 5 under the action of the first oil cylinder 2242 to cut off the winding along the front surface of the stator core. In order to prevent the cutting knife 2241 from deviating in the vertical direction due to resistance action in the cutting process, the reinforcing plate 2224 is arranged, so that the cutting knife 2241 does not deviate in the vertical direction, and the cutting effect is ensured. After cutting, the cutter 2241 returns to the original position, the pressing plate 2212 and the baffle 2223 are restored to the original position, the stator core and the residual windings are taken out by the robot 32, and the cut winding sections automatically fall onto the corresponding recovery areas on the automatic recovery mechanism 21.

In the process of pulling out the residual windings, the robot 32 transfers the stator core and the residual windings to the steering mechanism 24 through the clamping mechanism 31, and the switching between the front surface and the rear surface of the stator is realized through the steering mechanism 24. Then the clamping mechanism 31 places the turned stator core and the turned residual winding at the pulling mechanism 23, places the end face of the residual winding in the spring claw 232, moves the second oil cylinder 231, drives the spring claw 232 and the central column 233 to retract, reduces the opening and closing angle of the spring claw 232 under the action of the copying stop 234, and when the stator winding reaches the copying stop 234, the stator winding retracts into the box along with the spring claw 232, the stator core is separated from the residual winding, and the stator core is clamped on the clamping mechanism 31. At this time, the separation of the stator core from the stator winding has been achieved, and the gripping mechanism 31 places the stator core on the corresponding recovery area of the automatic recovery mechanism 21. The second oil cylinder 231 moves to stretch out the spring claw 232 and the central column 233, the spring claw 232 stretches out by the maximum opening and closing angle, and the clamping device drives the second clamping jaw 3121 to take out the rest windings by using the four-claw cylinder 3122 on the second clamping mechanism 312, and places the rest windings on the corresponding recovery area of the automatic recovery mechanism 21, so that the stator cores and the stator windings are recovered in a classified manner.

During the stator turning process, the robot 32 rotates the cut stator core and the residual winding by 90 degrees through the clamping mechanism 31, moves to the middle of the turning clamp plate 241, turns to the operation of the clamping finger cylinder 242, the turning clamp plate 241 clamps the stator core, the clamping mechanism 31 loosens and exits from the safe distance, and the rotating cylinder 243 operates to realize the turning of the stator core and the residual winding, namely the switching of the front surface and the rear surface.

In the recycling process, the recycling baffle 213 separates the recycling belt wires 212 into the stator core recycling belt wires 212 and the stator winding recycling belt wires 212, that is, the first recycling region 2121 and the second recycling region 2122, the cut windings automatically drop to the stator winding recycling belt wires 212, the stator cores and the pulled windings are placed on the corresponding recycling belt wires 212 under the action of the robot 32, and automatically drop in the corresponding recycling boxes 214 under the operation of the recycling belt wires 212.

In the process of clamping the stator, the first clamping finger cylinder 3112 runs, the first clamping plate 3111 clamps the motor stator, the magnetic ring switch 35 identifies the size of the motor stator, signals are transmitted to the control box, and the second cylinder 2221 and the third cylinder 2222 of the control box control the up-and-down running distance of the baffle 2223. Meanwhile, the signal is transmitted to the solenoid valve 235 of the second cylinder 231, and the opening and closing angle and the extending amount of the spring claw 232 and the center post 233 are controlled. When the remaining windings are taken out of the spring claw 232, the four-claw cylinder 3122 is operated, and the second holding claw 3121 grasps the remaining windings and places the remaining windings on the corresponding recovery area of the automatic recovery mechanism 21.

The device and the method for automatically removing the stator winding of the motor comprise the following steps:

the motor stator needing to be disassembled is manually placed on the feeding belt line 112 of the feeding positioning device 1, the feeding belt line 112 transmits the motor stator to the first positioning mechanism 121, the photoelectric switch 34 senses the motor stator, and the feeding belt line 112 stops running. The robot 32 clamps the stator of the motor by the clamping mechanism 31, at this time, the magnetic ring switch 35 identifies the size of the stator, and transmits a signal to the control box, and the control box controls the second cylinder 2221 and the third cylinder 2222 so as to control the distance of the baffle 2223 in the up-down movement. Meanwhile, the control box transmits a signal to the electromagnetic valve 235 of the second oil cylinder 231, and controls the opening and closing angle and the extension amount of the spring claw 232 and the center column 233. The robot 32 places the clamped motor stator at the second positioning baffle 1221 of the second positioning mechanism 122 through the clamping mechanism 31, and the stator core contacts with the supporting plate 1222 at this time, so that the horizontal reference heights of all the stator cores are kept consistent. The positioning cylinder 1224 operates to clamp the stator between the positioning plate 1223 and the second positioning flapper 1221.

The second cylinder 2221 and the third cylinder 2222 operate after receiving the signal, and drive the baffle 2223 to operate to an accurate position, so that it is ensured that the stator clamped by the clamping mechanism 31 does not exceed the depth position. The gripping mechanism 31 grips the motor stator again and places the motor stator on the operation platform 2211 of the cutting mechanism 22. The first cylinder 2213 drives the pressing plate 2212 to move downwards, and the pressing plate 2212 tightly presses the upper part of the stator core. At this time, the bottom end of the stator is tightly attached to the operating platform 2211, the upper end of the stator is tightly pressed by the pressing plate 2212, the left side and the right side of the stator are tightly clamped by the first clamping mechanism 311 of the clamping mechanism 31, the front surface of the stator is tightly attached to the baffle 2223, and the end surface of the winding of the front surface just exceeds the baffle 2223. The cutter 2241 is connected with a sliding guide track 2231 of the sliding assembly 223 through a sliding block, and runs downwards along the guide structure 5 under the action of the first oil cylinder 2242 to cut off the winding along the front face of the stator core. In order to prevent the cutting knife 2241 from deviating in the vertical direction due to resistance action in the cutting process, the reinforcing plate 2224 is arranged, so that the cutting knife 2241 does not deviate in the vertical direction, and the cutting effect is ensured. After the cutting is finished, the cutter 2241 returns, the air cylinder and the pressing plate 2212 return, the clamping mechanism 31 takes out the stator core and the residual windings, and the cut winding sections automatically fall onto the corresponding recovery areas on the automatic recovery mechanism 21.

The robot 32 drives the clamping mechanism 31 to transfer the stator core and the residual windings to the steering mechanism 24, so that the front surface and the rear surface of the stator are switched.

After receiving the signal, the electromagnetic valve 235 of the second cylinder 231 drives the spring claw 232 and the center post 233 to operate, so as to ensure that the opening and closing angle of the spring claw 232 and the extending distance of the center post 233 are consistent with the motor stator. The clamping mechanism 31 places the turned stator core and the turned residual winding at the spring claw 232, places the end face of the residual winding in the spring claw 232, the second oil cylinder 231 moves, the spring claw 232 and the central column 233 retract, the opening and closing angle of the spring claw 232 is reduced under the action of the profiling stopper 234, when the stator winding reaches the profiling stopper 234, the stator winding retracts into the pulling mechanism 23 along with the spring claw 232, and the stator core is separated from the residual winding and clamped on the clamping mechanism 31.

At this time, the separation of the stator core from the stator winding has been achieved, and the gripping mechanism 31 places the stator core on the corresponding recovery area of the automatic recovery mechanism 21. The second oil cylinder 231 moves, so that the spring claw 232 and the central column 233 extend out, the spring claw 232 extends out by the maximum opening and closing angle, the clamping mechanism 31 utilizes the four-claw cylinder 3122 on the second clamping mechanism 312 to drive the second clamping claw 3121 to take out the residual windings and place the residual windings on the corresponding recovery area of the automatic recovery mechanism 21, and the classified recovery of the stator cores and the stator windings is realized through the operation of the recovery belt line 212. Then the equipment starts to disassemble the next motor stator, and the whole process realizes the method for automatically disassembling the motor stator.

The main functions of the invention are as follows: the dismounting device is applied to various stators and stator windings.

In summary, after reading the present disclosure, those skilled in the art can make various other corresponding changes without creative mental labor according to the technical solutions and concepts of the present disclosure, and all of them are within the protection scope of the present disclosure.

Claims (15)

1. The equipment for automatically removing the stator winding of the motor is characterized by comprising a feeding positioning device, a cutting and recovering device and an operating device; the feeding positioning device comprises a feeding mechanism and a positioning mechanism, and the positioning mechanism is arranged at one end of the feeding mechanism; the cutting and recycling device comprises an automatic recycling mechanism, a cutting mechanism, a pulling-out mechanism and a steering mechanism, wherein the automatic recycling mechanism is arranged below the cutting mechanism and the pulling-out mechanism, the cutting mechanism is arranged on one side of the pulling-out mechanism, and the steering mechanism is arranged on the other side of the cutting mechanism; the operating device comprises a clamping mechanism, a robot and a control cabinet, wherein the clamping mechanism is arranged at one end of the robot, and the robot is connected with the control cabinet.

2. The apparatus for automatically removing stator windings of an electric motor according to claim 1, wherein the feeding mechanism comprises a bracket, a feeding belt line and a partition plate; the feeding belt line is arranged on the support, and the partition plate is arranged above the feeding belt line.

3. The apparatus for automatically removing stator windings of an electric motor according to claim 1, wherein the positioning mechanism comprises a first positioning mechanism and a second positioning mechanism; the first positioning mechanism is connected with the second positioning mechanism; the first positioning mechanism is a first positioning baffle; the second positioning mechanism comprises a second positioning baffle, a supporting plate, a positioning plate and a positioning cylinder; the second positioning baffle and the positioning plate are arranged on the supporting plate, and the positioning plate is connected with the positioning cylinder.

4. The apparatus for automatically removing the stator winding of the motor according to claim 1, wherein the cutting mechanism comprises a pressing assembly, a front pressing assembly, a sliding assembly and a cutting assembly; the pressing assembly, the front pressing assembly and the cutting assembly are arranged on a guide rail of the sliding assembly.

5. The device for automatically removing the stator winding of the motor according to claim 4, wherein the pressing assembly comprises an operating platform, a pressing plate and a first air cylinder, the operating platform is fixedly arranged at the bottom of the sliding assembly, the pressing plate is slidably arranged on the sliding assembly, and the first air cylinder is arranged on the pressing plate.

6. The device for automatically removing the stator winding of the motor according to claim 4, wherein the front pressing assembly comprises a second cylinder, a third cylinder, a baffle plate and a reinforcing plate, the baffle plate is slidably arranged on the sliding assembly, the second cylinder and the third cylinder are respectively arranged on two sides of the baffle plate and connected with the baffle plate, and the reinforcing plate is arranged on a sliding guide rail of the sliding assembly and arranged inside the baffle plate.

7. The apparatus of claim 4, wherein the cutting assembly comprises a cutter and a first oil cylinder, the first oil cylinder is disposed on the top of the sliding assembly, and the cutter is disposed on the sliding guide rail and inside the baffle.

8. The apparatus for automatically removing the stator winding of the motor according to claim 1, wherein the pulling-out mechanism comprises a second oil cylinder, a spring claw, a central column, a profiling stopper and an electromagnetic valve; the central column is arranged in the center of the spring claw, the back of the spring claw is provided with the profiling stop block, the spring claw is connected with the second oil cylinder, and the electromagnetic valve is arranged on the second oil cylinder.

9. The apparatus of claim 8, wherein the spring fingers comprise fingers and springs connected to the fingers.

10. The device for automatically removing the stator winding of the motor is characterized in that the steering mechanism comprises a steering clamping plate, a steering clamping finger cylinder and a rotating cylinder; the steering clamping plate is arranged above the steering clamping finger cylinder, and the rotating cylinder is arranged below the steering clamping finger cylinder.

11. The apparatus for automatically removing the stator winding of the motor according to claim 1, wherein the automatic recovery mechanism comprises a recovery bracket, a recovery belt line, a recovery baffle and a recovery box; the recycling belt line is arranged on the recycling support, the recycling baffle is arranged in the middle of the recycling belt line, the recycling belt line comprises a first recycling area and a second recycling area, one end of the recycling belt line is arranged to correspond to the recycling boxes of the first recycling area and the second recycling area, and the recycling boxes comprise a first recycling box and a second recycling box.

12. The apparatus of claim 1, wherein the gripping mechanism comprises a first gripping mechanism and a second gripping mechanism, and the first gripping mechanism and the second gripping mechanism are connected.

13. The apparatus for automatically removing stator windings of an electric motor according to claim 12, wherein the first clamping mechanism comprises a first clamping plate and a first clamping finger cylinder, and the first clamping plate is connected with the first clamping finger cylinder; the second clamping mechanism comprises a second clamping jaw and a four-jaw cylinder, and the second clamping jaw is connected with the four-jaw cylinder.

14. The apparatus for automatically removing stator windings of an electric motor according to claim 1, further comprising induction devices respectively disposed on the positioning mechanism and the gripping mechanism; the sensing device of the positioning mechanism is a photoelectric switch arranged on the first positioning baffle, and the sensing device of the clamping mechanism is a magnetic ring switch arranged on the first clamping finger cylinder.

15. A method for automatically removing the stator winding of an electric machine, characterized in that it comprises the said apparatus, and the method steps are as follows:

(1) placing a motor stator on the feeding positioning device, and performing first positioning through a first positioning mechanism;

(2) after the photoelectric switch identifies the motor stator to complete the first positioning, the clamping mechanism clamps the motor stator and puts the motor stator on a second positioning mechanism to perform the second positioning, and meanwhile, a magnetic ring switch on the clamping mechanism identifies the size of the motor stator and sends a signal to a control box;

(3) the control cabinet controls the running distance of a baffle plate of the cutting mechanism, the opening and closing angle of a spring claw in the pulling-out mechanism and the extension amount of the central column;

(4) the clamping mechanism clamps the motor stator which completes the secondary positioning to the cutting mechanism, and the cutting mechanism cuts off a winding in the motor stator along the front surface of the stator core;

(5) the clamping mechanism clamps the cut motor stator and puts the motor stator into the steering mechanism, and the steering mechanism switches the front surface and the rear surface of the motor stator;

(6) the clamping mechanism clamps the switched motor stator and puts the switched motor stator into the pulling-out mechanism, and the pulling-out mechanism separates the rest windings from the stator core through retraction of the spring claws and the central column;

(7) after separation is completed, the clamping mechanism places the stator core in a first recovery area on a recovery belt line of the automatic recovery mechanism, then the spring claw and the central column stretch out, the clamping mechanism takes out the rest windings and places the rest windings in a second recovery area on the recovery belt line, and the stator core and the stator windings are classified and recovered through the recovery belt line;

(8) the clamping mechanism clamps and takes off the next motor stator to repeat the process.

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