CN213094042U - Stator clamp material grabbing arm of half-iron-core stator winding production line - Google Patents

Abstract

The utility model relates to a stator anchor clamps of half iron core stator wire winding production line arm of grabbing. The stator clamp grabbing mechanism comprises a clamp grabbing seat and at least two stator clamp grabbing mechanisms, the stator clamp grabbing mechanisms comprise clamp grabbing cylinders, clamp grabbing claws and clamp clamping grooves, the clamp clamping grooves are formed in the clamp grabbing seat, the clamp grabbing claws are arranged on the clamp grabbing seat in a lever mode in a rotating mode and are arranged on the clamp grabbing seat, the clamp grabbing cylinders are arranged on the clamp grabbing seat, and cylinder rods of the clamp grabbing cylinders are connected with the inner ends of the clamp grabbing claws. The utility model discloses when the stator anchor clamps grabbing material arm snatched half iron core stator anchor clamps, made anchor clamps to carry the clamp splice of receiving of groove and half iron core stator anchor clamps earlier and aimed at, then made the clamp splice that receives of half iron core stator anchor clamps insert anchor clamps and carry the inslot, the outer end that anchor clamps grabbed the material jack catch is carried the tight groove of clamp on receiving the clamp splice downwards to the realization snatchs half iron core stator anchor clamps. Therefore, the utility model discloses the material is grabbed and the speed of unloading of grabbing of stator anchor clamps grabbing material arm is fast.

Description

Stator clamp material grabbing arm of half-iron-core stator winding production line

Technical Field

The utility model belongs to the technical field of the technique of half iron core stator coiling machine and specifically relates to a stator anchor clamps of half iron core stator winding production line arm is grabbed.

Background

The feeding and discharging speeds of the stator clamp grabbing arm of the existing half-iron-core stator winding production line are low, so that the production efficiency of the half-iron-core stator winding production line is low, and the structure of the stator clamp grabbing arm of the existing half-iron-core stator winding production line needs to be further improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the not enough of above-mentioned prior art existence, and provide a simple structure, material loading speed and unloading are fast, and the stator anchor clamps of half iron core stator wire winding production line that production efficiency is high grab the material arm.

The purpose of the utility model is realized like this:

the stator clamp grabbing arm comprises a clamp grabbing seat and at least two stator clamp grabbing mechanisms, wherein each stator clamp grabbing mechanism comprises a clamp grabbing cylinder, a clamp grabbing claw and a clamp clamping groove, the clamp clamping groove is formed in the clamp grabbing seat, the outer end of the clamp clamping groove is opened, the clamp grabbing claw rotates in a lever mode and is arranged on the clamp grabbing seat, the clamp grabbing cylinder is arranged on the clamp grabbing seat, a cylinder rod of the clamp grabbing cylinder is connected with the inner end of the clamp grabbing claw, and the outer end of the clamp grabbing claw is located above the clamp grabbing groove. The utility model discloses when the stator anchor clamps grab material arm snatchs half iron core stator anchor clamps, make anchor clamps clip the groove earlier and aim at with the clamp splice that receives of half iron core stator anchor clamps, then make the clamp splice that receives of half iron core stator anchor clamps insert anchor clamps and clip the inslot, anchor clamps grab material cylinder drive anchor clamps after that and grab material jack catch the inner upwards rotation of jack catch, and the outer end that anchor clamps grabbed the material jack catch is down cliied and is received the tight groove of clamp on the clamp splice to the realization snatchs half iron core stator anchor clamps. On the contrary, when the clamp grabbing cylinder drives the inner end of the clamp grabbing claw to rotate downwards, the outer end of the clamp grabbing claw rotates upwards to loosen the clamped block, and then the clamp is translated to clamp the groove, so that the clamp clamping groove is separated from the clamped block of the half-iron-core stator clamp, and the half-iron-core stator clamp is dismounted. Therefore, the utility model provides a material and the discharge rate of grabbing of stator anchor clamps grabbing material arm are fast, the utility model provides high half iron core stator wire winding production line's production efficiency.

The utility model can be further improved as follows.

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

The clamp material grabbing cylinder is arranged at the bottom of the clamp material grabbing seat, the clamp material grabbing seat is provided with a yielding hole corresponding to a cylinder rod of the clamp material grabbing cylinder, and the cylinder rod of the clamp material grabbing cylinder upwards penetrates through the yielding hole and is connected with the inner end of the clamp material grabbing claw.

The outer end that material jack catch was grabbed to anchor clamps is colluded the form, the utility model discloses an anchor clamps are grabbed the structural design of material jack catch reasonable to be convenient for anchor clamps grab the outer end of material jack catch and receive the tight cooperation of clamp groove clamp on the clamp splice.

The anchor clamps are grabbed and are equipped with four on the material seat stator anchor clamps grab material mechanism, and four stator anchor clamps grab two liang of relative anchor clamps of material mechanism and grab the both sides of material seat, consequently the utility model discloses can lift off the stator winding machine earlier two on around the half iron core stator of line, then make anchor clamps grab the material seat rotatory 180, install two not wire-wound half iron core stators to the stator winding machine again to realize the quick material loading of half iron core stator and unload.

The fixture grabbing seat is provided with a draw hook, the draw hook is used for pulling a stator feeding tray used for conveying a semi-iron core stator to move on a production line, so that the stator feeding tray can move from one line body of the production line to another line body of the production line, and the situation that the stator feeding tray does not have enough power to move at the tail end of the line body is prevented.

The draw hook is in a shape of inverted L.

The utility model has the advantages that:

the utility model discloses when the stator anchor clamps grab material arm snatchs half iron core stator anchor clamps, make anchor clamps clip the groove earlier and aim at with the clamp splice that receives of half iron core stator anchor clamps, then make the clamp splice that receives of half iron core stator anchor clamps insert anchor clamps and clip the inslot, anchor clamps grab material cylinder drive anchor clamps after that and grab material jack catch the inner upwards rotation of jack catch, and the outer end that anchor clamps grabbed the material jack catch is down cliied and is received the tight groove of clamp on the clamp splice to the realization snatchs half iron core stator anchor clamps. On the contrary, when the clamp grabbing cylinder drives the inner end of the clamp grabbing claw to rotate downwards, the outer end of the clamp grabbing claw rotates upwards to loosen the clamped block, and then the clamp is translated to clamp the groove, so that the clamp clamping groove is separated from the clamped block of the half-iron-core stator clamp, and the half-iron-core stator clamp is dismounted. Therefore, the utility model provides a material and the discharge rate of grabbing of stator anchor clamps grabbing material arm are fast, the utility model provides high half iron core stator wire winding production line's production efficiency.

Drawings

Fig. 1 is the utility model discloses half iron core stator wire winding production line's structural schematic.

Fig. 2 is the utility model discloses half iron core stator wire winding production line's top view (two big dotted frames in fig. 2 represent stator main winding wire winding production line and stator secondary winding wire winding production line respectively, and two little dotted frames represent first tray circulation pay-off line, second tray circulation pay-off line respectively).

Fig. 3 is the structure schematic diagram of the semi-iron core stator winding production line of the present invention omitting a plurality of main and auxiliary winding stators.

Fig. 4 is a schematic view of the structure of fig. 3 at another angle.

Fig. 5 is the structure diagram of the stator grabbing manipulator of the utility model.

Fig. 6 is the structure diagram of the stator grabbing arm of the stator grabbing manipulator of the utility model.

Fig. 7 is a schematic view of the structure of fig. 6 at another angle.

Fig. 8 is a schematic structural view of the tray circulating feeding line of the present invention.

Fig. 9 is a schematic view of the structure at another angle in fig. 8.

Fig. 10 is a schematic structural view of the stator holder opening mechanism of the present invention.

Fig. 11 is the schematic structural diagram of the stator clamp opening mechanism of the present invention opening the half-core stator clamp.

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

Fig. 13 is a cross-sectional view taken at a-a in fig. 12.

Fig. 14 is a schematic structural view of the stator feeding tray of the present invention.

Fig. 15 is a schematic structural view of the first iron core stator installed on the stator feeding tray of the present invention.

Fig. 16 is a schematic structural diagram of the stator clamp feeding robot of the present invention.

Fig. 17 is a schematic view of the structure of fig. 16 at 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 point a in fig. 4.

Fig. 20 is a schematic structural view of the material grasping arm of the stator clamp of the present invention.

Fig. 21 is a partially exploded view of the stator clamp gripper arm of the present invention.

Fig. 22 is the utility model discloses a stator anchor clamps grabs material arm and snatchs four half iron core stator anchor clamps simultaneously's schematic structure.

Fig. 23 is a schematic structural view of the half core stator clamp of the present invention.

Fig. 24 is a schematic view of the structure of fig. 23 at another angle.

Fig. 25 is an exploded view of the half core stator clamp of the present invention.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

In the first embodiment, as shown in fig. 1 to 25, a semi-iron core stator winding production line includes a stator grabbing manipulator 1, a stator main winding production line 91, and a stator auxiliary winding production line 92.

The stator main winding production line 91 comprises 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 production line 92 comprises a second tray circulating feeding line 20, a second stator feeding tray 40, a second stator clamp feeding robot 8 and a secondary winding stator winding machine 94.

First, second stator pay- off tray 4, 40 for bear a plurality of half iron core stator anchor clamps and half iron core stator 7 on it, demountable installation has a plurality of half iron core stator anchor clamps 6 on first, the second stator pay- off tray 4, 40, half iron core stator 7 demountable installation is on half iron core stator anchor clamps 6.

And the first tray circulating feeding line 2 is used for conveying the first stator feeding tray 4 to the first stator clamp feeding robot 5 in a circulating manner.

And the second tray circulating feeding line 20 is used for conveying a second stator feeding tray 40 to the second stator clamp feeding robot 8 in a circulating manner.

The stator grabbing manipulator 1 is used for dismounting the half-core stator 7 on the half-core stator clamps 6 on the first stator feeding tray and the second stator feeding tray.

The first stator clamp feeding robot 5 is used for conveying the first stator feeding tray 4 between the first tray circulating feeding line 2 and the main winding stator winding machine 93, grabbing the half iron core stator clamp 6 on the first stator feeding tray 4 onto the main winding stator winding machine, and grabbing the half iron core stator clamp 6 on the main winding stator winding machine onto the first stator feeding tray 4.

And the second stator clamp feeding robot 8 is used for conveying the second stator feeding tray 40 between the second tray circulating feeding line 20 and the auxiliary winding stator winding machine 94, grabbing the half-iron-core stator clamp 6 on the second stator feeding tray 40 on the second stator feeding tray to the auxiliary winding stator winding machine, and grabbing the half-iron-core stator clamp 6 on the auxiliary winding stator winding machine to the second stator feeding tray 40 on the auxiliary winding stator winding machine.

And the main winding stator winding machine 93 is used for winding a main winding wire slot of the half iron core stator 7 on the half iron core stator clamp 6.

And the auxiliary winding stator winding machine 94 is used for winding the auxiliary winding wire slots of the half iron core stator 7 on the half iron core stator clamp 6.

As a more specific technical solution of the present invention.

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

Stator grabs material arm 10 includes that the stator grabs material seat 11, clamping jaw sliding seat 13, a plurality of slip clamping jaw 15, a plurality of fixed clamping jaw 14 and stator grabs material cylinder 12, clamping jaw sliding seat 13 slides and sets up on stator grabs material seat 11, and a plurality of slip clamping jaw 15 set up in turn in the stator bottom of grabbing material seat 11 with a plurality of fixed clamping jaw 14, and, a plurality of slip clamping jaw 15 slide and locate the stator and grab the bottom of material seat 11, and a plurality of slip clamping jaw 15's top and clamping jaw sliding seat 13 fixed connection, a plurality of slip clamping jaw 15 and a plurality of fixed clamping jaw 14 one-to-one, have half iron core stator clamping opening between slip clamping jaw 15 and the fixed clamping jaw, stator grabs material cylinder 12 and locates on stator grabs material seat 11 to drive clamping jaw sliding seat 13 slides, clamping jaw sliding seat 13 drives a plurality of slip clamping jaw synchronous sliding. When the stator grabbing cylinder 12 drives the clamping jaw sliding seat 13 to move forwards, the plurality of sliding clamping jaws 15 are folded with the plurality of fixed clamping jaws 14, so that the plurality of half-iron-core stators are clamped simultaneously. When the stator grabbing cylinder 12 drives the clamping jaw sliding seat 13 to move backwards, the plurality of sliding clamping jaws 15 are separated from the plurality of fixed clamping jaws 14, so that the plurality of half iron core stators are loosened simultaneously.

The clamping side surface of the fixed clamping jaw 14 is a circular arc surface.

As a more detailed technical solution of the present invention.

A plurality of fixture fixing seats 42 are arranged on the first stator feeding tray 4 and the second stator feeding tray 40, a half-iron-core stator fixture 6 is detachably arranged on the fixture fixing seats 42, and a right-angled triangular fixture clamping groove 43 is formed in the fixture fixing seats 42.

The semi-iron core stator clamp 6 comprises a clamping seat 61, a clamping slide block 62 and a clamp opening drive slide block 64, wherein the back of the clamping seat 61 corresponds to the clamp opening drive slide block 64 and is provided with a guide groove 69, the clamp opening drive slide block 64 is arranged in the guide groove 69 in a sliding manner along the vertical direction, the clamping slide block 62 is arranged on the front of the clamping seat 61 in a horizontal sliding manner, a clamping pressure spring 63 is arranged between the bottom of the clamp opening drive slide block 64 and the clamping seat 61, a drive bulge 641 is arranged on the clamp opening drive slide block 64, the clamping seat 61 corresponds to the drive bulge 641 and is arranged in a guide long hole 65 along the vertical direction, the clamping slide block 62 corresponds to the drive bulge 641 and is provided with a driven inclined long hole 66, the drive bulge 641 sequentially penetrates through the guide long hole 65 and the driven inclined long hole 66 from the rear side to the front side of the clamping seat 61, and the top of the clamping seat, the driving abdicating hole 68 is communicated with the guide groove 69, the front end of the clamping seat 61 is provided with a clamping plate 613 matched with the clamping slide block 62, a stator clamping opening 610 is arranged between the clamping slide block 62 and the clamping plate 613, the rear end of the clamping seat 61 extends outwards to form a clamping block 612, and the clamping block 612 is provided with a clamping groove 67 matched with the clamping claw 525.

The bottom of half iron core stator anchor clamps 6 and the bottom that receives clamp splice 612 all are equipped with the chucking piece 611 of right angle triangle-shaped, when half iron core stator anchor clamps 6 were installed on anchor clamps fixing base 42, chucking piece 611 inserts in anchor clamps chucking groove 43 to realize that half iron core stator anchor clamps 6 fix on anchor clamps fixing base 42.

The first tray circulating feeding line 2 includes a first tray feeding line 21, a first tray feeding line 22, and a first tray returning line 23. The first tray feeding line 21 is used for conveying the first stator feeding tray 4 to the first stator clamp feeding robot 5. The first tray feeding line 22 is used for conveying the first stator feeding tray 4 on the first stator clamp feeding robot 5 to the first tray returning line 23. The first tray returning line 23 is configured to return the first stator feeding tray 4 on the first tray feeding line 22 to the first tray feeding line 21.

The second tray circulating and feeding line 20 includes a second tray feeding line 201, a second tray feeding line 202, and a second tray returning line 203. And the second tray feeding line 201 is used for conveying the second stator feeding tray 40 to the second stator clamp feeding robot 8. And the second tray feeding line 202 is used for conveying the second stator feeding tray 40 on the second stator clamp feeding robot 8 to the second tray returning line 203. The second tray returning line 203 is configured to return the second stator feeding tray 40 on the second tray feeding line 202 to the second tray feeding line 201.

The first tray returning line 23 is located at the front end of the first tray feeding line 21 and the first tray feeding line 22, and the first stator clamp feeding robot 5 is located at the rear end of the first tray feeding line 21 and the rear end of the first tray feeding line 22.

The second tray returning line 203 is located at the front end of the second tray feeding line 201 and the second tray feeding line 202, and the second stator jig feeding robot 8 is located at the rear end of the second tray feeding line 201 and the second tray feeding line 202.

As a more specific technical solution of the present invention.

The first tray feeding line 21 comprises 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 comprises a first chain wheel 251, a second chain wheel 252 and a first tray feeding chain 253, the first chain wheel 251 and the second chain wheel 252 are respectively arranged at the front end and the rear end of the first tray feeding rack 24, the first tray feeding chain 253 is arranged along the feeding direction of the first tray feeding rack 24, the first tray feeding chain 253 is connected with the first chain wheel 251 and the second chain wheel 252, and the first tray feeding motor 26 is in belt transmission connection with the first chain wheel 251.

The first tray sending-out line 22 includes a first tray sending-out frame 27, a first tray sending-out chain assembly 28 and a first tray sending-out motor 29, the first tray sending-out chain assembly 28 includes a third sprocket 281, a fourth sprocket 282 and a tray sending-out chain 283, the third sprocket 281 and the fourth sprocket 282 are respectively arranged at the front end and the rear end of the first tray sending-out frame 27, the tray sending-out chain 283 is arranged along the feeding direction of the first tray sending-out frame 27, the tray sending-out chain 283 is connected with the third sprocket 281 and the fourth sprocket 282, and the first tray sending-out motor 29 is in belt transmission connection with the third sprocket 281.

The first tray returning line 23 includes a first tray returning frame 231, a first tray returning carriage 232, a first tray returning motor 233, a first tray returning chain assembly 234, and a first tray returning cylinder 291, the first tray returning carriage 232 is horizontally slidably disposed on the first tray returning frame 231, the first tray returning cylinder 291 is disposed on the first tray returning frame 231 and drives the first tray returning carriage 232 to horizontally slide, the first tray returning chain assembly 234 includes a fifth sprocket 235, a sixth sprocket 236, and a first tray returning chain 237, the fifth sprocket 235 and the sixth sprocket 236 are respectively disposed at the front end and the rear end of the first tray returning frame 231, the first tray returning chain 237 is disposed along the conveying direction of the first tray returning frame 231, the first tray returning chain is connected to the fifth sprocket 235 and the sixth sprocket 237, the first tray reciprocating motor 233 is in belt transmission connection with a fifth chain wheel 235.

The second tray feeding line 201 comprises a second tray feeding frame 204, a second tray feeding chain assembly 205 and a second tray feeding motor 206, the second tray feeding chain assembly 205 comprises a seventh chain wheel 207, an eighth chain wheel 208 and a second tray feeding chain 209, the seventh chain wheel 207 and the eighth chain wheel 208 are respectively arranged at the front end and the rear end of the second tray feeding frame 204, the second tray feeding chain 209 is arranged along the feeding direction of the second tray feeding frame 204, the second tray feeding chain 209 is connected with the seventh chain wheel 207 and the eighth chain wheel 208, and the second tray feeding motor 206 is in belt transmission connection with the seventh chain wheel 207.

The second tray sending-out line 202 comprises a second tray sending-out rack 210, a second tray sending-out chain assembly 211 and a second tray sending-out motor 212, the second tray sending-out chain assembly 211 comprises a ninth chain wheel 213, a tenth chain wheel 214 and a second tray sending-out chain 215, the ninth chain wheel 213 and the tenth chain wheel 214 are respectively arranged at the front end and the rear end of the second tray sending-out rack 210, the second tray sending-out chain 215 is arranged along the feeding direction of the second tray sending-out rack 210, the second tray sending-out chain 215 is connected with the ninth chain wheel 213 and the tenth chain wheel 214, and the second tray sending-out motor 212 is in belt transmission connection with the ninth chain wheel 213.

The second tray returning line 203 comprises a second tray returning rack 216, a second tray returning carriage 217, a second tray returning motor 218, a second tray returning chain component 219 and a second tray returning cylinder 292, wherein the second tray returning carriage 217 is horizontally arranged on the second tray returning rack 216 in a sliding manner, the second tray returning cylinder 292 is arranged on the second tray returning rack 216 and drives the second tray returning carriage 217 to horizontally slide, the second tray returning chain component 219 comprises an eleventh chain wheel 221, a twelfth chain wheel 222 and a second tray returning chain 223, the eleventh chain wheel 221 and the twelfth chain wheel 222 are respectively arranged at the front end and the rear end of the second tray returning rack 216, the second tray returning chain 223 is arranged along the conveying direction of the second tray returning rack 216, and the second tray returning chain 223 is connected with the eleventh chain wheel 221 and the twelfth chain wheel 222, the second tray reciprocating motor 218 is in belt transmission connection with an eleventh chain wheel 221.

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

First stator anchor clamps opening mechanism 3a, second stator anchor clamps opening mechanism 3b, third stator anchor clamps opening mechanism 3c, fourth stator anchor clamps opening mechanism 3d all include mounting bracket 31, thimble lift cylinder 32, thimble mount 34, many anchor clamps open thimble 35, tray locating plate 37 and tray location cylinder 36, thimble mount 34 slides from top to bottom and locates on mounting bracket 31, many anchor clamps are opened thimble 35 and are located on thimble mount 34, thimble lift cylinder 32 is located on mounting bracket 31 to drive thimble mount 34 and slide from top to bottom, tray locating plate 37 slides from top to bottom and locates on mounting bracket 31 to be located the below that the thimble 35 was opened to anchor clamps, tray location cylinder 36 is located on mounting bracket 31 to drive tray locating plate 37 slides from top to bottom.

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

The mounting frame 31 is provided with a guide shaft sleeve 30 corresponding to the thimble fixing guide shaft 33, and the thimble fixing guide shaft 33 is arranged on the guide shaft sleeve 30 in a vertical sliding manner.

The ejector pins are opened by the clamps and are vertically arranged on the ejector pin fixing frame side by side.

Tray location cylinder 36 sets up on mounting bracket 31, be equipped with initiative slope piece 39 on the mounting bracket, tray location cylinder 36 drive initiative slope piece 39 horizontal slip, the bottom surface of tray location board 37 is equipped with driven slope piece 38, initiative slope piece 39 and the cooperation of driven slope piece 38 inclined plane, initiative slope piece slides along the horizontal direction to drive the lift of driven slope piece 38.

The stator feeding tray 4 is seated on the tray positioning plate 37 and is positioned below the plurality of jig opening thimbles 35.

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

Stator pay-off tray 4 corresponds the position of first location projection 371 and second location projection and is equipped with first locating hole 45 and second locating hole 46, and when stator pay-off tray 4 slided to tray locating plate 37 top, tray location cylinder 36 drive tray locating plate 37 rose, first location projection 371 and second location projection 372 insert respectively in first locating hole 45 and the second locating hole 46.

The first stator clamp feeding robot 5 and the second stator clamp feeding robot 8 both comprise a ground rail 9, a stator clamp feeding rack 51, a tray positioning mechanism 53 and a stator clamp feeding manipulator 52.

The tray positioning mechanism 53 is arranged on the stator clamp feeding rack 51 and used for positioning the stator feeding tray 4 on the stator clamp feeding rack;

the stator clamp feeding manipulator 52 is arranged on the stator clamp feeding rack 51 and used for conveying the semi-iron core stator clamp between the stator feeding tray 4 and the stator winding machine.

The tray positioning mechanism 53 comprises a tray positioning frame 533, a tray fixing cylinder 532 and a tray fixing plate 531, the tray positioning frame 533 is arranged on the stator fixture feeding frame 51, the front side of the tray positioning frame 533 is open, the rear side of the tray positioning frame 533 is closed, the left side and the right side of the tray positioning frame 533 are respectively provided with a tray supporting roller set 534, a tray positioning gap 535 exists between the tray supporting roller set 534 and the bottom of the tray positioning frame 533, the tray fixing plate 531 is arranged on the stator fixture feeding frame 51 in a vertically sliding manner and is located below the tray positioning frame 533, the tray fixing cylinder 532 is arranged on the stator fixture feeding frame 51 and is located below the tray fixing plate 531, and the tray fixing cylinder 532 drives the tray fixing plate 531 to slide vertically.

The stator jig feeding robot 52 is a four-axis robot. Four-axis robots are known in the art, and have a rotating lifting shaft 520 capable of rotating, lifting, translating, etc., and therefore, the working principle thereof will not be described herein.

The stator clamp grabbing arm 521 is arranged on a rotating lifting shaft 520 of the stator clamp feeding manipulator 52, the stator clamp grabbing arm 521 comprises a clamp grabbing seat 522 and at least two stator clamp grabbing mechanisms 523, the clamp grabbing seat 522 is arranged at the lower end of the rotating lifting shaft 520, the stator clamp grabbing mechanisms 523 comprise a clamp grabbing cylinder 524, a clamp grabbing claw 525 and a clamp clamping groove 526, the clamp clamping groove 526 is formed in the clamp grabbing seat 522, the outer end of the clamp grabbing groove 526 is open, the clamp grabbing claw 525 is arranged on the clamp grabbing seat 522 in a lever mode, the clamp grabbing cylinder 524 is arranged on the clamp grabbing seat 522, a cylinder rod of the clamp grabbing cylinder 524 is rotatably connected with the inner end of the clamp grabbing claw 525, and the outer end of the clamp grabbing claw 525 is located above the clamp clamping groove 526.

The ground rail 9 is provided with a slide rail 97 and a traveling rack 98 along the length direction thereof, the stator clamp feeding frames 51 of the first and second stator clamp feeding robots 5 and 8 are horizontally arranged on the slide rail 97 in a sliding manner, the stator clamp feeding frame 51 is provided with a sliding driving motor 54, the sliding driving motor 54 is provided with a driving gear (not shown), and the driving gear is meshed with the traveling rack 98.

The jig clamping groove 526 is provided at the periphery of the jig grasping base 522.

The material cylinder is grabbed to anchor clamps locates the bottom that the material seat 522 was grabbed to the anchor clamps, the material seat 522 is grabbed to the anchor clamps corresponds the cylinder pole that the material cylinder was grabbed to the anchor clamps and is equipped with the hole of stepping down 528, the cylinder pole that the material cylinder was grabbed to the anchor clamps upwards passes the hole of stepping down 528 to the inner rotation of grabbing material jack catch 525 with the anchor clamps is connected.

The outer end of the clamp grabbing claw 525 is in a hook shape.

Four stator clamp grabbing mechanisms 523 are arranged on the clamp grabbing seat 522, and two sides of the clamp grabbing seat 522 are arranged on the four stator clamp grabbing mechanisms 523 in a pairwise opposite mode.

And a draw hook 527 is arranged on the clamp grabbing seat 522. Tension blocks 44 are arranged on the first stator feeding tray 40 and the second stator feeding tray 40 corresponding to the pull hooks 527, and a pulling groove 441 is formed in each tension block 44. When the stator clamp grabbing arm pulls the first stator feeding tray, the draw hook 527 is hooked in the pulling groove 441 of the pulling block 44, and then the first stator feeding tray is pulled to slide.

The draw hook is in a shape of inverted L.

The utility model discloses a theory of operation is:

when the utility model starts to work, the stator main winding production line 91 of the utility model is started first, the first stator clamp opening mechanism 3a of the first tray feeding line 21 is started, the tray positioning cylinder 36 of the first tray feeding line 21 drives the tray positioning plate 37 to ascend, the tray positioning plate 37 positions and supports the first stator feeding tray 4 on the first tray feeding line 21, then the thimble lifting cylinder 32 drives the thimble fixing frame 34 to descend, the thimble fixing guide shafts 33 slide downwards, the clamp opening thimbles 35 on the thimble fixing guide shafts 33 are respectively inserted downwards into the driving abdicating holes 68 of the corresponding semi-iron core stator clamp, and the clamp opening driving slide block 64 is pushed to slide downwards, the clamping pressure spring 63 is compressed by the clamp opening driving slide block 64, the driving bulge 641 also slides downwards along with the driving slide block, the driving bulge 641 drives the clamping slide block 62 to slide backwards (to move towards the direction far away from the clamping chuck plate) by pushing backwards the driven oblique long hole 66, the clamping slide 62 opens the stator clamping mouth 610 of the half core stator clamp 6.

Then, the stator grabbing manipulator 1 of the present invention grabs a plurality of non-wound semi-core stators 7 on a semi-core stator tray (not shown in the figure) and conveys them to the first stator feeding tray 4 of the first tray feeding line 21, and makes one end of the plurality of semi-core stators 7 be located at the stator clamping opening 610 corresponding to the semi-core stator clamp 6, and then the thimble lifting cylinder 32 drives the thimble fixing frame 34 to ascend, the plurality of thimble fixing guide shafts 33 slide upward, the clamps of the plurality of thimble fixing guide shafts 33 open the thimbles 35 and move out of the driving abdicating hole 68, the clamping pressure spring 63 drives the clamps to open the driving slide block 64 to slide upward, the driving protrusion 641 also slides upward along with the driving slide block, the driving protrusion 641 pushes the clamping slide block 62 to slide forward (move toward the direction close to the clamping chuck), the front end of the clamping slide block 62 is matched with the clamping chuck, sandwiching one end of the half core stator 7. And then the first stator grabbing mechanical arm 1 loosens the plurality of half-core stators 7.

Then, the first tray feeding line 21 is started, the first stator feeding tray 4 is conveyed backwards by the first tray feeding line 21 to the first stator jig feeding robot 5, when the first stator feeding tray 4 is conveyed to the rear end of the first tray feeding frame 24 by the first tray feeding line 21, the first stator jig feeding robot 5 drives the draw hook 527 on the stator jig feeding manipulator 52 to draw the first stator feeding tray 4 onto the tray positioning frame 533 of the first stator jig 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 jig feeding robot 5 is started, the tray positioning cylinder 36 drives the tray positioning plate 37 to ascend, and the tray positioning plate 37 positions the first stator feeding tray 4.

Next, the sliding driving motor 54 of the first stator clamp 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 traveling rack 98, the first stator clamp feeding robot 5 slides along the ground rail 9 to the main winding stator winding machine 93 until the first stator clamp feeding robot 5 slides to the side of the main winding stator winding machine 93, the sliding driving motor 54 stops rotating, and then the stator clamp feeding manipulator 52 drives the stator clamp grabbing arm 521 to grab the half-core stator clamp 6 on the first stator feeding tray 4.

When the stator clamp material grabbing arm 521 grabs materials, the clamp material grabbing cylinder 524 drives the outer end of the clamp material grabbing claw 525 to open, then the stator clamp feeding manipulator 52 drives the clamp material grabbing seat 522 to translate and lift, then the clamp clamping grooves 526 of the clamp material grabbing seat 522 are aligned with the clamped blocks 612 of the semi-iron core stator clamp 6, the clamped block 612 is then inserted into the clamp clamping slot 526 of the clamp gripping shoe 522, then the clamp material grabbing cylinder 524 drives the outer end of the clamp material grabbing claw 525 to rotate downwards to clamp the clamping groove 67 on the clamped block 612, after the stator clamp material grabbing arm 521 grabs the two half-core stator clamps 6, the stator clamp feeding manipulator 52 drives the stator clamp material grabbing arm 521 to rotate, translate and lift, to feed the two half-core stator clamps 6 to the two winding stations of the main winding stator winding machine 93, next, the main winding stator winding machine 93 winds the main winding slots of the half core stator 7. Thereafter, the first stator clamp feeding robot 5 may continue to move to the next main winding stator winding machine 93, and deliver the half core stator clamp 6 to the main winding stator winding machine 93, thereby realizing the grasping of the half core stator clamp 6 for the plurality of main winding stator winding machines 93. In this process, the first stator clamp feeding robot 5 also unloads the half core stator wound with the wire on the main winding stator winding machine 93 and the half core stator clamp 6 thereof.

When the stator clamp feeding manipulator 52 unloads on the main winding stator winding machine 93, the clamp grabbing cylinder 524 drives the outer end of the clamp grabbing claw 525 to rotate upwards to be opened, then the stator clamp grabbing arm 521 grabs two half-core stator clamps 6 on the main winding stator winding machine 93, and then the stator clamp grabbing arm 521 places the two half-core stator clamps 6 on the first stator feeding tray 4. After the first stator feeding tray 4 is filled with the plurality of wound half-core stators 7, the sliding driving motor 54 of the first stator clamp feeding robot 5 rotates in the reverse direction, the first stator clamp feeding robot 5 slides to the rear end of the first tray feeding line 22 along the ground rail 9, 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 line 22.

The first tray feeding line 22 conveys the first stator feeding tray 4 to the second stator clamp opening mechanism 3b, the second stator clamp opening mechanism 3b is started, the second stator clamp opening mechanism 3b positions the first stator feeding tray 4, then the second stator clamp opening mechanism 3b opens the half-core stator clamp 6 on the first stator feeding tray 4, and the stator grabbing manipulator 1 grabs all the half-core stator clamps 6 on the first stator feeding tray 4 onto the second stator feeding tray 40 on the second tray feeding line 201.

Then, the empty first stator feeding tray 4 is fed to the first tray returning line 23 by the first tray feeding line 22, and at the same time, the first tray returning cylinder 291 drives the first tray returning carriage 232 to slide to be aligned with the front end of the first tray feeding line 22 so as to catch the first stator feeding tray 4 fed from the first tray feeding line 22, the first tray returning motor 233 drives the first tray returning chain component 234 to rotate forward so as to drive the first stator feeding tray 4 to slide into the first tray returning carriage 232, and then the first tray returning cylinder 291 drives the first tray returning carriage 232 to slide to be aligned with the front end of the first tray feeding line 21, the first tray returning motor 233 drives the first tray returning chain component 234 to rotate in the reverse direction, the first tray returning chain component 234 feeds the first stator feeding tray 4 back to the first tray feeding line 21, and preparing for next installation of the half-core stator without winding.

And then, the utility model discloses stator secondary winding wire winding production line 92 starts, and the stator is grabbed and is expected 1 cooperation second tray and send into the third stator anchor clamps on the line 201 and open mechanism 3c to install it on the second stator pay-off tray 40 of second tray circulation pay-off line 20. The second tray feeding line 201 conveys the second stator feeding tray 40 to the second stator fixture feeding robot 8, the second stator fixture feeding robot 8 conveys the second stator feeding tray 40 to the side of the secondary winding stator winding machine 94 along the ground rail 9, and the stator fixture feeding manipulator 52 of the second stator fixture feeding robot 8 conveys the half-core stator fixture 6 on the second stator feeding tray 40 to the secondary winding stator winding machine 94 for winding. The sub-winding stator winding machine 94 winds the sub-winding slots on the half core stator 7. After the sub-winding stator winding machine 94 winds the sub-winding slots to the half core stator 7, the winding work of the half core stator 7 is completed. Then, the second stator jig feeder robot 8 grabs the half core stator jigs 6 wound with wires on the plurality of sub-winding stator winding machines 94 onto the second stator feeding tray 40. After second stator pay-off tray 40 is filled with a plurality of half iron core stator anchor clamps 6, second stator anchor clamps material loading robot 8 is carried on second stator pay-off tray 40 and is given second tray outgoing line 202, second tray outgoing line 202 is carried on second stator pay-off tray 40 and is given fourth stator anchor clamps opening mechanism 3d, fourth stator anchor clamps opening mechanism 3d is opened half iron core stator anchor clamps 6 on second stator pay-off tray 40, meanwhile, stator grabbing manipulator 1 snatchs out stator auxiliary winding wire winding production line 92 with half iron core stator on second stator pay-off tray 40, to this end, the utility model discloses a half iron core stator's wire winding and outgoing work have all been accomplished.

Subsequently, the second tray feeding line 202 feeds the empty second stator feeding tray 40 to the second tray returning line 203, and the second tray returning line 203 feeds the empty second stator feeding tray 40 back to the second tray feeding line 201 in preparation for the next charging and feeding. Since the second pallet return line 203 operates in the same principle as the second pallet return line, it will not be described in detail.

Claims (7)

1. The utility model provides a stator anchor clamps of half iron core stator wire winding production line are grabbed material arm, characterized by, grab material mechanism including anchor clamps grab material seat and two at least stator anchor clamps, stator anchor clamps grab material mechanism includes that anchor clamps grab material cylinder, anchor clamps grab material jack catch and anchor clamps and carry the groove, anchor clamps are carried the groove and are located anchor clamps and grab the material seat, the outer end that anchor clamps were carried the groove is opened, anchor clamps are grabbed the material jack catch and are located anchor clamps with the form rotation of lever and grab the material seat, anchor clamps are grabbed the material cylinder and are located anchor clamps and grab the material seat on, the cylinder pole that anchor clamps were grabbed the material cylinder is connected with the inner that anchor clamps were grabbed the material jack catch, the outer end that anchor.

2. The stator clamp gripper arm of claim 1, wherein the clamp gripping groove is formed at a periphery of the clamp gripper seat.

3. The stator clamp material grabbing arm of the semi-iron core stator winding production line according to claim 1, wherein the clamp material grabbing cylinder is arranged at the bottom of the clamp material grabbing seat, the clamp material grabbing seat is provided with a yielding hole corresponding to a cylinder rod of the clamp material grabbing cylinder, and the cylinder rod of the clamp material grabbing cylinder penetrates upwards through the yielding hole and is connected with the inner end of the clamp material grabbing claw.

4. The stator clamp material grabbing arm of the semi-iron core stator winding production line as claimed in claim 1, wherein the outer end of the clamp material grabbing claw is hook-shaped.

5. The stator clamp grabbing arm for the semi-iron core stator winding production line according to claim 1, wherein four stator clamp grabbing mechanisms are arranged on the clamp grabbing seat, and two stator clamp grabbing mechanisms are arranged on two opposite sides of the clamp grabbing seat.

6. The stator clamp material grabbing arm of the semi-iron core stator winding production line according to claim 1, wherein a drag hook is arranged on the clamp material grabbing seat.

7. The stator clamp material grabbing arm of the half-core stator winding production line as claimed in claim 6, wherein the draw hook is in a shape of a T.

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