Magnet dispensing device and method
By designing an automated magnet dispensing device, the automatic dispensing and stacking of magnets is achieved using conveying components and robots, the problem of cumbersome stacking and dispensing during magnet processing is solved, saving labor costs and improving efficiency and accuracy.
Patent Information
- Application Number
- CN202411228428.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-03
- Publication Date
- 2024-12-13
AI Technical Summary
During the cutting and processing of existing magnets, the stacking and dispensing of magnets is complicated and complicated, resulting in long working hours for staff and wasting a lot of labor costs.
A magnet dispensing device is designed, including a workbench, conveying assembly, glue coating table, placing plate and robot. Through automatic transmission and adsorption functions of the robot, automatic dispensing and stacking of magnets is realized, reducing human operation.
Automatic dispensing and stacking of magnets is realized, saving a lot of labor costs, improving processing efficiency and accuracy, and reducing the stability of magnet placement.
Smart Images
Figure CN119114360A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of magnet processing, and in particular to a magnet glue dispensing device and method. Background Art
[0002] The finished products of magnet slices are widely used in electronics, communications, medical treatment, aerospace and other fields, such as the manufacture of various electronic components (speakers, microphones, sensors), magnetic components in communication equipment (filters, transformers), and magnetic resonance imaging and magnetic therapy equipment in the medical field.
[0003] In the related art, the magnets to be processed are arranged in a rectangular block shape and are relatively large in size, so they need to be cut so that the cut magnets have a certain shape and size. In order to improve the cutting efficiency of the magnets to be processed, the manufacturers arrange the magnets to be processed neatly before cutting, and stack one or more magnets on the upper surface of the arranged magnets to be processed. The upper and lower magnets are bonded together with glue, so that the sizes of the upper and lower magnets obtained during the cutting process are basically the same and not easy to loosen.
[0004] The prior art has the following problems: the stacking process is cumbersome and complicated due to the small and numerous magnets, and the dispensing process is also long, which makes the staff work for a long time and is relatively cumbersome, wasting a lot of manpower costs, and there is still room for improvement. Summary of the invention
[0005] In order to improve the problem that the stacking process is cumbersome and complicated, the dispensing process is also long, which makes the staff work for a long time, is cumbersome, and wastes a lot of manpower costs, the present application provides a magnet dispensing device and method.
[0006] In the first aspect, the present application provides a magnet dispensing device, which adopts the following technical solution: A magnet dispensing device, comprising: A workbench, wherein the workbench is provided with a placing station and a displaying station for placing magnets that have not been glued; A conveying assembly, arranged on the workbench, for conveying the magnet to the placement station; A glue coating table is arranged on the workbench, and glue is arranged on the glue coating table; A placement plate, disposed on the workbench and located at the placement station, for placing the glued magnets; and The manipulator is movably connected to the workbench. The manipulator is provided with an adsorption part for adsorbing the magnet from the placement station, applying glue to the gluing station, and then adhering the magnet to the placement board or the magnet already placed on the placement board.
[0007] By adopting the above technical solution, the magnets are automatically transmitted through the conveyor track, and then the robot automatically identifies and adsorbs the magnets to glue the magnets and place them on the placement plate, thereby realizing the automatic gluing and stacking process of the magnets without manual operation, saving a lot of labor costs.
[0008] Optionally, the transmission component includes: A conveyor belt is arranged on the workbench and is located on one side of the placement station; A push cylinder, mounted on the workbench, serves as a driving source; and The push block is arranged on the piston rod of the push cylinder and is used to push the magnet on the conveyor belt to the placement station.
[0009] Optionally, the number of the placement stations is two and they are arranged side by side, and the number of the conveying components is two groups and they are respectively arranged on opposite sides of the placement stations.
[0010] By adopting the above technical solution and setting two groups of conveying components, the number of magnets stacked at a time is increased, thereby improving the stacking efficiency of the magnets.
[0011] Optionally, the workbench is provided with positioning columns, and the number of the positioning columns is several and abuts against one side of the placement plate. The workbench is also provided with a clamping cylinder, and the piston rod of the clamping cylinder is provided with a clamping block abutting against the side of the placement plate away from the positioning columns. The clamping block cooperates with the positioning columns to position the placement plate.
[0012] By adopting the above technical solution, the placement plate is clamped by the positioning column and the clamping cylinder, so that the position of the placement plate is fixed, thereby making the placement position of the magnet fixed and not easy to fall due to position problems and not being stacked on the placement plate, thereby improving the placement stability of the magnet.
[0013] In a second aspect, the present application provides a magnet dispensing method, which adopts the following technical solution: A magnet dispensing method, applied to a magnet dispensing device as described above, comprises: Receive the start command and start the magnet dispensing device; After receiving the start command, the placement plate size and the magnet size are obtained; Determine the number of horizontal placements, the horizontal placement positions, the number of vertical placements, and the vertical placement positions based on the placement plate size and the magnet size; Determine the magnet transfer instruction and magnet placement trajectory based on the horizontal placement number, the horizontal placement position, the vertical placement number, the vertical placement position and the preset single transfer number; The conveying component is controlled to be conveyed to the placement station according to the magnet conveying instruction, and the manipulator is controlled to place the magnet from the placement station to the placement plate according to the magnet placement trajectory.
[0014] By adopting the above technical solution, the magnets are automatically transmitted through the conveyor track, and then the robot automatically identifies and adsorbs the magnets to glue the magnets and place them on the placement plate, thereby realizing the automatic gluing and stacking process of the magnets without manual operation, saving a lot of labor costs.
[0015] Optionally, the method for determining the number of horizontal placements, the horizontal placement positions, the number of vertical placements, and the vertical placement positions based on the placement plate size and the magnet size includes: Decompose the size of the placement board into the horizontal size of the placement board and the vertical size of the placement board; Decompose the magnet size into the magnet transverse size and the magnet longitudinal size, wherein the magnet transverse size is the transverse size of the magnet along the placement board after the magnet is placed on the placement board, and the magnet longitudinal size is the longitudinal size of the magnet along the placement board after the magnet is placed on the placement board; Determine the number of lateral placements and lateral excess dimensions based on the lateral dimensions of the placement plate and the lateral dimensions of the magnets; Determine the lateral placement position based on the lateral excess size, the lateral size of the placement plate, the lateral size of the magnet, and a preset lateral middle principle, wherein the lateral middle principle is that the space corresponding to the lateral excess size is distributed in half on both sides of the magnet to place the magnet in the middle of the placement plate; Determine the number of longitudinal placements and the longitudinal excess size based on the longitudinal size of the placement plate and the longitudinal size of the magnet; The longitudinal placement position is determined based on the longitudinal excess dimension, the longitudinal dimension of the placement plate, the longitudinal dimension of the magnet and a preset longitudinal middle principle, wherein the longitudinal middle principle is that the space corresponding to the longitudinal excess dimension is distributed in half on both sides of the magnet to place the magnet in the middle of the placement plate.
[0016] By adopting the above technical solution, the magnet is placed in the middle area as much as possible when the size is determined to prevent it from falling due to partial deviation when placed on the edge, thereby improving the stability of the magnet placement.
[0017] Optionally, the method for obtaining the magnet transmission instruction and the magnet placement trajectory after receiving the start instruction includes: Determine the order of the number of transmissions based on the number of horizontal placements and the number of single transmissions; Generate magnet transfer instructions based on the transfer number sequence; Determine a single-sided placement trajectory based on the horizontal placement position, the vertical placement position and the order of the number of transfers; The end point height of the single-sided placement track is trimmed based on the preset number of stacking layers and magnet size to obtain the actual single-sided placement track; Based on the actual single-sided placement trajectory, the magnet placement trajectory is formed and output.
[0018] Optionally, another method for obtaining the magnet transfer instruction and the magnet placement trajectory after receiving the start instruction includes: Determine the height acquisition position and the placement position order based on the horizontal placement position and the vertical placement position; Determine placement position numbers and number relationships based on the placement position sequence; Obtain the actual magnet stacking height based on the height acquisition position; Determine the placement number based on the actual magnet stacking height and placement position number; Generate the current transmission instruction and the current placement trajectory based on the current placement number; Only the current transmission instruction is output as the magnet transmission instruction, the current placement trajectory is output as the magnet placement trajectory, and a single completion signal is obtained; When receiving a single completion signal, continue to obtain the current transmission instruction and the current placement trajectory.
[0019] By adopting the above technical solution, the next position is determined according to the height of each time, and then the trajectory is determined to avoid the situation of non-sticking and missing, thereby improving the accuracy and intelligence of magnet placement.
[0020] Optionally, the method for determining the current placement number based on the actual magnet stacking height and the placement position number includes: Determine the lower layer position number based on the actual magnet stacking height and placement position number; Determine the first lower-layer position number to be placed based on a preset placement rule, and define the lower-layer position number as the first position number; The placement number for this time is determined based on the first position number, the lower position number and a preset continuous rule, wherein the continuous rule is that the numbers falling within the placement number for this time are continuous and are all lower position numbers, and the positions corresponding to the numbers falling within the placement number for this time are the same horizontal placement position.
[0021] By adopting the above technical solution, bonding is performed from the first low layer position each time, thereby preventing the intermediate product from being unqualified or having gaps due to other abnormal conditions.
[0022] Optionally, the method for generating the current transmission instruction and the current placement trajectory based on the current placement number includes: Determine the border single quantity based on the horizontal placement number and the single transmission number; When the single quantity at the boundary is equal to the single transmission quantity, the current transmission instruction and the current placement trajectory are generated based on the current placement number; When the single quantity at the boundary is less than the single transmission quantity, the current placement quantity is determined based on the current placement number; Determine the total quantity based on the current placement quantity and the single boundary quantity; When the total number is greater than the number of items transferred at a single time, the transfer instruction and placement trajectory are generated based on the placement number. When the total number is less than or equal to the number of single transmissions, the first boundary position number is determined based on the lower layer position number; Determine the current transmission instruction based on the current placement number and the first boundary position number; Generate the previous placement trajectory based on the first boundary position number; Generate the placement trajectory based on the first boundary position number and the current placement number; The current placement trajectory is composed based on the previous placement trajectory and the next placement trajectory.
[0023] By adopting the above technical solution, the transport quantity that was originally less than the maximum single transport quantity at the boundary due to size reasons and the transport quantity generated now due to the previous rules are transported together, so that the placement of two locations can be completed in one transport, thereby improving the placement efficiency.
[0024] In summary, the present application includes at least the following beneficial technical effects: 1. Through the process of automatic dispensing and stacking of magnets, no manual operation is required, saving a lot of labor costs; 2. Determine the next position according to the height of each time, and then determine the trajectory to avoid missing the magnet due to non-sticking, thus improving the accuracy and intelligence of magnet placement; 3. The transport quantity that was originally less than the maximum single transport quantity at the boundary due to size reasons and the transport quantity generated due to the previous order rules are transported together, so that the placement of two locations can be completed in one transport, thereby improving the placement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 It is a flow chart of a magnet dispensing method in an embodiment of the present application.
[0026] Figure 2 It is a structural schematic diagram of a magnet dispensing device in an embodiment of the present application.
[0027] Figure 3 yes Figure 2 Enlarged schematic diagram of part A in the middle.
[0028] Figure 4 It is a schematic diagram of placing the magnet on a placement plate in an embodiment of the present application.
[0029] Figure 5 It is a flow chart of a method for determining the number of horizontal placements, the horizontal placement position, the number of vertical placements, and the vertical placement position based on the placement plate size and the magnet size in an embodiment of the present application.
[0030] Figure 6 It is a flowchart of a method for obtaining a magnet transmission instruction and a magnet placement trajectory after receiving a start instruction in an embodiment of the present application.
[0031] Figure 7 It is a flowchart of another method for obtaining magnet transmission instructions and magnet placement trajectory after receiving a start instruction in an embodiment of the present application.
[0032] Figure 8 It is a flow chart of a method for determining the current placement number based on the actual magnet stacking height and placement position number in an embodiment of the present application.
[0033] Fig. 9 It is a flowchart of a method for generating a current transfer instruction and a current placement trajectory based on the current placement number in an embodiment of the present application.
[0034] Fig.10 It is a flow chart of a magnet dispensing method in an embodiment of the present application.
[0035] Explanation of the accompanying reference numerals: 1. Workbench; 11. Placement station; 12. Placing station; 13. Positioning column; 14. Clamping cylinder; 15. Clamping block; 2. Conveying assembly; 21. Conveyor belt; 22. Pushing cylinder; 23. Pushing block; 3. Gluing station; 4. Placement plate; 5. Robot; 51. Adsorption part. DETAILED DESCRIPTION
[0036] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0037] The present application embodiment discloses a magnet dispensing method. Figure 1 , a magnet dispensing method comprises: Step 100: Receive a start instruction and start the magnet dispensing device.
[0038] Reference Figure 2The magnet dispensing device includes a workbench 1, a conveying component 2, a glue coating station 3, a placement plate 4 and a manipulator 5. There is a placement station 11 on the workbench 1 for placing magnets that have not been glued. There is a placement station 12 on the workbench 1, and the placement plate 4 is placed on the placement station 12 for positioning. The conveying component 2 is installed on the workbench 1 to transfer external magnets to the placement station 11. The glue coating station 3 is installed on the workbench 1 to provide glue. The placement plate 4 is detachably connected to the workbench 1 and is located on the placement station 12 for placing magnets. The manipulator 5 is movably installed on the workbench 1, and the manipulator 5 has an adsorption part 51 to adsorb the magnet so that it passes through the glue coating station 3 and is glued to the placement plate 4 or the magnet already placed on the placement plate 4.
[0039] Reference Figure 2 and Figure 3 , the number of the placement stations 12 is two and they are arranged side by side, and the number of the transmission components 2 is two groups and they are respectively arranged on the opposite sides of the placement stations 12. In the embodiment of the present application, the placement stations 12 can also be any group, such as four groups, and the transmission components 2 can also be four, that is, they are arranged opposite to each other in pairs, so as to further speed up the adsorption process. The transmission component 2 includes a conveyor belt 21, a pushing cylinder 22 and a pushing block 23. The conveyor belt 21 is installed on the workbench 1 and is located on one side of the placement station 11 to move the magnet on the conveyor belt 21 to the vicinity of the placement station 11. The pushing cylinder 22 is installed on the workbench 1 as a driving source. The pushing block 23 is installed on the piston rod of the pushing cylinder 22, and is used to push the magnet on the conveyor belt 21 to the placement station 11.
[0040] Reference Figure 2 The workbench 1 is provided with a plurality of positioning posts 13 which are in contact with one side of the placement plate 4. The workbench 1 is also provided with a clamping cylinder 14, and a clamping block 15 is installed on the piston rod of the clamping cylinder 14. The clamping block 15 is in contact with the side of the placement plate 4 away from the positioning posts 13. The clamping block 15 cooperates with the positioning posts 13 to position the placement plate 4.
[0041] The start command is a command for starting the glue dispensing function of the magnet glue dispensing device. When received, it means that the entire device starts working at this time, and the magnets without glue have been placed on the corresponding conveyor belt 21 or conveyed by other means.
[0042] It should be noted that the angle of the magnet is already the required angle and direction, which can be set manually.
[0043] Step 101: After receiving the start command, obtain the placement plate size and the magnet size.
[0044] The placement board size is the size of the placement board 4, which is the length and width of the horizontal plane. The placement board 4 is photographed by a camera on the placement board 4 and then the feature comparison is performed, such as Figure 3 The magnet size is the size of the magnet, which is the length and width of the magnet horizontal plane here. It is obtained by comparing the features of the magnet after the camera above the placement station 11 takes a picture of the magnet.
[0045] Step 102: Determine the number of horizontal placements, the horizontal placement positions, the number of vertical placements, and the vertical placement positions based on the placement plate size and the magnet size.
[0046] The number of horizontal placements is the number of horizontal placements along the size of the placement plate. In the embodiment of the present application, Figure 4 The horizontal placement position is the horizontal position of the magnets placed on the placement plate 4. The vertical placement number is the number of magnets placed vertically along the placement plate size, which is as follows in the embodiment of the present application: Figure 4 The number of magnets in the vertical direction is shown. The longitudinal placement position is the vertical position of the magnets placed on the placement plate 4.
[0047] Here, these data can be set by big data simulation, that is, the initial first one is the position on the left and the top, and then they are placed one by one to determine the horizontal and vertical placement positions of each one, and then when a part of a certain direction is outside the range of the placement board 4, it can be removed and the counting can be stopped, and then the remaining number in this direction is the number of horizontal placements or the number of vertical placements. It can also be determined by the scheme introduced later, which will not be repeated here.
[0048] Step 103: Determine the magnet transfer instruction and magnet placement trajectory based on the horizontal placement number, the horizontal placement position, the vertical placement number, the vertical placement position and the preset single transfer number.
[0049] The number of magnets that can be transferred at a time is the maximum number of magnets that can be transferred at a time, and this number is determined according to the number of adsorbents 51. The magnet transfer instruction is the instruction for magnet transfer, which includes the action instruction for transferring to the placement station 11 and the instruction for the number of placements. The determination method is introduced in the subsequent process and will not be repeated here.
[0050] Step 104: Control the conveying component 2 to convey the magnet to the placement station 11 according to the magnet conveying instruction, and control the robot 5 to place the magnet from the placement station 11 to the placement plate 4 according to the magnet placement trajectory.
[0051] Here, the two actions are performed alternately, that is, first, the conveying component 2 is controlled to be conveyed to the placement station 11 according to the local instruction of the magnet conveying instruction, at which time the conveying component 2 stops working, and then the manipulator 5 is controlled to place the magnet from the placement station 11 to the placement plate 4 according to the local trajectory of the magnet placement trajectory, and then the manipulator 5 stops working, and then the conveying component 2 is controlled to be conveyed to the placement station 11 according to the magnet conveying instruction, and so on.
[0052] Reference Figure 5 The method for determining the number of horizontal placements, the horizontal placement positions, the number of vertical placements, and the vertical placement positions based on the placement plate size and the magnet size includes: Step 200: Decompose the size of the placement board into the lateral size of the placement board and the longitudinal size of the placement board.
[0053] The horizontal dimension of the placement plate is the horizontal dimension of the placement plate 4. The vertical dimension of the placement plate is the vertical dimension of the placement plate 4. Figure 4 As shown, the horizontal dimensions of the placement plate are as follows Figure 4 The horizontal dimensions are shown, while the vertical dimensions of the placement plate are as follows Figure 4 The vertical dimension shown. Just read it directly here.
[0054] Step 201: Decompose the magnet size into the magnet lateral size and the magnet longitudinal size.
[0055] The transverse dimension of the magnet is the transverse dimension of the magnet along the placement plate 4 after the magnet is placed on the placement plate 4, and the longitudinal dimension of the magnet is the longitudinal dimension of the magnet along the placement plate 4 after the magnet is placed on the placement plate 4.
[0056] The decomposition method is the same as step 200.
[0057] Step 202: Determine the number of lateral placements and lateral excess dimensions based on the lateral dimensions of the placement plate and the lateral dimensions of the magnets.
[0058] The determination method is that the integer part of the quotient after dividing the horizontal size of the placement plate by the horizontal size of the magnet is the horizontal placement number. The horizontal excess size is the horizontal size of the placement plate 4 remaining after the horizontal placement number is placed. The determination method is that the horizontal placement number is multiplied by the horizontal size of the magnet to obtain the product, and then the horizontal size of the placement plate minus this product is the horizontal excess size.
[0059] Step 203: Determine the lateral placement position based on the lateral excess size, the lateral size of the placement plate, the lateral size of the magnet, and a preset lateral middle principle.
[0060] The horizontal middle principle is that the space corresponding to the horizontal excess size is distributed in half on both sides of the magnet so as to place the magnet in the middle of the placement plate 4.
[0061] like Figure 4 As shown, the determination method can be determined through CAD or by calculating from the boundary position of the placement plate 4, first adding half of the excess horizontal dimension, which is the first horizontal placement position, and then adding a magnet horizontal dimension in sequence, which is each subsequent horizontal placement position until the number of magnet horizontal dimensions added is the number of horizontal placements.
[0062] Step 204: Determine the longitudinal placement number and longitudinal excess size based on the longitudinal size of the placement plate and the longitudinal size of the magnet.
[0063] The method of determination is that the integer part of the quotient after dividing the longitudinal size of the placement plate by the longitudinal size of the magnet is the number of longitudinal placements. The longitudinal excess size is the remaining longitudinal size of the placement plate 4 after the longitudinal placement number is placed. The method of determination is that the longitudinal placement number is multiplied by the longitudinal size of the magnet to obtain the product, and then the longitudinal size of the placement plate minus this product is the longitudinal excess size.
[0064] Step 205: Determine the longitudinal placement position based on the longitudinal excess size, the longitudinal size of the placement plate, the longitudinal size of the magnet and the preset longitudinal middle principle.
[0065] The longitudinal middle principle is that the space corresponding to the longitudinal excess size is distributed in half on both sides of the magnet so as to place the magnet in the middle of the placement plate 4.
[0066] The determination method is similar to step 203 and will not be described in detail here.
[0067] Reference Figure 6 , after receiving the start command, the method for obtaining the magnet transmission command and the magnet placement trajectory includes: Step 300: Determine the order of transmission numbers based on the number of horizontal placements and the number of single transmissions.
[0068] The order of the number of transmissions is the order of the number of transmissions each time. The method of determination is to subtract the number of single transmissions from the number of horizontal placements until the remaining number is less than the number of single transmissions. For example: the number of horizontal placements is 5, and the number of single transmissions is 2, then the remaining number after subtracting is 1, and the number of subtractions is 2, so the order of transmissions is 2, 2, 1.
[0069] Step 301: Generate magnet transfer instructions based on the transfer number sequence.
[0070] When the order of the number of transfers is 2, 2, 1, at this time, the magnet transfer instruction is to first transfer 2 to the placement station 11, then transfer 2 to the placement station 11, and finally transfer 1 to the placement station 11.
[0071] Step 302: Determine a single-sided placement trajectory based on the horizontal placement position, the vertical placement position and the order of the number of transfers.
[0072] The single-sided placement track is a track for single placement. Here, the track is a track in which a magnet of a certain time in the sequence of transmission is adsorbed from the placement station 11, and then glue is applied on the corresponding glue coating station 3, and then the magnet on the adsorption member 51 is aligned with the horizontal placement position and the vertical placement position corresponding to the magnet of a certain time in the sequence of transmission, and then placed on the placement board 4.
[0073] It should be noted that, since the magnets are in a stacked state, the single-sided placement track does not yet include the vertical movement distance of being placed on the placement plate 4, or it is assumed to be a vertical movement distance set manually.
[0074] Step 303: trimming the end point height of the single-sided placement track based on the preset number of stacking layers and magnet size to obtain the actual single-sided placement track.
[0075] The number of stacked layers is the number of layers that need to be stacked. The actual single-sided placement track is the single-sided placement track that includes the vertical movement track. The trimming method is to first determine the height of each layer by the number of stacked layers and the magnet size, thereby determining the vertical movement distance required to place each layer, and then add the vertical movement distance to the actual single-sided placement track to obtain it.
[0076] Step 304: Form a magnet placement trajectory based on the actual single-sided placement trajectory combination and output it.
[0077] The actual single-sided placement trajectory of each magnet is sorted and combined according to the stacking rules to form a magnet placement trajectory and output it.
[0078] Reference Figure 7 Another method for obtaining the magnet transmission instruction and the magnet placement trajectory after receiving the start instruction includes: Step 400: Determine the height acquisition position and the placement position order based on the horizontal placement position and the vertical placement position.
[0079] The height acquisition position is the position where the magnet is placed at the coordinates of the horizontal placement position and the vertical placement position. The purpose of obtaining the position is to move the corresponding distance measuring sensor to the position to obtain the height at the position. The placement position sequence is the sequence of placing the magnets in a preset manner. Figure 4 As shown, the order may be from left to right and then from top to bottom, ie, A1, A2...An, B1... . . .
[0080] Step 401: Determine placement position numbers and number relationships based on the placement position sequence.
[0081] The placement position number is the number of each position where the magnet is placed, such as Figure 4As shown, the numbers from left to right can be 1, 2, 3, etc. And from top to bottom can be A, B, C, etc. Then the two are combined to form A1, B2, C3, etc. The numbering relationship is the relationship between a number and another number. For example: A1 and A2 are adjacent in the same row, while A1 and B1 are in different rows, and An and B1 are adjacent in numbering order, but in different rows.
[0082] Step 402: Acquire the actual magnet stacking height based on the height acquisition position.
[0083] The actual magnet stacking height is the actual magnet stacking height at the height acquisition position, which is obtained by measuring the distance with a distance meter.
[0084] Step 403: Determine the placement number based on the actual magnet stacking height and the placement position number.
[0085] The current placement number is the number of the magnets that need to be stacked this time. The number of magnets stacked at each position is determined by the actual magnet stacking height, and then the number of the next magnet placement position is determined based on the number. Figure 4 As shown in the figure, if the stacking height of A1 to B5 is the height of 2 layers of magnets, and the stacking height of B6 is 1 layer, then the placement number this time is B6 and subsequent numbers, and the number of this placement number is the number of single transmission. However, if it is the last time on the boundary, it is the number of the last transmission.
[0086] It can also be determined through subsequent steps, which will not be described here.
[0087] Step 404: Generate the current transfer instruction and the current placement trajectory based on the current placement number.
[0088] This transmission instruction is the instruction of the number of magnets transmitted corresponding to this placement number. This placement track is the actual single-sided placement track placed on this placement number. The determination method is similar to the previous steps and will not be repeated here.
[0089] Step 405: only output the current transmission instruction as the magnet transmission instruction, output the current placement trajectory as the magnet placement trajectory and obtain a single completion signal.
[0090] The single completion signal is a signal that the transmission instruction and the magnet placement track are completed. The signal can be a signal of completion of any parameter index, for example, the posture of the manipulator 5 after the placement track is completed can be used as a signal, or the stacking height change of the magnets on the placement plate 4 after the placement track is completed can be used as a signal, etc.
[0091] The difference from steps 300-304 is that the transmission instruction and placement track are only completed once each time, and then the next instruction and track are determined.
[0092] Step 406: Continue to obtain the current transfer instruction and the current placement track when receiving the single completion signal.
[0093] When received, the next transmission instruction and placement trajectory can be obtained, thereby realizing the process of obtaining the magnet transmission instruction and the magnet placement trajectory after receiving the start instruction.
[0094] Reference Figure 8 The method for determining the placement number based on the actual magnet stacking height and the placement position number includes: Step 500: Determine the lower layer position number based on the actual magnet stacking height and placement position number.
[0095] The lower layer position number is the number of the placement position of the magnet that is relatively lower during the stacking process. Since the transmission instructions and placement trajectory are acquired one by one, there is no situation of two lower layers. If there is only one stacking height, all placement position numbers are lower layer position numbers.
[0096] Step 501: Determine the first lower-level position number to be placed based on a preset placement rule, and define the lower-level position number as the first position number.
[0097] The placement rule is a rule for how to place magnets. This rule is set manually, and is set here to be from left to right and from top to bottom, that is, under this rule, the placement order is A1, A2...An, B1...
[0098] Step 502: Determine the placement number based on the first position number, the lower position number and the preset continuous rule.
[0099] The continuous rule is that the numbers falling into this placement number are continuous and are all low-level position numbers, and the positions corresponding to the numbers falling into this placement number are the same horizontal placement position. It should be noted here that An and B1 are not continuous.
[0100] Here, the first position number is determined each time, so that if a certain position falls, it can be identified and then replenished to ensure the integrity of the placement plate 4 after the entire magnet is stacked.
[0101] Reference Fig. 9 The method for generating the current transmission instruction and the current placement trajectory based on the current placement number includes: Step 600: Determine the border single quantity based on the horizontal placement number and the single transmission number.
[0102] The single border number is the number of placements at the most border position in a horizontal sequence. For example, if the single transmission sequence is 2, 2, 1, the single border number is 1. It can be obtained by dividing the number of horizontal placements by the remainder of the single transmission number.
[0103] Step 601: When the single boundary quantity is equal to the single transmission quantity, the current transmission instruction and the current placement trajectory are generated based on the current placement number.
[0104] When the single quantity of the boundary is equal to the single transmission quantity, it means that each time is a complete single transmission quantity, and there is no subsequent step, and no other measures can be taken. Therefore, the transmission instruction and the placement trajectory can be directly generated based on the placement number.
[0105] Step 602: When the single quantity at the boundary is less than the single transmission quantity, the current placement quantity is determined based on the current placement number.
[0106] The current placement quantity is the number of magnets placed corresponding to the current placement number. The method of determination is that the number value corresponding to the current placement number is the current placement quantity.
[0107] Step 603: Determine the total quantity based on the current placement quantity and the single boundary quantity.
[0108] The total quantity is the sum of the current placement quantity and the single boundary quantity, and is calculated by adding the two.
[0109] Step 604: When the total number is greater than the number of items transferred at a single time, generate the current transfer instruction and the current placement trajectory based on the current placement number.
[0110] When the total number is greater than the number of single transfers, it means that the magnets corresponding to the total number cannot be adsorbed at a single time, so it is impossible to adsorb them simultaneously. You can only place the magnets at the position corresponding to the placement number this time.
[0111] Step 605: Determine the first boundary position number based on the lower layer position number when the total number is less than or equal to the single transmission number.
[0112] The first boundary position number is the number of the boundary position where the magnet is first placed.
[0113] When the total number is less than or equal to the number of single-time transmissions, it means that the magnets corresponding to the total number can be adsorbed at a time, so both can be transported to the placement plate 4 together in this action, and then stacked on the placement plate 4 in sequence.
[0114] Step 606: Determine the current transfer instruction based on the current placement number and the first boundary position number.
[0115] The transmission instruction this time is the instruction for the magnets transmitted this time, and the corresponding number is the number of this placement number and the number of the first boundary position number. If there is a difference in the middle, that is, not all the adsorption parts 51 adsorb magnets, then the adsorption parts 51 of the magnets corresponding to the number of this placement number must be adjacent, and the adsorption parts 51 of the magnets corresponding to the number of the first boundary position number must be adjacent.
[0116] Step 607: Generate the previous placement track based on the first boundary position number.
[0117] The previous placement track is the previous part of the placement track. The determination method is similar to the previous step and will not be repeated here.
[0118] Step 608: Generate the next placement trajectory based on the first boundary position number and the current placement number.
[0119] The placement track of this time is a placement track that is placed from the position corresponding to the first boundary position number, and then moved to the position corresponding to the current placement number. The determination method can be a linear movement method.
[0120] Step 609: compose the current placement trajectory based on the previous placement trajectory and the next placement trajectory.
[0121] It should be noted here that the previous placement track is executed first, and then the next placement track is executed. The purpose is that since there may be magnets already placed on both sides of the next placement track, the upper and lower heights will be different. At this time, the magnet corresponding to the first boundary position number may interfere with the already placed magnets, so the previous placement track needs to be executed first.
[0122] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.
Claims
1. A magnet dispensing device, It is characterized in that include: A workbench (1), wherein the workbench (1) is provided with a placement station (11) and a placement station (12) for placing magnets that have not been glued; A conveying assembly (2) is disposed on the workbench (1) and is used to convey the magnet to the placement station (11); A glue coating table (3) is arranged on the workbench (1), and glue is provided on the glue coating table (3); A placement plate (4) is disposed on the workbench (1) and located on the placement station (12), and is used to place the glued magnets; and A manipulator (5) is movably connected to the workbench (1). The manipulator (5) is provided with an adsorption member (51) for adsorbing a magnet from the placement station (11), applying adhesive to the adhesive coating station (3), and then adhering the magnet to the placement plate (4) or to a magnet already placed on the placement plate (4).
2. A magnet dispensing device according to claim 1, It is characterized in that The transmission component (2) comprises: A conveyor belt (21) is disposed on the workbench (1) and is located on one side of the placement station (11); A push cylinder (22) is provided on the workbench (1) and serves as a driving source; and The pushing block (23) is arranged on the piston rod of the pushing cylinder (22) and is used to push the magnet on the conveyor belt (21) to the placement station (11).
3. A magnet dispensing device according to claim 2, It is characterized in that The number of the placement stations (12) is two and they are arranged side by side, and the number of the conveying components (2) is two groups and they are respectively arranged on opposite sides of the placement stations (12).
4. A magnet dispensing device according to claim 3, It is characterized in that The workbench (1) is provided with a positioning column (13), the number of the positioning columns (13) is several and they abut against one side of the placement plate (4), the workbench (1) is also provided with a clamping cylinder (14), the piston rod of the clamping cylinder (14) is provided with a clamping block (15) abutting against the side of the placement plate (4) away from the positioning column (13), and the clamping block (15) cooperates with the positioning column (13) to position the placement plate (4).
5. A magnet dispensing method, applied to a magnet dispensing device as claimed in any one of claims 1 to 4, It is characterized in that include: Receive the start command and start the magnet dispensing device; After receiving the start command, the placement plate size and the magnet size are obtained; Determine the number of horizontal placements, the horizontal placement positions, the number of vertical placements, and the vertical placement positions based on the placement plate size and the magnet size; Determine the magnet transfer instruction and magnet placement trajectory based on the horizontal placement number, the horizontal placement position, the vertical placement number, the vertical placement position and the preset single transfer number; The conveying component (2) is controlled to convey the magnet to the placement station (11) according to the magnet conveying instruction, and the robot (5) is controlled to place the magnet from the placement station (11) onto the placement plate (4) according to the magnet placement trajectory.
6. A magnet dispensing method according to claim 5, It is characterized in that The method for determining the number of horizontal placements, the horizontal placement position, the number of vertical placements, and the vertical placement position based on the placement plate size and the magnet size includes: Decompose the size of the placement board into the horizontal size of the placement board and the vertical size of the placement board; Decomposing the size of the magnet into a lateral size of the magnet and a longitudinal size of the magnet, wherein the lateral size of the magnet is the lateral size of the magnet along the placement plate (4) after the magnet is placed on the placement plate (4), and the longitudinal size of the magnet is the longitudinal size of the magnet along the placement plate (4) after the magnet is placed on the placement plate (4); Determine the number of lateral placements and lateral excess dimensions based on the lateral dimensions of the placement plate and the lateral dimensions of the magnets; Determining the lateral placement position based on the lateral excess dimension, the lateral dimension of the placement plate, the lateral dimension of the magnet, and a preset lateral middle principle, wherein the lateral middle principle is that the space corresponding to the lateral excess dimension is distributed in half on both sides of the magnet so as to place the magnet in the middle of the placement plate (4); Determine the number of longitudinal placements and the longitudinal excess size based on the longitudinal size of the placement plate and the longitudinal size of the magnet; The longitudinal placement position is determined based on the longitudinal excess dimension, the longitudinal dimension of the placement plate, the longitudinal dimension of the magnet and a preset longitudinal middle principle, wherein the longitudinal middle principle is that the space corresponding to the longitudinal excess dimension is distributed in half on both sides of the magnet so as to place the magnet in the middle of the placement plate (4).
7. A magnet dispensing method according to claim 5, It is characterized in that The method for obtaining the magnet transmission instruction and the magnet placement trajectory after receiving the start instruction includes: Determine the order of the number of transmissions based on the number of horizontal placements and the number of single transmissions; Generate magnet transfer instructions based on the transfer number sequence; Determine a single-sided placement trajectory based on the horizontal placement position, the vertical placement position and the order of the number of transfers; The end point height of the single-sided placement track is trimmed based on the preset number of stacking layers and magnet size to obtain the actual single-sided placement track; Based on the actual single-sided placement trajectory, the magnet placement trajectory is formed and output.
8. A magnet dispensing method according to claim 5, It is characterized in that Another method of obtaining magnet transfer instructions and magnet placement trajectory after receiving a start instruction includes: Determine the height acquisition position and the placement position order based on the horizontal placement position and the vertical placement position; Determine placement position numbers and number relationships based on the placement position sequence; Obtain the actual magnet stacking height based on the height acquisition position; Determine the placement number based on the actual magnet stacking height and placement position number; Generate the current transmission instruction and the current placement trajectory based on the current placement number; Only the current transmission instruction is output as the magnet transmission instruction, the current placement trajectory is output as the magnet placement trajectory, and a single completion signal is obtained; When receiving a single completion signal, continue to obtain the current transmission instruction and the current placement trajectory.
9. A magnet dispensing method according to claim 8, It is characterized in that The method for determining the placement number based on the actual magnet stacking height and placement position number includes: Determine the lower layer position number based on the actual magnet stacking height and placement position number; Determine the first lower-layer position number to be placed based on a preset placement rule, and define the lower-layer position number as the first position number; The placement number for this time is determined based on the first position number, the lower position number and a preset continuous rule, wherein the continuous rule is that the numbers falling within the placement number for this time are continuous and are all lower position numbers, and the positions corresponding to the numbers falling within the placement number for this time are the same horizontal placement position.
10. A magnet dispensing method according to claim 9, It is characterized in that The method for generating the current transmission instruction and the current placement trajectory based on the current placement number includes: Determine the border single quantity based on the horizontal placement number and the single transmission number; When the single quantity at the boundary is equal to the single transmission quantity, the current transmission instruction and the current placement trajectory are generated based on the current placement number; When the single quantity at the boundary is less than the single transmission quantity, the current placement quantity is determined based on the current placement number; Determine the total quantity based on the current placement quantity and the single boundary quantity; When the total number is greater than the number of items transferred at a single time, the transfer instruction and placement trajectory are generated based on the placement number. When the total number is less than or equal to the number of single transmissions, the first boundary position number is determined based on the lower layer position number; Determine the current transmission instruction based on the current placement number and the first boundary position number; Generate the previous placement trajectory based on the first boundary position number; Generate the placement trajectory based on the first boundary position number and the current placement number; The current placement trajectory is composed based on the previous placement trajectory and the next placement trajectory.