Permanent magnet block automatic separation device and separation method

Abstract

The invention relates to an automatic separation device and a separation method for permanent magnetic blocks, which solve the technical problems in the existing production and manufacturing process of electric permanent magnetic chucks, such as low separation efficiency, great separation difficulty, easy breakage of permanent magnetic blocks, large labor workload, and easy injury to operators when the permanent magnetic blocks are separated manually. The device comprises a bottom plate, a feeding mechanism, a material storage and a separation mechanism, wherein the feeding mechanism is connected to the bottom plate, and the material storage is connected to the feeding mechanism; the device can be widely used in the technical field of production and manufacturing of electric permanent magnetic chucks.

Description

Technical Field

[0001] The invention relates to the technical field of production and manufacturing of electric permanent magnetic chucks, and in particular to an automatic separation device and a separation method for permanent magnetic blocks. Background Art

[0002] The electric permanent magnetic chuck is a permanent magnetic chuck controlled by electric pulses. Referring to the Chinese invention patent No. 201410263876.5, the electric permanent magnetic chuck is composed of a cast steel shell, a coil, a NdFeB permanent magnet block, a pole block, epoxy resin and AlNiCo magnets.

[0003] In the production process of electric permanent magnetic suction cups, the existing process for separating permanent magnetic blocks mainly relies on manual operation. However, this method has the disadvantages of low separation efficiency, great separation difficulty, easy breakage of permanent magnetic blocks, large labor workload, and easy injury to operators. In addition, the assembly parameters cannot be directly obtained after separation, and the degree of automation and intelligence is not high, which cannot meet the needs of intelligent assembly of permanent magnetic blocks. Summary of the invention

[0004] The present invention aims to solve the technical problems in the existing production process of electric permanent magnetic chucks, that is, when permanent magnetic blocks are separated manually, the separation efficiency is low, the separation difficulty is great, the permanent magnetic blocks are easy to break, the labor workload is large, and the operators are easy to be injured. The present invention provides a permanent magnetic block automatic separation device and separation method with high separation efficiency, reduced separation difficulty, avoidance of permanent magnetic block breakage, easy injury to operators, and high automation and intelligence.

[0005] The technical solution of the present invention is to provide a permanent magnet block automatic separation device, comprising a bottom plate, a feeding mechanism, a material storage and a separation mechanism; the feeding mechanism is connected to the bottom plate, and the material storage is connected to the feeding mechanism;

[0006] The feeding mechanism includes a feeding base, a feeding cylinder, a feeding push plate connecting plate and a feeding guide rail. The feeding base is provided with a mounting groove. The feeding guide rail is connected to the mounting groove of the feeding base. The feeding push plate connecting plate is connected to the feeding guide rail. The feeding cylinder is connected to the rear end of the mounting groove of the feeding base. The piston rod of the feeding cylinder is connected to the feeding push plate connecting plate. The feeding push plate connecting plate is connected with a plurality of pushing components. The pushing component includes a feeding push plate, a pin shaft and two torsion springs. The feeding push plate connecting plate is provided with a feeding push plate mounting groove. The pin shaft is connected to both sides of the feeding push plate mounting groove. , the feed push plate is provided with a bottom surface, an inclined surface and a vertical surface, a through hole is provided at the lower part of the feed push plate, a torsion spring mounting hole is provided at the upper right part of the feed push plate, a torsion spring mounting hole is provided at the upper left part of the feed push plate, and a pin shaft passes through the through hole at the lower part of the feed push plate; two torsion springs are sleeved on the pin shaft, one end of one torsion spring is connected to the torsion spring mounting hole at the upper right part of the feed push plate, and the other end is against the feed push plate mounting groove; one end of the other torsion spring is connected to the torsion spring mounting hole at the upper left part of the feed push plate, and the other end is against the feed push plate mounting groove; the base is connected to the bottom plate;

[0007] The material storehouse includes a material storehouse body and an extension plate. The material storehouse body is provided with a front end outlet and a rear end inlet. The extension plate is connected to the bottom of the front end outlet of the material storehouse body. The bottom of the material storehouse body is provided with an opening. The material storehouse body is connected to the feeding base of the feeding mechanism. The feeding push plate passes upward through the opening at the bottom of the material storehouse body.

[0008] The separation mechanism includes a support plate, a separation cylinder, a separation guide rail, a separation plate and a receiving groove. The separation cylinder is connected to the support plate, the separation guide rail is connected to the support plate, the separation plate is connected to the separation guide rail, the piston rod of the separation cylinder is connected to the separation plate, the separation plate is provided with a toggle part, the receiving groove is connected to the support plate, the toggle part is aligned with the receiving groove; the receiving groove is aligned with the extension plate.

[0009] Preferably, the bottom surface of the feed push plate is a curved surface.

[0010] Preferably, the separation mechanism further comprises a clamping cylinder, the clamping cylinder is connected to the support plate, and a piston rod of the clamping cylinder passes through the side wall of the accommodating groove.

[0011] Preferably, the support plate is connected to a magnetic pole detection sensor, and a separation block is connected to the support plate.

[0012] Preferably, the feeding mechanism further includes a positioning baffle, which is connected to the front end of the base; the material storage further includes a permanent magnetic block positioning rib, which is connected to the extension plate.

[0013] Preferably, the material of the storage body and the extension plate is austenitic stainless steel.

[0014] Preferably, the permanent magnet block automatic separation device further comprises a lifting mechanism, the lifting mechanism is connected to the bottom plate, and the support plate of the separation mechanism is connected to the lifting mechanism.

[0015] Preferably, the support plate of the separation mechanism is connected to a vertical mounting plate, the lifting mechanism includes a lifting mounting plate, a lead screw and a lifting motor, both ends of the lead screw are connected to the lifting mounting plate through two bearing seats, and the lead screw is connected to a nut seat; the lifting mounting plate is connected to two guide rails through a guide rail mounting plate, and the output shaft of the lifting motor is connected to the lead screw through a transmission mechanism; the lifting motor is connected to the lifting mounting plate or the base plate; the lifting mounting plate is vertically connected to the base plate; the nut seat and the two guide rails on the lifting mounting plate are respectively connected to the vertical mounting plate.

[0016] Preferably, there are two groups of feeding mechanisms and two groups of material storages; the separation cylinder of the separation mechanism is a double-axis double-acting cylinder; the separation mechanism has two separation plates and two receiving slots; each group of feeding mechanisms is connected to the material storage displacement cylinder installed on the bottom plate through a slide rail.

[0017] The present invention also provides a separation method using a permanent magnet automatic separation device, comprising the following steps:

[0018] Step 1, prepare a permanent magnet block pile and a material warehouse, the permanent magnet block pile consists of several columns, and the permanent magnet block pile is placed in the material warehouse;

[0019] Step 2, installing the material storehouse on the feeding mechanism. During the installation of the material storehouse, the bottom surface of the permanent magnetic block pile at the bottom opening of the material storehouse body presses down the feeding push plate, so that the feeding push plate rotates a certain angle toward the front end of the feeding mechanism;

[0020] Step 3, the piston rod of the feed cylinder retracts to drive the feed push plate connecting plate to move backward, and the feed push plate connecting plate drives the feed push plate to move backward for a distance so that a feed push plate at the rear end is disengaged from the bottom surface of the permanent magnet block pile and bounces up to a vertical state;

[0021] Step 4, the piston rod of the feed cylinder extends to move the feed push plate connecting plate forward, and the feed push plate connecting plate drives the vertical feed push plate located at the rear end of the permanent magnet block pile to apply thrust forward to the permanent magnet block pile, so that the permanent magnet block pile moves forward as a whole in the material warehouse, so that a row of permanent magnet blocks at the front end of the permanent magnet block pile is pushed out from the front end outlet of the material warehouse, and the row of permanent magnet blocks is supported by the extension plate;

[0022] Step 5: The piston rod of the separation cylinder retracts to drive the separation plate to move toward the receiving groove, and the moving part of the separation plate pushes the single-row permanent magnet block on the extension plate into the receiving groove.

[0023] The beneficial effects of the present invention are:

[0024] It replaces manual operation and realizes automatic and intelligent separation, with high separation efficiency, greatly reducing the difficulty of separation, avoiding permanent magnet block breakage and operator injury. It meets the automatic and intelligent assembly requirements of electric permanent magnetic chucks.

[0025] The separated permanent magnet blocks have a certain position accuracy in space, and precise positioning can be achieved using precision transmission. The key components of precision transmission include step-up and down-shift motors, ball screws, linear guides, etc. They have high positioning accuracy, less wear, can maintain accuracy for a long time, have good transmission efficiency, and have good interchangeability.

[0026] The size of the electric permanent magnetic chuck is relatively large, and the number of permanent magnetic blocks required for loading the electric permanent magnetic chuck is also relatively large. Therefore, a fast and coherent process action flow is required to complete the separation during the separation process. The use of pneumatic technology is simple, fast, reliable, easy to control, and has good consistency. In order to improve the assembly efficiency, the material warehouse separation system needs to be coordinated with the assembly route. The visual positioning camera can well meet the precise positioning of the position to be assembled in any assembly area of ​​the chuck and feedback the position information to the host computer, and cooperate with the industrial robot for assembly.

[0027] The entire separation and loading environment of the permanent magnet block is a strong magnetic field. Magnetic induction sensors and contact sensors cannot work in this environment. Non-contact photoelectric sensors can solve the above problems and can well complete the acquisition and transmission of information in the permanent magnet block separation system.

[0028] Hall elements can be used to detect and determine the polarity of a single permanent magnet block and feed it back to the host computer. The industrial robot obtains the loading polarity process parameters before loading the permanent magnet block.

[0029] Further features and aspects of the present invention will be clearly described in the following description of specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a three-dimensional diagram of the permanent magnet block automatic separation device;

[0031] Figure 2 It is a top view of the permanent magnet block automatic separation device;

[0032] Figure 3 It is the position relationship diagram of the material storage and the separation mechanism;

[0033] Figure 4 It is a structural diagram of a material store installed on a feeding mechanism, and a pile of permanent magnetic blocks is loaded into the material store;

[0034] Figure 5 It is a cross-sectional view of the material store installed on the feeding mechanism;

[0035] Figure 6 It is a structural diagram of the feeding mechanism;

[0036] Figure 7 yes Figure 6 A partial enlarged view of the structure shown;

[0037] Figure 8 It is a top view of the feeding mechanism;

[0038] Fig. 9 It is a structural schematic diagram of the feed push plate connecting plate;

[0039] Fig.10 It is a schematic diagram of the connection relationship between the feed push plate, the pin shaft and the torsion spring;

[0040] Fig.11 It is a structural schematic diagram of the feed push plate;

[0041] Fig.12 It is a structural schematic diagram of the connection between the feeding mechanism and the bottom plate through the slide rail, and the piston rod of the material storage shift cylinder is connected to the feeding mechanism;

[0042] Fig.13 It is a structural schematic diagram of the separation mechanism;

[0043] Fig.14 It is a structural schematic diagram of a receiving slot of a separation mechanism;

[0044] Fig.15 It is a schematic diagram of the clamping cylinder of the separation mechanism clamping the permanent magnet block in the receiving groove;

[0045] Fig.16 It is a structural diagram of the lifting mechanism;

[0046] Fig.17 It is a schematic diagram of the permanent magnet block stockpile being loaded from the rear end of the stockpile;

[0047] Fig.18 This is the main view of the material warehouse;

[0048] Fig.19 It is a schematic diagram of the material storage being installed on the feed base through the card edge card slot structure;

[0049] Fig. 20 It is a schematic diagram of a state in which a material storehouse filled with a permanent magnetic block material pile is installed on a feeding mechanism, and the bottom surface of the permanent magnetic block material pile presses down on a feeding push plate;

[0050] Fig.21 yes Fig. 20 A schematic diagram of a plurality of feed push plates moving backwards by a certain distance so that a feed push plate close to the rear end of the permanent magnet block pile bounces up to a vertical state;

[0051] Fig. 22 yes Fig.21 Schematic diagram of the piston rod of the middle feed cylinder retracting to cause the second feed push plate at the rear end of the permanent magnet block pile to bounce up to a vertical state.

[0052] Explanation of symbols in the figure:

[0053] 1. Bottom plate; 2. Feed mechanism, 2-1. Feed base, 2-2. Feed push plate, 2-3. Feed cylinder, 2-4. Feed positioning baffle, 2-5. Feed push plate connecting plate, 2-6. Feed guide rail, 2-7. Pin shaft, 2-8. Torsion spring; 3. Separation mechanism, 3-1. Support plate, 3-2. Separation cylinder, 3-3. Separation guide rail, 3-4. Separation plate, 3-5. Pneumatic slide, 3-6. Accommodating groove, 3-7. Separation block, 3-8. Clamping cylinder, 3-9. Magnetic pole detection sensor, 3-10. Vertical mounting plate; 4. Lifting mechanism, 4-1. Lifting mounting plate, 4-2. Guide rail mounting plate, 4-3. Reinforcement ribs, 4-4. Screw, 4-5. Guide rail, 4-6. Bearing seat, 4-7. Synchronous belt, 4-8. Upper limit photoelectric switch, 4-9. Lower limit photoelectric switch, 5. Visual positioning camera, 6. Material warehouse, 6-1. Permanent magnetic block positioning rib, 6-2. Material warehouse body, 6-3. Handle, 6-4. Notch, 6-5. Extension plate, 7. Lifting motor, 8. Material warehouse shift cylinder, 9. Solenoid valve group, 10. Permanent magnetic block material pile, 11. Slide rail. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below with reference to the accompanying drawings by way of specific embodiments.

[0055] like Figure 1 and 2 As shown, the permanent magnet block automatic separation device includes a bottom plate 1, a feeding mechanism 2, a material storehouse 6, a separation mechanism 3, a lifting mechanism 4, a material storehouse shift cylinder 8, a visual positioning camera 5, and a solenoid valve group 9; wherein the feeding mechanism 2 and the lifting mechanism 4 are installed on the bottom plate 1, the separation mechanism 3 is installed on the lifting mechanism 4; the material storehouse 6 is installed on the feeding mechanism 2. The material storehouse shift cylinder 8 is installed on the bottom plate 1.

[0056] The solenoid valve group 9 is installed on the base plate 1 , the solenoid valve group 9 is connected to each cylinder, and the solenoid valve group 9 is connected to an external air source.

[0057] Among them, Figure 3-11As shown, the feed mechanism 2 includes a feed base 2-1, a feed push plate 2-2, a feed cylinder 2-3, a feed positioning baffle 2-4, a feed push plate connecting plate 2-5, a feed guide rail 2-6, a pin shaft 2-7, and a torsion spring 2-8. The feed base 2-1 is provided with a mounting groove, the feed guide rail 2-6 is installed in the mounting groove of the feed base 2-1, the feed positioning baffle 2-4 is connected to the front end of the base 2-1, and the feed push plate connecting plate 2-5 is connected to the feed guide rail 2-6; the feed cylinder 2-3 is connected to the rear end of the mounting groove of the feed base 2-1, and the piston rod of the feed cylinder 2-3 is connected to the feed push plate connecting plate 2-5. The action of the feed cylinder 2-3 can drive the feed push plate connecting plate 2-5 to make a linear displacement. The feed push plate connecting plate 2-5 is provided with a feed push plate mounting groove 2-5-1, and a plurality of pin shaft mounting holes are provided on both sides of the feed push plate mounting groove 2-5-1, and a plurality of pin shafts 2-7 are connected to the pin shaft mounting holes. The cross section of the feed push plate 2-2 is generally triangular, and is provided with a bottom surface 2-2-3, an inclined surface 2-2-4 and a vertical surface 2-2-5. A through hole 2-2-2 is provided at the lower part of the feed push plate 2-2, a torsion spring mounting hole 2-2-1 is provided at the upper right part of the feed push plate 2-2, and a torsion spring mounting hole is also provided at the upper left part of the feed push plate 2-2. Figure 8 and 10 , the pin 2-7 passes through the through hole 2-2-2, and two torsion springs 2-8 are sleeved on the pin 2-7, one end of one torsion spring 2-8 is connected to the torsion spring mounting hole 2-2-1 on the upper right side of the feed push plate 2-2, and the other end is against the feed push plate mounting groove 2-5-1 of the feed push plate connecting plate 2-5; one end of the other torsion spring 2-8 is connected to the torsion spring mounting hole on the upper left side of the feed push plate 2-2, and the other end is against the feed push plate mounting groove 2-5-1 of the feed push plate connecting plate 2-5, and the feed push plate 2-2 can only rotate forward a certain angle ( Figure 6 Center feed positioning baffle 2-4 direction, Fig.10 The feed push plate 2-2 cannot rotate backward under the action of the torsion spring. When the feed push plate 2-2 rotates forward a certain angle, the two torsion springs 2-8 store energy. One pin 2-7, one feed push plate 2-2 and two torsion springs 2-8 constitute a push assembly, that is, several push assemblies are connected to the feed push plate connecting plate 2-5. In order to make the feed push plate 2-2 rotate forward more smoothly, the bottom surface 2-2-3 can be designed as an arc surface. Reference Figure 4 and Figure 5 Preferably, the feed positioning baffle 2-4 cooperates with the permanent magnetic block positioning baffle 6-1 of the material storage 6 to ensure the positioning accuracy in the feeding direction. The feed guide rail 2-6 can play a supporting role. Due to the good movement straightness and extremely small friction coefficient of the feed guide rail 2-6, the feed direction accuracy can be effectively guaranteed while reducing the force required for feeding.

[0058] like Fig.12 and Figure 2 As shown, the piston rod of the material storage displacement cylinder 8 is connected to the rear end of the base 2-1 of the feeding mechanism 2, the slide rail 11 is connected to the bottom plate 1, and the base 2-1 is connected to the slide rail 11. The movement of the material storage displacement cylinder 8 can drive the feeding mechanism 2 to reciprocate, so that the front end outlet of the material storage 6 is close to or away from the separation plate 3-4. It should be noted that the base 2-1 can also be directly fixedly connected to the bottom plate 1, that is, the material storage displacement cylinder 8 and the slide rail 11 are not required.

[0059] like Fig.13 , 1 As shown in , 2 and 3, the separation mechanism 3 includes a support plate 3-1, a vertical mounting plate 3-10, a separation cylinder 3-2, a separation guide rail 3-3, a separation plate 3-4, a pneumatic slide 3-5, a receiving groove 3-6, a separation block 3-7, a clamping cylinder 3-8, and a magnetic pole detection sensor 3-9. The separation cylinder 3-2 is mounted on the support plate 3-1, the pneumatic slide 3-5 is mounted on the support plate 3-1, the left separation guide rail 3-3 is mounted on the left part of the support plate 3-1, the right separation guide rail 3-3 is mounted on the right part of the support plate 3-1, the left separation plate 3-4 is connected to the left separation guide rail 3-3, and the right separation plate 3-4 is connected to the right separation guide rail 3-3. The separation cylinder 3-2 is a double-axis double-acting cylinder, which is provided with a left piston rod and a right piston rod, the left piston rod is connected to the left separation plate 3-4, and the right piston rod is connected to the right separation plate 3-4. The left piston rod of the separation cylinder 3-2 extends and drives the right piston rod to return. This type of cylinder can ensure the separation of the permanent magnet blocks in the left and right material warehouses. The left piston rod of the separation cylinder 3-2 is connected to the separation plate 3-4 on the left, and the right piston rod of the separation cylinder 3-2 is connected to the separation plate 3-4 on the right. The good motion straightness and extremely small friction coefficient of the separation guide rail 3-3 can effectively ensure the motion accuracy in the separation direction while reducing the force required for separation. The accommodating groove 3-6, the separation block 3-7, the clamping cylinder 3-8, and the magnetic pole detection sensor 3-9 are all fixed on the pneumatic slide 3-5. The accommodating groove 3-6 and the separation block 3-7 are arranged side by side, and the piston rod of the clamping cylinder 3-8 can pass through the side wall of the accommodating groove 3-6 (the side wall is provided with a hole for the piston rod to pass through). The separation block 3-7 is provided with a groove. There are two accommodating grooves 3-6, two separation blocks 3-7, and two clamping cylinders 3-8. The left receiving groove 3-6, separation block 3-7 and clamping cylinder 3-8 are a group, which match the left separation plate 3-4. The right receiving groove 3-6, separation block 3-7 and clamping cylinder 3-8 are a group, which match the right separation plate 3-4. The pneumatic slide 3-5 is equipped with two magnetic pole detection sensors 3-9, the left magnetic pole detection sensor 3-9 is close to the left receiving groove 3-6, and the right magnetic pole detection sensor 3-9 is close to the right receiving groove 3-6. Reference Figure 3, the separation plate 3-4 is provided with a toggle portion 3-4-1. The toggle portion 3-4-1 is aligned with the receiving groove 3-6. When the toggle portion 3-4-1 of the separation plate 3-4 pushes a single permanent magnet toward the separation block 3-7, the permanent magnet first enters the groove of the separation block 3-7 to ensure the stability of the force state during the entire separation process, and then enters the receiving groove 3-6. When one side is separated, the material storage shift cylinder 8 drives the feeding mechanism and the material storage on the other side to retreat, effectively avoiding spatial interference. Preferably, as Fig.14 As shown, the receiving slot 3-6 can be provided with a bell mouth 3-6-1, and the bell mouth structure ensures that the separated permanent magnet block enters the receiving slot more smoothly. The vertical mounting plate 3-10 is connected to the support plate 3-1. The magnetic pole detection sensor 3-9 preferably uses a Hall element. It should be noted that the separation block 3-7 may not be provided, and the single permanent magnet block that is pulled away directly enters the receiving slot 3-6.

[0060] like Fig.15 As shown, the piston rod 3-8-1 of the clamping cylinder 3-8 clamps the permanent magnet block 10-1 in the receiving groove 3-6 to ensure that the relative position information of the permanent magnet block remains unchanged during the displacement of the pneumatic slide. The industrial robot grabs the permanent magnet block according to the position information and polarity of the permanent magnet block. After the separation is completed, the magnetic pole detection sensor 3-9 detects and determines the polarity of the permanent magnet block 10-1 and feeds back to the host computer. The pneumatic slide 3-5 moves to an open area to facilitate the manipulator of the industrial robot to grab the permanent magnet block 10-1 in the receiving groove 3-6. While grabbing, the piston rod 3-8-1 of the clamping cylinder 3-8 retracts to release the permanent magnet block 10-1.

[0061] It should be noted that setting up the pneumatic slide 3-5 is the preferred technical solution, and the pneumatic slide 3-5 may also not be installed, so that the two accommodating grooves 3-6, two separation blocks 3-7, two clamping cylinders 3-8, and two magnetic pole detection sensors 3-9 are directly installed on the support plate 3-1.

[0062] like Fig.16As shown, the lifting mechanism 4 includes a lifting motor 7, a lifting mounting plate 4-1, a guide rail mounting plate 4-2, a reinforcing rib 4-3, a lead screw 4-4, a guide rail 4-5, a bearing seat 4-6, a synchronous belt 4-7, an upper limit photoelectric switch 4-8, and a lower limit photoelectric switch 4-9. The guide rail mounting plate 4-2 is connected to the front of the lifting mounting plate 4-1, and the reinforcing rib 4-3 is connected to the back of the lifting mounting plate 4-1; the two ends of the lead screw 4-4 are connected to the lifting mounting plate 4-1 through the upper and lower bearing seats 4-6; the left and right guide rails 4-5 are fixed on the guide rail mounting plate 4-2, and the positioning grooves on the guide rail mounting plate 4-2 can ensure that the guide rails on both sides are assembled to obtain good assembly accuracy. One end of the synchronous belt 4-7 is connected to the synchronous pulley connected to the end of the lead screw 4-4, and the other end is connected to the output shaft of the lifting motor 7; the lifting motor 7 is installed on the lifting mounting plate 4-1 or the base plate 1. The output shaft of the lifting motor 7 can also be connected to the lead screw 4-4 through other transmission mechanisms. The nut seat A is connected to the lead screw 4-4. The upper limit photoelectric switch 4-8 and the lower limit photoelectric switch 4-9 are fixed on the guide rail mounting plate 4-2 to ensure that the vertical movement of the separation mechanism 3 exceeds the limit position, thereby ensuring the safety of the lifting action. The nut seat A, the slider B of the left guide rail 4-5 and the slider C of the right guide rail 4-5 are connected to the vertical mounting plate 3-10 of the separation mechanism 3. The lifting mounting plate 4-1 is vertically fixedly mounted on the bottom plate 1. The lifting motor 7 is preferably a stepping motor.

[0063] like Fig.17 , 18 As shown in , 5 and 4, the material storehouse 6 includes a material storehouse body 6-2, a permanent magnet block positioning rib 6-1, a handle 6-3, and an extension plate 6-5. The handle 6-3 is connected to the top of the material storehouse body 6-2. The material storehouse body 6-2 is provided with a front end outlet and a rear end inlet. A notch 6-4 is provided at the rear end inlet of the material storehouse body 6-2. The extension plate 6-5 is connected to the bottom of the front end outlet of the material storehouse body 6-2. The permanent magnet block positioning rib 6-1 is connected to the extension plate 6-5. The bottom of the material storehouse body 6-2 is provided with an opening 6-2-1, and the opening 6-2-1 is arranged along the length direction of the material storehouse body 6-2. The material of the material storehouse body 6-2 and the extension plate 6-5 is austenitic stainless steel, which has no magnetic properties, ensuring that the permanent magnet block is placed in the material storehouse and is fed and moved in the material storehouse without resistance. The two handles 6-3 on the material storehouse 6 facilitate the transportation of the material storehouse. The material of the permanent magnet block positioning retaining edge 6-1 is carbon steel, which has a magnetic effect on the permanent magnet block. The magnetic effect prevents the permanent magnet block from slipping during the handling process of the material warehouse filled with the permanent magnet block, and structurally ensures that the permanent magnet block material pile has a certain positioning function in the feeding direction. The optical path of the photoelectric sensor is turned on and off by the similarities and differences in the structures of the notches 6-4 on different material warehouses to determine the type of material warehouse and the type of permanent magnet block loaded; the photoelectric sensor is installed on the bottom plate 1 or the base 2-1 through a bracket.

[0064] like Fig.19As shown, the clamping edges 6-2-3 are connected on both sides of the material storage 6, and a clamping slot 2-1-1 is set on the feeding base 2-1 of the feeding mechanism 2. The clamping edge 6-2-3 is inserted into the clamping slot 2-1-1 in the horizontal direction to fix the material storage 6 on the feeding mechanism 2. Figure 1 , 5 and 6, a plurality of feed push plates 2-2 pass upward through the opening 6-2-1 at the bottom of the material storage body 6-2.

[0065] It should be noted that fixing the material storehouse 6 on the feeding mechanism 2 by means of a slot structure is a preferred technical solution, and the material storehouse 6 can also be fixedly installed on the feeding mechanism 2 by means of other known structures.

[0066] refer to Figure 4 and 5 The permanent magnetic block positioning rib 6-1 of the material storage 6 is located on the inner side of the feed positioning baffle 2-4.

[0067] refer to Figure 1 , 2 and 3, the extension plate 6-5 of the material storage 6 is close to the separation stopper 3-7 of the separation mechanism 3. The extension plate 6-5 is aligned with the accommodating groove 3-6.

[0068] like Figure 1 As shown, the visual positioning camera 5 is installed on the base plate 1. The visual positioning camera 5 can well meet the requirements of accurately positioning the position to be assembled in any assembly area of ​​the electric permanent magnetic chuck and feeding back the position information to the host computer, so as to cooperate with the industrial robot for assembly.

[0069] The separation method of the electric permanent magnetic chuck permanent magnetic block automatic separation device of the present invention comprises the following steps:

[0070] Step 1, such as Figure 7 As shown, a permanent magnet block pile 10 and a material storehouse 6 are prepared. The permanent magnet block pile 10 is composed of several columns, each column is composed of 10 permanent magnet blocks stacked together, and the arranged permanent magnet block pile 10 is arranged according to Figure 7 The pre-filling direction indicated by the middle arrow is placed in the material storage 6, and a part of the bottom surface of the permanent magnetic block pile 10 is exposed from the opening 6-2-1 of the material storage 6.

[0071] A total of two left and right storages 6 are installed, that is, Figure 1 The left and right feeding mechanisms are both equipped with a material storehouse 6 filled with permanent magnetic block material piles, so that the two workstations can work alternately to improve the working efficiency.

[0072] Step 2: Set up material warehouse 6 according to Figure 4 The direction indicated by the middle arrow is fixedly installed on the feeding mechanism 2. During the installation of the material storage 6, the bottom surface of the permanent magnetic block pile 10 exposed from the opening 6-2-1 presses down each feeding push plate 2-2, so that the feeding push plate 2-2 moves from Figure 6The vertical state shown is rotated to a certain angle toward the front end of the feeding mechanism 2, and the torsion spring 2-8 matched with the feeding push plate 2-2 stores energy. At this time, the feeding push plate 2-2 will not bounce up. Fig. 20 shown.

[0073] Step 3, the feed cylinder 2-3 is activated, the piston rod of the feed cylinder 2-3 is retracted to drive the feed push plate connecting plate 2-5 to move backward (towards the rear end of the feed mechanism 2), and the feed push plate connecting plate 2-5 drives several feed push plates 2-2 to move according to Fig.21 The feed push plate 2-2 moves backwards in the direction of the middle arrow for a distance, so that a feed push plate 2-2 at the rear end is disengaged from the bottom surface of the permanent magnet block pile 10. Due to the release of the stored energy of the torsion spring 2-8, the feed push plate 2-2 bounces up to a vertical state ( Fig.21 The rightmost feed push plate 2-2 shown in FIG.

[0074] Step 4, the piston rod of the feed cylinder 2-3 extends, so that the feed push plate connecting plate 2-5 moves forward, and the feed push plate connecting plate 2-5 drives several feed push plates 2-2 to move forward ( Fig.21 In the left direction), Fig.21 The vertical feed push plate 2-2 located at the rear end of the permanent magnet block pile 10 applies a thrust to the permanent magnet block pile 10, so that the permanent magnet block pile 10 moves forward as a whole for a distance in the material storage 6, so that a row of permanent magnet blocks at the front end of the permanent magnet block pile 10 is Figure 4 As shown, the permanent magnet blocks are pushed out from the front end outlet of the material storage 6, and the permanent magnet blocks are supported by the extension plate 6-5.

[0075] Step 5, reference Figure 1 , 3 and 13, the toggle portion 3-4-1 of the separation plate 3-4 is aligned with the topmost permanent magnet block of the single-row permanent magnet blocks on the extension plate 6-5, and the separation mechanism 3 separates the single-row permanent magnet blocks on the extension plate 6-5 one by one from top to bottom. The left piston rod of the separation cylinder 3-2 retracts and drives the left separation plate 3-4 to move toward the left accommodating groove 3-6, and the toggle portion 3-4-1 of the separation plate 3-4 pushes the topmost permanent magnet block of the single-row permanent magnet blocks on the extension plate 6-5 into the accommodating groove 3-6. This takes about 1 second, which is a very short time, and the groove of the left separation block 3-7 can support a part of the permanent magnet block. Fig.15 As shown, the piston rod of the clamping cylinder 3-8 on the left extends out of the permanent magnet block 10-1 in the clamping receiving groove 3-6. The flared structure of the receiving groove 3-6 ensures that the separated permanent magnet block enters the receiving groove smoothly.

[0076] Step 6, after the separation is completed, the magnetic pole detection sensor 3-9 detects and determines the polarity of the permanent magnet block in the receiving slot 3-6 and feeds back to the host computer. The industrial robot grabs the permanent magnet block in the receiving slot 3-6 to the assembly station of the electric permanent magnetic chuck according to the position information and polarity of the permanent magnet block.

[0077] Step 7, after the top permanent magnet block of the single-row permanent magnet block on the extension plate 6-5 is separated, the left piston rod of the separation cylinder 3-2 is extended, and the lifting motor 7 is started to move the separation mechanism 3 downward by a certain distance, so that the toggle portion 3-4-1 of the separation plate 3-4 is aligned with the second permanent magnet block of the single-row permanent magnet block on the extension plate 6-5, and then the left piston rod of the separation cylinder 3-2 is retracted to perform a separation operation on the second permanent magnet block. In this way, with the cooperation of the lifting mechanism, the piston rod of the separation cylinder 3-2 is repeatedly retracted and extended to complete the separation of each permanent magnet block of the single-row permanent magnet block from top to bottom. The upper limit photoelectric switch 4-8 and the lower limit photoelectric switch 4-9 on the guide rail mounting plate 4-2 ensure that the vertical movement of the separation mechanism exceeds the limit position and stops.

[0078] Step 8, after completing the top-down separation of each permanent magnet block in a single row, the piston rod of the feed cylinder 2-3 is retracted again to make the second feed push plate 2-2 at the rear end of the permanent magnet block pile 10 bounce up to a vertical state (such as Fig. 22 As shown), the piston rod of the feed cylinder 2-3 is then extended again to complete the recursion of the second column of the permanent magnet block pile 10.

[0079] In the embodiment of the present invention, about 400 permanent magnet blocks of 68 specifications can be loaded at a time, and about 600 permanent magnet blocks of 48 specifications can be loaded at a time.

[0080] In the embodiment of the present invention, the left and right material stores can be filled at a time and the materials can be supplied simultaneously, and permanent magnet blocks of any specifications can be placed in the left and right material stores.

[0081] In the embodiment of the present invention, the separation mechanism is lifted to different heights by a motor plus a lead screw, and the positioning accuracy is about 0.05 mm, which is high. The motor with a brake can effectively avoid damage to other components of the system caused by sudden situations such as power failure.

[0082] In the embodiment of the present invention, the working pressure of all pneumatic components is maintained at 0.6-0.7 MPa and the temperature is maintained at room temperature.

[0083] In the embodiment of the present invention, the sensor for detecting and determining the output position of the separated single permanent magnet block adopts the Hall principle.

[0084] When the separation cylinder 3-2 is used as a double-axis double-acting cylinder, the piston rod on the left side of the separation cylinder retracts to separate the single-row permanent magnet block at the left material warehouse outlet, while the material warehouse shift cylinder 8 on the right side drives the right feeding mechanism and the material warehouse to retreat, so as to avoid the piston rod on the right side of the separation cylinder extending and interfering with the single-row permanent magnet block at the right material warehouse outlet. When the piston rod on the right side of the separation cylinder retracts to separate the single-row permanent magnet block at the right material warehouse outlet, the material warehouse shift cylinder 8 on the left side drives the left feeding mechanism and the material warehouse to retreat, so as to avoid the piston rod on the left side of the separation cylinder extending and interfering with the single-row permanent magnet block at the left material warehouse outlet. Thus, a double-station separation operation is realized.

[0085] It should be noted that if there is only one permanent magnet block in each column of the permanent magnet block pile loaded into the material warehouse, then the entire automatic separation mechanism does not need a lifting mechanism, and the separation mechanism can be fixed on a plane and used in conjunction with the material warehouse and the feeding mechanism.

[0086] The above description is only for the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes.

Claims

1. A permanent magnet block automatic separation device, characterized in that: It includes a bottom plate, a feeding mechanism, a material storage and a separation mechanism; the feeding mechanism is connected to the bottom plate, and the material storage is connected to the feeding mechanism; the feeding mechanism includes a feeding base, a feeding cylinder, a feeding push plate connecting plate and a feeding guide rail, the feeding base is provided with a mounting groove, the feeding guide rail is connected to the mounting groove of the feeding base, the feeding push plate connecting plate is connected to the feeding guide rail, the feeding cylinder is connected to the rear end of the mounting groove of the feeding base, and the piston rod of the feeding cylinder is connected to the feeding push plate connecting plate; the feeding push plate connecting plate is connected to a number of pushing components; the pushing component includes a feeding push plate, a pin shaft and two torsion springs, the feeding push plate connecting plate is provided with a feeding push plate mounting groove, the pin shaft is connected to the feeding push plate mounting groove The two sides of the feed push plate are connected, the feed push plate is provided with a bottom surface, an inclined surface and a vertical surface, the lower part of the feed push plate is provided with a through hole, the upper right part of the feed push plate is provided with a torsion spring mounting hole, the upper left part of the feed push plate is provided with a torsion spring mounting hole, and the pin shaft passes through the through hole in the lower part of the feed push plate; the two torsion springs are sleeved on the pin shaft, one end of one torsion spring is connected to the torsion spring mounting hole on the upper right part of the feed push plate, and the other end rests on the feed push plate mounting groove; one end of the other torsion spring is connected to the torsion spring mounting hole on the upper left part of the feed push plate, and the other end rests on the feed push plate mounting groove; the base is connected to the bottom plate; The material storehouse comprises a material storehouse body and an extension plate, the material storehouse body is provided with a front end outlet and a rear end inlet, the extension plate is connected to the bottom of the front end outlet of the material storehouse body, and the bottom of the material storehouse body is provided with an opening; the material storehouse body is connected to the feeding base of the feeding mechanism, and the feeding push plate passes upward through the opening at the bottom of the material storehouse body; the separation mechanism comprises a support plate, a separation cylinder, a separation guide rail, a separation plate and a receiving groove, the separation cylinder is connected to the support plate, the separation guide rail is connected to the support plate, the separation plate is connected to the separation guide rail, the piston rod of the separation cylinder is connected to the separation plate, the separation plate is provided with a toggle portion, the receiving groove is connected to the support plate, and the toggle portion is aligned with the receiving groove; The receiving groove is aligned with the extension plate, the bottom surface of the feed push plate is an arc surface, and the separation mechanism also includes a clamping cylinder, which is connected to the support plate, and the piston rod of the clamping cylinder passes through the side wall of the receiving groove.

2. The permanent magnet block automatic separation device according to claim 1, characterized in that: The support plate is connected to a magnetic pole detection sensor, and the support plate is connected to a separation stopper.

3. The permanent magnet block automatic separation device according to claim 1, characterized in that: The feeding mechanism further includes a positioning baffle, which is connected to the front end of the base; the material storage further includes a permanent magnetic block positioning rib, which is connected to the extension plate.

4. The permanent magnet block automatic separation device according to claim 1, characterized in that: The material of the material storage body and the extension plate is austenitic stainless steel.

5. The permanent magnet block automatic separation device according to any one of claims 1 to 4, characterized in that: The permanent magnet block automatic separation device also includes a lifting mechanism, which is connected to the bottom plate, and the support plate of the separation mechanism is connected to the lifting mechanism.

6. The permanent magnet block automatic separation device according to claim 5, characterized in that: The support plate of the separation mechanism is connected with a vertical mounting plate, and the lifting mechanism includes a lifting mounting plate, a lead screw and a lifting motor, both ends of the lead screw are connected with the lifting mounting plate through two bearing seats, and the lead screw is connected with a nut seat; two guide rails are connected on the lifting mounting plate through a guide rail mounting plate, and the output shaft of the lifting motor is connected with the lead screw through a transmission mechanism; the lifting motor is connected to the lifting mounting plate or the bottom plate; the lifting mounting plate is vertically connected to the bottom plate; the nut seat and the two guide rails on the lifting mounting plate are respectively connected to the vertical mounting plate.

7. The permanent magnet block automatic separation device according to claim 1, characterized in that: There are two groups of feeding mechanisms, two groups of material storages, and the separation cylinder of the separation mechanism is a double-axis double-acting cylinder; there are two separation plates of the separation mechanism, and there are two receiving slots of the separation mechanism; each group of feeding mechanisms is connected to the material storage displacement cylinder installed on the bottom plate through a slide rail.

8. A separation method using the permanent magnet automatic separation device according to claim 1, characterized in that: The following steps are involved: Step 1, prepare a permanent magnet block pile and a material storehouse, the permanent magnet block pile consists of several columns, and place the permanent magnet block pile in the material storehouse; Step 2, install the material storehouse on the feeding mechanism. During the installation of the material storehouse, the bottom surface of the permanent magnet block pile at the bottom opening of the material storehouse body presses down the feeding push plate, so that the feeding push plate rotates a certain angle toward the front end of the feeding mechanism; Step 3, the piston rod of the feed cylinder retracts to drive the feed push plate connecting plate to move backward, and the feed push plate connecting plate drives the feed push plate to move backward for a distance so that a feed push plate at the rear end is disengaged from the bottom surface of the permanent magnet block pile and bounces up to a vertical state; Step 4, the piston rod of the feed cylinder extends to move the feed push plate connecting plate forward, and the feed push plate connecting plate drives the vertical feed push plate located at the rear end of the permanent magnet block pile to apply thrust forward to the permanent magnet block pile, so that the permanent magnet block pile moves forward as a whole in the material warehouse, so that a row of permanent magnet blocks at the front end of the permanent magnet block pile is pushed out from the front end outlet of the material warehouse, and the row of permanent magnet blocks is supported by the extension plate; Step 5: The piston rod of the separation cylinder retracts to drive the separation plate to move toward the receiving groove, and the moving part of the separation plate pushes the single-row permanent magnet block on the extension plate into the receiving groove.

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