Arc magnet assembly to wireless charging earphone case device

Abstract

The application discloses a kind of arc magnet assemblies to wireless charging earphone shell equipment, including rack, earphone charging box positioning device, arc magnet material disc positioning device, mechanical hand mechanism and control system, the earphone charging box positioning device is located on rack, earphone charging box positioning device can stop and position earphone charging box, arc magnet material disc positioning device can stop and position arc magnet material disc, mechanical hand mechanism can grab arc magnet product on arc magnet material disc one by one and be loaded to the specified position of earphone charging box on earphone charging box positioning device, control system controls mechanical hand mechanism action, the application also avoids earphone charging box artificial assembly arc magnet product, greatly saves labor, reduces the cost of enterprise production.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a circular arc magnet assembly to wireless charging earphone shell equipment. BACKGROUND

[0002] The earphone charging box needs to assemble the circular arc magnet product in the earphone charging box during production. At present, manual operation mode is adopted, that is, the circular arc magnet product is taken out from the tray by manual operation, and then assembled into the specified position of the earphone charging box. The efficiency of manual assembly of the circular arc magnet is very low. Moreover, due to the different effects of each person in assembling the circular arc magnet, the stability of the assembled circular arc magnet product is difficult to guarantee, and the situations of misassembly and falling off of the circular arc magnet often occur, which causes disturbance to the subsequent use stability of the earphone charging box. SUMMARY

[0003] In order to overcome the above defects, the present application provides a circular arc magnet assembly to wireless charging earphone shell equipment, which realizes full-automatic assembly of the circular arc magnet in the earphone charging box, avoids manual operation, and improves the assembly efficiency, assembly position accuracy and stability of the circular arc magnet.

[0004] The technical scheme adopted by the present application to solve the technical problems: a circular arc magnet assembly to wireless charging earphone shell equipment, comprising a rack, an earphone charging box positioning device, a circular arc magnet tray positioning device, a mechanical hand mechanism and a control system, the earphone charging box positioning device is arranged on the rack, the earphone charging box positioning device can stop and position the earphone charging box, the circular arc magnet tray positioning device can stop and position the circular arc magnet tray, the mechanical hand mechanism can grab the circular arc magnet product on the circular arc magnet tray one by one and assemble it into the specified position of the earphone charging box on the earphone charging box positioning device, and the control system controls the action of the mechanical hand mechanism.

[0005] As a further improvement of the present application, the circular arc magnet tray positioning device comprises a feeding conveying mechanism and a positioning supporting plate, the circular arc magnet tray is held on the upper side of the positioning supporting plate, at least one positioning pin is arranged on the positioning supporting plate, the positioning pin can be inserted into the positioning hole of the circular arc magnet tray, the positioning supporting plate is installed on the feeding conveying mechanism, the feeding conveying mechanism can forwardly convey the positioning supporting plate to the specified position, and the control system controls the reciprocating movement of the feeding conveying mechanism.

[0006] As a further improvement of the present application, an empty tray automatic recycling device is also provided, comprising an empty tray tray, a tray lifting driving device, a lifting slide, a material lifting frame, a suction cup and a lifting driving device. The lifting slide is fixedly installed at a specified position of the rack. The empty tray tray is slidably installed on the lifting slide and can hold the empty tray. The tray lifting driving device drives the intermittent descending or linear ascending movement of the empty tray tray. The material lifting frame is movably installed on the lifting slide and is located directly above the empty tray tray. A plurality of suction cups are fixedly installed on the lower side of the material lifting frame. Each suction cup is in communication with a negative pressure air path. The suction cup can negatively adsorb and position the edge of the circular arc magnet tray on the positioning tray. The lifting driving device drives the lifting frame to reciprocatingly move up and down. The control system controls the start and stop actions of the tray lifting driving device, the suction cup and the lifting driving device.

[0007] As a further improvement of the present application, an empty tray conveying belt and an empty tray limiting baffle are also provided. The empty tray conveying belt is installed on the rack. The starting end of the empty tray conveying belt is located directly below the lifting slide. The middle of the empty tray conveying belt is provided with a hollow part for avoiding the empty tray tray. The lower edge of the empty tray held by the empty tray tray can be held on the empty tray conveying belt. The empty tray limiting baffle is fixedly installed on both sides of the conveying end of the empty tray conveying belt. The empty tray limiting baffle can prevent the empty tray from continuing to convey forward along the empty tray conveying belt. The control system controls the operation of the empty tray conveying belt.

[0008] As a further improvement of the present application, an empty tray automatic recycling device is also provided, comprising an empty tray tray, a tray lifting driving device, a lifting slide, a material lifting frame, a suction cup and a lifting driving device. The lifting slide is fixedly installed at a specified position of the rack. The empty tray tray is slidably installed on the lifting slide and can hold the empty tray. The tray lifting driving device drives the intermittent descending or linear ascending movement of the empty tray tray. The material lifting frame is movably installed on the lifting slide and is located directly above the empty tray tray. A plurality of suction cups are fixedly installed on the lower side of the material lifting frame. Each suction cup is in communication with a negative pressure air path. The suction cup can negatively adsorb and position the edge of the circular arc magnet tray on the positioning tray. The lifting driving device drives the lifting frame to reciprocatingly move up and down. The control system controls the start and stop actions of the tray lifting driving device, the suction cup and the lifting driving device.

[0009] As a further improvement of the application, the feeding conveying mechanism comprises a conveying belt mechanism, a poking block and a linear guide rail, the conveying belt mechanism and the linear guide rail are installed in parallel and spaced apart on the rack, the positioning tray is installed on the linear guide rail in a straight line sliding manner, the poking block is fixedly installed on the conveying belt of the conveying belt mechanism, the side wall of the positioning tray is provided with a notch structure, the poking block is inserted into the notch structure on the side wall of the positioning tray, and the control system controls the reciprocating operation of the conveying belt mechanism.

[0010] As a further improvement of the application, the earphone charging box positioning device comprises an earphone charging box positioning carrier, a carrier clamping mechanism and a main flow line, the main flow line is arranged on the rack, the earphone charging box carrier can be conveyed forward along the conveying direction of the main flow line, the main flow line is provided with a carrier stop device, the carrier stop device can prevent the earphone charging box positioning carrier reaching a specified position on the main flow line from continuing to be conveyed forward, the carrier clamping mechanism comprises an upper fixed plate fixedly arranged on the side walls of the main flow line, a jacking tray arranged below the main flow line and a jacking driving device, the jacking tray is arranged directly below the main flow line and can move up and down, the main flow line is provided with a hollow part for the jacking tray to pass through, the jacking tray can jacking up the earphone charging box positioning carrier at a specified position on the main flow line so that the earphone charging box positioning carrier is clamped tightly between the carrier stop device, the upper fixed plate and the jacking tray, the jacking driving device drives the jacking tray to move up and down, and the control system controls the start and stop actions of the jacking driving device.

[0011] As a further improvement of the application, the main flow line is also provided with a incoming material sensing device, the incoming material sensing device can sense the earphone charging box positioning carrier about to reach the specified position, the carrier stop device comprises a stop block and a stop block driving device, the stop block is movably installed on the side wall of the main flow line, the stop block can move to prevent the earphone charging box positioning carrier from moving forward or disengaging from the blocking position, the stop block driving device drives the stop block to reciprocate, the incoming material sensing device is electrically connected and communicated with the control system, and the control system controls the start and stop actions of the stop block driving device.

[0012] As a further improvement of the application, the rack is also provided with an empty carrier return flow line, the empty carrier return flow line is located on one side of the main flow line, the conveying direction of the empty carrier return flow line is opposite to that of the main flow line, and the empty carrier return flow line can convey empty carriers.

[0013] As a further improvement of the application, a circular arc magnet grabbing position detection device, a circular arc magnet detection device, a earphone charging box position detection device and a waste barrel are also provided. The circular arc magnet grabbing position detection device comprises a first light source and a first detection camera. The first light source can irradiate the surface of the designated non-outcome circular arc magnet tray. The first detection camera can image the circular arc magnet tray located directly below it. The circular arc magnet detection device comprises a second light source and a second detection camera. The second light source can irradiate the circular arc magnet product grabbed by the mechanical hand mechanism located directly above the second detection camera. The second detection camera can image the circular arc magnet product located directly above it. The earphone charging box position detection device comprises a third light source and a third detection camera. The third light source can irradiate the earphone charging box located directly below the third detection camera. The third detection camera can image the earphone charging box located directly below it. The first detection camera, the second detection camera and the third detection camera are respectively electrically connected to the control system for communication. The control system can analyze and calculate the image transmitted by the first detection camera, the second detection camera and the third detection camera to obtain the position data of the circular arc magnet product on the designated position on the circular arc magnet tray, the size data of the circular arc magnet product and the angle deviation data of the circular arc magnet and the earphone charging box. The mechanical hand mechanism comprises a mechanical hand, an angle adjustment shaft, an angle adjustment driving device and a suction cup. The fixed end of the mechanical hand is fixedly installed on the rack. The moving end of the mechanical hand can reach any point in the three-dimensional space within the designated range. The angle adjustment shaft can rotate around the vertical shaft and is installed on the moving end of the mechanical hand. The angle adjustment driving device drives the rotation of the angle adjustment shaft. The suction cup is fixedly installed at the lower end of the angle adjustment shaft and is in communication with the external negative pressure air path. The waste barrel is fixedly installed on the rack and is located within the movement range of the moving end of the mechanical hand. The control system controls the actions of the mechanical hand, the angle adjustment driving device and the suction cup.

[0014] The application has the following advantages. The application realizes the automatic grabbing of the circular arc magnet product from the tray and the automatic assembly of the product into the earphone charging box. The earphone charging box realizes full-automatic conveying and positioning, avoiding manual feeding. The circular arc magnet product realizes automatic feeding and automatic recycling of the empty tray. The product also automatically detects its size and position before assembly, realizing the differentiation between qualified and unqualified products, avoiding the assembly of unqualified circular arc magnet products in the earphone charging box. The application detects and compares the positions of the circular arc magnet product and the earphone charging box and adjusts them, finally realizing the accurate assembly of the product in the earphone charging box, ensuring the accurate assembly position of the product in each earphone charging box and avoiding the disassembly of the product after the assembly. The application also avoids the manual assembly of the product in the earphone charging box, greatly saving labor and reducing the production cost of enterprises. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a perspective view of the present application;

[0016] Figure 2 It is a perspective view of the arc magnet feeding mechanism of the present application;

[0017] Figure 3 It is a perspective view of the tray automatic feeding mechanism of the present application;

[0018] Figure 4 It is a perspective view of the arc magnet tray positioning device of the present application;

[0019] Figure 5 It is a perspective view of the empty tray automatic recycling device of the present application;

[0020] Figure 6 It is a perspective view of the empty tray output mechanism of the present application;

[0021] Figure 7 It is a perspective view of the main flow line of the present application;

[0022] Figure 8 It is a perspective view of the return flow line of the present application;

[0023] Figure 9 It is a perspective view of the mechanical hand mechanism of the present application;

[0024] Figure 10 It is a perspective view of the arc magnet grabbing position detection device of the present application;

[0025] Figure 11 It is a perspective view of the arc magnet detection device of the present application;

[0026] Figure 12 It is a perspective view of the earphone charging box position detection device of the present application. DETAILED DESCRIPTION

[0027] Embodiment: An arc magnet assembled to wireless charging earphone shell device, comprising a rack 1, an earphone charging box positioning device, an arc magnet tray 44 positioning device, a mechanical hand mechanism 2 and a control system, the earphone charging box positioning device is arranged on the rack 1, the earphone charging box positioning device can stop and position the earphone charging box, the arc magnet tray 44 positioning device can stop and position the arc magnet tray 44, the mechanical hand mechanism 2 can grab the arc magnet products on the arc magnet tray 44 one by one and assemble them to the specified position of the earphone charging box on the earphone charging box positioning device, and the control system controls the action of the mechanical hand mechanism 2.

[0028] The arc-shaped magnet tray 44 for placing arc-shaped magnets is fixedly positioned on the arc-shaped magnet tray 44 positioning device, the earphone charging box is positioned on the earphone charging box positioning device, the mechanical hand mechanism 2 picks up the arc-shaped magnets on the arc-shaped magnet tray 44 one by one and assembles them into the earphone charging box on the earphone charging box positioning device, realizing automatic assembly of the earphone charging and the arc-shaped magnets, high assembly efficiency, accurate assembly position, saving labor and reducing production cost.

[0029] The arc-shaped magnet tray 44 positioning device comprises a feeding conveying mechanism and a positioning supporting plate 3, the arc-shaped magnet tray 44 is held on the upper side of the positioning supporting plate 3, at least one positioning pin 4 is arranged on the positioning supporting plate 3, the positioning pin 4 can be inserted into the positioning hole of the arc-shaped magnet tray 44, the positioning supporting plate 3 is installed on the feeding conveying mechanism, the feeding conveying mechanism can convey the positioning supporting plate 3 to the designated position, and the control system controls the reciprocating movement of the feeding conveying mechanism. After the arc-shaped magnet tray 44 is placed on the positioning supporting plate 3, the positioning pin 4 on the positioning supporting plate 3 is inserted into the positioning hole of the arc-shaped magnet tray 44, the arc-shaped magnet tray 44 is positioned and stopped, then the positioning supporting plate 3 and the arc-shaped magnet tray 44 thereon are sent to the designated position by the feeding conveying mechanism, and the mechanical hand device picks them up. In this way, the arc-shaped magnet tray 44 does not interfere with the mechanical hand during feeding, and feeding is safe and convenient.

[0030] The automatic empty tray recycling device is provided with an empty tray tray 5, a tray lifting driving device 6, a lifting slide 7, a material lifting frame 8, a suction cup 9 and a lifting driving device 10. The lifting slide 7 is fixedly installed at a designated position of the rack 1, the empty tray tray 5 is installed on the lifting slide 7 and can slide longitudinally, the empty tray tray 5 can hold empty trays, the tray lifting driving device 6 drives the intermittent descending or linear ascending movement of the empty tray tray 5, the material lifting frame 8 is installed on the lifting slide 7 and can lift and move, the material lifting frame 8 is located directly above the empty tray tray 5, a plurality of suction cups 9 are fixedly installed on the lower side of the material lifting frame 8, each suction cup 9 is in communication with a negative pressure air path, the suction cup 9 can negatively adsorb and position the edge of the circular arc magnet tray 44 on the positioning tray 3, the lifting driving device 10 drives the lifting and reciprocating movement of the material lifting frame 8, and the control system controls the start and stop actions of the tray lifting driving device 6, the suction cup 9 and the lifting driving device 10. The feeding conveying mechanism sends the positioning tray 3 and the circular arc magnet tray 44 thereon to the position directly above the empty tray tray 5, after the circular arc magnet on the circular arc magnet tray 44 is taken away by the mechanical hand mechanism 2, the suction cup 9 on the material lifting frame 8 sucks the edge position of the empty tray, then the material lifting frame 8 rises, so that the empty tray is separated from the positioning tray 3, the positioning tray 3 returns to the reset position with the feeding conveying mechanism, the material lifting frame 8 lowers the empty tray on the empty tray tray 5, the empty tray tray 5 lowers by a height of one tray thickness after receiving the empty tray, and the next circular arc magnet tray 44 is waited to be sent by the positioning tray 3, when the circular arc magnet on the circular arc magnet tray 44 is taken away, the material lifting frame 8 again lifts the empty tray, waits for the positioning tray 3 to reset and leave the port, the material lifting frame 8 again stacks the empty tray on the empty tray on the empty tray tray 5, the empty tray tray 5 again lowers by a height of one tray thickness, and the cycle is repeated, so that the automatic recycling and stacking of the empty tray is realized, the whole stack of empty trays is formed, the recycling of the empty tray is facilitated, manual recycling of the empty tray is not needed, and labor is saved.

[0031] Further provided are an empty tray conveying belt 11 and an empty tray limiting baffle 12, the empty tray conveying belt 11 is installed on the rack 1, the starting end of the empty tray conveying belt 11 is located directly below the lifting slide 7, a hollow part for avoiding the empty tray tray 5 is provided in the middle of the empty tray conveying belt, the lower edge of the empty tray held on the empty tray tray 5 can be held on the empty tray conveying belt 11, the empty tray limiting baffle 12 is fixedly installed on both sides of the end of the empty tray conveying belt, the empty tray limiting baffle 12 can prevent the empty tray from continuing to convey forward along the empty tray conveying belt 11, and the control system controls the operation of the empty tray conveying belt 11. When the empty tray tray 5 is lowered to a specified height, it enters the hollow part in the middle of the empty tray conveying belt, and the whole stack of empty trays on the empty tray tray 5 is placed on the empty tray conveying belt 11, and as the empty tray conveying belt 11 conveys to the outside of the device, when it is conveyed to the end of the empty tray conveying belt 11, it is blocked by the empty tray limiting baffle 12 and cannot continue to convey forward, at this time the whole stack of empty trays can be taken away, the guide baffle is best provided on both sides of the empty tray conveying belt 11, so that the whole stack of empty trays can be conveyed forward in a stable and orderly stacked state, and the scattering during the conveying process is avoided.

[0032] The tray automatic feeding mechanism is also provided, which comprises a feeding bin 13, a tray fork 14, a tray fork telescopic driving device 15, a feeding support 16, a feeding lifting driving device 17, a feeding inserting support 18 and a feeding inserting lifting driving device 19. The feeding bin 13 in a cylindrical shape is fixedly installed on the rack 1, and the feeding bin 13 can accommodate the stacked arc magnet tray 44 in the horizontal direction. The feeding support 16 can be installed on the rack 1 in a lifting motion, and the feeding lifting driving device 17 drives the feeding support 16 to move up and down. The feeding inserting support 18 can be installed on the feeding support 16 in a lifting motion of the thickness of one arc magnet tray 44, and the feeding inserting lifting driving device 19 drives the feeding inserting support 18 to reciprocatingly move up and down. At least two tray forks 14 can be installed on the feeding inserting support 18 in a relative motion in the horizontal direction. Each tray fork 14 can be inserted into the lower side of the arc magnet tray 44 at a specified height at the lower end of the feeding bin 13 and can hold the whole stack of arc magnet trays 44. The tray fork telescopic driving device 15 drives the tray fork 14 to reciprocatingly slide to hold or release the whole stack of arc magnet trays 44. The feeding conveying mechanism can drive the positioning tray 3 to reciprocate between the position directly below the feeding bin 13 and the specified position. The control system controls the tray fork telescopic driving device 15, the feeding lifting driving device 17 and the feeding inserting lifting driving device 19 to start and stop the action. The full arc magnet tray 44 is placed in the feeding bin 13 and held by the tray fork 14. When the positioning tray 3 reaches the position directly below the feeding bin 13, the feeding support 16 and the feeding inserting support 18 are lowered to the position, and the tray fork 14 is horizontally slid to retract. The whole stack of full arc magnet trays is placed on the positioning tray 3, and the lowermost arc magnet tray is fixedly positioned on the positioning tray 3. Then, the feeding inserting support 18 is reset to rise by the thickness of one arc magnet tray, the tray fork 14 is horizontally slid to extend and is inserted into the lower end of the second tray below the lowermost arc magnet tray of the whole stack of arc magnet trays. Finally, the feeding support 16 is reset to rise by a certain height, and the tray fork 14 holds the whole stack of arc magnet trays except the lowermost tray. At this time, a certain height difference is formed between the whole stack of arc magnet trays and the positioning tray and the single tray on the positioning tray. The positioning tray can smoothly transport one arc magnet tray 44 away from the feeding bin 13 and to the specified position to wait for the robot to take the tray. The structure realizes the automatic single tray feeding of the arc magnet tray 44, and continuous feeding by manual operation is not required, thereby saving the feeding cost.

[0033] The feeding conveying mechanism comprises a conveying belt mechanism 20, a poking block 21 and a linear guide rail 22, the conveying belt mechanism 20 and the linear guide rail 22 are installed on the rack 1 in parallel and at intervals, the positioning base plate 3 is installed on the linear guide rail 22 in a linear sliding manner, the poking block 21 is fixedly installed on the conveying belt of the conveying belt mechanism 20, the side wall of the positioning base plate 3 is provided with a notch structure, the poking block 21 is inserted into the notch structure on the side wall of the positioning base plate 3, and the control system controls the reciprocating operation of the conveying belt mechanism 20. The positioning base plate is reciprocally slid on the linear guide rail 22 by the poking block 21 on the conveying belt, in addition, the linear reciprocating movement of the positioning base plate on the linear guide rail 22 can also be realized by driving the screw nut mechanism by the motor, or the linear reciprocating movement of the positioning base plate on the linear guide rail 22 can also be realized by the cylinder mechanism, and such equivalent replacement structures are easily thought of by those skilled in the art according to the patent and belong to the protection range of the patent.

[0034] The earphone charging box positioning device comprises an earphone charging box positioning carrier, a carrier clamping mechanism and a main flow line 23, the main flow line 23 is arranged on the rack 1, the earphone charging box carrier can be conveyed forward along the conveying direction of the main flow line 23, the main flow line 23 is provided with a carrier stop device, the carrier stop device can prevent the earphone charging box positioning carrier reaching a specified position on the main flow line 23 from continuing to be conveyed forward, the carrier clamping mechanism comprises an upper fixed sheet 24 fixedly arranged on the side walls of the main flow line 23, a jacking tray 25 arranged below the main flow line 23 and a jacking driving device 26, the jacking tray 25 is arranged immediately below the main flow line 23 and can move up and down, the main flow line 23 is provided with a hollow part through which the jacking tray 25 passes, the jacking tray 25 can jackingly lift the earphone charging box positioning carrier at a specified position on the main flow line 23 so that the earphone charging box positioning carrier is clamped between the carrier stop device, the upper fixed sheet 24 and the jacking tray 25, the jacking driving device 26 drives the jacking tray 25 to move up and down, and the control system controls the start and stop actions of the jacking driving device 26. The earphone charging box is fixed and positioned in advance by the earphone charging box positioning carrier, the earphone charging box and the earphone charging box positioning carrier can be accurately and stably positioned as an integral structure by the positioning groove and the pressing mechanism which are consistent with the shape of the earphone charging box, the earphone charging box carrier is automatically conveyed forward by arranging the main flow line 23 on the rack 1, the earphone charging box carrier is stopped by the carrier stop device when it reaches a specified position and cannot continue to be conveyed forward, then the jacking tray 25 is lifted to jackingly lift the earphone charging box carrier, finally the earphone charging box carrier is clamped between the side walls in the width direction of the main flow line 23, the carrier stop device, the jacking tray 25 and the upper fixed sheet 24, and the carrier positioning pin 4 is preferably arranged on the jacking tray 25 and is inserted into the positioning hole on the bottom surface of the earphone charging box carrier, thereby forming accurate and stable positioning, the mechanism realizes fully automatic continuous feeding and positioning and avoids manual feeding and positioning operations.

[0035] The main flow line 23 is also provided with an incoming material sensing device 27, which can sense the earphone charging box positioning carrier about to reach the designated position. The carrier stop device includes a stop block 28 and a stop block driving device 29. The stop block 28 is movably mounted on the side wall of the main flow line 23. The movement of the stop block 28 can prevent the earphone charging box positioning carrier from moving forward or disengaging from the blocking position. The stop block driving device 29 drives the reciprocating movement of the stop block 28. The incoming material sensing device 27 is in electrical connection with the control system for communication. The control system controls the start and stop actions of the stop block driving device 29. When the earphone charging box carrier is transported on the main flow line 23 to the sensing area of the incoming material sensing device 27, the incoming material sensing device 27 sends a signal to the control system. The control system then controls the stop block driving device 29 to start, so that the stop block 28 moves to the blocking position to block the earphone charging box carrier from moving forward. When the earphone charging box is completed with the foam, the stop block driving device 29 drives the stop block 28 to reset and disengage from the blocking position. The earphone charging box carrier can continue to be transported forward on the main flow line 23 to the next station. This mode realizes the automatic conversion of earphone charging box carrier transportation and positioning, so that the earphone charging box with the circular arc magnet is automatically transported to the next station. The stop block 28 can move up and down, horizontally or flip to realize the blocking and disengaging of the earphone charging box carrier. Such structures are equivalent replacement structures that can be easily thought of by those skilled in the art based on the patent, and belong to the protection scope of the patent.

[0036] The rack 1 is also provided with an empty carrier return flow line 30. The empty carrier return flow line 30 is located on one side of the main flow line 23. The transportation direction of the empty carrier return flow line 30 is opposite to the transportation direction of the main flow line 23. The empty carrier return flow line 30 can transport empty carriers. The main flow line 23 and the empty carrier return flow line 30 are respectively connected with the previous station and the next station at both ends. The main flow line 23 transports the full carriers with earphone charging boxes on the previous station to the next station. Then, the empty carriers with earphone charging boxes removed from the next station are automatically returned to the previous station through the empty carrier return flow line 30, realizing the recycling of the carriers and avoiding manual transportation of the carriers, thereby saving the turnover cost of the carriers.

[0037] Further provided are a circular arc magnet grabbing position detection device 31, a circular arc magnet detection device 32, an earphone charging box position detection device 33 and a waste barrel 34. The circular arc magnet grabbing position detection device 31 comprises a first light source 35 and a first detection camera 36. The first light source 35 can irradiate the surface of the circular arc magnet material disc 44 at a specified position. The first detection camera 36 can image the circular arc magnet material disc 44 located directly below it. The circular arc magnet detection device 32 comprises a second light source 37 and a second detection camera 38. The second light source 37 can irradiate the circular arc magnet product grabbed by the mechanical hand mechanism 2 located directly above the second detection camera 38. The second detection camera 38 can image the circular arc magnet product located directly above it. The earphone charging box position detection device 33 comprises a third light source 39 and a third detection camera 40. The third light source 39 can irradiate the earphone charging box located directly below the third detection camera 40. The third detection camera 40 can image the earphone charging box located directly below it. The first detection camera 36, the second detection camera 38 and the third detection camera 40 are respectively electrically connected to the control system for communication. The control system can analyze and calculate the image transmitted by the first detection camera 36, the second detection camera 38 and the third detection camera 40 to obtain the position data of the circular arc magnet product on the circular arc magnet material disc 44 at a specified position, the size data of the circular arc magnet product and the angle deviation data of the circular arc magnet and the earphone charging box. The mechanical hand mechanism 2 comprises a mechanical hand, an angle adjustment shaft, an angle adjustment driving device and a suction cup 9. The fixed end of the mechanical hand is fixedly installed on the rack 1. The moving end of the mechanical hand can reach any point in the three-dimensional space within a specified range. The angle adjustment shaft can rotate around the vertical shaft and is installed on the moving end of the mechanical hand. The angle adjustment driving device drives the angle adjustment shaft to rotate. The suction cup 9 is fixedly installed at the lower end of the angle adjustment shaft. The suction cup 9 is in communication with the external negative pressure air path. The waste barrel 34 is fixedly installed on the rack 1 and located within the movement range of the moving end of the mechanical hand. The control system controls the actions of the mechanical hand, the angle adjustment driving device and the suction cup 9.The control system determines the accurate position of the arc magnet product on the arc magnet tray 44 according to the image of the first detection camera 36, and then drives the suction cup 9 to the position of each arc magnet by the moving end of the mechanical hand 2, and makes it contact with the arc magnet product, and then the suction cup 9 is driven to the detection area of the arc magnet detection device 32 by the moving end of the mechanical hand 2, the second light source 37 illuminates the arc magnet product, and the second detection camera 38 images the arc magnet product. At the same time, the third light source 39 illuminates the positioned earphone charging box, and the third detection camera 40 images the earphone charging box. The control system first compares the size of the arc magnet with the standard size, and then judges whether the arc magnet is qualified. For the arc magnet product that does not pass the detection, the suction cup 9 is driven to the waste barrel 34 by the moving end of the mechanical hand 2, and the suction cup 9 is put into the waste barrel 34. For the arc magnet product that passes the detection, the control system calculates the deviation of the placement angle of the arc magnet product and the placement angle of the earphone charging box, and finally rotates the angle adjustment shaft of the mechanical hand 2 by a deviation angle, so that the placement angle of the arc magnet matches the placement angle of the earphone charging box. The mechanical hand 2 then assembles the arc magnet into the earphone charging box. The above mechanism realizes automatic detection of the arc magnet product, realizes the separation and processing of qualified and unqualified products, and automatically adjusts the assembly angle of the arc magnet product, so that each arc magnet product is accurately assembled in place in the earphone charging box, avoiding the occurrence of assembly misplacement. Since the earphone charging box is conveyed and positioned on the main flow line 23, the earphone charging box position detection device 33 further comprises a detection bracket 41, a slide rail 42 and a slide driving device 43. The slide rail extends along the conveying direction of the main flow line 23 and is arranged above the main flow line 23. The detection bracket can slide on the slide rail. The third light source 39 and the third detection camera 40 are installed on the detection bracket. The detection bracket is driven to slide on the slide rail by the slide driving device, so as to keep facing the earphone charging box and avoid the deviation of the detection data caused by the misplacement between the two. The mechanical hand 2 can be a multi-axis mechanical hand or a three-axis mechanical hand composed of three mutually perpendicular slide rails, slide blocks and slide block driving devices.

Claims

1. A device for assembling an arc magnet into a wireless charging earphone shell, characterized in that: The system includes a frame (1), an earphone charging case positioning device, an arc-shaped magnetic tray positioning device, a robotic arm mechanism (2), and a control system. The earphone charging case positioning device is mounted on the frame and can stop and position the earphone charging case. The arc-shaped magnetic tray positioning device can stop and position the arc-shaped magnetic tray (44). The robotic arm mechanism can pick up the arc-shaped magnetic products on the arc-shaped magnetic tray one by one and place them into the designated position of the earphone charging case on the earphone charging case positioning device. The control system controls the movement of the robotic arm mechanism. The iron material tray positioning device includes a feeding conveyor mechanism and a positioning tray (3). The arc-shaped magnetic material tray is supported on the upper side of the positioning tray. The positioning tray is provided with at least one positioning pin (4). The positioning pin can be inserted into the positioning hole of the arc-shaped magnetic material tray. The positioning tray is installed on the feeding conveyor mechanism. The feeding conveyor mechanism can forward convey the positioning tray to the designated position. The control system controls the feeding conveyor mechanism to reciprocate. It is also provided with an automatic material tray feeding mechanism, including a feeding bin (13), a pallet fork (14), and a pallet fork extension drive device (15). The feeding hopper (16), feeding lifting drive (17), inserting support (18), and inserting lifting drive (19) are cylindrical and fixedly installed on the frame. The feeding hopper can accommodate stacked arc-shaped magnetic trays in a horizontal direction. The feeding support is installed on the frame and can be lifted and lowered. The feeding lifting drive drives the feeding support to lift and lower. The inserting support is installed on the feeding support and can be lifted and lowered by one arc-shaped magnetic tray thickness. The inserting lifting drive drives the inserting support to reciprocate and lift, at least two Each pallet fork can be mounted on the insert bracket for relative horizontal movement. Each pallet fork can slide horizontally to insert into the lower side of the arc-shaped magnetic material tray at a specified height at the bottom of the loading bin and lift the entire stack of arc-shaped magnetic material trays. The pallet fork extension and retraction drive device drives the pallet fork to slide back and forth to lift or lower the entire stack of arc-shaped magnetic material trays. The loading conveying mechanism can drive the positioning pallet to reciprocate between directly below the loading bin and a specified position. The control system controls the start and stop actions of the pallet fork extension and retraction drive device, the loading lifting drive device, and the insert lifting drive device.

2. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 1, characterized in that: It is also equipped with an automatic empty material tray recycling device, including an empty material tray (5), a tray lifting drive device (6), a lifting slide (7), a lifting frame (8), suction cups (9), and a lifting drive device (10). The lifting slide is fixedly installed at a designated position on the frame. The empty material tray can slide longitudinally on the lifting slide and can hold the empty material tray. The tray lifting drive device drives the empty material tray to move intermittently downward or linearly upward. The lifting frame can move up and down and is installed on the lifting slide. The lifting frame is located directly above the empty material tray. Several suction cups are fixedly installed on the lower side of the lifting frame. Each suction cup is connected to a negative pressure air circuit. The suction cups can negatively adsorb the edge of the arc-shaped magnetic material tray on the positioning tray. The lifting drive device drives the lifting frame to move up and down reciprocally. The control system controls the start and stop of the tray lifting drive device, suction cups, and lifting drive device.

3. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 1, characterized in that: It is also equipped with an empty material tray conveyor belt (11) and an empty material tray limiting baffle (12). The empty material tray conveyor belt is installed on the frame. The starting end of the empty material tray conveyor belt is located directly below the lifting slide. The empty material tray conveyor belt has a hollow part in the middle to avoid the empty material tray. The lower edge of the empty material tray held on the empty material tray can be supported on the empty material tray conveyor belt. The empty material tray limiting baffle is fixedly installed on both sides of the empty material tray conveyor end. The empty material tray limiting baffle can prevent the empty material tray from continuing to be conveyed forward along the empty material tray conveyor belt. The control system controls the operation of the empty material tray conveyor belt.

4. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 1, characterized in that: The feeding and conveying mechanism includes a conveyor belt mechanism (20), a material-pulling block (21), and a linear guide rail (22). The conveyor belt mechanism and the linear guide rail are installed parallel to each other on the frame. The positioning plate is installed on the linear guide rail in a linear sliding manner. The material-pulling block is fixedly installed on the conveyor belt of the conveyor belt mechanism. The side wall of the positioning plate is provided with a notch structure. The material-pulling block is inserted into the notch structure on the side wall of the positioning plate. The control system controls the reciprocating operation of the conveyor belt mechanism.

5. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 1, characterized in that: The headphone charging case positioning device includes a headphone charging case positioning carrier, a carrier clamping mechanism, and a main line (23). The main line is mounted on a frame. The headphone charging case carrier can be conveyed forward along the conveying direction of the main line. A carrier stop device is provided on the main line. The carrier stop device can prevent the headphone charging case positioning carrier that has reached a designated position on the main line from continuing to be conveyed forward. The carrier clamping mechanism includes an upper fixing plate (24) fixed on both sides of the main line, a lifting tray (25) located below the main line, and a lifting drive device (26). The lifting tray is located directly below the main line and can move up and down. A hollow part is provided on the main line for the lifting tray to pass through. The lifting tray can lift the headphone charging case positioning carrier at a designated position on the main line so that the headphone charging case positioning carrier is tightly clamped between the carrier stop device, the upper fixing plate, and the lifting tray. The lifting drive device drives the lifting tray to move up and down, and the control system controls the starting and stopping of the lifting drive device.

6. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 5, characterized in that: The main line is also equipped with a material receiving device (27). The material receiving device can sense the headphone charging case positioning carrier that is about to arrive at the designated position. The carrier stopping device includes a stop block (28) and a stop block driving device (29). The stop block is movably installed on the side wall of the main line. The movement of the stop block can prevent the headphone charging case positioning carrier from moving forward or leaving the blocking position. The stop block driving device drives the stop block to reciprocate. The material receiving device is electrically connected to the control system for communication. The control system controls the start and stop of the stop block driving device.

7. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 5, characterized in that: The machine is also equipped with an empty vehicle return line (30) on the frame. The empty vehicle return line is located on one side of the main line. The conveying direction of the empty vehicle return line is opposite to that of the main line. The empty vehicle return line can convey empty vehicles.

8. The device for assembling an arc magnet to a wireless charging earphone shell according to claim 5, characterized in that: The device also includes an arc magnet gripping position detection device (31), an arc magnet detection device (32), an earphone charging case position detection device (33), and a waste bin (34). The arc magnet gripping position detection device includes a first light source (35) and a first detection camera (36). The first light source can illuminate the surface of the arc magnet tray that is not in the specified location, and the first detection camera can image the arc magnet tray located directly below it. The arc magnet detection device includes a second light source (37) and a second detection camera (38). The second light source can illuminate the arc magnet product gripped by the robotic arm mechanism located directly above the second detection camera, and the second detection camera can image the arc magnet product located directly above it. The earphone charging case position detection device includes a third light source (39) and a third detection camera (40). The third light source can illuminate the earphone charging case located directly below the third detection camera, and the third detection camera can image the earphone charging case located directly below it. The first, second, and third detection cameras are electrically connected to the control system for communication. The control system can analyze and calculate the images transmitted by the first, second, and third detection cameras to obtain the position data of the arc magnet product on the arc magnet tray at a specified position, the size data of the arc magnet product, and the angle deviation data between the arc magnet and the earphone charging case. The robotic arm mechanism includes a robotic arm, an angle adjustment shaft, an angle adjustment drive device, and a suction cup. The fixed end of the robotic arm is fixedly installed on the frame, and the moving end of the robotic arm can reach any point in three-dimensional space within a specified range. The angle adjustment shaft is installed on the moving end of the robotic arm and can rotate around a vertical axis. The angle adjustment drive device drives the angle adjustment shaft to rotate. The suction cup is fixedly installed at the lower end of the angle adjustment shaft and is connected to the external negative pressure air passage. The waste bin is fixedly installed on the frame and is located within the movement range of the moving end of the robotic arm. The control system controls the movement of the robotic arm, the angle adjustment drive device, and the suction cup.

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