Automatic plate feeding machine used for being matched with parallel mechanical arms for material stacking and material stacking method

Abstract

The automatic plate feeding machine comprises a machine frame, a speed chain assembly is arranged on the machine frame, and a blocking device and a limiting device set independently controlled by a plurality of unit bodies are arranged in the conveying range of the speed chain assembly. The limiting device sets are jointly connected with a conveying frame which dynamically operates through a synchronous belt module, a conveying belt for conveying neodymium iron boron magnetic sheets is arranged above the dynamic operation area of the conveying frame, and parallel manipulators are arranged over the conveying belt. The production efficiency is improved, accurate workpiece layout is ensured, better adaptability and flexibility are achieved, the small-stroke parallel mechanical arm can be effectively applied by arranging materials one by one with the parallel mechanical arm, and therefore the problems that when a large-stroke parallel mechanical arm is used, efficiency is low, stability is poor, and the work efficiency is low are solved. The method is suitable for a production line with high precision and high stability requirements, and has wide industrial application prospects.

Description

Technical Field

[0001] The invention relates to an automatic plate feeder and a material coding method, and in particular to an automatic plate feeder and a material coding method used for cooperating with a parallel manipulator to code materials. Background Art

[0002] In the manufacturing process of NdFeB magnets, magnetron sputtering is a crucial process. The effect of this step directly determines the performance of the magnet, including key indicators such as its magnetic field strength, corrosion resistance and high temperature resistance. Therefore, ensuring the uniformity and consistency of the sputtering process is crucial to producing high-quality NdFeB magnets.

[0003] In order to achieve this goal, it is necessary to ensure that the magnetic sheets are evenly placed on the carrier plate. At the same time, in order to avoid affecting the sputtering efficiency, the magnetic sheets need to be arranged as closely as possible without overlapping. The traditional way of coding is to rely on workers to densely place the magnetic sheets on the carrier plate. However, there are many problems with manual operation. Not only is the labor intensity high, but the efficiency is also low, and it is difficult to ensure the accuracy and consistency of the placement of the magnetic sheets. In view of this, an automated solution is particularly necessary. With the development of technology, parallel manipulators have been introduced into the coding work. Although this has greatly improved the efficiency and accuracy of coding, when faced with a larger carrier plate, the range of motion of a single parallel manipulator cannot cover the entire carrier plate, which has limitations in practical applications.

[0004] In this context, in order to improve the stacking efficiency in the manufacturing process of NdFeB magnets, reduce labor intensity, and overcome the limitations of parallel manipulators, a new type of automatic plate feeding equipment is urgently needed that can perfectly cooperate with the parallel manipulator to achieve efficient and accurate stacking operations. Summary of the invention

[0005] In order to solve the deficiencies of the above-mentioned technology, the present invention provides an automatic plate feeding machine and a material coding method for cooperating with a parallel robot for coding.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic plate feeder for cooperating with a parallel robot for coding materials, including a frame extended in length, a double-speed chain assembly for driving the loading plate to move is arranged on the transport surface of the frame, a blocking device and a limit device group independently controlled by multiple units are arranged within the transport range of the double-speed chain assembly, the limit device group is jointly connected to a conveyor frame that is dynamically operated through a synchronous belt module, a conveyor belt for transporting NdFeB magnetic sheets is arranged above the dynamic operation area of ​​the conveyor frame, a parallel robot is arranged directly above the conveyor belt, and the parallel robot is arranged in a way that its activity covers the dynamic operation area of ​​the conveyor belt and the conveyor frame.

[0007] Furthermore, the frame is in the form of a long extended frame structure, the speed chain of the speed chain assembly is arranged in a track on the upper side of the frame and is implemented in a manner that the running path covers the entire length of the frame, and the speed chain provides kinetic energy through a speed chain motor.

[0008] Furthermore, the blocking device is located at the front position of the limiting device group and its conveying frame, and the blocking device is implemented in a manner that it blocks the movement of the loading tray. The blocking device includes a blocking cylinder whose telescopic direction is perpendicular to the movement direction of the loading tray.

[0009] Furthermore, the synchronous belt module is located below the conveyor frame, and the synchronous belt module includes a slider, a synchronous belt, and a synchronous belt servo motor. The slider is located between the conveyor frame and the synchronous belt and is implemented in a manner that the conveyor frame and the synchronous belt are displaced in linkage.

[0010] Furthermore, the limiting device group includes a first limiting device, a second limiting device, a third limiting device, and a fourth limiting device which are matched at the four corners of the conveying frame and have the same structure.

[0011] Furthermore, the first limit device, the second limit device, the third limit device and the fourth limit device all include a lifting seat plate, the lower part of the lifting seat plate is connected to a thin cylinder with a piston rod arranged upward through a cylinder connecting plate, the middle part of the lifting seat plate is connected to a limit device mounting plate implemented by clamping the four corner ends of the conveying frame, and the piston rod of the thin cylinder is connected to a limit shaft movably sleeved in a guide bushing.

[0012] Furthermore, it also includes a trolley for transferring the material tray to the automatic plate feeder.

[0013] A material coding method for an automatic plate feeder used in conjunction with a parallel manipulator for coding, comprising the following steps:

[0014] First, use a trolley to transfer the loading tray to the automatic plate feeder, start the double-speed chain motor to make the double-speed chain drive the loading tray to move to the material stacking area;

[0015] Secondly, after the material tray of the previous sequence passes through the blocking device, the blocking cylinder of the blocking device rises to prevent the displacement of the material tray of the subsequent sequence from interfering with the material stacking of the material tray of the previous sequence. After the material tray of the previous sequence continues to move to the third limiting device and the fourth limiting device and is stopped, the limiting device group cooperates to fasten the material tray to the conveying frame;

[0016] Again, the double-speed chain assembly stops, the synchronous belt module works to drive the conveyor frame and the loading tray to the material stacking area, the synchronous belt module stops, and the parallel manipulator grabs the disordered NdFeB magnetic sheets from the conveyor belt and neatly stacks them in a row on the loading tray; then, the synchronous belt module works to drive the conveyor frame and the loading tray to move forward the distance of a row of NdFeB magnetic sheets, and the placement operation is continued, and the cycle is repeated until the loading tray is stacked;

[0017] Finally, the limiting device group shrinks and cooperates as a whole to release the limit on the loading tray after stacking, and the double-speed chain motor is started to make the double-speed chain drive the loading tray to move out of the stacking area until it leaves the automatic plate feeder.

[0018] Furthermore, when the loading tray passes through the blocking device, the first limiting device and the second limiting device are in a retracted state, and the third limiting device and the fourth limiting device are in a raised state.

[0019] An automatic plate feeder and material coding method for cooperating with a parallel robot for coding not only improve production efficiency and ensure accurate workpiece layout, but also have better adaptability and flexibility, especially when processing large-size loading trays, through the coordinated work with the parallel robot (swinging the material tray by tray), a parallel robot with a small stroke can be effectively applied, thereby avoiding the problems of reduced efficiency and poor stability that may be caused by the use of a large-stroke parallel robot. It is suitable for production lines with high precision and high stability requirements and has broad industrial application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the automatic plate feeding machine of the present invention.

[0021] Figure 2 It is a schematic structural diagram of the double-speed chain assembly of the present invention.

[0022] Figure 3 It is a schematic structural diagram of the blocking device of the present invention.

[0023] Figure 4 It is a schematic structural diagram of the synchronous belt module of the present invention.

[0024] Figure 5 It is a schematic structural diagram of the limiting device of the present invention.

[0025] Figure 6 It is a schematic diagram of the overall configuration of the limiting device group and the conveying frame of the present invention.

[0026] Figure 7 It is a schematic diagram of the overall combination of the automatic plate feeder of the present invention and the parallel manipulator for stacking materials.

[0027] Figure 8 For the present invention Figure 7 Schematic diagram of the base used with a trolley to deliver the loading tray.

[0028] Fig. 9 It is a schematic diagram of the material loading tray of the present invention arriving at the material coding area.

[0029] Fig.10 It is a schematic diagram of discharging materials from a full loading tray of the present invention.

[0030] In the figure: 1. frame; 2. double-speed chain assembly; 3. blocking device; 4. conveyor frame; 5. synchronous belt module; 6. first limiting device; 7. second limiting device; 8. third limiting device; 9. fourth limiting device; 10. double-speed chain; 11. double-speed chain motor; 12. blocking cylinder; 13. slider; 14. synchronous belt; 15. synchronous belt servo motor; 16. limiting shaft; 17. lifting seat plate; 18. guide bushing; 19. cylinder connecting plate; 20. thin cylinder; 21. limiting device mounting plate; 22. trolley; 23. parallel manipulator; 24. conveyor belt. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] like Figure 1-10 As shown together, the present embodiment relates to an automatic plate feeder and a material encoding method for cooperating with a parallel robot for encoding materials, wherein the automatic plate feeder for cooperating with a parallel robot for encoding materials includes a frame 1 with an extended length, a double-speed chain assembly 2 for driving the loading plate to move is arranged on the transport surface of the frame 1, a blocking device 3 and a limiting device group independently controlled by multiple units are arranged within the transport range of the double-speed chain assembly 2, the limiting device group is jointly connected to a conveying frame 4 that is dynamically operated through a synchronous belt module 5, a conveyor belt 24 for transporting NdFeB magnetic sheets is arranged above the dynamic operation area of ​​the conveying frame 4, a parallel robot 23 is arranged directly above the conveyor belt 24, and the parallel robot 23 is arranged in a manner that its activity covers the dynamic operation area of ​​the conveyor belt 24 and the conveying frame 4.

[0033] Preferably, the rack 1 is a frame structure extending in a long strip. In order to increase stability, the bottom of the rack 1 can be provided with adjustable feet as required to adapt to different heights or uneven ground, ensuring that the equipment is firmly placed on the ground and remains level.

[0034] Preferably, the speed chain 10 of the speed chain assembly 2 is arranged in a track on the upper side of the frame 1 and is implemented in a way that the running path covers the entire length of the frame 1. The speed chain 10 provides kinetic energy through the speed chain motor 11. In practice, the chain material of the speed chain 10 can be wear-resistant material, and the sprocket of the speed chain 10 can preferably be a double-row tooth shape to achieve rapid movement of the loading plate and ensure an efficient transmission process.

[0035] The blocking device 3 is located at the front position of the limiting device group and its conveying frame 4. The blocking device 3 is implemented in a way that it blocks the movement of the loading tray. The blocking device 3 includes a blocking cylinder 12 whose telescopic direction is perpendicular to the moving direction of the loading tray, that is, the blocking cylinder 12 can rise to form a physical barrier, effectively preventing subsequent loading trays from continuing to move forward and entering the coding area.

[0036] The synchronous belt module 5 is located below the conveyor frame 4. The synchronous belt module 5 includes a slider 13, a synchronous belt 14, and a synchronous belt servo motor 15. The synchronous belt 14 has good flexibility and wear resistance to meet the requirements of high-speed and high-precision transmission. The synchronous belt servo motor 15 provides kinetic energy for the synchronous belt 14. It can be understood that the synchronous belt 14 is equipped with a pulley and the two are engaged to achieve synchronous transmission without slip, thereby ensuring the precise transportation of the loading plate. The structural composition of the synchronous belt module 5 is a prior art, so it will not be explained in detail. The slider 13 is located between the conveyor frame 4 and the synchronous belt 14 and is implemented in a manner that enables the conveyor frame 4 and the synchronous belt 14 to move in linkage.

[0037] The limiting device group includes a first limiting device 6, a second limiting device 7, a third limiting device 8, and a fourth limiting device 9 which are matched at the four corners of the conveying frame 4 and have the same structure. The first limiting device 6, the second limiting device 7, the third limiting device 8, and the fourth limiting device 9 all include a lifting seat plate 17. The lower part of the lifting seat plate 17 is connected to a thin cylinder 20 with a piston rod arranged upward through a cylinder connecting plate 19. The middle part of the lifting seat plate 17 is connected to a limiting device mounting plate 21 implemented in a manner of clamping the four corner ends of the conveying frame 4. The piston rod of the thin cylinder 20 is connected to a limiting shaft 16 that is movably sleeved in a guide bushing 18, that is, the limiting shaft 16 can slide freely inside the guide bushing 18 and has flexibility. During operation, when the limiting device group limits the loading tray, the limiting shaft 16 abuts against the loading tray. In this process, the guide bushing 18 bears the lateral thrust of the limiting shaft 16 to ensure the stability of the limiting shaft 16 when it abuts, thereby realizing the smooth operation of the loading tray.

[0038] At this point, the conveyor frame 4, the synchronous belt module 5 and the limit device group work together to ensure the precise positioning of the loading tray, wherein the conveyor frame 4 is used to fasten the loading tray to ensure that the loading tray only moves with the conveyor frame 4 during the material coding process and is not affected by the speed chain 10.

[0039] In addition, a trolley 22 for transferring the material tray to the automatic plate feeder is also included, which is a prior art, and the method of transferring the material tray to the automatic plate feeder by using the trolley 22 is also within the grasp of those skilled in the art.

[0040] The material coding method of the automatic plate feeder used for coding with the parallel manipulator comprises the following steps:

[0041] First, use the trolley 22 to transfer the material tray to the automatic plate feeder, start the double-speed chain motor 11 to make the double-speed chain 10 drive the material tray to move to the material coding area;

[0042] Secondly, after the loading tray of the previous sequence passes through the blocking device 3, the blocking cylinder 12 of the blocking device 3 rises to prevent the displacement of the loading tray of the subsequent sequence from interfering with the material coding of the loading tray of the previous sequence. When the loading tray passes through the blocking device 3, the first limiting device 6 and the second limiting device 7 are in a retracted state, and the third limiting device 8 and the fourth limiting device 9 are in a raised state. After the loading tray of the previous sequence continues to move to the third limiting device 8 and the fourth limiting device 9 and is stopped, the first limiting device 6 and the second limiting device 7 are raised, and then the limiting device group cooperates to fasten the loading tray to the conveying frame 4;

[0043] Again, the double-speed chain assembly 2 stops moving, and the synchronous belt module 5 works to drive the conveyor frame 4 and the material loading tray to the material coding area. At the same time, the above-mentioned structure and action are precisely coordinated to ensure the precise positioning of the material loading tray when it moves to the specified position. It should be noted that when the material loading tray enters the material coding area, the limit switch immediately triggers the sensing signal, which stops the synchronous belt module 5, that is, the synchronous belt servo motor 15 stops running. The limit switch is a prior art.

[0044] On this basis, the parallel manipulator 23 grabs the disordered NdFeB magnetic sheets from the conveyor belt 24 and neatly stacks them in a row on the loading tray. After completing the stacking of one row, the synchronous belt servo motor 15 of the synchronous belt module 5 is started to drive the conveyor frame 4 and the loading tray to move forward the distance of one row of NdFeB magnetic sheets, and the placement operation is continued. That is, every time the loading tray moves forward one row, the parallel manipulator 23 stacks one row of NdFeB magnetic sheets, and the cycle continues until the stacking of the loading tray is completed;

[0045] Finally, the limiting device group shrinks and cooperates as a whole to release the limiting of the loading tray after stacking, and the double-speed chain motor 11 is started to make the double-speed chain 10 drive the loading tray to move out of the stacking area until it leaves the automatic plate feeder.

[0046] The present application discloses an automatic plate feeder and a material coding method for cooperating with a parallel robot for coding, which not only improves production efficiency and ensures accurate workpiece layout, but also has better adaptability and flexibility, especially when processing large-sized loading trays, through the coordinated work with the parallel robot (swinging the material tray by tray), a small-stroke parallel robot can be effectively applied, thereby avoiding the problems of reduced efficiency and poor stability that may be caused by the use of a large-stroke parallel robot. It is suitable for production lines with high precision and high stability requirements and has broad industrial application prospects.

[0047] The above implementation modes are not limitations of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the scope of the technical solution of the present invention also belong to the protection scope of the present invention.

Claims

1. An automatic plate feeder for cooperating with a parallel manipulator for stacking materials, characterized in that: The invention comprises a frame (1) extending in length, a double-speed chain assembly (2) for driving a loading plate to move is arranged on the transport surface of the frame (1), a blocking device (3) and a limit device group independently controlled by a plurality of units are arranged within the transport range of the double-speed chain assembly (2), the limit device group is connected to a conveyor frame (4) dynamically operated through a synchronous belt module (5), a conveyor belt (24) for transporting NdFeB magnetic sheets is arranged above the dynamic operation area of ​​the conveyor frame (4), a parallel manipulator (23) is arranged directly above the conveyor belt (24), and the parallel manipulator (23) is arranged in a manner that its mobility covers the dynamic operation area of ​​the conveyor belt (24) and the conveyor frame (4).

2. The automatic plate feeder for cooperating with a parallel manipulator for stacking materials according to claim 1, characterized in that: The frame (1) is in the form of a long extended frame structure, the double-speed chain (10) of the double-speed chain assembly (2) is arranged in a track on the upper side of the frame (1) and is implemented in a manner such that the running path covers the entire length of the frame (1), and the double-speed chain (10) is provided with kinetic energy by a double-speed chain motor (11).

3. The automatic plate feeder for cooperating with a parallel manipulator for stacking materials according to claim 1, characterized in that: The blocking device (3) is located at a front position of the limiting device group and its conveying frame (4). The blocking device (3) is implemented in a manner of blocking the movement of the loading tray. The blocking device (3) comprises a blocking cylinder (12) whose telescopic direction is perpendicular to the movement direction of the loading tray.

4. The automatic plate feeder for cooperating with a parallel manipulator for stacking materials according to claim 1, characterized in that: The synchronous belt module (5) is located below the conveying frame (4), and comprises a slider (13), a synchronous belt (14), and a synchronous belt servo motor (15). The slider (13) is located between the conveying frame (4) and the synchronous belt (14) and is implemented in a manner that the conveying frame (4) and the synchronous belt (14) are displaced in linkage.

5. The automatic plate feeder for cooperating with a parallel manipulator for stacking materials according to claim 1, characterized in that: The position limiting device group comprises a first position limiting device (6), a second position limiting device (7), a third position limiting device (8) and a fourth position limiting device (9) which are matched at the four corners of the conveying frame (4) and have the same structure.

6. The automatic plate feeder for cooperating with a parallel manipulator for stacking materials according to claim 5, characterized in that: The first limiting device (6), the second limiting device (7), the third limiting device (8) and the fourth limiting device (9) all comprise a lifting seat plate (17); the lower part of the lifting seat plate (17) is connected to a thin cylinder (20) with a piston rod arranged upwardly through a cylinder connecting plate (19); the middle part of the lifting seat plate (17) is connected to a limiting device mounting plate (21) implemented in a manner of clamping the four corner ends of the conveying frame (4); the piston rod of the thin cylinder (20) is connected to a limiting shaft (16) movably sleeved in a guide bushing (18).

7. The automatic plate feeder for cooperating with a parallel manipulator for stacking materials according to claim 1, characterized in that: Also included is a trolley (22) for transferring the material tray to the automatic plate feeder.

8. The material coding method of the automatic plate feeder used for coding in cooperation with the parallel manipulator as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: First, the material loading tray is transferred to the automatic plate feeding machine by using a trolley (22), and the double-speed chain motor (11) is started to make the double-speed chain (10) drive the material loading tray to move toward the material coding area; Secondly, after the material loading tray of the previous sequence passes through the blocking device (3), the blocking cylinder (12) of the blocking device (3) rises to prevent the displacement of the material loading tray of the subsequent sequence from interfering with the material loading tray of the previous sequence, and after the material loading tray of the previous sequence continues to move to the third limiting device (8) and the fourth limiting device (9) and is stopped, the limiting device group cooperates to fasten the material loading tray to the conveying frame (4); Again, the speed chain assembly (2) stops, the synchronous belt module (5) works to drive the conveyor frame (4) and the material loading tray to the material stacking area, the synchronous belt module (5) stops, the parallel manipulator (23) grabs the disordered NdFeB magnetic sheets from the conveyor belt (24) and neatly stacks them in a row on the material loading tray; then, the synchronous belt module (5) works to drive the conveyor frame (4) and the material loading tray to move forward the distance of a row of NdFeB magnetic sheets, and the placement operation is continued, and the cycle is repeated until the stacking of the material loading tray is completed; Finally, the limiting device group is contracted as a whole to release the limiting of the stacked loading tray, and the double-speed chain motor (11) is started to make the double-speed chain (10) drive the loading tray to move out of the stacking area until it leaves the automatic plate feeder.

9. The material coding method of the automatic plate feeder used for coding in cooperation with the parallel manipulator according to claim 8, characterized in that: When the material loading tray passes through the blocking device (3), the first limiting device (6) and the second limiting device (7) are in a retracted state, and the third limiting device (8) and the fourth limiting device (9) are in a raised state.

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