Automatic electromagnet assembling system and method

Abstract

The invention relates to the technical field of electromagnet production, in particular to an automatic electromagnet assembling system and method.The automatic electromagnet assembling system comprises carrying equipment, a gasket feeding device, a gasket thickness detecting device and ejector rod armature assembling equipment; and the carrying equipment is suitable for carrying gaskets of the gasket feeding device into the gasket detection device, carrying qualified gaskets into a guide cylinder, and carrying ejector rods and armatures on the ejector rod and armature assembling equipment into the guide cylinder. The gaskets are detected in advance through the gasket thickness detection device before being assembled, it is ensured that the thicknesses of the gaskets are qualified, therefore, online automatic detection and monitoring of the gasket quality in the production process are achieved, the gaskets, ejector rods and armatures are carried and transferred through carrying equipment, integration of a production line is achieved, offline or new equipment or tool replacement is not needed, and the production efficiency is improved. Full-automatic production of the assembly process is achieved, and manual intervention is not needed.

Description

Technical Field

[0001] The invention relates to the technical field of electromagnet production, and in particular to an electromagnet automatic assembly system and method. Background Art

[0002] Most of the assembly process methods of electromagnets in the prior art are manual or semi-automatic. Generally, there is no quality inspection on the parts before they are put on the line. For example, the thickness of the gasket affects the final extension length of the push rod of the electromagnet product, and it is necessary to inspect whether the thickness is qualified. However, there is no inspection and screening of the gasket thickness during the assembly process, so it is impossible to guarantee whether the electromagnet is qualified after assembly, and the automatic assembly method is difficult to be compatible with the automatic assembly of different forms of armatures. Summary of the invention

[0003] The present invention provides an electromagnet automatic assembly system and method, which are used to solve one of the defects in the prior art. A gasket thickness detection device is used to perform pre-detection on the gasket before assembly to ensure that the thickness of the gasket is qualified, thereby realizing online automatic detection and monitoring of the gasket quality in the production process. The gasket, push rod and armature are transported and transferred by a handling device to realize the integration of the production line. There is no need to go offline or replace new equipment or tooling, and full-automatic production of the assembly process is realized without manual intervention.

[0004] The present invention provides an electromagnet automatic assembly system, comprising a handling device, a gasket feeding device, a gasket thickness detection device and a push rod armature assembly device, wherein the gasket thickness detection device is suitable for performing thickness detection on gaskets, the handling device is suitable for carrying the gaskets of the gasket feeding device to the gasket detection device, carrying qualified gaskets into a guide cylinder, and then carrying the push rod and armature on the push rod armature assembly device into the guide cylinder.

[0005] An electromagnet automatic assembly system provided according to the present invention further comprises a gasket position detection device, wherein the gasket position detection device is suitable for detecting the position of the gasket in the guide cylinder.

[0006] According to an electromagnet automatic assembly system provided by the present invention, the push rod armature assembly equipment includes a push rod feeding device, a push rod positioning device and an armature feeding device, the push rod positioning device is suitable for positioning the push rod, the conveying equipment is suitable for conveying the push rod on the push rod feeding device to the push rod positioning device, and buckling the shell provided with the guide cylinder on the outside of the push rod, and then conveying the armature on the armature feeding device to between the guide cylinder and the push rod.

[0007] An electromagnet automatic assembly system provided according to the present invention further comprises a push rod position detection device, wherein the push rod position detection device is suitable for detecting whether the push rod is in the push rod positioning device.

[0008] An automatic electromagnet assembly system provided according to the present invention further comprises an armature detection device, wherein the armature detection device is suitable for detecting the orientation of the groove of the armature.

[0009] An automatic electromagnet assembly system provided according to the present invention further comprises a tightening detection device, wherein the tightening detection device is suitable for detecting the tightening force between the push rod and the armature.

[0010] According to an electromagnet automatic assembly system provided by the present invention, the handling equipment comprises a first handling device and a second handling device, the first handling device is suitable for handling the gasket and the ejector rod, and the second handling device is suitable for handling the armature.

[0011] According to an electromagnet automatic assembly system provided by the present invention, the second handling device includes a first clamping jaw that can rotate around an axis, the first clamping jaw clamps the armature and places it into the guide cylinder along the axial direction of the guide cylinder, and clamps the armature to rotate in the guide cylinder so that the pin on the inner wall of the guide cylinder is inserted into the groove on the outer wall of the armature.

[0012] According to an electromagnet automatic assembly system provided by the present invention, the first handling device includes a second clamping jaw and a suction cup, the suction cup absorbs the gasket, and the second clamping jaw clamps the ejector rod.

[0013] The present invention also provides an electromagnet automatic assembly method, which is applied to the electromagnet automatic assembly system as described above, comprising: Control the first transport device to transport the gasket from the gasket feeding device to the gasket thickness detection device; Determine through the gasket thickness detection device that the gasket thickness meets the requirements, control the first conveying device to convey the gasket from the gasket thickness detection device to the guide cylinder, or, determine that the gasket thickness does not meet the requirements, control the first conveying device to convey the gasket from the gasket thickness detection device to the waste box; The gasket position detection device determines that the position of the gasket in the guide cylinder meets the requirements, controls the first transport device to transport the ejector rod from the ejector rod feeding device to the ejector rod positioning device, or determines that the position of the gasket in the guide cylinder does not meet the requirements, and issues an alarm; Determine that the first handling device is reliably clamping the mandrel, and place the mandrel into the mandrel positioning device; or, determine that the first handling device is not reliably clamping the mandrel, and issue an alarm; Determine through the ejector position detection device that there is an ejector in the ejector positioning device, and then put the housing upside down on the ejector, or determine that there is no ejector in the ejector positioning device, and then sound an alarm; The armature is transported from the armature feeding device to the armature detection device through the second transport device; The armature detection device determines that the groove of the armature is facing downward, and the armature detection device carries the armature into the guide cylinder through the second carrying device; and the armature detection device determines that the groove of the armature is not facing downward, and the armature detection device carries the armature into the waste box through the second carrying device; Determine that the pin in the guide cylinder is inserted into the groove of the outer wall of the armature, tighten the push rod by the push rod positioning device, or determine that the pin in the guide cylinder is not inserted into the groove of the outer wall of the armature, and carry the armature from the guide cylinder to the waste box by the second carrying device; The tightening detection device determines that the tightening force of the ejector rod meets the requirements, and the product consisting of the ejector rod, armature and gasket is conveyed to the next process, or, if it is determined that the tightening force of the ejector rod does not meet the requirements, an alarm is issued.

[0014] The electromagnet automatic assembly system provided by the present invention is mainly composed of a handling device, a gasket feeding device, a gasket thickness detection device and a push rod armature assembly device. The handling device is used to transfer the positions of the gasket, the push rod and the armature in the assembly system. The gasket feeding device performs gasket feeding preparation work and disperses the gaskets into a state that can be obtained and transferred by the handling device. During the armature assembly, the handling device first takes the gasket from the gasket feeding device, and then carries it to the gasket thickness detection device, and the gasket thickness is detected by the gasket thickness detection device. The gasket with qualified thickness is placed in the guide cylinder by the handling device. Finally, the handling device carries the push rod and the armature into the guide cylinder, and combines them with the gasket to form an electromagnet assembly product.

[0015] Compared with the armature assembly system in the prior art, the present invention uses a gasket thickness detection device to perform pre-inspection of the gasket before assembly to ensure that the thickness of the gasket is qualified, thereby realizing online automatic detection and monitoring of the gasket quality during the production process, and transferring the gasket, push rod and armature through the handling equipment to realize the integration of the production line. There is no need to go offline or replace new equipment or tooling, thereby realizing fully automatic production of the assembly process without human intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of an electromagnet automatic assembly system provided by an embodiment of the present invention; Figure 2 It is a structural schematic diagram of an electromagnet product provided by an embodiment of the present invention; Figure 3It is a structural schematic diagram of a first handling device, a gasket feeding device and a gasket thickness detection device of an electromagnet automatic assembly system provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a first handling device, a push rod loading device and a waste box of an electromagnet automatic assembly system provided by an embodiment of the present invention; Figure 5 is a structural schematic diagram of a push rod positioning device of an electromagnet automatic assembly system provided in an embodiment of the present invention; Figure 6 It is a flow chart of the gasket assembly step of the electromagnet automatic assembly method provided by an embodiment of the present invention; Figure 7 It is a flow chart of the ejector assembly step of the electromagnet automatic assembly method provided by an embodiment of the present invention; Figure 8 It is a flow chart of the armature assembly step of the electromagnet automatic assembly method provided in an embodiment of the present invention.

[0018] Reference numerals: 100. Gasket feeding device; 200. Gasket thickness detection device; 300. Gasket position detection device; 410, ejector rod loading device; 420, ejector rod positioning device; 430, armature loading device; 431, loading machine; 432, second tray; 510, first handling device; 511, suction cup; 512, second clamping claw; 520, second handling device; 521, first clamping claw; 600, waste box; 710, guide cylinder; 711, pin; 720, armature; 721, groove; 730, push rod; 740, gasket; 750, housing. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0022] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0023] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0024] like Figures 1 to 5As shown, the electromagnet automatic assembly system provided by the embodiment of the present invention includes a handling device, a gasket feeding device 100, a gasket thickness detection device 200 and a push rod 730 armature 720 assembly device, the gasket thickness detection device 200 is suitable for performing thickness detection on the gasket 740, the handling device is suitable for carrying the gasket 740 of the gasket feeding device 100 to the gasket 740 detection device, and carrying the qualified gasket 740 into the guide cylinder 710, and then carrying the push rod 730 and the armature 720 on the push rod 730 armature 720 assembly device into the guide cylinder 710.

[0025] The electromagnet automatic assembly system of the embodiment of the present invention is mainly composed of a handling device, a gasket feeding device 100, a gasket thickness detection device 200 and a push rod 730 armature 720 assembly device. The handling device is used to transfer the position of the gasket 740, the push rod 730 and the armature 720 in the assembly system. The gasket feeding device 100 performs preparation work for feeding the gasket 740 and disperses the gasket 740 into a state that can be obtained and transferred by the handling device. During the electromagnet assembly process, the handling device first takes the gasket 740 from the gasket feeding device 100, and then transports it to the gasket thickness detection device 200. The gasket 740 is detected by the gasket thickness detection device 200. The gasket 740 with qualified thickness is placed in the guide cylinder 710 by the handling device. Finally, the handling device transports the push rod 730 and the armature 720 into the guide cylinder 710, and combines them with the gasket 740 to form an electromagnet assembly product.

[0026] Compared with the electromagnet assembly system of the prior art, the present invention performs pre-inspection of the gasket 740 before assembly through the gasket thickness detection device 200 to ensure that the thickness of the gasket 740 is qualified, thereby realizing online automatic detection and monitoring of the quality of the gasket 740 during the production process, and realizing the integration of the production line by transferring the gasket 740, the push rod 730, and the armature 720 through the handling equipment. There is no need to go offline or replace new equipment or tooling, thereby realizing fully automatic production of the assembly process without manual intervention.

[0027] In this embodiment, the gasket loading device 100 includes a silo and a flexible vibration plate. The gaskets 740 are manually unpacked and poured into the silo. The gaskets 740 in the silo can fall into the flexible vibration plate according to the requirements of the flexible vibration plate. The handling equipment transports the gaskets 740 in the flexible vibration plate to the gasket thickness detection device 200. The gasket thickness detection device 200 includes a thickness detection sensor. The thickness detection sensor can obtain the thickness information of the gasket 740 after contacting the upper and lower surfaces of the gasket 740, and then obtain the result of whether the gasket 740 is qualified by analyzing and processing the thickness information.

[0028] According to an embodiment provided by the present invention, the electromagnet automatic assembly system further comprises a gasket position detection device 300, which is suitable for detecting the position of the gasket 740 in the guide cylinder 710. In this embodiment, the electromagnet automatic assembly system is mainly composed of a handling device, a gasket feeding device 100, a gasket thickness detection device 200, a push rod 730 armature 720 assembly device and a gasket position detection device 300. After the handling device places the gasket 740 that has passed the thickness detection into the guide cylinder 710, the gasket position detection device 300 detects whether the gasket 740 is in place in the guide cylinder 710.

[0029] The present invention detects the position of the gasket 740 on the guide cylinder 710 during the assembly process through the gasket position detection device 300 to ensure that the position of the gasket 740 is qualified, thereby realizing online automatic detection and monitoring of the position of the gasket 740 during the production process, ensuring the assembly quality, and realizing fully automatic production of the assembly process without manual intervention.

[0030] In this embodiment, the gasket position detection device 300 can use a visual camera. After the gasket 740 is placed in the guide tube 710, a photo is taken of the inside of the guide tube 710. After the image is acquired, it is processed and analyzed to determine whether the gasket 740 in the guide tube 710 is placed in place.

[0031] According to an embodiment provided by the present invention, the assembly equipment of the push rod 730 and the armature 720 includes a push rod loading device 410, a push rod positioning device 420 and an armature loading device 430, the push rod positioning device 420 is suitable for positioning the push rod 730, the conveying equipment is suitable for conveying the push rod 730 on the push rod loading device 410 to the push rod positioning device 420, and buckling the housing 750 provided with the guide cylinder 710 on the outside of the push rod 730, and then conveying the armature 720 on the armature feeding device 430 to between the guide cylinder 710 and the push rod 730.

[0032] In this embodiment, the assembly equipment of the push rod 730 and the armature 720 is mainly composed of a push rod loading device 410, a push rod positioning device 420 and an armature loading device 430. The push rod 730 and the armature 720 are loaded and assembled separately. After the handling equipment puts the gasket 740 of qualified thickness into the guide cylinder 710 and the position of the gasket 740 in the guide cylinder 710 is detected to be in place, the push rod 730 and the armature 720 are assembled separately.

[0033] The ejector rod loading device 410 performs the preparation work for loading the ejector rod 730, and disperses the ejector rod 730 into a state that can be obtained and transferred by the handling equipment. During the electromagnet assembly process, the handling equipment first takes the ejector rod 730 out of the ejector rod loading device 410, and then carries it to the ejector rod positioning device 420, and calibrates and fixes the ejector rod 730 through the ejector rod positioning device 420, so as to facilitate the subsequent assembly of the armature 720. The handling equipment then turns the housing 750 upside down on the outside of the ejector rod 730, and sets the guide cylinder 710 with the gasket 740 in place in the housing 750, thereby realizing the relative assembly of the gasket 740 and the ejector rod 730, and the guide cylinder 710 is sleeved on the outside of the ejector rod 730. Finally, the handling equipment carries the armature 720 on the armature feeding device 430 to the position between the guide cylinder 710 and the ejector rod 730, thereby combining the ejector rod 730, the armature 720 and the gasket 740 to form an electromagnet assembly product.

[0034] The present invention can provide two different forms of electromagnet assembly, one is that the push rod 730, the armature 720 and the gasket 740 are independent of each other and are assembled separately, and the other is that the push rod 730 and the armature 720 are pre-assembled into one body and then assembled with the gasket 740. When the push rod 730 and the armature 720 are integrated, the handling equipment directly transports the integrated push rod 730 and the armature 720 to the push rod positioning device 420, and then assembles the housing 750 of the guide cylinder 710 with the gasket 740 with the push rod 730 and the armature 720. For the structure of the push rod 730 and the armature 720 being integrated, the handling equipment only needs to take the integrated parts from the pallet and put them into the guide cylinder 710 of the housing 750. Under this assembly process, there is no separate feeding and assembly process of the gasket 740 and the push rod 730. Therefore, the present invention can be compatible with the assembly of two different forms of electromagnets and armatures 720, and a flexible assembly process is realized.

[0035] In this embodiment, the ejector loading device 410 includes a first tray, and the ejector 730 is manually stacked on the first tray with one in and one out, and is grabbed and transported one by one by the handling equipment to the ejector positioning device 420. The ejector positioning device 420 includes at least two limit adjustment blocks, and the two limit adjustment blocks can adjust the position of the ejector 730 from two different directions to ensure that the ejector 730 is upright without tilting. The armature loading device 430 includes a loader 431 and a second tray 432. The armature 720 is first manually stacked on the loader 431, and the second tray 432 automatically moves to the material collection position of the loader 431. The handling equipment then takes out the armature 720 from the second tray 432 at the material collection position and puts it between the guide cylinder 710 and the ejector 730.

[0036] According to an embodiment provided by the present invention, the electromagnet automatic assembly system further includes a push rod position detection device, which is suitable for detecting whether there is a push rod 730 in the push rod positioning device 420. In this embodiment, the electromagnet automatic assembly system is mainly composed of a handling device, a gasket feeding device 100, a gasket thickness detection device 200, a push rod 730 armature 720 assembly device and a push rod position detection device. After the handling device completes the action of placing the push rod 730 into the push rod positioning device 420, the push rod position detection device detects whether the push rod 730 is in the push rod positioning device 420.

[0037] The position of the push rod 730 is detected before assembly through the push rod position detection device to ensure that the push rod 730 is transported to the push rod positioning device 420 by the transporting equipment, so as to avoid the problem that the transporting equipment completes the action and the moving path, but the push rod 730 cannot be effectively placed in the push rod positioning device 420, thereby realizing online automatic detection and monitoring of the existence of the push rod 730 in the production process.

[0038] According to an embodiment provided by the present invention, the electromagnet automatic assembly system further includes an armature detection device, which is suitable for detecting the orientation of the groove 721 of the armature 720. In this embodiment, the electromagnet automatic assembly system mainly consists of a handling device, a gasket feeding device 100, a gasket thickness detection device 200, a push rod 730 armature 720 assembly device, a push rod position detection device and an armature detection device. The handling device removes the armature 720 from the armature feeding device 430 and then puts it in, and detects the orientation of the groove 721 of the armature 720 through the armature detection device.

[0039] The armature 720 position detection device is used to detect the position of the armature 720 before assembly to ensure that the armature 720 is loaded into the guide cylinder 710 by the handling equipment with the groove 721 facing downward, thereby realizing online automatic detection and monitoring of the assembly position of the armature 720 during the production process.

[0040] In this embodiment, the position detection device of the armature 720 can use a visual camera to identify the position of the groove 721 on the armature 720 by taking pictures with the visual camera, so as to ensure that the armature 720 is installed in the guide cylinder 710 with the groove 721 facing downward.

[0041] According to an embodiment provided by the present invention, the electromagnet automatic assembly system further includes a tightening detection device, which is suitable for detecting the tightening force between the ejector pin 730 and the armature 720. In this embodiment, the electromagnet automatic assembly system is mainly composed of a handling device, a gasket feeding device 100, a gasket thickness detection device 200, an ejector pin 730 armature 720 assembly device, an ejector pin position detection device, an armature detection device and a tightening detection device. The handling device places the armature 720 that has passed the position detection of the groove 721 into the guide cylinder 710. After it is placed in place, the ejector pin positioning device 420 tightens the ejector pin 730 and the armature 720. During the tightening process, the tightening detection device can detect the tightening force applied between the ejector pin 730 and the armature 720 in real time.

[0042] In this embodiment, the tightening force applied by the push rod positioning device 420 to the push rod 730 can be detected by the tightening detection device, so that the connection between the push rod 730 and the armature 720 meets the requirements, thereby realizing online automatic detection and monitoring of the connection status of the push rod 730 and the armature 720 during the production process.

[0043] According to an embodiment provided by the present invention, the handling equipment includes a first handling device 510 and a second handling device 520, wherein the first handling device 510 is suitable for handling the gasket 740 and the ejector rod 730, and the second handling device 520 is suitable for handling the armature 720. In this embodiment, the handling equipment is mainly composed of the first handling device 510 and the second handling device 520, that is, the assembly system of the present invention is provided with two handling devices on the production line, wherein the first handling device 510 is mainly used for handling the gasket 740 and the ejector rod 730, and the second handling device 520 is mainly used for handling the armature 720.

[0044] The actions of the first transport device 510 and the second transport device 520 do not affect each other, and the two can work at the same time, that is, the assembly of the gasket 740 and the push rod 730 has a sequence relationship, and the loading inspection of the armature 720 can be carried out simultaneously with the loading inspection of the gasket 740 and the push rod 730, so as to further improve the assembly speed and inspection efficiency.

[0045] According to an embodiment provided by the present invention, the second conveying device 520 includes a first clamping jaw 521 that can rotate around an axis, and the first clamping jaw 521 clamps the armature 720 and places it into the guide cylinder 710 along the axial direction of the guide cylinder 710, and clamps the armature 720 to rotate in the guide cylinder 710, so that the pin 711 on the inner wall of the guide cylinder 710 is inserted into the groove 721 on the outer wall of the armature 720.

[0046] In this embodiment, the second transport device 520 may be a four-axis robot, which includes a four-axis mechanical arm and a first clamp 521 . The four-axis mechanical arm may drive the first clamp 521 to move in the horizontal, longitudinal and vertical directions, and may rotate around a vertical axis. The four-axis robot arm adjusts the position of the first clamp 521 by moving horizontally, longitudinally and vertically, so that the first clamp 521 clamps the armature 720 at the armature feeding device 430 and moves the armature 720. When the first clamp 521 places the armature 720 into the guide cylinder 710, the surrounding robot arms make the first clamp 521 move in a straight line along the axial direction of the guide cylinder 710, and also drive the first clamp 521 to rotate through the vertical rotating shaft, thereby driving the armature 720 to enter the armature 720 in a straight line and rotate at the same time. During the rotation, the groove 721 on the outer wall of the armature 720 is aligned with the pin 711 on the inner wall of the guide cylinder 710. After the pin 711 is inserted into the groove 721, it proves that the assembly of the armature 720 in the guide cylinder 710 is completed.

[0047] In this embodiment, the first clamping jaw 521 may be a pneumatic clamping jaw.

[0048] According to an embodiment provided by the present invention, the first handling device 510 includes a second clamping jaw 512 and a suction cup 511, the suction cup 511 absorbs the pad 740, and the second clamping jaw 512 clamps the ejector pin 730. In this embodiment, the first handling device 510 can be a four-axis robot, which includes a four-axis mechanical arm, a second clamping jaw 512 and a suction cup 511, and the four-axis mechanical arm can drive the second clamping jaw 512 and the suction cup 511 to move in a horizontal, longitudinal, and vertical straight line, and can rotate around a vertical rotation axis.

[0049] The four-axis robot arm adjusts the position of the suction cup 511 by moving in the horizontal, vertical and longitudinal directions, so that the suction cup 511 absorbs the gasket 740 at the gasket feeding device 100 and moves the gasket 740. The four-axis robot arm adjusts the position of the second clamping jaw 512 by moving in the horizontal, vertical and longitudinal directions, so that the second clamping jaw 512 clamps the ejector pin 730 at the ejector pin feeding device 410 and moves the ejector pin 730.

[0050] In this embodiment, the second clamping jaw 512 may be a pneumatic clamping jaw, and the suction cup 511 may be a vacuum suction cup 511 .

[0051] The electromagnet automatic assembly method provided by the present invention is described below. The electromagnet automatic assembly method described below and the electromagnet automatic assembly system described above can be referred to each other.

[0052] like Figures 6 to 8 As shown, an embodiment of the present invention further provides an electromagnet automatic assembly method, which is applied to the electromagnet automatic assembly system as in the above embodiment, comprising: Control the first transport device 510 to transport the gasket 740 from the gasket loading device 100 to the gasket thickness detection device 200; The gasket thickness detection device 200 determines that the thickness of the gasket 740 meets the requirement, and controls the first conveying device 510 to convey the gasket 740 from the gasket thickness detection device 200 to the guide cylinder 710; or, determines that the thickness of the gasket 740 does not meet the requirement, and controls the first conveying device 510 to convey the gasket 740 from the gasket thickness detection device 200 to the waste box 600; The gasket position detection device 300 determines that the position of the gasket 740 in the guide cylinder 710 meets the requirements, controls the first transport device 510 to transport the ejector 730 from the ejector loading device 410 to the ejector positioning device 420, or determines that the position of the gasket 740 in the guide cylinder 710 does not meet the requirements, and issues an alarm; Determine that the first handling device 510 is reliably clamping the ejector rod 730, and place the ejector rod 730 into the ejector rod positioning device 420; or, determine that the first handling device 510 is not reliably clamping the ejector rod 730, and issue an alarm; Determine through the ejector position detection device that there is an ejector 730 in the ejector positioning device 420, and then put the housing 750 upside down on the ejector 730, or determine that there is no ejector 730 in the ejector positioning device 420, and then issue an alarm; The armature 720 is transported from the armature feeding device 430 to the armature detection device through the second transport device 520; The armature detection device determines that the groove 721 of the armature 720 is facing downward, and the armature detection device carries the armature 720 into the guide cylinder 710 through the second carrying device 520. If the groove 721 of the armature 720 is not facing downward, the armature detection device carries the armature 720 into the waste box 600 through the second carrying device 520. Make sure that the pin 711 in the guide cylinder 710 is inserted into the groove 721 of the outer wall of the armature 720, and tighten the push rod 730 through the push rod positioning device 420, or make sure that the pin 711 in the guide cylinder 710 is not inserted into the groove 721 of the outer wall of the armature 720, and carry the armature 720 from the guide cylinder 710 to the waste box 600 through the second carrying device 520; The tightening detection device determines that the tightening force of the push rod 730 meets the requirements, and the product consisting of the push rod 730, the armature 720 and the gasket 740 is conveyed to the next process, or, if it is determined that the tightening force of the push rod 730 does not meet the requirements, an alarm is issued.

[0053] The automatic assembly method of electromagnets of the embodiment of the present invention provides a flexible automatic assembly method that is compatible with the assembly of electromagnets of different forms, realizes one-click production change, realizes automatic detection and monitoring of quality during the production process, and fully automatic assembly, without the need for human intervention in the assembly process.

[0054] An automatic electromagnet assembly method of the present invention realizes the process flow of automatic assembly, online inspection, and intelligent tightening of the armature 720, gasket 740, and push rod 730 parts in the electromagnet, and completes the processes of automatic feeding of the armature 720, automatic feeding of the gasket 740, automatic feeding of the push rod 730, automatic inspection of the gasket 740, positioning of the push rod 730, intelligent tightening cooperation of the armature 720 and the push rod 730, and automatic inspection of assembly quality, without changing equipment or tooling, and realizes one-key replacement and assembly of armature 720 parts with different structures, and fully automatic assembly of the armature 720, gasket 740, and push rod 730 parts.

[0055] The assembly process automatically inspects quality and records and analyzes informatized data. This assembly method has an informatized production management system and can realize online quality monitoring and machine detection. The specific process is as follows: Process step 1: Automatic online assembly of gasket 740: The first transport device 510 carries the suction cup 511 to transport the gasket 740 from the gasket feeding device 100 to the gasket thickness detection device 200, and puts the gasket 740 that has passed the inspection into the guide cylinder 710, and takes a photo through the gasket position detection device 300 to determine whether it is reliably assembled. The gasket 740 that fails the inspection is placed in the unqualified material box. A gasket 740 is placed in each of the two guide cylinders 710 in the housing 750.

[0056] Process step 2: Automatic online assembly of the ejector pin 730: The first transport device 510 drives the second clamping claw 512 to grab the ejector pins 730 one by one from the ejector pin feeding device 410 and transport them to the ejector pin positioning device 420, and perform secondary positioning on the ejector pin 730 to facilitate the subsequent assembly of the armature 720. Here, the ejector pin position detection device detects the presence of the ejector pin 730. After the detection is qualified, the housing 750 where the guide cylinder 710 with the gasket 740 placed is inverted on the outside of the ejector pin 730. If the detection is unqualified, an alarm is issued to wait for the staff to check.

[0057] Process step three: automatic assembly of the armature 720: the second handling device 520 drives the first clamping claw 521 to grab the armature 720 at the armature feeding device 430 and transport it to the armature detection device, and takes a photo at the armature detection device to identify the position of the groove 721 on the armature 720, so as to ensure that the armature 720 groove 721 is installed downward into the guide cylinder 710. The unqualified armature 720 is placed in the unqualified material box, and the qualified armature 720 is placed in the guide cylinder 710. The second handling device 520 drives the armature 720 to rotate and move downward until the groove 721 of the armature 720 is aligned with the pin 711 on the guide cylinder 710. After the armature 720 sinks into place, the second handling device 520 withdraws.

[0058] The above steps are performed twice to complete the assembly of two armatures 720 at the positions of two guide cylinders 710 in one housing 750 .

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic electromagnet assembly system, characterized in that: It includes a handling device, a gasket feeding device, a gasket thickness detection device and a push rod armature assembly device. The gasket thickness detection device is suitable for detecting the thickness of the gasket. The handling device is suitable for carrying the gasket of the gasket feeding device to the gasket detection device, and carrying the qualified gasket into the guide cylinder, and then carrying the push rod and armature on the push rod armature assembly device into the guide cylinder.

2. The electromagnet automatic assembly system according to claim 1, characterized in that: It also includes a gasket position detection device, which is suitable for detecting the position of the gasket in the guide cylinder.

3. The electromagnet automatic assembly system according to claim 1 or 2, characterized in that: The ejector armature assembly equipment includes an ejector feeding device, an ejector positioning device and an armature feeding device. The ejector positioning device is suitable for positioning the ejector. The conveying equipment is suitable for conveying the ejector on the ejector feeding device to the ejector positioning device, and buckling the shell provided with the guide cylinder on the outside of the ejector, and then conveying the armature on the armature feeding device to between the guide cylinder and the ejector.

4. The electromagnet automatic assembly system according to claim 3, characterized in that: It also includes a push rod position detection device, which is suitable for detecting whether the push rod is in the push rod positioning device.

5. The electromagnet automatic assembly system according to claim 3, characterized in that: An armature detection device is also included, and the armature detection device is suitable for detecting the orientation of the groove of the armature.

6. The electromagnet automatic assembly system according to claim 3, characterized in that: It also includes a tightening detection device, which is suitable for detecting the tightening force between the push rod and the armature.

7. The electromagnet automatic assembly system according to claim 3, characterized in that: The handling equipment comprises a first handling device and a second handling device, wherein the first handling device is suitable for handling the gasket and the push rod, and the second handling device is suitable for handling the armature.

8. The electromagnet automatic assembly system according to claim 7, characterized in that: The second handling device includes a first clamping jaw that can rotate around an axis. The first clamping jaw clamps the armature and places it into the guide cylinder along the axial direction of the guide cylinder, and clamps the armature to rotate in the guide cylinder so that the pin on the inner wall of the guide cylinder is inserted into the groove on the outer wall of the armature.

9. The electromagnet automatic assembly system according to claim 7, characterized in that: The first handling device includes a second clamping jaw and a suction cup, the suction cup absorbs the gasket, and the second clamping jaw clamps the ejector rod.

10. An automatic assembly method for electromagnets, characterized in that: The electromagnet automatic assembly system according to any one of claims 7 to 9 comprises: Control the first transport device to transport the gasket from the gasket feeding device to the gasket thickness detection device; Determine through the gasket thickness detection device that the gasket thickness meets the requirements, control the first conveying device to convey the gasket from the gasket thickness detection device to the guide cylinder, or, determine that the gasket thickness does not meet the requirements, control the first conveying device to convey the gasket from the gasket thickness detection device to the waste box; The gasket position detection device determines that the position of the gasket in the guide cylinder meets the requirements, controls the first transport device to transport the ejector rod from the ejector rod feeding device to the ejector rod positioning device, or determines that the position of the gasket in the guide cylinder does not meet the requirements, and issues an alarm; Determine that the first handling device is reliably clamping the mandrel, and place the mandrel into the mandrel positioning device; or, determine that the first handling device is not reliably clamping the mandrel, and issue an alarm; Determine through the ejector position detection device that there is an ejector in the ejector positioning device, and then put the housing upside down on the ejector, or determine that there is no ejector in the ejector positioning device, and then sound an alarm; The armature is transported from the armature feeding device to the armature detection device through the second transport device; The armature detection device determines that the groove of the armature is facing downward, and the armature detection device carries the armature into the guide cylinder through the second carrying device; and the armature detection device determines that the groove of the armature is not facing downward, and the armature detection device carries the armature into the waste box through the second carrying device; Determine that the pin in the guide cylinder is inserted into the groove of the outer wall of the armature, tighten the push rod by the push rod positioning device, or determine that the pin in the guide cylinder is not inserted into the groove of the outer wall of the armature, and carry the armature to the waste box by the guide cylinder through the second carrying device; The tightening detection device determines that the tightening force of the ejector rod meets the requirements, and the product consisting of the ejector rod, armature and gasket is conveyed to the next process, or, if it is determined that the tightening force of the ejector rod does not meet the requirements, an alarm is issued.

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