Electromagnet automatic assembly system and method

Abstract

The application relates to an electromagnetic iron automatic assembly system and method, and belongs to the technical field of electromagnetic iron production, in particular to an electromagnetic iron automatic assembly system and method. The electromagnetic iron automatic assembly system comprises a carrying device, a gasket feeding device, a gasket thickness detection device and a ejector rod armature assembly device. The gasket thickness detection device is suitable for gasket thickness detection. The carrying device is suitable for carrying the gaskets of the gasket feeding device to the gasket detection device, carrying the qualified gaskets into a guide cylinder and carrying the ejector rod and the armature on the ejector rod armature assembly device into the guide cylinder. The gaskets are pre-detected by the gasket thickness detection device before assembly, so that the thickness of the gaskets is qualified, thereby realizing online automatic detection and monitoring of the gasket quality in the production process. The carrying device is used for carrying and transferring the gaskets, the ejector rod and the armature, thereby realizing the integration of the production line, without the need of offline or replacement of new equipment or tooling, realizing full-automatic production of the assembly process and without manual intervention.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electromagnet production, and particularly relates to an electromagnet automatic assembly system and method. BACKGROUND

[0002] In the prior art, the assembly process of electromagnets is mostly in a manual or semi-automatic form, and in general, no quality inspection is performed on the parts when they are put on line. For example, the thickness of a gasket affects the final extension length of a rod of an electromagnet product, and the thickness needs to be inspected for qualification. However, no detection and screening of the gasket thickness are performed during the assembly process, and therefore, it is impossible to ensure that the electromagnet after assembly is qualified. Moreover, the automatic assembly method is difficult to be compatible with automatic assembly of different types of armatures. SUMMARY

[0003] The present application provides an electromagnet automatic assembly system and method, which is used to solve one of the defects in the prior art. The gasket is pre-detected by a gasket thickness detection device before assembly, so as to ensure that the thickness of the gasket is qualified, thereby realizing online automatic detection and monitoring of the quality of the gasket in the production process. The gasket, the rod and the armature are transferred by a conveying device, so as to realize integration of the production line, without the need to go offline or replace new equipment or tooling, and to realize full-automatic production of the assembly process without manual intervention.

[0004] The present application provides an electromagnet automatic assembly system, which comprises a conveying device, a gasket feeding device, a gasket thickness detection device and a rod and armature assembly device. The gasket thickness detection device is adapted to detect the thickness of the gasket. The conveying device is adapted to convey the gasket of the gasket feeding device to the gasket detection device, and to convey the qualified gasket to a guide cylinder. The rod and armature assembly device is adapted to convey the rod and the armature thereof to the guide cylinder.

[0005] According to the present application, the electromagnet automatic assembly system further comprises a gasket position detection device, which is adapted to detect the position of the gasket in the guide cylinder.

[0006] According to the present application, the electromagnet automatic assembly system further comprises a gasket position detection device, which is adapted to detect the position of the gasket in the guide cylinder.

[0007] According to the present application, the electromagnet automatic assembly system further comprises a rod position detection device, which is adapted to detect whether the rod is in the rod positioning device.

[0008] The electromagnetic iron automatic assembly system according to the present application further comprises an armature detection device adapted to detect the orientation of the groove of the armature.

[0009] The electromagnetic iron automatic assembly system according to the present application further comprises a tightening detection device adapted to detect the tightening force between the ejector rod and the armature.

[0010] The electromagnetic iron automatic assembly system according to the present application, wherein the conveying device comprises a first conveying device adapted to convey the gasket and the ejector rod, and a second conveying device adapted to convey the armature.

[0011] The electromagnetic iron automatic assembly system according to the present application, wherein the second conveying device comprises a first gripper capable of rotating around an axis, the first gripper being adapted to place the armature into the guide cylinder along the axial direction of the guide cylinder and to rotate the armature 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] The electromagnetic iron automatic assembly system according to the present application, wherein the first conveying device comprises a second gripper and a suction cup, the suction cup being adapted to adsorb the gasket, and the second gripper being adapted to hold the ejector rod.

[0013] The present application further provides an electromagnetic iron automatic assembly method applied to the electromagnetic iron automatic assembly system as described above, comprising:

[0014] controlling the first conveying device to convey the gasket from the gasket feeding device to the gasket thickness detection device;

[0015] determining, by the gasket thickness detection device, whether the thickness of the gasket meets the requirements, and controlling the first conveying device to convey the gasket from the gasket thickness detection device to the guide cylinder, or determining that the thickness of the gasket does not meet the requirements and controlling the first conveying device to convey the gasket from the gasket thickness detection device to the waste box;

[0016] determining, by the gasket position detection device, whether the position of the gasket in the guide cylinder meets the requirements, and controlling the first conveying device to convey the ejector rod from the ejector rod feeding device to the ejector rod positioning device, or determining that the position of the gasket in the guide cylinder does not meet the requirements and issuing an alarm;

[0017] determining whether the first conveying device holds the ejector rod reliably and placing the ejector rod into the ejector rod positioning device, or determining that the first conveying device does not hold the ejector rod reliably and issuing an alarm;

[0018] determining, by the ejector rod position detection device, whether the ejector rod positioning device contains the ejector rod and placing the shell upside down on the ejector rod, or determining that the ejector rod positioning device does not contain the ejector rod and issuing an alarm;

[0019] transporting the armature from the armature detection device to the guide cylinder by the second transporting device, determining that the recess of the armature is not downward, and transporting the armature from the armature detection device to the waste box by the second transporting device;

[0020] transporting the armature from the armature detection device to the guide cylinder by the second transporting device, determining that the recess of the armature is not downward, and transporting the armature from the armature detection device to the waste box by the second transporting device;

[0021] determining that the pin in the guide cylinder is inserted into the recess of the outer wall of the armature, tightening the jack rod by the jack rod positioning device, or determining that the pin in the guide cylinder is not inserted into the recess of the outer wall of the armature, transporting the armature from the guide cylinder to the waste box by the second transporting device;

[0022] determining that the tightening force of the jack rod meets the requirements by the tightening detection device, conveying the product composed of the jack rod, the armature and the gasket to the next process, or determining that the tightening force of the jack rod does not meet the requirements, and issuing an alarm.

[0023] The electromagnetic iron automatic assembly system provided by the present application mainly comprises a transporting device, a gasket feeding device, a gasket thickness detection device and a jack rod and armature assembly device. The transporting device is used for position transfer of the gasket, the jack 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 acquired and transferred by the transporting device. In the process of armature assembly, the transporting device first takes out the gasket from the gasket feeding device, and then transports the gasket to the gasket thickness detection device. The gasket thickness is detected by the gasket thickness detection device. The gasket with qualified thickness is put into the guide cylinder by the transporting device. Finally, the transporting device transports the jack rod and the armature into the guide cylinder, and combines with the gasket to form an electromagnetic iron assembly product.

[0024] Compared with the existing armature assembly system, the present application performs pre-detection on the gasket before assembly by the gasket thickness detection device, ensures that the thickness of the gasket is qualified, thereby realizing online automatic detection and monitoring of the quality of the gasket in the production process. The transporting device is used for transporting and transferring the gasket, the jack rod and the armature, thereby realizing the integration of the production line, without the need of offline or replacement of new equipment or tooling, realizing fully automatic production of the assembly process, and without the need of manual intervention. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0026] Figure 1 is a structural schematic diagram of the electromagnetic iron automatic assembly system provided by the embodiment of the present application.

[0027] Figure 2 is a structural schematic diagram of an electromagnet product provided by an embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of a first carrying device, a gasket loading device and a gasket thickness detection device of an electromagnet automatic assembly system provided by an embodiment of the present application;

[0029] Figure 4 is a structural schematic diagram of a first carrying device, a ejector rod loading device and a waste box of an electromagnet automatic assembly system provided by an embodiment of the present application;

[0030] Figure 5 is a structural schematic diagram of an ejector rod positioning device of an electromagnet automatic assembly system provided by an embodiment of the present application;

[0031] Figure 6 is a flow schematic diagram of a gasket assembly step of an electromagnet automatic assembly method provided by an embodiment of the present application;

[0032] Figure 7 is a flow schematic diagram of an ejector rod assembly step of an electromagnet automatic assembly method provided by an embodiment of the present application;

[0033] Figure 8 is a flow schematic diagram of an armature assembly step of an electromagnet automatic assembly method provided by an embodiment of the present application.

[0034] Reference signs:

[0035] 100, gasket loading device; 200, gasket thickness detection device; 300, gasket position detection device;

[0036] 410, ejector rod loading device; 420, ejector rod positioning device; 430, armature loading device; 431, loading machine; 432, second tray;

[0037] 510, first carrying device; 511, suction cup; 512, second clamping jaw; 520, second carrying device; 521, first clamping jaw;

[0038] 600, waste box;

[0039] 710, guide cylinder; 711, pin; 720, armature; 721, groove; 730, ejector rod; 740, gasket; 750, shell. DETAILED DESCRIPTION

[0040] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the drawings in the present application. Obviously, the described embodiments are only a part of embodiments of the present application, but not all embodiments of the present application. Based upon the embodiments in the present application, all other embodiments obtained by those ordinarily skilled in the art without creative effort should fall into the scope of the present application.

[0041] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the embodiments of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0042] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0043] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be 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 "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only means that the horizontal height of the first feature is less than that of the second feature.

[0044] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0045] As shown in Figures 1 to 5 The electromagnetic iron automatic assembly system provided by the embodiment of the present application includes a carrying device, a gasket feeding device 100, a gasket thickness detection device 200, and a ejector rod 730 armature 720 assembly device. The gasket thickness detection device 200 is adapted to detect the thickness of the gasket 740. The carrying device is adapted to carry the gasket 740 of the gasket feeding device 100 to the gasket 740 detection device, and then carry the qualified gasket 740 into the guide cylinder 710. Then, the ejector rod 730 and the armature 720 on the ejector rod 730 armature 720 assembly device are carried into the guide cylinder 710.

[0046] The electromagnetic iron automatic assembly system of the embodiment of the present application mainly consists of a carrying device, a gasket feeding device 100, a gasket thickness detection device 200, and a ejector rod 730 armature 720 assembly device. The carrying device is used to transfer the position of the gasket 740, the ejector rod 730 and the armature 720 in the assembly system. The gasket feeding device 100 is used to prepare the gasket 740 feeding work. The gasket 740 is dispersed into a state that can be acquired and transferred by the carrying device. In the process of assembling the electromagnetic iron, the carrying device first takes out the gasket 740 from the gasket feeding device 100, and then carries it to the gasket thickness detection device 200. The thickness of the gasket 740 is detected by the gasket thickness detection device 200. The gasket 740 with qualified thickness is put into the guide cylinder 710 by the carrying device. Finally, the carrying device carries the ejector rod 730 and the armature 720 into the guide cylinder 710, and combines with the gasket 740 to form an electromagnetic iron assembly product.

[0047] Compared with the electromagnetic iron assembly system of the prior art, the present application detects the gasket 740 in advance by the gasket thickness detection device 200 before assembly, ensures the thickness of the gasket 740, and realizes the online automatic detection and monitoring of the quality of the gasket 740 in the production process. The carrying device is used to carry and transfer the gasket 740, the ejector rod 730 and the armature 720, realize the integration of the production line, and do not need to be offline or replace new equipment or tooling. The automatic production of the assembly process is realized without manual intervention.

[0048] In the embodiment, the gasket loading device 100 comprises a hopper and a flexible vibration disc. The gasket 740 is manually unpacked and poured into the hopper. The gasket 740 in the hopper can fall into the flexible vibration disc according to the requirement of the flexible vibration disc. The gasket 740 in the flexible vibration disc is carried to the gasket thickness detection device 200 by the carrying equipment. The gasket thickness detection device 200 comprises a thickness detection sensor. The thickness detection sensor can obtain the thickness information of the gasket 740 after contacting the upper surface and the lower surface of the gasket 740. Then, the result of whether the gasket 740 is qualified is obtained by analyzing and processing the thickness information.

[0049] According to one embodiment of the present application, the electromagnet automatic assembly system further comprises a gasket position detection device 300. The gasket position detection device 300 is adapted to detect the position of the gasket 740 in the guide cylinder 710. In the embodiment, the electromagnet automatic assembly system mainly comprises the carrying equipment, the gasket loading device 100, the gasket thickness detection device 200, the ejector rod 730 armature 720 assembly equipment and the gasket position detection device 300. After the gasket 740 with qualified thickness is placed in the guide cylinder 710 by the carrying equipment, whether the gasket 740 is placed in place in the guide cylinder 710 is detected by the gasket position detection device 300.

[0050] In the embodiment, the gasket position detection device 300 can adopt a visual camera. After the gasket 740 is placed in the guide cylinder 710, the guide cylinder 710 is photographed. Whether the gasket 740 in the guide cylinder 710 is placed in place is analyzed and judged by processing and analyzing the obtained image.

[0051] In the embodiment, the gasket position detection device 300 can adopt a visual camera. After the gasket 740 is placed in the guide cylinder 710, the guide cylinder 710 is photographed. Whether the gasket 740 in the guide cylinder 710 is placed in place is analyzed and judged by processing and analyzing the obtained image.

[0052] According to one embodiment of the present application, the ejector rod 730 armature 720 assembly equipment comprises an ejector rod loading device 410, an ejector rod positioning device 420 and an armature loading device 430. The ejector rod positioning device 420 is adapted to position the ejector rod 730. The carrying equipment is adapted to carry the ejector rod 730 on the ejector rod loading device 410 to the ejector rod positioning device 420, to reversely buckle the shell 750 provided with the guide cylinder 710 on the outside of the ejector rod 730, and to carry the armature 720 on the armature loading device 430 to the guide cylinder 710 and the ejector rod 730.

[0053] In this embodiment, the top rod 730 armature 720 assembly equipment is mainly composed of a top rod feeding device 410, a top rod positioning device 420, and an armature feeding device 430. The top rod 730 and the armature 720 are respectively fed and assembled. After the carrying equipment puts the gasket 740 with qualified thickness into the guide cylinder 710, the position of the gasket 740 in the guide cylinder 710 is detected, and then the separate assembly of the top rod 730 and the armature 720 is performed.

[0054] The top rod feeding device 410 performs top rod 730 feeding preparation work, and disperses the top rod 730 into a state that can be obtained and transferred by the carrying equipment. During the assembly of the electromagnet, the carrying equipment first takes out the top rod 730 from the top rod feeding device 410, and then carries it to the top rod positioning device 420. The top rod positioning device 420 is used to calibrate and fix the position of the top rod 730, which facilitates the subsequent assembly of the armature 720. The carrying equipment then reversely buckles the shell 750 outside the top rod 730, and the gasket 740 is built into the position of the guide cylinder 710 arranged in the shell 750. In this way, the relative assembly of the gasket 740 and the top rod 730 is achieved. The guide cylinder 710 is sleeved outside the top rod 730. Finally, the carrying equipment carries the armature 720 on the armature feeding device 430 to the position between the guide cylinder 710 and the top rod 730. In this way, the top rod 730, the armature 720, and the gasket 740 are combined to form an electromagnet assembly product.

[0055] The present application can be used for two different forms of electromagnet assembly. One is that the top rod 730, the armature 720, and the gasket 740 are independent of each other and are assembled separately. The other is that the top rod 730 and the armature 720 are pre-combined into one body and then assembled with the gasket 740. When the top rod 730 and the armature 720 are integrated, the carrying equipment directly carries the integrated top rod 730 and armature 720 to the top rod positioning device 420, and then assembles the shell 750 of the guide cylinder 710 with the top rod 730 and the armature 720. For the integrated structure of the top rod 730 and the armature 720, the carrying equipment only needs to take the integrated part from the tray and put it into the guide cylinder 710 of the shell 750. Under this assembly process, there is no separate feeding and assembly process of the gasket 740 and the top rod 730. Therefore, the present application can be compatible with the assembly of two different forms of electromagnet armatures 720, and realize flexible assembly process.

[0056] In this embodiment, the ejector rod feeding device 410 includes a first tray, the ejector rod 730 is manually stacked on the first tray which is in and out, and is carried by the carrying device to the ejector rod positioning device 420 one by one, the ejector rod positioning device 420 includes at least two limiting adjustment blocks, the two limiting adjustment blocks can adjust the position of the ejector rod 730 from two different directions, so as to ensure that the ejector rod 730 is upright without inclination. The armature feeding device 430 includes a feeding machine 431 and a second tray 432, the armature 720 is first manually stacked on the feeding machine 431, the second tray 432 automatically runs to the material taking position of the feeding machine 431, and the carrying device takes out the armature 720 from the second tray 432 at the material taking position and puts it between the guide cylinder 710 and the ejector rod 730.

[0057] According to one embodiment of the present application, the electromagnet automatic assembly system further includes an ejector rod position detection device, which is suitable for detecting whether the ejector rod 730 is in the ejector rod positioning device 420. In this embodiment, the electromagnet automatic assembly system mainly includes a carrying device, a gasket feeding device 100, a gasket thickness detection device 200, an ejector rod 730 armature 720 assembly device, and an ejector rod position detection device. After the carrying device puts the ejector rod 730 into the ejector rod positioning device 420, the ejector rod position detection device detects whether the ejector rod 730 is in the ejector rod positioning device 420.

[0058] The position detection of the ejector rod 730 before assembly by the ejector rod position detection device ensures that the ejector rod 730 is carried into the ejector rod positioning device 420 by the carrying device, avoiding the problem that the carrying device moves and the moving path is completed, but the ejector rod 730 fails to be effectively put into the ejector rod positioning device 420, so as to realize online automatic detection and monitoring of the existence of the ejector rod 730 in the production process.

[0059] According to one embodiment of the present application, 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 includes a carrying device, a gasket feeding device 100, a gasket thickness detection device 200, an ejector rod 730 armature 720 assembly device, an ejector rod position detection device, and an armature detection device. After the carrying device takes down the armature 720 from the armature feeding device 430 and puts it in, the armature detection device detects the orientation of the groove 721 of the armature 720.

[0060] The position detection of the armature 720 before assembly by the armature 720 position detection device ensures that the armature 720 is put into the guide cylinder 710 with the groove 721 downward by the carrying device, so as to realize online automatic detection and monitoring of the assembly position of the armature 720 in the production process.

[0061] In the embodiment, the armature 720 position detection device can adopt a visual camera, and the position of the groove 721 on the armature 720 is recognized by taking a picture through the visual camera, so as to ensure that the armature 720 groove 721 is downwardly assembled into the guide cylinder 710.

[0062] According to one embodiment of the present application, the electromagnet automatic assembly system further comprises a tightening detection device, which is adapted to detect the tightening force between the ejector rod 730 and the armature 720. In the embodiment, the electromagnet automatic assembly system mainly comprises the conveying device, the gasket feeding device 100, the gasket thickness detection device 200, the ejector rod 730 and armature 720 assembly device, the ejector rod position detection device, the armature detection device and the tightening detection device. The conveying device puts the armature 720 with the qualified groove 721 position into the guide cylinder 710, and after being put into position, the ejector rod positioning device 420 tightens the ejector rod 730 and the armature 720. The tightening detection device can detect the tightening force applied between the ejector rod 730 and the armature 720 in real time during the tightening process.

[0063] In the embodiment, the tightening detection device can detect the tightening force applied on the ejector rod 730 by the ejector rod positioning device 420, so as to make the connection between the ejector rod 730 and the armature 720 meet the requirements, thereby realizing the online automatic detection and monitoring of the connection between the ejector rod 730 and the armature 720 in the production process.

[0064] According to one embodiment of the present application, the conveying device comprises a first conveying device 510 and a second conveying device 520. The first conveying device 510 is adapted to convey the gasket 740 and the ejector rod 730, and the second conveying device 520 is adapted to convey the armature 720. In the embodiment, the conveying device mainly comprises the first conveying device 510 and the second conveying device 520, that is, two conveying devices are arranged on the production line in the assembly system of the present application. The first conveying device 510 is mainly used for conveying the gasket 740 and the ejector rod 730, and the second conveying device 520 is mainly used for conveying the armature 720.

[0065] The actions of the first conveying device 510 and the second conveying device 520 do not affect each other, and the two can work simultaneously. The assembly of the gasket 740 and the ejector rod 730 has a sequence relationship, and the feeding detection of the armature 720 can be performed simultaneously with the feeding detection of the gasket 740 and the ejector rod 730, so as to further improve the assembly speed and the detection efficiency.

[0066] According to one embodiment of the present application, the second conveying device 520 comprises a first clamping jaw 521 which can rotate around an axis. The first clamping jaw 521 clamps the armature 720 and puts 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.

[0067] In this embodiment, the second handling device 520 can be a four-axis robot. The four-axis robot includes a four-axis robotic arm and a first gripper 521. The four-axis robotic arm can drive the first gripper 521 to move in a straight line along the horizontal, vertical and longitudinal directions, and can rotate around a vertical axis. The four-axis robotic arm adjusts the position of the first gripper 521 by moving laterally, longitudinally, and vertically, so that the first gripper 521 grips the armature 720 at the armature feeding device 430 and moves the armature 720. When the first gripper 521 places the armature 720 into the guide cylinder 710, the surrounding robotic arms move the first gripper 521 linearly along the axis of the guide cylinder 710, and at the same time drive the first gripper 521 to rotate through the vertical rotating shaft, thereby driving the armature 720 to rotate while moving linearly into the guide cylinder 710. 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 armature 720 is assembled in the guide cylinder 710.

[0068] In this embodiment, the first gripper 521 can be a pneumatic gripper.

[0069] According to one embodiment of the present invention, the first handling device 510 includes a second gripper 512 and a suction cup 511. The suction cup 511 adsorbs a pad 740, and the second gripper 512 grips a top rod 730. In this embodiment, the first handling device 510 may be a four-axis robot, which includes a four-axis robotic arm, a second gripper 512, and a suction cup 511. The four-axis robotic arm can drive the second gripper 512 and the suction cup 511 to move in a straight line along the horizontal, vertical, and longitudinal directions, and can rotate about a vertical axis.

[0070] The four-axis robotic arm adjusts the position of the suction cup 511 by moving laterally, longitudinally, and vertically, so that the suction cup 511 picks up the pad 740 at the pad feeding device 100 and moves the pad 740. The four-axis robotic arm adjusts the position of the second gripper 512 by moving laterally, longitudinally, and vertically, so that the second gripper 512 picks up the top rod 730 at the top rod feeding device 410 and moves the top rod 730.

[0071] In this embodiment, the second gripper 512 can be a pneumatic gripper, and the suction cup 511 can be a vacuum suction cup 511.

[0072] The automatic electromagnet assembly method provided by the present invention is described below. The automatic electromagnet assembly method described below can be referred to in correspondence with the automatic electromagnet assembly system described above.

[0073] like Figures 6 to 8 As shown, this embodiment of the invention also provides an automatic electromagnet assembly method, applied to the automatic electromagnet assembly system as described above, comprising:

[0074] The first carrying device 510 carries the gasket 740 from the gasket feeding device 100 to the gasket thickness detection device 200;

[0075] When the gasket thickness detection device 200 determines that the thickness of the gasket 740 meets the requirements, the first carrying device 510 carries the gasket 740 from the gasket thickness detection device 200 to the guide cylinder 710, or when the gasket thickness detection device 200 determines that the thickness of the gasket 740 does not meet the requirements, the first carrying device 510 carries the gasket 740 from the gasket thickness detection device 200 to the waste box 600;

[0076] When the gasket position detection device 300 determines that the position of the gasket 740 in the guide cylinder 710 meets the requirements, the first carrying device 510 carries the top rod 730 from the top rod feeding device 410 to the top rod positioning device 420, or when the gasket position detection device 300 determines that the position of the gasket 740 in the guide cylinder 710 does not meet the requirements, an alarm is issued;

[0077] When the first carrying device 510 determines that the top rod 730 is clamped reliably, the top rod 730 is placed into the top rod positioning device 420, or when the first carrying device 510 determines that the top rod 730 is not clamped reliably, an alarm is issued;

[0078] When the top rod position detection device determines that the top rod 730 exists in the top rod positioning device 420, the shell 750 is inverted and buckled on the top rod 730, or when the top rod position detection device determines that the top rod 730 does not exist in the top rod positioning device 420, an alarm is issued;

[0079] The second carrying device 520 carries the armature 720 from the armature feeding device 430 to the armature detection device;

[0080] When the armature detection device determines that the groove 721 of the armature 720 is downward, the second carrying device 520 carries the armature 720 from the armature detection device to the guide cylinder 710, or when the armature detection device determines that the groove 721 of the armature 720 is not downward, the second carrying device 520 carries the armature 720 from the armature detection device to the waste box 600;

[0081] When the pin 711 in the guide cylinder 710 is inserted into the groove 721 on the outer wall of the armature 720, the top rod 730 is tightened by the top rod positioning device 420, or when the pin 711 in the guide cylinder 710 is not inserted into the groove 721 on the outer wall of the armature 720, the second carrying device 520 carries the armature 720 from the guide cylinder 710 to the waste box 600;

[0082] When the tightening detection device determines that the tightening force of the top rod 730 meets the requirements, the product composed of the top rod 730, the armature 720 and the gasket 740 is transported to the next process, or when the tightening detection device determines that the tightening force of the top rod 730 does not meet the requirements, an alarm is issued.

[0083] The electromagnetic iron automatic assembly method of the embodiment of the present application provides a flexible automatic assembly method, can be compatible with assembly of electromagnetic iron of different forms, realizes one-key production change, realizes automatic detection and monitoring of quality in the production process, full-automatic assembly, and does not need manual intervention in the assembly process.

[0084] The electromagnetic iron automatic assembly method of the present application realizes a process flow of automatic assembly, online inspection and intelligent tightening of the armature 720, the gasket 740 and the ejector rod 730 parts in the electromagnetic iron, completes the automatic feeding of the armature 720, the automatic feeding of the gasket 740, the automatic feeding of the ejector rod 730, the automatic detection of the gasket 740, the positioning of the ejector rod 730, the intelligent tightening and cooperation of the armature 720 and the ejector rod 730, automatic inspection of assembly quality and other processes, does not need to replace equipment or tooling, realizes one-key production change assembly of the armature 720 parts of different structures, and full-automatic assembly of the armature 720, the gasket 740 and the ejector rod 730 parts.

[0085] Automatic inspection of quality and information data record analysis in the assembly process, the assembly method has an information production management system and can realize online quality monitoring machine detection. The specific process is as follows:

[0086] Process step one: automatic online assembly of the gasket 740: the first carrying device 510 carries the suction cup 511 to carry the gasket 740 from the gasket feeding device 100 to the gasket thickness detection device 200, puts the qualified gasket 740 into the guide cylinder 710, and takes a photo through the gasket position detection device 300 to judge whether reliable assembly is realized. The unqualified gasket 740 is put into the unqualified product box. One gasket 740 is respectively placed in each of the two guide cylinders 710 in the shell 750.

[0087] Process step two: automatic online assembly of the ejector rod 730: the first carrying device 510 drives the second jaw 512 to grab the ejector rod 730 from the ejector rod feeding device 410 one by one and carry it to the ejector rod positioning device 420 to position the ejector rod 730 for the second time, so as to facilitate subsequent assembly of the armature 720. Here, the presence or absence of the ejector rod 730 is detected through the ejector rod position detection device, after the detection is qualified, the shell 750 in which the guide cylinder 710 in which the gasket 740 has been placed is inverted and placed outside the ejector rod 730. If the detection is unqualified, an alarm is sent to wait for the staff to check.

[0088] Process step three: automatic assembly of armature 720: the second carrying device 520 drives the first gripper 521 to grab the armature 720 at the armature feeding device 430 and carry it to the armature detection device, where the position of the groove 721 on the armature 720 is identified by taking a picture, so as to ensure that the groove 721 of the armature 720 is downwardly assembled into the guide cylinder 710. The unqualified armature 720 is put into the unqualified box, and the qualified armature 720 is put into the guide cylinder 710. The second carrying 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, and then the second carrying device 520 is withdrawn after the armature 720 is sunk into place.

[0089] The above process is performed twice, and the assembly of two armatures 720 in the positions of the two guide cylinders 710 in the shell 750 is completed.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalent features. The modification or replacement does not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An electromagnet automatic assembly system, characterized by, The device comprises a carrying device, a gasket loading device, a gasket thickness detection device, and a ejector rod armature assembly device, the gasket thickness detection device is suitable for detecting the thickness of the gasket, the carrying device is suitable for carrying the gasket of the gasket loading device to the gasket thickness detection device, and carrying the qualified gasket to the guide cylinder, and then carrying the ejector rod and the armature of the ejector rod armature assembly device to the guide cylinder; The ejector rod armature assembly device comprises an ejector rod loading device, an ejector rod positioning device, and an armature loading device, the ejector rod positioning device is suitable for positioning the ejector rod, the carrying device is suitable for carrying the ejector rod of the ejector rod loading device to the ejector rod positioning device, and then screwing the housing provided with the guide cylinder to the outside of the ejector rod, and then carrying the armature of the armature loading device to the guide cylinder and the ejector rod; Further comprising an armature detection device, the armature detection device is suitable for detecting the direction of the groove of the armature; The carrying device comprises a first carrying device and a second carrying device, the first carrying device is suitable for carrying the gasket and the ejector rod, and the second carrying device is suitable for carrying the armature; The second carrying device comprises a first clamping jaw which can rotate around an axis, the first clamping jaw clamps the armature and puts it into the guide cylinder along the axial direction of the guide cylinder, and rotates the armature in the guide cylinder, so that the pin of the inner wall of the guide cylinder is inserted into the groove of the outer wall of the armature; Further comprising a gasket position detection device, the gasket position detection device is suitable for detecting the position of the gasket in the guide cylinder; The gasket thickness detection device comprises a thickness detection sensor, the thickness detection sensor can obtain the thickness information of the gasket after contacting the upper surface and the lower surface of the gasket, and then obtains the result of whether the gasket is qualified through analyzing and processing the thickness information; The gasket position detection device can adopt a visual camera, after the gasket is put into the guide cylinder, the guide cylinder is photographed, and whether the gasket in the guide cylinder is placed in place is determined through image acquisition, processing, analysis and judgment.

2. The electromagnet automatic assembly system of claim 1, wherein Further comprising an ejector rod position detection device, the ejector rod position detection device is suitable for detecting whether the ejector rod is in the ejector rod positioning device.

3. The electromagnet automatic assembly system of claim 2, wherein, Further comprising a tightening detection device, the tightening detection device is suitable for detecting the tightening force between the ejector rod and the armature.

4. The electromagnet automatic assembly system of claim 3, wherein The first carrying device comprises a second clamping jaw and a suction cup, the suction cup adsorbs the gasket, and the second clamping jaw clamps the ejector rod.

5. An electromagnet automatic assembly method characterized by, The device is applied to the automatic assembly system of the electromagnet of claim 4, and comprises: The first carrying device is controlled to carry the gasket from the gasket loading device to the gasket thickness detection device; The thickness of the gasket is determined by the gasket thickness detection device, if the thickness meets the requirements, the first carrying device is controlled to carry the gasket from the gasket thickness detection device to the guide cylinder, or if the thickness does not meet the requirements, the first carrying device is controlled to carry the gasket from the gasket thickness detection device to the waste box. The gasket position detection device determines whether the position of the gasket in the guide cylinder meets the requirements, and controls the first carrying device to carry the ejector pin from the ejector pin feeding device to the ejector pin positioning device, or determines that the position of the gasket in the guide cylinder does not meet the requirements, and issues an alarm; The first carrying device reliably clamps the ejector pin, and the ejector pin is placed into the ejector pin positioning device, or the first carrying device does not reliably clamp the ejector pin, and an alarm is issued; The ejector pin position detection device determines whether the ejector pin positioning device contains the ejector pin, and the shell is inverted and placed on the ejector pin, or determines that the ejector pin positioning device does not contain the ejector pin, and an alarm is issued; The second carrying device carries the armature from the armature feeding device to the armature detection device; The armature detection device determines whether the groove of the armature faces downward, and the second carrying device carries the armature from the armature detection device into the guide cylinder, determines that the groove of the armature does not face downward, and the second carrying device carries the armature from the armature detection device into the waste box; The pin in the guide cylinder is inserted into the groove in the outer wall of the armature, and the ejector pin positioning device is tightened, or the pin in the guide cylinder is not inserted into the groove in the outer wall of the armature, and the second carrying device carries the armature from the guide cylinder into the waste box; The tightening detection device determines whether the tightening force of the ejector pin meets the requirements, and the product composed of the ejector pin, the armature and the gasket is transported into the next process, or determines that the tightening force of the ejector pin does not meet the requirements, and an alarm is issued.

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