Manipulator for coding and boxing neodymium-iron-boron permanent magnets

Abstract

The invention relates to the technical field of neodymium iron boron boxing, in particular to a neodymium iron boron permanent magnet coding and boxing manipulator which comprises a robot, a shell, an inner connecting frame, a sliding frame and a clamping piece. According to the manipulator for coding and boxing of the neodymium-iron-boron permanent magnet, the two sliding frames push each other, the sliding frames can slide in the inner connecting frame, a gear ring is matched with a linkage rack, a sliding shaft can be driven to rotate, the sliding shaft drives clamping pieces to rotate, at the moment, the two clamping pieces rotate in the opposite directions, and the clamping pieces are clamped in the clamping pieces; the neodymium-iron-boron magnet slides in the arc-shaped groove, the step face can abut against the bottom of the neodymium-iron-boron magnet to support the neodymium-iron-boron magnet, when the two clamping pieces synchronously and reversely rotate, upward lifting force can be applied to the neodymium-iron-boron magnet, and therefore the neodymium-iron-boron magnet can be conveniently limited.

Description

Technical Field

[0001] The invention relates to the technical field of NdFeB box packaging, and in particular to a manipulator for coding and box packaging of NdFeB permanent magnets. Background Art

[0002] NdFeB permanent magnet material is a permanent magnet material based on the intermetallic compound Nd2Fe14B. Compared with cast Al-Ni-Co permanent magnet materials and ferrite permanent magnet materials, NdFeB has extremely high magnetic energy product and coercive force, and can absorb objects 640 times its own weight. The advantage of high energy density makes NdFeB permanent magnet material widely used in modern industry and electronic technology. This magnet is the permanent magnet with magnetic properties second only to absolute zero holmium magnet, and is also the most commonly used rare earth magnet.

[0003] The production of NdFeB magnets is a complex process involving multiple steps, including raw material preparation, smelting, powder making, molding, sintering, machining, surface treatment, testing, packaging, etc. Each link is crucial and has a direct impact on the quality of the final product.

[0004] In the process of packing NdFeB magnets, a robot is usually used to grab the NdFeB magnets, and then put them in the box. The NdFeB magnets in the box are arranged in multiple rows, and each row has multiple NdFeB magnets. Multi-row arrangement can make the NdFeB magnets arranged more closely in the box, reduce the gap, and make full use of the box space. In this way, more magnets can be placed in a limited space, improving the efficiency of storage and packaging.

[0005] However, there are many types of NdFeB magnets, and NdFeB magnets include cylindrical magnets with center holes. Since the outer surface of the cylindrical magnet is round and has a smooth surface, when the robot grabs the cylindrical magnet with a center hole, it can only grab the cylindrical magnet one by one, and cannot grab multiple cylindrical magnets synchronously. Moreover, when the robot grabs its cylindrical magnet, it will be transferred to the boxing place for boxing. When the robot swings, its motion trajectory usually includes acceleration, deceleration, and turning. During these processes, due to the effect of inertia, its cylindrical magnet will be affected by centrifugal force and tangential force, thereby generating a throwing force. The throwing force may cause the cylindrical magnet to shift in the robot, causing relative sliding between the cylindrical magnet and the grasping part of the robot. If the throwing force is too large, the cylindrical magnet may completely leave the grasping range of the robot, resulting in boxing failure. Summary of the invention

[0006] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a NdFeB permanent magnet coding and boxing robot to solve the problem that some of the above robots can only grab a single cylindrical magnet and cannot grab multiple cylindrical magnets synchronously.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A manipulator for coding and boxing neodymium iron boron permanent magnets, including a robot, a grasping mechanism is installed at the execution end of the robot. The grasping mechanism includes a housing installed at the execution end of the robot, and there is an opening on the side of the housing away from the execution end of the robot. Two symmetrically arranged inner connecting frames are provided inside the housing. Sliding frames are provided inside both of the two inner connecting frames. Clamping members are provided inside both of the two sliding frames. The clamping members are circular in shape. Each clamping member has a plurality of arc grooves and step surfaces for clamping and limiting the neodymium iron boron magnet.

[0009] A limiting mechanism is provided inside the housing for lifting and limiting the neodymium iron boron magnet through its central hole.

[0010] Preferably, a sliding shaft is fixed on one side of each clamping member. A sleeve is arranged outside each sliding shaft, and the outer wall of the sliding shaft is rotationally connected to the inner wall of the corresponding sleeve. The sliding shaft deviates from the axis of the corresponding clamping member. Limiting openings adapted to the sleeves are provided on both sides of each sliding frame, and each limiting opening corresponds to a sleeve. The sleeve is slidably connected inside the corresponding limiting opening for limiting the sliding shaft.

[0011] Preferably, a toothed ring is fixed at the end of the sliding shaft extending out of the corresponding limiting opening. Linkage racks are fixed on both sides of each sliding frame, and each linkage rack corresponds to a toothed ring. The toothed ring is meshed with the linkage rack. The linkage rack can drive the clamping member to rotate in cooperation with the toothed ring to apply a lifting force to the grasped neodymium iron boron magnet.

[0012] Preferably, two limiting members are installed on one side of each sliding frame. The limiting member is composed of a cylinder and a disc. One end of the cylinder is fixed on one side wall of the sliding frame, and the other end of the cylinder is fixed on one side wall of the disc. Two positioning holes adapted to the cylinders are provided on one side wall of each inner connecting frame, and each positioning hole corresponds to a cylinder. Each cylinder is slidably connected inside the corresponding positioning hole, and the positioning hole is used for limiting the cylinder.

[0013] Preferably, a first return spring is fixed between the side of each sliding frame and the inner wall of the corresponding inner connecting frame, and each first return spring corresponds to a cylinder. Each cylinder is located inside the corresponding first return spring. The first return spring is used for supporting the sliding frame.

[0014] Preferably, a first top plate is fixed to the top of each inner connecting frame through a first support arm. A sliding block is arranged on the upper side of each first top plate. A plurality of bottom blocks arranged at equal intervals are fixed between the bottom of the sliding block and the top of the first top plate, which is used to support the inner connecting frame, so as to maintain the stability of the inner connecting frame.

[0015] Preferably, a threaded shaft is arranged between the two sliding blocks, and both ends of the threaded shaft are rotatably connected to the inner wall of the housing. The threaded shaft has threaded sections that are symmetrical at both ends, and the directions of the two threaded sections are opposite. Threaded grooves are formed on both sliding blocks, and the sliding blocks are threadedly connected to the threaded sections of the corresponding threaded shafts through the threaded grooves. A driving source is installed on one side of the housing, and the output end of the driving source is fixed to one end of the threaded shaft.

[0016] Preferably, the limiting mechanism includes a fixing plate fixed to the inner wall of the housing. A plurality of cylinders arranged at equal intervals are arranged on the fixing plate. Each cylinder corresponds to a circular cavity. A plurality of circular holes adapted to the cylinders at equal intervals are formed on the fixing plate, and each cylinder corresponds to a circular hole, and each circular hole is slidably connected inside the corresponding circular hole.

[0017] Preferably, two side support members are fixed to the bottom of the cylinder. The two side support members are symmetrically arranged at the bottom of the cylinder. Each side support member is composed of two side plates. A cam is arranged between the two side plates, and both sides of the cam are rotatably connected to the side walls of the side plates through rotating shafts. When the cam rotates, it can drive the neodymium iron boron magnet to move up or down in height.

[0018] Preferably, a linkage plate is fixed to one side of each of the two cams. The linkage plate is located below the cylindrical cavity of the cylinder, and one end of the linkage plate has an arc-shaped surface. A torsion spring is fixed between the side of the cam facing the side plate and the side plate to limit the cam. A push column is slidably connected to the inner wall of the cylinder.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The output end of the driving source drives the threaded shaft to rotate. The threaded shaft drives the two sliding blocks to approach each other through the sliding blocks. The arc-shaped grooves on the sliding frame can limit the neodymium iron boron magnets, so as to facilitate the synchronous clamping of multiple neodymium iron boron magnets for boxing.

[0021] 2. By pushing each other through two sliding brackets, the sliding brackets can slide inside the inner connecting bracket. The cooperation between the toothed ring and the linkage rack can drive the sliding shaft to rotate, and the sliding shaft drives the clamping members to rotate. At this time, the two clamping members rotate in opposite directions, and the neodymium iron boron magnet slides inside the arc-shaped groove, and the stepped surface can abut against the bottom of the neodymium iron boron magnet to support it. When the two clamping members rotate synchronously in opposite directions, an upward lifting force can be applied to the neodymium iron boron magnet, so as to facilitate the limitation of the neodymium iron boron magnet.

[0022] 3. By the sliding of the first end plate and the second end plate, the linkage block can drive the cylinder to move downward inside the circular hole and slide into the central hole of the neodymium iron boron magnet. Then the second top plate drives the push rod to move downward, and the push rod abuts against the linkage plate to drive the cam to rotate. The cam abuts against the inner wall of the central hole of the neodymium iron boron magnet, so that while limiting the neodymium iron boron magnet, an upward lifting force can be applied to the neodymium iron boron magnet, thereby improving the stability when the neodymium iron boron magnet is grasped and transferred, and avoiding the deviation of the neodymium iron boron magnet caused by the centrifugal force generated when the robot drives the outer shell to transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of the present invention.

[0024] Figure 2 is a schematic structural diagram of the grasping mechanism of the present invention.

[0025] Figure 3 is a schematic three-dimensional cross-sectional structural diagram of the inner connecting bracket of the present invention.

[0026] Figure 4 is a schematic structural diagram of the limiting mechanism of the present invention.

[0027] Figure 5 is a schematic structural diagram of the clamping member of the present invention.

[0028] Figure 6 is a schematic structural diagram of the first three-dimensional cross-section of the fixing plate of the present invention.

[0029] Figure 7 of the present invention Figure 6 is an enlarged structural diagram of part A in

[0030] In the figure:

[0031] 10. Robot;

[0032] 20. Gripping mechanism; 21. Outer shell; 22. Inner connecting frame; 23. Sliding frame; 24. Gripping member; 25. Sliding shaft; 26. Limit opening; 27. Tooth ring; 28. Linkage rack; 29. Limiting member; 210. Positioning hole; 211. First return spring; 212. First top plate; 213. Sliding block; 214. Threaded shaft; 215. Threaded groove; 216. Driving source; 217. Sleeve; 218. Bottom block;

[0033] 30. Limiting mechanism; 31. Fixed plate; 32. Cylinder; 33. Side support member; 34. Cam; 35. Linkage plate; 36. Pushing column; 37. Second top plate; 38. Outer disc; 39. Second return spring; 311. Third return spring; 312. First end plate; 313. Second end plate; 314. Sliding opening; 315. Linkage block; 316. Torsion spring. Detailed implementation mode

[0034] Next, each embodiment of the present invention will be described in detail with reference to the reference appendix Figures 1 to 7 Those skilled in the art should understand that these implementation manners are only used to explain the technical principle of the present invention and are not intended to limit the protection scope of the present invention.

[0035] As shown in the appendix Figures 1 - 7 shown, a manipulator for coding and boxing neodymium iron boron permanent magnets includes:

[0036] A robot 10, and a gripping mechanism 20 is installed at the execution end of the robot 10 for gripping neodymium iron boron magnets.

[0037] The gripping mechanism 20 includes an outer shell 21 installed at the execution end of the robot 10, and the side of the outer shell 21 away from the execution end of the robot 10 has an opening. Two symmetric inner connecting frames 22 are arranged inside the outer shell 21, and there is a gap between one side of each inner connecting frame 22 and the inner wall of the outer shell 21. Sliding frames 23 are arranged inside both inner connecting frames 22, and there is a gap between one side of each sliding frame 23 and the inner wall of the corresponding inner connecting frame 22.

[0038] Gripping members 24 are arranged inside both sliding frames 23. The gripping members 24 are circular in shape. Each gripping member 24 has a plurality of arc grooves and stepped surfaces for gripping and limiting neodymium iron boron magnets. A sliding shaft 25 is fixed to one side of each gripping member 24. A sleeve 217 is arranged outside each sliding shaft 25, and the outer wall of the sliding shaft 25 is rotatably connected to the inner wall of the corresponding sleeve 217. The sliding shaft 25 deviates from the axis of the corresponding gripping member 24. Limit openings 26 adapted to the sleeves 217 are opened on both sides of each sliding frame 23, and each limit opening 26 corresponds to a sleeve 217. The sleeve 217 is slidably connected inside the corresponding limit opening 26 for limiting the sliding shaft 25.

[0039] One end of the sliding shaft 25 extending out of the corresponding limiting opening 26 is fixed with a toothed ring 27. Linkage racks 28 are fixed on both sides of each sliding frame 23, and each linkage rack 28 corresponds to a toothed ring 27. The toothed ring 27 is meshed with the linkage rack 28. The linkage rack 28 cooperating with the toothed ring 27 can drive the clamping member 24 to rotate, applying a lifting force to the grabbed neodymium iron boron magnet, so as to maintain the stability when grabbing the neodymium iron boron.

[0040] Two limit members 29 are installed on one side of each sliding frame 23. The limit member 29 is composed of a cylinder and a disc. One end of the cylinder is fixed on one side wall of the sliding frame 23, and the other end of the cylinder is fixed on one side wall of the disc. Two positioning holes 210 adapted to the cylinder are formed on one side wall of each inner connecting frame 22, and each positioning hole 210 corresponds to a cylinder. Each cylinder is slidably connected inside the corresponding positioning hole 210. The positioning hole 210 is used to limit the cylinder. A first return spring 211 is fixed between one side of each sliding frame 23 and the inner wall of the corresponding inner connecting frame 22, and each first return spring 211 corresponds to a cylinder. Each cylinder is located inside the corresponding first return spring 211. The first return spring 211 is used to support the sliding frame 23, so as to facilitate driving the sliding frame 23 to reset.

[0041] A first top plate 212 is fixed on the top of each inner connecting frame 22 through a first support arm. A sliding block 213 is arranged on the upper side of each first top plate 212. A plurality of bottom blocks 218 arranged at equal intervals are fixed between the bottom of the sliding block 213 and the top of the first top plate 212, which is used to support the inner connecting frame 22, so as to maintain the stability of the inner connecting frame 22. A threaded shaft 214 is arranged between the two sliding blocks 213, and both ends of the threaded shaft 214 are rotatably connected to the inner wall of the housing 21. The threaded shaft 214 has threaded sections symmetrical at both ends, and the directions of the two threaded sections of the threaded shaft 214 are opposite. Threaded grooves 215 are formed on both sliding blocks 213, and the sliding blocks 213 are threadedly connected to the threaded sections of the corresponding threaded shaft 214 through the threaded grooves 215. A driving source 216 is installed on one side of the housing 21, and the output end of the driving source 216 is fixed on one end of the threaded shaft 214.

[0042] When the device is in use, the control system controls the robot 10 to drive the housing 21 to move to the neodymium iron boron magnet. Since multiple neodymium iron boron magnets are packed in a group, when the execution end of the robot 10 first drives the housing 21 to move above the neodymium iron boron magnet, and then drives the housing 21 to move downward, so that the two inner connecting frames 22 are located on one side of a group of neodymium iron boron magnets. Then the control system turns on the drive source 216, and the output end of the drive source 216 drives the threaded shaft 214 to rotate. The threaded shaft 214 drives the two sliding blocks 213 to slide towards the middle through the threaded section, and the two sliding blocks 213 approach each other. The sliding block 213 drives the inner connecting frame 22 to slide towards the neodymium iron boron magnet through the bottom block 218.

[0043] Since the arc grooves of the two clamping members 24 are both arc-shaped, and when the two clamping members 24 are closed, the arc grooves on the two clamping members 24 can cooperate with each other to limit a circular cavity for accommodating the circular neodymium iron boron magnet. When the two clamping members 24 abut against the surface of the neodymium iron boron magnet, the neodymium iron boron magnets in a group will be respectively located inside the arc grooves of the clamping members 24. As the sliding block 213 continuously slides on the threaded shaft 214, the two clamping members 24 will push each other through the neodymium iron boron magnet, and the sliding frame 23 slides towards the inner wall of the inner connecting frame 22, and the sliding frame 23 squeezes the first return spring 211. The cylinder slides inside the positioning hole 210, the sleeve 217 slides inside the limit opening 26, and the toothed ring 27 can drive the sliding shaft 25 to rotate through the linkage rack 28.

[0044] Since the sliding shaft 25 deviates from the axis of the clamping member 24, the amount of rotation of the clamping member 24 to the position of the neodymium iron boron magnet will increase. Since the arc grooves of the clamping member 24 respectively correspond to a neodymium iron boron magnet, when the sliding shaft 25 drives the clamping member 24 to rotate, the clamping member 24 drives the neodymium iron boron magnet to move upward through the arc groove. When the sliding block 213 slides to the end of the threaded section of the threaded shaft 214, at this time the toothed ring 27 also drives the limiting member 29 to rotate to the limit position. At this time, the stepped surface of the clamping member 24 will be located at the bottom of the neodymium iron boron magnet, that is to say, the bottom of the neodymium iron boron magnet is in contact with the stepped surface of the clamping member 24, so as to maintain the stability of the neodymium iron boron magnet during transfer when it is clamped.

[0045] When the execution end of the robot 10 drives the housing 21 to move to the place where the neodymium iron boron magnet is boxed, and the neodymium iron boron magnet is located, the output end of the drive source 216 drives the threaded shaft 214 to rotate in the reverse direction. At this time, the two sliding blocks 213 move away from each other, and the sliding blocks 213 respectively drive the connected inner connection frames 22 to slide towards the side wall of the housing 21. The first return spring 211 of the inner connection frame 22 changes from the compressed state to the released state, and the tooth ring 27 and the linkage rack 28 cooperate with each other. The tooth ring 27 drives the clamping member 24 to rotate and reset again through the sliding shaft 25, and the clamping member 24 drives the clamped neodymium iron boron magnet to move downward, so that the neodymium iron boron magnet slowly moves downward into the box for placement.

[0046] A limiting mechanism 30 is arranged inside the housing 21 for limiting the neodymium iron boron magnet, so as to improve the stability of the neodymium iron boron magnet when it is grasped and transferred.

[0047] The limiting mechanism 30 includes a fixing plate 31 fixed on the inner wall of the housing 21. A plurality of cylinders 32 arranged at equal distances are provided on the fixing plate 31. Each cylinder 32 corresponds to a circular cavity. A plurality of circular holes adapted to the cylinders 32 at equal distances are opened on the fixing plate 31, and each cylinder 32 corresponds to a circular hole, and each circular hole is slidably connected inside the corresponding circular hole.

[0048] Two side support members 33 are fixed at the bottom of the cylinder 32. The two side support members 33 are symmetrically arranged at the bottom of the cylinder 32. Each side support member 33 is composed of two side plates. A cam 34 is arranged between the two side plates, and both sides of the cam 34 are rotationally connected to the side walls of the side plates through rotating shafts. When the cam 34 rotates, it can drive the neodymium iron boron magnet to move up or down in height.

[0049] Linkage plates 35 are fixed on one side of the two cams 34, and the linkage plates 35 are located below the cylindrical cavity of the cylinder 32. One end of the linkage plate 35 has an arc surface. A torsion spring 316 is fixed between the side of the cam 34 facing the side plate and the side plate for limiting the cam 34. A push column 36 is slidably connected to the inner wall of the cylinder 32, and the bottom of the push column 36 has an arc surface. When the downward movement of the push column 36 abuts against the linkage plate 35, it can drive the cam 34 to rotate and drive the neodymium iron boron magnet to move up. When the upward movement of the push column 36 separates from the linkage plate 35, the torsion spring 316 drives the cam 34 to reset, so as to drive the neodymium iron boron magnet to move down.

[0050] A second top plate 37 is fixed to the top of the push column 36. An outer disc 38 is fixed to the outer wall of the cylinder 32. A second return spring 39 is fixed between the bottom of the second top plate 37 and the top of the outer disc 38, which is used to support the second top plate 37, so as to facilitate the reset of the push column 36 that breaks away from the restriction. A third return spring 311 is fixed between the bottom of the outer disc 38 and the top of the fixed plate 31, which is used to support the outer disc 38, so as to facilitate the reset of the cylinder 32.

[0051] A plurality of first end plates 312 arranged at equal distances are fixed to the top of one of the sliding frames 23. A plurality of second end plates 313 arranged at equal distances are fixed to the top of the other sliding frame 23. The first end plates 312 and the second end plates 313 have the same shape. The plurality of first end plates 312 and the second end plates 313 are arranged alternately in sequence. A plurality of sliding openings 314 arranged at equal distances are formed in the tops of the two inner connecting frames 22. The plurality of sliding openings 314 on the two inner connecting frames 22 have the same shape. The plurality of sliding openings 315 correspond to the first end plates 312 and the second end plates 313 respectively, which are used to limit the first end plates 312 and the second end plates 313, so as to maintain the stability of the sliding frame 23 when it slides.

[0052] Linking blocks 315 are fixed to the bottoms of the first end plates 312 and the second end plates 313. The linking blocks 315 are arc-shaped and have a peak top and a peak bottom, which are used to drive the push column 36 to move downward inside the cylinder 32 through the second top plate 37, so as to drive the cam 34 to rotate and slide the neodymium iron boron magnet up and down.

[0053] When the threaded shaft 214 drives the two sliding blocks 213 to approach each other, and the clamping member 24 presses against the neodymium iron boron magnet to drive the sliding frame 23 to slide inside the inner connecting frame 22, the two sliding frames 23 on both sides drive the connected first end plates 312 and the second end plates 313 to move away from each other respectively. Since each first end plate 312 and the second end plate 313 form a group, each first end plate 312 and the second end plate 313 correspond to a second top plate 37, that is to say, each second top plate 37 corresponds to two linking blocks 315, and the second top plate 37 is located between the two corresponding linking blocks 315, and the second top plate 37 is located at the peak bottom of the linking block 315, and the top of the second top plate 37 has an arc-shaped surface.

[0054] When the first end plate 312 and the second end plate 313 move away from each other, the two linkage blocks 315 will squeeze the second top plate 37 against each other, and the second top plate 37 will slide from the bottom of the peak of the linkage block 315 to its peak. Restricted by the second top plate 37, the second top plate 37 drives the cylinder 32 connected to the outer disk 38 to move downward through the second return spring 39. The cylinder 32 slides inside the circular hole. Since the circular hole is located in the middle of the circular cavity formed by the two arc-shaped grooves, the cylinder 32 is located in the middle of the circular cavity. The clamping member 24 first contacts the neodymium iron boron magnet and clamps and positions it, thereby fixing the position of the neodymium iron boron magnet. As the cylinder 32 moves downward, the cylinder 32 will slide into the center of the neodymium iron boron magnet. At this time, the edge of the cam 34 does not expose the bottom edge of the cylinder 32.

[0055] As the cylinder 32 moves downward, after the outer disk 38 compresses the third return spring 311 to the limit position, at this time the second top plate 37 will compress the second return spring 39, and the second top plate 37 drives the push column 36 to move downward inside the cylinder 32. The bottom of the push column 36 abuts against the two linkage plates 35. As the push column 36 moves downward, the push column 36 drives the cam 34 to rotate by driving the linkage plate 35 and applies a rotational force to the torsion spring 316. The convex point of the rotating cam 34 will abut against the inner wall of the center of the neodymium iron boron magnet, thereby limiting the neodymium iron boron magnet. However, as the cam 34 rotates, the cam 34 will also apply an upward thrust to the neodymium iron boron magnet. At this time, the second top plate 37 is at the peak of the linkage block 315, thus preventing the neodymium iron boron magnet from deviating or falling off due to the centrifugal force generated by the swing of the robot 10.

[0056] When the threaded shaft 214 drives the two sliding blocks 213 to move away from each other, the restriction of the linkage block 315 on the second top plate 37 is released, and both the second return spring 39 and the third return spring 311 change from the compressed state to the released state, thereby driving the second top plate 37 to move upward and reset. The linkage plate 35 also disengages from the restriction of the push column 36. The torsion spring 316 drives the released cam 34 to reset. The rotating cam 34 will apply a downward force to the neodymium iron boron magnet, thereby driving the neodymium iron boron magnet to move downward, facilitating the loading of the neodymium iron boron magnet into the box.

[0057] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A robot for coding and packing NdFeB permanent magnets, characterized in that: The invention comprises a robot (10), wherein the execution end of the robot (10) is provided with a grasping mechanism (20), the grasping mechanism (20) comprises a shell (21) installed at the execution end of the robot (10), and the shell (21) has an opening on a side away from the execution end of the robot (10), two symmetrical inner connecting frames (22) are arranged inside the shell (21), a sliding frame (23) is arranged inside the two inner connecting frames (22), a clamping member (24) is arranged inside the two sliding frames (23), the clamping member (24) is circular, and each clamping member (24) has a plurality of arc grooves and a step surface, which are used to clamp and limit the neodymium iron boron magnet; The limiting mechanism (30) is arranged inside the housing (21) and is used to limit the position of the NdFeB magnet and lift it up through the central hole of the NdFeB magnet.

2. The NdFeB permanent magnet coding and boxing robot according to claim 1, characterized in that: A sliding shaft (25) is fixed on one side of each of the clamping members (24), a sleeve (217) is arranged outside each of the sliding shafts (25), and the outer wall of the sliding shaft (25) is rotatably connected to the inner wall of the corresponding sleeve (217), and the sliding shaft (25) deviates from the axis of the corresponding clamping member (24), and limiting openings (26) matching the sleeve (217) are opened on both sides of each sliding frame (23), and each limiting opening (26) corresponds to a sleeve (217), and the sleeve (217) is slidably connected to the inside of the corresponding limiting opening (26) for limiting the sliding shaft (25).

3. The NdFeB permanent magnet coding and boxing robot according to claim 2, characterized in that: A toothed ring (27) is fixed to one end of the sliding shaft (25) extending out of the corresponding limit opening (26), and linkage racks (28) are fixed to both sides of each sliding frame (23), and each linkage rack (28) corresponds to a toothed ring (27), and the toothed ring (27) is meshedly connected with the linkage rack (28), and the linkage rack (28) cooperates with the toothed ring (27) to drive the clamping member (24) to rotate, thereby applying a lifting force to the grasped neodymium iron boron magnet.

4. The NdFeB permanent magnet coding and boxing robot according to claim 3, characterized in that: Two limiting members (29) are installed on one side of each of the sliding frames (23), and the limiting members (29) are composed of a cylinder and a disc, one end of the cylinder is fixed on a side wall of the sliding frame (23), and the other end of the cylinder is fixed on a side wall of the disc, and two positioning holes (210) adapted to the cylinders are opened on one side wall of each inner connecting frame (22), and each positioning hole (210) corresponds to a cylinder, and each cylinder is slidably connected to the inside of the corresponding positioning hole (210), and the positioning hole (210) is used to limit the cylinder.

5. The NdFeB permanent magnet coding and boxing robot according to claim 4, characterized in that: A first return spring (211) is fixed between one side of each sliding frame (23) and the inner wall of the corresponding inner connecting frame (22), and each first return spring (211) corresponds to a cylinder, and each cylinder is located inside the corresponding first return spring (211), and the first return spring (211) is used to support the sliding frame (23).

6. A NdFeB permanent magnet coding and boxing robot according to claim 5, characterized in that: A first top plate (212) is fixed to the top of each inner connecting frame (22) via a first supporting arm, a sliding block (213) is provided on the upper side of each first top plate (212), and a plurality of bottom blocks (218) arranged at equal distances are fixed between the bottom of the sliding block (213) and the top of the first top plate (212) for supporting the inner connecting frame (22) so as to maintain the stability of the inner connecting frame (22).

7. A NdFeB permanent magnet coding and boxing robot according to claim 6, characterized in that: A threaded shaft (214) is arranged between the two sliding blocks (213), and both ends of the threaded shaft (214) are rotatably connected to the inner wall of the outer shell (21), the threaded shaft (214) has threaded sections at both ends that are symmetrical, and the directions of the two threaded shafts (214) are opposite, and the two sliding blocks (213) are both provided with threaded grooves (215), and the sliding blocks (213) are threadedly connected to the threaded sections of the corresponding threaded shafts (214) through the threaded grooves (215), and a driving source (216) is installed on one side of the outer shell (21), and the output end of the driving source (216) is fixed to one end of the threaded shaft (214).

8. The NdFeB permanent magnet coding and boxing robot according to claim 7, characterized in that: The limiting mechanism (30) comprises a fixing plate (31) fixed on the inner wall of the outer shell (21), a plurality of cylinders (32) arranged at equal distances are arranged on the fixing plate (31), each cylinder (32) corresponds to a circular cavity, a plurality of circular holes equidistantly matched with the cylinders (32) are opened on the fixing plate (31), each cylinder (32) corresponds to a circular hole, and each circular hole is slidably connected to the inside of the corresponding circular hole.

9. A NdFeB permanent magnet coding and boxing robot according to claim 8, characterized in that: Two side support members (33) are fixed at the bottom of the cylinder (32), and the two side support members (33) are symmetrically arranged at the bottom of the cylinder (32). Each side support member (33) is composed of two side plates. A cam (34) is arranged between the two side plates, and both sides of the cam (34) are rotatably connected to the side walls of the side plates through a rotating shaft. When the cam (34) rotates, it can drive the neodymium iron boron magnet to move up or down.

10. A NdFeB permanent magnet coding and boxing robot according to claim 9, characterized in that: A linkage plate (35) is fixed on one side of the two cams (34), and the linkage plate (35) is located below the cylinder cavity of the cylinder (32). One end of the linkage plate (35) has an arc surface. A torsion spring (316) is fixed between the side of the cam (34) facing the side plate and the side plate for limiting the cam (34). A pushing column (36) is slidably connected to the inner wall of the cylinder (32).

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