Neodymium-iron-boron permanent magnet coding and boxing mechanical hand

Abstract

The application relates to a neodymium-iron-boron boxing technology field, in particular to a mechanical hand for neodymium-iron-boron permanent magnet coding and boxing, which comprises a robot, a shell, an inner connecting frame, sliding frames and clamping pieces. The mechanical hand for neodymium-iron-boron permanent magnet coding and boxing can drive the sliding shaft to rotate through the cooperation of the tooth ring and the linkage rack, the sliding shaft drives the clamping pieces to rotate, at this time, the two clamping pieces rotate reversely, the neodymium-iron-boron magnet slides in the arc-shaped groove, the step surface can support the neodymium-iron-boron magnet at the bottom, and when the two clamping pieces rotate reversely synchronously, the upward lifting force can be exerted on the neodymium-iron-boron magnet, so that the neodymium-iron-boron magnet can be conveniently limited.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of neodymium iron boron boxing, in particular to a mechanical hand for coding and boxing of neodymium iron boron permanent magnets. BACKGROUND

[0002] Nd2Fe14B-based intermetallic compound, neodymium iron boron permanent magnet material. Compared with cast Al-Ni-Co permanent magnet material and ferrite permanent magnet material, neodymium iron boron has very high magnetic energy product and coercive force, and can attract 640 times of its own weight. The advantage of high energy density makes neodymium iron boron permanent magnet material widely used in modern industry and electronic technology. This magnet is the permanent magnet with the second highest magnetism after holmium magnet at absolute zero, and is the most commonly used rare earth magnet.

[0003] The production of neodymium iron boron magnet is a complex process involving multiple steps, including raw material preparation, smelting, powder making, forming, 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 boxing process of neodymium iron boron magnets, a mechanical hand is usually used to grab neodymium iron boron magnets, and then the neodymium iron boron magnets are placed in the box. The neodymium iron boron magnets in the box are arranged in multiple columns, and each column has multiple neodymium iron boron magnets. Multiple column arrangement can make the neodymium iron boron magnets more closely arranged in the box, reducing the gap, thereby fully utilizing the space of the box. 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 neodymium iron boron magnets, and the cylindrical magnets with central holes are included. Since the outer surface of the cylindrical magnet is circular and has a smooth surface, the mechanical hand can only grab a single cylindrical magnet when grabbing a cylindrical magnet with a central hole. It cannot grab multiple cylindrical magnets at the same time. When the mechanical hand grabs the cylindrical magnet, it will move to the boxing position for boxing. During the swing of the mechanical hand, the motion trajectory usually includes acceleration, deceleration and turning. During these processes, due to inertia, the cylindrical magnet will be affected by centrifugal force and tangential force, resulting in a whipping force. The whipping force may cause the cylindrical magnet to shift in the mechanical hand, causing relative sliding between the cylindrical magnet and the grabbing part of the mechanical hand. If the whipping force is too large, the cylindrical magnet may completely escape the grabbing range of the mechanical hand, resulting in boxing failure. SUMMARY

[0006] In view of the above situation, in order to overcome the defects of the prior art, the present application provides a mechanical hand for coding and boxing of neodymium iron boron permanent magnets to solve the problem that some mechanical hands can only grab a single cylindrical magnet and cannot grab multiple cylindrical magnets at the same time.

[0007] To achieve the above object, the technical scheme adopted by the present application is:

[0008] A mechanical hand for batching and boxing of neodymium iron boron permanent magnets, comprising a robot, a gripping mechanism is installed at the execution end of the robot, the gripping mechanism comprises a shell installed at the execution end of the robot, and the shell has an opening on the side away from the execution end of the robot, two symmetrical inner connecting frames are arranged inside the shell, a sliding frame is arranged inside each of the two inner connecting frames, a clamping piece is arranged inside each of the two sliding frames, each clamping piece is in a circular shape, each clamping piece has a plurality of arc-shaped grooves and a stepped surface, and is used for clamping and limiting the neodymium iron boron magnet.

[0009] A limiting mechanism is arranged inside the shell and is used for lifting the neodymium iron boron magnet through the center hole of the neodymium iron boron magnet.

[0010] Preferably, one side of each of the clamping pieces is fixed with a sliding shaft, a sleeve is arranged outside each of the sliding shafts, 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 piece, limiting openings adapted to the sleeves are formed on both sides of each of the sliding frames, each of the limiting openings corresponds to one of the sleeves, and the sleeve is slidingly connected inside the corresponding limiting opening, so as to limit the sliding shaft.

[0011] Preferably, one end of the sliding shaft extending out of the corresponding limiting opening is fixed with a tooth ring, each of the sliding frames is fixed with a linkage rack on both sides, each of the linkage racks corresponds to one of the tooth rings, and the tooth ring is meshingly connected with the linkage rack, so that the linkage rack drives the clamping piece to rotate and exerts a lifting force on the gripped neodymium iron boron magnet.

[0012] Preferably, two limiting pieces are installed on one side of each of the sliding frames, the limiting piece is composed of a cylinder and a disc, one end of the cylinder is fixed to one side wall of the sliding frame, and the other end of the cylinder is fixed to one side wall of the disc, two positioning holes adapted to the cylinder are formed on one side wall of each of the inner connecting frames, each of the positioning holes corresponds to one of the cylinders, and each of the cylinders is slidingly connected inside the corresponding positioning hole, so as to limit the cylinder.

[0013] Preferably, a first return spring is fixed between one side of each of the sliding frames and the inner wall of the corresponding inner connecting frame, each of the first return springs corresponds to one of the cylinders, and each of the cylinders is located inside the corresponding first return spring, so as to support the sliding frame.

[0014] Preferably, the top of each inner connecting frame is fixed with a first top plate through a first supporting arm, the upper side of each first top plate is provided with a sliding block, a plurality of equidistantly arranged bottom blocks are fixed between the bottom of the sliding block and the top of the first top plate, for supporting the inner connecting frame, thereby maintaining the stability of the inner connecting frame.

[0015] Preferably, a threaded shaft is arranged between the two sliding blocks, both ends of the threaded shaft are rotatably connected to the inner wall of the shell, the threaded shaft has two thread segments which are symmetrically arranged at the two ends, the directions of the two threaded shafts are opposite, threaded grooves are formed in the two sliding blocks, and the sliding blocks are threadedly connected to the thread segments of the corresponding threaded shafts through the threaded grooves.

[0016] Preferably, the limiting mechanism comprises a fixed plate fixed to the inner wall of the shell, a plurality of equidistantly arranged cylinders are arranged on the fixed plate, each cylinder corresponds to a circular cavity, a plurality of equidistantly arranged circular holes are formed in the fixed plate and correspond to the cylinders, each cylinder corresponds to a circular hole, and each circular hole is slidably connected inside the corresponding circular hole.

[0017] Preferably, the bottom of the cylinder is fixed with two side supporting pieces which are symmetrically arranged at the bottom of the cylinder, each side supporting piece 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 upward or downward.

[0018] Preferably, one side of each of the two cams is fixed with a linkage plate, the linkage plate is located below the cylinder cavity of the cylinder, one end of the linkage plate has an arc surface, a torsional spring is fixed between the side of the cam facing the side plate and the side plate, for limiting the cam, and a pushing column is slidably connected to the inner wall of the cylinder.

[0019] The beneficial effects of the present application are:

[0020] 1. The output end of the driving source drives the threaded shaft to rotate, the threaded shaft drives the two sliding blocks to move close to each other through the sliding blocks, and the arc-shaped groove on the sliding frame can limit the neodymium iron boron magnet, thereby facilitating the synchronous clamping and boxing of multiple neodymium iron boron magnets.

[0021] 2、Through mutual pushing of the two sliding frames, the sliding frames can slide in the interior of the inner connecting frame, and the cooperation of the tooth ring and the linkage rack can drive the sliding shaft to rotate, the sliding shaft drives the clamping pieces to rotate, at this time, the two clamping pieces rotate reversely, and the neodymium iron boron magnet slides in the arc-shaped groove, and the step surface can abut against the bottom of the neodymium iron boron magnet to support it, and when the two clamping pieces rotate reversely synchronously, an upward lifting force can be applied to the neodymium iron boron magnet, so that the neodymium iron boron magnet is conveniently limited.

[0022] 3、Through the sliding of the first end plate and the second end plate, the linkage block can drive the cylinder to slide downward in the interior of the circular hole and into the central hole of the neodymium iron boron magnet, then the second top plate drives the push column to move downward, the push column abuts against the linkage plate to drive the cam to rotate, and the cam abuts against the inner wall of the central hole of the neodymium iron boron magnet, so that the neodymium iron boron magnet is limited and an upward lifting force is applied to the neodymium iron boron magnet at the same time, so that the stability of the neodymium iron boron magnet when being grabbed and transferred is improved, so that deviation of the neodymium iron boron magnet caused by the swinging force generated by the robot driving the shell to move is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a structural schematic view of the present application.

[0024] Figure 2 It is a structural schematic view of the grabbing mechanism of the present application.

[0025] Figure 3 It is a sectional view of the inner connecting frame of the present application.

[0026] Figure 4 It is a structural schematic view of the limiting mechanism of the present application.

[0027] Figure 5 It is a structural schematic view of the clamping piece of the present application.

[0028] Figure 6 It is a structural schematic view of the first sectional view of the fixing plate of the present application.

[0029] Figure 7 It is a structural schematic view of the Figure 6 enlarged structure schematic view of A in the present application.

[0030] In the figure:

[0031] 10, robot;

[0032] 20, grabbing mechanism; 21, shell; 22, inner connecting frame; 23, sliding frame; 24, clamping piece; 25, sliding shaft; 26, limiting opening; 27, gear ring; 28, linkage rack; 29, limiting piece; 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; 34, cam; 35, linkage plate; 36, push 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 port; 315, linkage block; 316, torsional spring. DETAILED DESCRIPTION

[0034] The application will be described in greater detail with reference to the accompanying drawings. Figures 1 to 7 The embodiments of the present application are described in detail. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0035] As shown in the accompanying drawings Figures 1 to 7 A Nd-Fe-B permanent magnet coding and boxing mechanical hand comprises:

[0036] The robot 10 is provided with a grabbing mechanism 20 installed at the execution end of the robot 10, which is used for grabbing the Nd-Fe-B magnet.

[0037] The grabbing mechanism 20 comprises a shell 21 installed at the execution end of the robot 10, and the shell 21 is provided with an opening at the side away from the execution end of the robot 10. The inside of the shell 21 is provided with two symmetrical inner connecting frames 22, and the side of each inner connecting frame 22 is provided with a gap with the inner wall of the shell 21. The inside of each inner connecting frame 22 is provided with a sliding frame 23, and the side of the sliding frame 23 is provided with a gap with the inner wall of the corresponding inner connecting frame 22.

[0038] The inside of each sliding frame 23 is provided with a clamping piece 24, which is in a circular shape. Each clamping piece 24 is provided with a plurality of arc-shaped grooves and a stepped surface, which are used for clamping and limiting the Nd-Fe-B magnet. The side of each clamping piece 24 is fixedly provided with a sliding shaft 25. The outside of each sliding shaft 25 is provided with a sleeve 217, 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 clamping piece 24. The two sides of each sliding frame 23 are provided with limiting openings 26 matched with the sleeves 217. Each limiting opening 26 corresponds to one sleeve 217, and the sleeve 217 is slidably connected to the inside of the corresponding limiting opening 26, which is used for limiting the sliding shaft 25.

[0039] The sliding shaft 25 is fixed with a gear ring 27 at one end extending out of the corresponding limiting opening 26, and each sliding frame 23 is fixed with a linkage rack 28 on both sides, and each linkage rack 28 corresponds to a gear ring 27, and the gear ring 27 is connected with the linkage rack 28 in meshing, and the linkage rack 28 can drive the clamping piece 24 to rotate by cooperating with the gear ring 27, so as to exert a lifting force on the Nd-Fe-B magnet after grabbing, thereby maintaining the stability of the Nd-Fe-B magnet during grabbing.

[0040] Each sliding frame 23 is installed with two limiting pieces 29 on one side, and the limiting piece 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, and each side wall of the inner connecting frame 22 is provided with two positioning holes 210 matched with the cylinder, and each positioning hole 210 corresponds to a cylinder, and each cylinder is slidingly connected in the corresponding positioning hole 210, and the positioning hole 210 is used for limiting the cylinder, and each sliding frame 23 is fixed with a first return spring 211 between 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 in the corresponding first return spring 211, and the first return spring 211 is used for supporting the sliding frame 23, so as to facilitate the resetting of the sliding frame 23.

[0041] The top of each inner connecting frame 22 is fixed with a first top plate 212 through a first support arm, and the upper side of each first top plate 212 is provided with a sliding block 213, and a plurality of equidistantly arranged bottom blocks 218 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, thereby maintaining 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 shell 21, the threaded shaft 214 has two symmetrically arranged threaded segments at both ends, and the directions of the two threaded shafts 214 are opposite, and threaded grooves 215 are formed in the two sliding blocks 213, and the sliding block 213 is threadedly connected to the threaded segment of the corresponding threaded shaft 214 through the threaded groove 215, and a driving source 216 is installed on one side of the shell 21, and the output end of the driving source 216 is fixed to one end of the threaded shaft 214.

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

[0043] Since the arc-shaped grooves of the two clamping pieces 24 are arc-shaped, and the arc-shaped grooves on the two clamping pieces 24 can cooperate with each other to limit a circular cavity for accommodating the circular neodymium iron boron magnet when the two clamping pieces 24 abut against the surface of the neodymium iron boron magnet. The neodymium iron boron magnets in a group are respectively located in the arc-shaped grooves of the clamping pieces 24. With the continuous sliding of the sliding block 213 on the threaded shaft 214, the two clamping pieces 24 are pushed by the neodymium iron boron magnet, and the sliding frame 23 slides to the inner wall of the inner connecting frame 22, and the sliding frame 23 extrudes the first return spring 211, and the cylinder slides in the positioning hole 210, the sleeve 217 slides in the limiting opening 26, and the gear 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 piece 24, the amount of rotation of the clamping piece 24 to the position of the neodymium iron boron magnet will increase. Since the arc-shaped grooves of the clamping piece 24 correspond to a neodymium iron boron magnet respectively, when the sliding shaft 25 drives the clamping piece 24 to rotate, the clamping piece 24 drives the neodymium iron boron magnet to move upward through the arc-shaped groove. When the sliding block 213 slides to the end of the threaded section of the threaded shaft 214, the gear ring 27 also drives the limiting piece 29 to rotate to the limit position at this time. The step surface of the clamping piece 24 is located at the bottom of the neodymium iron boron magnet, that is, the bottom of the neodymium iron boron magnet is in contact with the step surface of the clamping piece 24, thereby maintaining the stability of the neodymium iron boron magnet when it is clamped and transferred.

[0045] When the execution end of the robot 10 drives the shell 21 to transfer to the Nd-Fe-B magnet boxing position, and the Nd-Fe-B magnet is located, the output end of the driving source 216 drives the threaded shaft 214 to rotate in the opposite direction, at this time, the two sliding blocks 213 are away from each other, and the sliding blocks 213 drive the connected inner connecting frames 22 to slide to the side wall of the shell 21 respectively, and the first return spring 211 of the inner connecting frame 22 is converted from the compressed state to the released state, and the cooperation of the tooth ring 27 and the linkage rack 28, the tooth ring 27 drives the clamping piece 24 to rotate and reset again through the sliding shaft 25, and the clamping piece 24 drives the clamped Nd-Fe-B magnet to move downward, so that the Nd-Fe-B magnet slowly moves downward into the box body to be placed.

[0046] The inside of the shell 21 is provided with a limiting mechanism 30 for limiting the Nd-Fe-B magnet, so as to improve the stability of the Nd-Fe-B magnet when being grabbed and transferred.

[0047] The limiting mechanism 30 includes a fixed plate 31 fixed on the inner wall of the shell 21, the fixed plate 31 is provided with a plurality of cylindrical barrels 32 arranged at equal distances, each cylindrical barrel 32 corresponds to a circular cavity, a plurality of circular holes adapted to the cylindrical barrels 32 are formed on the fixed plate 31, and each cylindrical barrel 32 corresponds to a circular hole, and each circular hole is slidably connected in the corresponding circular hole.

[0048] The bottom of the cylindrical barrel 32 is fixed with two side supports 33, and the two side supports 33 are symmetrically arranged at the bottom of the cylindrical barrel 32. Each side support 33 is composed of two side plates, and a cam 34 is arranged between the two side plates, and the two sides of the cam 34 are rotatably connected to the side wall of the side plate through the rotating shaft. When the cam 34 rotates, it can drive the Nd-Fe-B magnet to move up or down.

[0049] One side of each cam 34 is fixed with a linkage plate 35, and the linkage plate 35 is located below the barrel cavity of the cylindrical barrel 32, and one end of the linkage plate 35 has an arc surface. A torsional 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 cylindrical barrel 32, and the bottom of the push column 36 has an arc surface. When the push column 36 moves downward and abuts against the linkage plate 35, it can drive the cam 34 to rotate and drive the Nd-Fe-B magnet to move up. When the push column 36 moves upward and separates from the linkage plate 35, the torsional spring 316 drives the cam 34 to reset, so as to drive the Nd-Fe-B magnet to move downward.

[0050] The top of the pushing column 36 is fixed with a second top plate 37, the outer wall of the cylinder 32 is fixed with an outer disc 38, the bottom of the second top plate 37 and the top of the outer disc 38 are fixed with a second reset spring 39 for supporting the second top plate 37, so as to reset the pushing column 36 out of the limit, the bottom of the outer disc 38 and the top of the fixed plate 31 are fixed with a third reset spring 311 for supporting the outer disc 38, so as to reset the cylinder 32.

[0051] The top of one of the sliding frames 23 is fixed with a plurality of first end plates 312 arranged at equal distances, the top of the other sliding frame 23 is fixed with a plurality of second end plates 313 arranged at equal distances, the first end plates 312 and the second end plates 313 are of the same shape, the first end plates 312 and the second end plates 313 are alternately arranged, the top of each of the two inner connecting frames 22 is provided with a plurality of sliding openings 314 arranged at equal distances, the sliding openings 314 on the two inner connecting frames 22 are of the same shape, and the sliding openings 315 correspond to the first end plates 312 and the second end plates 313 respectively, for limiting the first end plates 312 and the second end plates 313, so as to keep the stability of the sliding frame 23 when sliding.

[0052] The bottom of each of the first end plates 312 and the second end plates 313 is fixed with a linkage block 315, the linkage block 315 is arc-shaped, and the linkage block 315 has a peak top and a peak bottom, for driving the pushing column 36 to move downward in the cylinder 32 by 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 move close to each other, and the clamping piece 24 drives the sliding frame 23 to slide in the inner connecting frame 22 against the neodymium iron boron magnet, the two sliding frames 23 drive the connected first end plates 312 and the second end plates 313 to move away from each other, since each of the first end plates 312 and the second end plates 313 is a group, each of the first end plates 312 and the second end plates 313 corresponds to a second top plate 37, that is, each of the second top plates 37 corresponds to two linkage blocks 315, and the second top plate 37 is located between the two corresponding linkage blocks 315, and the second top plate 37 is located at the peak bottom of the linkage block 315, and the top of the second top plate 37 has an arc surface.

[0054] When the first end plate 312 and the second end plate 313 move away from each other, the two linkage blocks 315 press the second top plate 37, and the second top plate 37 slides from the bottom of the peak to the top of the peak of the linkage block 315, and the second top plate 37 is limited by the second top plate 37, so that the second top plate 37 drives the outer disc 38 connected to the cylinder 32 to move downward, and the cylinder 32 slides inside the circular hole, and 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, and the clamping piece 24 first contacts the neodymium iron boron magnet and clamps and limits it, thereby fixing the position of the neodymium iron boron magnet, and as the cylinder 32 moves downward, the cylinder 32 slides into the center of the neodymium iron boron magnet, and the edge of the cam 34 does not expose the bottom edge of the cylinder 32.

[0055] As the cylinder 32 moves downward, the outer disc 38 compresses the third reset spring 311 to the limit position, and at this time the second top plate 37 compresses the second reset spring 39, and the second top plate 37 drives the push column 36 to move downward inside the cylinder 32, and the bottom of the push column 36 abuts against the two linkage plates 35, and as the push column 36 moves downward, the push column 36 drives the cam 34 to rotate by pushing the linkage plate 35, and exerts a rotating force on the torsional spring 316, and the protrusions of the cam 34 in the rotating state abut against the inner wall of the center of the neodymium iron boron magnet, thereby limiting the neodymium iron boron magnet, but as the cam 34 rotates, the cam 34 also exerts an upward pushing force on the neodymium iron boron magnet, and at this time the second top plate 37 is at the top of the linkage block 315, thereby preventing the shaking force generated by the swinging of the robot 10 from causing the position of the neodymium iron boron magnet to deviate or fall off.

[0056] When the threaded shaft 214 drives the two sliding blocks 213 to move away from each other, the linkage block 315 releases the limitation on the second top plate 37, and the second reset spring 39 and the third reset spring 311 are both in the compressed state to the released state, thereby driving the second top plate 37 to move upward and reset, and the linkage plate 35 also releases the limitation of the push column 36, and the torsional spring 316 drives the cam 34 released from the limitation to reset, and the rotating cam 34 exerts a downward force on the neodymium iron boron magnet, thereby driving the neodymium iron boron magnet to move downward, facilitating the packaging of the neodymium iron boron magnet.

[0057] The technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical scheme after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A mechanical hand for coding and boxing neodymium-iron-boron permanent magnets, characterized in that it comprises: The utility model provides a robot (10) is installed with the grabbing mechanism (20) of execution end, and the grabbing mechanism (20) includes the shell (21) installed in the execution end of robot (10), and the side of shell (21) away from the execution end of robot (10) has the opening, and the inside of shell (21) is provided with two symmetrical inner connecting frame (22), and the inside of two inner connecting frame (22) is equipped with the sliding frame (23), and the inside of two sliding frame (23) is provided with the clamping piece (24), and the clamping piece (24) is circular, and every clamping piece (24) has multiple arc grooves and step surface, and is used for clamping and limiting neodymium iron boron magnet; It also includes a limiting mechanism (30) provided in the inside of the shell (21), and the limiting mechanism (30) is moved to the center hole of the neodymium iron boron magnet to limit the neodymium iron boron magnet; One side of each of the clamping pieces (24) is fixed with a sliding shaft (25), and the outside of each sliding shaft (25) is provided with a sleeve (217), 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 piece (24), and both sides of each sliding frame (23) are provided with a limiting opening (26) matched with the sleeve (217), 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); The end of the sliding shaft (25) extending out of the corresponding limiting opening (26) is fixed with a gear ring (27), and both sides of each sliding frame (23) are fixed with a linkage rack (28), and each linkage rack (28) corresponds to a gear ring (27), and the gear ring (27) is meshingly connected with the linkage rack (28), and the linkage rack (28) can drive the clamping piece (24) to rotate, and the neodymium iron boron magnet after being grabbed is subjected to a lifting force; One side of each of the sliding frames (23) is provided with two limiting pieces (29), and the limiting piece (29) is composed of a cylinder and a disc, one end of the cylinder is fixed to one side wall of the sliding frame (23), and the other end of the cylinder is fixed to one side wall of the disc, and one side wall of each inner connecting frame (22) is provided with two positioning holes (210) matched with the cylinder, 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 for limiting the cylinder; The limiting mechanism (30) includes a fixed plate (31) fixed to the inner wall of the shell (21), and a plurality of cylinders (32) are arranged at equal distances on the fixed plate (31), and each cylinder (32) corresponds to a circular cavity, and a plurality of circular holes matched with the cylinders (32) are arranged at equal distances on the fixed plate (31), and each cylinder (32) corresponds to a circular hole, and each cylinder (32) is slidably connected to the inside of the corresponding circular hole. The bottom of the cylinder (32) is fixed with two side supports (33), which are symmetrically arranged at the bottom of the cylinder (32), each side support (33) is composed of two side plates, a cam (34) is arranged between the two side plates, and the two sides of the cam (34) are rotatably connected to the side wall of the side plate through the rotating shaft, when the cam (34) rotates, it can drive the neodymium iron boron magnet to move up or down; One side of each of the two cams (34) is fixed with a linkage plate (35), 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 torsional spring (316) is fixed between the side of the cam (34) facing the side plate and the side plate, for limiting the cam (34), the inner wall of the cylinder (32) is slidably connected with a push column (36).

2. The mechanical hand for coding and boxing Nd-Fe-B permanent magnets according to claim 1, characterized in that, One side of each of the two cams (34) is fixed with a linkage plate (35), 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 torsional spring (316) is fixed between the side of the cam (34) facing the side plate and the side plate, for limiting the cam (34), the inner wall of the cylinder (32) is slidably connected with a push column (36).

3. The mechanical hand for coding and boxing Nd-Fe-B permanent magnets according to claim 2, characterized in that, The top of each inner connecting frame (22) is fixed with a first top plate (212) through a first support arm, the upper side of each first top plate (212) is provided with a sliding block (213), a plurality of equidistantly arranged bottom blocks (218) 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), thereby maintaining the stability of the inner connecting frame (22).

4. The mechanical hand for coding and boxing Nd-Fe-B permanent magnets according to claim 3, characterized in that, Two sliding blocks (213) are arranged between the two sliding blocks (213), and the two ends of the threaded shaft (214) are rotatably connected to the inner wall of the shell (21), the threaded shaft (214) has two symmetrically arranged threaded segments at the two ends, and the directions of the two threaded segments are opposite, two threaded grooves (215) are formed in the two sliding blocks (213), and the sliding block (213) is threadedly connected to the threaded segment of the corresponding threaded shaft (214) through the threaded groove (215), a driving source (216) is installed on one side of the shell (21), and the output end of the driving source (216) is fixed on one end of the threaded shaft (214).

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