Intelligent magnetic ring assembly machine and assembly method

Abstract

The invention discloses an intelligent magnetic ring assembly machine and an assembly method, and is applied to the technical field of magnetic ring assembly machines, the intelligent magnetic ring assembly machine comprises a frame, a mechanical arm, three sets of lifting mechanisms, a detection mechanism, a transfer mechanism and an assembly mechanism, and the mechanical arm, the lifting mechanisms, the detection mechanism and the transfer mechanism are arranged in the frame; the lifting mechanism is used for placing the magnetic rings and lifting the magnetic rings to a transfer height so that the mechanical arm can conveniently grab the magnetic rings one by one, the mechanical arm is used for grabbing the magnetic rings on the lifting mechanism and placing the magnetic rings on the detection mechanism for detection, and the transfer mechanism is used for conveying the detected magnetic rings in a classified mode. The assembling mechanism is used for assembling the magnetic ring to a to-be-assembled part. The detection mechanism comprises a detection frame, a visual detection assembly, a weighing detection assembly and a rotation detection assembly; according to the invention, the magnetic ring can be detected before being assembled, and the assembling quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic ring assembly machines, and particularly to an intelligent magnetic ring assembly machine and an assembly method. Background Art

[0002] In the modern electronic manufacturing industry, magnetic rings, as key electronic components, are widely used in transformers, inductors, filters, etc. Their performance directly affects the quality and stability of electronic products. With the progress of technology, electronic products tend to be miniaturized and high-performance, and the requirements for the assembly accuracy and quality of magnetic rings are becoming increasingly strict. In this context, to meet specific electromagnetic performance requirements, some magnetic rings use brittle materials, such as ferrite magnetic rings. Although they have advantages such as high magnetic permeability and low hysteresis loss, due to their brittleness, they are extremely vulnerable to damage during the assembly process.

[0003] However, the current magnetic ring assembly machines on the market, aiming to improve the assembly efficiency and automation level, cannot effectively detect brittle magnetic rings when assembling them. Due to the lack of detection means, it is difficult to judge whether brittle magnetic rings are damaged during transportation, feeding, and assembly operations. If these brittle magnetic rings with hidden damages are assembled, even if the assembly is completed, the product cannot meet the expected electromagnetic performance indicators. At the same time, during the subsequent use of electronic products, affected by current, temperature changes, or mechanical vibrations, the damage may gradually expand, ultimately resulting in the deterioration or even failure of the magnetic ring performance, seriously threatening the reliability and service life of electronic products.

[0004] Therefore, it is necessary to provide an intelligent magnetic ring assembly machine and an assembly method to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent magnetic ring assembly machine and an assembly method, which can detect before magnetic ring assembly and improve the assembly quality, so as to solve the problems raised in the above background art.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: An intelligent magnetic ring assembly machine and an assembly method, including a frame, a robotic arm, three groups of lifting mechanisms, a detection mechanism, a transfer mechanism, and an assembly mechanism. The robotic arm, the lifting mechanism, the detection mechanism, and the transfer mechanism are arranged inside the frame. The lifting mechanism is used to place magnetic rings and lift them to the transfer height for the robotic arm to individually grab the magnetic rings. The robotic arm is used to grab the magnetic rings on the lifting mechanism and place them on the detection mechanism for detection. The transfer mechanism is used to classify and convey the detected magnetic rings. The assembly mechanism is used to assemble the magnetic rings onto the parts to be assembled. The detection mechanism includes a detection frame, a vision detection component, a weighing detection component, and a rotation detection component. The detection mechanism is signal-connected to a collection and analysis module. The vision detection component and the weighing detection component are arranged on the detection frame, and the rotation detection component is arranged on the vision detection component. The vision detection component is used to detect the concentricity of the magnetic ring, the weighing detection component is used to weigh the weight of the magnetic ring, the rotation detection component is used to detect the self-defect situation of the magnetic ring, and the collection and analysis module is used to collect the concentricity, weight, and pressure deviation during rotation of the magnetic ring and judge the defect situation of the magnetic ring; The vision detection component includes a column and a camera; The weighing detection component includes an electronic scale and a weighing platform; The rotation detection component includes a first motor, a rotating table, a connecting seat, several springs, a pressing block, and a pressure sensor.

[0007] According to the above technical solution, a workbench is fixedly connected inside the frame, a robotic arm is fixed on the top of the workbench, and four groups of first grippers are fixedly connected to the end of the robotic arm; The lifting mechanism includes a lifting part, a lifting platform, and a placing tray. The lifting part is located at the bottom of the workbench, the lifting part is fixed inside the frame, the output end of the lifting part is connected to the lifting platform, the placing tray is arranged on the top of the lifting platform, and several circular placing grooves are arranged on the placing tray. The lifting mechanism can lift the magnetic ring to be assembled to a set height, facilitating the robotic arm to pick it up and place it on the detection mechanism.

[0008] According to the above technical solution, the column is fixedly connected to the detection frame, an adjusting block is sleeved on the top of the column, and the camera is fixed below the adjusting block; A first support, two groups of first cylinders, and four groups of limit posts are fixedly connected to the top inside the detection frame. The two groups of first cylinders are located at the center of the four groups of limit posts, the first support is located between the two groups of first cylinders, and the electronic scale is fixed on the top of the first support; The output end of the first cylinder is fixedly connected to a lifting platform. The lifting platform is slidably connected to the limit posts. A weighing groove is opened at the center of the lifting platform, placing grooves are arranged on both sides of the weighing groove, the weighing platform is arranged in the weighing groove and the placing grooves, and the weighing platform is slidably connected to the lifting platform. The telescoping of the first cylinder can realize the transformation between the weighing state and the non-weighing state of the weighing detection component, thereby improving the detection efficiency without reducing the weighing accuracy of the electronic scale.

[0009] According to the above technical solution, a second support is fixedly connected to the top of the weighing platform, and the first motor is fixed between the second support and the weighing platform; The output end of the first motor passes through the weighing platform and is fixedly connected to the rotating table. The connecting seat is fixed on the top of the rotating table. Several through grooves are opened on the connecting seat. The center of the connecting seat is fixedly connected to the spring, and the other end of the spring is fixedly connected to the pressing block. The pressing block is arranged in the through groove and is slidably connected to the connecting seat; A groove is provided on the periphery of the pressing block, and a pressure sensor is arranged in the groove. One side of the pressure sensor is fixedly connected to the pressing block, and an elastic pad is fixedly connected to the other side of the pressure sensor.

[0010] According to the above technical solution, a limiting ring is fixedly connected to the top of the rotating table, and the limiting ring is arranged outside the connecting seat.

[0011] According to the above technical solution, the transfer mechanism includes a clamping component, a defective product recycling and transfer component, and a qualified product assembly and transfer component. A defective product recycling area is arranged on one side of the workbench away from the lifting mechanism. The clamping component can place the defective magnetic rings on the defective product recycling and transfer component according to the situation of the magnetic rings detected by the detection mechanism, and the defective product recycling and transfer component performs defective product recycling. The qualified magnetic rings are placed on the qualified product assembly and transfer component, and the qualified product assembly and transfer component transfers them to the assembly mechanism, and then the assembly mechanism performs assembly; The clamping component includes a mobile carrier one and a material taking part one, and the material taking part one is fixed to the output end of the mobile carrier one; The defective product recycling and transfer component includes a mobile carrier two, and a limiting bracket one is arranged on the mobile carrier two; The qualified product assembly and transfer component includes a limiting bracket two, a conveyor belt, and a clamping jaw two. The limiting bracket two is fixed to the top of the workbench. A conveyor belt is arranged on one side of the limiting bracket two away from the detection mechanism. The conveyor belt is fixed to the side part of the mobile carrier one, and a mobile carrier three is fixedly connected to the conveyor belt. The clamping jaw two is fixed to the output end of the mobile carrier three.

[0012] According to the above technical solution, the assembly mechanism includes an assembly table, two groups of material taking parts two, and two groups of cylinders two. The assembly table is arranged outside the frame. A mobile carrier four, a support frame, and a pressing seat are fixedly connected to the top of the assembly table. The two groups of cylinders two are respectively fixed to the top of the support frame and the bottom of the assembly table. The output end of the cylinder two located at the top of the support frame is fixedly connected to a pressing head, and the output end of the cylinder two located at the bottom of the assembly table is fixedly connected to the inside of the pressing seat.

[0013] According to the above technical solution, an operating table is fixedly connected to the side of the frame, and the acquisition and analysis module is signal-connected to the operating table.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by providing a detection mechanism, combining vision, weighing, and dynamic pressure, multi-dimensional dynamic and static combined detection can be realized, accurate elimination of defects can be achieved, the defect missed detection rate can be reduced, and thus the assembly quality of the magnetic rings can be improved; at the same time, in the detection mechanism, through the telescopic movement of the cylinder one, automatic switching between the weighing state and the non-weighing state of the weighing detection component can be realized, which not only avoids weighing interference but also ensures the continuity of the detection process and improves the detection efficiency. Description of the Drawings

[0015] The accompanying drawings are used to provide a further understanding of the present invention and form a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of a partial structure of the present invention; Figure 3 is a schematic diagram of the lifting mechanism and the detection mechanism of the present invention; Figure 4 is a schematic diagram of a partial structure of the detection mechanism of the present invention; Figure 5 is a front sectional view schematic diagram of the detection mechanism of the present invention; Figure 6 is an exploded schematic diagram of a partial structure at the bottom of the detection mechanism of the present invention; Figure 7 is an exploded schematic diagram of a partial structure at the top of the detection mechanism of the present invention; Figure 8 is a top sectional view schematic diagram of the detection mechanism of the present invention; Figure 9 is a schematic diagram of a partial structure of the assembly mechanism of the present invention; Figure 10 is a side view structure schematic diagram of the assembly mechanism of the present invention; Figure 11 is a schematic diagram of concentricity testing of the present invention; Figure 12 is a top sectional view schematic diagram of the detection mechanism when detecting a magnetic ring with uneven weight distribution of the present invention; In the figure: 1, frame; 11, workbench; 2, robotic arm; 21, jaw one; 3, lifting mechanism; 31, lifting part; 32, lifting platform; 33, placing tray; 4, detection mechanism; 41, detection frame; 42, vision detection component; 421, column; 422, adjusting block; 423, camera; 43, weighing detection component; 431, support one; 432, electronic scale; 433, cylinder one; 434, lifting platform; 435, limit post; 436, weighing platform; 437, weighing groove; 44, rotation detection component; 441, support two; 442, motor one; 443, rotating table; 444, connecting seat; 445, spring; 446, pressing block; 447, pressure sensor; 448, elastic pad; 449, limit ring; 5. Transfer mechanism; 51. First moving vehicle; 52. First material taking part; 53. Second moving vehicle; 54. First limiting bracket; 55. Second limiting bracket; 56. Conveyor belt; 57. Third moving vehicle; 58. Second gripper 6. Assembly mechanism; 61. Assembly table; 62. Fourth moving vehicle; 63. Second material taking part; 64. Support frame; 65. Second cylinder; 66. Pressing head; 67. Pressing seat 7. Operating table; 8. Maximum thickness; 9. Minimum thickness Detailed implementation manner

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention

[0017] Please refer to Figures 1-12 , the present invention provides a technical solution: an intelligent magnetic ring assembling machine, including a frame 1, a robotic arm 2, three groups of lifting mechanisms 3, a detection mechanism 4, a transfer mechanism 5 and an assembly mechanism 6. The robotic arm 2, the lifting mechanism 3, the detection mechanism 4, and the transfer mechanism 5 are arranged inside the frame 1. The lifting mechanism 3 is used to place magnetic rings and lift the magnetic rings to the transfer height for the robotic arm 2 to individually grab the magnetic rings. The robotic arm 2 is used to grab the magnetic rings on the lifting mechanism 3 and place them on the detection mechanism 4 for detection. The transfer mechanism 5 is used to classify and convey the detected magnetic rings. The assembly mechanism 6 is used to assemble the magnetic rings onto the parts to be assembled

[0018] Specifically, as Figure 1 shown, an operating table 7 is fixedly connected to the side of the frame 1. The operating table 7 is used to control and display the detection, classification, and assembly steps of the magnetic rings

[0019] Specifically, as Figure 2 and Figure 3 shown, a workbench 11 is fixedly connected inside the frame 1. The robotic arm 2 is fixed to the top of the workbench 11, and four groups of first grippers 21 are fixedly connected to the end of the robotic arm 2 The lifting mechanism 3 includes a lifting part 31, a lifting platform 32, and a placing tray 33. The lifting part 31 is located at the bottom of the workbench 11. The lifting part 31 is fixed inside the frame 1. The output end of the lifting part 31 is connected to the lifting platform 32. The placing tray 33 is arranged on the top of the lifting platform 32. A number of circular placing grooves are arranged on the placing tray 33. The placing grooves are used to place magnetic rings to prevent the magnetic rings from colliding with each other during feeding, resulting in damage to the magnetic rings

[0020] It should be noted that the lifting part 31 can be a motor screw drive mechanism. In this case, the lifting platform 32 is threadedly connected to the screw at the output end of the lifting part 31. By the forward and reverse rotation of the motor, the screw is driven to rotate forward and backward to drive the lifting and lowering of the lifting platform 32; the lifting part 31 can also be a cylinder. In this case, the lifting platform 32 is fixedly connected to the output end of the cylinder. By the telescopic movement of the cylinder, the lifting and lowering of the lifting platform 32 is driven.

[0021] In actual operation, the lifting part 31 starts to operate, first driving the storage tray 33 on the top of the lifting platform 32 to be lifted to a set height. The set height is set manually according to the clamping height that the gripper 21 at the end of the robotic arm 2 can reach. Then the robotic arm 2 starts to operate, clamping the magnetic ring inside the storage groove onto the detection mechanism 4 for detection by the detection mechanism 4.

[0022] Specifically, as Figure 3 and Figure 4 shown, the detection mechanism 4 includes a detection frame 41, a visual detection component 42, a weighing detection component 43, and a rotation detection component 44. The detection mechanism 4 is signal-connected to a collection and analysis module, and the collection and analysis module is also signal-connected to the operation console 7. The visual detection component 42 and the weighing detection component 43 are arranged on the detection frame 41, and the rotation detection component 44 is arranged on the visual detection component 42. The visual detection component 42 is used to detect the concentricity of the magnetic ring, the weighing detection component 43 is used to weigh the weight of the magnetic ring, the rotation detection component 44 is used to detect the self-defect situation of the magnetic ring, and the collection and analysis module is used to collect the concentricity, weight, and pressure deviation during rotation of the magnetic ring and judge the defect situation of the magnetic ring, thereby avoiding assembling defective magnetic rings; Further, as Figure 4 shown, the visual detection component 42 includes a column 421 and a camera 423. The column 421 is fixedly connected to the detection frame 41. An adjustment block 422 is sleeved on the top of the column 421, and the camera 423 is fixed below the adjustment block 422. The camera 423 is used to photograph and record the upper surface of the magnetic ring, and transmit the photographed upper surface of the magnetic ring to the collection and analysis module for the collection and analysis module to identify and analyze the concentricity of the magnetic ring; As Figures 4-6 shown, the weighing detection component 43 includes an electronic scale 432 and a weighing platform 436. A support 431, two groups of cylinders 433, and four groups of limit posts 435 are fixedly connected to the inner top of the detection frame 41. The two groups of cylinders 433 are located at the center of the four groups of limit posts 435, the support 431 is located between the two groups of cylinders 433, and the electronic scale 432 is fixed on the top of the support 431; The output end of the first cylinder 433 is fixedly connected to a lifting platform 434. The lifting platform 434 is slidably connected to a limiting column 435. A weighing groove 437 is provided at the center of the lifting platform 434. The weighing groove 437 is larger than the top area of the electronic scale 432. Placing grooves are provided on both sides of the weighing groove 437. A weighing platform 436 is arranged in the weighing groove 437 and the placing grooves. The weighing platform 436 is slidably connected to the lifting platform 434. The electronic scale 432 is used to weigh the components on the weighing platform 436, obtain the weight of the magnetic ring, and transmit the weight of the magnetic ring to the acquisition and analysis module. The acquisition and analysis module determines whether there are defects or adhesives based on the weight of the magnetic ring. In actual operation, when the first cylinder 433 is in a contracted state, the bottom of the lifting platform 434 is lower than the top of the electronic scale 432, that is, the electronic scale 432 is located in the weighing groove 437. At this time, the electronic scale 432 is in contact with the weighing platform 436, and the weighing platform 436 is separated from the weighing groove 437. Thus, the electronic scale 432 can weigh the components on the weighing platform 436. This state is called the weighing detection state of the weighing detection component 43. When the first cylinder 433 extends, the first cylinder 433 jacks up the lifting platform 434, causing the electronic scale 432 to disengage from the weighing groove 437 on the lifting platform 434. At this time, under the action of gravity, the weighing platform 436 comes into contact with the lifting platform 434, that is, the weighing platform 436 is located in the weighing groove 437. This state is called the non - weighing detection state of the weighing detection component 43.

[0023] As Figure 4 、 Figure 5 and Figure 7 shown, the rotation detection component 44 includes a first motor 442, a rotating table 443, a connecting seat 444, several springs 445, a pressing block 446 and a pressure sensor 447. A second support 441 is fixedly connected to the top of the weighing platform 436. The first motor 442 is fixed between the second support 441 and the weighing platform 436. The output end of the first motor 442 passes through the weighing platform 436 and is fixedly connected to the rotating table 443. The connecting seat 444 is fixed to the top of the rotating table 443. Several through - slots are provided on the connecting seat 444. The center of the connecting seat 444 is fixedly connected to the spring 445. The other end of the spring 445 is fixedly connected to the pressing block 446. The pressing block 446 is arranged in the through - slot and is slidably connected to the connecting seat 444. A groove is provided on the periphery of the pressing block 446. The pressure sensor 447 is arranged in the groove. One side of the pressure sensor 447 is fixedly connected to the pressing block 446, and the other side of the pressure sensor 447 is fixedly connected to an elastic pad 448. The pressure sensor 447 is used to detect the pressure data when the magnetic ring is sleeved around the periphery of the connecting seat 444 and is contacted and pressed by the elastic pad 448 during the rotation state, and transmits the pressure data to the acquisition and analysis module. The acquisition and analysis module analyzes whether there are internal defects in the magnetic ring based on the pressure data. A limiting ring 449 is fixedly connected to the top of the rotating table 443. The limiting ring 449 is arranged around the connecting seat 444. The limiting ring 449 is used to place the magnetic ring and limit the length of the abutting block 446 protruding during rotation detection, thereby restricting the size of the magnetic ring detected by the rotation detection assembly 44 to a certain extent; In actual operation, when the weighing and detection assembly 43 is in a non-weighing detection state, when the magnetic ring is sleeved on the connecting seat 444, the first motor 442 starts to rotate, driving the rotating table 443 and the connecting seat 444 on the rotating table 443 to rotate together. The abutting block 446 is thrown out under the action of centrifugal force, so that the elastic pad 448 contacts and abuts against the inside of the magnetic ring, driving the magnetic ring to rotate together. The pressure sensor 447 detects the pressure of the magnetic ring during rotation. This state is called the rotation detection state of the rotation detection assembly 44; when the first motor 442 is not started, it is the standby state of the rotation detection assembly 44; when the weight distribution on the magnetic ring is uneven, such as Figure 12 As shown, there is a deviation in the centrifugal force on the circumference when the magnetic ring rotates. For example, when one side of the magnetic ring is heavy and the other side is light, during rotation, the magnetic ring will tilt towards the heavier side. Specifically, on the heavier side of the magnetic ring, even if the elastic pad 448 on the abutting block 446 contacts and fits against the inside of the magnetic ring, or even does not contact the inside of the magnetic ring, and at this time the spring 445 is in an obvious stretched state, the pressure value detected by the pressure sensor 447 is small. On the relatively lighter side of the magnetic ring with a large weight, the elastic pad 448 contacts and fits against the inside of the magnetic ring, the spring 445 is not significantly stretched, or even in a non-stretched state. Under the action of the centrifugal force of the magnetic ring, the pressure value detected by the pressure sensor 447 is large.

[0024] Specifically, as Figure 3 shown, the transfer mechanism 5 includes a clamping component, a defective product recycling and transfer component, and a qualified product transfer and assembly component. A defective product recycling area is provided on one side of the workbench 11 away from the lifting mechanism 3. The defective product recycling area includes a manipulator and a recycling box. The defective product recycling and transfer component is used to transfer the defective magnetic rings to the recycling area, and the manipulator clamps them into the recycling box. The qualified product transfer and assembly component is used to transfer the qualified magnetic rings to the assembly mechanism 6 for assembly by the assembly mechanism 6; Furthermore, as Figure 3 shown, the clamping component includes a first mobile carrier 51 and a first material taking part 52. The first material taking part 52 is fixed to the output end of the first mobile carrier 51. The first mobile carrier 51 is a two-dimensional mobile carrier, used to drive the first material taking part 52 to move up and down and left and right, and can be driven by a cylinder. The first material taking part 52 is a material taking device driven by a motor to rotate; The defective product recycling and transfer component includes a second mobile carrier 53. A first limiting bracket 54 is arranged on the second mobile carrier 53. The second mobile carrier 53 is a linear mobile carrier; The qualified product assembly and transfer component includes a second limit bracket 55, a conveyor belt 56 and a second jaw 58. The second limit bracket 55 is fixed to the top of the workbench 11. A conveyor belt 56 is arranged on the side of the second limit bracket 55 away from the detection mechanism 4. The conveyor belt 56 is fixed to the side of the first moving vehicle 51. A third moving vehicle 57 is fixedly connected to the conveyor belt 56. The second jaw 58 is fixed to the output end of the third moving vehicle 57. The third moving vehicle 57 is a two-dimensional moving vehicle for driving the second jaw 58 to move up and down and back and forth. In actual operation, when the magnetic ring detected by the detection mechanism 4 is a defective product, the first moving vehicle 51 drives the first material taking part 52 to move above the detection mechanism 4. The first material taking part 52 clamps the defective magnetic ring, and then the first moving vehicle 51 drives the first material taking part 52 to move above the first limit bracket 54. The first material taking part 52 places the defective magnetic ring on the first limit bracket 54. Then, the second moving vehicle 53 drives the first limit bracket 54 to move to the defective product recovery area, and the manipulator in the defective product recovery area transfers the defective magnetic ring to the recovery area.

[0025] Specifically, as Figure 9 and Figure 10 shown, the assembly mechanism 6 includes an assembly table 61, two groups of second material taking parts 63 and two groups of second cylinders 65. The assembly table 61 is arranged outside the frame 1. A fourth moving vehicle 62, a support frame 64 and a press fitting seat 67 are fixedly connected to the top of the assembly table 61. The fourth moving vehicle 62 is a moving vehicle with double outputs. The two groups of second material taking parts 63 are respectively fixedly connected to the two output ends of the fourth moving vehicle 62. The two groups of second cylinders 65 are respectively fixed to the top of the support frame 64 and the bottom of the assembly table 61. The output end of the second cylinder 65 located at the top of the support frame 64 is fixedly connected with a press fitting head 66. The output end of the second cylinder 65 located at the bottom of the assembly table 61 is fixedly connected to the inside of the press fitting seat 67. The second material taking part 63 close to the support frame 64 is used to clamp the parts of the magnetic ring to be assembled. The second material taking part 63 far from the support frame 64 is used to clamp the magnetic ring on the conveyor belt 56. In actual operation, the second material taking part 63 close to the support frame 64 clamps the parts of the magnetic ring to be assembled and places them on the press fitting seat 67. The second material taking part 63 far from the support frame 64 clamps the magnetic ring on the conveyor belt 56 and places it on the press fitting seat 67. Then, the two groups of second cylinders 65 start to extend, assembling the magnetic ring to the parts of the magnetic ring to be assembled, completing the assembly operation of the magnetic ring. Then, the assembled magnetic ring can be taken off by the staff or mechanically.

[0026] Assembly method of the intelligent magnetic ring assembly machine: Step 1: The lifting part 31 starts to lift the placing tray 33 to the set height, and the robotic arm 2 clamps the magnetic ring on the placing tray 33 to the detection mechanism 4. Step 2: The detection mechanism 4 detects the concentricity, weight and defect conditions of the magnetic ring, and the transfer mechanism 5 classifies the detected magnetic rings. Step 2-1: The visual inspection component 42 detects the concentricity of the magnetic ring and rejects the magnetic rings with large concentricity deviation. Specifically, as Figure 11 shown, the camera 423 captures the upper surface image of the magnetic ring. After the acquisition and analysis module obtains and identifies the maximum thickness 8 and the minimum thickness 9 of the magnetic ring, it calculates the actual thickness difference of the magnetic ring. The maximum thickness 8 is denoted as D max , the minimum thickness 9 is denoted as D min , and the actual thickness difference is denoted as ΔD. The thickness difference is the difference between the maximum thickness 8 and the minimum thickness 9, that is, ΔD = D max - D min .

[0027] A threshold value of the thickness difference is set in the acquisition and analysis module. The threshold value is denoted as A. When the actual thickness difference is greater than the threshold value, the thickness deviation of the magnetic ring is large, and it is easy to have obvious pressure fluctuations during subsequent rotation detection, and it will also affect the normal assembly quality. The acquisition and analysis module determines that the magnetic ring is a defective product.

[0028] When ΔD ≤ A, the thickness of the magnetic ring is uniform and the concentricity is high. When ΔD = 0, it is an ideal state, and subsequent detection and judgment are continued; When ΔD > A, the thickness deviation of the magnetic ring is large and the concentricity is low, and the production quality of the magnetic ring is poor. The acquisition and analysis module determines it as a defective product, and the defective product recycling and transfer component of the transfer mechanism 5 performs defective product recycling and processing.

[0029] Step 2-2: The weighing and inspection component 43 detects the weight of the magnetic ring and rejects the magnetic rings with abnormal weights. Specifically, the weighing and inspection component 43 is controlled to be in the weighing and inspection state, and the electronic scale 432 weighs the components on the weighing platform 436. The acquisition and analysis module obtains the actual weight of the magnetic ring, and the actual weight is denoted as g; A magnetic ring weight range is set in the acquisition and analysis module. The magnetic ring weight range is [G1, G2], where G1 is the minimum weight of the standard magnetic ring and G2 is the maximum weight of the standard magnetic ring. When the actual magnetic ring weight is not within this range, the acquisition and analysis module determines that the magnetic ring is a defective product.

[0030] When g ∈ [G1, G2], the weight of the magnetic ring is within the standard weight range, and subsequent detection and judgment can continue; When g does not belong to the range [G1, G2], the weight deviation of the magnetic ring is large. When g > G2, there is a large adhesion on the magnetic ring; when g < G1, the magnetic ring has defects or internal air bubbles or uneven density. The acquisition and analysis module determines it as a defective product, and the defective product recycling and transfer component of the transfer mechanism 5 performs defective product recycling and processing.

[0031] It should be noted that since the weighing platform 436 is provided with a rotation detection component 44, and the structure and weight of the rotation detection component 44 are fixed, the weight obtained by the electronic scale 432 minus the weights of the weighing platform 436 and the rotation detection component 44 is the weight of the magnetic ring; the electronic scale 432 is a high-precision weighing device.

[0032] Step Two - Three: The rotation detection component 44 detects the dynamic pressure of the magnetic ring and rejects the magnetic rings with internal defects. Specifically, control the rotation detection component 44 to be in the rotation detection state. A number of pressure sensors 447 detect the pressure values when the magnetic ring rotates. The acquisition and analysis module obtains the actual pressures detected by the number of pressure sensors 447 and calculates the maximum deviation of the actual pressures. The actual pressure is denoted as f i , the maximum deviation of the actual pressure is denoted as Δf, i is the serial number of the pressure sensor 447, i ∈ [1, n], n is the total number of the pressure sensors 447, that is, the number of through slots opened on the connecting seat 444 and also the number of the pressing blocks 446. The maximum deviation of the actual pressure is the maximum difference of the pressure values detected by the number of pressure sensors 447. Therefore , i ∈ [1, n].

[0033] There is a pressure deviation value set in the acquisition and analysis module, denoted as ΔF. The pressure deviation value is used to reflect whether the rotation detection pressure deviation is obvious. If the pressure deviation is large, the weight distribution of the magnetic ring is uneven, the self-property of the magnetic ring is poor, and it is likely to affect the use after normal assembly. The acquisition and analysis module determines that this magnetic ring is a defective product.

[0034] When ΔF, it means the pressure deviation is small, the weight distribution of the magnetic ring is uniform, and there are no internal bubbles or density unevenness, etc. When Δf = 0, it is an ideal state and can proceed with subsequent normal assembly. The clamping component of the transfer mechanism 5 clamps this magnetic ring to the qualified product assembly and transfer component, and then the qualified product assembly and transfer component transfers it to the assembly mechanism 6. When >ΔF, it means the pressure deviation is large, the weight distribution of the magnetic ring is uneven, and there may be bubbles, density unevenness, etc. inside the magnetic ring. The acquisition and analysis module determines it as a defective product, and the defective product recovery and transfer component of the transfer mechanism 5 performs defective product recovery processing.

[0035] Step Three: The assembly mechanism 6 assembles the detected qualified magnetic rings onto the parts to be assembled with magnetic rings.

[0036] Through the above steps, by combining visual inspection, weighing, and dynamic pressure detection, a multi-dimensional detection method is realized, reducing the missed inspection rate during the magnetic ring assembly process, thereby avoiding assembling magnetic rings with quality defects and improving the reliability and service life of electronic products.

[0037] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0038] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent magnetic ring assembly machine, comprising a frame (1), a robotic arm (2), three groups of lifting mechanisms (3), a detection mechanism (4), a transfer mechanism (5) and an assembly mechanism (6), characterized in that, The robot arm (2), the lifting mechanism (3), the detection mechanism (4), and the transfer mechanism (5) are arranged inside the frame (1). The lifting mechanism (3) is used to place the magnetic ring and lift the magnetic ring to the transfer height, facilitating the robot arm (2) to individually grasp the magnetic ring. The robot arm (2) is used to grasp the magnetic ring on the lifting mechanism (3) and place it on the detection mechanism (4) for detection. The transfer mechanism (5) is used to classify and convey the detected magnetic rings. The assembly mechanism (6) is used to assemble the magnetic rings onto the parts to be assembled; The detection mechanism (4) includes a detection frame (41), a vision detection component (42), a weighing detection component (43), and a rotation detection component (44). The detection mechanism (4) is signal-connected to an acquisition and analysis module. The vision detection component (42) and the weighing detection component (43) are arranged on the detection frame (41). The rotation detection component (44) is arranged on the vision detection component (42). The vision detection component (42) is used to detect the concentricity of the magnetic ring. The weighing detection component (43) is used to weigh the weight of the magnetic ring. The rotation detection component (44) is used to detect the self-defect condition of the magnetic ring. The acquisition and analysis module is used to acquire the concentricity, weight, and pressure deviation during rotation of the magnetic ring and judge the defect condition of the magnetic ring; The vision detection component (42) includes a column (421) and a camera (423); The weighing detection component (43) includes an electronic scale (432) and a weighing platform (436); The rotation detection component (44) includes a first motor (442), a rotating table (443), a connecting seat (444), several springs (445), a pressing block (446), and a pressure sensor (447).

2. The intelligent magnetic ring assembling machine according to claim 1, wherein A workbench (11) is fixedly connected inside the frame (1). The robot arm (2) is fixed to the top of the workbench (11). Four groups of first grippers (21) are fixedly connected to the end of the robot arm (2); The lifting mechanism (3) includes a lifting part (31), a lifting platform (32), and a storage tray (33). The lifting part (31) is located at the bottom of the workbench (11). The lifting part (31) is fixed inside the frame (1). The output end of the lifting part (31) is connected to the lifting platform (32). The storage tray (33) is arranged on the top of the lifting platform (32). Several circular storage grooves are arranged on the storage tray (33).

3. The intelligent magnetic ring assembling machine according to claim 2, characterized in that, The column (421) is fixedly connected to the detection frame (41). An adjustment block (422) is sleeved on the top of the column (421). The camera (423) is fixed below the adjustment block (422); A first support (431), two groups of first cylinders (433), and four groups of limit posts (435) are fixedly connected to the top inside the detection frame (41). The two groups of first cylinders (433) are located at the center of the four groups of limit posts (435). The first support (431) is located between the two groups of first cylinders (433). The electronic scale (432) is fixed to the top of the first support (431); The output end of the first cylinder (433) is fixedly connected to a lifting platform (434). The lifting platform (434) is slidably connected to a limit post (435). A weighing groove (437) is formed in the center of the lifting platform (434). Placement grooves are provided on both sides of the weighing groove (437). A weighing platform (436) is arranged in the weighing groove (437) and the placement grooves. The weighing platform (436) is slidably connected to the lifting platform (434).

4. The intelligent magnetic ring assembling machine according to claim 3, characterized in that, A second support (441) is fixedly connected to the top of the weighing platform (436). The first motor (442) is fixed between the second support (441) and the weighing platform (436). The output end of the first motor (442) passes through the weighing platform (436) and is fixedly connected to a rotating platform (443). A connecting seat (444) is fixed to the top of the rotating platform (443). A number of through grooves are formed in the connecting seat (444). The center of the connecting seat (444) is fixedly connected to a spring (445). The other end of the spring (445) is fixedly connected to a pressing block (446). The pressing block (446) is arranged in the through groove and is slidably connected to the connecting seat (444). A groove is provided on the periphery of the pressing block (446). A pressure sensor (447) is arranged in the groove. One side of the pressure sensor (447) is fixedly connected to the pressing block (446). The other side of the pressure sensor (447) is fixedly connected to an elastic pad (448).

5. The intelligent magnetic ring assembling machine according to claim 4, wherein A limit ring (449) is fixedly connected to the top of the rotating platform (443). The limit ring (449) is arranged outside the connecting seat (444).

6. The intelligent magnetic ring assembling machine according to claim 5, characterized in that, The transfer mechanism (5) includes a clamping component, a defective product recycling and transfer component, and a qualified product assembly and transfer component. A defective product recycling area is provided on one side of the workbench (11) away from the lifting mechanism (3). The clamping component includes a first mobile carrier (51) and a first material taking part (52). The first material taking part (52) is fixed to the output end of the first mobile carrier (51). The defective product recycling and transfer component includes a second mobile carrier (53). A first limit support (54) is arranged on the second mobile carrier (53). The qualified product assembly and transfer component includes a second limit support (55), a conveyor belt (56), and a second clamping jaw (58). The second limit support (55) is fixed to the top of the workbench (11). A conveyor belt (56) is arranged on one side of the second limit support (55) away from the detection mechanism (4). The conveyor belt (56) is fixed to the side of the first mobile carrier (51). A third mobile carrier (57) is fixedly connected to the conveyor belt (56). The second clamping jaw (58) is fixed to the output end of the third mobile carrier (57).

7. An intelligent magnetic ring assembling machine according to claim 6, wherein, The assembly mechanism (6) includes an assembly table (61), two sets of second material taking parts (63) and two sets of second cylinders (65). The assembly table (61) is arranged outside the frame (1). A fourth moving carrier (62), a support frame (64) and a pressing seat (67) are fixedly connected to the top of the assembly table (61). The two sets of second cylinders (65) are respectively fixed to the top of the support frame (64) and the bottom of the assembly table (61). The output end of the second cylinder (65) located at the top of the support frame (64) is fixedly connected to a pressing head (66), and the output end of the second cylinder (65) located at the bottom of the assembly table (61) is fixedly connected to the inside of the pressing seat (67).

8. An intelligent magnetic ring assembling machine according to claim 7, characterized in that, An operation table (7) is fixedly connected to the side of the frame (1), and the acquisition and analysis module is also in signal connection with the operation table (7).

9. An assembly method of an intelligent magnetic ring assembling machine, which is implemented by using the intelligent magnetic ring assembling machine described in claim 8, is characterized in that, The assembly method is as follows: Step 1: The lifting part (31) is started to lift the placing tray (33) to a set height, and the robotic arm (2) clamps the magnetic ring on the placing tray (33) onto the detection mechanism (4). Step 2: The detection mechanism (4) detects the concentricity, weight and defect condition of the magnetic ring, and the transfer mechanism (5) classifies the detected magnetic rings. Step 3: The assembly mechanism (6) assembles the qualified magnetic rings to the parts to be assembled with magnetic rings.

10. The assembling method of an intelligent magnetic ring assembling machine according to claim 9, characterized in that, The specific steps of Step 2 are as follows: Step 2-1: The vision detection component (42) detects the concentricity of the magnetic ring and rejects the magnetic rings with large concentricity deviation. Step 2-2: The weighing detection component (43) detects the weight of the magnetic ring and rejects the magnetic rings with abnormal weight. Step 2-3: The rotation detection component (44) detects the dynamic pressure of the magnetic ring and rejects the magnetic rings with internal defects.

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