Magnet holder online assembly equipment

Abstract

The present application relates to the technical field of assembly equipment, in particular to a magnet support online assembly equipment, which comprises a rack, a mechanical arm movably installed on the rack, a camera fixedly installed on the mechanical arm, the mechanical arm moves on the rack through a motor drive, a correction device is arranged on the mechanical arm, a correction head is arranged in the correction device, the correction head rotates the workpiece to a vertical position by means of the gravity of the workpiece, a grabbing device is arranged on the mechanical arm, a suction cup is arranged in the grabbing device, the suction cup is used for grabbing the head of the rotated workpiece, the correction device comprises two drive motors fixedly installed in the mechanical arm, two drive rods one and two are respectively and symmetrically arranged on the outer wall surface of the lower end of the mechanical arm. The present application solves the problem that the assembly mechanical arm cannot well grab the fallen workpiece, thereby improving the production efficiency of assembly production.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assembly equipment, in particular to a magnet support online assembly equipment. BACKGROUND

[0002] The magnet support is a device for fixing, supporting or suspending objects by magnetic force, which has the advantage of fixing other equipment without additional connecting parts, improving the convenience of disassembly and assembly, and is especially suitable for fixing mobile equipment. Existing magnet supports have various shapes including cylindrical and square shapes to meet different assembly requirements.

[0003] In the existing magnet support assembly process, in order to improve work efficiency and ensure production quality, an automatic production mode has been adopted, and a control system and the Internet are used to log multiple production equipment on the production line into the Internet to realize an online automatic production mode. With the control and deployment of the Internet, the production system transports the stacked materials to the working area of the assembly robot through the conveyor belt, and then the assembly robot grasps the materials and assembles them. The technical solution of the patent number CN110434585B, named assembly equipment, shows a form of automatic assembly equipment.

[0004] For cylindrical magnet supports, the existing automatic assembly equipment has high requirements for the placement pose of the materials when performing grasping operations. Generally, the workpiece needs to be placed vertically so that the robot can directly grasp the head of the magnet support, thereby facilitating assembly. However, the cylindrical magnet support has a high center of gravity when placed vertically, so there is a risk of falling during transportation by the conveyor belt. Once the workpiece falls, the robot may have difficulty or even be unable to grasp the workpiece. To solve this problem, the existing method is to limit the conveying speed of the conveyor belt to reduce the risk of workpiece falling, but this method usually limits the efficiency of assembly production.

[0005] Therefore, a magnet support online assembly equipment is proposed. SUMMARY

[0006] The purpose of the present application is to provide a magnet support online assembly equipment to solve the problem that the assembly robot cannot grasp the fallen magnet support well, thereby improving the production efficiency of assembly production.

[0007] To achieve the above purpose, the present application provides the following technical solutions:

[0008] It is worth noting that for the cylindrical magnet support processed by the present application, the term "workpiece" is used in the following text.

[0009] The magnet support online assembly equipment comprises a rack, a mechanical arm movably mounted on the rack, a camera fixedly mounted on the mechanical arm, and a motor for driving the mechanical arm to move on the rack, wherein a correction device is arranged on the mechanical arm, a correction head is arranged in the correction device, the correction head rotates the cylindrical workpiece to a vertical position by means of the gravity of the workpiece, a grabbing device is arranged on the mechanical arm, and a suction cup is arranged in the grabbing device and used for grabbing the head of the rotated workpiece.

[0010] Based on the scheme, during operation, the camera first captures image information of the workpiece to be grabbed and uploads the image information to the control system for analysis, and then the control system judges the position and posture of the workpiece according to pre-input data in the control system. If the workpiece does not fall, the mechanical arm can be directly moved and the workpiece can be grabbed under the driving of the motor, and the workpiece can be used for assembly.

[0011] On the contrary, if the workpiece to be grabbed falls, the control system first moves the mechanical arm above the workpiece, then starts the correction device to clamp the fallen workpiece by the correction head, and then the mechanical arm is lifted upward. During the lifting process, the workpiece clamped by the correction head rotates under the action of its own gravity, so that the axis of the workpiece is parallel to the vertical direction, and the correction of the position and posture of the workpiece is completed. Then, the control system starts the grabbing device to grab the head of the workpiece by the suction cup, releases the clamping of the workpiece by the correction head, and then the grabbing device places the workpiece on the mechanical arm, so that the mechanical arm can stably clamp the workpiece and move and assemble. Therefore, the mechanical arm can move above the workpiece to be assembled under the control of the control system, and then the workpiece is inserted into the workpiece to be assembled to complete the assembly.

[0012] Therefore, the falling state of the workpiece can be corrected, the problem that the assembly mechanical arm cannot well grab the fallen workpiece is solved, and the production efficiency of assembly production is improved.

[0013] Preferably, the correction device comprises two driving motors fixedly mounted in the mechanical arm, two driving rods one and two are symmetrically arranged on the outer wall surface of the lower end of the mechanical arm, and the two driving rods one are fixedly connected with the two driving motors respectively; a grabbing rod is rotatably mounted on the driving rod one and the driving rod two on the same side of the mechanical arm; a rotating shaft is fixedly mounted at the bottom end of the grabbing rod, and the correction head is rotatably mounted on the rotating shaft.

[0014] With this setup, drive rod one and drive rod two, located on the same side, together with the gripping rod and the robotic arm, form a four-bar linkage. When the workpiece to be gripped falls over, the control system first moves the robotic arm above the workpiece and then activates the straightening device. At this time, the two drive motors are activated, causing the corresponding drive rod one to rotate. Under the linkage of the four-bar linkage, the two gripping rods swing downwards simultaneously at the same angular velocity, eventually bringing the end faces of the two straightening heads into contact with the outer surface of the fallen workpiece, thus clamping the workpiece. Specifically, the clamping position of the two straightening heads on the workpiece should be between the workpiece head and the workpiece's center of gravity. Therefore, during the subsequent upward lifting of the robotic arm, the workpiece will rotate due to its tendency to reach the lowest potential energy point. Thus, the workpiece's own gravity can be used to make its axis parallel to the vertical direction, thereby correcting the workpiece's posture. Therefore, this invention can correct the tilted state of the workpiece, and when combined with the gripping device, it solves the problem that the assembly robot arm cannot properly grip the tilted workpiece, thereby improving the production efficiency of assembly production.

[0015] Preferably, the gripping device includes a mounting hole at the bottom of the robotic arm, an electric push rod is fixedly installed in the mounting hole, a suction cup is fixedly installed on the output end of the electric push rod, an air pipe is fixedly installed on the suction cup, one end of the air pipe is connected to the inside of the suction cup; an air pump is fixedly installed inside the robotic arm, and the other end of the air pipe is connected to the air pump.

[0016] After the straightening device corrects the position of the fallen workpiece, the control system activates the gripping device. The electric push rod then pushes the suction cup downwards until it comes into contact with the head of the workpiece. The air pump then starts, drawing air out of the space between the suction cup and the workpiece through the air pipe, allowing the suction cup to firmly hold the workpiece. The straightening device then releases its grip on the workpiece, and the electric push rod retracts upwards, moving the workpiece onto the robotic arm. This allows the robotic arm to smoothly grasp and acquire the workpiece for subsequent movement and assembly operations. This process helps ensure the reliability of the invention.

[0017] Preferably, a mounting bracket is fixedly installed at the lower end of each of the two gripping rods, and a laser emitter is fixedly installed on the mounting bracket. A circuit breaker is fixedly installed on the outer wall of the robotic arm, and the circuit breaker is electrically connected to the vibration motor. The gripping rod is used to abut against the circuit breaker. The optical paths of the two laser emitters intersect, and the intersection point is located on the straight line of the axis of the mounting hole. A vibration motor is fixedly installed on the robotic arm, and the vibration motor is electrically connected to the camera.

[0018] When using a straightening device to correct a workpiece's tilted position, friction exists between the straightening head and the rotating shaft. Furthermore, due to the workpiece's limited weight, when rotating the workpiece using its own weight, it may not be able to be completely rotated to a position where the axis is parallel to the vertical line. In other words, the workpiece may not be completely corrected to a vertical position. This could result in the suction cup not properly adhering to the workpiece head, causing the gripping device to fail to firmly hold the workpiece. Consequently, the workpiece may fall during the movement of the gripping device, affecting the normal assembly process.

[0019] This setup utilizes two symmetrically arranged laser emitters in conjunction with a camera to detect the vertical orientation of the workpiece. When the workpiece, held by two straightening heads, rotates to a vertical position, both laser beams emitted by the two emitters are precisely blocked by the workpiece. The lasers then leave projected spots on the sidewall of the workpiece. The camera captures this information and uploads it to the control system, which can then determine that the workpiece is in a vertical position, allowing the robotic arm to directly continue with subsequent routine assembly steps.

[0020] When a workpiece held by the two straightening heads fails to rotate to a vertical position due to its own weight and the assistance of the straightening device, the laser emitted by the laser emitter will not leave a light spot on the side of the workpiece. The corresponding image information will be captured by the camera, and the control system will recognize that there is no light spot on the side of the workpiece. The control system then activates the vibration motor. The vibration generated by the motor will cause the gripper and the rotating shaft to vibrate, and the workpiece will gain inertial force due to its own inertia. This inertial force helps overcome the resistance preventing the workpiece from rotating to the lowest potential energy position, allowing the workpiece to continue rotating and reach the lowest potential energy position, i.e., the vertical position. Therefore, this helps ensure a good fit between the suction cup and the workpiece head, ensuring that the gripping device can firmly grasp the workpiece, reducing the risk of the workpiece falling during the movement of the gripping device, and thus facilitating the normal progress of the assembly operation and improving the reliability of the invention.

[0021] It is worth noting that during manufacturing, the bottom of the workpiece is usually chamfered to facilitate assembly. Therefore, even if the workpiece is not perfectly vertical, it does not affect normal assembly. Thus, in practical applications, the angle of the laser emitter used for detection can have a certain tolerance. Specifically, the laser beam does not need to be precisely adjusted to be tangent to the bottom of the workpiece; a certain gap is permissible. This allows the control system to be more lenient in judging the verticality of the workpiece without affecting assembly quality. This helps avoid the problem of repeated system adjustments caused by excessively high fitting precision or overly stringent judgment conditions, thus ensuring the assembly efficiency of this invention.

[0022] Furthermore, as the gripper swings upward away from the workpiece under the action of the drive motor, the laser emitter also moves away from the workpiece, preventing it from projecting a light spot onto the side of the workpiece. Therefore, the information collected by the camera causes the control system to continuously activate the vibration motor, resulting in unnecessary vibration of the workpiece during the robotic arm's assembly process, thus affecting the assembly quality and accuracy. By setting a circuit breaker, when the correction device completes the workpiece's posture correction and the drive motor swings the gripper back to its original position, the gripper will abut against the circuit breaker, triggering it to cut off the power supply to the vibration motor. This prevents the vibration motor from being activated by the control system at this time, thus avoiding the control system activating the vibration motor during the workpiece assembly process. This prevents the vibration motor from causing vibration to the workpiece during assembly, thereby ensuring the accuracy of the assembly action and guaranteeing the assembly quality.

[0023] Preferably, a damping ring is fixedly installed on the rotating shaft, and the damping ring abuts against the straightening head.

[0024] By setting a damping ring, the straightening head can have a certain damping force after clamping the workpiece, thereby consuming some kinetic energy during the workpiece rotation process. This allows the workpiece to rotate to a vertical position smoothly, reducing the back-and-forth swaying of the workpiece after it rotates to a vertical position. This reduces the time spent by the straightening device to correct the workpiece position, thereby improving assembly production efficiency.

[0025] Preferably, a mounting bracket is fixedly installed on the output end of the electric push rod. The mounting bracket is "U"-shaped. The electric push rod is connected to the top center of the mounting bracket. The suction cup is fixedly installed at the bottom center of the mounting bracket. A connecting hole is opened at the bottom center of the mounting bracket. The air tube passes through the connecting hole and connects to the suction cup.

[0026] This setup, utilizing the mounting bracket, ensures that the application point of the electric actuator, the position of the suction cup, and the workpiece's axis are all aligned on the same vertical line. Therefore, when the electric actuator pushes the suction cup to adhere to the workpiece's head, each position on the suction cup receives symmetrical and uniform force, ensuring reliable adhesion between all positions on the suction cup and the workpiece head. Simultaneously, the air pipe is connected to the center of the suction cup, allowing for symmetrical and uniform extraction of air from the space between the suction cup and the workpiece head. This ensures symmetrical adhesion of the suction cup to the workpiece at symmetrical positions, preventing unexpected tilting of the workpiece and maintaining its vertical position during the movement of the workpiece into the robotic arm, thus guaranteeing the effectiveness of the invention.

[0027] Preferably, a silicone sleeve is fixedly installed on the side of the correction head near the axis of the mounting hole.

[0028] By incorporating a silicone sleeve, the significant friction between the sleeve and the workpiece ensures that the workpiece is correctly clamped by the straightening head. Simultaneously, the silicone sleeve deforms under pressure, conforming more closely to the outer surface of the workpiece, thus better restricting relative movement between the workpiece and the straightening head. This prevents the workpiece from slipping off the straightening head and improves the reliability of the invention.

[0029] For the above technical solution, the overall workflow during product assembly in the production process includes the following steps:

[0030] S1: The camera captures image information of the workpiece and uploads it to the control system, which then determines whether the workpiece has collapsed.

[0031] S2: If the workpiece does not fall over, the robotic arm moves directly under the drive of the motor and grabs the workpiece, and uses the workpiece for assembly; if the workpiece falls over, the control system will first move the robotic arm above the workpiece, and then start the straightening device to clamp the fallen workpiece through the straightening head. Then the robotic arm is lifted up. During the lifting process, the workpiece clamped by the straightening head rotates to a vertical position under its own gravity.

[0032] S3: Then, the control system starts the gripping device, which grips the head of the workpiece with a suction cup, while releasing the clamping head on the workpiece. The gripping device then places the workpiece onto the robotic arm.

[0033] S4: Finally, under the control of the control system, the robotic arm carries the workpiece to the top of the part to be assembled, and then inserts the workpiece into the part to be assembled to complete the assembly operation.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] 1. By incorporating a correction device, when the workpiece to be grasped falls over, the control system first moves the robotic arm above the workpiece, then activates the correction device, using two correction heads to clamp the workpiece. Subsequently, the robotic arm is raised, causing the workpiece to rotate and return to a vertical position, thus correcting the workpiece's posture. Therefore, this invention can correct the fallen state of a workpiece. Combined with a grasping device, it solves the problem of assembly robotic arms being unable to effectively grasp fallen workpieces, thereby improving assembly production efficiency.

[0036] 2. By incorporating a gripping device, after the straightening device corrects the position of the tilted workpiece, the control system activates the gripping device. The electric push rod then pushes the suction cup downwards, bringing it into contact with the head of the workpiece. Subsequently, the air pump activates, extracting air from the space between the suction cup and the workpiece through an air pipe, allowing the suction cup to firmly hold the workpiece. The straightening device then releases its grip on the workpiece, and the electric push rod retracts upwards, moving the workpiece onto the robotic arm. This allows the robotic arm to smoothly grip the workpiece for subsequent movement and assembly operations. This design helps ensure the reliability of the invention.

[0037] 3. By incorporating a laser emitter and a vibration motor, when the workpiece held by the two straightening heads fails to rotate to a vertical position, the laser emitter will not leave a light spot on the workpiece. The corresponding image information will be captured by the camera and uploaded to the control system, which then activates the vibration motor. The vibration generated by the motor will then enable the workpiece to continue rotating and reach a vertical position. This helps ensure that the gripping device can firmly hold the workpiece, reducing the risk of the workpiece falling during the movement of the gripping device, thereby facilitating the normal progress of assembly operations and improving the reliability of the invention. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 for Figure 1 A diagram showing the view from the right.

[0040] Figure 3 for Figure 1 A frontal sectional view of part A in the middle;

[0041] Figure 4 for Figure 2 A magnified view of part B in the middle section;

[0042] Figure 5 for Figure 3 A magnified view of part C in the middle;

[0043] Figure 6 This is a schematic diagram showing the state of the correction device when clamping the workpiece;

[0044] Figure 7 for Figure 6 The diagram shows the state of the structure when the gripping device is activated.

[0045] Figure 8 This is a schematic diagram of the workflow of the present invention.

[0046] In the diagram: 1. Frame; 2. Robotic arm; 3. Camera; 4. Air pump; 5. Electric push rod; 6. Detection plane; 7. Laser optical path; 21. Drive motor; 22. Grab rod; 23. Drive rod one; 24. Drive rod two; 25. Laser emitter; 26. Reflector; 41. Air pipe; 42. Connecting hole; 51. Mounting bracket; 52. Suction cup; 221. Rotating shaft; 222. Correcting head; 223. Silicone sleeve; 224. Damping ring; 225. Circuit breaker; 251. Fixing bracket. Detailed Implementation

[0047] The following description, with the aid of the accompanying drawings listed in the foregoing "Description of Drawings", will clearly illustrate the specific embodiments of the present invention, in order to enable readers to have a more complete and objective understanding of the working principle and corresponding technical effects of the present invention.

[0048] like Figures 1 to 8 The diagram illustrates a specific embodiment of the present invention. Several points need to be explained beforehand: First, mature technical solutions for assembly operations using the robotic arm 2 already exist in the prior art, including the clamping, moving, and assembly actions of the robotic arm 2 on the workpiece; therefore, these will not be elaborated upon further below. Second, to facilitate adjustment of the optical path of the laser emitted from the laser emitter 25, a reflector 26 is fixedly installed at the lower end of the robotic arm 2. The reflector 26 is located below the laser emitter 25 and is positioned along the optical path of the laser emitter 25. Therefore, by adjusting the angle of the reflector 26, the optical path of the laser emitter 25 can be adjusted, allowing for convenient adjustment of the optical path without disassembling the laser emitter 25, thus ensuring the reliability of the present invention during operation.

[0049] When the present invention is installed, a robotic arm 2 is first movably mounted on the frame 1, and a camera 3 is fixedly mounted on the robotic arm 2. The robotic arm 2 moves on the frame 1 driven by a motor. A correction device is provided on the robotic arm 2, and a correction head 222 is provided inside the correction device. The correction head 222 rotates the workpiece to a vertical position by means of the workpiece's gravity. A gripping device is provided on the robotic arm 2, and a suction cup 52 is provided inside the gripping device. The suction cup 52 is used to grip the head of the rotated workpiece.

[0050] The correction device includes two drive motors 21 fixedly installed inside the robotic arm 2. Two drive rods 1 23 and two drive rods 24 are symmetrically arranged on the outer wall of the lower end of the robotic arm 2. The two drive motors 21 are fixedly connected to the two drive rods 1 23 respectively. A gripping rod 22 is rotatably installed on the drive rods 1 23 and 24 located on the same side of the robotic arm 2. A rotating shaft 221 is fixedly installed at the bottom end of the gripping rod 22, and the correction head 222 is rotatably installed on the rotating shaft 221.

[0051] The gripping device includes a mounting hole at the bottom of the robotic arm 2, an electric push rod 5 is fixedly installed in the mounting hole, a suction cup 52 is fixedly installed on the output end of the electric push rod 5, an air pipe 41 is fixedly installed on the suction cup 52, one end of the air pipe 41 is connected to the inside of the suction cup 52; an air pump 4 is fixedly installed inside the robotic arm 2, and the other end of the air pipe 41 is connected to the air pump 4.

[0052] In addition, a mounting bracket 251 is fixedly installed at the lower end of each of the two gripping rods 22. A laser emitter 25 is fixedly installed on the mounting bracket 251. A circuit breaker 225 is fixedly installed on the outer wall of the robotic arm 2. The circuit breaker 225 is electrically connected to the vibration motor. The gripping rods 22 are used to abut against the circuit breaker 225. The optical paths of the two laser emitters 25 intersect, and the intersection point is located on the straight line of the axis of the mounting hole. A vibration motor is fixedly installed on the robotic arm 2, and the vibration motor is electrically connected to the camera 3. A damping ring 224 is fixedly installed on the rotating shaft 221, and the damping ring 224 abuts against the straightening head 222. A mounting bracket 51 is fixedly installed on the output end of the electric push rod 5. The mounting bracket 51 is "U"-shaped. The electric push rod 5 is connected to the center of the top of the mounting bracket 51. The suction cup 52 is fixedly installed at the center of the bottom end of the mounting bracket 51. A connecting hole 42 is opened at the center of the bottom end of the mounting bracket 51. The air pipe 41 passes through the connecting hole 42 and connects to the suction cup 52. A silicone sleeve 223 is fixedly installed on the side of the straightening head 222 near the axis of the mounting hole.

[0053] When this invention is in operation, the workflow is as follows:

[0054] First, the image information of the workpiece is captured by camera 3 and uploaded to the control system. The control system then determines whether the workpiece has fallen over. If the workpiece is not fallen over, the robotic arm 2, driven by a motor, moves directly to grasp the workpiece and uses it for assembly. If the workpiece has fallen over, the control system first moves the robotic arm 2 above the workpiece, then activates the straightening device to clamp the fallen workpiece using the straightening head 222. The robotic arm 2 then rises upwards, and during this process, the workpiece clamped by the straightening head 222 rotates to a vertical position under its own gravity. Next, the control system activates the gripping device, which uses suction cup 52 to grasp the head of the workpiece while simultaneously releasing the straightening head 222. The gripping device then places the workpiece onto the robotic arm 2. Finally, under the control of the control system, the robotic arm 2 carries the workpiece to above the assembly component and inserts the workpiece into it, completing the assembly operation.

[0055] Specifically, camera 3 first captures image information of the workpiece to be grasped and uploads it to the control system for analysis. Then, the control system determines the workpiece's pose based on its internal pre-input data. If the workpiece does not fall over, robotic arm 2 can move directly under the drive of a motor to grasp the workpiece and use it for assembly.

[0056] Conversely, if the workpiece to be grasped falls over, the control system first moves the robotic arm 2 above the workpiece, then activates the straightening device to clamp the fallen workpiece using the straightening head 222. The robotic arm 2 then rises upwards; during this rise, the workpiece clamped by the straightening head 222 rotates under its own gravity, thus aligning the workpiece's axis with the vertical direction, thereby correcting the workpiece's posture. Then, the control system activates the gripping device, using the suction cup 52 to grasp the head of the workpiece while simultaneously releasing the straightening head 222. The gripping device then places the workpiece onto the robotic arm 2, allowing the robotic arm 2 to stably hold the workpiece and perform movement and assembly operations. Thus, under the control of the control system, the robotic arm 2 can carry the workpiece to the part to be assembled, and then insert the workpiece into the part to be assembled, completing the assembly operation. Therefore, this invention can correct the fallen state of the workpiece, solving the problem that the assembly robotic arm 2 cannot effectively grasp fallen workpieces, thereby improving the production efficiency of assembly production.

[0057] In this straightening device, drive rod 23 and drive rod 24, located on the same side, together with gripping rod 22 and robotic arm 2, form a four-bar linkage. The straightening device operates as follows: when the workpiece to be gripped falls over, the control system first moves robotic arm 2 above the workpiece and then activates the straightening device. At this time, two drive motors 21 are activated, causing the corresponding drive rod 23 to rotate. Under the linkage of the four-bar linkage, the two gripping rods 22 simultaneously swing downwards at the same angular velocity, ultimately bringing the end faces of the two straightening heads 222 into contact with the outer surface of the fallen workpiece, thus clamping the workpiece. Specifically, the clamping position of the two straightening heads 222 on the workpiece should be between the workpiece head and the workpiece's center of gravity. Therefore, during the subsequent upward lifting of robotic arm 2, the workpiece will rotate due to its tendency to reach the lowest potential energy point. Thus, the workpiece's own gravity can be used to make its axis parallel to the vertical direction, thereby correcting the workpiece's posture. Therefore, the present invention can correct the overturned state of the workpiece, and when combined with the gripping device, it solves the problem that the assembly robot arm 2 cannot grip the overturned workpiece well, thereby improving the production efficiency of assembly production.

[0058] The gripping device operates as follows: After the straightening device corrects the position of the fallen workpiece, the control system activates the gripping device. The electric push rod 5 then pushes the suction cup 52 downwards, bringing it into contact with the head of the workpiece. The air pump 4 then activates, drawing air out of the space between the suction cup 52 and the workpiece through the air pipe 41, allowing the suction cup 52 to firmly hold the workpiece. The straightening device then releases its grip on the workpiece, and the electric push rod 5 retracts upwards, moving the workpiece onto the robotic arm 2. This allows the robotic arm 2 to smoothly grip and acquire the workpiece, facilitating subsequent movement and assembly operations. This process helps ensure the reliability of the invention.

[0059] Furthermore, during the process of correcting the tilted posture of the workpiece using the straightening device, due to friction between the straightening head 222 and the rotating shaft 221, and because of the limited weight of the workpiece, when rotating the workpiece using its own weight, the workpiece may not be completely rotated to a state where its axis is parallel to the vertical line. In other words, the workpiece may not be completely corrected to a vertical posture. This could result in the suction cup 52 not properly adhering to the head of the workpiece, causing the gripping device to fail to firmly grasp the workpiece. Consequently, the workpiece may fall during the movement of the gripping device, affecting the normal progress of the assembly operation.

[0060] To address this, by setting up laser emitters 25, the lasers emitted by two symmetrically arranged laser emitters 25 can be used in conjunction with the camera 3 to detect the vertical orientation of the workpiece. When the workpiece, held by the two straightening heads 222, rotates to a vertical orientation, in Figure 7 As shown in the detection plane 6, the orthographic projection of the workpiece is exactly circular, and the laser beam falls precisely on the circumference of the circle. Furthermore, the line connecting the two beams is exactly the diameter of the circle. Therefore, both laser beams emitted by the two laser emitters 25 are blocked by the workpiece. The beam left on the cylindrical surface of the workpiece is then captured by the camera 3, and the image information is uploaded to the control system. The control system can then determine that the workpiece is in a vertical position, allowing the robotic arm 2 to directly continue with the subsequent routine assembly steps.

[0061] When the workpiece held by the two straightening heads 222 fails to rotate to a vertical position due to its own weight and the assistance of the straightening device, the laser emitted by the laser emitter 25 will not leave a light spot on the side of the workpiece. The corresponding image information will be captured by the camera 3. At this time, the control system recognizes that there is no light spot on the side of the workpiece. Then the control system starts the vibration motor. At this time, the vibration generated by the vibration motor will cause the gripping rod 22 and the rotating shaft 221 to vibrate, and the workpiece will gain inertial force due to its own inertia. This inertial force will help overcome the resistance that prevents the workpiece from rotating to the lowest potential energy position, thus allowing the workpiece to continue rotating and reach the lowest potential energy position, i.e., the vertical position. Therefore, it is beneficial to ensure good contact between the suction cup 52 and the head of the workpiece, ensure that the gripping device can firmly grip the workpiece, reduce the risk of the workpiece falling during the movement of the gripping device, and thus help the assembly operation to proceed normally, improving the reliability of the invention.

[0062] It is worth noting that during manufacturing, the bottom of the workpiece is usually chamfered to facilitate assembly. Therefore, even if the workpiece is not perfectly vertical, it does not affect normal assembly. Thus, in this invention, the angle of the laser beam emitted by the laser emitter 25 can have a certain tolerance. Specifically, the laser beam does not need to be precisely adjusted to be tangent to the bottom of the workpiece; a certain gap is permissible. This allows the control system to be more lenient in judging the verticality of the workpiece without affecting assembly quality. This helps avoid the problem of repeated system adjustments caused by excessively high fitting precision or overly stringent judgment conditions, thus ensuring the assembly efficiency of this invention.

[0063] Furthermore, as the gripper 22 swings upward away from the workpiece under the action of the drive motor 21, the laser emitter 25 also moves away from the workpiece, preventing it from projecting a light spot onto the side of the workpiece. Therefore, the information collected by the camera 3 causes the control system to continuously activate the vibration motor, resulting in unnecessary vibration of the workpiece during the assembly process by the robotic arm 2, thus affecting the assembly quality and accuracy. By setting a circuit breaker 225, when the correction device completes the workpiece's posture correction, the drive motor 21 swings the gripper 22 upward to its original position, causing the gripper 22 to abut against the circuit breaker 225. This triggers the circuit breaker 225, cutting off the power supply to the vibration motor, preventing it from being activated by the control system at this time. This avoids the control system activating the vibration motor during the assembly process of the workpiece onto the component to be assembled. This prevents the vibration motor from causing vibration to the workpiece during assembly, thus ensuring the accuracy of the assembly action and guaranteeing the assembly quality.

[0064] It should be emphasized that, based on the content described above, although the beneficial effects of the present invention have been explained in detail and corresponding specific embodiments have been provided, those skilled in the art can still achieve the same technical effects by making conventional substitutions, modifications, or other alterations to the given technical solutions without creative effort, provided they fully understand the working principle of the present invention. However, such modifications should not be considered as exceeding the scope of the present invention. Specifically, the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An online assembly device for a magnet bracket, comprising a frame (1), on which a robotic arm (2) is movably mounted, and on which a camera (3) is fixedly mounted, wherein the robotic arm (2) moves on the frame (1) by means of a motor, characterized in that, The robotic arm (2) is provided with a correction device, and the correction device is provided with a correction head (222). The correction head (222) rotates the cylindrical workpiece by gravity. The robotic arm (2) is provided with a gripping device, and the gripping device is provided with a suction cup (52). The suction cup (52) is used to grip the head of the rotated cylindrical workpiece. The correction device includes two drive motors (21) fixedly installed inside the robotic arm (2). Two drive rods (23) and two drive rods (24) are symmetrically arranged on the outer wall of the lower end of the robotic arm (2). The two drive motors (21) are fixedly connected to the two drive rods (23). A gripping rod (22) is rotatably installed on the drive rods (23) and the drive rods (24) located on the same side of the robotic arm (2). A rotating shaft (221) is fixedly installed at the bottom end of the gripping rod (22), and the correction head (222) is rotatably installed on the rotating shaft (221). The gripping device includes a mounting hole at the bottom of the robotic arm (2), an electric push rod (5) is fixedly installed in the mounting hole, a suction cup (52) is fixedly installed on the output end of the electric push rod (5), an air pipe (41) is fixedly installed on the suction cup (52), one end of the air pipe (41) is connected to the inside of the suction cup (52); an air pump (4) is fixedly installed inside the robotic arm (2), and the other end of the air pipe (41) is connected to the air pump (4); Both gripping rods (22) are fixedly mounted with a mounting bracket (251) at their lower ends. A laser emitter (25) is fixedly mounted on the mounting bracket (251). A circuit breaker (225) is fixedly mounted on the outer wall of the robotic arm (2). The circuit breaker (225) is electrically connected to the vibration motor. The gripping rods (22) are used to abut against the circuit breaker (225). The optical paths of the two laser emitters (25) intersect, and the intersection point is located on the straight line where the axis of the mounting hole is located. A vibration motor is fixedly mounted on the robotic arm (2), and the vibration motor is electrically connected to the camera (3). A damping ring (224) is fixedly installed on the rotating shaft (221), and the damping ring (224) abuts against the straightening head (222).

2. The online assembly equipment for a magnet bracket according to claim 1, characterized in that, An mounting bracket (51) is fixedly installed on the output end of the electric push rod (5). The mounting bracket (51) is "U" shaped. The electric push rod (5) is connected to the top center of the mounting bracket (51). The suction cup (52) is fixedly installed at the bottom center of the mounting bracket (51). A connecting hole (42) is opened at the bottom center of the mounting bracket (51). The air pipe (41) passes through the connecting hole (42) and is connected to the suction cup (52).

3. The online assembly equipment for a magnet bracket according to claim 1, characterized in that, A silicone sleeve (223) is fixedly installed on the side of the correction head (222) near the axis of the mounting hole.

4. The online assembly equipment for a magnet bracket according to claim 1, characterized in that, A reflector (26) is fixedly installed on the robotic arm (2). The reflector (26) is located below the laser emitter (25) and is positioned on the optical path of the laser emitter (25).

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