PIN shaking-off mechanism and shaking-off method thereof

Abstract

The invention provides a PIN shaking-off mechanism and a shaking-off method thereof.The mechanism comprises a machine table, a transplanting mechanical arm is arranged in the middle of the machine table, and PIN shaking-off and defective product detection devices are symmetrically arranged on the two sides of the transplanting mechanical arm correspondingly; each PIN shaking-off and defective product detection device comprises a PIN shaking-off assembly, a PIN defective product detection assembly and a honeycomb disc transferring assembly arranged between the PIN shaking-off assembly and the PIN defective product detection assembly, and each PIN shaking-off assembly comprises a honeycomb disc clamping and magnetic core pushing-in part and a PIN shaking-off part. The shaking-off method comprises the following steps: continuously processing the front surface and the back surface of the honeycomb disc through the cooperation of the transplanting mechanical arm and the devices on the two sides; and on each processing surface, the honeycomb disc transfer assembly transfers the honeycomb disc to the PIN defective product detection assembly for online visual detection and automatic rejection of defective products. The invention relates to the technical field of magnetic core PIN rocking breaking, and further relates to the field of advanced nonferrous metal material precision device manufacturing.

Description

Technical Field

[0001] This invention relates to the field of magnetic core pin breakage technology, further to the field of precision device manufacturing of advanced non-ferrous metal materials, and particularly to a pin breakage mechanism and method. Background Technology

[0002] As electronic components become increasingly miniaturized and denser, the precision machining requirements for components such as magnetic cores are rising. Among these processes, separating the pre-cut pins on the magnetic core is a crucial step, especially in the manufacturing of precision magnetic cores from high-quality aluminum alloy sheets, magnesium, copper, titanium, and other advanced non-ferrous metals. The clean, precise, and efficient separation of the pins is essential to ensuring the performance of the final component. Existing technologies have developed equipment that mechanically bends or cuts the pins, representing an evolution from purely manual operation to semi-automatic and automated processing, aiming to improve processing efficiency and consistency.

[0003] However, existing automated equipment often has limited functionality, typically only separating the pins. Subsequent selection of good products and rejection of defective products require additional inspection stations and manual intervention, leading to discontinuous production processes and bottlenecks in overall efficiency. Furthermore, for magnetic cores requiring double-sided pin processing, existing production line layouts often require complex turning and secondary positioning mechanisms, increasing equipment complexity and failure rates. In addition, if the separated pin waste and defective magnetic cores cannot be automatically recycled in situ, it can easily cause equipment contamination and require shutdown for cleaning, affecting the continuity and stability of production. Therefore, how to integrate efficient pin breakage detection, real-time visual inspection, automatic rejection of defective products, and waste recycling functions into a single system, and achieve seamless double-sided processing, has become a key challenge in improving the automation level and production line efficiency of the downstream processing of such components.

[0004] Therefore, the inventors urgently need a pin breakage mechanism and a breakage method to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a pin breakage mechanism and method, aiming to solve the problems of existing pin separation equipment having limited functionality, being unable to continuously and automatically complete precision breakage, online detection, defective product rejection and waste recycling within the same system, and being difficult to efficiently achieve double-sided processing of magnetic cores.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a PIN breakage mechanism, comprising a machine base, a transfer robotic arm disposed in the middle of the machine base, and PIN breakage and defective product detection devices symmetrically disposed on both sides of the transfer robotic arm. The PIN breakage and defective product detection devices include a PIN breakage component, a PIN defective product detection component, and a honeycomb disk transfer component disposed between the PIN breakage component and the PIN defective product detection component. The PIN breakage component includes a honeycomb disk clamping and magnetic core pushing component and a PIN breakage component. The PIN breakage component includes a base rocking module disposed on the machine base, a PIN push-rocking module disposed on the upper end of the base rocking module, a magnetic core ejection module mounted on the base rocking module and located above the PIN push-rocking module, and a PIN foot pressing and positioning module disposed on the outer frame of the magnetic core ejection module and located above the magnetic core ejection module.

[0007] Based on the above, the beneficial effects of a PIN breakage mechanism and its breaking method are that it solves the problems of existing PIN separation equipment having limited functions, being unable to continuously and automatically complete precision breaking, online detection, defective product rejection, and waste recycling within the same system, and being difficult to efficiently achieve double-sided processing of magnetic cores; mainly reflected in: 1. This invention integrates the three core functional modules of magnetic core handling, PIN breakage processing, and defective product detection and rejection onto the same machine by using a transfer robotic arm set in the middle of the machine and PIN breakage and defective product detection devices symmetrically set on both sides of the transfer robotic arm. The transfer robotic arm, as the central hub, is responsible for transferring the honeycomb disk carrying the magnetic core between the processing and inspection stations on both sides, realizing a streamlined operation from processing to inspection, and changing the traditional discrete production mode that requires multiple independent devices or manual transfer. 2. This invention uses the forward movement of the PIN pin limiting rod of the PIN pin pushing and rocking module to form a gap with the inner wall of the PIN pin receiving groove to accommodate the PIN pin. The base rocking module drives the PIN pin receiving component to repeatedly shift, causing the PIN pin in the gap to be pushed and rocked back and forth, thereby achieving breakage at the pre-cut mark. At the same time, the magnetic core ejection module is used to push the magnetic core before and after processing, and the PIN pin pressing and positioning module ensures the stability of the magnetic core's position during the rocking and breaking process. This multi-module collaborative mechanized operation replaces the traditional unreliable pure transmission method or inefficient manual operation, ensuring the consistency and quality of processing. 3. This invention constructs a seamless connection channel from processing to inspection by setting a honeycomb disk transfer component between the PIN breakage component and the PIN defect detection component. The broken honeycomb disk is directly transferred to the bottom of the PIN defect detection component, so that visual inspection can be performed in real time within the same system. This realizes online judgment of the PIN breakage status and avoids the delay of offline or manual inspection after processing. 4. This invention achieves the identification and removal of defective products through a PIN defect detection component and a honeycomb disk transfer component disposed between the PIN breakage component and the PIN defect detection component. After the detection component identifies the defective product, it can remove the defective magnetic core through its actuator. The honeycomb disk transfer component is not only responsible for transferring the honeycomb disk, but its structure is also used to receive the rejected defective products. In addition, the waste PIN generated by the breakage can also be collected through the recycling hole at the lower end of the PIN receiving chute, realizing the in-situ and automatic recycling of waste and defective products, maintaining equipment cleanliness and production continuity. 5. This invention achieves a highly efficient double-sided processing line by symmetrically arranging PIN breakage and defective product detection devices on both sides of the transfer robotic arm. The transfer robotic arm can transport the honeycomb disk to one side device to complete the processing and inspection of the first side magnetic core, and then directly transfer it to the other symmetrical device for the processing and inspection of the second side. This method eliminates the need for complex magnetic core flipping or repositioning mechanisms. Through simple disk flipping and robotic arm transfer, all double-sided processes are completed in a compact system, greatly improving the overall processing efficiency for double-sided magnetic core products with PIN pins.

[0008] Furthermore, the base rocking module includes a slide rail base, a PIN pin receiving member slidably fitted on the slide rail base, and a PIN pin rocking motor. The output end of the PIN pin rocking motor is threadedly connected to the PIN pin receiving member. The PIN pin pushing and rocking module includes a PIN pin pushing and rocking motor disposed on the PIN pin receiving member and a PIN pin limiting member slidably fitted on the upper slide rail of the PIN pin receiving member. The output end of the PIN pin pushing and rocking motor is threadedly connected to the PIN pin limiting member. The front upper surface of the PIN pin receiving member is provided with an array of several PIN pin receiving grooves. The front end of the PIN pin limiting member is provided with an array of PIN pin limiting rods corresponding to the several PIN pin receiving grooves. The PIN pin limiting rods are slidably fitted in the PIN pin receiving grooves, and a gap is provided between the pushing and rocking end of the PIN pin limiting rod and the inner wall of the PIN pin receiving groove after the pushing and rocking end of the PIN pin limiting rod moves forward to its maximum stroke.

[0009] Based on the above, the beneficial effects of the slide rail base are: providing a high-precision linear sliding track for the PIN holder, enabling smooth and reliable reciprocating linear motion of the PIN holder during the break-off operation; the beneficial effect of the PIN holder is that the overall forward and backward displacement driven by the PIN holder rocking motor applies a reciprocating force to the PIN to complete the break-off; the beneficial effect of the PIN holder rocking motor is that it provides the power to drive the PIN holder to perform precise and controllable reciprocating linear motion along the slide rail base, realizing the rocking and separating action of the PIN; the beneficial effect of the PIN holder push-rocking motor is that it drives the PIN holder limiting member to move on the upper slide rail of the PIN holder, realizing the forward movement of the PIN holder limiting rod to form a push-rocking gap and the backward movement to reset the position. The precise control of the operation; the beneficial effect of the PIN foot limiting component is that it drives the PIN foot limiting rod at its front end to move forward to the set position to form a pushing and shaking gap with the inner wall of the PIN foot receiving groove, or to retract and reset; the beneficial effect of the PIN foot receiving groove is that it provides a spatial channel to accommodate a single PIN foot, realizes the radial positioning and constraint of the PIN foot during the shaking process, and serves as the sliding fit space for the PIN foot limiting rod; the beneficial effect of the PIN foot limiting rod is that it moves forward to the set position in the PIN foot receiving groove, and its pushing and shaking end forms a gap with the inner wall of the PIN foot receiving groove, so that the PIN foot can be accommodated in the gap. When the base shaking module drives the PIN foot receiving component to reciprocate, it pushes and shakes the PIN foot through this gap.

[0010] Furthermore, the magnetic core ejection module also includes a magnetic core ejection motor mounted on the outer frame, a magnetic core ejection component disposed at the output end of the magnetic core ejection motor, and an ejection rod guide plate disposed at the lower front end of the outer frame. The front end of the magnetic core ejection component is provided with magnetic core ejection rods corresponding one-to-one with the PIN pin limiting rods. The ejection rod guide plate is located at the upper end of a plurality of PIN pin receiving grooves, and the lower end of the ejection rod guide plate is provided with an array of ejection rod guide slots that extend from front to back. Each ejection rod guide slot corresponds one-to-one with a plurality of PIN pin receiving grooves, and the magnetic core ejection rod is adapted to fit into the ejection rod guide slot.

[0011] Based on the above, the beneficial effects of the magnetic core ejection motor are: to achieve precise and controllable linear drive for the forward and backward resetting actions of the magnetic core ejection rod; the beneficial effect of the magnetic core ejection component is to drive the magnetic core ejection rods arranged in its front-end array to move synchronously, thereby pushing the entire row of magnetic cores with broken pins back into the corresponding holes of the honeycomb disk; the beneficial effect of the ejection rod guide plate is to ensure that each magnetic core ejection rod can accurately align with the corresponding magnetic core below during extension and retraction, preventing rod offset or interference; the beneficial effect of the magnetic core ejection rod is to smoothly and accurately push the magnetic cores with broken pins back to their original storage position by acting on the magnetic core body; and the beneficial effect of the ejection rod guide slot is to provide radial constraint for the magnetic core ejection rod, thereby guiding and positioning the movement trajectory of the magnetic core ejection rod and ensuring the accuracy of the ejection action.

[0012] Furthermore, the PIN foot pressing and positioning module includes a lifting motor installed on the outer frame, a vertical sliding frame mounted on both sides of the machine platform, and a PIN foot positioning component slidably fitted on the vertical sliding frame. The lower end of the PIN foot positioning component is provided with PIN foot positioning rods that correspond one-to-one with a plurality of PIN foot receiving grooves. The lower end of the PIN foot receiving groove is provided with a PIN foot breakage and recovery hole.

[0013] Based on the above, the beneficial effects of the lifting motor are: providing driving power for the vertical movement of the PIN positioning component, and realizing control over its rising and falling positions; the beneficial effects of the vertical sliding frame are: ensuring that the PIN positioning component moves smoothly and accurately during the lifting process, without deviation; the beneficial effects of the PIN positioning component are: driving the PIN positioning rod at its lower end to complete the clamping, positioning, or release of the magnetic core; the beneficial effects of the PIN positioning rod are: contacting and pressing the magnetic core body from above, preventing the magnetic core from tilting or shifting during the PIN breakage process, ensuring processing stability; and the beneficial effects of the PIN breakage recovery hole are: instantly and automatically discharging and collecting processing waste from the working area, keeping the processing station clean, and avoiding waste accumulation that interferes with subsequent operations.

[0014] Furthermore, the honeycomb disk clamping and magnetic core pushing component includes a magnetic core pushing mounting frame installed in the machine tool, a magnetic core pushing motor disposed at the upper end of the magnetic core pushing mounting frame, a magnetic core pushing member slidably fitted to the upper end of the magnetic core pushing mounting frame, a honeycomb disk lifting motor disposed at the bottom end of the magnetic core pushing mounting frame, a honeycomb disk lifting air clamp threadedly connected to the output end of the honeycomb disk lifting motor, and a honeycomb disk clamped on the honeycomb disk lifting air clamp. The honeycomb disk lifting air clamp is slidably fitted to the rear end of the magnetic core pushing mounting frame. The honeycomb disk includes several rows of magnetic core storage hole groups, each row of magnetic core storage hole groups including several magnetic core storage holes. The side of the magnetic core pushing member facing the honeycomb disk is arranged with a row of magnetic core pushing rods corresponding to the magnetic core storage holes of the magnetic core storage hole groups. Several pin receiving grooves correspond one-to-one with the magnetic core storage holes of each row of magnetic core storage hole groups.

[0015] Based on the above, the beneficial effects of the magnetic core pushing mounting frame are that it houses the magnetic core pushing motor, magnetic core pushing component, honeycomb disk lifting motor, and honeycomb disk lifting pneumatic clamp, ensuring the relative positions of each component during movement; the beneficial effect of the magnetic core pushing motor is that it drives the magnetic core pushing rod to perform linear reciprocating motion to push out a single row of magnetic cores in the honeycomb disk to the processing position; the beneficial effect of the magnetic core pushing component is that it drives the arrayed magnetic core pushing rods to move forward or backward synchronously, thereby completing the coordinated pushing and resetting of the entire row of magnetic cores; the beneficial effect of the honeycomb disk lifting motor is... To precisely control the lifting height of the honeycomb disk, ensuring that the different rows of magnetic core storage holes are sequentially aligned with the magnetic core push rods and PIN receiving grooves; the beneficial effect of the honeycomb disk lifting air clamp is to reliably grip and fix the honeycomb disk; the beneficial effect of the honeycomb disk is to achieve orderly, precise positioning, storage, and batch transfer of a large number of magnetic cores to be processed; the beneficial effect of several magnetic core push rods is that during the pushing action, they simultaneously extend into all the holes in the row, contact and push the entire row of magnetic cores to move out a certain distance synchronously, preparing for the subsequent PINs to enter the receiving grooves.

[0016] Furthermore, the PIN defective product detection component includes a defective product detection frame, a transverse detection direct drive module disposed on the upper end of the defective product detection frame, a defective product detection mounting plate disposed on the output end of the transverse detection direct drive module, a defective product detection camera disposed in the middle of the defective product detection mounting plate, defective product ejection cylinders disposed on both sides of the defective product detection camera, and defective product ejection pins disposed on the output end of the defective product ejection cylinders.

[0017] Based on the above, the beneficial effects of the defective product inspection rack are: the installation of a transverse detection direct drive module; the beneficial effect of the transverse detection direct drive module is to drive the defective product inspection mounting plate to move back and forth in the horizontal direction to traverse all magnetic core stations on the honeycomb disk to be inspected; the beneficial effect of the defective product inspection mounting plate is to install a defective product inspection camera and a defective product ejection cylinder; the beneficial effect of the defective product inspection camera is to acquire images of magnetic cores with broken pins on the honeycomb disk, providing image evidence for the system to automatically determine the state of broken pins; the beneficial effect of the defective product ejection cylinder is to drive the defective product ejection pin to perform an ejection action, removing the defective magnetic cores identified by the vision system from the honeycomb disk; the beneficial effect of the defective product ejection pin is to directly act on the magnetic cores identified as defective, accurately ejecting them from the magnetic core storage holes of the honeycomb disk, completing automatic sorting.

[0018] Furthermore, the cellular disk transfer assembly includes a transplanting direct drive module, a cellular disk mounting bracket disposed on the output end of the transplanting direct drive module, a magnetic core guide funnel disposed on the upper end of the cellular disk mounting bracket, and a defective product recycling box disposed at the bottom of the cellular disk mounting bracket.

[0019] Based on the above, the beneficial effects of the direct-drive module are that it drives the honeycomb panel mounting bracket to reciprocate between the PIN breakage assembly and the PIN defective product detection assembly, completing the automatic transfer and precise positioning of the honeycomb panel between the processing station and the inspection station; the beneficial effects of the honeycomb panel mounting bracket are that it installs the honeycomb panel, as well as the magnetic core guide funnel and the defective product collection box; the beneficial effect of the magnetic core guide funnel is that it reliably guides the defective magnetic cores that have been removed from the honeycomb panel by the ejector pin to the designated collection position below, preventing the magnetic cores from popping out and being lost during the fall; the beneficial effect of the defective product collection box is that it centrally collects all the rejected defective magnetic cores that fall through the magnetic core guide funnel, facilitating subsequent unified processing and maintaining the cleanliness of the work area.

[0020] Furthermore, the output end of the transplanting robotic arm is provided with a honeycomb tray transplanting frame, and synchronous cylinders are provided on both sides of the honeycomb tray transplanting frame. The output ends of the two synchronous cylinders are jointly provided with a honeycomb tray air clamp group, which is used to clamp one edge of the honeycomb tray.

[0021] Based on the above, the beneficial effects of the honeycomb tray transplanter are the installation of a synchronous cylinder and a honeycomb tray pneumatic clamp assembly; the beneficial effect of the synchronous cylinder is to drive the honeycomb tray pneumatic clamp assembly to perform clamping or releasing actions, and to ensure that the actions on both sides are consistent and the force is balanced, thereby stably clamping or releasing the honeycomb tray; the beneficial effect of the honeycomb tray pneumatic clamp assembly is to reliably grasp the honeycomb tray pneumatically, so that it maintains accurate position during the high-speed, multi-station transfer process of the transplanting robot arm, without the risk of loosening or falling off.

[0022] Furthermore, the present invention also provides a method for breaking a PIN pin breakage mechanism, comprising the following steps: S1. The transfer robotic arm transfers the honeycomb disk fully loaded with the scored magnetic core to the honeycomb disk clamping and magnetic core pushing component of the first PIN breakage and defective product detection device, where it is clamped and fixed by the honeycomb disk lifting pneumatic clamp; S2. The pin breakage assembly performs the pin breakage operation on the magnetic core: S21. The PIN pin rocking motor drives the PIN pin receiver to move forward, bringing it closer to the honeycomb disk; S22. The honeycomb disk lifting motor drives the honeycomb disk to lift and lower, so that a row of magnetic core storage holes on it is aligned with the magnetic core pushing rod of the magnetic core pushing component; S23. The magnetic core push motor drives the magnetic core push rod to push out the magnetic core portion in the magnetic core storage hole of the row of magnetic cores, so that the PIN of the magnetic core extends to the front end of the PIN receiving groove; S24. The honeycomb disk lifting motor drives the honeycomb disk to descend, so that the pins of the row of magnetic cores are fully inserted into the pin receiving groove; S25. The PIN foot push-rock motor drives the PIN foot limiting rod to move forward, so that the push-rock end of the PIN foot limiting rod moves forward to the maximum stroke and forms a gap with the inner wall of the PIN foot receiving groove, and the PIN foot is located in the gap; S26. The PIN pin rocking motor drives the PIN pin holder to repeatedly move back and forth, pushing and rocking the PIN pin back and forth through the gap to break it; S27. After the PIN breaks, the PIN limit rod resets, and the broken PIN is recovered through the PIN breakage recovery hole at the lower end of the PIN receiving groove. S28. The honeycomb disk lifting motor drives the honeycomb disk to rise slightly, and the magnetic core ejection motor drives the magnetic core ejection rod to pass through the ejection rod guide slot hole, pushing the magnetic core with the broken pin in this row back into the magnetic core storage hole of the honeycomb disk; S29. Repeat steps S22 to S28 until all the magnetic cores that need to be processed on the honeycomb disk have their pins broken. S3. Cellular disk transfer and defective product inspection: S31. The transplanting robotic arm transfers the honeycomb disks that have completed the breakage operation to the honeycomb disk mounting frame of the honeycomb disk transfer assembly, with the processed surface facing upwards; S32. The transplanted direct drive module drives the cell panel mounting bracket carrying the cell panel to move below the PIN defect detection component; S33. The transverse detection direct drive module works in conjunction with the transplant direct drive module to drive the defective product detection camera to traverse all the magnetic cores on the honeycomb disk and detect the broken state of the PIN pins; S34. For the detected defective magnetic core, the defective product ejection cylinder drives the defective product ejection pin to eject it, and the core is guided through the funnel to fall into the defective product recycling box; S4. Reverse side processing and output: S41. The transfer robotic arm transfers the honeycomb disk that has completed single-sided inspection from the honeycomb disk transfer assembly to the honeycomb disk clamping and magnetic core pushing component of the second PIN breakage and defective product detection device, so that the unprocessed surface of the honeycomb disk faces the PIN breakage component; S42. On the second device, repeat steps S2 to S3 to complete the breaking of the magnetic core pin on the other side of the honeycomb disk and the detection and recycling of defective products on that side; S43. The transfer robotic arm transfers the honeycomb disks, which have undergone double-sided processing and inspection, to the output mechanism.

[0023] Based on the above, the beneficial effect of step S1 is to automatically and accurately transfer the honeycomb disk fully loaded with material to the first processing station, and to use the honeycomb disk lifting pneumatic clamp to clamp and fix it, thus establishing the initial material positioning and clamping state for the subsequent automated processing flow; the beneficial effect of step S2 is to realize a complete set of automated precision processing operations from magnetic core positioning, ejection, PIN clamping, shaking breakage to reset and recycling; the beneficial effect of step S21 is to make the processing interface of the PIN broken component actively approach the honeycomb disk to be processed, preparing for the accurate docking of the magnetic core and PIN; the beneficial effect of step S22 is to adjust the vertical height of the honeycomb disk so that a specific row of magnetic core storage holes and the magnetic core push rod are horizontally aligned, forming a single row The synchronous ejection operation of the magnetic cores provides precise positioning conditions; the beneficial effect of step S23 is to partially push forward the entire row of magnetic cores that are currently aligned in the honeycomb disk, so that the pins of each magnetic core can extend and initially reach the predetermined position at the front end of the pin receiving groove; the beneficial effect of step S24 is to make the pins of the partially ejected entire row of magnetic cores fully embedded and fall into the corresponding pin receiving groove, completing the final precise positioning of the pins at the rocking station; the beneficial effect of step S25 is to drive the pin limiting rod forward to the set position, so that a gap is formed between it and the inner wall of the pin receiving groove to receive the pins, preparing for the subsequent rocking of the pins by reciprocating motion; step S26 has The beneficial effect of step S27 is that the driving pin holder repeatedly moves back and forth, causing a whole row of pins in the gap to be pushed and swayed back and forth, thereby achieving efficient and consistent breakage separation at the pre-cut marks; the beneficial effect of step S28 is that the broken and detached pin waste is automatically collected and removed, keeping the processing area clean; the beneficial effect of step S29 is that the whole row of magnetic cores with broken pins is smoothly and accurately pushed back into the original magnetic core storage holes of the honeycomb disk, restoring the magnetic cores to their storage state for subsequent transfer; the beneficial effect of step S29 is that all the magnetic cores that need to be processed on the honeycomb disk are processed row by row and batch by automated processing until the pin breaking operation of the entire disk surface is completed; the beneficial effect of step S3 is to realize the processing and Seamless integration and automated operation of the quality inspection process; the beneficial effect of step S31 is to realize the automatic transfer of materials between workstations and to prepare the posture for subsequent visual inspection; the beneficial effect of step S32 is to accurately position the honeycomb disk to be inspected to the detection starting position below the PIN defective product detection component; the beneficial effect of step S33 is to perform full-coverage, automated image acquisition and visual judgment of the PIN breakage status of each magnetic core on the honeycomb disk; the beneficial effect of step S34 is to automatically and reliably remove defective products from the honeycomb disk and collect them into the defective product recycling box; the beneficial effect of step S4 is to achieve efficient and automated completion of all post-processing and quality inspection of the double-sided PINs of the magnetic core within a single system;The beneficial effect of step S41 is to realize the automatic flipping and alignment of materials in the double-sided processing production line, preparing for the reverse side processing; the beneficial effect of step S42 is to perform the same precise breaking process on the pins of all magnetic cores on the other side of the honeycomb disk, as well as online inspection and defective product rejection on that side, ensuring the consistency of product quality on both sides; the beneficial effect of step S43 is to automatically unload and send out the final qualified finished product, completing the closed loop of the entire automated production process.

[0024] To make the above features of the present invention and the objectives to be achieved clearer, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0025] Figure 1 : This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a schematic diagram of the PIN breakage and defect detection device of the present invention. Figure 3 : This is a schematic diagram of the honeycomb disk of the present invention; Figure 4 : A cross-sectional view of the PIN pin break-off component of the present invention; Figure 5 : This is a perspective view of the PIN pin break-off component of the present invention; Figure 6 :for Figure 5 An enlarged schematic diagram of part A; Figure 7 : This is a schematic diagram of the transplanting robotic arm of the present invention; Figure 8 This is a schematic diagram illustrating the cooperation between the PIN defect detection component and the honeycomb disk transfer component of the present invention. Figure 9 : This is a flowchart of the shaking method of the present invention; Figure 10 : This is a flowchart of step S2 of the present invention; Figure 11 : This is a flowchart of step S3 of the present invention; Figure 12 : This is a flowchart of step S4 of the present invention.

[0026] Reference numerals: 1-Machine platform, 2-Transplanting robotic arm, 21-Honeycomb tray transplanting frame, 22-Synchronous cylinder, 23-Honeycomb tray pneumatic clamp assembly, 3-PIN breakage and defective product detection device, 31-PIN breakage assembly, 311-Honeycomb tray clamping and magnetic core pushing component, 3111-Magnetic core pushing mounting frame, 3112-Magnetic core pushing motor, 3113-Magnetic core pushing component, 31131-Magnetic core pushing rod, 3114-Honeycomb tray lifting motor, 3 115-Honeycomb plate lifting air clamp, 3116-Honeycomb plate, 31161-Magnetic core storage hole, 312-PIN pin break-off component, 3121-Base rocking module, 31211-Slide rail base, 31212-PIN pin receiver, 312121-PIN pin receiver groove, 31213-PIN pin rocking motor, 3122-PIN pin push-rocking module, 31221-PIN pin push-rocking motor, 31222-PIN pin limiting component. 312221-PIN foot limiting rod, 3123-Magnetic core ejection module, 31231-Outer frame, 31232-Magnetic core ejection motor, 31233-Magnetic core ejection component, 312331-Magnetic core ejection rod, 31234-Ejection rod guide plate, 312341-Ejection rod guide slot, 3124-PIN foot pressing and positioning module, 31241-Lifting motor, 31242-Vertical sliding frame, 31243-PIN foot positioning component, 3 12431 - Pin positioning rod, 32 - Pin defective product detection assembly, 321 - Defective product detection frame, 322 - Horizontal movement detection direct drive module, 323 - Defective product detection mounting plate, 324 - Defective product detection camera, 325 - Defective product ejection cylinder, 326 - Defective product ejection pin, 33 - Cellular disk transfer assembly, 331 - Transplant direct drive module, 332 - Cellular disk mounting frame, 333 - Magnetic core guide funnel, 334 - Defective product recycling box. Detailed Implementation

[0027] See Figures 1-12 As shown, This invention provides a pin breakage mechanism, including a machine base 1. A transfer robotic arm 2 is disposed in the middle of the machine base 1. Pin breakage and defective product detection devices 3 are symmetrically disposed on both sides of the transfer robotic arm 2. The pin breakage and defective product detection devices 3 include a pin breakage component 31, a pin defective product detection component 32, and a honeycomb disk transfer component 33 disposed between the pin breakage component 31 and the pin defective product detection component 32. The pin breakage component 31 includes a honeycomb disk clamping and magnetic core pushing component 3. 11 and PIN breakage component 312, the PIN breakage component 312 including a base rocking module 3121 disposed on the machine base 1, a PIN push-rocking module 3122 disposed on the upper end of the base rocking module 3121, a magnetic core ejection module 3123 mounted on the base rocking module 3121 and located above the PIN push-rocking module 3122, and a PIN foot pressing positioning module 3124 disposed on the outer frame 31231 of the magnetic core ejection module 3123 and located above the magnetic core ejection module 3123.

[0028] In this embodiment, the base rocking module 3121 includes a slide rail base 31211, a PIN pin receiving member 31212 slidably fitted on the slide rail base 31211, and a PIN pin rocking motor 31213. The output end of the PIN pin rocking motor 31213 is threadedly connected to the PIN pin receiving member 31212. The PIN pin rocking module 3122 includes a PIN pin rocking motor 31221 disposed on the PIN pin receiving member 31212 and a PIN pin limiting member 31222 slidably fitted on the upper slide rail of the PIN pin receiving member 31212. The PIN pin rocking motor 31221... The output end is threadedly connected to the PIN pin limiting member 31222. The front end upper surface of the PIN pin receiving member 31212 is provided with a plurality of PIN pin receiving grooves 312121. The front end of the PIN pin limiting member 312222 is provided with a PIN pin limiting rod 312221 corresponding to the plurality of PIN pin receiving grooves 312121. The PIN pin limiting rod 312221 is slidably engaged in the PIN pin receiving groove 312121. After the pushing end of the PIN pin limiting rod 312221 moves forward to its maximum stroke, a gap is provided between it and the inner wall of the PIN pin receiving groove 312121.

[0029] In this embodiment, the core ejection module 3123 further includes a core ejection motor 31232 mounted on the outer frame 31231, a core ejection member 31233 disposed at the output end of the core ejection motor 31232, and an ejection rod guide plate 31234 disposed at the lower front end of the outer frame 31231. The front end of the core ejection member 31233 is provided with core ejection rods 312331 corresponding one-to-one with the PIN pin limiting rods 312221. The ejection rod guide plate 31234 is located at the upper end of a plurality of PIN pin receiving grooves 312121, and the lower end of the ejection rod guide plate 31234 is provided with an array of ejection rod guide slots 312341 that extend through the front and rear. Each ejection rod guide slot 312341 corresponds one-to-one with a plurality of PIN pin receiving grooves 312121. The core ejection rod 312331 is adapted to fit within the ejection rod guide slot 312341.

[0030] In this embodiment, the PIN foot pressing and positioning module 3124 includes a lifting motor 31241 mounted on the outer frame 31231, a vertical sliding frame 31242 mounted on both sides of the machine base 1, and a PIN foot positioning member 31243 slidably engaged with the vertical sliding frame 31242. The lower end of the PIN foot positioning member 31243 is provided with PIN foot positioning rods 312431 corresponding one-to-one with a plurality of PIN foot receiving grooves 312121. The lower end of the PIN foot receiving groove 312121 is provided with a PIN foot breakage and recovery hole.

[0031] In this embodiment, the honeycomb disk clamping and magnetic core pushing component 311 includes a magnetic core pushing mounting frame 3111 installed in the machine base 1, a magnetic core pushing motor 3112 disposed on the upper end of the magnetic core pushing mounting frame 3111, a magnetic core pushing member 3113 slidably fitted on the upper end of the magnetic core pushing mounting frame 3111, a honeycomb disk lifting motor 3114 disposed on the bottom end of the magnetic core pushing mounting frame 3111, a honeycomb disk lifting air clamp 3115 threadedly connected to the output end of the honeycomb disk lifting motor 3114, and a honeycomb disk clamped on the honeycomb disk lifting air clamp 3115. 3116, the honeycomb disk lifting air clamp 3115 is slidably engaged with the rear end of the magnetic core pushing and mounting frame 3111, the honeycomb disk 3116 includes several rows of magnetic core storage hole groups, each row of magnetic core storage hole groups includes several magnetic core storage holes 31161, the magnetic core pushing member 3113 has an array of magnetic core pushing rods 31131 corresponding to the magnetic core storage holes 31161 of the magnetic core storage hole groups on the side facing the honeycomb disk 3116, and several pin receiving grooves 312121 correspond one-to-one with the magnetic core storage holes 31161 of each row of magnetic core storage hole groups.

[0032] In this embodiment, the PIN defective product detection component 32 includes a defective product detection frame 321, a transverse detection direct drive module 322 disposed on the upper end of the defective product detection frame 321, a defective product detection mounting plate 323 disposed on the output end of the transverse detection direct drive module 322, a defective product detection camera 324 disposed in the middle of the defective product detection mounting plate 323, defective product ejection cylinders 325 disposed on both sides of the defective product detection camera 324, and defective product ejection pins 326 disposed on the output end of the defective product ejection cylinders 325.

[0033] In this embodiment, the cellular disk transfer assembly 33 includes a transplanting direct drive module 331, a cellular disk mounting bracket 332 disposed on the output end of the transplanting direct drive module 331, a magnetic core guide funnel 333 disposed on the upper end of the cellular disk mounting bracket 332, and a defective product recycling box 334 disposed at the bottom of the cellular disk mounting bracket 332.

[0034] In this embodiment, the output end of the transplanting robotic arm 2 is provided with a honeycomb tray transplanting frame 21, and the two sides of the honeycomb tray transplanting frame 21 are provided with synchronous cylinders 22. The output ends of the two synchronous cylinders 22 are jointly provided with a honeycomb tray air clamp group 23, which is used to clamp one edge of the honeycomb tray.

[0035] This invention also discloses a method for breaking a PIN pin breaking mechanism, comprising the following steps: S1. The transfer robotic arm 2 transfers the honeycomb disk 3116, which is fully loaded with the cut magnetic core, to the honeycomb disk clamping and magnetic core pushing component 311 of the first PIN breakage and defective product detection device 3, and is clamped and fixed by the honeycomb disk lifting air clamp 3115. S2. The pin breakage assembly 31 performs the pin breakage operation on the magnetic core: S21. The PIN rocking motor 31213 drives the PIN receiving component 31212 to move forward, bringing it closer to the honeycomb disk 3116; S22. The honeycomb disk lifting motor 3114 drives the honeycomb disk 3116 to lift and lower, so that a row of magnetic core storage holes on it is aligned with the magnetic core pushing rod 31131 of the magnetic core pushing member 3113; S23. The magnetic core pushing motor 3112 drives the magnetic core pushing rod 31131 to push out the magnetic core portion in the magnetic core storage hole 31161, so that the PIN of the magnetic core extends to the front end of the PIN receiving groove 312121; S24. The honeycomb disk lifting motor 3114 drives the honeycomb disk 3116 to descend, so that the pins of the row of magnetic cores are fully inserted into the pin receiving groove 312121; S25. The PIN foot push-rock motor 31221 drives the PIN foot limiting rod 312221 to move forward, so that the push-rock end of the PIN foot limiting rod 312221 moves forward to the maximum stroke and forms a gap with the inner wall of the PIN foot receiving groove 312121, and the PIN foot is located in the gap. S26. The PIN pin rocking motor 31213 drives the PIN pin receiving component 31212 to repeatedly move back and forth, pushing and rocking the PIN pin back and forth through the gap to break it; S27. After the PIN is broken, the PIN limit rod 312221 resets, and the broken PIN is recovered through the PIN breakage recovery hole at the lower end of the PIN receiving groove 312121. S28. The honeycomb disk lifting motor 3114 drives the honeycomb disk 3116 to rise slightly, and the magnetic core ejection motor 31232 drives the magnetic core ejection rod 312331 to pass through the ejection rod guide slot 312341 and push the row of magnetic cores with broken pins back into the magnetic core storage hole 31161 of the honeycomb disk 3116. S29. Repeat steps S22 to S28 until all the magnetic cores that need to be processed on the honeycomb disk 3116 have their pins broken. S3. Cellular disk transfer and defective product inspection: S31. The transplanting robotic arm 2 transplants the honeycomb disk 3116 that has completed the shaking and breaking operation to the honeycomb disk mounting frame 332 of the honeycomb disk transfer assembly 33, with the processed surface facing upwards; S32. The transplanted direct drive module 331 drives the cell plate mounting bracket 332 carrying the cell plate 3116 to move below the PIN defect detection component 32; S33. The transverse detection direct drive module 322 works in conjunction with the transplant direct drive module 331 to drive the defective product detection camera 324 to traverse all the magnetic cores on the honeycomb disk 3116 and detect the broken state of the PIN pin. S34. For the detected defective magnetic core, the defective product ejection cylinder 325 drives the defective product ejection pin 326 to eject it, and it falls into the defective product recycling box 334 through the magnetic core guide funnel 333. S4. Reverse side processing and output: S41. The transfer robotic arm 2 transfers the honeycomb disk 3116, which has completed single-sided inspection, from the honeycomb disk transfer assembly 33 to the honeycomb disk clamping and magnetic core pushing component 311 of the second PIN breakage and defective product detection device 3, so that the unprocessed surface of the honeycomb disk 3116 faces the PIN breakage component 312. S42. On the second device, repeat steps S2 to S3 to complete the breaking of the magnetic core pin on the other side of the honeycomb disk 3116 and the detection and recycling of defective products on that side; S43. The transfer robotic arm 2 transfers the honeycomb disk 3116, which has completed double-sided processing and inspection, to the output mechanism.

[0036] In summary, the specific embodiments of the present invention are as follows: First, the transfer robotic arm 2 transfers the honeycomb disk 3116, fully loaded with magnetic cores that have undergone scoring, to the PIN breakage and defective product detection device 3. In the PIN breakage and defective product detection device 3, the honeycomb disk 3116 is held and fixed by the honeycomb disk lifting air clamp 3115 in the honeycomb disk clamping and magnetic core pushing component 311. Then, the PIN breakage component 312 begins operation; its PIN rocking motor 31213 drives the PIN receiving component 31212 to move forward closer to the honeycomb disk 3116, and the honeycomb disk lifting motor 3114 drives the honeycomb disk 3116 to rise and fall, raising and lowering the row of magnetic core storage holes on it. The magnetic core push rods 31131 of the magnetic core pusher 3113 are aligned with the magnetic core pusher 3113. The magnetic core pusher motor 3112 drives the magnetic core pusher rods 31131 to move, pushing out the magnetic core portion in the corresponding magnetic core storage hole 31161, so that the PIN of the magnetic core extends to the front end of the PIN receiving groove 312121. Then, the honeycomb disk lifting motor 3114 drives the honeycomb disk 3116 to descend, so that the PIN of the row of magnetic cores is fully inserted into the corresponding PIN receiving groove 312121. At this time, the PIN pusher motor 31221 drives the PIN limiter 31222 to move forward, so that the PI on it... The pushing end of the N-pin limiting rod 312221 moves forward to its maximum stroke, thus forming a gap between it and the inner wall of the PIN pin receiving groove 312121 to accommodate the PIN pin. The PIN pin is located in this gap. After preparation, the PIN pin shaking motor 31213 drives the PIN pin receiving component 31212 to repeatedly move back and forth. Through the reciprocating motion of the PIN pin receiving component 31212, the PIN pin in the gap is pushed and rocked back and forth to achieve the breaking along the pre-cut line. After the breaking is completed, the PIN pin limiting rod 312221 resets, and the broken PIN pin waste passes through the PIN pin receiving groove. The PIN pin breakage and recovery hole at the lower end of the sliding groove 312121 is automatically recovered. Then, the honeycomb disk lifting motor 3114 drives the honeycomb disk 3116 to rise slightly, and the magnetic core ejection motor 31232 drives the magnetic core ejection component 31233, so that the magnetic core ejection rod 312331 passes through the ejection rod guide slot 312341 of the ejection rod guide plate 31234, and smoothly pushes the row of processed magnetic cores back into the magnetic core storage hole 31161 of the honeycomb disk 3116. The above process is repeated for each row of magnetic core storage hole group on the honeycomb disk 3116 until the PIN pin breakage operation of all magnetic cores on that surface is completed. After the front breakage process is completed, the transfer robotic arm 2 transfers the honeycomb disk 3116 to the honeycomb disk mounting frame 332 of the honeycomb disk transfer assembly 33 at this station, with the processed surface facing upwards. Then, the transfer direct drive module 331 drives the honeycomb disk mounting frame 332 carrying the honeycomb disk 3116 to move below the PIN defective product detection assembly 32. The transverse detection direct drive module 322 cooperates with the transfer direct drive module 331 to drive the defective product detection mounting plate 323 and its defective product detection camera 324 to traverse all the magnetic core stations on the honeycomb disk 3116, and to collect images and automatically judge the PIN breakage status of each magnetic core. When a defective product is identified, the defective product ejection cylinder 325 drives the defective product ejection pin 326 to move, and ejects the defective magnetic core from the magnetic core storage hole 31161. The ejected defective magnetic core is guided by the magnetic core guide funnel 333 and finally falls into the defective product recycling box 334 below it for collection. Subsequently, the transfer robotic arm 2 picks up the honeycomb disk 3116, which has completed single-sided processing and inspection, from the honeycomb disk transfer component 33 of the first device and transfers it to the second PIN breakage and defective product detection device 3, which is symmetrically arranged on the other side. During this process, the transfer robotic arm 2 flips the honeycomb disk 3116 so that its unprocessed back side faces the PIN breakage component 312 of the second device. The second device then repeats the above complete breakage, inspection and defective product rejection process to complete the processing and quality control of all magnetic core PINs on the back side of the honeycomb disk 3116. Once both sides of the processing and inspection are completed, the transfer robotic arm 2 will pick up the honeycomb plate 3116 carrying the qualified product from the honeycomb plate transfer component 33 of the second device and transfer it to the output mechanism, thereby conveying the finished product to the next process.

[0037] The above description is merely the optimal embodiment of the present invention and is not intended to limit the present invention. Any modifications or substitutions made by those skilled in the art without departing from the essence and scope of protection of the present invention should also be within the scope of protection of the present invention.

Claims

1. A pin ejection mechanism, comprising a machine table (1), characterized in that: The middle part of the machine table (1) is provided with a transplanting mechanical arm (2), the two sides of the transplanting mechanical arm (2) are respectively provided with PIN foot shaking off and defective product detection device (3) which is symmetrical, the PIN foot shaking off and defective product detection device (3) includes PIN foot shaking off assembly (31), PIN foot defective product detection assembly (32) and honeycomb tray transfer assembly (33) which is arranged between the PIN foot shaking off assembly (31) and PIN foot defective product detection assembly (32), the PIN foot shaking off assembly (31) includes honeycomb tray clamping and magnetic core pushing component (311) and PIN foot shaking off component (312), the PIN foot shaking off component (312) includes base shaking module (3121) arranged on the machine table (1), PIN foot pushing and shaking module (3122) arranged on the upper end of the base shaking module (3121), magnetic core pushing module (3123) erected on the base shaking module (3121) and located above the PIN foot pushing and shaking module (3122), and PIN foot down-pressing positioning module (3124) arranged on the outer frame (31231) of the magnetic core pushing module (3123) and located above the magnetic core pushing module (3123).

2. A pin ejection mechanism according to claim 1, wherein: The base shaking module (3121) includes slide rail base (31211), PIN foot containing piece (31212) which is slidably fitted on the slide rail base (31211), and PIN foot shaking motor (31213), the output end of the PIN foot shaking motor (31213) is threadedly connected with the PIN foot containing piece (31212), the PIN foot pushing and shaking module (3122) includes PIN foot pushing and shaking motor (31221) arranged on the PIN foot containing piece (31212) and PIN foot limiting piece (31222) which is slidably fitted on the slide rail of the upper end of the PIN foot containing piece (31212), the output end of the PIN foot pushing and shaking motor (31221) is threadedly connected with the PIN foot limiting piece (31222), the front end upper surface of the PIN foot containing piece (31212) is arrayed with a plurality of PIN foot containing sliding grooves (312121), the front end of the PIN foot limiting piece (31222) is arrayed with PIN foot limiting rods (312221) corresponding to the plurality of PIN foot containing sliding grooves (312121), the PIN foot limiting rods (312221) are slidably fitted in the PIN foot containing sliding grooves (312121), and a gap is arranged between the inner wall of the PIN foot containing sliding groove (312121) and the pushing and shaking end head of the PIN foot limiting rod (312221) after the pushing and shaking end head moves forward to the maximum stroke.

3. A pin ejection mechanism according to claim 2, wherein: The magnetic core pushing-out module (3123) further comprises a magnetic core pushing-out motor (31232) mounted on the outer frame (31231), a magnetic core pushing-out piece (31233) arranged at the output end of the magnetic core pushing-out motor (31232), and a pushing-out rod guide plate (31234) arranged at the lower front end of the outer frame (31231). The front end of the magnetic core pushing-out piece (31233) is arrayed with magnetic core pushing-out rods (312331) corresponding to the PIN leg limiting rods (312221) one by one. The pushing-out rod guide plate (31234) is located at the upper end of the PIN leg containing grooves (312121), and the lower end of the pushing-out rod guide plate (31234) is arrayed with front-to-back penetrating pushing-out rod guide slots (312341). Each of the pushing-out rod guide slots (312341) corresponds to the PIN leg containing grooves (312121) one by one. The magnetic core pushing-out rods (312331) are adapted to the pushing-out rod guide slots (312341).

4. The pin ejection mechanism of claim 2, wherein: The PIN leg pressing positioning module (3124) comprises a lifting motor (31241) mounted on the outer frame (31231), a vertical sliding frame (31242) arranged on both sides of the machine table (1), and a PIN leg positioning piece (31243) slidingly fitted on the vertical sliding frame (31242). The lower end of the PIN leg positioning piece (31243) is arrayed with PIN leg positioning rods (312431) corresponding to the PIN leg containing grooves (312121) one by one. The inner lower end of the PIN leg containing grooves (312121) is provided with a PIN leg shake-off recovery hole.

5. The pin ejection mechanism of claim 2, wherein: The honeycomb disc clamping and magnetic core pushing-in component (311) comprises a magnetic core pushing-in mounting frame body (3111) mounted in the machine table (1), a magnetic core pushing-in motor (3112) arranged at the upper end of the magnetic core pushing-in mounting frame body (3111), a magnetic core pushing-in piece (3113) slidingly fitted at the upper end of the magnetic core pushing-in mounting frame body (3111), a honeycomb disc lifting motor (3114) arranged at the bottom end of the magnetic core pushing-in mounting frame body (3111), a honeycomb disc lifting air clamp (3115) threadedly connected with the output end of the honeycomb disc lifting motor (3114), and a honeycomb disc (3116) clamped on the honeycomb disc lifting air clamp (3115). The honeycomb disc lifting air clamp (3115) is slidingly fitted at the rear end of the magnetic core pushing-in mounting frame body (3111). The honeycomb disc (3116) comprises a plurality of rows of magnetic core storage hole groups. Each row of the magnetic core storage hole groups comprises a plurality of magnetic core storage holes (31161). The side of the magnetic core pushing-in piece (3113) facing the honeycomb disc (3116) is arrayed with a row of magnetic core pushing-in rods (31131) corresponding to the magnetic core storage holes (31161) of the magnetic core storage hole groups. The PIN leg containing grooves (312121) correspond to the magnetic core storage holes (31161) of each row of the magnetic core storage hole groups one by one.

6. The pin shakeout mechanism of claim 1, wherein: The PIN pin defective product detection assembly (32) comprises a defective product detection rack (321), a horizontal movement detection direct drive module (322) arranged at the upper end of the defective product detection rack (321), a defective product detection mounting plate (323) arranged at the output end of the horizontal movement detection direct drive module (322), a defective product detection camera (324) arranged at the middle part of the defective product detection mounting plate (323), defective product push-out air cylinders (325) arranged at both sides of the defective product detection camera (324) respectively, and defective product push-out ejector pins (326) arranged at the output end of the defective product push-out air cylinders (325).

7. The pin ejection mechanism of claim 5, wherein: The honeycomb tray transfer assembly (33) comprises a transplanting direct drive module (331), a honeycomb tray mounting rack (332) arranged at the output end of the transplanting direct drive module (331), a magnetic core guide funnel (333) arranged at the upper end of the honeycomb tray mounting rack (332), and a defective product recovery box (334) arranged at the bottom of the honeycomb tray mounting rack (332).

8. The pin shakeout mechanism of claim 1, wherein: The output end of the transplanting mechanical arm (2) is provided with a honeycomb tray transplanting rack (21), the two sides of the honeycomb tray transplanting rack (21) are provided with synchronous air cylinders (22), and the output ends of the two synchronous air cylinders (22) are commonly provided with a honeycomb tray air clamp group (23) for clamping the single-edge edge of the honeycomb tray.

9. A method of rocking and breaking the PIN leg rocking and breaking mechanism according to claims 1 to 8, characterized in that, The method comprises the following steps: S1. The transplanting mechanical arm (2) transplants the full-load honeycomb tray (3116) with the cut mark magnetic core to the honeycomb tray clamping and magnetic core pushing part (311) of the first PIN pin breakage and defective product detection device (3), and is clamped and fixed by the honeycomb tray lifting air clamp (3115); S2. The PIN pin breakage assembly (31) performs PIN pin breakage operation of the magnetic core: S21. The PIN pin containing part (31212) is driven to move forward by the PIN pin shaking motor (31213), so as to be close to the honeycomb tray (3116); S22. The honeycomb tray (3116) is lifted by the honeycomb tray lifting motor (3114), so that the row of magnetic core storage holes on the honeycomb tray (3116) is aligned with the magnetic core pushing rod (31131) of the magnetic core pushing part (3113); S23. The magnetic core pushing rod (31131) is driven by the magnetic core pushing motor (3112) to push out the magnetic cores in the row of magnetic core storage holes (31161), so that the PIN pins of the magnetic cores extend to the front end of the PIN pin containing groove (312121); S24. The honeycomb tray (3116) is lowered by the honeycomb tray lifting motor (3114), so that the PIN pins of the row of magnetic cores completely enter the PIN pin containing groove (312121); S25. The PIN pin pushing and shaking motor (31221) drives the PIN pin limiting rod (312221) to move forward, so that the pushing and shaking end head of the PIN pin limiting rod (312221) moves forward to the maximum stroke, and a gap is formed between the PIN pin limiting rod (312221) and the inner wall of the PIN pin containing groove (312121), and the PIN pin is located in the gap. S26. The PIN leg shaking motor (31213) drives the PIN leg containing member (31212) to repeatedly move forward and backward, and the PIN leg is shaken forward and backward by the gap to shake off; S27. After the PIN leg is shaken off, the PIN leg limiting rod (312221) is reset, and the fallen PIN leg is recycled through the PIN leg shaking recycling slot (312121) at the lower end of the PIN leg; S28. The honeycomb disc lifting motor (3114) drives the honeycomb disc (3116) to slightly rise, and the magnetic core pushing-out motor (31232) drives the magnetic core pushing-out rod (312331) to pass through the pushing-out rod guide slot (312341), and the magnetic core of the row of PIN legs shaken off is pushed back to the magnetic core storage hole (31161) of the honeycomb disc (3116); S29. Repeat steps S22 to S28 until all the magnetic cores on the honeycomb disc (3116) that need to be processed are shaken off; S3. Honeycomb disc transfer and defective product detection operation: S31. The transplanting mechanical arm (2) transplants the honeycomb disc (3116) that has completed the shaking operation to the honeycomb disc mounting rack (332) of the honeycomb disc transfer assembly (33), and makes the processing surface face up; S32. The transplanting direct drive module (331) drives the honeycomb disc mounting rack (332) carrying the honeycomb disc (3116) to move to the PIN leg defective product detection assembly (32) below; S33. The horizontal detection direct drive module (322) cooperates with the transplanting direct drive module (331) to drive the defective product detection camera (324) to traverse all the magnetic cores on the honeycomb disc (3116) to detect the PIN leg shaking state; S34. For the detected defective product magnetic core, the defective product pushing-out air cylinder (325) drives the defective product pushing-out ejector pin (326) to push it out, and falls into the defective product recycling box (334) through the magnetic core guide hopper (333); S4. Reverse face processing and output: S41. The transplanting mechanical arm (2) transplants the honeycomb disc (3116) that has completed single face detection from the honeycomb disc transfer assembly (33) to the honeycomb disc clamping and magnetic core pushing-in part (311) of the second PIN leg shaking and defective product detection device (3), so that the unprocessed surface of the honeycomb disc (3116) faces the PIN leg shaking part (312); S42. On the second device, repeat steps S2 to S3 to complete the shaking of the PIN leg of the magnetic core on the other side of the honeycomb disc (3116) and the defective product detection and recycling of the other side; S43. The transplanting mechanical arm (2) transplants the honeycomb disc (3116) that has completed double face processing and detection to the output mechanism.

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