Magnetic shoe pasting robot workstation

Abstract

The magnetic shoe pasting robot workstation comprises a working bin and a mounting platform, and a machine shell feeding mechanism, a machine shell transferring mechanism, a machine shell bearing mechanism, a magnetic shoe feeding mechanism, a magnetic shoe gluing mechanism, a cooperative mechanical arm and a finished product discharging mechanism are arranged on the platform. The work station automatically feeds a machine shell through a first conveying belt and is clamped and fixed through a bearing table. The magnetic shoe feeding mechanism automatically transfers magnetic shoes to the cooperative mechanical arm through a pushing assembly, a jacking assembly and a feeding assembly. The manipulator is cooperated to circularly work on the magnetic shoe feeding station, the gluing station and the mounting station in sequence, and the magnetic shoe is precisely mounted on the inner wall of the machine shell after the magnetic shoe is glued by the injector head. And meanwhile, the workstation is also provided with a magnetic shoe heating mechanism which is used for preheating the magnetic shoes in the placing grooves, so that the gluing effect and the mounting reliability can be improved. The full-process automation of machine shell feeding, magnetic shoe feeding, gluing, mounting and discharging is achieved, and the efficiency, precision and consistency of magnetic shoe mounting are remarkably improved.

Description

Technical Field

[0001] The invention relates to magnetic tile installation equipment, and more particularly to a magnetic tile pasting robot workstation. Background Technology

[0002] In the field of motor manufacturing, the permanent magnet rotor is one of its core components, typically consisting of a cylindrical housing and several (usually two or more pairs of poles) high-performance permanent magnet tiles. These tiles need to be precisely and securely mounted onto the inner wall of the motor housing. The quality of the tile mounting directly determines the motor's performance indicators, such as torque ripple, efficiency, noise, and vibration levels.

[0003] Traditional magnetic tile installation is highly manual. Operators must manually complete a series of tedious steps, including picking up the magnetic tiles, applying adhesive, aligning and pressing the tiles into the machine housing, and adjusting the circumferential position and inter-pole angle. This method has several inherent drawbacks: extremely low production efficiency: slow manual operation becomes a bottleneck in automated motor production lines, making it difficult to meet the demands of large-scale production. Poor product consistency: the uniformity of manual adhesive application and the inconsistency in the circumferential distribution angle and axial position of the magnetic tiles are difficult to guarantee, leading to inconsistent performance parameters for individual motors and affecting the overall quality of the machine. High risk of bonding reliability: uneven adhesive layer thickness can easily lead to insufficient local bonding strength, posing a significant risk of magnetic tile detachment under the centrifugal force of high-speed motor operation. High labor intensity and cost: highly dependent on skilled workers, and the volatile components of the adhesive have certain requirements for the operating environment.

[0004] To overcome the drawbacks of manual mounting, some semi-automatic or automatic mounting equipment has emerged in the industry. However, these devices still have many technical pain points that have not been well resolved: (1) Difficulty in automatic feeding and precise positioning of magnetic tiles: Magnetic tiles are arc-shaped brittle materials, and problems such as jamming, stacking, failure to pick up materials, or incorrect posture may occur during the feeding process. (2) Difficulty in precise application of adhesive: The bonding surface of magnetic tiles is an arc-shaped curved surface. Simple static coating or roller coating methods are difficult to ensure the uniformity and consistency of the adhesive layer on the complex curved surface, and it is easy to have local over-thickness, under-thinness, or lack of adhesive. (3) Difficulty in precision and coordinated control of simultaneous mounting of multiple magnetic tiles: For rotors that need to mount multiple magnetic tiles at the same time, how to ensure that multiple magnetic tiles can reach the design position synchronously and accurately in the machine housing and maintain extremely high circumferential division accuracy is a severe challenge to the motion control algorithm of the equipment. (4) Slow curing of bonding process: Even after the mounting is completed, the natural curing time of the adhesive is long, which occupies the equipment station or transfer tool and affects the overall production efficiency. (5) Low level of automation: The system integration is low, the connection between each work station is not smooth, and the overall cycle time is slow; (6) Slow adhesive curing speed: The lack of pretreatment (such as preheating) for the magnetic tiles or the housing affects the curing speed and final bonding strength of the adhesive. (7) The quality of magnetic tile installation cannot be automatically identified: There is a lack of online quality detection and feedback, and the control of defective products is lagging behind.

[0005] Therefore, there is an urgent need to develop a highly integrated, intelligent, and stable fully automatic magnetic tile mounting equipment. It must be able to reliably solve the problems of automated feeding and precise positioning of magnetic tiles, achieve uniform automated coating of adhesive on curved surfaces, ensure high-precision and high-consistency mounting of multiple magnetic tiles in the machine housing, and ultimately achieve high-efficiency, high-quality, and high-reliability motor rotor magnetic tile mounting operations through optimized production cycle and process design, and even the integration of online curing to promote the process. Summary of the Invention

[0006] The purpose of this invention is to provide a magnetic tile pasting robot workstation that can automatically paste magnetic tiles and ensure the pasting quality of the magnetic tiles.

[0007] The technical solution to achieve the purpose of this invention is: the magnetic tile pasting robot workstation of this invention has a working chamber; the working chamber is equipped with an installation platform; the installation platform is equipped with a housing feeding mechanism, a housing transfer mechanism, a housing bearing mechanism, a magnetic tile feeding mechanism, a magnetic tile gluing mechanism, a collaborative robot arm, and a finished product unloading mechanism; The housing feeding mechanism includes a first conveyor belt device for receiving housings from the upstream station and transporting the housings to the assembly station; The housing support mechanism includes a support platform for receiving the housing transferred from the assembly station by the housing transfer mechanism; the support platform is provided with a clamping assembly for clamping the housing; the housing support mechanism is located at the magnetic tile mounting station; The finished product unloading mechanism includes a second conveyor belt device for receiving the completed magnetic tile-attached housing transferred from the carrier platform by the housing transfer mechanism, and conveying the completed magnetic tile-attached housing to the unloading station. At least one magnetic tile feeding mechanism is provided on the installation platform at the magnetic tile feeding station. The magnetic tile feeding mechanism includes a placement groove, a pushing component, a lifting component, and a feeding component. The placement groove is used to arrange and accommodate multiple magnetic tiles. The pushing component is used to push the arranged magnetic tiles in the placement groove into the receiving groove of the lifting component in sequence. The lifting component is used to lift the magnetic tiles that have entered the receiving groove to the clamping position of the feeding component. The feeding component is used to clamp the magnetic tiles and transfer them to the magnetic tile clamping device on the working end of the collaborative robot. The working end of the collaborative robot is provided with one or more magnetic tile clamping devices that correspond one-to-one with the magnetic tile feeding mechanism. The magnetic tile clamping devices on the working end of the collaborative robot are used to simultaneously receive and clamp magnetic tiles from each magnetic tile feeding mechanism. The magnetic tile coating mechanism includes a spray head set at the coating station for spraying adhesive; The working end of the collaborative robot moves sequentially between the magnetic tile feeding station, the glue application station, and the magnetic tile mounting station. When the working end of the collaborative robot is at the glue application station, the spray head is used to spray glue onto the magnetic tiles on the magnetic tile clamping device. When the working end of the collaborative robot is at the magnetic tile mounting station, the collaborative robot performs directional mounting of the magnetic tiles on the inner wall of the machine housing.

[0008] It also includes a magnetic tile heating mechanism; the magnetic tile heating mechanism is used to heat the magnetic tiles in the placement slot.

[0009] Furthermore, the aforementioned magnetic tile heating mechanism includes a heating element, an air duct, and a fan; the air duct is fixedly installed on the mounting platform; the air duct includes an upstream air duct and a downstream air duct; the heating element is installed in the upstream air duct; the fan is installed in the air duct and located at the relative position of the upstream and downstream air ducts; the fan is used to send the hot air heated by the heating element in the upstream air duct into the downstream air duct; the downstream air duct is erected above the placement slot, and the downstream air duct is provided with a first opening facing the placement slot and a second opening facing the receiving slot of the top material assembly.

[0010] Furthermore, the aforementioned downstream air duct extends from one end of the placement slot to the other end; the first opening also extends from one end of the placement slot to the other end.

[0011] Furthermore, the aforementioned pushing component is disposed at one end of the placement groove, used to push the magnetic tile along the placement groove toward the other end; the top-mounting component is disposed at the other end of the placement groove, including a limiting block and a top-mounting block; the limiting block has a receiving groove and an inlet and a top opening communicating with it, the inlet facing the other end of the placement groove for the magnetic tile to enter; the top-mounting block is slidably disposed in the receiving groove; the top-mounting block includes a first limiting body fixedly disposed on the lifting platform; the first limiting body is adapted to the magnetic tile; the lifting platform and the top fixedly disposed on the installation platform... The material feeding cylinder is connected to the output end; the top material block can rise or fall under the drive of the top material cylinder; the feeding assembly includes a first pneumatic gripper fixedly connected to the output end of the feeding cylinder; the first pneumatic gripper is located above the top opening; the top material block rises under the drive of the top material cylinder, so that the top material block and the first pneumatic gripper cooperate to form a first magnetic tile positioning cavity; the first pneumatic gripper is used to fix and hold the magnetic tile located in the first magnetic tile positioning cavity, and is used to transfer the held magnetic tile to the magnetic tile holding device on the working end of the collaborative robot under the drive of the feeding cylinder.

[0012] Furthermore, along the feeding direction of the first conveyor belt device, a housing heating station, an accelerator throwing station, and an assembly station are sequentially provided; the installation platform is provided with a housing heating device and an accelerator throwing mechanism at the housing heating station and the accelerator throwing station, respectively. The housing heating device includes a first mounting bracket, a first driving cylinder, a first linear slide, and a heating coil; the first mounting bracket is fixedly mounted on the mounting platform, the first driving cylinder is fixedly mounted on the first mounting bracket, and the first linear slide is slidably mounted on the first mounting bracket; the driving end of the first driving cylinder is fixedly connected to the first linear slide; the heating coil is mounted on the first linear slide. The accelerator ejection mechanism includes a second mounting bracket, a second drive cylinder, a second linear slide, a first drive motor, an ejection disc, and an accelerator spray head for ejecting the accelerator. The second mounting bracket is fixedly mounted on the mounting platform, and the second drive cylinder is fixedly mounted on the second mounting bracket. The second linear slide is slidably disposed on the second mounting bracket, and the drive end of the second drive cylinder is fixedly connected to the second linear slide. The first drive motor is fixedly mounted on the second linear slide. The ejection disc is fixedly mounted on the output shaft of the first drive motor. The accelerator spray head is fixedly mounted on the second linear slide. The accelerator spray head is used to spray the ejection disc. The first conveyor belt device includes two parallel first conveyor belts; both parallel first conveyor belts are wound and installed on the drive roller and driven roller of the first conveyor belt drive device, and convey the housing under the drive of the first conveyor belt drive device; the upper end surfaces of the two first conveyor belts form a first conveying bearing surface for carrying the housing; a first clearance gap is formed between the two parallel first conveyor belts; a feeding limit assembly is provided at the housing heating station and the accelerator throwing station respectively; the feeding limit assembly includes a feeding limit block that moves up and down under the drive of a first limit cylinder; the first limit cylinder is fixedly installed on the back of the installation platform, and the output end of the first limit cylinder passes through the installation platform and is fixedly connected to the feeding limit block; the feeding limit block extends out of the first clearance gap from the first conveying bearing surface under the drive of the first limit cylinder, and is used to block the housing conveyed to this location; A feeding clamping assembly is also provided at the housing heating station and the accelerator throwing station respectively; the feeding clamping assembly includes clamping bodies symmetrically arranged on both sides of the first conveyor belt device, and the two clamping bodies are fixedly connected to the output end of the feeding clamping cylinder respectively; the two clamping bodies are used to clamp the housing blocked by the feeding limiting assembly under the drive of the corresponding feeding clamping cylinder. The heating coil extends into the housing held in the housing heating station under the drive of the first driving cylinder, and heats the inner wall of the housing. The second drive cylinder is used to drive the material throwing disc to extend into the housing held in the accelerator throwing station; the first drive motor is used to drive the material throwing disc extended into the housing held in the accelerator throwing station to throw material. Furthermore, it also includes a temperature detection device for detecting the heating temperature of the housing at the housing heating station.

[0013] Furthermore, the aforementioned material-throwing disc includes a cylindrical body with a central hole; one end of the cylindrical body is fixedly connected to the output shaft of the first drive motor, and an annular body extending radially along the circumferential surface of the other end of the cylindrical body is integrally provided; the cylindrical body and the annular body are coaxially arranged; when the material-throwing disc extends into the housing located at the accelerator throwing station, the central hole of the cylindrical body is used for the insertion of the rotating shaft at the inner center of the housing; the accelerator spray head sprays accelerator onto the circumferential surface of the cylindrical body; the annular body is used to receive the accelerator flowing down from the circumferential surface of the cylindrical body and throw it onto the inner circumferential wall of the housing; the second linear slide is used to drive the material-throwing disc to move along the axis of rotation inside the housing, so that the material-throwing disc can fully throw material onto the inner circumferential wall of the housing.

[0014] Furthermore, the aforementioned housing transfer mechanism includes a YZ axis motion platform and a transfer clamping assembly for holding the housing and transferring it to the workstation. The second conveyor belt device is used to receive the housing after the magnetic tile is installed. The receiving position is the unloading receiving position. The assembly position, the magnetic tile installation position and the unloading receiving position are all located in the Y-axis movement direction of the YZ axis motion platform. The YZ axis motion platform includes a first base fixedly installed on the mounting platform, and a first Z axis motion platform that slides under the drive of a first Z axis drive device is provided on the first base; a first Y axis motion platform that slides under the drive of a first Y axis drive device is provided on the first Z axis motion platform. Two transfer clamping assemblies are fixedly installed on the first Y-axis motion platform. The two transfer clamping assemblies move synchronously with the first Y-axis motion platform to coordinate the execution of the housing transfer operation. When the first Y-axis motion platform moves, the two transfer clamping assemblies can be simultaneously located at the assembly station and the magnetic tile mounting station, or simultaneously located at the magnetic tile mounting station and the receiving position of the second conveyor belt device to receive the housing after magnetic tile mounting. While one transfer clamping assembly moves the housing from the assembly station to the magnetic tile mounting station, the other transfer clamping assembly moves the housing after magnetic tile mounting from the magnetic tile mounting station to the receiving position of the second conveyor belt device.

[0015] Furthermore, the aforementioned transfer clamping assembly includes a second pneumatic gripper; the two opposing grippers of the second pneumatic gripper are fixedly and symmetrically provided with clamping blocks adapted to the shape of the inner wall of the housing; when the two grippers of the second pneumatic gripper move away from each other, the clamping blocks on the two grippers expand outward and fit tightly against the inner wall of the housing, and clamp the housing under the action of tension force.

[0016] Furthermore, two magnetic tile feeding mechanisms are symmetrically arranged opposite each other on the aforementioned installation platform; the feeding components of the two magnetic tile feeding mechanisms form a magnetic tile feeding station; a third pneumatic gripper is fixedly provided at the working end of the cooperative robot; magnetic tile clamping devices are symmetrically fixedly provided on the two opposing grippers of the third pneumatic gripper; when the third pneumatic gripper is located at the magnetic tile feeding station, the third pneumatic gripper is in a closed state, and the magnetic tile clamping device cooperates with the first pneumatic gripper to form a second magnetic tile positioning cavity; the magnetic tile clamping device is used to clamp the magnetic tile located in the second magnetic tile positioning cavity; when the third pneumatic gripper is located at the magnetic tile mounting station and inside the machine housing, the third pneumatic gripper opens outward and causes the mounting surface of the magnetic tile on the magnetic tile clamping device to mount to the inner wall of the machine housing; The magnetic tile placed in the slot is an arc-shaped body, with its top and bottom ends being flat surfaces and its left and right ends being arc-shaped surfaces; the first pneumatic gripper is used to grip the arc-shaped surfaces of the arc-shaped body. The magnetic tile clamping device is a fourth pneumatic gripper; the fourth pneumatic gripper includes a fixed gripper body, a movable gripper body, a second limiting body, a positioning block, and a clamping drive cylinder; the fixed gripper body is fixedly connected to the gripper corresponding to the third pneumatic gripper body; the movable gripper body is slidably disposed on the gripper corresponding to the third pneumatic gripper body; the clamping drive cylinder is fixedly connected to the gripper corresponding to the third pneumatic gripper body, and the drive end of the clamping drive cylinder is fixedly connected to the movable gripper body, driving the movable gripper body to move towards the fixed gripper body to clamp the magnetic tile; a second limiting body adapted to the concave arc surface of the magnetic tile is provided between the fixed gripper body and the movable gripper body; the second limiting body is fixedly connected to the gripper corresponding to the third pneumatic gripper body; positioning blocks for positioning and clamping the arc end of the magnetic tile are respectively provided on both sides of the second limiting body; the positioning blocks are assembled on the second limiting body through a plug-slot mating structure.

[0017] Furthermore, the aforementioned magnetic tile feeding mechanism also includes a translational motion platform; the translational motion platform is slidably mounted on the mounting platform and slides under the drive of the translational drive device; Multiple placement slots are arranged parallel to each other along the sliding direction on the translational motion platform; the sliding direction of the translational motion platform on the mounting platform is perpendicular to the pushing direction of the pushing component; the translational motion platform, driven by the translational drive device, is used to match any placement slot on the translational motion platform with the pushing component, so that the pushing component can push the magnetic tile in the corresponding placement slot towards the top material component; the magnetic tile heating mechanism is used to heat the magnetic tile in the placement slot corresponding to the pushing component.

[0018] Furthermore, a first visual inspection mechanism is also fixedly installed on the aforementioned installation platform; the first visual inspection mechanism is used to visually identify the area of ​​the magnetic tile on the magnetic tile clamping device that the spray head sprays adhesive onto.

[0019] Furthermore, the aforementioned installation platform is equipped with two spray heads, each corresponding to a magnetic tile clamping device on the working end of a collaborative robot. The spray heads spray adhesive onto the magnetic tiles on the corresponding magnetic tile clamping devices. During the adhesive spraying process, the collaborative robot drives the two magnetic tile clamping devices and the magnetic tiles they hold to move, so that the mounting surface of the magnetic tile adapts to the spray trajectory of the adhesive spray head, thereby ensuring that the adhesive is evenly distributed on the mounting surface.

[0020] Furthermore, during the mounting process, the collaborative robot drives two magnetic tile clamping devices and the magnetic tiles they hold to move, so that the mounting surface of the magnetic tile moves rubbed against the inner wall of the machine housing, thereby ensuring that the adhesive on the mounting surface of the magnetic tile fully fills the space between the mounting surface of the magnetic tile and the inner wall of the machine housing.

[0021] Furthermore, following the cyclical movement path of the collaborative robotic arm, a magnetic tile cleaning station is also provided between the magnetic tile loading station and the adhesive application station; the magnetic tile cleaning station is equipped with multiple air blowing heads connected to air pumps; one air blowing head corresponds to one magnetic tile clamping device; each air blowing head is used to blow air to clean the magnetic tiles clamped on each magnetic tile clamping device.

[0022] Furthermore, the aforementioned second conveyor belt device includes two parallel second conveyor belts; both parallel second conveyor belts are wound and installed on the drive roller and driven roller of the second conveyor belt drive device, and convey the housing under the drive of the second conveyor belt drive device; the upper end surfaces of the two second conveyor belts form a second conveying bearing surface that carries the housing; a second clearance gap is formed between the two parallel second conveyor belts. Along the conveying direction of the second conveyor belt device, there are sequentially a receiving position for receiving the machine housing after the magnetic tile installation is completed, a testing position, and a material unloading position; A detection station limiting component is provided at the detection station; the detection station limiting component includes a baffle block that moves up and down under the drive of a second limiting cylinder; the second limiting cylinder is fixedly installed on the back of the installation platform, and the output end of the second limiting cylinder passes through the installation platform and is fixedly connected to the baffle block; the baffle block extends out of the second clearance gap from the second conveying bearing surface under the drive of the second limiting cylinder and is used to block the machine casing conveyed to this location; A positioning clamping assembly is also provided at the inspection station; the positioning clamping assembly includes positioning clamping bodies symmetrically arranged on both sides of the second conveyor belt device, and the two positioning clamping bodies are respectively fixedly connected to the output end of the positioning clamping cylinder; the two positioning clamping bodies are used to clamp the machine housing blocked by the inspection station limiting assembly under the drive of the corresponding positioning clamping cylinder. The mounting platform is also equipped with a magnetic tile mounting detection mechanism at the inspection station. The magnetic tile mounting detection mechanism includes an inspection platform, a second vision detection mechanism, an XYZ axis motion platform, and a detection position clamping assembly. The XYZ axis motion platform includes a second base fixedly mounted on the mounting platform, on which a second Y-axis motion platform that slides under the drive of a second Y-axis drive device is mounted. An X-axis motion platform that slides under the drive of an X-axis drive device is mounted on the second Y-axis motion platform. A second Z-axis motion platform that slides under the drive of a second Z-axis drive device is mounted on the X-axis motion platform. Both the workstation to be inspected and the platform to be inspected are located in the Y-axis movement direction of the XYZ axis motion platform; The second Z-axis motion platform is fixed with a detection position clamping assembly; the detection position clamping assembly is used to transfer the housing with completed magnetic tile mounting at the inspection station to the inspection platform under the drive of the XYZ axis motion platform, and is also used to put the housing with qualified inspection results back onto the second conveyor belt device 81. The second visual inspection mechanism is fixedly installed on the installation platform; the second visual inspection mechanism is used to visually identify whether the mounting height of the magnetic tiles inside the housing is consistent; It also includes a third conveyor belt device; the detection position clamping assembly, driven by the XYZ axis motion platform, is also used to transfer the housing with the test result of being unqualified on the platform to be inspected to the third conveyor belt device; the third conveyor belt device is used to receive the housing with the test result of being unqualified transferred by the detection position clamping assembly.

[0023] Furthermore, it also includes a feeding clamping assembly and a discharging clamping assembly fixedly installed on the installation platform; the working chamber is provided with a feeding port, a discharging port and a defective product discharge port; the first conveyor belt device is used to receive the machine casing from the upstream station, with one end extending out of the feeding port; the second conveyor belt device has a discharging port extending out of the discharging port; and the third conveyor belt device has a discharging port extending out of the defective product discharge port. The feeding clamping assembly, driven by the feeding drive device, clamps the housing located outside the working chamber and at the feeding port onto the first conveyor belt device; The unloading clamping assembly, driven by the unloading drive device, clamps the casing located at the unloading station of the second conveyor belt device to the finished product placement station.

[0024] The present invention has the following positive effects: (1) The present invention constructs a complete automated magnetic tile mounting production line by integrating automatic feeding / transfer / unloading of the housing, automatic feeding / adhesive application / mounting of the magnetic tile, and the cyclical operation of the collaborative robotic arm. In particular, the added magnetic tile heating mechanism can preheat the magnetic tile before mounting, effectively improving the fluidity, wetting and curing speed of the adhesive, thereby significantly enhancing the bonding strength and reliability between the magnetic tile and the housing, and solving the problem of weak bonding caused by temperature difference in the traditional process.

[0025] (2) The present invention further defines the specific structure of the magnetic tile heating mechanism as a hot air circulation type. The hot air is driven by a fan to flow through a specially designed air duct, which can efficiently and evenly heat the magnetic tile in the placement slot. The heating method is gentle and controllable, avoiding local overheating. At the same time, the hot air can also play a certain cleaning role.

[0026] (3) The downstream air duct and the first open opening of the present invention extend along the entire length of the placement groove, ensuring that all the magnetic tiles to be used arranged in the placement groove can be heated evenly without dead corners, thus ensuring the consistency of the preheating effect of the magnetic tiles in the batch.

[0027] (4) This invention realizes the precise, orderly and automated delivery of magnetic tiles from the hopper to the robotic gripper. Through the design of the first magnetic tile positioning cavity, the positional accuracy of the magnetic tiles during the handover process is guaranteed, laying a solid foundation for subsequent high-precision gluing and mounting.

[0028] (5) This invention adds the functions of preheating the housing and automatically applying the accelerator. Before the magnetic tiles are installed, the inner wall of the housing is preheated and the accelerator is evenly applied, which can further activate the bonding surface, providing double protection for the adhesive effect and greatly improving the firmness and durability of the installation. The entire pretreatment process is completed automatically and is seamlessly connected with the subsequent processes.

[0029] (6) The present invention can monitor the preheating temperature of the housing in real time and accurately through the temperature detection device, realize closed-loop control, ensure that the housing is in the optimal temperature state before each mounting, and ensure process stability and product consistency.

[0030] (7) The structure of the material throwing disc of this invention adopts a unique cylindrical body plus annular body design, which enables the accelerator to be effectively retained and evenly thrown to the entire inner wall of the machine casing by centrifugal force. The coating efficiency is high and materials are saved. Axial movement can also ensure full coverage of the inner wall.

[0031] (8) The housing transfer mechanism of this invention adopts a YZ axis motion platform and two cooperating transfer clamping components, realizing the synchronous operation of "picking up new housings and placing old housings". Within one motion cycle, it simultaneously completes the grabbing of empty housings at the loading station and the removal of finished housings at the mounting station, which greatly shortens the production cycle of a single product and improves the overall equipment operating efficiency. The pneumatic grippers, combined with the design of the matching clamping blocks, realize rapid and stable tension clamping of the housing interior.

[0032] (9) This invention achieves simultaneous feeding and synchronous mounting of dual magnetic tiles through a dual magnetic tile feeding mechanism and a dedicated magnetic tile clamping device on the robotic arm, thereby increasing production efficiency several times over. The magnetic tile clamping device (fourth pneumatic gripper) has a sophisticated structure. Through the cooperation of the second limiting body and the positioning block, it can firmly and accurately clamp the arc-shaped magnetic tile, and reliably press the magnetic tile onto the inner wall of the machine housing through opening and closing actions during mounting.

[0033] (10) The present invention adds multiple placement slots that can be shifted and switched, realizing the batch feeding function of magnetic tiles. When the magnetic tiles in a placement slot are used up, it can be automatically shifted and switched to the next full placement slot to continue working, thereby allowing manual feeding during equipment operation, which greatly improves the continuous operation time and production capacity of the equipment.

[0034] (11) The present invention uses a first vision detection mechanism to monitor the glue application area, thereby realizing online real-time detection of glue application quality. It can promptly detect abnormalities such as excessive, insufficient, or missed glue application, ensuring that the amount of glue applied to each magnetic tile meets the process requirements and controlling the installation quality from the source.

[0035] (12) The present invention utilizes the dual spray heads and the adaptive movement of the magnetic tile during spraying, as well as the robotic arm to drive the magnetic tile to move along a specific trajectory, so that the spraying surface of the spray head can more evenly and completely cover the mounting surface of the magnetic tile, avoiding the problem of uneven adhesive layer that may be caused by fixed spraying.

[0036] (12) The present invention uses the frictional movement between the magnetic tile and the inner wall of the housing during the installation process to better eliminate air bubbles in the adhesive layer through tiny frictional movement during the pressing process, so that the adhesive can fully fill and tightly adhere to the gap between the magnetic tile and the housing, forming a stronger adhesive layer.

[0037] (13) The present invention adds a magnetic tile cleaning station, that is, the magnetic tile bonding surface is cleaned by blowing air before applying adhesive, which effectively removes dust, debris and other contaminants that may be attached to the magnetic tile, ensuring the cleanliness of the bonding surface, thereby avoiding the decrease in bonding strength or weak bonding caused by impurities.

[0038] (14) This invention details a complete automatic finished product inspection and sorting system, which realizes automatic visual inspection of the uniformity of magnetic tiles after mounting, and can automatically sort out unqualified products through a third conveyor belt according to the inspection results. This forms a closed loop from production to quality inspection, ensuring the quality of finished products and reducing the cost of manual re-inspection.

[0039] (15) The present invention adds an automatic feeding and unloading clamping component that connects to the outside of the workstation, extending automation from the inside of the workstation to the connection point with the upper and lower logistics lines, realizing a truly “unmanned” workshop logistics connection, further reducing manual intervention, and improving the overall automation and closedness of the production line. Attached Figure Description

[0040] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a schematic diagram of the external structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the working chamber in this invention; Figure 3 This is a top view of the present invention; Figure 4 This is a schematic diagram showing the cooperation between the housing feeding mechanism, the housing bearing mechanism, the finished product unloading mechanism, and the third conveying device in this invention. Figure 5 This is a schematic diagram of the housing transfer mechanism in this invention; Figure 6 This is a schematic diagram of the housing support mechanism in this invention; Figure 7 This is a schematic diagram showing the cooperation between the magnetic tile feeding mechanism, the magnetic tile adhesive coating mechanism, and the magnetic tile heating mechanism in this invention; Figure 8 for Figure 7 A schematic diagram showing the internal structure of the air duct; Figure 9 This is a schematic diagram of the magnetic tile feeding mechanism in this invention; Figure 10 This is a schematic diagram of the top material assembly of the present invention; Figure 11 This is a schematic diagram of the material pushing component in this invention; Figure 12 This is a schematic diagram of the feeding assembly in this invention; Figure 13 This is a schematic diagram of the housing heating device and the accelerator feeding structure in this invention; Figure 14 This is a schematic diagram of the working end of the collaborative robot in this invention; Figure 15 This is a schematic diagram of the magnetic tile mounting and detection mechanism in this invention.

[0041] In the diagram, there is a working chamber 1, an installation platform 11, a feed inlet 12, a discharge outlet 13, and a defective product outlet 14. 2. Casing feeding mechanism, 21. First conveyor belt device, 22. Feeding limit block, 23. Feeding clamping assembly, 211. First clearance gap, 212. Clamping body, 231. Feeding clamping cylinder, 232. 3. Housing transfer mechanism; 31. YZ axis motion platform; 32. Transfer clamping assembly; 321. Clamping block; 4. Housing support mechanism; 41. Support platform; 42. Clamping assembly; Magnetic tile feeding mechanism 5, placement groove 51, pushing assembly 52, top assembly 53, feeding assembly 54, translational motion platform 55, limiting block 531, top block 532, top cylinder 533, receiving groove 531-1, inlet 531-2, top opening 531-3, lifting platform 532-1, first limiting body 532-2, feeding cylinder 541, first pneumatic gripper 542; Magnetic tile adhesive coating mechanism 6, spray head 61; Collaborative robotic arm 7, magnetic tile clamping device 71, third pneumatic gripper 72, fixed clamping body 711, movable clamping body 712, second limiting body 713, positioning block 714, clamping drive cylinder 715; Finished product unloading mechanism 8, second conveyor belt device 81, material stop block 82, positioning and clamping assembly 83, second conveyor belt 811, second clearance gap 812, positioning and clamping body 831, positioning and clamping cylinder 832; Magnetic tile heating mechanism 9, heating element 91, air duct 92, fan 93, upstream air duct 921, downstream air duct 922, first opening 922-1, second opening 922-2; The casing heating device 100, the first mounting bracket 101, the first drive cylinder 102, the first linear slide 103, and the heating coil 104 are included. Accelerator throwing mechanism 110, second mounting bracket 111, second drive cylinder 112, second linear slide 113, first drive motor 114, throwing disc 115, accelerator spray head 116, cylindrical body 115-1, annular body 115-2; Temperature detection device 200; First Vision Inspection Agency 300; Magnetic tile mounting inspection mechanism 400, inspection platform 401, second vision inspection mechanism 402, XYZ axis motion platform 403, inspection position clamping assembly 404; The third conveyor belt device 500, the feeding clamping assembly 600, and the unloading clamping assembly 700. Detailed Implementation

[0042] See Figures 1 to 15 The magnetic tile pasting robot workstation of the present invention has a work compartment 1; the work compartment 1 is provided with an installation platform 11; the installation platform 11 is provided with a housing feeding mechanism 2, a housing transfer mechanism 3, a housing bearing mechanism 4, a magnetic tile feeding mechanism 5, a magnetic tile gluing mechanism 6, a collaborative robot arm 7, and a finished product unloading mechanism 8. The housing feeding mechanism 2 includes a first conveyor belt device 21 for receiving housings from the upstream station and conveying the housings to the assembly station; The housing support mechanism 4 includes a support platform 41 for receiving the housing transferred from the assembly station by the housing transfer mechanism 3; the support platform 41 is provided with a clamping assembly 42 for clamping the housing; the housing support mechanism 4 is located at the magnetic tile mounting station. The finished product unloading mechanism 8 includes a second conveyor belt device 81 for receiving the completed magnetic tile-attached housing transferred from the carrier platform 41 by the housing transfer mechanism 3, and conveying the completed magnetic tile-attached housing to the unloading station. The installation platform 11 has two magnetic tile feeding mechanisms 5 arranged opposite and symmetrically at the magnetic tile feeding station. Each magnetic tile feeding mechanism 5 includes a placement groove 51, a pushing component 52, a top component 53, and a feeding component 54. The feeding component 54 of the two magnetic tile feeding mechanisms 5 forms the magnetic tile feeding station. The placement groove 51 is used to arrange and accommodate multiple magnetic tiles. The pushing component 52 is used to push the arranged magnetic tiles in the placement groove 51 into the receiving groove 531-1 of the top component 53 in sequence. The top-feeding assembly 53 is used to lift the magnetic tile that has entered the receiving groove 531-1 to the clamping position of the feeding assembly 54; the feeding assembly 54 is used to clamp the magnetic tile and transfer it to the magnetic tile clamping device 71 on the working end of the cooperative robot 7; the working end of the cooperative robot 7 is provided with two magnetic tile clamping devices 71 that correspond one-to-one with the magnetic tile feeding mechanism 5, and the magnetic tile clamping device 71 on the working end of the cooperative robot 7 is used to simultaneously receive and clamp the magnetic tiles from each magnetic tile feeding mechanism 5; The magnetic tile coating mechanism 6 includes a spray head 61 set at the coating station for spraying adhesive. The working end of the collaborative robot 7 moves cyclically between the magnetic tile feeding station, the glue application station, and the magnetic tile mounting station. When the working end of the collaborative robot 7 is at the glue application station, the spray head 61 is used to spray glue onto the magnetic tile held by the magnetic tile clamping device 71. When the working end of the collaborative robot 7 is at the magnetic tile mounting station, the magnetic tile is oriented and mounted on the inner wall of the machine housing by the collaborative robot 7.

[0043] It also includes a magnetic tile heating mechanism 9; the magnetic tile heating mechanism 9 is used to heat the magnetic tiles in the placement groove 51.

[0044] The magnetic tile heating mechanism 9 includes a heating element 91, an air duct 92, and a fan 93. The air duct 92 is fixedly installed on the mounting platform 11. The air duct 92 includes an upstream air duct 921 and a downstream air duct 922. The heating element 91 is installed in the upstream air duct 921. The fan 93 is installed in the air duct 92 and is located at the intersection of the upstream air duct 921 and the downstream air duct 922 (i.e., the fan 93 serves as the dividing point, with the air inlet of the fan 93 being the upstream air duct 921 and the air outlet of the fan 93 being the downstream air duct 922). The fan 93 is used to send the hot air heated by the heating element 91 in the upstream air duct 921 into the downstream air duct 922. The downstream air duct 922 is erected above the placement slot 51, and the downstream air duct 922 is provided with a first opening 922-1 facing the placement slot and a second opening 922-2 facing the receiving slot 531-1 of the top material assembly 53.

[0045] The downstream air duct 922 extends from one end of the placement groove 51 to the other end; the first opening 922-1 also extends from one end of the placement groove 51 to the other end.

[0046] For details, please refer to Figure 8 The heating element 91 (which may be an electric heater) is fixedly installed below the mounting platform 11. The heating element 91 is covered with a heat insulation cover. An opening is provided on the mounting platform 11 at the location of the heating element 91. The heat insulation cover is fixedly installed at the opening. An L-shaped heat insulation cover is also fixedly installed on the upper mounting surface of the mounting platform 11 at the opening. The fan is fixedly installed inside the L-shaped heat insulation cover. At this time, the vertical section of the L-shaped heat insulation cover and the heat insulation cover below the mounting platform 11 form an upstream air duct 921. The horizontal section of the L-shaped heat insulation cover extending along the placement groove 51 forms a downstream air duct 922.

[0047] The pushing component 52 is disposed at one end of the placement groove 51 and is used to push the magnetic tile along the placement groove 51 to the other end; the top component 53 is disposed at the other end of the placement groove 51 and includes a limiting block 531 and a top component 532; the limiting block 531 is provided with a receiving groove 531-1 and an inlet 531-2 and a top opening 531-3 communicating with it, the inlet 531-2 being directly opposite the other end of the placement groove 51 to allow the magnetic tile to enter; the top component 532 is slidably disposed in the receiving groove 531-1; the top component 532 includes a first limiting body 532-2 fixedly disposed on the lifting platform 532-1; the first limiting body 532-2 is adapted to the magnetic tile; the lifting platform 532-1 and the fixed body 532-1 are connected to the magnetic tile. The top material cylinder 533, which is mounted on the mounting platform 11, is connected to the output end of the top material block 532. The top material block 532 can rise or fall under the drive of the top material cylinder 533. The feeding assembly 54 includes a first pneumatic gripper 542 fixedly connected to the output end of the feeding cylinder 541. The first pneumatic gripper 542 is located above the top opening 531-3. The top material block 532 rises under the drive of the top material cylinder 533, so that the top material block 532 and the first pneumatic gripper 542 cooperate to form a first magnetic tile positioning cavity. The first pneumatic gripper 542 is used to fix and hold the magnetic tile located in the first magnetic tile positioning cavity, and is used to transfer the held magnetic tile to the magnetic tile holding device 71 on the working end of the collaborative robot 7 under the drive of the feeding cylinder 541.

[0048] Along the feeding direction of the first conveyor belt device 21, there are sequentially arranged a housing heating station, an accelerator throwing station, and an assembly station; the installation platform 11 is provided with a housing heating device 100 and an accelerator throwing mechanism 110 at the housing heating station and the accelerator throwing station, respectively. The casing heating device 100 includes a first mounting bracket 101, a first driving cylinder 102, a first linear slide 103, and a heating coil 104. The first mounting bracket 101 is fixedly mounted on the mounting platform 11, the first driving cylinder 102 is fixedly mounted on the first mounting bracket 101, and the first linear slide 103 is slidably mounted on the first mounting bracket 101. The driving end of the first driving cylinder 102 is fixedly connected to the first linear slide 103. The heating coil 104 is mounted on the first linear slide 103. The accelerator ejection mechanism 110 includes a second mounting bracket 111, a second drive cylinder 112, a second linear slide 113, a first drive motor 114, an ejection disc 115, and an accelerator ejection head 116 for ejecting accelerator (the ejection head 116 is connected to a pump for pumping out accelerator via a hose). The second mounting bracket 111 is fixedly mounted on the mounting platform 11, and the second drive cylinder 112 is fixedly mounted on the second mounting bracket 111. The second linear slide 113 is slidably disposed on the second mounting bracket 111, and the drive end of the second drive cylinder 112 is fixedly connected to the second linear slide 113. The first drive motor 114 is fixedly mounted on the second linear slide 113. The ejection disc 115 is fixedly mounted on the output shaft of the first drive motor 114. The accelerator ejection head 116 is fixedly mounted on the second linear slide 113. The accelerator ejection head 116 is used to eject accelerator from the ejection disc 115. The first conveyor belt device 21 includes two parallel first conveyor belts 211; both parallel first conveyor belts 211 are wound and installed on the drive roller and driven roller of the first conveyor belt drive device, and convey the housing under the drive of the first conveyor belt drive device; the upper end surfaces of the two first conveyor belts 211 form a first conveying bearing surface for carrying the housing; a first clearance gap 212 is formed between the two parallel first conveyor belts 211; a feeding limit assembly is provided at the housing heating station and the accelerator throwing station respectively; the feeding limit assembly includes a feeding limit block 22 that moves up and down under the drive of a first limit cylinder; the first limit cylinder is fixedly installed on the back of the mounting platform 11, and the output end of the first limit cylinder passes through the mounting platform 11 and is fixedly connected to the feeding limit block 22; the feeding limit block 22 extends out of the first conveying bearing surface from the first clearance gap 212 under the drive of the first limit cylinder, and is used to block the housing conveyed to this location; A feeding clamping assembly 23 is also provided at the housing heating station and the accelerator discharge station respectively; the feeding clamping assembly 23 includes clamping bodies 231 symmetrically arranged on both sides of the first conveyor belt device 21, and the two clamping bodies 231 are fixedly connected to the output end of the feeding clamping cylinder 232 respectively; the two clamping bodies 231 are used to clamp the housing blocked by the feeding limiting assembly under the drive of the corresponding feeding clamping cylinder 232. The heating coil 104 extends into the housing held in the housing heating station under the drive of the first driving cylinder 102, and heats the inner wall of the housing. The second drive cylinder 112 is used to drive the material throwing disc 115 to extend into the housing held in the accelerator throwing station; the first drive motor 114 is used to drive the material throwing disc 115 extended into the housing held in the accelerator throwing station to throw material. It also includes a temperature detection device 200 for detecting the heating temperature of the casing at the casing heating station. The temperature detection device 200 is an infrared temperature sensor.

[0049] The discharge disc 115 includes a cylindrical body 115-1 with a central hole; one end of the cylindrical body 115-1 is fixedly connected to the output shaft of the first drive motor 114, and an annular body 115-2 extending radially along the cylindrical body 115-1 is integrally formed on the circumferential surface of the other end of the cylindrical body 115-1; the cylindrical body 115-1 and the annular body 115-2 are coaxially arranged; when the discharge disc 115 extends into the housing located at the accelerator discharge station, the cylindrical body 115-1... The central hole of 5-1 is used for the insertion of the rotating shaft at the inner center of the housing; the accelerator spray head 116 sprays accelerator onto the circumferential surface of the cylindrical body 115-1; the annular body 115-2 is used to receive the accelerator flowing down from the circumferential surface of the cylindrical body 115-1 and to throw the material onto the inner circumferential wall of the housing; the second linear slide 113 is used to drive the throwing disc 115 to move along the axis of rotation inside the housing, so that the throwing disc 115 can throw the material onto the inner circumferential wall of the housing. In order to make the throwing disc 115 move more slowly along the axis of rotation inside the housing, the drive assembly formed by the second drive cylinder 112 and the second linear slide 113 can be replaced with a servo linear module, that is, the second linear slide 113 is controlled by a servo motor for precise movement.

[0050] The housing transfer mechanism 3 includes a YZ axis motion platform 31 and a transfer clamping assembly 32 for clamping the housing for workstation transfer; The second conveyor belt device 81 is used to receive the housing after the magnetic tile is installed. The receiving position is the unloading receiving position. The assembly position, the magnetic tile installation position and the unloading receiving position are all located in the Y-axis movement direction of the YZ axis motion platform 31. The YZ axis motion platform 31 includes a first base fixedly installed on the mounting platform 11, and a first Z axis motion platform that slides under the drive of a first Z axis drive device is provided on the first base; a first Y axis motion platform that slides under the drive of a first Y axis drive device is provided on the first Z axis motion platform. Two transfer clamping assemblies 32 are fixedly provided on the first Y-axis motion platform. The two transfer clamping assemblies 32 move synchronously with the first Y-axis motion platform to coordinate the execution of the housing transfer operation. When the first Y-axis motion platform moves, the two transfer clamping assemblies 32 can be simultaneously located at the assembly station and the magnetic tile mounting station, or simultaneously located at the magnetic tile mounting station and the receiving position of the second conveyor belt device 81 to receive the housing after magnetic tile mounting. While one transfer clamping assembly 32 moves the housing from the assembly station to the magnetic tile mounting station, the other transfer clamping assembly 32 moves the housing after magnetic tile mounting from the magnetic tile mounting station to the receiving position of the second conveyor belt device 81.

[0051] The transfer clamping assembly 32 includes a second pneumatic gripper; the two opposing grippers of the second pneumatic gripper are fixedly and symmetrically provided with clamping blocks 321 adapted to the shape of the inner wall of the housing; when the two grippers of the second pneumatic gripper move away from each other, the clamping blocks 321 on the two grippers expand outward and fit tightly against the inner wall of the housing, and clamp the housing under the action of tension force.

[0052] The working end of the collaborative robot 7 is fixedly provided with a third pneumatic gripper 72; magnetic tile clamping devices 71 are fixedly and symmetrically provided on the two opposing grippers of the third pneumatic gripper 72; when the third pneumatic gripper 72 is located at the magnetic tile feeding station, the third pneumatic gripper 72 is in a closed state, and the magnetic tile clamping device 71 cooperates with the first pneumatic gripper 542 to form a second magnetic tile positioning cavity; the magnetic tile clamping device 71 is used to clamp the magnetic tile located in the second magnetic tile positioning cavity; when the third pneumatic gripper 72 is located at the magnetic tile mounting station and is located inside the machine housing, the third pneumatic gripper 72 opens outward and causes the mounting surface of the magnetic tile on the magnetic tile clamping device 71 to mount with the inner wall of the machine housing; The magnetic tile in the placement slot 51 is an arc-shaped body, with the top and bottom ends being flat surfaces and the left and right ends being arc-shaped surfaces. The first pneumatic gripper 542 is used to grip the arc-shaped surfaces of the arc-shaped body. The magnetic tile clamping device 71 is a fourth pneumatic gripper; the fourth pneumatic gripper includes a fixed gripper 711, a movable gripper 712, a second limiting body 713, a positioning block 714, and a gripping drive cylinder 715; the fixed gripper 711 is fixedly connected to the gripper corresponding to the third pneumatic gripper 72; the movable gripper 712 is slidably disposed on the gripper corresponding to the third pneumatic gripper 72; the gripping drive cylinder 715 is fixedly connected to the gripper corresponding to the third pneumatic gripper 72, and the drive end of the gripping drive cylinder 715 is connected to the movable gripper 715. The clamping body 712 is fixedly connected and drives the movable clamping body 712 to move towards the fixed clamping body 711 to clamp the magnetic tile; a second limiting body 713 adapted to the concave arc surface of the magnetic tile is provided between the fixed clamping body 711 and the movable clamping body 712; the second limiting body 713 is fixedly connected to the jaw corresponding to the third pneumatic jaw 72; positioning blocks 714 for positioning and clamping the arc end of the magnetic tile are respectively provided on both sides of the second limiting body 713; the positioning blocks 714 are assembled on the second limiting body 713 through a plug-in slot mating structure.

[0053] The magnetic tile feeding mechanism 5 also includes a translational motion platform 55; the translational motion platform 55 is slidably mounted on the mounting platform 11 and slides under the drive of the translational drive device; the translational drive device is an electric linear module, that is, a servo motor drives the lead screw to rotate and drives the slider assembled on the lead screw and forming a sliding fit with the mounting platform, and finally the slider is fixedly connected to the translational motion platform 55.

[0054] The translational motion platform 55 has multiple placement slots 51 arranged parallel to its sliding direction; the sliding direction of the translational motion platform 55 on the mounting platform 11 is perpendicular to the pushing direction of the pushing component 52; the translational motion platform 55, driven by the translational drive device, is used to match any placement slot 51 on the translational motion platform 55 with the pushing component 52, so that the pushing component 52 can push the magnetic tile in the corresponding placement slot 51 towards the top material component 53; the magnetic tile heating mechanism 9 is actually used to heat the magnetic tile in the placement slot 51 corresponding to the pushing component 52.

[0055] The installation platform 11 is also fixedly equipped with a first visual detection mechanism 300; the first visual detection mechanism 300 is used to visually identify the area of ​​the magnetic tile on the magnetic tile clamping device 71 sprayed with adhesive by the spray head 61. The specific identification method includes the following steps: S1. Image acquisition steps: Configure an industrial camera to ensure that the imaging is free of perspective error and to eliminate measurement distortion caused by the slight height difference on the surface of the magnetic tile.

[0056] S2. Image Preprocessing Steps: The raw RGB image acquired by the industrial camera is transmitted to a processing unit (such as an industrial computer or embedded processor) electrically connected to the vision inspection mechanism; the processing unit first performs preprocessing on the image, including: Grayscale conversion: Converting a color image to a grayscale image.

[0057] Filtering and denoising: Apply Gaussian filtering or median filtering algorithms to suppress noise interference generated during image acquisition.

[0058] Contrast Enhancement: By using histogram equalization or gamma correction algorithms, the grayscale difference between the glue area and the background area is further increased.

[0059] S3. Feature Region Segmentation Step: An image segmentation algorithm is used to accurately separate the coated area from the magnetic tile background. Specifically, one or a combination of the following methods can be used: Thresholding segmentation: One or more grayscale thresholds are set. Because the applied glue alters the surface's reflective properties, its grayscale value differs significantly from the uncoated magnetic tile substrate. By traversing the image pixels, all pixels with grayscale values ​​within the set threshold range are identified as "glue regions," thus generating a binary image (e.g., the glue region is white, and the background is black).

[0060] Edge detection method: Operators such as Canny and Sobel are used to detect the boundary between the glued area and the unglued area, thereby outlining the contour of the glue coating.

[0061] Color space-based segmentation: If the glue has a specific color, the image can be converted from RGB space to HSV / HSL space, and threshold segmentation can be performed on the saturation (S) and lightness (V / L) components of the color, which can more effectively resist the effects of changes in lighting.

[0062] S4. Area Calculation and Judgment Steps: In the binarized image, count the total number of pixels marked as "glue area" (white).

[0063] Pixel calibration: The system is pre-calibrated, meaning the number of pixels occupied by a precisely sized reference object in the real world (such as a standard block or the standard size of a tile itself) in the image is known. The "actual area represented by a single pixel" (unit: square millimeters / pixel) can be calculated.

[0064] Actual area calculation: Multiply the total number of pixels in the glue area obtained by the "actual area represented by a single pixel" to get the actual physical area of ​​the glue coating on the magnetic tile in this test.

[0065] Result determination: The processing unit compares the calculated actual coating area with a preset standard area threshold range. If the coating area falls within the threshold range, it is determined to be qualified; if the area is too small (insufficient coating) or too large (over-coating), it is determined to be unqualified, and an alarm signal may be triggered or the control system may be notified to sort the unqualified products.

[0066] The installation platform is equipped with two spray heads, each corresponding to a magnetic tile clamping device on the working end of a collaborative robot. The spray heads spray adhesive onto the magnetic tiles on the corresponding magnetic tile clamping devices. During the adhesive spraying process, the collaborative robot drives the two magnetic tile clamping devices and the magnetic tiles they hold to move, so that the mounting surface of the magnetic tile adapts to the spray trajectory of the adhesive spray head, thereby ensuring that the adhesive is evenly distributed on the mounting surface.

[0067] During the mounting process, the collaborative robot 7 drives the two magnetic tile clamping devices 71 and the magnetic tiles they hold to move, so that the mounting surface of the magnetic tile moves rubbed against the inner wall of the machine housing, thereby ensuring that the adhesive on the mounting surface of the magnetic tile fully fills the space between the mounting surface of the magnetic tile and the inner wall of the machine housing.

[0068] According to the cyclic movement path of the collaborative robot 7, a magnetic tile cleaning station is also provided between the magnetic tile loading station and the adhesive application station; the magnetic tile cleaning station is provided with multiple air blowing heads connected to air pumps; one air blowing head corresponds to one magnetic tile clamping device 71; each air blowing head is used to blow air to clean the magnetic tiles clamped on each magnetic tile clamping device 71.

[0069] The second conveyor belt device 81 includes two parallel second conveyor belts 811; both parallel second conveyor belts 811 are wound and installed on the drive roller and driven roller of the second conveyor belt drive device, and convey the housing under the drive of the second conveyor belt drive device; the upper end surfaces of the two second conveyor belts 811 form a second conveying bearing surface that carries the housing; a second clearance gap 812 is formed between the two parallel second conveyor belts 811; Along the conveying direction of the second conveyor belt device 81, there are sequentially a receiving position for receiving the machine housing after the magnetic tile is installed, a testing position, and a material unloading position; A detection station limiting component is provided at the detection station; the detection station limiting component includes a baffle block 82 that moves up and down under the drive of a second limiting cylinder; the second limiting cylinder is fixedly installed on the back of the mounting platform 11, and the output end of the second limiting cylinder passes through the mounting platform 11 and is fixedly connected to the baffle block 82; the baffle block 82 extends out of the second clearance gap 812 from the second conveying bearing surface under the drive of the second limiting cylinder, and is used to block the machine casing conveyed to this location; A positioning clamping assembly 83 is also provided at the inspection station; the positioning clamping assembly 83 includes positioning clamping bodies 831 symmetrically arranged on both sides of the second conveyor belt device 81, and the two positioning clamping bodies 831 are respectively fixedly connected to the output end of the positioning clamping cylinder 832; the two positioning clamping bodies 831 are used to clamp the machine housing blocked by the inspection station limiting assembly under the drive of the corresponding positioning clamping cylinder 832. The mounting platform 11 is also equipped with a magnetic tile mounting detection mechanism 400 at the inspection station. The magnetic tile mounting detection mechanism 400 includes an inspection platform 401, a second vision inspection mechanism 402, an XYZ axis motion platform 403, and an inspection position clamping assembly 404. The XYZ axis motion platform 403 includes a second base fixedly mounted on the mounting platform 11, and a second Y-axis motion platform that slides under the drive of a second Y-axis drive device is provided on the second base. An X-axis motion platform that slides under the drive of an X-axis drive device is provided on the second Y-axis motion platform. A second Z-axis motion platform that slides under the drive of a second Z-axis drive device is provided on the X-axis motion platform. Both the workstation to be inspected and the platform to be inspected are located in the Y-axis movement direction of the XYZ axis motion platform 403; The second Z-axis motion platform has a fixed detection position clamping assembly 404. Driven by the XYZ axis motion platform 403, the detection position clamping assembly 404 is used to transfer the completed magnetic tile mounting of the machine housing at the inspection station to the inspection platform 401, and also to put the qualified machine housing on the inspection platform 401 back onto the second conveyor belt device 81. The specific structure of the detection position clamping assembly 404 can refer to the specific structure of the transfer clamping assembly 32 on the machine housing transfer mechanism.

[0070] The second visual inspection mechanism 402 is fixedly installed on the mounting platform 11; the second visual inspection mechanism 402 is used for visual identification to determine whether the mounting height of the magnetic tiles inside the housing is consistent; see Figure 15 The industrial camera of the second vision inspection mechanism 402 is mounted on a drive cylinder. The drive cylinder is used to move the industrial camera to the inspection platform 401 so that the industrial camera can take pictures. The specific recognition steps are as follows: (i) Image Acquisition and Preprocessing: The system controls the lighting unit to illuminate the inner cavity of the housing with optimized light, triggering the industrial camera to capture a complete image of the inner wall containing all the magnetic tiles. Subsequently, a series of preprocessing operations are performed on the acquired image, including noise reduction and overall contrast enhancement, making the boundary between the magnetic tiles and the housing background clear and distinct.

[0071] (II) Benchmark establishment and detection area division: In the pre-processed image, the system first identifies the fixed contour of the inner wall of the casing and determines a stable reference line as a height comparison benchmark. Then, based on the known number and arrangement of magnetic tiles, the system automatically delineates several independent detection areas on the image. Each area precisely corresponds to a magnetic tile to be tested, ensuring that subsequent analysis does not interfere with each other.

[0072] (III) Magnetic Tile Edge Recognition and Height Information Extraction: For each defined magnetic tile detection area, the system performs the following operations: A. Use an edge detection algorithm to find the uppermost edge line in the image of the magnetic tile.

[0073] B. Calculate the vertical coordinates of the edge line on the image.

[0074] C. Compare this position coordinates with the position coordinates of the reference line determined in step two, and calculate the pixel distance difference between the two in the vertical direction. This pixel distance difference directly reflects the height of the top edge of the magnetic tile relative to the reference plane.

[0075] D. Using a pre-calibrated conversion coefficient (which records the correspondence between image pixels and actual physical dimensions), the pixel distance difference is converted into the actual physical height value. This yields the precise height measurement value for each magnetic tile.

[0076] (iv) Consistency Analysis and Automatic Judgment: After obtaining the individual height measurements of all magnetic tiles, the system performs a comprehensive logical judgment: a. Individual qualification assessment: Check each magnetic tile to see if its height measurement falls within the preset allowable range.

[0077] b. Overall flatness assessment: Find the maximum and minimum height values ​​from all tile heights, and calculate the difference between them, i.e., the maximum height difference. Determine whether this maximum height difference is less than or equal to the preset allowable flatness value.

[0078] c. Final Decision: The system will only determine a product as "qualified" if both conditions are met: "the individual height of all magnetic tiles is qualified" and "the maximum height difference meets the flatness requirements". If either condition is not met, the product will be immediately determined as "unqualified".

[0079] (v) Result Output and Recording: The system sends the judgment result (qualified / unqualified) to the production line controller in real time and can trigger the sorting device. At the same time, the height data, calculation results, judgment conclusions and corresponding product numbers of all magnetic tiles are automatically saved to the database to form a traceable quality record.

[0080] It also includes a third conveyor belt device 500; the detection position clamping assembly 404, driven by the XYZ axis motion platform 403, is also used to transfer the housing with the test result of being unqualified on the inspection platform 401 to the third conveyor belt device 500; the third conveyor belt device 500 is used to receive the housing with the test result of being unqualified transferred by the detection position clamping assembly 404.

[0081] It also includes a feeding clamping assembly 600 and a discharging clamping assembly 700 fixedly mounted on the installation platform 11; the working chamber 1 is provided with a feeding port 12, a discharging port 13 and a defective product discharge port 14; the first conveyor belt device 21 is used to receive the machine casing from the upstream station, with one end extending out of the feeding port 12; the second conveyor belt device 81 has a discharging port 13 extending out of its discharging position; and the third conveyor belt device 500 has a discharging position, with one end extending out of the defective product discharge port 14. The feeding clamping assembly 600, driven by the feeding drive device, clamps the casing located outside the working chamber 1 and at the feeding port 12 onto the first conveyor belt device 21. Driven by the feeding drive device, the feeding clamping assembly 700 clamps the casing located at the feeding station of the second conveyor belt device 81 to the finished product placement station.

[0082] Both the feeding drive and the discharging drive can be multi-axial linear modules; and the clamps on the feeding clamping assembly 600 and the unloading clamping assembly 700 for clamping the housing can refer to the specific structure of the transfer clamping assembly 32 on the housing transfer mechanism.

[0083] The shape of the housing shown in the accompanying drawings is for reference only. This embodiment can be used for housings of various sizes and shapes.

[0084] The working process of this invention is as follows: First, magnetic tiles are arranged in the placement slot 51; then, the translational motion platform 55 aligns one placement slot 51 with the pushing component 52; at this time, the magnetic tile heating mechanism 9 heats the magnetic tile in the placement slot 51, and then the pushing component 52 pushes the magnetic tile in the placement slot 51 toward the top component 53. The magnetic tile closest to the top component 53 enters the receiving slot 531-1 of the limiting block 531 through the inlet 531-2 of the limiting block 531; the magnetic tile entering the receiving slot 531-1 is adapted to the first limiting body 532-2 on the top component 532. Specifically, the adaptation method is that the concave arc surface of the magnetic tile fits against the first limiting body 532-2. At the same time, the lower end face of the magnetic tile entering the receiving groove 531-1 is supported by the lifting platform 532-1; since the part between the inlet 531-2 of the limiting block 531 and the top opening 531-3 can restrict the magnetic tile from tilting, the top material block 532 pushes the magnetic tile out from the top opening 531-3 under the drive of the top material cylinder 533, and the magnetic tile is positioned in the first magnetic tile positioning cavity.

[0085] Then, the first pneumatic gripper 542 clamps the magnetic tile, specifically the curved end of the tile. The feeding cylinder 541 of the feeding assembly 54 delivers the magnetic tile held by the first pneumatic gripper 542 to the magnetic tile loading station. At this time, the collaborative robot 7 is already at the magnetic tile loading station, and its magnetic tile clamping device 71 cooperates with the first pneumatic gripper 542 to form a second magnetic tile positioning cavity; then the magnetic tile clamping device 71 clamps the magnetic tile. In other words, the magnetic tile is transferred from the feeding assembly 54 to the working end of the collaborative robot 7.

[0086] Then, the collaborative robot arm 7 moves the two magnetic tiles it holds to the adhesive application station, where the spray head 61 of the magnetic tile adhesive application mechanism 6 applies adhesive to the magnetic tiles on the magnetic tile holding device 71. After the adhesive application is completed, the first vision inspection mechanism 300 inspects the adhesive application quality.

[0087] After the adhesive coating inspection is passed, the collaborative robot 7 moves the two magnetic tiles it is holding to the magnetic tile mounting station. The housing support mechanism 4 at the magnetic tile mounting station has already clamped the housing transferred from the assembly station by the housing transfer mechanism 3. Before being transferred to the housing support mechanism 4, the housing has undergone the following processes: the housing to be processed is placed sequentially on the first conveyor belt device 21 by the feeding clamping assembly 600, and the first conveyor belt device 21 sequentially transports the workpiece to the housing heating station, the accelerator throwing station, and the assembly station; the housing is heated to a certain temperature by the housing heating device 100 at the housing heating station; at the accelerator throwing station, the accelerator throwing mechanism 110 has already extended into the housing, and the inner wall of the housing is coated with accelerator through the accelerator spray head 107 and the throwing disc 106.

[0088] Then, the third pneumatic gripper 72 on the collaborative robot arm 7, carrying the held magnetic tile, extends into the housing of the housing support mechanism 4. Next, the third pneumatic gripper 72 opens outward and drives the magnetic tile to move along the inner wall of the housing with minute friction. This innovative action simulates the process of manual scraping, effectively eliminating air trapped inside the adhesive layer and promoting sufficient adhesive flow to completely fill the tiny gaps between the magnetic tile mounting surface and the inner wall of the housing. This eliminates the risk of reduced bonding strength due to insufficient adhesive or air bubbles, greatly improving the reliability and consistency of the bonding.

[0089] The collaborative robot arm 7 performs the above-described actions to attach magnetic tiles to the inner wall of the housing. Then, the housing transfer mechanism 3 transfers the attached housing to the second conveyor belt device 81.

[0090] Then, the finished casing is conveyed to the inspection station by the second conveyor belt device 81. The magnetic tile installation inspection mechanism 400 then inspects the magnetic tile adhesion quality of the finished casing. Qualified casings are returned to the second conveyor belt device 81, while unqualified casings are placed on the third conveyor belt device 500.

[0091] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A magnetic tile pasting robot station, having a working bin; a mounting platform is arranged in the working bin; characterized in that: The installation platform is provided with a machine shell loading mechanism, a machine shell transferring mechanism, a machine shell bearing mechanism, a magnetic tile loading mechanism, a magnetic tile gluing mechanism, a collaborative manipulator and a finished product unloading mechanism; The machine shell loading mechanism comprises a first conveying belt device for receiving the machine shell from an upstream station and conveying the machine shell to a station to be assembled; The machine shell bearing mechanism comprises a bearing table for receiving the machine shell transferred from the station to be assembled by the machine shell transferring mechanism; the bearing table is provided with a clamping assembly for clamping the machine shell; the machine shell bearing mechanism is arranged at the magnetic tile mounting station; The finished product unloading mechanism comprises a second conveying belt device for receiving the machine shell with the mounted magnetic tile transferred from the bearing table by the machine shell transferring mechanism and conveying the machine shell with the mounted magnetic tile to an unloading station; The installation platform is provided with at least one magnetic tile loading mechanism at the magnetic tile loading station; the magnetic tile loading mechanism comprises a placing groove, a pushing assembly, a lifting assembly and a feeding assembly; the placing groove is used for arranging and accommodating a plurality of magnetic tiles; the pushing assembly is used for sequentially pushing the arranged magnetic tiles in the placing groove into the accommodating groove of the lifting assembly; the lifting assembly is used for lifting the magnetic tiles entering the accommodating groove to the clamping position of the feeding assembly; the feeding assembly is used for clamping the magnetic tiles and moving the magnetic tiles to the magnetic tile clamping device on the working end of the collaborative manipulator; the working end of the collaborative manipulator is provided with one or more magnetic tile clamping devices corresponding to the magnetic tile loading mechanism one by one; the magnetic tile clamping device on the working end of the collaborative manipulator is used for simultaneously receiving and clamping the magnetic tiles from each magnetic tile loading mechanism; The magnetic tile gluing mechanism comprises a spraying head arranged at the gluing station and used for spraying glue; The working end of the collaborative manipulator moves cyclically between the magnetic tile loading station, the gluing station and the magnetic tile mounting station; when the working end of the collaborative manipulator is located at the gluing station, the spraying head is used for spraying and coating glue on the magnetic tiles of the magnetic tile clamping device; when the working end of the collaborative manipulator is located at the magnetic tile mounting station, the magnetic tiles are directionally mounted on the inner wall of the machine shell by the collaborative manipulator; Further comprising a magnetic tile heating mechanism; the magnetic tile heating mechanism is used for heating the magnetic tiles in the placing groove.

2. The magnet tile pasting robot workstation of claim 1, wherein: The magnetic tile heating mechanism comprises a heating element, an air duct and a fan; the air duct is fixedly installed on the installation platform; the air duct comprises an upstream air duct and a downstream air duct; the heating element is installed in the upstream air duct; the fan is installed in the air duct and located at the relatively far position of the upstream air duct and the downstream air duct; the fan is used for sending the hot air heated by the heating element in the upstream air duct into the downstream air duct; the downstream air duct is arranged above the placing groove, and the downstream air duct is provided with a first opening facing the placing groove and a second opening facing the accommodating groove of the lifting assembly.

3. The magnet tile pasting robot workstation of claim 2, wherein: The downstream air duct extends from one end of the placing groove to the other end; the first opening also extends from one end of the placing groove to the other end.

4. The magnet tile pasting robot workstation according to claim 1 or 2 or 3, characterized in that: The pushing assembly is arranged at one end of the placing groove and used to push the magnetic tile to move along the placing groove towards the other end; the material lifting assembly is arranged at the other end of the placing groove and includes a limiting block and a material lifting block; the limiting block is provided with a containing groove and an entrance and a top opening in communication with the containing groove, the entrance is opposite to the other end of the placing groove for the magnetic tile to enter; the material lifting block is slidingly arranged in the containing groove; the material lifting block includes a first limiting body fixedly arranged on a lifting platform; the first limiting body is matched with the magnetic tile; the lifting platform is connected with an output end of a material lifting cylinder fixedly arranged on the mounting platform; the material lifting block can be lifted or lowered under the drive of the material lifting cylinder; the feeding assembly includes a first pneumatic clamp jaw fixedly connected with an output end of a feeding cylinder; the first pneumatic clamp jaw is located above the top opening; the material lifting block is lifted under the drive of the material lifting cylinder, so that the material lifting block cooperates with the first pneumatic clamp jaw to form a first magnetic tile positioning cavity; the first pneumatic clamp jaw is used to fixedly clamp the magnetic tile in the first magnetic tile positioning cavity and move the clamped magnetic tile to a magnetic tile clamping device of a working end of a cooperating manipulator under the drive of the feeding cylinder.

5. The magnet tile pasting robot workstation of claim 4, wherein: A machine shell heating station, a promoter material throwing station and a waiting assembly station are sequentially arranged along a feeding direction of the first conveying belt device; the machine shell heating device and the promoter material throwing mechanism are respectively arranged at the machine shell heating station and the promoter material throwing station on the mounting platform; The machine shell heating device includes a first mounting bracket, a first driving cylinder, a first linear sliding table and a heating coil; the first mounting bracket is fixedly mounted on the mounting platform, the first driving cylinder is fixedly mounted on the first mounting bracket, and the first linear sliding table is slidingly arranged on the first mounting bracket; the driving end of the first driving cylinder is fixedly connected with the first linear sliding table; the heating coil is mounted on the first linear sliding table; The promoter material throwing mechanism includes a second mounting bracket, a second driving cylinder, a second linear sliding table, a first driving motor, a material throwing disc and a promoter spraying head used for spraying the promoter; the second mounting bracket is fixedly mounted on the mounting platform, and the second driving cylinder is fixedly mounted on the second mounting bracket; the second linear sliding table is slidingly arranged on the second mounting bracket, and the driving end of the second driving cylinder is fixedly connected with the second linear sliding table; the first driving motor is fixedly mounted on the second linear sliding table; the material throwing disc is fixedly mounted on an output shaft of the first driving motor; the promoter spraying head is fixedly mounted on the second linear sliding table; the promoter spraying head is used for spraying the material throwing disc; The first conveying belt device comprises two first conveying belts arranged in parallel; both of the two first conveying belts are wound on driving rollers and driven rollers of a first conveying belt driving device and are driven by the first conveying belt driving device to convey the cabinet; upper end surfaces of the two first conveying belts form a first conveying bearing surface for bearing the cabinet; a first avoiding gap is formed between the two first conveying belts; a feeding limiting component is arranged at the cabinet heating station and the accelerator material throwing station respectively; the feeding limiting component comprises a feeding limiting block which is driven by a first limiting cylinder to move up and down; the first limiting cylinder is fixedly installed on the back of the installation platform, and the output end of the first limiting cylinder is fixedly connected with the feeding limiting block after penetrating through the installation platform; the feeding limiting block is driven by the first limiting cylinder to extend from the first avoiding gap to the first conveying bearing surface and is used to block the cabinet conveyed to this position; A feeding clamping component is also arranged at the cabinet heating station and the accelerator material throwing station respectively; the feeding clamping component comprises two clamping bodies which are symmetrically arranged on both sides of the first conveying belt device and are fixedly connected with the output ends of feeding clamping cylinders respectively; the two clamping bodies are driven by the feeding clamping cylinders to clamp the cabinet blocked by the feeding limiting component; The heating coil is driven by the first driving cylinder to extend into the cabinet clamped at the cabinet heating station and heat the inner wall of the cabinet; The second driving cylinder is used to drive the throwing disc to extend into the cabinet clamped at the accelerator material throwing station; the first driving motor is used to drive the throwing disc extending into the cabinet clamped at the accelerator material throwing station to throw material.

6. The magnet tile pasting robot workstation of claim 5, wherein: The temperature detection device is also used to detect the heating temperature of the cabinet at the cabinet heating station.

7. The magnet tile pasting robot workstation of claim 5, wherein: The throwing disc comprises a cylindrical body with a central hole; one end of the cylindrical body is fixedly connected with the output shaft of the first driving motor, and the circumferential surface of the other end of the cylindrical body is integrally provided with an annular body extending along the radial direction of the cylindrical body; the cylindrical body and the annular body are coaxially arranged; when the throwing disc extends downward into the interior of the cabinet at the accelerator material throwing station, the central hole of the cylindrical body is used for inserting the rotating shaft at the center of the interior of the cabinet; the accelerator injection head sprays the accelerator toward the circumferential surface of the cylindrical body; the annular body is used to receive the accelerator flowing down from the circumferential surface of the cylindrical body and throw the material toward the circumferential inner wall of the cabinet; the second linear slide is used to drive the throwing disc to move along the rotating shaft axis direction in the interior of the cabinet, so that the throwing disc can comprehensively throw the material toward the circumferential inner wall of the cabinet.

8. The magnet tile pasting robot workstation of claim 4, wherein: The cabinet transfer mechanism comprises a YZ-axis movement platform and a transfer clamping component used to clamp the cabinet to transfer the cabinet to different stations; The feeding receiving station for receiving the cabinet with the magnetic tiles attached is a discharging receiving station; the waiting assembly station, the magnetic tile attaching station and the discharging receiving station are arranged on the Y-axis movement direction of the YZ-axis movement platform; The YZ axis movement platform comprises a first base fixedly installed on the installation platform, and a first Z-axis movement platform is arranged on the first base and slides under the drive of a first Z-axis drive device. The first Y-axis movement platform is fixedly provided with two transfer clamping assemblies; the two transfer clamping assemblies move synchronously with the first Y-axis movement platform and are used for cooperatively performing a case transfer operation; when the first Y-axis movement platform moves, the two transfer clamping assemblies can be simultaneously located at a waiting assembly station and a magnetic tile assembly station respectively, or simultaneously located at the magnetic tile assembly station and a receiving position of the second conveying belt device for receiving a case on which magnetic tile assembly is completed; while one of the transfer clamping assemblies moves the case from the waiting assembly station to the magnetic tile assembly station, the other transfer clamping assembly moves the case on which magnetic tile assembly is completed from the magnetic tile assembly station to the receiving position of the second conveying belt device.

9. The magnet tile pasting robot workstation of claim 8, wherein: The transfer clamping assembly comprises a second pneumatic clamping jaw; two opposite clamping jaws of the second pneumatic clamping jaw are fixedly and symmetrically provided with clamping blocks matched with the shape of the inner wall of the case; when the two clamping jaws of the second pneumatic clamping jaw are away from each other, the clamping blocks on the two clamping jaws are expanded outward to tightly match the inner wall of the case, and the case is clamped under the action of the expansion force.

10. The magnet tile pasting robot workstation of claim 4, wherein: The installation platform is oppositely and symmetrically provided with two magnetic tile feeding mechanisms; a magnetic tile feeding station is arranged between the feeding assemblies of the two magnetic tile feeding mechanisms; the working end of the cooperative manipulator is fixedly provided with a third pneumatic clamping jaw; two opposite clamping jaws of the third pneumatic clamping jaw are fixedly and symmetrically provided with magnetic tile clamping devices; when the third pneumatic clamping jaw is located at the magnetic tile feeding station, the third pneumatic clamping jaw is in a closed state, and the magnetic tile clamping devices cooperate with the first pneumatic clamping jaw to form a second magnetic tile positioning cavity; the magnetic tile clamping devices are used for clamping the magnetic tile in the second magnetic tile positioning cavity; when the third pneumatic clamping jaw is located at the magnetic tile assembly station and inside the case, the third pneumatic clamping jaw is opened outward, and the assembly surface of the magnetic tile on the magnetic tile clamping devices is assembled with the inner wall of the case; The magnetic tile in the placing groove is an arc-shaped body, the upper and lower ends of the arc-shaped body are plane ends, and the left and right ends of the arc-shaped body are arc surface ends; the first pneumatic clamping jaw is used for clamping the arc surface ends of the arc-shaped body; The magnetic tile clamping device is a fourth pneumatic clamping jaw; the fourth pneumatic clamping jaw comprises a fixed clamping body, a movable clamping body, a second limiting body, a positioning block and a clamping driving cylinder; the fixed clamping body is fixedly connected to the corresponding clamping jaw of the third pneumatic clamping jaw; the movable clamping body is slidably arranged on the corresponding clamping jaw of the third pneumatic clamping jaw; the clamping driving cylinder is fixedly connected to the corresponding clamping jaw of the third pneumatic clamping jaw, and the driving end of the clamping driving cylinder is fixedly connected to the movable clamping body and drives the movable clamping body to move towards the fixed clamping body to clamp the magnetic tile; the second limiting body is arranged between the fixed clamping body and the movable clamping body and is adapted to the inner concave curved surface of the magnetic tile; the second limiting body is fixedly connected to the corresponding clamping jaw of the third pneumatic clamping jaw; the two sides of the second limiting body are respectively provided with the positioning blocks for positioning and clamping the curved surface end of the magnetic tile; the positioning blocks are assembled on the second limiting body through the block slot cooperation structure.

11. The magnet tile pasting robot workstation of claim 1 or 2 or 3, wherein: The magnetic tile feeding mechanism further comprises a translation motion platform; the translation motion platform is slidably arranged on the mounting platform and slides under the driving of the translation driving device; A plurality of placement grooves are arranged in parallel along the sliding direction of the translation motion platform; the sliding direction of the translation motion platform on the mounting platform is perpendicular to the pushing direction of the pushing assembly; the translation motion platform is used to correspond any placement groove on the translation motion platform with the pushing assembly under the driving of the translation driving device, so that the pushing assembly pushes the magnetic tile in the corresponding placement groove to the ejection assembly; the magnetic tile heating mechanism is used to heat the magnetic tile in the placement groove corresponding to the pushing assembly.

12. The magnet tile pasting robot workstation of claim 1 or 2 or 3, wherein: A first visual detection mechanism is further fixedly arranged on the mounting platform; the first visual detection mechanism is used to visually identify the area of the magnetic tile on the magnetic tile clamping device sprayed and coated with glue by the ejection head.

13. The magnet tile pasting robot workstation of claim 10, wherein: Two ejection heads are arranged on the mounting platform, and each ejection head corresponds to the magnetic tile clamping device on the working end of one cooperative manipulator; the ejection heads spray glue on the magnetic tiles on the corresponding magnetic tile clamping devices; during the glue spraying process, the cooperative manipulator drives the two magnetic tile clamping devices and the magnetic tiles held thereby to move, so that the mounting surface of the magnetic tile is adapted to the spraying track of the glue spraying head, thereby ensuring that the glue is uniformly distributed on the mounting surface.

14. The magnet tile pasting robot workstation of claim 10, wherein: During the mounting process, the cooperative manipulator drives the two magnetic tile clamping devices and the magnetic tiles held thereby to move, so that the mounting surface of the magnetic tile rubs against the inner wall of the casing, thereby ensuring that the glue on the mounting surface of the magnetic tile sufficiently fills the space between the mounting surface of the magnetic tile and the inner wall of the casing.

15. The magnet tile pasting robot workstation of claim 1 or 2, wherein: According to the circulating movement path of the cooperative manipulator, a magnetic tile cleaning station is further arranged between the magnetic tile feeding station and the glue coating station; a plurality of air blowing heads connected to air pumps are arranged on the magnetic tile cleaning station; one air blowing head corresponds to one magnetic tile clamping device; each air blowing head is used to blow air to clean the magnetic tile clamped by each magnetic tile clamping device.

16. The magnet tile pasting robot workstation of claim 5, wherein: The second conveying belt device comprises two second conveying belts arranged in parallel; both of the two second conveying belts are wound on driving rollers and driven rollers of a second conveying belt driving device and are conveyed under the driving of the second conveying belt driving device; upper end faces of the two second conveying belts form a second conveying load surface for loading the casing; a second avoiding gap is formed between the two second conveying belts; The second conveying belt device comprises two second conveying belts arranged in parallel; both of the two second conveying belts are wound on driving rollers and driven rollers of a second conveying belt driving device and are conveyed under the driving of the second conveying belt driving device; upper end faces of the two second conveying belts form a second conveying load surface for loading the casing; a second avoiding gap is formed between the two second conveying belts; The detection position limiting assembly comprises a blocking block that is driven up and down by a second limiting air cylinder; the second limiting air cylinder is fixedly installed on the back of the installation platform, and the output end of the second limiting air cylinder is fixedly connected with the blocking block after penetrating through the installation platform; the blocking block is driven by the second limiting air cylinder to extend out of the second conveying load surface from the second avoiding gap and is used for blocking the casing conveyed to this position; The detection position limiting assembly comprises a blocking block that is driven up and down by a second limiting air cylinder; the second limiting air cylinder is fixedly installed on the back of the installation platform, and the output end of the second limiting air cylinder is fixedly connected with the blocking block after penetrating through the installation platform; the blocking block is driven by the second limiting air cylinder to extend out of the second conveying load surface from the second avoiding gap and is used for blocking the casing conveyed to this position; The installation platform is provided with a magnetic tile mounting detection mechanism at the detection position; the magnetic tile mounting detection mechanism comprises a detection platform, a second visual detection mechanism, an XYZ-axis movement platform and a detection position clamping assembly; the XYZ-axis movement platform comprises a second base fixedly installed on the installation platform, the second base is provided with a second Y-axis movement platform that is driven to slide by a second Y-axis driving device; the second Y-axis movement platform is provided with an X-axis movement platform that is driven to slide by an X-axis driving device; the X-axis movement platform is provided with a second Z-axis movement platform that is driven to slide by a second Z-axis driving device; The detection position and the detection platform are located on the Y-axis movement direction of the XYZ-axis movement platform; The detection position clamping assembly is fixed on the second Z-axis movement platform and is used for transferring the casing with completed magnetic tile mounting at the detection position to the detection platform and for placing the casing with a qualified detection result on the detection platform back to the second conveying belt device 81 under the driving of the XYZ-axis movement platform; The second visual detection mechanism is fixedly installed on the installation platform; the second visual detection mechanism is used for visually identifying whether the mounting height of the magnetic tile in the casing is consistent; The detection position clamping assembly is driven by the XYZ-axis movement platform to further transfer the casing with an unqualified detection result on the detection platform to a third conveying belt device; the third conveying belt device is used for loading the casing with an unqualified detection result transferred by the detection position clamping assembly.

17. The magnet tile pasting robot workstation of claim 1 or 2 or 3, wherein: Further comprising a feeding clamping assembly and a discharging clamping assembly fixedly arranged on the mounting platform; the working chamber is provided with a feeding port and a discharging port; the first conveying belt device is used for receiving one end of the casing from an upstream station and extending out of the feeding port; the discharging station of the second conveying belt device extends out of the discharging port; The feeding clamping assembly clamps the casing located outside the working chamber and at the feeding port onto the first conveying belt device under the driving of the feeding driving device; The discharging clamping assembly clamps the casing located at the discharging station of the second conveying belt device to the finished product placement station under the driving of the discharging driving device.

18. The magnet tile pasting robot workstation of claim 16, wherein: Further comprising a feeding clamping assembly and a discharging clamping assembly fixedly arranged on the mounting platform; the working chamber is provided with a feeding port, a discharging port and an unqualified product discharge port; the first conveying belt device is used for receiving one end of the casing from an upstream station and extending out of the feeding port; the discharging station of the second conveying belt device extends out of the discharging port; one end of the discharging station of the third conveying belt device extends out of the unqualified product discharge port; The feeding clamping assembly clamps the casing located outside the working chamber and at the feeding port onto the first conveying belt device under the driving of the feeding driving device; The discharging clamping assembly clamps the casing located at the discharging station of the second conveying belt device to the finished product placement station under the driving of the discharging driving device.

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