Automatic magnet assembling device of cam divider

Abstract

The invention belongs to the technical field of cam indexer assembling equipment, and particularly relates to an automatic magnet assembling device for a cam indexer, which comprises an annular frame, an electric control box, an annular conveying device, a belt feeding machine and a six-axis assembling robot. The six-axis assembling robot comprises a six-axis assembling mechanical arm, an assembling clamping jaw and a current controller. According to the automatic magnet assembling device of the cam divider, the self-adaptive clamping assemblies are arranged in the first clamping jaw arm and the second clamping jaw arm; when the first clamping jaw arm and the second clamping jaw arm clamp a cylindrical magnet, the first pressure sensor and the second pressure sensor detect the clamping pressure in real time, and when the pressure reaches a set threshold value, the electric control box adjusts the current of the electromagnet through the current controller so as to control the intensity of the magnetic force, so that the clamping force is matched with the dead weight and surface characteristics of the magnet; and magnet slipping caused by insufficient clamping force is effectively avoided, and the assembling stability is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of cam divider assembly equipment, and particularly relates to an automatic magnet assembly device for cam dividers. Background Technology

[0002] Cam dividers, as high-precision intermittent transmission mechanisms, are widely used in automated production lines, machine tool processing, printing machinery, and other fields. Their operational stability and assembly accuracy directly affect the overall operating efficiency of the equipment. During the assembly process of a cam divider, cylindrical magnets need to be precisely assembled into the designated mounting slots of the divider. This process demands extremely high levels of magnet clamping stability and assembly positioning accuracy.

[0003] Currently, the industry commonly uses robotic grippers in conjunction with manual assistance for magnet assembly. Traditional robotic assembly grippers primarily employ rigid clamping structures, directly holding cylindrical magnets by mechanical force. However, cylindrical magnets are characterized by smooth surfaces and significant weight, leading to the following technical drawbacks with traditional grippers: First, the clamping force is difficult to control precisely; insufficient clamping force can cause magnets to slip during handling or assembly, affecting assembly efficiency and potentially damaging the magnets or posing safety hazards to operators. Second, the rigid clamping structure makes direct contact with the magnet surface, easily scratching the magnet's coating and affecting its magnetic stability and lifespan. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic magnet assembly device for a cam divider, which aims to solve the technical problem of low assembly efficiency caused by insufficient clamping force when the gripper of a cylindrical magnet is used in traditional robot assembly.

[0005] To achieve the above objectives, the present invention provides an automatic magnet assembly device for a cam divider, comprising a ring frame, an electrical control box, a ring conveyor, a belt feeder, and a six-axis assembly robot. The electrical control box is fixed to the ring frame and electrically connected to the ring conveyor and the six-axis assembly robot. The ring conveyor is fixed to the ring frame and is used to convey the cam divider. The belt feeder is located on one side of the ring conveyor and the six-axis assembly robot and is used to convey the magnets. The six-axis assembly robot is located on one side of the ring frame and is used to assemble the magnets onto the cam divider.

[0006] The six-axis assembly robot includes a six-axis assembly manipulator, an assembly gripper, and a current controller. The six-axis assembly manipulator is located on one side of the circular conveyor. The assembly gripper is fixed to the six-axis assembly manipulator and uses the six-axis assembly manipulator to assemble the magnet onto the cam divider. The current controller is located on the side of the six-axis assembly manipulator and is electrically connected to the electrical control box and the assembly gripper.

[0007] As an optional embodiment of the present invention, the assembly gripper includes a gripper housing, a gripper drive assembly, a first gripper arm, and a second gripper arm. The gripper housing is fixed to the six-axis assembly robot, the gripper drive assembly is fixed to the gripper housing, and the first and second gripper arms are sequentially fixed to the gripper drive assembly and movably disposed within the gripper housing. A first adaptive clamping assembly is fixed inside the first gripper arm, and a second adaptive clamping assembly is fixed inside the second gripper arm. The first adaptive clamping assembly is electrically connected to the electrical control box and the electrical connection controller, respectively, and the second adaptive clamping assembly is electrically connected to the electrical control box and the electrical connection controller, respectively. The first gripper arm automatically clamps the magnet through the adaptive clamping assembly, and the second gripper arm automatically clamps the magnet through the adaptive clamping assembly.

[0008] As an optional embodiment of the present invention, the first adaptive clamping assembly includes a first flexible clamping layer, a first pressure sensor, and a first electromagnet. The first flexible clamping layer is fixed to the outside of the first gripper arm, the first pressure sensor is fixed inside the first flexible clamping layer, and the first electromagnet is fixed inside the first gripper arm and disposed on one side of the first pressure sensor. The first pressure sensor and the first electromagnet are both electrically connected to the electrical control box.

[0009] As an optional embodiment of the present invention, the second adaptive clamping assembly includes a second flexible clamping layer, a second pressure sensor, and a second electromagnet. The second flexible clamping layer is fixed to the outside of the second gripper arm, the second pressure sensor is fixed inside the second flexible clamping layer, and the second electromagnet is fixed inside the second gripper arm and disposed on one side of the second pressure sensor. Both the second pressure sensor and the second electromagnet are electrically connected to the electrical control box. The first gripper arm and the second gripper arm clamp the magnet. The first pressure sensor and the second pressure sensor detect the pressure value. When the pressure value reaches a set value, they transmit a signal to the electrical control box. The electrical control box transmits the signal to the current controller. The current controller controls the current magnitude of the first electromagnet and the second electromagnet, and also controls the magnetic force of the first electromagnet and the second electromagnet.

[0010] As an optional embodiment of the present invention, the gripper drive assembly includes a gripping motor, a transmission gear, a first rack, a first slider, a second rack, a second slider, and a movable slide rail. The gripping motor is fixed to the gripper housing, and the transmission gear is fixed to the gripping motor and meshes with the first rack and the second rack respectively. The first slider is fixed to the first rack and the first gripper arm, and the second slider is fixed to the second rack and the second gripper arm respectively. The first slider and the second slider are slidably connected to the movable slide rail in sequence. The first rack is fixed to the first gripper arm, and the second rack is fixed to the second gripper arm. The movable slide rail is fixed to the gripper housing.

[0011] As an optional embodiment of the present invention, the annular conveying device includes a conveying motor, a driving conveyor pulley, a driven conveyor pulley, a conveyor belt, an annular slide rail, a photoelectric sensor, a feeding assembly, and a conveying positioning assembly. The conveying motor is fixed to the annular frame, the driving conveyor pulley is fixed to the conveying motor, and the driven conveyor pulley is rotatably connected to the annular frame. The conveyor belt is fixedly wound around the driving and driven conveyor pulleys and is disposed inside the annular frame. The annular slide rail is fixed to the annular frame, and the photoelectric sensor is fixed to the annular frame and disposed on one side of the feeding assembly. Multiple feeding assemblies are provided and evenly distributed on the conveyor belt. Each feeding assembly includes a belt clamp and conveying rollers. The belt clamp is fixed to the conveyor belt and slidably connected to the annular slide rail. A conveying positioning post is fixed on one side of the belt clamp. Multiple conveying rollers are provided and rotatably connected to the belt clamp. All of the multiple conveying rollers are rotatably connected to the annular slide rail.

[0012] As an optional embodiment of the present invention, multiple conveying and positioning components are provided, with the same number as the feeding components. Each feeding component is provided with one conveying and positioning component. The conveying and positioning component includes a conveying and positioning plate, a conveying and positioning cylinder, and a conveying and positioning block. The conveying and positioning plate is fixed to the annular frame, the conveying and positioning cylinder is fixed to the conveying and positioning plate, and the conveying and positioning block is fixed to the conveying and positioning cylinder and moves up and down through the conveying and positioning cylinder. The conveying and positioning block is provided with a conveying and positioning groove, which is located below the conveying and positioning column. The conveying and positioning block moves up through the conveying and positioning cylinder, which drives the conveying and positioning groove to move up and down, thereby positioning the conveying and positioning column in the conveying and positioning groove.

[0013] As an optional embodiment of the present invention, a six-axis loading robot is provided on one side of the annular conveyor device. The six-axis loading robot is used to clamp the cam divider and load it onto the belt clamp for conveying.

[0014] The above-mentioned one or more technical solutions in the automatic magnet assembly device for the cam divider provided in the embodiments of the present invention have at least one of the following technical effects:

[0015] The automatic magnet assembly device for the cam divider provided in this application achieves real-time detection and adaptive adjustment of clamping force by setting adaptive clamping components in the first and second gripper arms and combining the synergistic effect of pressure sensors and electromagnets. When the first and second gripper arms clamp the cylindrical magnet, the first and second pressure sensors detect the clamping pressure in real time. When the pressure reaches the set threshold, the electrical control box adjusts the current of the electromagnet through the current controller, thereby controlling the strength of the magnetic force so that the clamping force matches the weight and surface characteristics of the magnet, effectively preventing the magnet from slipping due to insufficient clamping force and improving assembly stability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A perspective view of the automatic magnet assembly device for the cam divider provided in an embodiment of the present invention.

[0018] Figure 2 A perspective view of the annular conveyor device of the magnet automatic assembly device for the cam divider provided in an embodiment of the present invention.

[0019] Figure 3 A perspective view of the assembly gripper of the magnet automatic assembly device for the cam divider provided in an embodiment of the present invention.

[0020] Figure 4 A side view of the assembly gripper of the magnet automatic assembly device for the cam divider provided in an embodiment of the present invention.

[0021] Figure 5 for Figure 4 Sectional view along the middle AA.

[0022] Figure 6 The perspective view of the assembly gripper of the magnet automatic assembly device for the cam divider provided in this embodiment of the invention, omitting the gripper housing.

[0023] Figure 7 The perspective view of the assembly gripper of the magnet automatic assembly device for the cam divider provided in this embodiment of the invention, omitting the gripper housing.

[0024] The following are the labeling elements in the figure:

[0025] 1. Circular frame; 2. Electrical control box; 3. Circular conveyor; 4. Belt conveyor; 5. Six-axis assembly robot; 6. Six-axis loading robot;

[0026] 31. Conveyor motor; 32. Driven conveyor pulley; 33. Driven conveyor pulley; 34. Conveyor belt; 35. Circular slide rail; 36. Feeding assembly; 37. Conveying and positioning assembly; 38. Photoelectric sensor;

[0027] 361. Belt clamp; 362. Conveyor roller; 363. Conveyor positioning post;

[0028] 372. Conveying and positioning cylinder; 373. Conveying and positioning block; 3731. Conveying and positioning groove;

[0029] 51. Six-axis assembly robot; 52. Assembly gripper; 53. Current controller;

[0030] 521. Gripper housing; 522. Gripper drive assembly; 523. First gripper arm; 524. Second gripper arm; 525. First adaptive clamping assembly; 526. Second adaptive clamping assembly;

[0031] 5221. Clamping motor; 5222. Transmission gear; 5223. First rack; 5224. First slider; 5225. Second rack; 5226. Second slider; 5227. Moving slide rail;

[0032] 5251, First flexible clamping layer; 5252, First pressure sensor; 5253, First electromagnet;

[0033] 5261, Second flexible clamping layer; 5262, Second pressure sensor; 5263, Second electromagnet. Detailed Implementation

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0035] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0038] In one embodiment of the present invention, such as Figures 1-7 As shown, an automatic magnet assembly device for a cam divider includes a ring frame 1, an electrical control box 2, a ring conveyor 3, a belt feeder 4, and a six-axis assembly robot 5. The electrical control box 2 is fixed to the ring frame 1 and electrically connected to both the ring conveyor 3 and the six-axis assembly robot 5. The ring conveyor 3 is fixed to the ring frame 1 and is used to transport the cam divider. The belt feeder 4 is located on one side of the ring conveyor 3 and the six-axis assembly robot 5 and is used to transport the magnets. The six-axis assembly robot 5 is located on one side of the ring frame 1 and is used to assemble the magnets onto the cam divider. The electrical control box 2 houses electrical components such as a PLC controller, relays, and a power module. The PLC controller is a Siemens S7-1200, and the current controller 53 is a Panasonic MCDHT3520, ensuring secure wiring and reliable grounding of the electrical components.

[0039] The six-axis assembly robot 5 includes a six-axis assembly manipulator 51, an assembly gripper 52, and a current controller 53. The six-axis assembly manipulator 51 is located on one side of the circular conveyor 3. The assembly gripper 52 is fixed to the six-axis assembly manipulator 51. The assembly gripper 52 assembles magnets onto the cam divider through the six-axis assembly manipulator 51. The current controller 53 is located on the side of the six-axis assembly manipulator 51 and is electrically connected to the electrical control box 2 and the assembly gripper 52, respectively.

[0040] In another embodiment of the present invention, the assembly gripper 52 includes a gripper housing 521, a gripper drive assembly 522, a first gripper arm 523, and a second gripper arm 524. The gripper housing 521 is fixed to the six-axis assembly robot 51, the gripper drive assembly 522 is fixed to the gripper housing 521, and the first gripper arm 523 and the second gripper arm 524 are sequentially fixed to the gripper drive assembly 522 and movably disposed in the gripper housing 521. A first adaptive clamping assembly 525 is fixed inside the first gripper arm 523, and a second adaptive clamping assembly 526 is fixed inside the second gripper arm 524. The first adaptive clamping assembly 525 is electrically connected to the electrical control box 2 and the electrical connection controller, respectively, and the second adaptive clamping assembly 526 is electrically connected to the electrical control box 2 and the electrical connection controller, respectively. The first gripper arm 523 automatically clamps the magnet through the adaptive clamping assembly, and the second gripper arm 524 automatically clamps the magnet through the adaptive clamping assembly.

[0041] In another embodiment of the present invention, the first adaptive clamping assembly 525 includes a first flexible clamping layer 5251, a first pressure sensor 5252, and a first electromagnet 5253. The first flexible clamping layer 5251 is fixed to the outside of the first gripper arm 523, the first pressure sensor 5252 is fixed inside the first flexible clamping layer 5251, and the first electromagnet 5253 is fixed inside the first gripper arm 523 and disposed on one side of the first pressure sensor 5252. The first pressure sensor 5252 and the first electromagnet 5253 are both electrically connected to the electrical control box 2.

[0042] In another embodiment of the present invention, the second adaptive clamping assembly 526 includes a second flexible clamping layer 5261, a second pressure sensor 5262, and a second electromagnet 5263. The second flexible clamping layer 5261 is fixed to the outside of the second gripper arm 524, the second pressure sensor 5262 is fixed inside the second flexible clamping layer 5261, and the second electromagnet 5263 is fixed inside the second gripper arm 524 and disposed on one side of the second pressure sensor 5262; the second pressure sensor 5262 and the second electromagnet 5263 are also fixed to the outside of the second gripper arm 524. All magnets 5263 are electrically connected to the control box 2. The first gripper arm 523 and the second gripper arm 524 clamp the magnets. The first pressure sensor 5252 and the second pressure sensor 5262 detect the pressure value. When the pressure value reaches the set value, a signal is transmitted to the control box 2. The control box 2 then transmits the signal to the current controller 53. The current controller 53 controls the current magnitude of the first electromagnet 5253 and the second electromagnet 5263, and also controls the magnetic force of the first electromagnet 5253 and the second electromagnet 5263. This application is particularly applicable to radially magnetized cylindrical magnets, whose magnetic field direction is along the radius of the cylinder and perpendicular to the axis. In this case, the magnetic poles are distributed on the circumference of the side, with the outer circumference and the inner circumference (or both sides of the cylinder) forming N poles and S poles, respectively. The magnetic poles of the first electromagnet 5253 and the second electromagnet 5263 are opposite to those of the adjacent surfaces of the cylindrical magnet, forming opposite poles attracting each other and increasing the clamping force.

[0043] The gripper housing 521 is made of aluminum alloy and is CNC machined. The gripping motor 5221 of the gripper drive assembly 522 is a stepper motor, model Shinano 57HS22, which is fixed in the internal mounting cavity of the gripper housing 521. The transmission gear 5222 is fixed to the output shaft of the gripping motor 5221 by a flat key. The first rack 5223 and the second rack 5225 respectively mesh with the transmission gear 5222. The other end of the first rack 5223 is fixed to the first slider 5224 by bolts, and the other end of the second rack 5225 is fixed to the second slider 5226 by bolts. The moving slide rail 5227 is fixed to the internal guide groove of the gripper housing 521 by bolts. The first slider 5224 and the second slider 5226 slide with the moving slide rail 5227 to ensure that the first gripper arm 523 and the second gripper arm 524 can open and close smoothly. The first gripper arm 523 and the second gripper arm 524 are both made of stainless steel and are fixed to the first slider 5224 and the second slider 5226, respectively. The first flexible clamping layer 5251 of the first adaptive clamping assembly 525 is made of silicone with a thickness of 5mm and is fixed to the clamping surface of the first gripper arm 523 with adhesive. The first pressure sensor 5252 is a Bosch BMP280 and is embedded in the internal groove of the first flexible clamping layer 5251, with its detection surface flush with the outer surface of the flexible clamping layer. The first electromagnet 5253 is a neodymium iron boron electromagnet, model XDA-100 / 20, fixed in the electromagnet mounting cavity inside the first gripper arm 523, located inside the first pressure sensor 5252, and connected to the current controller 53 via a cable. The assembly method of the second adaptive clamping assembly 526 is the same as that of the first adaptive clamping assembly 525, ensuring that the installation positions of the second flexible clamping layer 5261, the second pressure sensor 5262, and the second electromagnet 5263 are symmetrical and the detection accuracy is consistent.

[0044] In another embodiment of the present invention, the gripper drive assembly 522 includes a gripping motor 5221, a transmission gear 5222, a first rack 5223, a first slider 5224, a second rack 5225, a second slider 5226, and a movable slide rail 5227. The gripping motor 5221 is fixed to the gripper housing 521, and the transmission gear 5222 is fixed to the gripping motor 5221 and meshes with the first rack 5223 and the second rack 5225 respectively. The first slider 5224 is fixed to the first rack 5223 and the first gripper arm 523 respectively, and the second slider 5226 is fixed to the second rack 5225 and the second gripper arm 524 respectively. The first slider 5224 and the second slider 5226 are slidably connected to the movable slide rail 5227 in sequence. The first rack 5223 is fixed to the first gripper arm 523, and the second rack 5225 is fixed to the second gripper arm 524. The movable slide rail 5227 is fixed to the gripper housing 521.

[0045] In another embodiment of the present invention, the annular conveying device 3 includes a conveying motor 31, a driving conveyor pulley 32, a driven conveyor pulley 33, a conveyor belt 34, an annular slide rail 35, a photoelectric sensor 38, a feeding assembly 36, and a conveying positioning assembly 37. The conveying motor 31 is fixed to the annular frame 1, the driving conveyor pulley 32 is fixed to the conveying motor 31, the driven conveyor pulley 33 is rotatably connected to the annular frame 1, and the conveyor belt 34 is fixedly wound around the driving conveyor pulley 32 and the driven conveyor pulley 33, and is disposed inside the annular frame 1; the annular slide rail 35 is fixed. A photoelectric sensor 38 is fixed to the ring frame 1 and is located on one side of the feeding assembly 36. Multiple feeding assemblies 36 are provided and are evenly arranged on the conveyor belt 34. Each feeding assembly 36 includes a belt clamp 361 and conveying rollers 362. The belt clamp 361 is fixed to the conveyor belt 34 and slidably connected to the annular slide rail 35. A conveying positioning post 363 is fixed on one side of the belt clamp 361. Multiple conveying rollers 362 are provided and are rotatably connected to the belt clamp 361. All multiple conveying rollers 362 are rotatably connected to the annular slide rail 35.

[0046] In another embodiment of the present invention, multiple conveying and positioning components 37 are provided, and the number is the same as that of feeding components 36. Each feeding component 36 is provided with one corresponding conveying and positioning component 37. The conveying and positioning component 37 includes a conveying and positioning plate, a conveying and positioning cylinder 372, and a conveying and positioning block 373. The conveying and positioning plate is fixed to the annular frame 1, the conveying and positioning cylinder 372 is fixed to the conveying and positioning plate, and the conveying and positioning block 373 is fixed to the conveying and positioning cylinder 372 and moves up and down through the conveying and positioning cylinder 372. The conveying and positioning block 373 is provided with a conveying and positioning groove 3731, which is located below the conveying and positioning column 363. The conveying and positioning block 373 moves up through the conveying and positioning cylinder 372, which drives the conveying and positioning groove 3731 to move up, placing the conveying and positioning column 363 in the conveying and positioning groove 3731 for positioning, which facilitates fixing the cam divider and makes assembly convenient.

[0047] In another embodiment of the present invention, a six-axis loading robot 6 is provided on one side of the annular conveyor 3. The six-axis loading robot 6 is used to clamp the cam divider and load it onto the belt clamp 361 for conveying.

[0048] The automatic magnet assembly device for a cam divider provided in this application operates as follows:

[0049] Parameter settings: The relevant parameters are set through the touch screen of the control box 2, including: clamping pressure setting value (adjusted according to the weight of the magnet, ranging from 5-20N), electromagnet current adjustment range (0.5-2A), conveying speed of the ring conveyor 3 (0.2-0.8m / min), movement speed of the six-axis assembly robot 5 (0.1-0.3m / s), and positioning accuracy parameters;

[0050] Feeding process: The six-axis robot 6 starts and clamps the cam divider from the cam divider hopper. According to the instructions of the electrical control box 2, it places the cam divider on the belt clamp 361 of the circular conveyor 3. The belt clamp 361 is equipped with a positioning pin to ensure that the mounting reference surface of the cam divider is in contact with the positioning surface of the belt clamp 361.

[0051] Conveying and positioning process: The conveyor motor 31 starts, driving the conveyor belt 34 to move. The feeding component 36 moves along the annular slide rail 35 with the conveyor belt 34. When the photoelectric sensor 38 detects that the feeding component 36 has reached the assembly station, it sends a signal to the PLC controller. The PLC controller controls the conveyor motor 31 to stop running and simultaneously controls the conveying positioning cylinder 372 to start. The piston rod drives the conveying positioning block 373 to rise, so that the conveying positioning column 363 is embedded in the conveying positioning groove 3731, realizing the precise positioning of the feeding component 36.

[0052] Magnet clamping and assembly process:

[0053] The belt feeder 4 starts, conveying the cylindrical magnet to the picking position. The six-axis assembly robot 51 drives the assembly gripper 52 to move above the picking position.

[0054] When the clamping motor 5221 is started, it drives the first rack 5223 and the second rack 5225 to move in opposite directions through the transmission gear 5222, which in turn drives the first gripper arm 523 and the second gripper arm 524 to open and close towards each other, gradually approaching the magnet; after the first flexible clamping layer 5251 and the second flexible clamping layer 5261 come into contact with the magnet surface, the first pressure sensor 5252 and the second pressure sensor 5262 begin to detect the clamping pressure.

[0055] When the pressure value reaches the set value, the pressure sensor sends a signal to the PLC controller, and the PLC controller sends an instruction to the current controller 53. The current controller 53 adjusts the input current of the first electromagnet 5253 and the second electromagnet 5263 according to the weight and surface characteristics of the magnet, so that the electromagnets generate corresponding magnetic force, which works in conjunction with the mechanical clamping force to stably clamp the magnet.

[0056] The six-axis assembly robot 51 moves the assembly gripper 52 holding the magnet to the mounting slot of the cam divider. It adjusts its posture according to the preset assembly path and accurately embeds the magnet into the mounting slot. After the assembly is completed, the gripping motor 5221 rotates in reverse, the first gripper arm 523 and the second gripper arm 524 open, the electromagnet is de-energized, and the six-axis assembly robot 51 returns to the material picking position, ready for the next assembly.

[0057] Cyclic operation: After assembly, the conveying positioning cylinder 372 is reset, the conveying motor 31 is started, and the feeding component 36 is moved to the next station. At the same time, the next feeding component 36 arrives at the assembly station, and the above assembly process is repeated to achieve continuous automated production.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic magnet assembly device for a cam divider, characterized in that, The system includes a ring frame, an electrical control box, a ring conveyor, a belt feeder, and a six-axis assembly robot. The electrical control box is fixed to the ring frame and electrically connected to both the ring conveyor and the six-axis assembly robot. The ring conveyor is fixed to the ring frame and is used to convey a cam divider. The belt feeder is located on one side of the ring conveyor and the six-axis assembly robot and is used to convey magnets. The six-axis assembly robot is located on one side of the ring frame and is used to assemble the magnets onto the cam divider. The six-axis assembly robot includes a six-axis assembly manipulator, an assembly gripper, and a current controller. The six-axis assembly manipulator is disposed on one side of the annular conveyor, and the assembly gripper is fixed to the six-axis assembly manipulator. The assembly gripper assembles the magnet to the cam divider through the six-axis assembly manipulator. The current controller is located on the side of the six-axis assembly robot and is electrically connected to the electrical control box and the assembly gripper, respectively.

2. The automatic magnet assembly device for a cam divider according to claim 1, characterized in that, The assembly gripper includes a gripper housing, a gripper drive assembly, a first gripper arm, and a second gripper arm. The gripper housing is fixed to the six-axis assembly robot, and the gripper drive assembly is fixed to the gripper housing. The first gripper arm and the second gripper arm are sequentially fixed to the gripper drive assembly and movably disposed within the gripper housing. A first adaptive clamping assembly is fixed inside the first gripper arm, and a second adaptive clamping assembly is fixed inside the second gripper arm. The first adaptive clamping assembly is electrically connected to the electrical control box and the electrical connection controller, respectively, and the second adaptive clamping assembly is also electrically connected to the electrical control box and the electrical connection controller, respectively. The first gripper arm automatically clamps the magnet through the adaptive clamping assembly, and the second gripper arm automatically clamps the magnet through the adaptive clamping assembly.

3. The automatic magnet assembly device for a cam divider according to claim 2, characterized in that, The first adaptive clamping assembly includes a first flexible clamping layer, a first pressure sensor, and a first electromagnet. The first flexible clamping layer is fixed to the outside of the first gripper arm, the first pressure sensor is fixed inside the first flexible clamping layer, and the first electromagnet is fixed inside the first gripper arm and disposed on one side of the first pressure sensor. The first pressure sensor and the first electromagnet are both electrically connected to the electrical control box.

4. The automatic magnet assembly device for a cam divider according to claim 3, characterized in that, The second adaptive clamping assembly includes a second flexible clamping layer, a second pressure sensor, and a second electromagnet. The second flexible clamping layer is fixed to the outside of the second gripper arm, the second pressure sensor is fixed inside the second flexible clamping layer, and the second electromagnet is fixed inside the second gripper arm and disposed on one side of the second pressure sensor. Both the second pressure sensor and the second electromagnet are electrically connected to the electrical control box. The first gripper arm and the second gripper arm clamp the magnet. The first pressure sensor and the second pressure sensor detect the pressure value. When the pressure value reaches a set value, they transmit a signal to the electrical control box. The electrical control box transmits the signal to the current controller. The current controller controls the current magnitude of the first electromagnet and the second electromagnet, and also controls the magnetic force of the first electromagnet and the second electromagnet.

5. The automatic magnet assembly device for a cam divider according to claim 1, characterized in that, The gripper drive assembly includes a gripping motor, a transmission gear, a first rack, a first slider, a second rack, a second slider, and a movable slide rail. The gripping motor is fixed to the gripper housing, and the transmission gear is fixed to the gripping motor and meshes with the first rack and the second rack respectively. The first slider is fixed to the first rack and the first gripper arm, and the second slider is fixed to the second rack and the second gripper arm respectively. The first slider and the second slider are slidably connected to the movable slide rail in sequence. The first rack is fixed to the first gripper arm, and the second rack is fixed to the second gripper arm. The movable slide rail is fixed to the gripper housing.

6. The automatic magnet assembly device for a cam divider according to claim 1, characterized in that, The annular conveying device includes a conveyor motor, a driving conveyor pulley, a driven conveyor pulley, a conveyor belt, an annular slide rail, a photoelectric sensor, a feeding assembly, and a conveying positioning assembly. The conveyor motor is fixed to the annular frame, the driving conveyor pulley is fixed to the conveyor motor, and the driven conveyor pulley is rotatably connected to the annular frame. The conveyor belt is fixedly wound around the driving and driven conveyor pulleys and is located inside the annular frame. The annular slide rail is fixed to the annular frame, and the photoelectric sensor is fixed to the annular frame and located on one side of the feeding assembly. Multiple feeding assemblies are provided and evenly distributed on the conveyor belt. Each feeding assembly includes a belt clamp and conveyor rollers. The belt clamp is fixed to the conveyor belt and slidably connected to the annular slide rail. A conveying positioning post is fixed to one side of the belt clamp. Multiple conveyor rollers are provided and rotatably connected to the belt clamp. All multiple conveyor rollers are rotatably connected to the annular slide rail.

7. The automatic magnet assembly device for a cam divider according to claim 6, characterized in that, Multiple conveying and positioning components are provided, with the same number as the feeding components. Each feeding component has a corresponding conveying and positioning component. Each conveying and positioning component includes a conveying and positioning plate, a conveying and positioning cylinder, and a conveying and positioning block. The conveying and positioning plate is fixed to the annular frame, the conveying and positioning cylinder is fixed to the conveying and positioning plate, and the conveying and positioning block is fixed to the conveying and positioning cylinder and moves up and down through the conveying and positioning cylinder. The conveying and positioning block is provided with a conveying and positioning groove, which is located below the conveying and positioning column. The conveying and positioning block moves up through the conveying and positioning cylinder, which drives the conveying and positioning groove to move up and down, placing the conveying and positioning column in the conveying and positioning groove for positioning.

8. The automatic magnet assembly device for a cam divider according to claim 6, characterized in that, A six-axis loading robot is installed on one side of the circular conveyor. The six-axis loading robot is used to clamp the cam divider and load it onto the belt clamp for conveying.

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