An aligning device

Abstract

The application provides a kind of alignment device, including installation platform, feeding assembly, cleaning assembly, plane alignment assembly, gap alignment assembly, discharging assembly, clamping piece and clamping drive assembly. The magnetic cylinder moved by the upstream station can be picked up by the feeding assembly, and the magnetic cylinder is moved to the cleaning assembly; the magnetic cylinder can be cleaned by the cleaning assembly; the cleaned magnetic cylinder is moved to the plane alignment position by the clamping piece and the clamping drive assembly, and the plane alignment assembly adjusts the magnetic cylinder once by identifying the alignment plane; then the magnetic cylinder is moved to the gap alignment position again by the clamping piece and the clamping drive assembly, and the gap alignment assembly adjusts the magnetic cylinder twice by identifying the alignment gap; the aligned magnetic cylinder is moved to the discharging position again by the clamping piece and the clamping drive assembly, and the magnetic cylinder is moved out by the discharging assembly. The double alignment adjustment of the plane alignment assembly and the alignment plane, and the gap alignment assembly and the alignment gap, helps to improve the alignment accuracy of the magnetic cylinder.

Description

Technical Field

[0001] This application belongs to the field of motor manufacturing technology, and more specifically, relates to an alignment device. Background Technology

[0002] In small motors, the magnetic core typically refers to the iron core structure of the stator or rotor. The magnetic core is usually attached to the inner wall of the motor housing, and its main functions are magnetic conduction and closing the magnetic circuit; it is an important component of small motors. Before installing the magnetic core into the motor housing, it needs to be calibrated to improve the accuracy of its position within the housing, thereby improving motor performance.

[0003] Currently, the calibration process before magnetic cylinder installation typically involves photographic inspection. Magnetic cylinders found to be misaligned after photographic inspection are manually adjusted until they are correctly positioned before proceeding to the subsequent assembly stage with the motor housing. However, the calibration accuracy achieved through both camera-assisted and manual methods is low, affecting the precise alignment and installation of the magnetic cylinder with the motor housing. Summary of the Invention

[0004] The purpose of this application is to provide an alignment device to solve the problem in the related art where the alignment accuracy of the magnetic cylinder is low when the position is corrected by means of a camera and manual correction, which affects the alignment and installation accuracy of the magnetic cylinder and the motor housing.

[0005] To achieve the above objectives, the technical solution adopted in the embodiments of this application is as follows: A alignment device is provided for aligning a magnetic cylinder, wherein the magnetic cylinder is provided with an alignment plane, an alignment ramp, and an alignment notch, and the alignment device includes: The installation platform is equipped with a loading position, a cleaning position, a plane alignment position, a notch alignment position, and a unloading position. A feeding assembly is installed at the feeding position to pick up the magnetic cylinder that is moved from the upstream workpiece; A cleaning component, installed at the cleaning position, is used to clean the magnetic cylinder; A plane alignment component is installed at the plane alignment position and is used to adjust the alignment plane to the target position. A gap alignment component is installed at the gap alignment position and is used to adjust the alignment gap to the target position; A feeding assembly, installed at the feeding position, is used to remove the aligned magnetic cylinder. A clamping component for holding the magnetic cylinder; A clamping drive assembly is installed on the mounting platform and connected to the clamping component, used to drive the clamping component to repeatedly and sequentially pass through the cleaning position, the plane alignment position, the notch alignment position and the unloading position.

[0006] In one embodiment, the feeding assembly includes two feeding jaws, a feeding clamping member for driving the two feeding jaws closer to or further apart from each other, a feeding support base for supporting the feeding clamping member, a feeding bracket mounted on the mounting platform, and a feeding moving unit for driving the feeding support base to move; the magnetic cylinder has a through hole in the middle, each of the feeding jaws has a clamping socket for inserting into the through hole, and the two clamping sockets form a cylindrical structure adapted to the through hole; the feeding moving unit is mounted on the feeding bracket and connected to the feeding support base, and the output end of the feeding clamping member is connected to the two feeding jaws respectively.

[0007] In one embodiment, the cleaning component includes: A cleaning bracket, wherein a first cleaning hole is provided on the cleaning bracket; A cleaning drive unit is installed on the mounting platform and connected to the cleaning bracket, used to drive the cleaning bracket to reciprocate between the feeding position and the cleaning position; A cleaning top seat is installed on the cleaning bracket. The cleaning top seat has a second cleaning hole that communicates with the first cleaning hole. The inner circumference of the second cleaning hole extends inward to provide a plurality of cleaning brackets for insertion into the through hole. The plurality of cleaning brackets are arranged in a ring array. A cleaning pipe is installed on the cleaning bracket, and the cleaning pipe is connected to the first cleaning hole.

[0008] In one embodiment, each of the cleaning holders has an L-shaped structure, and each cleaning holder includes a cleaning base mounted on the inner circumferential surface of the second cleaning hole and a cleaning insertion seat connected to the cleaning base. Multiple cleaning bases are used to support the magnetic cylinder, and multiple cleaning insertion seats are used to insert into the through hole. The second cleaning hole is coaxially arranged with the through hole, and the diameter of the second cleaning hole is larger than the diameter of the magnetic cylinder. The second cleaning hole has a first cleaning area for cleaning the inner circumferential surface of the through hole and a second cleaning area for cleaning the outer circumferential surface of the magnetic cylinder.

[0009] In one embodiment, the plane alignment component includes: A plane alignment bracket is installed on the mounting platform; A planar alignment support base is used to support the magnetic cylinder; A plane alignment power component is installed on the plane alignment bracket and connected to the plane alignment support seat, and is used to drive the plane alignment support seat to rotate; A plane alignment sensor is installed on the mounting platform and directly opposite the plane alignment support, and is used to cooperate with the plane alignment power component to adjust the alignment plane.

[0010] In one embodiment, the gap-finding component includes: A notch alignment bracket is installed on the mounting platform. The notch alignment support is used to support the magnetic cylinder; A notch alignment power component is installed on the notch alignment bracket and connected to the notch alignment support seat, and is used to drive the notch alignment support seat to rotate. A gap alignment vision sensor is installed on the mounting platform and directly opposite the gap alignment support, and is used to cooperate with the gap alignment power component to adjust the alignment gap. The inclined plane alignment sensor is installed on the notch alignment bracket and is used to cooperate with the notch alignment power component to adjust the alignment inclined plane.

[0011] In one embodiment, the feeding assembly includes: Material feeding bracket; A material feeding drive component is installed on the mounting platform and connected to the material feeding bracket, used to drive the material feeding bracket to reciprocate; A feeding support is installed on the feeding bracket. The feeding support is provided with a feeding extension seat for insertion into the through hole and two feeding stop seats. The feeding extension seat is located between the two feeding stop seats.

[0012] In one embodiment, the feeding bracket includes a feeding base connected to the output end of the feeding drive, a feeding guide rod mounted on the feeding base, a feeding sliding seat movably mounted on the feeding guide rod, and a feeding elastic member mounted on the feeding guide rod. One end of the feeding elastic member abuts against the feeding base, and the other end of the feeding elastic member abuts against the feeding sliding seat. The feeding support is mounted on the feeding sliding seat.

[0013] In one embodiment, the clamping component includes two material transfer jaws and a rotating material unloading jaw. The plane alignment position, the notch alignment position, and the unloading position are spaced apart along a first direction. The two material transfer jaws and the rotating material unloading jaw are also spaced apart along the first direction. The first material transfer jaw reciprocates between the cleaning position and the plane alignment position, the second material transfer jaw reciprocates between the plane alignment position and the notch alignment position, and the rotating material unloading jaw reciprocates between the notch alignment position and the unloading position. Each of the aforementioned material transfer grippers includes two material transfer gripping arms and a material transfer gripping power component for driving the two material transfer gripping arms to move closer or further apart from each other. The material transfer gripping power component is mounted on the material clamping drive assembly and is connected to the two material transfer gripping arms respectively. The rotating material unloading gripper includes two rotating material unloading gripping arms, a rotating material unloading gripping power component for driving the two rotating material unloading gripping arms to move closer or further apart from each other, and a rotating material unloading flipping power component for driving the two rotating material unloading gripping arms to rotate 180 degrees. The rotating material unloading flipping power component is mounted on the material clamping drive assembly and is connected to the rotating material unloading gripping power component. The output end of the rotating material unloading gripping power component is connected to the two rotating material unloading gripping arms respectively.

[0014] In one embodiment, the clamping drive assembly includes a clamping drive bracket mounted on the mounting platform, a clamping support base supporting the clamping component, a clamping lifting module for driving the clamping component to rise and fall, a clamping transverse moving module for driving the clamping component to move laterally, and a clamping longitudinal moving module for driving the clamping component to move longitudinally; the clamping lifting module is mounted on the clamping transverse moving module and connected to the clamping support base, the clamping transverse moving module is mounted on the clamping longitudinal moving module and connected to the clamping lifting module, and the clamping longitudinal moving module is mounted on the clamping drive bracket and connected to the clamping transverse moving module.

[0015] The alignment device provided in this application has at least the following beneficial effects: The feeding component can pick up the magnetic cylinder moved from the upstream workpiece and transfer it to the cleaning component; the cleaning component can clean the magnetic cylinder; the cleaned magnetic cylinder can be transferred to the plane alignment position by the clamping component and the clamping drive component, where the plane alignment component performs a first alignment adjustment by identifying the alignment plane; subsequently, it is transferred again to the notch alignment position by the clamping component and the clamping drive component, where the notch alignment component performs a second alignment adjustment by identifying the alignment notch; the aligned magnetic cylinder is then transferred again to the unloading position by the clamping component and the clamping drive component, and the unloading component removes the magnetic cylinder. Thus, the dual alignment adjustment by the plane alignment component and the alignment plane, and by the notch alignment component and the alignment notch, helps improve the alignment accuracy of the magnetic cylinder and the alignment installation accuracy between the magnetic cylinder and the motor housing. Attached Figure Description

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

[0017] Figure 1This is a schematic diagram of the alignment device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the magnetic cylinder provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the feeding assembly provided in the embodiments of this application; Figure 4 This is a schematic diagram of the connection between the loading gripper and the loading clamping member provided in the embodiments of this application; Figure 5 This is a partially exploded view of the cleaning components provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the cleaning top seat provided in an embodiment of this application; Figure 7 This is a partially exploded view of the planar alignment component provided in an embodiment of this application; Figure 8 This is a partially exploded view of the notch alignment component provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the feeding assembly provided in the embodiments of this application; Figure 10 This is a schematic diagram of the structure of the feeding support provided in the embodiments of this application; Figure 11 This is a schematic diagram of the connection between the clamping drive assembly and the clamping component provided in the embodiments of this application.

[0018] The main markings in the attached figures are as follows: 10. Magnetic cylinder; 101. Alignment plane; 102. Alignment slope; 103. Alignment notch; 104. Through hole; 20. Mounting platform; 1. Feeding assembly; 11. Feeding gripper; 111. Grip socket; 12. Feeding clamping component; 121. Feeding positioning component; 122. Feeding positioning slot; 13. Feeding support base; 14. Feeding bracket; 15. Feeding moving unit; 151. Feeding lifting module; 152. Feeding longitudinal movement module; 2. Cleaning components; 21. Cleaning bracket; 211. First cleaning hole; 22. Cleaning drive unit; 23. Cleaning top seat; 231. Second cleaning hole; 232. Cleaning holder; 233. Cleaning base; 234. Cleaning insert; 235. Introducing ramp; 24. Cleaning pipe; 3. Plane alignment component; 31. Plane alignment bracket; 32. Plane alignment support base; 321. Plane alignment base; 322. Plane alignment top base; 323. Plane alignment alignment surface; 33. Plane alignment power component; 331. Plane alignment positioning groove; 34. Plane alignment sensor; 35. Plane alignment vacuum pipe; 4. Notch alignment component; 41. Notch alignment bracket; 42. Notch alignment support base; 421. Notch alignment base; 422. Notch alignment top base; 423. Notch alignment alignment plane; 424. Notch alignment alignment ramp; 43. Notch alignment power component; 431. Notch alignment positioning groove; 44. Notch alignment vision sensor; 45. Rammed surface alignment sensor; 46. Notch alignment suction pipe; 5. Feeding assembly; 51. Feeding bracket; 511. Feeding base; 512. Feeding guide rod; 513. Feeding sliding seat; 514. Feeding elastic element; 52. Feeding drive element; 53. Feeding support seat; 531. Feeding extension seat; 532. Feeding stop seat; 6. Clamping component; 61. Transfer gripper; 611. Transfer clamping arm; 612. Transfer clamping power component; 62. Rotary unloading gripper; 621. Rotary unloading clamping arm; 622. Rotary unloading clamping power component; 623. Rotary unloading tilting power component; 7. Clamping drive assembly; 71. Clamping drive bracket; 72. Clamping support base; 73. Clamping lifting module; 74. Clamping transverse movement module. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0020] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0021] Furthermore, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly specified. "Several" means one or more, unless otherwise expressly specified.

[0022] In the description of this application, it should be understood that the terms "center", "length", "width", "thickness", "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 this application 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 this application.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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 this application according to the specific circumstances.

[0024] Throughout this specification, reference to "an embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrase "in one embodiment" or "in some embodiments" appears in various places throughout the specification, and not all references are to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0025] For ease of description, we define three mutually perpendicular coordinate axes in space as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is vertical, the direction along the Y-axis is horizontal, and the direction along the Z-axis is vertical. The X-axis and Y-axis are two mutually perpendicular coordinate axes on the same horizontal plane, and the Z-axis is the vertical coordinate axis. The X-axis, Y-axis, and Z-axis lie on three mutually perpendicular planes in space: the XY-plane, the YZ-plane, and the XZ-plane. The XY-plane is horizontal, and the XZ-plane and YZ-plane are both vertical, with the XZ-plane perpendicular to the YZ-plane. Movement along these three axes in space refers to movement along the three mutually perpendicular axes in space, specifically movement along the X, Y, and Z axes. Planar movement, on the other hand, refers to movement within the XY-plane.

[0026] Please see Figure 1 and Figure 2The alignment device provided in this application embodiment will now be described. This alignment device is used to align the magnetic cylinder 10. The magnetic cylinder 10 is generally cylindrical in shape, and is provided with an alignment plane 101, an alignment ramp 102, and an alignment notch 103. The alignment ramp 102 is located between the alignment plane 101 and the alignment notch 103, and the alignment notch 103 is located on a plane adjacent to the alignment plane 101. The alignment device specifically includes an installation platform 20, a feeding assembly 1, a cleaning assembly 2, a plane alignment assembly 3, a notch alignment assembly 4, a discharging assembly 5, a clamping component 6, and a clamping drive assembly 7. The installation platform 20 is provided with a feeding position, a cleaning position, a plane alignment position, a notch alignment position, and a discharging position. The feeding position and the cleaning position are spaced apart along the Y-axis; the cleaning position, the plane alignment position, the notch alignment position, and the discharging position are sequentially spaced apart along the X-axis. A loading assembly 1 is installed at the loading position and is used to pick up the magnetic cylinder 10 delivered by the upstream workpiece. A cleaning assembly 2 is installed at the cleaning position and is used to clean the magnetic cylinder 10. A plane alignment assembly 3 is installed at the plane alignment position and is used to adjust the alignment plane 101 to the target position. A notch alignment assembly 4 is installed at the notch alignment position and is used to adjust the alignment notch 103 to the target position. A unloading assembly 5 is installed at the unloading position and is used to remove the aligned magnetic cylinder 10. A clamping drive assembly 7 is installed on the mounting platform 20. The output end of the clamping drive assembly 7 is connected to the clamping component 6, which is used to clamp the magnetic cylinder 10. The clamping drive assembly 7 drives the clamping component 6 to repeatedly and sequentially pass through the cleaning position, the plane alignment position, the notch alignment position, and the unloading position, so that the magnetic cylinder 10 is sequentially moved between the cleaning assembly 2, the plane alignment assembly 3, the notch alignment assembly 4, and the unloading assembly 5. This structure allows the loading component 1 to pick up the magnetic cylinder 10 delivered from the upstream workpiece and transfer it to the cleaning component 2. The cleaning component 2 cleans the magnetic cylinder 10. After cleaning, the magnetic cylinder 10 is moved by the clamping component 6 and the clamping drive component 7 to the plane alignment position. The plane alignment component 3 performs a first alignment adjustment on the magnetic cylinder 10 by identifying the alignment plane 101. Subsequently, it is moved again by the clamping component 6 and the clamping drive component 7 to the notch alignment position. The notch alignment component 4 performs a second alignment adjustment on the magnetic cylinder 10 by identifying the alignment notch 103. After alignment, the magnetic cylinder 10 is again moved by the clamping component 6 and the clamping drive component 7 to the unloading position, and is removed by the unloading component 5. Thus, the dual alignment adjustment by the plane alignment component 3 and the alignment plane 101, and the notch alignment component 4 and the alignment notch 103, helps improve the alignment accuracy of the magnetic cylinder 10 and the alignment installation accuracy between the magnetic cylinder 10 and the motor housing.

[0027] In one embodiment, see Figure 3 and Figure 4As a specific embodiment of the alignment device provided in this application, the feeding assembly 1 includes two feeding jaws 11, a feeding clamping member 12, a feeding support base 13, a feeding bracket 14, and a feeding moving unit 15. The magnetic cylinder 10 has a through hole 104 in its center. Each feeding jaw 11 has a clamping socket 111 for insertion into the through hole 104, and the two clamping sockets 111 form a cylindrical structure adapted to the through hole 104. The feeding clamping member 12 is mounted on the feeding support base 13, and its output end is connected to the two feeding jaws 11 respectively. The feeding clamping member 12 is used to drive the two feeding jaws 11 to move closer or further apart. The feeding clamping member 12 can be a finger cylinder. The feeding bracket 14 is mounted on the mounting platform 20. The feeding moving unit 15 is mounted on the feeding bracket 14, and its output end is connected to the feeding support base 13. In this structure, the feeding clamping member 12 drives the two feeding jaws 11 to move closer together, and the two clamping sockets 111 are respectively inserted into the through holes 104 of the magnetic cylinder 10; subsequently, the two feeding jaws 11 separate from each other, and the two clamping sockets 111 move away from each other to clamp the magnetic cylinder 10. The feeding moving unit 15 drives the feeding support 13 and the feeding clamping member 12 to move back and forth, so that the magnetic cylinder 10 clamped by the two feeding jaws 11 can be transferred to the cleaning assembly 2 to realize the transfer of the magnetic cylinder 10.

[0028] In one embodiment, see Figure 3 The loading and moving unit 15 includes at least one of the following: a loading lifting module 151 for driving the loading clamping member 12 to reciprocate up and down along the Z-axis; a loading longitudinal moving module 152 for driving the loading clamping member 12 to reciprocate along the Y-axis; and a loading transverse moving module for driving the loading clamping member 12 to reciprocate along the X-axis. This structure allows the loading clamping member 12 to reciprocate along the XYZ axes via the loading lifting module 151, the loading longitudinal moving module 152, and the loading transverse moving module, thereby improving the versatility of the orientation of the magnetic cylinder 10. The loading lifting module 151, the loading longitudinal moving module 152, and the loading transverse moving module can all be pneumatic / electric / lead screw / belt drive mechanisms, linear motors, etc. In this embodiment, the feeding moving unit 15 may include a feeding lifting module 151 and a feeding longitudinal moving module 152. The feeding longitudinal moving module 152 is mounted on the feeding bracket 14, and the output end of the feeding longitudinal moving module 152 is connected to the feeding longitudinal moving module 152. The output end of the feeding longitudinal moving module 152 is connected to the feeding support base 13.

[0029] In one embodiment, see Figure 4The feeding clamp 12 has feeding positioning components 121 installed at both ends, and each feeding positioning component 121 has a feeding positioning groove 122 for the feeding clamp 12 to be inserted into. This structure uses the two feeding positioning grooves 122 to position the two feeding claws 11 to slide back and forth along the Y-axis. Each feeding positioning component 121 can be detachably installed on the feeding clamp 12, such as by screws, which facilitates the disassembly, assembly, and maintenance of each feeding positioning component 121.

[0030] Optionally, feeding clamps 12 are also installed at both ends. The two feeding clamps are located at both ends of the feeding positioning member 121, and each feeding clamp can block the two feeding positioning slots 122. In this structure, the two feeding clamps can block the two feeding claws 11 respectively, thus shortening the travel of each feeding claw 11 and improving the efficiency of picking up and placing the magnetic cylinder 10.

[0031] Optionally, a feeding elastic element, which can be a spring, connects the two feeding jaws 11. Each feeding jaw 11 has a feeding mounting groove for mounting the feeding elastic element. Each clamping socket 111 has a feeding mounting groove, and the feeding elastic element connects to the two clamping sockets 111. In this structure, when the two feeding jaws 11 approach each other, the feeding elastic element is compressed; when the two feeding jaws 11 move away from each other, the feeding elastic element pushes against the two feeding jaws 11 under the action of rebound force. The feeding elastic element can push against the two feeding jaws 11, thereby improving the clamping effect on the magnetic cylinder 10.

[0032] In one embodiment, see Figure 5 and Figure 6As a specific embodiment of the alignment device provided in this application, the cleaning component 2 includes a cleaning bracket 21, a cleaning drive component 22, a cleaning top seat 23, and a cleaning pipe 24. The cleaning bracket 21 has a first cleaning hole 211. The cleaning drive component 22 is mounted on the mounting platform 20, and its output end is connected to the cleaning bracket 21. The cleaning drive component 22 drives the cleaning bracket 21 to reciprocate between the loading position and the cleaning position. The cleaning drive component 22 can be a cylinder / electric cylinder, etc.; the cleaning drive component 22 drives the cleaning bracket 21 to reciprocate along the Y-axis. The cleaning top seat 23 is installed on the cleaning bracket 21, specifically at the top of the cleaning bracket 21, that is, above the first cleaning hole 211. The cleaning top seat 23 has a second cleaning hole 231, which communicates with the first cleaning hole 211. Multiple cleaning holders 232 extend inward from the inner circumference of the second cleaning hole 231, arranged in a circular array. These holders are inserted into the through hole 104 to support the magnetic cylinder 10. The cleaning pipe 24 is installed on the cleaning bracket 21, located below the first cleaning hole 211, and communicates with the first cleaning hole 211. In this structure, the magnetic cylinder 10, transferred by the feeding assembly 1, can be placed on the cleaning top seat 23. The cleaning pipe 24 can be connected to an external vacuum device or the vacuum device built into the alignment device. The negative pressure generated in the cleaning pipe 24 can be applied to the magnetic cylinder 10 through the first cleaning hole 211 and the second cleaning hole 231 to achieve cleaning of the magnetic cylinder 10. The cleaning drive 22 drives the cleaning bracket 21 to reciprocate along the Y-axis, thereby facilitating docking with the feeding assembly 1 and enabling rapid feeding of the magnetic cylinder 10.

[0033] In one embodiment, see Figure 6As a specific embodiment of the alignment device provided in this application, each cleaning holder 232 has an L-shaped structure. Each cleaning holder 232 includes a cleaning base 233 mounted on the inner circumferential surface of the second cleaning hole 231 and a cleaning insertion seat 234 connected to the cleaning base 233. Multiple cleaning bases 233 are used to support the magnetic cylinder 10, and multiple cleaning insertion seats 234 are used to insert into the through hole 104. The second cleaning hole 231 is coaxially arranged with the through hole 104, and the diameter of the second cleaning hole 231 is larger than the diameter of the magnetic cylinder 10. The second cleaning hole 231 has a first cleaning area for cleaning the inner circumferential surface of the through hole 104 and a second cleaning area for cleaning the outer circumferential surface of the magnetic cylinder 10. In this structure, the magnetic cylinder 10 transferred by the feeding assembly 1 is placed on multiple cleaning holders 232, and the negative pressure in the cleaning pipe 24 acts on the magnetic cylinder 10 through the first cleaning hole 211 and the second cleaning hole 231. Since the diameter of the magnetic cylinder 10 is smaller than the diameter of the second cleaning hole 231, the orthographic projection of the magnetic cylinder 10 is completely within the area of ​​the second cleaning hole 231. The area enclosed by the multiple cleaning inserts 234 forms the first cleaning area, thereby cleaning the interior of the through hole 104; the gap between the multiple cleaning bases 233 forms the second cleaning area, thereby cleaning the outer peripheral surface of the magnetic cylinder 10.

[0034] Optionally, the cleaning assembly 2 also includes a cleaning positioning seat mounted on the cleaning base 233. The cleaning positioning seat can extend into the alignment notch 103, thereby achieving positioning between the magnetic cylinder 10 and the cleaning top seat 23. On the one hand, this improves the alignment accuracy of the magnetic cylinder 10 placed on the cleaning top seat 23; on the other hand, it prevents the magnetic cylinder 10 from deflecting during the cleaning process, which would affect subsequent alignment operations.

[0035] Optionally, the number of cleaning holders 232 can be three or four. When there are three cleaning holders 232, they form an equilateral triangle structure; when there are four cleaning holders 232, they form a square structure. In this structure, since the cleaning holders 232 partially obstruct the cleaning area, too many cleaning holders 232 will affect the cleaning effect on the magnetic cylinder 10, while too few cleaning holders 232 will not provide sufficient support for the magnetic cylinder 10. Therefore, by setting three or four cleaning holders 232, both the cleaning effect on the magnetic cylinder 10 and its supporting function can be ensured.

[0036] In one embodiment, see Figure 6 Each cleaning insert 234 has an introduction slope 235 on its side facing the inner circumferential surface of the through hole 104, and each introduction slope 235 is inclined toward the corresponding cleaning base 233. With this structure, multiple cleaning inserts 234 can be guided into the through hole 104 by multiple introduction slopes 235, thereby achieving the introduction and positioning of the magnetic cylinder 10.

[0037] Optionally, the diameter of the second cleaning hole 231 gradually increases from bottom to top. The diameter of the lower opening end of the second cleaning hole 231 is greater than or equal to the diameter of the first cleaning hole 211, and the diameter of the upper opening end of the second cleaning hole 231 is greater than the diameter of the magnetic cylinder 10. In this structure, the second cleaning hole 231 has a funnel-shaped configuration, which can maintain a stable negative pressure and reduce airflow disturbance, thereby improving the cleaning effect on the magnetic cylinder 10.

[0038] Optionally, multiple cleaning guide rods are spaced apart on the cleaning bracket 21, and each cleaning guide rod is fitted with a cleaning spring. Multiple guide holes are provided on the cleaning top seat 23, through which the cleaning guide rods pass. One end of each cleaning spring abuts against the cleaning bracket 21, and the other end abuts against the cleaning top seat 23. The number of cleaning guide rods, cleaning springs, and guide holes is four in total. This structure, with multiple cleaning springs, provides elastic cushioning for the cleaning top seat 23, preventing excessive pressure and damage to the magnetic cylinder 10 when the feeding assembly 1 transfers it onto the cleaning top seat 23. The multiple cleaning guide rods guide the cleaning top seat 23 as it reciprocates up and down along the Z-axis.

[0039] In one embodiment, see Figure 7 As a specific embodiment of the alignment device provided in this application, the planar alignment component 3 includes a planar alignment bracket 31, a planar alignment support base 32, a planar alignment power component 33, and a planar alignment sensor 34. The planar alignment bracket 31 is mounted on the mounting platform 20. The planar alignment power component 33 is mounted on the planar alignment bracket 31, and its output end is connected to the planar alignment support base 32. The planar alignment power component 33 is used to drive the planar alignment support base 32 to rotate in the XY plane. The planar alignment power component 33 can be a motor. The planar alignment support base 32 is used to support the magnetic cylinder 10. The planar alignment sensor 34 is mounted on the mounting platform 20, directly opposite the planar alignment support base 32, and is used in conjunction with the planar alignment power component 33 to adjust the alignment plane 101. In this structure, the cleaned magnetic cylinder 10 is transferred to the plane alignment support 32 by the clamping component 6 and the clamping drive assembly 7. The plane alignment support 32 is driven to rotate by the plane alignment power component 33 until the plane alignment sensor 34 senses that the alignment plane 101 is in the target position and stops. In this way, the magnetic cylinder 10 can be aligned once.

[0040] In one embodiment, see Figure 7The planar alignment support 32 may include a planar alignment base 321 and a planar alignment top seat 322 mounted on the planar alignment base 321. The planar alignment base 321 has a square structure, and the planar alignment top seat 322 has a cylindrical structure. Correspondingly, the output end of the planar alignment power component 33 is provided with a planar alignment positioning groove 331. With this structure, the planar alignment base 321 can be positioned and accommodated through the planar alignment positioning groove 331; the planar alignment top seat 322 can extend into the through hole 104 of the magnetic cylinder 10 to achieve support and positioning of the magnetic cylinder 10.

[0041] In one embodiment, see Figure 7 The planar alignment base 321 is provided with a planar alignment alignment surface 323 that aligns with the alignment plane 101. In this structure, when the magnetic cylinder 10 is moved from the clamping member 6 and the clamping drive assembly 7 to the planar alignment support 32, the planar alignment sensor 34 senses whether the planar alignment alignment surface 323 is coplanar or parallel to the alignment plane 101. If they are coplanar or parallel, it means that the magnetic cylinder 10 is correctly placed on the planar alignment support 32; if they are not coplanar or parallel, it means that the placement of the magnetic cylinder 10 is incorrect and needs to be adjusted.

[0042] Optionally, a plane alignment positioning seat is installed on the plane alignment support 32. The plane alignment positioning seat is located on the stepped portion between the plane alignment base 321 and the plane alignment top seat 322. In this structure, the plane alignment positioning seat can extend into the alignment notch 103 of the magnetic cylinder 10 to achieve positioning of the magnetic cylinder 10 and also to prevent the magnetic cylinder 10 from rotating.

[0043] In one embodiment, see Figure 7 The plane alignment component 3 also includes a plane alignment vacuum pipe 35 mounted on the plane alignment bracket 31. One end of the plane alignment vacuum pipe 35 is positioned opposite the plane alignment support 32, and the other end is connected to a vacuum device that is integrated into the alignment device or an external vacuum device. This structure allows for vacuuming of the magnetic cylinder 10 on the plane alignment support 32 using the vacuum negative pressure within the plane alignment vacuum pipe 35.

[0044] In one embodiment, see Figure 8As a specific embodiment of the alignment device provided in this application, the notch alignment component 4 includes a notch alignment bracket 41, a notch alignment support base 42, a notch alignment power component 43, a notch alignment vision sensor 44, and an inclined plane alignment sensor 45. The notch alignment bracket 41 is mounted on the mounting platform 20. The notch alignment power component 43 is mounted on the notch alignment bracket 41, and its output end is connected to the notch alignment support base 42. The notch alignment power component 43 is used to drive the notch alignment support base 42 to rotate in the XY plane. The notch alignment power component 43 can be a motor. The notch alignment support base 42 is used to support the magnetic cylinder 10 after one alignment by the planar alignment component 3. The notch alignment vision sensor 44 is mounted on the mounting platform 20, directly opposite the notch alignment support base 42, and is used in conjunction with the notch alignment power component 43 to adjust the alignment notch 103. The inclined plane alignment sensor 45 is mounted on the notch alignment bracket 41. The inclined plane alignment sensor 45 is used to cooperate with the notch alignment power component 43 to adjust the alignment inclined plane 102. In this structure, after the magnetic cylinder 10 has been aligned once, it is transferred to the notch alignment support 42 by the clamping component 6 and the clamping drive assembly 7. The notch alignment support 42 is driven to rotate by the notch alignment power component 43 until the notch alignment vision sensor 44 senses that the alignment notch 103 is in the target position and the inclined plane alignment sensor 45 senses that the alignment inclined plane 102 is in the target position. This allows for a second alignment operation of the magnetic cylinder 10.

[0045] In one embodiment, see Figure 8 The notch alignment support 42 may include a notch alignment base 421 and a notch alignment top seat 422 mounted on the notch alignment base 421. The notch alignment base 421 has a square structure, and the notch alignment top seat 422 has a cylindrical structure. Correspondingly, the output end of the notch alignment power component 43 is provided with a notch alignment positioning groove 431. With this structure, the notch alignment base 421 can be positioned and accommodated through the notch alignment positioning groove 431; the notch alignment top seat 422 can extend into the through hole 104 of the magnetic cylinder 10 to achieve support and positioning of the magnetic cylinder 10.

[0046] In one embodiment, see Figure 8 The notch alignment base 421 is provided with a notch alignment alignment plane 423 that aligns with the plane where the alignment notch 103 is located. In this structure, when the magnetic cylinder 10 is moved to the notch alignment support 42 by the clamping member 6 and the clamping drive assembly 7, the notch alignment vision sensor 44 senses whether the notch alignment alignment plane 423 is coplanar or parallel to the plane where the alignment notch 103 is located. If they are coplanar or parallel, it means that the magnetic cylinder 10 is correctly placed on the notch alignment support 42; if they are not coplanar or parallel, it means that the placement of the magnetic cylinder 10 is incorrect and needs to be adjusted.

[0047] In one embodiment, see Figure 8 The notch alignment base 421 is provided with a notch alignment alignment slope 424 that aligns with the alignment slope 102. In this structure, the slope alignment sensor 45 senses whether the notch alignment alignment slope 424 is coplanar or parallel to the alignment slope 102. If they are coplanar or parallel, it means that the magnetic cylinder 10 is correctly placed on the notch alignment support 42; if they are not coplanar or parallel, it means that the magnetic cylinder 10 is not placed correctly and needs to be adjusted.

[0048] Optionally, a notch alignment positioning seat is installed on the notch alignment support 42. The notch alignment positioning seat is located on the stepped portion between the notch alignment base 421 and the notch alignment top seat 422. In this structure, the notch alignment positioning seat can extend into the alignment notch 103 of the magnetic cylinder 10 to achieve positioning of the magnetic cylinder 10 and also to prevent the magnetic cylinder 10 from rotating.

[0049] In one embodiment, see Figure 8 The notch alignment component 4 also includes a notch alignment vacuum pipe 46 mounted on the notch alignment bracket 41. One end of the notch alignment vacuum pipe 46 is positioned opposite the notch alignment support base 42, and the other end is connected to a vacuum device that is integrated into the alignment device or an external vacuum device. This structure allows for vacuuming of the magnetic cylinder 10 on the notch alignment support base 42 using the vacuum negative pressure within the notch alignment vacuum pipe 46.

[0050] In one embodiment, see Figure 9 and Figure 10 As a specific embodiment of the alignment device provided in this application, the feeding assembly 5 includes a feeding bracket 51, a feeding drive 52, and a feeding support 53. The feeding drive 52 is mounted on the mounting platform 20, and its output end is connected to the feeding bracket 51. The feeding drive 52 is used to drive the feeding bracket 51 to reciprocate along the X-axis. The feeding drive 52 can be a pneumatic cylinder / electric cylinder, etc. The feeding support 53 is mounted on the feeding bracket 51, and is provided with a feeding insertion seat 531 and two feeding stop seats 532. The feeding insertion seat 531 is located between the two feeding stop seats 532. The feeding insertion seat 531 has a cylindrical structure; a channel for the magnetic cylinder 10 to be inserted is formed between each feeding stop seat 532 and the feeding insertion seat 531. In this structure, after secondary alignment by the notch alignment component 4, the magnetic cylinder 10 is transferred to the unloading support 53 by the clamping component 6 and the clamping drive component 7, and the unloading support 53 is driven to move out along the X-axis by the unloading drive component 52 to realize the unloading operation of the magnetic cylinder 10.

[0051] In one embodiment, see Figure 9As a specific embodiment of the alignment device provided in this application, the feeding bracket 51 includes a feeding base 511 connected to the output end of the feeding drive component 52, a feeding guide rod 512 mounted on the feeding base 511, a feeding sliding seat 513 movably mounted on the feeding guide rod 512, and a feeding elastic member 514 mounted on the feeding guide rod 512. One end of the feeding elastic member 514 abuts against the feeding base 511, and the other end of the feeding elastic member 514 abuts against the feeding sliding seat 513. The feeding support 53 is mounted on the feeding sliding seat 513. The feeding elastic member 514 can be a spring. In this structure, when the magnetic cylinder 10 is placed on the feeding support 53, the feeding sliding seat 513 is lowered by the downward pressure applied by the clamping drive component 7, thereby providing a buffer protection for the magnetic cylinder 10.

[0052] Optionally, the two ends of the cylindrical feeding insertion seat 531 extend out of the feeding support seat 53. When the magnetic cylinder 10 is installed on the feeding support seat 53, the alignment notch 103 on the magnetic cylinder 10 extends out of the feeding insertion seat 531 and the feeding support seat 53, respectively. A feeding notch sensor can be installed on the feeding base 511. This feeding notch sensor is used to detect whether the position of the alignment notch 103 is at the target position, thereby identifying the feeding position of the magnetic cylinder 10 and improving the feeding position accuracy of the magnetic cylinder 10.

[0053] In one embodiment, see Figure 11 As a specific embodiment of the alignment device provided in this application, the clamping member 6 includes two material transfer jaws 61 and a rotating material unloading jaw 62. The plane alignment position, the notch alignment position, and the unloading position are spaced apart along the first direction (X-axis direction in the figure). The two material transfer jaws 61 and the rotating material unloading jaw 62 are spaced apart along the first direction. The first material transfer jaw 61 reciprocates between the cleaning position and the plane alignment position, the second material transfer jaw 61 reciprocates between the plane alignment position and the notch alignment position, and the rotating material unloading jaw 62 reciprocates between the notch alignment position and the unloading position.

[0054] Each material transfer gripper 61 includes two material transfer gripping arms 611 and a material transfer gripping power component 612 for driving the two material transfer gripping arms 611 closer to or further apart from each other. The material transfer gripping power component 612 is mounted on the material clamping drive assembly 7 and is connected to the two material transfer gripping arms 611 respectively. Each material transfer gripping power component 612 can be a finger cylinder. The rotating unloading gripper 62 includes two rotating unloading gripping arms 621, a rotating unloading gripping power component 622 for driving the two rotating unloading gripping arms 621 closer to or further apart from each other, and a rotating unloading flipping power component 623 for driving the two rotating unloading gripping arms 621 to rotate 180 degrees. The rotating unloading flipping power component 623 is mounted on the material clamping drive assembly 7 and connected to the rotating unloading gripping power component 622. The output end of the rotating unloading gripping power component 622 is connected to the two rotating unloading gripping arms 621 respectively. Among them, the rotary unloading clamping power component 622 can be a finger cylinder; the rotary unloading flipping power component 623 can be a motor.

[0055] This structure features a material transfer gripper 61 positioned between the cleaning component 2 and the plane alignment component 3, and between the plane alignment component 3 and the notch alignment component 4. A rotating unloading gripper 62 is positioned between the notch alignment component 4 and the unloading component 5. The clamping drive component 7 simultaneously drives the two material transfer grippers 61 and the rotating unloading gripper 62 to reciprocate along the X-axis. The first material transfer gripper 61 transfers the magnetic cylinder 10 from the cleaning component 2 to the plane alignment component 3, the second material transfer gripper 61 transfers the magnetic cylinder 10 from the plane alignment component 3 to the notch alignment component 4, and the rotating unloading gripper 62 transfers the magnetic cylinder 10 from the notch alignment component 4 to the unloading component 5. This allows for the synchronous alignment and transfer of multiple magnetic cylinders 10, thereby improving the alignment and transfer efficiency of the magnetic cylinders 10.

[0056] Furthermore, when the alignment notch 103 identified by the notch alignment component 4 is located above the magnetic cylinder 10, the magnetic cylinder 10 needs to be rotated 180 degrees by rotating the unloading jaw 62 to adjust the alignment notch 103 to the lower position of the magnetic cylinder 10 (i.e., the target position), thereby improving the alignment accuracy of the magnetic cylinder 10.

[0057] Optionally, the distances between the cleaning position and the plane alignment position, the distances between the plane alignment position and the notch alignment position, and the distances between the notch alignment position and the unloading position are the same. Correspondingly, the distance between the two transfer grippers 61 is the same as the distance between the second transfer gripper 61 and the rotating unloading gripper 62, and the distance between the two transfer grippers 61 is the same as the distance between the cleaning position and the plane alignment position. In this structure, the reciprocating strokes of each transfer gripper 61 and the rotating unloading gripper 62 are the same, which can realize the synchronous operation of the two transfer grippers 61 and the rotating unloading gripper 62, thereby improving the transfer efficiency of the magnetic cylinder 10.

[0058] In one embodiment, see Figure 11 As a specific embodiment of the alignment device provided in this application, the clamping drive assembly 7 includes a clamping drive bracket 71 mounted on the mounting platform 20, a clamping support seat 72 supporting the clamping component 6, a clamping lifting module 73 for driving the clamping component 6 to rise and fall, a clamping transverse moving module 74 for driving the clamping component 6 to move laterally, and a clamping longitudinal moving module for driving the clamping component 6 to move longitudinally. The clamping lifting module 73 is mounted on the clamping transverse moving module 74 and connected to the clamping support seat 72. The clamping transverse moving module 74 is mounted on the clamping longitudinal moving module and connected to the clamping lifting module 73. The clamping longitudinal moving module is mounted on the clamping drive bracket 71 and connected to the clamping transverse moving module 74. The clamping lifting module 73, the clamping transverse moving module 74, and the clamping longitudinal moving module can all be cylinders / electric cylinders / lead screws / belt drive mechanisms, linear motors, etc. Two material transfer grippers 61 and a rotating unloading gripper 62 are mounted at intervals along the X-axis on the clamping support base 72. This structure allows the two material transfer grippers 61 and the rotating unloading gripper 62 to reciprocate along the XYZ axes via the clamping lifting module 73, the clamping transverse movement module 74, and the clamping longitudinal movement module, thereby improving the versatility of the transfer orientation of the magnetic cylinder 10.

[0059] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A alignment device for aligning a magnetic cylinder, wherein the magnetic cylinder is provided with an alignment plane, an alignment ramp, and an alignment notch, characterized in that, The alignment device includes: The installation platform is equipped with a loading position, a cleaning position, a plane alignment position, a notch alignment position, and a unloading position. A feeding assembly is installed at the feeding position to pick up the magnetic cylinder that is moved from the upstream workpiece; A cleaning component, installed at the cleaning position, is used to clean the magnetic cylinder; A plane alignment component is installed at the plane alignment position and is used to adjust the alignment plane to the target position. A gap alignment component is installed at the gap alignment position and is used to adjust the alignment gap to the target position; A feeding assembly, installed at the feeding position, is used to remove the aligned magnetic cylinder. A clamping component for holding the magnetic cylinder; A clamping drive assembly is installed on the mounting platform and connected to the clamping component, used to drive the clamping component to repeatedly and sequentially pass through the cleaning position, the plane alignment position, the notch alignment position and the unloading position.

2. The alignment device as described in claim 1, characterized in that: The feeding assembly includes two feeding jaws, a feeding clamping member for driving the two feeding jaws closer or further apart, a feeding support base for supporting the feeding clamping member, a feeding bracket mounted on the mounting platform, and a feeding moving unit for driving the feeding support base to move; the magnetic cylinder has a through hole in the middle, and each of the feeding jaws has a clamping socket for inserting into the through hole, and the two clamping sockets form a cylindrical structure adapted to the through hole; the feeding moving unit is mounted on the feeding bracket and connected to the feeding support base, and the output end of the feeding clamping member is connected to the two feeding jaws respectively.

3. The alignment device as described in claim 2, characterized in that, The cleaning components include: A cleaning bracket, wherein a first cleaning hole is provided on the cleaning bracket; A cleaning drive unit is installed on the mounting platform and connected to the cleaning bracket, used to drive the cleaning bracket to reciprocate between the feeding position and the cleaning position; A cleaning top seat is installed on the cleaning bracket. The cleaning top seat has a second cleaning hole that communicates with the first cleaning hole. The inner circumference of the second cleaning hole extends inward to provide a plurality of cleaning brackets for insertion into the through hole. The plurality of cleaning brackets are arranged in a ring array. A cleaning pipe is installed on the cleaning bracket, and the cleaning pipe is connected to the first cleaning hole.

4. The alignment device as described in claim 3, characterized in that: Each of the cleaning holders has an L-shaped structure, and each cleaning holder includes a cleaning base installed on the inner circumferential surface of the second cleaning hole and a cleaning insertion seat connected to the cleaning base. The plurality of cleaning bases are used to support the magnetic cylinder, and the plurality of cleaning insertion seats are used to insert into the through hole. The second cleaning hole is coaxially arranged with the through hole, and the diameter of the second cleaning hole is larger than the diameter of the magnetic cylinder. The second cleaning hole has a first cleaning area for cleaning the inner circumferential surface of the through hole and a second cleaning area for cleaning the outer circumferential surface of the magnetic cylinder.

5. The alignment device according to any one of claims 1-4, characterized in that, The planar alignment component includes: A plane alignment bracket is installed on the mounting platform; A planar alignment support base is used to support the magnetic cylinder; A plane alignment power component is installed on the plane alignment bracket and connected to the plane alignment support seat, and is used to drive the plane alignment support seat to rotate; A plane alignment sensor is installed on the mounting platform and directly opposite the plane alignment support, and is used to cooperate with the plane alignment power component to adjust the alignment plane.

6. The alignment device according to any one of claims 1-4, characterized in that, The gap-finding component includes: A notch alignment bracket is installed on the mounting platform. The notch alignment support is used to support the magnetic cylinder; A notch alignment power component is installed on the notch alignment bracket and connected to the notch alignment support seat, and is used to drive the notch alignment support seat to rotate. A gap alignment vision sensor is installed on the mounting platform and directly opposite the gap alignment support, and is used to cooperate with the gap alignment power component to adjust the alignment gap. The inclined plane alignment sensor is installed on the notch alignment bracket and is used to cooperate with the notch alignment power component to adjust the alignment inclined plane.

7. The alignment device according to any one of claims 1-4, characterized in that, The feeding assembly includes: Material feeding bracket; A material feeding drive component is installed on the mounting platform and connected to the material feeding bracket, used to drive the material feeding bracket to reciprocate; A feeding support is installed on the feeding bracket. The feeding support is provided with a feeding extension seat for insertion into the through hole and two feeding stop seats. The feeding extension seat is located between the two feeding stop seats.

8. The alignment device as described in claim 7, characterized in that: The feeding bracket includes a feeding base connected to the output end of the feeding drive, a feeding guide rod mounted on the feeding base, a feeding sliding seat movably mounted on the feeding guide rod, and a feeding elastic member mounted on the feeding guide rod. One end of the feeding elastic member abuts against the feeding base, and the other end of the feeding elastic member abuts against the feeding sliding seat. The feeding support is mounted on the feeding sliding seat.

9. The alignment device according to any one of claims 1-4, characterized in that: The clamping component includes two material transfer jaws and a rotating material unloading jaw. The plane alignment position, the notch alignment position, and the unloading position are spaced apart along a first direction. The two material transfer jaws and the rotating material unloading jaw are also spaced apart along the first direction. The first material transfer jaw reciprocates between the cleaning position and the plane alignment position, the second material transfer jaw reciprocates between the plane alignment position and the notch alignment position, and the rotating material unloading jaw reciprocates between the notch alignment position and the unloading position. Each of the aforementioned material transfer grippers includes two material transfer gripping arms and a material transfer gripping power component for driving the two material transfer gripping arms to move closer or further apart from each other. The material transfer gripping power component is mounted on the material clamping drive assembly and is connected to the two material transfer gripping arms respectively. The rotating material unloading gripper includes two rotating material unloading gripping arms, a rotating material unloading gripping power component for driving the two rotating material unloading gripping arms to move closer or further apart from each other, and a rotating material unloading flipping power component for driving the two rotating material unloading gripping arms to rotate 180 degrees. The rotating material unloading flipping power component is mounted on the material clamping drive assembly and is connected to the rotating material unloading gripping power component. The output end of the rotating material unloading gripping power component is connected to the two rotating material unloading gripping arms respectively.

10. The alignment device according to any one of claims 1-4, characterized in that: The clamping drive assembly includes a clamping drive bracket mounted on the mounting platform, a clamping support base supporting the clamping component, a clamping lifting module for driving the clamping component to rise and fall, a clamping transverse moving module for driving the clamping component to move laterally, and a clamping longitudinal moving module for driving the clamping component to move longitudinally. The clamping lifting module is mounted on the clamping transverse moving module and connected to the clamping support base. The clamping transverse moving module is mounted on the clamping longitudinal moving module and connected to the clamping lifting module. The clamping longitudinal moving module is mounted on the clamping drive bracket and connected to the clamping transverse moving module.

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