A kind of equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles

Abstract

This equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles includes a frame, a CCD camera, a manipulator vacuum suction cup handling mechanism, a roller conveyor line, a CCD detection mechanism, a variable module handling component, a 3D contour inspection instrument and a discharge conveyor line; the CCD camera is located on the upper left side of the frame, and its lens faces the incoming material conveyor line below; the manipulator vacuum suction cup handling mechanism is located above the right side of the CCD camera, the roller conveyor line is located in the middle of the frame, and jigs are evenly distributed and fixed on the outer circumference of the roller conveyor line, the CCD detection mechanism is located above the middle of the roller conveyor line, the variable module handling component is located above the right rear side of the CCD detection mechanism, the 3D contour inspection instrument is located on the right rear side of the variable module handling component, and the discharge conveyor line is located on the right front side of the 3D contour inspection instrument and located above the right side of the frame. The use of automated handling and transportation with automatic calibration and inspection can achieve high-speed inspection with high efficiency and high quality stability.

Description

Technical Field

[0001] The utility model relates to the field of permanent magnet processing and inspection equipment, and in particular to a permanent magnet gluing and post-fine grinding inspection and stacking equipment for new energy vehicles. Background Art

[0002] In recent years, with the vigorous development of new energy vehicles, the industry of permanent magnet motor parts for new energy vehicles has also grown rapidly. Permanent magnet motor is a device that uses permanent magnets to generate magnetic fields to realize motor operation. In permanent magnet motors, magnetic steel is one of the important components, which plays a key role in generating magnetic fields. In order to improve the performance of magnetic steel and protect its surface, this unmagnetized permanent magnet is often coated with glue, and then dried and fine-grinded after gluing. Finally, the size and appearance need to be inspected after fine-grinding. In the past, the permanent magnets that were dried and fine-grinded after gluing were manually inspected one by one, which was not only time-consuming and labor-intensive, but also had low inspection efficiency; in addition, there were many human errors in quality inspection, and many missed inspections, which seriously affected the quality of shipment.

[0003] In view of this, the inventor conducted in-depth research on the above-mentioned defects in the prior art, and thus came up with this case. Utility Model Content

[0004] In order to solve the above technical problems, we proposed a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles. It adopts automated handling, automated conveyor lines with automatic calibration and inspection to achieve high-speed inspection, extremely high inspection efficiency and stable inspection quality.

[0005] In order to achieve the above object, the technical solution of the utility model is as follows:

[0006] A new energy vehicle permanent magnet post-gluing fine grinding inspection stacking equipment, comprising a frame, a CCD camera, a manipulator vacuum suction cup transport mechanism, a roller conveyor line, a CCD detection mechanism, a variable module transport assembly, a 3D contour inspection instrument and a discharge conveyor line; the CCD camera is arranged on the upper left side of the frame, and its lens faces the unmagnetized permanent magnet incoming conveyor line below; the manipulator vacuum suction cup transport mechanism is arranged on the upper right side of the CCD camera, the roller conveyor line is arranged in the middle of the frame, and a plurality of jigs are evenly arranged and fixed on the outer circumference of the roller conveyor line, the CCD detection mechanism is arranged above the middle of the roller conveyor line, the variable module transport assembly is arranged above the right rear side of the CCD detection mechanism, and is located above the right side of the roller conveyor line, the 3D contour inspection instrument is arranged on the right rear side of the variable module transport assembly, and the discharge conveyor line is arranged on the right front side of the 3D contour inspection instrument, and is arranged above the right side of the frame.

[0007] Preferably, the roller conveyor line includes a driving servo motor, a tank chain conveyor chain and a plurality of jigs, the driving servo motor is arranged in the middle of the right side of the roller conveyor line and is axially connected to the reducer, the tank chain conveyor chain is wound around the periphery of the roller conveyor line, and the jigs are evenly arranged and fixed on the tank chain conveyor chain.

[0008] Preferably, the CCD detection mechanism includes a bracket, a CCD light source and a CCD camera, the bracket is arranged across the middle of the roller conveyor line, the CCD light source is fixed on the top of the bracket and is located above the fixture on the roller conveyor line, and the CCD camera is arranged on the lower side of the CCD light source with its lens facing the middle of the top surface of the roller conveyor line.

[0009] Preferably, the variable distance module handling assembly includes a support frame, a transverse servo module, a servo motor, a longitudinal variable distance module, a lifting cylinder and a vacuum suction cup. The transverse servo module is laterally fixed to the bottom of the top plate of the support frame facing downward, and the longitudinal variable distance module is slidably fixed below the transverse servo module. A servo motor is fixed to the top of the longitudinal variable distance module. A lifting cylinder is arranged on the side of the longitudinal variable distance module, and the telescopic end of the lifting cylinder faces downward and is connected to the vacuum suction cup.

[0010] Preferably, the 3D contour inspection instrument includes a mounting frame, an adjustment bracket, a linear motor, a presence / absence sensor, a first position sensor, a conveying mechanism, a vacuum suction cup, a grating scale and a second position sensor. The mounting frame is arranged at the lower left portion of the 3D contour inspection instrument, a linear motor is arranged in the middle portion of the mounting frame, the presence / absence sensor is arranged on the upper side of the linear motor, and the first position sensor is arranged on the top of the mounting frame; the adjustment bracket is arranged at the lower right portion of the 3D contour inspection instrument, the second position sensor is fixed on the top of the adjustment bracket, a conveying mechanism is arranged on the upper rear side of the adjustment bracket, a vacuum suction cup is arranged at the bottom of the lower driving rod of the conveying mechanism, and the grating scale is arranged on the side of the middle portion of the conveying mechanism.

[0011] Preferably, the discharge conveyor line includes an OK product discharge conveyor line and an NG product discharge conveyor line, the OK product discharge conveyor line is arranged on the right side of the 3D contour inspection instrument, and the NG product discharge conveyor line is vertically arranged on the front side of the left end of the OK product discharge conveyor line.

[0012] Through the above technical scheme, the utility model is designed with a CCD camera, a manipulator vacuum suction cup handling mechanism, a roller conveyor line, a CCD detection mechanism, a variable module handling assembly, a 3D contour inspection instrument and a discharge conveyor line; the CCD camera is arranged on the left side of the upper part of the frame, and its lens faces the unmagnetized permanent magnet incoming conveyor line below; the manipulator vacuum suction cup handling mechanism is arranged on the upper right side of the CCD camera, the roller conveyor line is arranged in the middle of the frame, the CCD detection mechanism is arranged on the upper middle part of the roller conveyor line, the variable module handling assembly is arranged on the upper right rear side of the CCD detection mechanism, and is located on the upper right side of the roller conveyor line, the 3D contour inspection instrument is arranged on the right rear side of the variable module handling assembly, and the discharge conveyor line is arranged on the right front side of the 3D contour inspection instrument, and is arranged on the upper right side of the frame. After confirming the position of the incoming product with a CCD camera, the coordinates are given to the manipulator vacuum suction cup handling mechanism, and the manipulator vacuum suction cup handling mechanism cooperates with the vacuum suction cup to grab the product and put it on the fixture at the top of the roller conveyor line. Then the jig automatically calibrates the product position, and the distance sensor gives the product's lateral coordinates. After it flows to the next station, the CCD detection mechanism checks the size and appearance of both sides of the product; the product is carried to the 3D contour inspection instrument through the variable module handling component and the vacuum suction cup to grab the product, and then the linear motor moves the product through the 3D contour inspection instrument to check the size, missing corners and cracks of the long side of the product; after checking the upper side, the product is grabbed by the handling mechanism with the vacuum suction cup to check the size, missing corners and cracks of the lower long side. After the product is inspected, the servo module + vacuum suction cup + cylinder automatically separates the product into OK and NG products and puts it on the corresponding conveyor line. That is, the use of automated handling, automated conveyor lines with automatic calibration and inspection, compared with the original manual inspection, achieves high-speed inspection, extremely high inspection efficiency, and stable inspection quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 This is a schematic diagram of the internal structure of a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0015] Figure 2 This is a front view of the internal structure of a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0016] Figure 3A top view of the internal partial structure of a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0017] Figure 4 This is a front view of a roller conveyor line in a post-gluing fine grinding inspection and stacking equipment for permanent magnets for new energy vehicles disclosed in this embodiment;

[0018] Figure 5 A top view of a roller conveyor line in a post-gluing fine grinding inspection and stacking equipment for permanent magnets for new energy vehicles disclosed in this embodiment;

[0019] Figure 6 A three-dimensional diagram of a CCD detection mechanism in a post-gluing fine grinding inspection and stacking device for permanent magnets for new energy vehicles disclosed in this embodiment;

[0020] Figure 7 A top view of a mold in a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0021] Figure 8 A side view of a mold in a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0022] Fig. 9 This is a front view of a variable module handling component in a device for inspecting and stacking a permanent magnet for a new energy vehicle after gluing and fine grinding disclosed in this embodiment;

[0023] Fig.10 It is a side view of a variable module handling assembly in a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0024] Fig.11 This is a front view of a 3D contour inspection instrument in a post-gluing fine grinding inspection and stacking equipment for permanent magnets for new energy vehicles disclosed in this embodiment;

[0025] Fig.12 A top view of a 3D contour inspection instrument in a post-gluing fine grinding inspection stacking device for permanent magnets for new energy vehicles disclosed in this embodiment;

[0026] Fig.13 A three-dimensional diagram of a discharge conveyor line in a device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles disclosed in this embodiment;

[0027] Fig.14 This is a top view of the discharge conveyor line of a permanent magnet for new energy vehicles disclosed in this embodiment for post-gluing fine grinding inspection and stacking.

[0028] The numbers in the figure represent the corresponding parts names:

[0029] 1. Frame 2. CCD camera 3. Robot vacuum suction cup handling mechanism 4. Roller conveyor line 41. Driving servo motor 42. Tank chain conveyor chain 43. Reducer 5. CCD detection mechanism 51. Bracket 52. CCD light source 53. CCD camera 6. Variable pitch module handling assembly 61. Support frame 62. Horizontal servo module 63. Servo motor 64. Longitudinal variable pitch module 65. Lifting cylinder 7. 3D contour inspection instrument 71. Mounting frame 72. Adjustment bracket 73. Linear motor 74. Presence sensor 75. First position sensor 76. Handling mechanism 77. Grating ruler 78. Second position sensor 8. Discharge conveyor line 81. OK product discharge conveyor line 82. NG product discharge conveyor line 9. Fixture DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] The present invention is further described in detail below in conjunction with embodiments and specific implementation methods.

[0032] Example

[0033] like Figure 1-3 As shown, a new energy vehicle permanent magnet gluing and post-fine grinding inspection stacking equipment includes a frame 1, a CCD camera 2, a manipulator vacuum suction cup handling mechanism 3, a roller conveyor line 4, a CCD detection mechanism 5, a variable module handling component 6, a 3D contour inspection instrument 7 and a discharge conveyor line 8; the CCD camera 2 is arranged on the upper left side of the frame 1, and its lens faces the unmagnetized permanent magnet incoming conveyor line (not shown in the figure) below; the manipulator vacuum suction cup handling mechanism 3 is arranged on the upper right side of the CCD camera 2, and the roller conveyor line 4 is arranged in the middle of the frame 1, and a plurality of fixtures 9 are evenly arranged and fixed on the outer circumference of the roller conveyor line 4, the CCD detection mechanism 5 is arranged above the middle of the roller conveyor line 4, the change module conveying assembly 6 is arranged above the right rear side of the CCD detection mechanism 5, and is located above the right side of the roller conveyor line 4, the 3D contour inspection instrument 7 is arranged on the right rear side of the change module conveying assembly 6, and the discharge conveyor line 8 is arranged on the right front side of the 3D contour inspection instrument 7, and is arranged above the right side of the frame 1.

[0034] like Figure 4 and 5As shown, the roller conveyor line 4 includes a driving servo motor 41, a tank chain conveyor chain 42 and a plurality of jigs 9. The driving servo motor 41 is arranged in the middle of the right side of the roller conveyor line 4 and is axially connected to the reducer 43. The tank chain conveyor chain 42 is wound around the periphery of the roller conveyor line 4. The jigs 9 are evenly arranged and fixed on the tank chain conveyor chain 42. Figure 7 and 8 As shown, the jig 9 includes a base plate 91, a jig plate 92, a fixed plate 93, a clamping plate 94, a clamping block 95, a spring 96, a pin 97 and a linear guide 98. The base plate 91 is provided with a bottom of the jig 9, and a linear guide 98 is provided in the middle of the bottom surface of the base plate 91. The jig plate 92, the fixed plate 93, the clamping plate 94 and the clamping block 95 are respectively arranged on the base plate. A pin 97 is provided on the upper side of the base plate 91, and a spring 96 is sleeved on the pin 97.

[0035] like Figure 6 As shown, the CCD detection mechanism 5 includes a bracket 51, a CCD light source 52 and a CCD camera 53. The bracket 51 is arranged across the middle of the roller conveyor line 4. The CCD light source 52 is fixed on the top of the bracket 51 and is located above the fixture 9 on the roller conveyor line 4. The CCD camera 53 is arranged on the lower side of the CCD light source 52, and its lens is facing the middle of the top surface of the roller conveyor line 4.

[0036] like Fig. 9 and 10 As shown, the variable distance module transport assembly 6 includes a support frame 61, a transverse servo module 62, a servo motor 63, a longitudinal distance variable module 64, a lifting cylinder 65 and a vacuum suction cup. The transverse servo module 62 is laterally fixed to the bottom of the top plate of the support frame 61 facing downward, and the longitudinal distance variable module 64 is slidably fixed below the transverse servo module 62. The servo motor 63 is fixed on the top of the longitudinal distance variable module 64. A lifting cylinder 65 is arranged on the side of the longitudinal distance variable module 64. The telescopic end of the lifting cylinder 65 faces downward and is connected to the vacuum suction cup.

[0037] like Fig.11 and 12As shown, the 3D contour inspection instrument 7 includes a mounting frame 71, an adjustment bracket 72, a linear motor 73, a presence / absence sensor 74, a first position sensor 75, a conveying mechanism 76, a vacuum suction cup, a grating ruler 77 and a second position sensor 78. The mounting frame 71 is arranged at the lower left part of the 3D contour inspection instrument 7, a linear motor 73 is arranged in the middle part of the mounting frame 71, the presence / absence sensor 74 is arranged on the upper side of the linear motor 73, and the first position sensor 75 is arranged on the top of the mounting frame 71; the adjustment bracket 72 is arranged at the lower right part of the 3D contour inspection instrument 7, the second position sensor 78 is fixed on the top of the adjustment bracket 72, a conveying mechanism 76 is arranged on the upper rear side of the adjustment bracket 72, a vacuum suction cup is arranged at the bottom of the lower driving rod of the conveying mechanism 76, and the grating ruler 77 is arranged on the side of the middle part of the conveying mechanism 76.

[0038] like Fig.13 and 14 As shown, the discharge conveyor line 8 includes an OK product discharge conveyor line 81 and an NG product discharge conveyor line 82. The OK product discharge conveyor line 81 is arranged on the right side of the 3D contour inspection instrument 7, and the NG product discharge conveyor line 82 is vertically arranged on the front side of the left end of the OK product discharge conveyor line 81.

[0039] In actual work, the multi-joint parallel manipulator + CCD camera + position encoder of the manipulator vacuum suction cup handling mechanism 3 confirms the product position mode. After the incoming product is first confirmed by the CCD camera 2, the coordinates are given to the manipulator, and the manipulator cooperates with the vacuum suction cup to grab the product and put it on the top surface fixture 9 of the roller conveyor line 4. Then the product position is automatically calibrated by the fixture, and the horizontal coordinates of the product are given in cooperation with the distance sensor. After the flow is transferred to the next station, the CCD detection mechanism 5 checks the size and appearance of both sides of the product. After the CCD inspection, the change module handling component 6 grabs the product through the change module and cooperates with the vacuum suction cup to transport it to the 3D contour inspection instrument 7 for upper and lower inspection of the long side of the product. The linear motor 73 transports the product through the 3D contour inspection instrument 7 to check the size, missing corners and cracks of the long side of the product; after checking the upper side, the product is grabbed by the handling mechanism 76 in cooperation with the vacuum suction cup to check the size, missing corners and cracks of the bottom of the long side. Finally, after the product inspection, the servo module + vacuum suction cup + cylinder automatically separates the products into OK products and NG products and places them on the corresponding OK product discharge conveyor line 81 and NG product discharge conveyor line 82.

[0040] In this example, the utility model is designed with a CCD camera 2, a robot vacuum suction cup transport mechanism 3, a roller conveyor line 4, a CCD detection mechanism 5, a change module transport assembly 6, a 3D contour inspection instrument 7 and a discharge conveyor line 8; the CCD camera 2 is arranged on the upper left side of the frame 1, and its lens faces the unmagnetized permanent magnet incoming conveyor line below; the robot vacuum suction cup transport mechanism 3 is arranged on the upper right side of the CCD camera 2, the roller conveyor line 4 is arranged in the middle of the frame 1, the CCD detection mechanism 5 is arranged on the upper middle part of the roller conveyor line 4, the change module transport assembly 6 is arranged on the upper right rear side of the CCD detection mechanism 5, and is located on the upper right side of the roller conveyor line 4, the 3D contour inspection instrument 7 is arranged on the right rear side of the change module transport assembly 6, and the discharge conveyor line 8 is arranged on the right front side of the 3D contour inspection instrument 7, and is arranged on the upper right side of the frame 1. After confirming the position of the incoming unmagnetized permanent magnet product with the CCD camera 2, the coordinates are given to the robot vacuum suction cup handling mechanism 3, which cooperates with the vacuum suction cup to grab the product and put it on the fixture 9 at the top of the roller conveyor line 4. Then the product position is automatically calibrated by the fixture 9, and the horizontal coordinates of the product are given in cooperation with the distance sensor. After the product is transferred to the next station, the CCD detection mechanism 5 checks the size and appearance of both sides of the product; the product is carried to the 3D contour inspection instrument 7 after the product is grabbed by the vacuum suction cup through the change module handling component 6, and then the linear motor 73 transports the product through the 3D contour inspection instrument 7 to check the size, missing corners and cracks of the long side of the product; after checking the upper side, the product is grabbed by the handling mechanism 76 in cooperation with the vacuum suction cup to check the size, missing corners and cracks of the lower side of the long side. After the product inspection is completed, the product is automatically separated into OK and NG products by the servo module + vacuum suction cup + cylinder and placed on the corresponding OK product discharge conveyor line 81 and NG product discharge conveyor line 82. That is, the use of automated handling, automated conveyor lines with automatic calibration and inspection, compared with the original manual inspection, achieves high-speed inspection, extremely high inspection efficiency, and stable inspection quality. Thus, the purpose of novel design, reasonable structure, and good application effect is achieved.

[0041] The above is only a preferred implementation of the equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles after gluing of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the creative concept of the utility model, which all belong to the protection scope of the utility model.

Claims

1. A device for fine grinding, inspection and stacking of permanent magnets for new energy vehicles, characterized in that: It includes a frame, a CCD camera, a manipulator vacuum suction cup transport mechanism, a roller conveyor line, a CCD detection mechanism, a change module transport assembly, a 3D contour inspection instrument and a discharge conveyor line; the CCD camera is arranged on the upper left side of the frame, and its lens faces the unmagnetized permanent magnet incoming conveyor line below; the manipulator vacuum suction cup transport mechanism is arranged on the upper right side of the CCD camera, the roller conveyor line is arranged in the middle of the frame, and a number of fixtures are evenly arranged and fixed on the outer circumference of the roller conveyor line, the CCD detection mechanism is arranged above the middle of the roller conveyor line, the change module transport assembly is arranged above the right rear side of the CCD detection mechanism, and is located above the right side of the roller conveyor line, the 3D contour inspection instrument is arranged on the right rear side of the change module transport assembly, and the discharge conveyor line is arranged on the right front side of the 3D contour inspection instrument, and is arranged above the right side of the frame.

2. According to claim 1, a new energy vehicle permanent magnet gluing and post-fine grinding inspection and stacking equipment is characterized in that: The roller conveyor line includes a driving servo motor, a tank chain conveyor chain and a plurality of jigs. The driving servo motor is arranged in the middle of the right side of the roller conveyor line and is axially connected to the reducer. The tank chain conveyor chain is wound around the periphery of the roller conveyor line, and the jigs are evenly arranged and fixed on the tank chain conveyor chain.

3. The equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles after gluing according to claim 2 is characterized in that: The CCD detection mechanism includes a bracket, a CCD light source and a CCD camera. The bracket is arranged across the middle of the roller conveyor line. The CCD light source is fixed on the top of the bracket and is located above the fixture on the roller conveyor line. The CCD camera is arranged on the lower side of the CCD light source and its lens is facing the middle of the top surface of the roller conveyor line.

4. The equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles after gluing according to claim 3 is characterized in that: The variable pitch module handling assembly includes a support frame, a transverse servo module, a servo motor, a longitudinal variable pitch module, a lifting cylinder and a vacuum suction cup. The transverse servo module is laterally fixed to the bottom of the support frame top plate facing downward, and the longitudinal variable pitch module is slidably fixed below the transverse servo module. A servo motor is fixed to the top of the longitudinal variable pitch module. A lifting cylinder is arranged on the side of the longitudinal variable pitch module, and the telescopic end of the lifting cylinder faces downward and is connected to the vacuum suction cup.

5. The equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles after gluing according to claim 4 is characterized in that: The 3D contour inspection instrument includes a mounting frame, an adjustment bracket, a linear motor, a presence / absence sensor, a first position sensor, a conveying mechanism, a vacuum suction cup, a grating scale and a second position sensor. The mounting frame is arranged at the lower left part of the 3D contour inspection instrument, a linear motor is arranged in the middle part of the mounting frame, the presence / absence sensor is arranged on the upper side of the linear motor, and the first position sensor is arranged on the top of the mounting frame; the adjustment bracket is arranged at the lower right part of the 3D contour inspection instrument, the second position sensor is fixed on the top of the adjustment bracket, a conveying mechanism is arranged on the upper rear side of the adjustment bracket, a vacuum suction cup is arranged at the bottom of the lower driving rod of the conveying mechanism, and the grating scale is arranged on the side of the middle part of the conveying mechanism.

6. The equipment for fine grinding, inspection and stacking of permanent magnets for new energy vehicles after gluing according to claim 5 is characterized in that: The discharge conveyor line includes an OK product discharge conveyor line and an NG product discharge conveyor line. The OK product discharge conveyor line is arranged on the right side of the 3D contour inspection instrument, and the NG product discharge conveyor line is vertically arranged on the front side of the left end of the OK product discharge conveyor line.

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