Manipulator magnetic shoe inserting device

Abstract

The utility model discloses a magnetic shoe inserting device for a manipulator, which belongs to the technical field of magnetic shoe inserting and comprises a base frame, and defective product placing boxes are fixedly mounted on the front side and the rear side of the left of the upper end of the base frame through supports. A double-station clamping and transferring mechanism is arranged in the middle of the upper end of the base frame; the double-station clamping and moving mechanism comprises a four-axis manipulator, a mounting plate, a clamping assembly for clamping the magnetic shoe and a pushing assembly for pushing the magnetic shoe to move; a double-channel vibration disc feeding device used for conveying magnetic shoes is arranged on the right side of the base frame. The front and rear sides of the right of the upper end of the base frame are symmetrically provided with material distribution detection mechanisms. Through the above mode, the device can realize one-by-one continuous feeding of magnetic shoes, and also can automatically reject highly unqualified magnetic shoes, thereby avoiding disordered feeding, reducing extra workload needing manual intervention, and improving the efficiency of magnetic shoe insertion; and through cooperation of the clamping assembly and the pushing assembly, the device can more rapidly and accurately position and clamp the magnetic shoe, and operation is easy.

Description

Technical Field

[0001] This utility model relates to the field of magnetic tile insertion technology, specifically to a robotic arm magnetic tile insertion device. Background Technology

[0002] Magnets are an important component of permanent magnet DC motors. The assembly quality and efficiency of magnets directly affect the performance and manufacturing cost of the motor.

[0003] Chinese patent CN214080100U discloses a rotor magnetic tile inserting machine, including a rotor feeding device, a rotor conveying device, a rotor rotation positioning device, a magnetic tile feeding device, a magnetic tile inserting device, and a unloading device mounted on a frame. This rotor magnetic tile inserting machine enables automatic magnetic tile insertion onto the rotor, significantly improving labor efficiency and product qualification rate compared to manual operation. However, the following problems still exist during the use of this device:

[0004] During the production of magnetic tiles, it is impossible to guarantee that each tile is the same height, which can lead to confusion when feeding the tiles. In this case, manual intervention is required to continue feeding, which affects production efficiency and is quite inconvenient.

[0005] Based on this, the present invention designs a robotic arm device for inserting magnetic tiles to solve the above problems. Utility Model Content

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a robotic arm device for inserting magnetic tiles.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A robotic arm magnetic tile insertion device includes a base frame, a dual-channel vibratory feeder, a dual-station clamping and transferring mechanism, and a material distribution and detection mechanism. Defective product placement boxes are fixedly mounted on the upper left and front and rear sides of the base frame via brackets. A dual-station clamping and transferring mechanism for clamping and controlling the movement of magnetic tiles is located in the middle of the upper end of the base frame. The dual-station clamping and transferring mechanism includes a four-axis robotic arm, a mounting plate, a clamping assembly for clamping the magnetic tiles, and a pushing assembly for pushing the magnetic tiles. The four-axis robotic arm is symmetrically fixedly mounted on the front and rear sides of the middle of the upper end of the base frame. A mounting plate is fixedly mounted on the movable end of the four-axis robotic arm. The clamping assembly and the pushing assembly are mounted on the mounting plate.

[0009] A dual-channel vibratory feeder for transporting magnetic tiles is installed on the right side of the base frame.

[0010] The upper right side of the base frame is symmetrically equipped with a material separation and detection mechanism for separating the magnetic tiles at the discharge end of the dual-channel vibratory feeder one by one and detecting their height.

[0011] Furthermore, the material sorting and detection mechanism includes a fixed frame, a rotating assembly for controlling the movement of the magnetic tiles, a photoelectric sensor, and a part height inspection device; the fixed frame is fixedly installed on the upper end of the base frame, and the rotating assembly is installed on the fixed frame; photoelectric sensors are fixedly installed on the front and rear right sides of the upper end of the fixed frame and on the front and rear left sides of the upper end of the fixed frame; the part height inspection device is installed on the right end of the fixed frame through a mounting bracket.

[0012] Furthermore, a conveying device for conveying iron core tooling is also provided at the upper middle part of the base frame.

[0013] Furthermore, the clamping assembly includes a clamping cylinder, a fixed clamping block, and a movable clamping block. The clamping cylinder is fixedly installed on the inner end of the mounting plate; the fixed clamping block is fixedly installed on the outer end of the clamping cylinder; and the output end of the clamping cylinder is fixedly connected to the movable clamping block.

[0014] Furthermore, a slot is provided at one end of the fixed clamping block and the movable clamping block that are close to each other;

[0015] Furthermore, the pushing assembly includes a pushing cylinder and a push rod; two pushing cylinders are fixedly mounted on the upper end of the mounting plate; and a push rod is fixedly mounted on the output end of the pushing cylinder.

[0016] Furthermore, the rotating assembly includes a rotating drive assembly for controlling the rotation of the rotating disk and the rotating disk; the rotating drive assembly is installed at the lower end of the fixed frame; the rotating disk is rotatably installed at the middle of the upper end of the fixed frame; the rotating disk is provided with multiple material troughs; and a material trough is also provided on the rear side of the upper end of the fixed frame; the rotating drive assembly is connected to the rotating disk.

[0017] Furthermore, the material troughs are evenly distributed in a circular array on the rotating disk.

[0018] Compared with the prior art, the advantages of this invention are as follows: By combining the rotating component, photoelectric sensor, and part height inspection device, the device can continuously feed magnetic tiles one by one, and automatically reject magnetic tiles with unqualified height, avoiding feeding chaos, reducing the extra workload required for manual intervention, and improving the efficiency of magnetic tile insertion; Furthermore, by combining the clamping component and the pushing component, the device can perform faster and more accurate positioning and clamping of magnetic tiles, simplifying operation and further enhancing the practicality of the device. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This utility model provides a three-dimensional mechanical arm device for inserting magnetic tiles. Figure 1 ;

[0021] Figure 2 This is a front view of a robotic arm device for inserting magnetic tiles according to this utility model;

[0022] Figure 3 This is a top view of a robotic arm device for inserting magnetic tiles according to this utility model;

[0023] Figure 4 This is a partial 3D view of the dual-station clamping and transferring mechanism;

[0024] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0025] Figure 6 This is a partial 3D view of the material distribution and testing mechanism;

[0026] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0027] Figure 8 for Figure 3 Enlarged view of point A in the middle.

[0028] The labels in the diagram represent:

[0029] 1. Base frame; 2. Dual-channel vibratory feeder; 3. Dual-station clamping and transferring mechanism; 31. Four-axis robot; 32. Mounting plate; 33. Clamping assembly; 331. Clamping cylinder; 332. Fixed clamping block; 333. Movable clamping block; 34. Pushing assembly; 341. Pushing cylinder; 342. Push rod; 4. Iron core fixture; 5. Conveying device; 6. Material sorting and detection mechanism; 61. Rotary motor; 62. Fixed frame; 63. Rotary disk; 64. Photoelectric sensor; 65. Material trough; 66. Part height inspection device; 7. Defective product placement box. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0031] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0032] In some embodiments, please refer to the accompanying drawings. Figures 1-8 A robotic arm for inserting magnetic tiles includes a base frame 1, a dual-channel vibratory feeder 2, a dual-station clamping and transferring mechanism 3, an iron core fixture 4, a conveying device 5, a material sorting and detection mechanism 6, and a defective product placement box 7. The defective product placement box 7 is fixedly installed on the upper left side and the front and rear sides of the upper end of the base frame 1 by brackets; the upper middle part of the base frame 1 has a dual-station clamping and transferring mechanism 3 for clamping magnetic tiles and controlling the movement of magnetic tiles.

[0033] The dual-station clamping and transferring mechanism 3 includes a four-axis robot 31, a mounting plate 32, a clamping assembly 33 for clamping the magnetic tiles, and a pushing assembly 34 for pushing the magnetic tiles to move. The four-axis robot 31 is symmetrically fixedly installed on the front and rear sides of the upper middle part of the base frame 1. The movable end of the four-axis robot 31 is fixedly installed with the mounting plate 32. The clamping assembly 33 and the pushing assembly 34 are installed on the mounting plate 32.

[0034] A conveying device 5 for conveying the iron core tooling 4 is also provided at the upper middle part of the base frame 1;

[0035] The conveying device 5 can be a double-speed chain conveyor;

[0036] A dual-channel vibratory feeder 2 for transporting magnetic tiles is provided on the right side of the base frame 1;

[0037] The upper right side of the base frame 1 is symmetrically equipped with a material separation and detection mechanism 6, which is used to separate the magnetic tiles at the discharge end of the dual-channel vibratory feeder 2 one by one and detect their height.

[0038] The material distribution and detection mechanism 6 includes a fixed frame 62, a rotating assembly for controlling the movement of the magnetic tiles, a photoelectric sensor 64, and a part height inspection device 66. The fixed frame 62 is fixedly installed on the upper end of the base frame 1, and the rotating assembly is installed on the fixed frame 62. Photoelectric sensors 64 are fixedly installed on the front and rear right sides of the upper end of the fixed frame 62 and on the front and rear left sides of the upper end of the fixed frame 62. The part height inspection device 66 is installed on the right end of the fixed frame 62 through a mounting bracket.

[0039] The part height inspection device 66 uses a KEYENCE GH-H10 general-purpose digital contact sensor to detect the part height.

[0040] The upper right side of the fixed frame 62 is set as the feeding station; the upper front side of the fixed frame 62 is set as the height detection station; and the upper left side of the fixed frame 62 is set as the discharging station.

[0041] In this utility model, the dual-channel vibratory feeder 2 drives the magnetic tile to move to the feeding station, and at this time the photoelectric sensor 64 at the feeding station works to determine whether the magnetic tile has moved to the feeding station.

[0042] If the magnetic tile is detected to have moved to the loading station, the rotating assembly will operate to rotate the magnetic tile from the loading station to the height detection station; then the part height inspection device 66 will operate to detect the height of the magnetic tile at the height detection station; then the rotating assembly will operate again to rotate the magnetic tile that has completed the height detection to the unloading station; at this time, the photoelectric sensor 64 at the unloading station will operate to determine whether the magnetic tile has moved to the unloading station; if the magnetic tile is detected to have moved to the unloading station, the four-axis robot 31 will drive the clamping assembly 33 and the pushing assembly 34 to move to the unloading station; then the clamping assembly 33 will operate to clamp and fix the magnetic tile at the unloading station;

[0043] If the height of the magnetic tile is qualified, the four-axis robot 31 will move the magnetic tile to the position of the iron core fixture 4. At this time, the magnetic tile is aligned with the slot on the iron core fixture 4. Then the clamping component 33 releases the clamping lock on the magnetic tile, and the pushing component 34 works to push the magnetic tile downward and push the magnetic tile into the slot on the iron core fixture 4, completing the insertion of the magnetic tile and the iron core.

[0044] If the height of the magnetic tile fails the test, the four-axis robot 31 will move the magnetic tile to the location of the defective product placement box 7. Then the clamping component 33 will release the clamping lock on the magnetic tile, and the defective magnetic tile will fall into the defective product placement box 7.

[0045] By cooperating with the rotating assembly, photoelectric sensor 64, and part height inspection device 66, the device can continuously feed magnetic tiles one by one and automatically reject magnetic tiles with unqualified heights, avoiding feeding chaos, reducing the extra workload required for manual intervention, and improving the efficiency of magnetic tile insertion. Furthermore, by cooperating with the clamping assembly 33 and the pushing assembly 34, the device can perform faster and more accurate positioning and clamping of magnetic tiles, which is simple to operate and further enhances the practicality of the device.

[0046] like Figures 1-8 As shown, the clamping assembly 33 includes a clamping cylinder 331, a fixed clamping block 332, and a movable clamping block 333. The clamping cylinder 331 is fixedly installed on the inner end of the mounting plate 32; the fixed clamping block 332 is fixedly installed on the outer end of the clamping cylinder 331; the output end of the clamping cylinder 331 is fixedly connected to the movable clamping block 333; a slot is provided at one end of the fixed clamping block 332 and the movable clamping block 333 that are close to each other.

[0047] like Figures 1-8As shown, the pushing assembly 34 includes a pushing cylinder 341 and a push rod 342; two pushing cylinders 341 are fixedly installed on the upper end of the mounting plate 32; and the push rod 342 is fixedly installed on the output end of the pushing cylinder 341.

[0048] like Figures 1-8 As shown, the rotating assembly includes a rotating drive assembly for controlling the rotation of the rotating disk 63 and the rotating disk 63; the rotating drive assembly is installed at the lower end of the fixed frame 62; the rotating disk 63 is rotatably installed at the middle of the upper end of the fixed frame 62; the rotating disk 63 is provided with a plurality of material troughs 65; and a material trough 65 is also provided on the rear side of the upper end of the fixed frame 62; the rotating drive assembly is connected to the rotating disk 63.

[0049] The rotation drive assembly uses a rotation motor 61, which is fixedly installed at the lower end of the fixed frame 62, and the output end of the rotation motor 61 is fixedly connected to the rotating disk 63.

[0050] In this utility model, the dual-channel vibratory feeder 2 drives the magnetic tile to move through the material trough 65 set on the rear side of the upper end of the fixed frame 62 and move to the rotating disk 63 into the material trough 65 at the feeding station. At this time, the photoelectric sensor 64 at the feeding station works to determine whether the magnetic tile has moved to the feeding station.

[0051] If the magnetic tile is detected to have moved to the loading station, the rotary motor 61 drives the rotating disk 63 to rotate, moving the magnetic tile from the loading station to the height detection station. Then, the part height inspection device 66 operates to detect the height of the magnetic tile at the height detection station. Then, the rotary motor 61 operates again to drive the magnetic tile that has completed the height detection to the unloading station. At this time, the photoelectric sensor 64 at the unloading station operates to determine whether the magnetic tile has moved to the unloading station. If the magnetic tile is detected to have moved to the unloading station, the four-axis robot 31 will move the mounting plate 32 to the unloading station. At this time, the magnetic tile at the unloading station is located between the fixed clamping block 332 and the movable clamping block 333. Then, the clamping cylinder 331 operates to drive the movable clamping block 333 to move towards the fixed clamping block 332, so that the outer end of the magnetic tile is close to the fixed clamping block 332 and the movable clamping block 333, completing the positioning, clamping and fixing of the magnetic tile.

[0052] If the height of the magnetic tile is qualified, the four-axis robot 31 will move the magnetic tile to the position of the iron core fixture 4. At this time, the magnetic tile will be aligned with the slot on the iron core fixture 4. Then, the clamping cylinder 331 will work to release the clamping lock on the magnetic tile, and the pushing cylinder 341 will work to push the push rod 342 downward. The push rod 342 moves downward and contacts the magnetic tile, and drives the magnetic tile to move downward together and push the magnetic tile into the slot on the iron core fixture 4, completing the insertion of the magnetic tile and the iron core.

[0053] If the height of the magnetic tile fails the test, the four-axis robot 31 will move the magnetic tile to the location of the defective product placement box 7. Then, the clamping cylinder 331 will work to release the clamping lock on the magnetic tile, and the defective magnetic tile will fall into the defective product placement box 7.

[0054] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A mechanical hand magnetic tile inserting device comprising a base frame (1), characterized in that: It also includes a dual-channel vibratory feeder (2), a dual-station clamping and transferring mechanism (3), and a material distribution and detection mechanism (6). The upper left side and front and rear sides of the base frame (1) are fixedly installed with a defective product placement box (7) by a bracket. The upper middle part of the base frame (1) has a dual-station clamping and transferring mechanism (3) for clamping magnetic tiles and controlling the movement of magnetic tiles. The dual-station clamping and transferring mechanism (3) includes a four-axis manipulator (31), a mounting plate (32), a clamping component (33) for clamping magnetic tiles, and a pushing component (34) for pushing magnetic tiles. The four-axis manipulator (31) is symmetrically fixedly installed on the upper middle part of the base frame (1) on both the front and rear sides. The movable end of the four-axis manipulator (31) is fixedly installed with a mounting plate (32). The clamping component (33) and the pushing component (34) are installed on the mounting plate (32). A dual-channel vibratory feeder (2) for transporting magnetic tiles is provided on the right side of the base frame (1); The upper right side of the base frame (1) is symmetrically equipped with a material separation and detection mechanism (6) for separating the magnetic tiles at the discharge end of the dual-channel vibratory feeder (2) one by one and detecting their height.

2. The mechanical hand magnetic tile inserting device according to claim 1, characterized in that, The material distribution and detection mechanism (6) includes a fixed frame (62), a rotating component for controlling the movement of the magnetic tile, a photoelectric sensor (64), and a part height inspection device (66); the fixed frame (62) is fixedly installed on the upper end of the base frame (1), and the rotating component is installed on the fixed frame (62); photoelectric sensors (64) are fixedly installed on the front and rear right sides of the upper end of the fixed frame (62) and the front and rear left sides of the upper end of the fixed frame (62); the part height inspection device (66) is installed on the right end of the fixed frame (62) through a mounting bracket.

3. The mechanical hand magnetic tile inserting device according to claim 2, characterized in that, The upper middle part of the base frame (1) is also provided with a conveying device (5) for conveying the iron core tooling (4).

4. The mechanical hand magnetic tile inserting device according to claim 3, characterized in that, The clamping assembly (33) includes a clamping cylinder (331), a fixed clamping block (332), and a movable clamping block (333). The clamping cylinder (331) is fixedly installed on the inner end of the mounting plate (32); the fixed clamping block (332) is fixedly installed on the outer end of the clamping cylinder (331); and the output end of the clamping cylinder (331) is fixedly connected to the movable clamping block (333).

5. The mechanical hand magnetic tile inserting device according to claim 4, characterized in that, A slot is provided at one end of the fixed clamping block (332) and the movable clamping block (333) that are close to each other.

6. The mechanical hand magnetic tile inserting device according to claim 4, characterized in that, The feeding assembly (34) includes a feeding cylinder (341) and a push rod (342); the two feeding cylinders (341) are fixedly installed on the upper end of the mounting plate (32); and the output end of the feeding cylinder (341) is fixedly installed with the push rod (342).

7. The robotic arm magnetic tile insertion device according to claim 6, characterized in that, The rotating assembly includes a rotating drive assembly for controlling the rotation of the rotating disk (63) and the rotating disk (63); the rotating drive assembly is installed at the lower end of the fixed frame (62); the rotating disk (63) is rotatably installed at the middle of the upper end of the fixed frame (62); multiple material troughs (65) are provided on the rotating disk (63); and a material trough (65) is also provided on the rear side of the upper end of the fixed frame (62); the rotating drive assembly is connected to the rotating disk (63).

8. The mechanical hand magnetic tile inserting device according to claim 7, characterized in that, The feed troughs (65) are evenly distributed in a circular array on the rotating disk (63).

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