A magnet puller device for a loudspeaker assembly machine

Abstract

This utility model relates to the field of loudspeaker assembly technology, and in particular discloses a magnetic gauge removal device for a loudspeaker assembly machine. The device includes a frame, a robot unit mounted on the frame, a disc base and a gripper assembly located at the output end of the robot unit. The disc base has a retractable positioning ring with a material-taking through-hole for the gripper assembly to pass through. The diameter of the material-taking through-hole is larger than the open outer diameter of the gripper assembly. The robot unit drives the gripper assembly to work in conjunction with the retractable positioning ring to achieve stable gripping and separation of the magnetic gauge. The structural design of the disc base and the material-taking through-hole ensures no interference between the grippers in their maximum open state. The retractable characteristics of the positioning ring can adapt to magnetic gauges of different specifications, significantly improving removal accuracy and assembly efficiency, reducing the risk of component damage caused by manual operation, and featuring a compact and highly compatible overall structure suitable for the high-precision automated assembly requirements of loudspeaker production lines.

Description

Technical Field

[0001] This utility model relates to the field of loudspeaker assembly technology, and in particular discloses a magnetic gauge removal device for a loudspeaker assembly machine. Background Technology

[0002] In current speaker assembly, traditional magnetic gauge positioning devices rely heavily on fixed structures, making them inflexible for different speaker sizes and prone to clamping deviations that can damage components. Gripper assemblies often use radial drives, resulting in low precision in opening and closing amplitude control and requiring manual intervention for resetting, leading to low automation. The drive mechanism suffers from large transmission gaps, high energy loss, and difficulty in controlling clamping force, easily causing workpiece damage or loss. The gripper fingers have rigid connections, causing opening and closing jams, poor transmission efficiency, and rapid component wear. The resetting component has a complex structure, high maintenance costs, and lacks cushioning, making it prone to collisions. The positioning ring is prone to displacement, and the guide rod experiences high friction and a short lifespan. The fixed position of the vision component and uneven lighting lead to blurry images, affecting detection accuracy. The conveyor line lacks effective limit switches, making workpieces prone to falling. Furthermore, many components are controlled independently without closed-loop coordination, requiring significant manual intervention, resulting in low efficiency, large errors, and difficulty in ensuring assembly quality. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a magnetic gauge device for a loudspeaker assembly machine.

[0004] To achieve the above objectives, this utility model provides a magnet removal device for a loudspeaker assembly machine, comprising a frame, a robot unit mounted on the frame, a disc base and a gripper assembly located at the output end of the robot unit. The disc base has a retractable positioning ring, which has a material-picking through hole for the gripper assembly to pass through. The diameter of the material-picking through hole is larger than the opening outer diameter of the gripper assembly. The positioning ring can be axially moved to a first position and a second position. In the first position, the positioning ring extends out of the disc base and contacts and positions itself against the outer periphery of the loudspeaker. In the second position, the positioning ring retracts into the disc base to avoid the gripping path of the gripper assembly.

[0005] This structure achieves dual functions through a retractable positioning ring. In its first position, it contacts and positions itself against the outer periphery of the speaker, accurately determining the speaker's location and preventing damage to components or assembly errors due to positional deviations during gripping. This significantly improves positioning accuracy and lays a stable foundation for subsequent gripping operations. In the second position, the positioning ring retracts to avoid obstructing the gripping path of the claw assembly, effectively preventing interference between the positioning ring and the claw assembly during gripping. This ensures smooth gripping action, reduces the probability of equipment failure, and ensures that the diameter of the material-picking through hole is larger than the maximum opening outer diameter of the claw assembly. This further guarantees that the claw assembly can smoothly pass through to complete the material picking, thus improving the overall stability and efficiency of the device operation.

[0006] Furthermore, the gripper assembly includes a fixed base, gripper fingers, a central drive mechanism, and a reset mechanism. The fixed base is connected to the disc base, and the gripper fingers are closably mounted on the fixed base. The opening and closing of the gripper fingers is controlled by the axial movement of the central drive mechanism. The reset mechanism is used to close the gripper fingers when the central drive mechanism is reset.

[0007] The coordinated operation of all components in the gripper assembly offers significant advantages. The connection between the fixed base and the disc base ensures a stable overall installation of the gripper assembly, preventing loosening during operation and ensuring effective gripping. The openable / closable design of the gripper fingers, combined with the axial motion control of the central drive mechanism, allows for more precise control of the gripper finger opening and closing compared to traditional radial drive methods. This adapts to the gripping needs of speakers of different sizes, enhancing the device's versatility. The reset mechanism closes the gripper fingers during the central drive mechanism's reset, eliminating the need for additional manual operation or complex control programs. This automatic reset simplifies the operation process, reduces human intervention, and ensures that the gripper fingers accurately return to their initial state after each gripping action, preparing for the next gripping attempt and improving the device's automation level and work efficiency.

[0008] Furthermore, the central drive mechanism includes a conical drive block and a driven block. A guide groove is provided between the fixed seat and the gripper fingers. The conical drive block is connected to the output end of the robot unit. The driven block is slidably disposed in the guide groove. The axial movement of the conical drive block drives the driven block to move radially.

[0009] The central drive mechanism employs a structure where a conical drive block and a driven block work together, offering unique advantages. The conical drive block connects to the robot unit's output, directly receiving precise control signals from the robot unit to ensure timely and high-precision drive action response. The guide groove provides a stable sliding path for the driven block, preventing offset during radial movement and ensuring transmission stability. By converting the axial movement of the conical drive block into radial movement of the driven block, linear motion is cleverly transformed, resulting in a simple and efficient transmission method that reduces energy loss. Furthermore, this structure has a small transmission gap, allowing precise control of the driven block's movement distance, which in turn precisely controls the opening and closing of the gripper fingers. This ensures appropriate gripping force on the speaker, preventing both excessively loose gripping that could cause the speaker to fall and excessively tight gripping that could damage the speaker, thus improving gripping reliability.

[0010] Furthermore, the gripper fingers are hinged to the fixed base, the radial inner side of the driven block is provided with a wedge-shaped inclined surface that cooperates with the outer conical surface of the conical drive block, and the radial outer side of the driven block is provided with a driving surface for abutting against the groove wall of the guide groove, thereby driving the gripper fingers to open.

[0011] The gripper fingers are hinged to the fixed base, making their opening and closing movements more flexible and smoother, reducing mechanical jamming and extending their service life. The radially inner wedge-shaped inclined surface of the driven block mates with the outer conical surface of the conical drive block, ensuring a high degree of fit and even force distribution during transmission. This effectively disperses pressure, prevents severe localized wear, and improves component durability. Simultaneously, the inclined surface ensures smooth transmission, preventing impacts during drive and guaranteeing smooth opening and closing of the gripper fingers. The radially outer drive surface of the driven block abuts against the guide groove wall, driving the gripper fingers to open. This direct and efficient transmission method minimizes force transmission loss, ensuring the gripper fingers receive sufficient driving force for smooth opening. The large contact area between the drive surface and the groove wall prevents excessive localized stress from damaging components. The overall structural design is reasonable, further enhancing the operational stability and reliability of the gripper assembly.

[0012] Furthermore, the reset mechanism is a reset spring disposed between the gripper finger and the fixed seat, and the reset spring applies a preload force in the closing direction to the gripper finger.

[0013] The reset mechanism uses a reset spring, which is simple in structure, low in cost, easy to install and maintain, reducing the overall manufacturing cost and the difficulty of later maintenance. The reset spring applies a preload force to the gripper fingers in the closing direction, ensuring that the gripper fingers close quickly and accurately when the central drive mechanism resets, without the need for an additional power source, thus saving energy consumption. The presence of preload force makes the gripper fingers more stable in the closed state, preventing the gripper fingers from opening arbitrarily due to external forces when not in operation, ensuring the safety of the equipment when stored and idle. At the same time, the reset spring has good elastic deformation capability, can adapt to multiple opening and closing actions of the gripper fingers, has a long service life, and can also play a buffering role during the closing process of the gripper fingers, preventing the gripper fingers from closing too quickly and violently colliding with other components, protecting the gripper fingers and the fixing seat, reducing the probability of component damage, and improving the overall durability of the device.

[0014] Furthermore, a plurality of circumferentially distributed guide rods are provided between the disc base and the positioning ring. One end of each guide rod is fixedly connected to the positioning ring, and the other end slides through the disc base. A linear bearing is provided between the guide rod and the disc base.

[0015] Multiple circumferentially distributed guide rods connect the disc base and the positioning ring, ensuring that the positioning ring maintains coaxiality with the disc base throughout axial movement. This prevents the positioning ring from tilting or shifting, guaranteeing the accuracy of the positioning ring's contact with the speaker's outer periphery in the first position and improving the device's positioning accuracy. The guide rods slide through the disc base, providing stable guidance for the axial movement of the positioning ring, ensuring smooth extension and retraction and reducing jamming. A linear bearing is installed between the guide rods and the disc base, significantly reducing sliding friction resistance, minimizing component wear, and extending the service life of the guide rods and disc base. It also makes the positioning ring's movement more flexible and stable, improving the response speed of its extension and retraction, ensuring rapid position switching when positioning or avoidance is required, further enhancing the device's working efficiency and operational stability.

[0016] Furthermore, the free end of the guide rod is provided with a connecting ring to synchronously link each guide rod, and each guide rod between the disc seat and the positioning ring is fitted with a compression spring.

[0017] The connecting ring at the free end of the guide rod enables synchronous linkage of all guide rods, ensuring consistent movement when multiple guide rods move the positioning ring. This prevents the positioning ring from tilting due to differences in the movement speed or distance of individual guide rods, ensuring the positioning ring remains horizontal and improving the stability and accuracy of its extension and retraction. It also ensures uniform contact with the speaker's outer periphery in the first position, resulting in better positioning. A compression spring is fitted on the guide rod between the disc base and the positioning ring. When the positioning ring extends, the compression spring is compressed, storing elastic potential energy. When the positioning ring needs to retract, the compression spring releases this elastic potential energy to assist in rapid retraction, accelerating the positioning ring's position switching speed and improving the device's working efficiency. Simultaneously, the compression spring acts as a buffer, preventing violent collisions between the positioning ring and the disc base during extension or retraction, protecting both the positioning ring and the disc base, reducing component damage, and extending the device's service life.

[0018] Furthermore, a vision component is provided on the frame. The vision component has a linear motor module mounted on the frame and a support arm that reciprocates on the linear motor module. The camera and the light-collecting plate are both mounted on the support arm, with the camera located above the light-collecting plate.

[0019] The vision component adds visual inspection capabilities to the device. The linear motor module drives the support arm in reciprocating motion, which in turn moves the camera and light-collecting plate, expanding the visual inspection range and enabling the inspection of speakers in different locations. This enhances the device's inspection flexibility and comprehensiveness. The support arm provides a stable mounting platform for the camera and light-collecting plate, ensuring their relatively fixed positions and preventing component movement from affecting inspection accuracy. The camera is positioned above the light-collecting plate, which provides ample and uniform light for image capture, reducing external light interference and resulting in clearer images. This facilitates accurate identification of speaker positions and appearances, providing precise references for the robot unit and gripper assembly movements. Inaccurate information leads to gripping or assembly errors, improving the device's intelligence and assembly accuracy, and reducing the production of defective products.

[0020] Furthermore, the light-concentrating plate is provided with a shooting hole for use with a camera, and the shooting hole has a circular opening structure.

[0021] The circular aperture on the light-concentrating plate, when used in conjunction with a camera, offers significant advantages. The circular aperture structure allows for precise alignment with the camera lens, ensuring the camera's focus is concentrated on the area of ​​the speaker to be inspected. This avoids capturing irrelevant areas that could interfere with the inspection results, improving the targeting and accuracy of image inspection. The circular aperture also allows light to be more concentrated on the speaker inspection area, further enhancing the light intensity in that area. This results in clearer image details, making it easier to identify subtle structural or aesthetic defects in the speaker, thus improving the precision and reliability of visual inspection. Simultaneously, the circular structure, without sharp edges, is easier to form during manufacturing and avoids stress concentration, enhancing the structural stability and durability of the light-concentrating plate itself. This ensures the light-concentrating plate can stably perform its auxiliary imaging function over a long period, providing continuous and reliable support for visual inspection.

[0022] Furthermore, the magnetic gauge removal device of the loudspeaker assembly machine also includes a conveyor line for transporting the loudspeaker body, a gripper assembly for picking up and placing the loudspeaker body transported by the conveyor line, and the conveyor line having a conveyor frame, a conveyor belt rotating on the conveyor frame, and a conveyor motor driving the conveyor belt to rotate. The upper surface of the conveyor belt is lower than the upper end surface of the conveyor frame. The electrical signals of the conveyor line, robot unit, and vision component are all connected to the frame via a bus protocol to form a closed-loop control system.

[0023] The conveyor line enables the automatic transport of the speaker units. The conveyor frame provides stable support for the conveyor belt and motor, ensuring stable operation of the entire conveyor line. The upper surface of the conveyor belt is lower than the upper surface of the conveyor frame, which limits the speaker and prevents it from falling off the sides of the frame during transport, ensuring safety and stability. It also facilitates precise positioning and gripping of the speaker by the robot unit. The conveyor line, robot unit, and vision component communicate with the frame via a bus protocol, forming a closed-loop control system. Electrical signals are transmitted between components in real time, enabling information sharing and collaborative work. After detecting the speaker's position and status, the vision component promptly transmits this information to the frame. The frame then controls the robot unit and gripper assembly to adjust their movements based on this information. Simultaneously, the conveyor line adjusts its speed and starts / stops according to the frame's instructions, forming a highly efficient automated closed-loop control system. This reduces manual intervention, improves the overall automation level and efficiency of the equipment, ensures smooth transitions between stages, reduces production errors, and improves the quality and consistency of speaker assembly.

[0024] The beneficial effects of this utility model are:

[0025] The retractable positioning ring precisely fits the outer circumference of the speaker at the first position to avoid gripping deviation, and retracts at the second position to avoid obstructing the gripper path and ensure smooth gripping. The gripper assembly uses axial drive to control the opening and closing of the gripper fingers, adapting to speakers of different sizes. Combined with a reset mechanism, it achieves automatic reset, significantly improving the level of automation. The central drive mechanism, through the cooperation of a conical block and a driven block, provides precise transmission and low energy loss, stably controlling the gripping force and preventing damage to the workpiece. The hinged design of the gripper fingers allows for flexible opening and closing, and the inclined surface of the driven block cooperates with the drive surface, resulting in high transmission efficiency and minimal component wear.

[0026] The return spring is low-cost and easy to maintain, not only helping the gripper to quickly return to its original position but also buffering the impact of closing. The guide rod and linear bearing work together to ensure the coaxial movement of the positioning ring, reducing friction and extending component life. The connecting ring moves synchronously with the guide rod, and the compression spring accelerates position switching and also prevents collisions. The vision component can move with the linear motor module, and the focusing plate provides uniform illumination, clear images, and facilitates precise operation. The circular imaging hole of the focusing plate provides precise light focusing, is easy to manufacture, and has a stable structure. The conveyor line automatically transports the speaker, with the upper surface of the conveyor serving as a limit. The closed-loop system allows all components to coordinate in real time, reducing manual intervention, improving efficiency, reducing errors, and ensuring assembly quality. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the magnet puller device for a loudspeaker assembly machine according to this utility model. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0029] Figure 3 for Figure 1 A schematic diagram of the structure of A in the middle.

[0030] The reference numerals in the attached drawings include: 1. Frame; 2. Robot unit; 3. Gripper assembly; 4. Disc base; 5. Positioning ring; 6. Fixed base; 7. Gripper finger; 8. Follower block; 9. Guide groove; 11. Drive surface; 12. Guide rod; 13. Linear bearing; 14. Connecting ring; 15. Compression spring; 16. Vision component; 17. Linear motor module; 18. Support arm; 19. Camera; 21. Focusing plate; 22. Imaging hole; 23. Conveyor line; 24. Conveyor frame; 25. Conveyor belt; 26. Conveyor motor. Detailed Implementation

[0031] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0032] Please see Figures 1 to 3 As shown, the present invention discloses a magnet removal device for a loudspeaker assembly machine, comprising a frame 1, a robot unit 2 mounted on the frame 1, a disc base 4 and a gripper assembly 3 mounted at the output end of the robot unit 2, the disc base 4 having a retractable positioning ring 5, the positioning ring 5 having a material-picking through hole for the gripper assembly 3 to pass through, the diameter of the material-picking through hole being larger than the opening outer diameter of the gripper assembly 3. The positioning ring 5 can be axially moved to a first position and a second position; in the first position, the positioning ring 5 extends out of the disc base 4 and contacts and positions itself against the outer periphery of the loudspeaker; in the second position, the positioning ring 5 retracts into the disc base 4 to avoid the gripping path of the gripper assembly 3.

[0033] In actual operation, the frame 1 provides the installation support and control foundation for the entire device. The robot unit 2 receives the motion commands issued by the frame 1, driving the gripper assembly 3 at the output end to move to the speaker gripping position. When the gripper assembly 3 approaches the speaker, the positioning ring 5 first moves axially to the first position, that is, extends out of the disc seat 4. At this time, the inner ring of the positioning ring 5 is in close contact with the outer circumference of the speaker. The precise positioning of the speaker is achieved by the contact between the two, ensuring accurate gripping position in the subsequent process. Since the diameter of the material picking through hole is larger than the opening outer diameter of the gripper assembly 3, when the positioning ring 5 extends for positioning, the gripper assembly 3 can be completely inside the material picking through hole without affecting the positioning operation.

[0034] After positioning is completed, the positioning ring 5 moves axially to the second position, that is, retracts into the disc seat 4. At this time, the positioning ring 5 no longer blocks the movement path of the gripper assembly 3. The robot unit 2 continues to drive the gripper assembly 3 through the material picking through hole until the gripper assembly 3 reaches the speaker gripping position. Then the gripper assembly 3 performs the gripping action. The whole process achieves orderly connection between positioning and gripping through the extension and retraction switching of the positioning ring 5, avoiding interference between the two.

[0035] Specifically, the gripper assembly 3 includes a fixed base 6, gripper fingers 7, a central drive mechanism, and a reset mechanism. The fixed base 6 is connected to the disc base 4. The gripper fingers 7 are closable on the fixed base 6. The opening and closing of the gripper fingers 7 is controlled by the axial movement of the central drive mechanism. The reset mechanism is used to close the gripper fingers 7 when the central drive mechanism is reset.

[0036] The fixed base 6 is securely connected to the disc base 4 via bolts or other connecting parts, ensuring that the gripper assembly 3 moves synchronously with the disc base 4 and preventing relative displacement during operation. The gripper fingers 7 are detachably mounted on the fixed base 6 via pins or other structures. In the non-working state, the reset mechanism is in a pre-tightened state, keeping the gripper fingers 7 closed. When it is necessary to grip a speaker, the central drive mechanism moves axially under the control of the robot unit 2 or the frame 1. This axial movement is converted into a force that drives the gripper fingers 7 to open, pushing the gripper fingers 7 to rotate around the hinge point, thus realizing the opening action of the gripper fingers 7 until the opening range of the gripper fingers 7 is adapted to the size of the speaker.

[0037] Once the gripper finger 7 engages the speaker, the central drive mechanism stops axial driving and begins to reset. At this time, the reset mechanism releases the preload, generating a force that pulls the gripper finger 7 closed, causing it to rotate in the opposite direction around the hinge point, thus clamping the speaker. If it is necessary to release the speaker, the central drive mechanism again moves axially to open the gripper finger 7. After unloading, the central drive mechanism resets, and the reset mechanism again drives the gripper finger 7 to close, preparing for the next gripping operation. Through the coordination of the central drive mechanism and the reset mechanism, precise control of the opening and closing of the gripper finger 7 is achieved.

[0038] Specifically, the central drive mechanism includes a conical drive block and a driven block 8. A guide groove 9 is provided between the fixed seat 6 and the gripper finger 7. The conical drive block is connected to the output end of the robot unit 2. The driven block 8 is slidably disposed in the guide groove 9. The driven block 8 is driven to move radially by the axial movement of the conical drive block.

[0039] The upper end of the conical drive block is fixedly connected to the output end of robot unit 2 via a flange or threaded structure, and can move axially up and down together with the output end of robot unit 2. A guide groove 9 is formed between the fixed seat 6 and the gripper fingers 7, with the groove direction being radial. The driven block 8 is adapted to the guide groove 9 and can slide freely radially within the guide groove 9. The driven block 8 and the gripper fingers 7 are connected by a transmission mechanism. When it is necessary to drive the gripper fingers 7 to open, the control output end of robot unit 2 drives the conical drive block to move axially downwards. The outer conical surface of the conical drive block gradually contacts the inner side of the driven block 8, generating a radial thrust on the driven block 8.

[0040] Because the guide groove 9 restricts the movement direction of the driven block 8, the driven block 8 moves radially outward along the guide groove 9 under the thrust of the conical drive block, thereby pushing the gripper fingers 7 to open. When the gripper fingers 7 need to close, the control output of the robot unit 2 drives the conical drive block to move upward axially to reset. The radial thrust of the conical drive block on the driven block 8 gradually decreases until it disappears. At this time, under the action of the reset mechanism, the gripper fingers 7 drive the driven block 8 to move radially inward along the guide groove 9, realizing the reset of the driven block 8 and preparing for the next drive. The opening and closing drive of the gripper fingers 7 is completed by the conversion between the axial movement of the conical drive block and the radial movement of the driven block 8.

[0041] Specifically, the gripper finger 7 is hinged to the fixed base 6, the radial inner side of the driven block 8 is provided with a wedge-shaped inclined surface that cooperates with the outer conical surface of the conical drive block, and the radial outer side of the driven block is provided with a driving surface 11 for abutting against the groove wall of the guide groove 9 to drive the gripper finger 7 to open.

[0042] The middle part of the gripper finger 7 is connected to the fixed base 6 via a hinge shaft, forming a lever structure that can rotate around the hinge shaft. The hinge point divides the gripper finger 7 into a lower end for gripping and an upper end for transmission. The wedge-shaped inclined surface on the radially inner side of the driven block 8 is precision machined, and its inclination angle perfectly matches the outer conical surface angle of the conical drive block, ensuring smooth force transmission when the two are in contact. When the conical drive block moves axially downward, its outer conical surface fits tightly against the wedge-shaped inclined surface of the driven block 8. As the conical drive block continues to move downward, the wedge-shaped inclined surface efficiently converts the axial force of the conical drive block into the radial force of the driven block 8.

[0043] Under the action of radial force, the driven block 8 slides outward along the guide groove 9. At this time, the driving surface 11 on the radially outer side of the driven block 8 contacts the groove wall of the guide groove 9. Since the groove wall of the guide groove 9 is fixed, the driving surface 11 is subjected to the reaction force of the groove wall. This reaction force is transmitted to the upper end of the gripper finger 7 through the driven block 8. The gripper finger 7 takes the upper end as the force point and rotates around the hinge axis, and its lower end opens accordingly. When the conical drive block returns to its original position, the force between the wedge-shaped inclined surfaces disappears, the reset mechanism pulls the lower end of the gripper finger 7 to close, and the upper end of the gripper finger 7 rotates in the opposite direction, pushing the driven block 8 to slide inward along the guide groove 9, so that the driven block 8 and the conical drive block return to their initial position relationship, completing one drive cycle.

[0044] Specifically, the reset mechanism is a reset spring disposed between the gripper finger 7 and the fixed base 6, and the reset spring applies a preload force in the closing direction to the gripper finger 7.

[0045] The return spring adopts a tension spring structure. One end is fixed to the upper part of the gripper finger 7 by a hook or spring seat, and the other end is fixed to the corresponding connection point of the fixed base 6. After the device is assembled, the return spring is always in a slightly stretched state, thereby continuously applying a preload force along the closing direction to the gripper finger 7. When the gripper finger 7 is not driven, this preload force keeps the gripper finger 7 in a closed state, ensuring that the gripper finger 7 will not open arbitrarily when not in operation. When the central drive mechanism drives the gripper finger 7 to open, the gripper finger 7 rotates around the hinge axis, and its upper end moves away from the fixed base 6, causing the return spring to be further stretched, increasing the preload force. At this time, the return spring stores elastic potential energy.

[0046] When the central drive mechanism completes its drive and begins to reset, the opening force on the gripper fingers 7 gradually disappears. The reset spring releases its stored elastic potential energy, and the preload pulls the upper end of the gripper fingers 7 towards the fixed seat 6, causing the gripper fingers 7 to rotate in the opposite direction around the hinge axis, closing the lower end of the gripper fingers 7 and achieving automatic reset. Even if slight vibrations occur during device operation, the preload of the reset spring can ensure the stability of the closed state of the gripper fingers 7, preventing loosening when gripping the workpiece. At the same time, the elastic deformation of the spring can buffer the impact force when the gripper fingers 7 close, protecting the connection structure between the gripper fingers 7 and the fixed seat 6.

[0047] Specifically, a plurality of circumferentially distributed guide rods 12 are provided between the disc base 4 and the positioning ring 5. One end of each guide rod 12 is fixedly connected to the positioning ring 5, and the other end slides through the disc base 4. A linear bearing 13 is provided between the guide rod 12 and the disc base 4.

[0048] Three to four guide rods 12 are typically provided, evenly distributed along the circumference of the disc seat 4 to ensure uniform support and guidance for the positioning ring 5. The lower end of the guide rod 12 is fixed to the upper end face of the positioning ring 5 by welding or threaded connection, while the upper end passes through a through hole in the disc seat 4, allowing axial sliding relative to the disc seat 4. The linear bearing 13 adopts a ball bearing structure and is interference-fitted into the through hole of the disc seat 4. The guide rod 12 passes through the inner hole of the linear bearing 13 and contacts the balls of the linear bearing 13.

[0049] When the positioning ring 5 needs to move axially, such as extending from the second position to the first position, an external driving force (such as cylinder or spring force) acts on the positioning ring 5. The positioning ring 5 drives the guide rod 12 to move axially downward along the inner hole of the linear bearing 13. Since the balls of the linear bearing 13 convert the sliding friction between the guide rod 12 and the disc seat 4 into rolling friction, the frictional resistance between the two is greatly reduced, making the extension of the positioning ring 5 smooth and without jamming. When the positioning ring 5 needs to retract from the first position to the second position, the driving force acts in the opposite direction, and the positioning ring 5 drives the guide rod 12 to move axially upward along the inner hole of the linear bearing 13. The linear bearing 13 also plays the role of reducing friction and stabilizing the guide. At the same time, multiple circumferentially distributed guide rods 12 ensure that the positioning ring 5 always remains coaxial with the disc seat 4 during the movement, avoiding tilting of the positioning ring 5 and ensuring positioning accuracy.

[0050] Specifically, the free end of the guide rod 12 is provided with a connecting ring 14 to synchronously link each guide rod 12, and each guide rod 12 between the disc seat 4 and the positioning ring 5 is fitted with a compression spring 15.

[0051] The connecting ring 14 is a ring structure with mounting holes on its circumference corresponding to the number of guide rods 12. After the free end (upper end) of the guide rod 12 passes through the mounting hole, it is tightened with a nut, so that the connecting ring 14 is fixedly connected to all the guide rods 12 to form a whole. When the positioning ring 5 needs to move axially, the connecting ring 14 ensures that each guide rod 12 is driven simultaneously, avoiding differences in movement speed due to uneven force on individual guide rods 12, thereby ensuring that the positioning ring 5 remains horizontal during movement and does not tilt or shift.

[0052] The compression spring 15 is coaxially sleeved on the guide rod 12 and is always positioned between the positioning ring 5 and the disc seat 4—its upper end is fixed to the lower end face of the disc seat 4, and its lower end is fixed to the upper end face of the positioning ring 5, forming a fixed force chain of "disc seat-spring-positioning ring," with the guide rod 12 passing through it to ensure that the three are coaxial. When the positioning ring 5 is in the initial second position (retracted state), the spring is not compressed / stretched and maintains its natural length. At this time, the positioning ring 5 is relatively fixed to the disc seat 4 through the spring and has no tendency to displace.

[0053] When the robot unit moves the entire gripper assembly (including the disc base 4 and the positioning ring 5) downward toward the speaker, the positioning ring 5 first contacts the outer periphery of the speaker and is blocked (unable to move further downward); however, the robot unit still moves the disc base 4 downward, at which point the disc base 4 and the positioning ring 5 are relatively displaced - the disc base 4 moves downward toward the positioning ring 5, directly squeezing the compression spring 15 between the two, the spring is compressed axially, and the downward driving force of the robot unit is converted into elastic potential energy for storage; at the same time, the central drive mechanism that moves downward with the disc base 4 synchronously drives the gripper to open, passing through the clamping through hole of the positioning ring 5 to complete the magnetic gauge gripping.

[0054] Once the gripping action is complete, the robot unit moves the disk base 4 upward, the squeezing force of the disk base 4 on the spring disappears, and the compressed spring 15 immediately releases its elastic potential energy. Since the two ends of the spring are fixed on the disk base and the positioning ring respectively, the elastic potential energy is converted into a force that pushes the positioning ring 5 downward (at this time, the positioning ring 5 is no longer blocked by the speaker), driving the positioning ring 5 to slide downward along the guide rod 12 until the spring returns to its natural length, and the positioning ring 5 returns to its initial second position (retracted state).

[0055] The entire process is in complete accordance with the logic of physical forces: the spring is only compressed when the "disc seat actively approaches the positioning ring". During the reset, the elastic force pulls the positioning ring to return to its position synchronously with the disc seat (because the two ends of the spring are fixed, there is no contradiction of "pushing one end alone"). At the same time, the spring can buffer the relative squeezing impact between the disc seat and the positioning ring, and can also share the radial force borne by the guide rod 12 through its own rigidity, reducing the risk of guide rod deformation and extending service life.

[0056] Specifically, a vision component 16 is provided on the frame 1. The vision component 16 has a linear motor module 17 disposed on the frame 1 and a support arm 18 reciprocatingly disposed on the linear motor module 17. The camera 19 and the light-concentrating plate 21 are both disposed on the support arm 18 and the camera 19 is located above the light-concentrating plate 21.

[0057] The linear motor module 17 is bolted to the side or top of the frame 1. Its guide rail direction can be set to horizontal or vertical according to the detection requirements. One end of the support arm 18 is connected to the mover of the linear motor module 17 via a slider, allowing it to reciprocate along the guide rail with the mover. The camera 19 is fixed below the support arm 18 by a bracket. The focusing plate 21 is installed below the support arm 18 via clips or screws, located directly below the camera 19. The relative positions of the two are fixed, ensuring that the lens of the camera 19 is directly facing the focusing plate 21. During device operation, the linear motor module 17 receives control signals from the frame 1 and, based on the speaker's position on the conveyor line 23, drives the support arm 18 to move the camera 19 and the focusing plate 21 to the designated detection position.

[0058] When the speaker is delivered to the detection area, the light-concentrating plate 21 is powered on, emitting uniform light to illuminate the speaker surface, providing sufficient and stable light source for the camera 19 to capture images and avoiding the impact of changes in ambient light on image quality. The camera 19 starts capturing images under the command of the frame 1, recording the speaker's appearance, position, and other image information, and transmits the image data to the control system of the frame 1 in real time. The control system analyzes and processes the images, determining whether the speaker's position is accurate and whether there are any defects in its appearance. If problems are found, the robot unit 2's action commands are adjusted promptly to ensure accurate gripping operations. Flexible detection of speakers in different positions is achieved through the movement and adjustment of the linear motor module 17.

[0059] Specifically, the light-concentrating plate 21 is provided with a shooting hole 22 for use with the camera 19, and the shooting hole 22 has a circular opening structure.

[0060] The focusing plate 21 contains an array of LED beads, which are evenly distributed around the imaging hole 22. The imaging hole 22 is located at the center of the focusing plate 21, and its diameter is slightly larger than the field of view of the camera 19 lens, ensuring that the camera 19 lens can completely capture the detection area of ​​the speaker through the imaging hole 22. When the focusing plate 21 is working, the LED beads are powered on and emit light, which converges towards the imaging hole 22 at the center of the focusing plate 21 to form a concentrated and uniform beam of light. This beam directly illuminates the area of ​​the speaker to be detected through the imaging hole 22, making the brightness of that area significantly higher than the surrounding area, highlighting the detailed features of the detection area.

[0061] The lens of camera 19 faces the imaging hole 22. During shooting, the image of the speaker detection area is acquired only through the imaging hole 22, avoiding the entry of debris from the light-concentrating plate 21 or its surrounding environment into the lens field of view, thus reducing interference from irrelevant image information. The circular opening structure provides better light convergence. Compared with other shaped openings, the circle is non-directional and can evenly converge light towards the center from all angles, ensuring consistent illumination intensity at all points in the speaker detection area and avoiding uneven brightness. This ensures that the image captured by camera 19 has high clarity and complete detail, providing accurate data for image analysis of the rack 1 control system and improving the accuracy and reliability of visual inspection.

[0062] Specifically, the magnetic gauge removal device of the loudspeaker assembly machine also includes a conveyor line 23 for conveying the loudspeaker body, and a gripper assembly 3 for picking up and placing the loudspeaker body conveyed by the conveyor line 23. The conveyor line 23 has a conveyor frame 24, a conveyor belt 25 rotating on the conveyor frame 24, and a conveyor motor 26 driving the conveyor belt 25 to rotate. The upper surface of the conveyor belt 25 is lower than the upper surface of the conveyor frame 24. The electrical signals of the conveyor line 23, the robot unit 2, and the vision assembly 16 are all connected to the frame 1 via a bus protocol to form a closed-loop control system.

[0063] The conveyor frame 24 is constructed of metal profiles, providing stable support for the conveyor belt 25 and the conveyor motor 26. The conveyor belt 25, made of rubber or polyurethane, is fitted onto the rollers at both ends of the conveyor frame 24. The conveyor motor 26 is connected to the drive roller via a coupling, providing power for the rotation of the conveyor belt 25. When conveying the speaker, the conveyor motor 26 receives a control signal from the frame 1 and starts, driving the drive roller to rotate, which in turn drives the conveyor belt 25 to circulate, conveying the speaker placed on the conveyor belt 25 forward. Because the upper surface of the conveyor belt 25 is lower than the upper surface of the conveyor frame 24, the two sides of the conveyor frame 24 form a limiting barrier for the speaker, preventing the speaker from falling off the sides of the conveyor frame 24 due to vibration or positional shift during conveying.

[0064] Meanwhile, conveyor line 23, robot unit 2, and vision component 16 are all equipped with dedicated signal acquisition and transmission modules, establishing communication connections with the main controller of frame 1 via Ethernet or CAN bus protocols. Vision component 16 captures real-time images of the speakers on conveyor belt 25, converting position and appearance information into electrical signals that are transmitted to frame 1. After analyzing the signals, frame 1 sends speed adjustment or start / stop commands to conveyor line 23 to ensure the speakers are precisely positioned for gripping. Simultaneously, it sends motion commands to robot unit 2 to control gripper component 3 for positioning and gripping. Robot unit 2 feeds back motion status signals to frame 1, forming a complete signal loop. If any abnormality occurs, such as speaker position deviation, frame 1 can promptly adjust the actions of each component, achieving automated error correction and ensuring the smoothness and precision of the entire assembly process.

[0065] The working principle of this utility model is as follows: The conveyor frame 24 of the conveyor line 23 provides stable support for the conveyor belt 25 and the conveyor motor 26. The conveyor motor 26 receives the command from the frame 1 and drives the conveyor belt 25 to rotate, conveying the speaker forward. The upper surface of the conveyor belt 25 is lower than the upper surface of the conveyor frame 24, forming a limiting barrier to prevent the speaker from falling. At the same time, the frame 1 controls the vision component 16 to start, and the linear motor module 17 drives the support arm 18, camera 19, and focusing plate 21 to move to the detection position. The LED beads in the focusing plate 21 are powered on, and the light is focused through the central circular shooting hole 22 to illuminate the part of the speaker to be detected, providing a uniform light source for the camera 19. The camera 19 captures images and transmits the position and appearance information to the frame 1. After analysis, if the frame 1 finds a positional deviation, it adjusts the speed or start / stop status of the conveyor line 23 in time to ensure that the speaker stops accurately in the clamping area, completing the preliminary preparation work.

[0066] After the speaker is positioned, the device enters the positioning and gripping stage: the frame 1 sends a command to the robot unit 2, and the robot unit 2 drives the gripper assembly 3, the disc seat 4, and the positioning ring 5 to move to the target position. First, the positioning ring 5 extends axially along the circumferentially distributed guide rods 12 (first position). The guide rods 12 slide with the disc seat 4 through the linear bearing 13. The connecting ring 14 ensures that each guide rod 12 moves synchronously, so that the positioning ring 5 smoothly contacts the outer periphery of the speaker to achieve precise positioning. At this time, the compression spring 15 is compressed to store elastic potential energy, and the material picking through hole of the positioning ring 5 has a diameter larger than the maximum opening outer diameter of the gripper assembly 3, so it does not affect the operation of the gripper assembly 3. Subsequently, the positioning ring 5 retracts (to the second position) to avoid the path during the next action, and the central drive mechanism is activated: the conical drive block moves down with the output end of the robot unit 2, and through the engagement of the outer conical surface with the wedge-shaped inclined surface of the driven block 8, it pushes the driven block 8 to move radially along the guide groove 9. The outer drive surface 11 of the driven block 8 abuts against the groove wall, causing the gripper fingers 7 hinged to the fixed seat 6 to open, and after the speaker is enclosed, the conical drive block resets. The reset spring releases the preload force and pulls the gripper fingers 7 to close and clamp the speaker. When the robot unit 2 moves the gripper assembly 3 upward, the compression spring 15 releases the elastic force to reset the positioning ring 5. Throughout the process, the conveyor line 23, robot unit 2, and vision component 16 communicate with the frame 1 in real time through the bus protocol to form a closed-loop control, ensuring that each link operates in coordination and realizing the automatic delivery, precise positioning, and stable clamping of the speaker.

[0067] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A magnet puller for loudspeaker assembly machines, characterized by: The system includes a frame (1), a robot unit (2) mounted on the frame (1), a disc base (4) mounted on the output end of the robot unit (2), and a gripper assembly (3). The disc base (4) is provided with a retractable positioning ring (5). The positioning ring (5) is provided with a material picking through hole for the gripper assembly (3) to pass through. The diameter of the material picking through hole is larger than the opening outer diameter of the gripper assembly (3).

2. A magnetic field extractor for loudspeaker assembly machines as defined in claim 1, characterized in that: The gripper assembly (3) includes a fixed base (6), gripper fingers (7), a central drive mechanism, and a reset mechanism. The fixed base (6) is connected to the disc base (4). The gripper fingers (7) are openably and closably mounted on the fixed base (6). The opening and closing of the gripper fingers (7) is controlled by the axial movement of the central drive mechanism. The reset mechanism is used to close the gripper fingers (7) when the central drive mechanism is reset.

3. A magnet puller according to claim 2, wherein: The central drive mechanism includes a conical drive block and a driven block (8). A guide groove (9) is provided between the fixed seat (6) and the gripper finger (7). The conical drive block is connected to the output end of the robot unit (2). The driven block (8) is slidably disposed in the guide groove (9). The driven block (8) is driven to move radially by the axial movement of the conical drive block.

4. A magnet puller according to claim 3, wherein: The gripper finger (7) is hinged to the fixed base (6). The radial inner side of the driven block (8) is provided with a wedge-shaped inclined surface that cooperates with the outer conical surface of the conical drive block. The radial outer side of the driven block (8) is provided with a driving surface (11) for abutting against the groove wall of the guide groove (9) and thus driving the gripper finger (7) to open.

5. A magnet puller according to claim 2, wherein: The reset mechanism is a reset spring disposed between the gripper finger (7) and the fixed seat (6), and the reset spring applies a preload force in the closing direction to the gripper finger (7).

6. A magnetic field extractor for loudspeaker assembly machines as defined in claim 1, wherein: Multiple circumferentially distributed guide rods (12) are provided between the disc base (4) and the positioning ring (5). One end of each guide rod (12) is fixedly connected to the positioning ring (5), and the other end slides through the disc base (4). A linear bearing (13) is provided between the guide rod (12) and the disc base (4).

7. A magnetic field extractor for loudspeaker assembly machines as defined in claim 6, wherein: The free end of the guide rod (12) is provided with a connecting ring (14) to synchronously link each guide rod (12). Each guide rod (12) between the disc seat (4) and the positioning ring (5) is fitted with a compression spring (15).

8. A magnetic field extractor for loudspeaker assembly machines as defined in claim 1, wherein: A vision component (16) is provided on the frame (1). The vision component (16) has a linear motor module (17) mounted on the frame (1), a support arm (18) reciprocating on the linear motor module (17), a camera (19) and a light-concentrating plate (21) mounted on the support arm (18), and the camera (19) is located above the light-concentrating plate (21).

9. The magnet puller device for a loudspeaker assembly machine according to claim 8, characterized in that: The light-concentrating plate (21) is provided with a shooting hole (22) for use with a camera (19), and the shooting hole (22) is a circular opening structure.

10. The magnet puller device for a loudspeaker assembly machine according to claim 1, characterized in that: The magnetic gauge device of the loudspeaker assembly machine also includes a conveyor line (23) for conveying the loudspeaker body, and a gripper assembly (3) for picking up and placing the loudspeaker body conveyed by the conveyor line (23). The conveyor line (23) has a conveyor frame (24), a conveyor belt (25) that rotates on the conveyor frame (24), and a conveyor motor (26) that drives the conveyor belt (25) to rotate. The upper surface of the conveyor belt (25) is lower than the upper surface of the conveyor frame (24).

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