Pulse type magnetic suction automatic assembling machine

Abstract

The utility model belongs to the field of automatic assembly technology especially, and a kind of pulse type magnetic attraction automatic assembling machine is provided, to the problem that the existing conveying belt is prone to recess when magnetic attraction fixed workpiece to cause workpiece deviation, and lack of anti-deviation mechanism, the following scheme is presented, including rack, belt conveyor is arranged in rack inside and is made of non-magnetic polyurethane material and is arranged in inverted equilateral triangle, drive motor and multi-axis mechanical arm are arranged in one side of rack, base is fixedly arranged in the inside of rack and located in conveying belt, pulse type magnetic attraction positioning mechanism is arranged in base, in the utility model, by the cooperation of plane support plate and liftable mounting bracket, rigid support surface is formed when magnetic attraction, workpiece displacement caused by belt deformation is avoided, magnetic shield cover matrix arrangement insulates magnetic field interference, limit block and limit groove cooperate to prevent belt deviation, accurate positioning is realized in combination with photoelectric sensor and industrial camera, and assembling precision and equipment stability are improved.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly technology, and in particular to a pulse-type magnetic automatic assembly machine. Background Technology

[0002] In automated production lines, belt conveyors are often used to transport workpieces and perform assembly operations at workstations along the line. For the assembly of ferromagnetic workpieces, it is common to use magnetic attraction to fix the substrate before operation. This method avoids surface damage that may be caused by mechanical clamping and is suitable for the assembly of precision electronic components.

[0003] Existing technologies typically place electromagnets directly under the conveyor belt, which attract and fix the workpieces above when energized. However, this configuration has significant shortcomings: conveyor belts usually have a certain degree of flexibility, and the strong attraction generated by the electromagnets can cause the belt to sag locally, resulting in workpiece displacement. Furthermore, the belt is prone to wear under long-term repeated magnetic attraction and pulling, and there is a lack of effective anti-deviation mechanisms, which further affects positioning accuracy and equipment operation stability. Therefore, we propose a pulse-type magnetic automatic assembly machine to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to solve the problems of existing technologies where, when electromagnets are used to fix workpieces under traditional conveyor belts, the flexible belt will partially dent, causing the workpiece to shift, the belt will wear easily, and there is no anti-deviation mechanism. Therefore, a pulse-type magnetic suction automatic assembly machine is proposed.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A pulse-type magnetic automatic assembly machine includes a frame, inside which is a belt conveyor. The conveyor belt is made of non-magnetic polyurethane material and is arranged in an inverted equilateral triangle. A drive motor is provided on one side of the frame and is connected to the belt conveyor.

[0007] A multi-axis robotic arm is fixedly mounted on one side of the frame via a mounting plate; a base is fixedly mounted inside the frame, and the base is located inside the conveyor belt of the belt conveyor.

[0008] The base is provided with a pulse magnetic positioning mechanism, which includes a mounting frame that is slidably installed inside the base and multiple pulse magnets that are arranged in an equally spaced matrix and fixedly embedded in the top of the mounting frame.

[0009] The base is provided with a support assembly on its top. The support assembly includes a flat support plate fixedly installed on the top of the base. The flat support plate has an opening for the mounting bracket to pass through, and the top of the flat support plate is in contact with the inner side of the conveyor belt of the belt conveyor.

[0010] In one possible design, the pulse-type magnetic positioning mechanism further includes a cylinder, which is fixedly mounted on the bottom inner wall of the base, and the output end of the cylinder is fixedly connected to the bottom of the mounting bracket.

[0011] In one possible design, four positioning rods are fixedly arranged at equal intervals at the bottom of the base, and sleeves corresponding to the four positioning rods are fixedly connected to the bottom of the mounting bracket. The four positioning rods are respectively inserted into the corresponding sleeves and slidably connected to the sleeves.

[0012] In one possible design, the outer walls of the plurality of pulse magnets are fixedly fitted with magnetic shielding covers, which are made of special stainless steel with high magnetic permeability; each pulse magnet is electrically connected to a controller.

[0013] In one possible design, the support assembly further includes two limiting blocks, which are symmetrically fixed on the top of the planar support plate and arranged along the transmission direction of the conveyor belt of the belt conveyor; limiting grooves are formed on the side of the two limiting blocks that are close to each other, and the two sides of the conveyor belt of the belt conveyor extend into the corresponding limiting grooves respectively.

[0014] In one possible design, photoelectric sensors are symmetrically fixedly mounted on the top of both limiting blocks; an industrial camera is fixedly mounted on the top of the frame via a mounting bracket.

[0015] In one possible design, ventilation openings connected to the base are provided on both sides of the frame, and dustproof nets are fixedly installed at both ventilation openings.

[0016] In one possible design, the conveyor belt of the belt conveyor forms a temporary rigid support surface under the combined action of the planar support plate and the pulse magnet, so as to prevent the workpiece from shifting during the magnetic attraction process.

[0017] In this application, firstly, the workpiece is placed on a belt conveyor in the shape of an inverted equilateral triangle for conveying. After the photoelectric sensor detects that the workpiece has entered the predetermined station, it sends a signal to stop the drive motor and the conveyor belt stops. At the same time, before the workpiece enters the predetermined station, an industrial camera set on the top of the frame acquires images and accurately positions the workpiece.

[0018] Furthermore, the top of the flat support plate fixed to the top of the base always remains in contact with the inner side of the conveyor belt, providing a continuous rigid support surface for the belt. This effectively prevents the conveyor belt from naturally sagging due to its own weight or external force. After the workpiece enters the predetermined station, the cylinder is activated, pushing the mounting frame to rise smoothly along the guide mechanism formed by the positioning rod and the sleeve. The matrix pulse magnet on the top of the mounting frame then passes through the clearance opening and pushes upward, so that the upper surface of the pulse magnet and the flat support plate together clamp the local area of ​​the conveyor belt, forming a temporary rigid plane. The elastic deformation of the belt during the magnetic attraction process ensures the absolute fixation of the workpiece position.

[0019] The pulsed magnet is powered on according to the controller’s instructions to generate a high-intensity pulsed magnetic field, which adsorbs and fixes the workpiece located above the conveyor belt. In addition, each pulsed magnet is covered with a magnetic shield made of high magnetic permeability material, which can effectively constrain and guide the direction of the magnetic field, significantly reduce the magnetic field coupling interference between adjacent magnet units, and ensure the uniformity and stability of the adsorption force. The multi-axis robotic arm grasps the assembled parts and performs high-precision assembly operations based on visual positioning information.

[0020] After the operation is completed, the pulse magnet is de-energized as instructed, and a reverse pulse current can be applied to actively eliminate residual magnetism, ensuring that the workpiece can be released cleanly and thoroughly without any adhesion. The cylinder retracts, driving the mounting frame and pulse magnet to descend and fall back, detaching from the belt. The two sides of the conveyor belt are embedded in the limiting grooves of the limiting blocks, which guides and constrains the belt, preventing it from running off-center or slipping during operation and reducing abnormal wear. The drive motor restarts, sending the assembled workpiece away from the workstation, and the next cycle begins.

[0021] The combination of ventilation openings and dust filters on both sides of the frame promotes air circulation inside the base during equipment operation, enabling heat dissipation for the pulse magnets and controller, and ensuring reliability during long-term operation.

[0022] Beneficial effects: In this utility model, the pulse magnetic automatic assembly machine, through the cooperation of the flat support plate and the liftable mounting frame, transforms a local area of ​​the conveyor belt into a rigid support surface before the magnetic attraction action, effectively avoiding workpiece displacement caused by the flexible deformation of the belt, and significantly improving the positioning accuracy of the assembly process.

[0023] In this utility model, the pulse magnetic automatic assembly machine isolates magnetic interference between units by equipping each pulse magnet with an independent magnetic shield and arranging them in a matrix, ensuring the uniformity and stability of the adsorption force. At the same time, the independent controller can activate different magnet combinations as needed, enhancing the equipment's flexible production capability to adapt to workpieces of different specifications.

[0024] In this utility model, the pulse-type magnetic automatic assembly machine guides and constrains the belt movement through the limiting block and the limiting groove on it. Combined with the coordinated positioning of photoelectric sensors and industrial cameras, it not only prevents belt deviation and edge wear and extends service life, but also realizes accurate identification and fixation of workpiece position, ensuring the continuity and reliability of the production process.

[0025] In this invention, the conveyor belt is partially transformed into a rigid support surface by cooperating with a planar support plate and a liftable mounting frame, effectively avoiding workpiece displacement caused by belt deformation and significantly improving positioning accuracy. The independent magnetic shielding matrix arrangement isolates magnetic field interference between pulsed magnets, ensuring uniform and stable adsorption force. Combined with an independent controller, different magnet combinations can be activated as needed to enhance flexible production capabilities. The limiting blocks and limiting grooves guide and constrain the belt movement, and work in conjunction with photoelectric sensors and industrial cameras for collaborative positioning. This not only prevents belt deviation and edge wear to extend service life, but also achieves accurate identification and fixation of workpiece position, ensuring production continuity and reliability. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of a pulse-type magnetic automatic assembly machine proposed in this utility model;

[0027] Figure 2 This is a partial cross-sectional three-dimensional structural diagram of the frame of a pulse-type magnetic automatic assembly machine proposed in this utility model;

[0028] Figure 3 This is a three-dimensional structural diagram of the mounting frame of the pulse-type magnetic automatic assembly machine proposed in this utility model;

[0029] Figure 4 This is a schematic diagram of the planar support plate structure of a pulse-type magnetic automatic assembly machine proposed in this utility model.

[0030] In the diagram: 1. Frame; 101. Ventilation port; 2. Belt conveyor; 3. Drive motor; 4. Multi-axis robotic arm; 5. Base; 6. Mounting bracket; 7. Pulse magnet; 8. Magnetic shield; 9. Controller; 10. Cylinder; 11. Sleeve; 12. Positioning rod; 13. Flat support plate; 14. Limit block; 15. Photoelectric sensor; 16. Industrial camera. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0032] In one embodiment: Refer to Figure 1-4An assembly machine includes a frame 1, inside which a belt conveyor 2 is installed. The conveyor belt of the belt conveyor 2 is made of non-magnetic polyurethane material, which avoids interference with the subsequent magnetic positioning process. The conveyor belt of the belt conveyor 2 is arranged in an inverted equilateral triangle, which helps to limit the movement of workpieces during transport and maintain their stability in the transport direction. A drive motor 3 is mounted on one side of the frame 1, and is connected to the belt conveyor 2 to provide power for its operation. When it is necessary to stop transporting workpieces, the drive motor 3 stops operating, thus stopping the conveyor belt. A multi-axis robotic arm 4 is also fixed to one side of the frame 1 via a mounting plate. The multi-axis robotic arm 4 is used to grasp and assemble parts, and its movements can be precisely controlled based on subsequently acquired workpiece positioning information.

[0033] A base 5 is fixed inside the frame 1, located within the conveyor belt of the belt conveyor 2. The base 5 houses a pulse-type magnetic attraction positioning mechanism, the core component for precise workpiece positioning. This mechanism includes a mounting frame 6 slidably mounted inside the base 5 and multiple pulse magnets 7. These magnets 7 are fixedly embedded in the top of the mounting frame 6 in an equally spaced array. This matrix arrangement, combined with subsequent independent control, can adapt to the adsorption requirements of workpieces of different specifications, enhancing the equipment's flexible production capabilities. Each pulse magnet 7 has a magnetic shield 8 fixedly fitted onto its outer wall. The magnetic shield 8 is made of special stainless steel with high magnetic permeability, effectively constraining and guiding the magnetic field direction, significantly reducing magnetic field coupling interference between adjacent pulse magnets 7, ensuring uniform and stable adsorption force, and preventing workpiece displacement due to magnetic field interference. Each pulse magnet 7 is also electrically connected to a controller 9. The controller 9 can independently control each pulse magnet 7, including generating a magnetic field when powered on, eliminating the magnetic field when powered off, and even applying a reverse pulse current to actively eliminate residual magnetism, ensuring that the workpiece can be released cleanly and thoroughly without any adhesion.

[0034] The pulse-type magnetic positioning mechanism also includes a cylinder 10, which is fixedly installed on the bottom inner wall of the base 5. The output end of the cylinder 10 is fixedly connected to the bottom of the mounting frame 6, and the cylinder 10 provides power for the lifting and lowering of the mounting frame 6. Four positioning rods 12 are fixedly fixed at equal intervals on the bottom of the base 5, and four sleeves 11 are fixedly connected to the bottom of the mounting frame 6. The four sleeves 11 correspond one-to-one with the four positioning rods 12. The four positioning rods 12 are inserted into the corresponding sleeves 11 and slidably connected to the sleeves 11. The positioning rods 12 and the sleeves 11 together form a guide mechanism, which ensures that the mounting frame 6 moves smoothly when the cylinder 10 pushes the mounting frame 6 to lift and lower, avoids the mounting frame 6 from deviating during the movement, and ensures that the pulse-type magnet 7 can accurately reach the predetermined position.

[0035] A support assembly is provided on the top of the base 5 to prevent localized sagging of the conveyor belt of the belt conveyor 2, ensuring the flatness of the conveyor belt when carrying workpieces. The support assembly includes a flat support plate 13 fixedly installed on the top of the base 5. The flat support plate 13 has a clearance opening for the mounting frame 6 to pass through. The top of the flat support plate 13 is in contact with the inner side of the conveyor belt of the belt conveyor 2, always providing a continuous rigid support surface for the conveyor belt, effectively preventing the conveyor belt from sagging naturally due to its own weight or external forces. When the workpiece enters the predetermined station, the cylinder 10 is activated, pushing the mounting frame 6 to rise smoothly along the guide mechanism formed by the positioning rod 12 and the sleeve 11. The matrix pulse magnet 7 on the top of the mounting frame 6 then passes through the clearance opening and pushes upward, so that the upper surface of the pulse magnet 7 and the flat support plate 13 together clamp a local area of ​​the conveyor belt, forming a temporary rigid plane. By utilizing the elastic deformation of the belt during the magnetic attraction process, the absolute fixation of the workpiece position is ensured, effectively avoiding workpiece displacement caused by the flexible deformation of the belt, and significantly improving the positioning accuracy of the assembly process.

[0036] Ventilation openings 101 are provided on both sides of the frame 1, and the ventilation openings 101 are connected to the interior of the base 5. Dustproof nets are fixedly installed at both ventilation openings 101. During equipment operation, the ventilation openings 101 can promote air circulation inside the base 5, realize the heat dissipation function of the pulse magnet 7 and the controller 9, and ensure the reliability of the equipment during long-term operation. The dustproof nets can prevent external dust from entering the interior of the base 5, avoiding dust from affecting the operation of components such as the pulse magnet 7 and the controller 9.

[0037] This application can be used in the field of automated assembly technology, or in other fields applicable to this application.

[0038] In another embodiment: Reference Figure 1-3Based on Embodiment 1, an improvement is made: a pulse-type magnetic automatic assembly machine, applied to the field of automated assembly technology. The support assembly further includes two limiting blocks 14, which are symmetrically fixedly installed on the top of the flat support plate 13 and arranged along the transmission direction of the conveyor belt of the belt conveyor 2. Limiting grooves are formed on the sides of the two limiting blocks 14 that are close to each other. Both sides of the conveyor belt of the belt conveyor 2 extend into the corresponding limiting grooves. The limiting blocks 14 and the limiting grooves cooperate to guide and constrain the operation of the conveyor belt, preventing it from running off-center or slipping during operation, reducing abnormal wear of the conveyor belt, and extending its service life.

[0039] Two photoelectric sensors 15 are symmetrically fixedly installed on the top of each of the two limit blocks 14. The photoelectric sensors 15 are used to detect whether the workpiece has entered the predetermined station. When the workpiece is detected to have entered the predetermined station, the photoelectric sensors 15 send a signal to control the drive motor 3 to stop running, so that the conveyor belt stops rotating, preparing for subsequent positioning and assembly operations. An industrial camera 16 is fixedly installed on the top of the frame 1 through a fixing bracket. Before the workpiece enters the predetermined station, the industrial camera 16 performs image acquisition and precise positioning of the workpiece position. The multi-axis robotic arm 4 can accurately grasp the assembled parts and perform assembly operations based on the visual positioning information obtained by the industrial camera 16, realizing accurate identification and fixation of the workpiece position, and ensuring the continuity and reliability of the production process.

[0040] However, as is well known to those skilled in the art, the working principles and wiring methods of the drive motor 3, pulse magnet 7, photoelectric sensor 15 and industrial camera 16 are all conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0041] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0042] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A pulse-type magnetic automatic assembly machine, comprising a frame (1), characterized in that, The frame (1) is equipped with a belt conveyor (2), the conveyor belt of the belt conveyor (2) is made of non-magnetic polyurethane material and is arranged in an inverted equilateral triangle; a drive motor (3) is provided on one side of the frame (1), and the drive motor (3) is connected to the belt conveyor (2) in a transmission. A multi-axis robotic arm (4) is fixedly mounted on one side of the frame (1) via a mounting plate; a base (5) is fixedly mounted inside the frame (1), and the base (5) is located inside the conveyor belt of the belt conveyor (2); The base (5) is provided with a pulse magnetic positioning mechanism, which includes a mounting frame (6) that is slidably installed inside the base (5) and multiple pulse magnets (7) arranged in an equally spaced matrix and fixedly embedded in the top of the mounting frame (6). The base (5) is provided with a support assembly on its top. The support assembly includes a flat support plate (13) fixedly installed on the top of the base (5). The flat support plate (13) has an opening for the mounting bracket (6) to pass through, and the top of the flat support plate (13) is in contact with the inner side of the conveyor belt of the belt conveyor (2).

2. The pulse-type magnetic automatic assembly machine according to claim 1, characterized in that, The pulse magnetic positioning mechanism also includes a cylinder (10), which is fixedly installed on the bottom inner wall of the base (5), and the output end of the cylinder (10) is fixedly connected to the bottom of the mounting bracket (6).

3. The pulse-type magnetic automatic assembly machine according to claim 2, characterized in that, The base (5) has four positioning rods (12) fixedly arranged at equal intervals at the bottom. The mounting bracket (6) has sleeves (11) corresponding to the four positioning rods (12) fixedly connected to the bottom. The four positioning rods (12) are respectively inserted into the corresponding sleeves (11) and slidably connected to the sleeves (11).

4. The pulse-type magnetic automatic assembly machine according to claim 1, characterized in that, Each of the pulse magnets (7) is fixedly fitted with a magnetic shield (8) on its outer wall. The magnetic shield (8) is made of special stainless steel with high magnetic permeability. Each pulse magnet (7) is electrically connected to a controller (9).

5. The pulse-type magnetic automatic assembly machine according to claim 1, characterized in that, The support assembly also includes two limiting blocks (14), which are symmetrically fixed on the top of the planar support plate (13) and arranged along the transmission direction of the conveyor belt of the belt conveyor (2); limiting grooves are opened on the side of the two limiting blocks (14) that are close to each other, and the two sides of the conveyor belt of the belt conveyor (2) extend into the corresponding limiting grooves respectively.

6. The pulse-type magnetic automatic assembly machine according to claim 5, characterized in that, Photoelectric sensors (15) are symmetrically fixed on the top of the two limiting blocks (14); an industrial camera (16) is fixed on the top of the frame (1) by a fixing bracket.

7. The pulse-type magnetic automatic assembly machine according to claim 1, characterized in that, Both sides of the frame (1) are provided with ventilation openings (101) that are connected to the base (5), and dustproof nets are fixedly installed at both ventilation openings (101).

8. The pulse-type magnetic automatic assembly machine according to claim 1, characterized in that, The conveyor belt of the belt conveyor (2) forms a temporary rigid support surface under the combined action of the planar support plate (13) and the pulse magnet (7) to prevent the workpiece from shifting during the magnetic attraction process.

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