High-precision adaptive assembly device for magnetic product

Abstract

A high-precision adaptive assembly device for a magnetic product, the device comprising a magnet temporary storage platform (2), a magnet carrying claw (3) and a magnet release platform (4), wherein the magnet temporary storage platform (2) is provided with a magnet loading mechanism (21) and a plurality of limit protrusions (22), and magnets (1) are located on the magnet loading mechanism (21); the magnet carrying claw (3) is provided with a plurality of manipulators, each of which is provided with a positioning plate (31) and a plurality of vacuum suction nozzles (32), and when the magnet carrying claw (3) picks up the magnets, the vacuum suction nozzles (32) start vacuum suction to suction the magnets (1); and guide cover plates (41) are provided on the magnet release platform (2), guide slots (411) are formed in each guide cover plate (41), and when the magnet carrying claw (3) releases the magnets, the vacuum suction nozzles (32) perform vacuum breaking to release the magnets (1) into the guide slots (411). The device can achieve accurate positioning of magnets (1) to keep each magnet (1) in a fixed posture, can correct the positions of the magnets (1) during a magnet assembly process to ensure the assembly yield and stability, and has a high magnet assembly efficiency and a large production capacity.

Description

A high-precision adaptive assembly device for magnetic products Technical Field

[0001] The present disclosure relates to the field of assembly technology, and in particular to a high-precision adaptive assembly device for magnetic products. Background Art

[0002] Conventional precision assembly uses products with regular shapes, uses a charge-coupled device (CCD) to shoot or capture images of the objects, and then uses image processing technology to analyze and determine the object's position, angle, direction and other information to assist in determining the installation position. The implementation method is relatively simple and mature. However, when the product has an irregular shape and is small in size, it is more difficult to analyze the image captured by the charge-coupled device, making it impossible to accurately locate the assembly position.

[0003] Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems, the present disclosure proposes a high-precision adaptive assembly device for magnetic products.

[0005] The embodiment of the present disclosure provides a high-precision adaptive assembly device for magnetic products, comprising a magnet temporary storage platform, a magnet handling claw, and a magnet unloading platform. The magnet temporary storage platform is provided with a magnet loading mechanism and a plurality of limiting protrusions, and the magnet is located on the magnet loading mechanism;

[0006] The magnet handling claw is provided with a plurality of manipulators, and a positioning plate and a plurality of vacuum suction nozzles are installed on the manipulators. The positioning plate is provided with a plurality of positioning holes cooperating with the vacuum suction nozzles and a plurality of limiting holes cooperating with the limiting protrusions. When the magnet handling claw takes the material, the vacuum suction nozzle turns on the vacuum suction to adsorb the magnet into the positioning hole;

[0007] The magnet unloading platform is provided with a guide cover plate, and the guide cover plate is provided with a guide groove. When the magnet carrying claw unloads, the vacuum nozzle performs a vacuum breaking operation to release the magnet into the guide groove.

[0008] In one embodiment, the positioning hole is a structure that is narrow at the top and wide at the bottom, and a first guide angle is formed inside.

[0009] In one embodiment, the magnet loading mechanism includes a magnet loading shaft and a linear module. The linear module is installed at the bottom of the magnet loading shaft. The linear module drives the magnet loading shaft to move to a first position. The first position is the position where the magnet matches the vacuum nozzle. A plurality of grooves are provided on the magnet loading shaft, and the magnet is located in the grooves.

[0010] In one embodiment, when the magnet handling claw picks up the material, the vacuum nozzle starts vacuum suction to adsorb the magnet to the positioning plate, including:

[0011] The limiting protrusion penetrates into the limiting hole;

[0012] The magnet feeding shaft moves to the first position;

[0013] The vacuum nozzle moves to the surface of the magnet and starts vacuum suction to absorb the magnet;

[0014] The vacuum suction nozzle moves into the positioning hole, and the moving position is corrected using the first guide angle. When the vacuum suction nozzle reaches the second position, a positioning groove is formed with the positioning hole, and the magnet is located in the positioning groove. The second position is the position where the bottom end of the vacuum suction nozzle matches the inner wall of the positioning hole.

[0015] In one embodiment, the guide groove is a structure that is wide at the top and narrow at the bottom, and a second guide angle is formed inside.

[0016] In one embodiment, when the magnet handling claw unloads the material, the vacuum nozzle performs a vacuum breaking operation to release the magnet, including:

[0017] The vacuum nozzle passes through the positioning plate into the guide groove and adjusts its moving position according to the second guide angle. When the vacuum nozzle reaches the third position, a vacuum breaking operation is performed to release the magnet into the guide groove. The third position is the position where the bottom end of the vacuum nozzle matches the inner wall of the guide groove.

[0018] In one embodiment, a cover plate detection device is provided on the magnet discharge platform, and the cover plate detection device detects whether the position of the guide cover plate meets the preset requirements.

[0019] In one embodiment, the outer dimension tolerance of the magnet is less than or equal to 0.06 mm, and the size of the positioning hole is adapted to the dimension tolerance.

[0020] In one embodiment, a lifting cylinder is installed on the robot arm, and the vacuum nozzle is located below the lifting cylinder, and the lifting cylinder pushes the vacuum nozzle to move linearly.

[0021] In one embodiment, the plurality of limiting protrusions are symmetrically distributed with the magnet feeding axis as a symmetry axis, and both sides of the magnet feeding axis cooperate with the positioning plate respectively.

[0022] The technical solutions provided by the embodiments of the present disclosure bring at least the following beneficial effects:

[0023] The magnet handling claw is provided with a positioning plate and a vacuum suction nozzle. When the magnet handling claw is picking up materials, the positioning plate and the magnet temporary storage platform cooperate with each other, and a mechanical positioning method is adopted to achieve precise positioning during the magnet picking process, thereby ensuring the stability of the magnet posture; a plurality of vacuum suction nozzles are provided on the magnet handling claw, and the vacuum suction nozzles adsorb the magnet into the positioning hole, and the position of the magnet is adjusted through the positioning hole to achieve high efficiency and high precision in picking up and placing the magnet; a guide cover is provided on the magnet discharge platform, and a guide groove is provided on the guide cover, which can calibrate the position of the magnet during the magnet assembly process to ensure the yield and stability of the assembly. The present invention can position and assemble special-shaped magnets without the need for CCD to assist in determining the installation position.

[0024] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 shows the overall structure of an assembling device according to an embodiment of the present disclosure.

[0027] FIG. 2 illustrates the structure of a magnet according to an embodiment of the present disclosure.

[0028] FIG3 shows the structure of a magnet temporary storage platform according to an embodiment of the present disclosure.

[0029] FIG. 4 shows the structure of a magnet carrying claw according to an embodiment of the present disclosure.

[0030] FIG5 illustrates a cross-sectional view of a positioning plate according to an embodiment of the present disclosure.

[0031] FIG6 shows the structure of the magnet transport claw and the magnet temporary storage platform according to an embodiment of the present disclosure when they cooperate.

[0032] FIG. 7 shows a structure of a vacuum nozzle adsorbing a magnet to a positioning groove according to an embodiment of the present disclosure.

[0033] FIG8 shows the structure of a magnet discharge platform according to an embodiment of the present disclosure.

[0034] FIG. 9 is an enlarged view of portion A of FIG. 8 .

[0035] FIG10 shows the structure of the magnet handling claw and the magnet unloading platform according to an embodiment of the present disclosure.

[0036] FIG. 11 is an enlarged view of portion B of FIG. 10 . DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this invention.

[0038] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0040] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0041] In addition, numerous specific details are provided in the following detailed description to better illustrate the present disclosure. Those skilled in the art will appreciate that the present disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of the present disclosure.

[0042] As shown in Figures 1 to 11, the assembly device provided in this embodiment includes a magnet temporary storage platform 2, a magnet handling claw 3 and a magnet discharge platform 4. The magnet temporary storage platform 2 is provided with a magnet loading mechanism 21 and a plurality of limiting protrusions 22. The magnet loading mechanism 21 is provided in the middle area of ​​the plurality of limiting protrusions 22. The magnet 1 is located on the magnet loading mechanism 21, and the magnet loading mechanism 21 drives the magnet 1 to move to the corresponding position.

[0043] The magnet handling claw 3 is provided with multiple manipulators, on which positioning plates 31 and multiple vacuum suction nozzles 32 are installed. The positioning plate 31 is provided with multiple positioning holes 312 that cooperate with the vacuum suction nozzles 32 and multiple limiting holes 311 that cooperate with the limiting protrusions 22. The limiting protrusions 22 cooperate with the limiting holes 311 to achieve mechanical positioning. When the magnet handling claw 3 picks up the material, the vacuum suction nozzle 32 starts vacuum suction and adsorbs the magnet 1 into the positioning hole 312.

[0044] A guide cover 41 is provided on the magnet unloading platform 4 , and a guide groove 411 is provided on the guide cover 41 . When the magnet handling claw 3 unloads the magnet, the vacuum nozzle 32 performs a vacuum breaking operation to release the magnet 1 into the guide groove 411 .

[0045] According to the assembly device of the embodiment of the present invention, special-shaped magnets can be positioned and assembled without the need for CCD to assist in determining the installation position. When the magnet handling claw picks up materials, a mechanical positioning method is adopted, and the positioning plate and the magnet temporary storage platform cooperate with each other to achieve precise positioning during the magnet picking process, thereby ensuring the stability of the magnet posture. A plurality of vacuum suction nozzles are provided on the magnet handling claw, and the vacuum suction nozzles adsorb the magnets into the positioning holes, and the position of the magnets is adjusted through the positioning holes, thereby achieving high efficiency and high precision in picking up and placing the magnets. When the magnet handling claw discharges materials, a guide cover plate is provided on the magnet discharge platform, and a guide groove is provided on the guide cover plate. The guide groove can be used to calibrate the position of the magnet during the magnet assembly process, thereby ensuring the yield and stability of the assembly.

[0046] As shown in FIG2 , specifically, in this embodiment, the magnet 1 is a special-shaped magnet, which is obtained by cutting off two corners of a rectangular parallelepiped with a length of 3 mm, a width of 1 mm, and a height of 1 mm. The outer dimension tolerance of the magnet is ±0.06 mm.

[0047] As shown in Figure 3, specifically, in this embodiment, the magnet loading mechanism 21 includes a magnet loading shaft 211 and a linear module 212. The linear module 212 is installed at the bottom of the magnet loading shaft 211. Eight grooves 213 are provided on the magnet loading shaft 211. The groove 213 is a rectangular groove. The magnet 1 is located in the groove 213. The size of the bottom of the groove 213 is the size of the bottom surface of the magnet 1 plus 0.7 mm. Optionally, the limiting protrusion 22 is a pin. Four limiting protrusions 22 are provided on the magnet temporary storage platform 2. The four limiting protrusions 22 are symmetrically distributed with the magnet loading shaft 211 as the symmetry axis. The linear module 212 can drive the magnet loading shaft 211 to move linearly until the magnet 1 matches the vacuum suction nozzle 32, thereby realizing precise positioning of the magnet 1 and ensuring that the magnet 1 maintains a stable posture during the adsorption process.

[0048] As shown in Figure 4, specifically, in this embodiment, two manipulators are provided on the magnet handling claw 3, each manipulator is equipped with a positioning plate 31 and four vacuum suction nozzles 32, the positioning plate 31 and the four vacuum suction nozzles 32 cooperate with each other, the two positioning plates 31 are located on the same plane, and are fixed to the magnet handling claw 3 by pins. The positioning plates 31 each serve the material picking work on their side and will not interfere with each other. A lifting cylinder is installed on the manipulator, and the vacuum suction nozzle 32 is located below the lifting cylinder. The lifting cylinder can push the vacuum suction nozzle 32 up and down. By setting two positioning plates and eight vacuum suction nozzles, multiple suction nozzles can adsorb magnets to increase production capacity and improve material picking efficiency.

[0049] As shown in Figure 5, specifically, in this embodiment, the positioning hole 312 is a structure that is narrow at the top and wide at the bottom, and the inner wall has a bevel to form a guide angle. The upper half of the positioning hole 312 is a rectangular parallelepiped, and the lower half is a trapezoidal shape. The size of the upper half of the positioning hole 312 is the size of the magnet 1 plus 0.7mm. The vacuum suction nozzle 32 matches the upper half of the positioning hole 312, that is, the vacuum suction nozzle 32 can contact the inner wall of the upper half of the positioning hole 312. When the vacuum suction nozzle 32 adsorbs the magnet into the positioning hole 312, the guide angle is used to move the vacuum suction nozzle 32 to the position where the bottom end of the vacuum suction nozzle 32 contacts the inner wall of the positioning hole 312, which can correct the position of the magnet 1 and achieve high-precision in taking and placing the magnet 1.

[0050] As shown in Figures 4 and 6, specifically, in this embodiment, when the magnet handling claw 3 picks up the material, the limiting protrusion 22 and the limiting hole 311 cooperate with each other, and the linear module 212 drives the magnet loading shaft 211 to move to the position where the magnet 1 and the vacuum suction nozzle 32 are relative. The vacuum suction nozzle 32 moves to the surface of the magnet 1 under the action of the lifting cylinder, and starts vacuum suction to absorb the magnet 1.

[0051] As shown in Figures 4 and 7, specifically, in this embodiment, after the vacuum suction nozzle 32 absorbs the magnet 1, the vacuum suction nozzle 32 moves to the positioning hole 312 under the action of the lifting cylinder, and the guide angle is used to move the vacuum suction nozzle 32 to a position where the bottom end of the vacuum suction nozzle 32 matches the inner wall of the positioning hole 312. When moving to this position, the vacuum suction nozzle 32 and the lower half of the positioning hole 312 form a positioning groove. The positioning groove is a trapezoidal groove. The magnet 1 is located in the positioning groove, which can achieve accurate picking and placing of the magnet and prevent the magnet from being squeezed and broken. At this time, the magnet handling claw 3 uses the vacuum suction nozzle 32 and the positioning plate 31 to complete the material picking work on one side, and then moves to the other side to start the material picking work of the other 4 magnets.

[0052] As shown in Figures 8 and 9, specifically, in this embodiment, two guide cover plates 41 are provided on the magnet unloading platform 4, and each guide cover plate 41 is provided with 30 guide grooves 213. Cover plate detection devices 412 are provided on both sides of the magnet unloading platform 4 to detect whether the guide cover plate 41 is in a preset position before the magnet handling claw 3 unloads the material, so as to prevent the guide cover plate 41 from colliding with the machine due to an incorrect posture. Optionally, the cover plate detection device 412 is a photoelectric sensor, and the guide groove 213 is a structure with a wide upper and narrow lower portion, and the inner wall has an inclined surface to form a guide angle. The upper part of the guide groove 213 is a truncated cone, and the lower part is a rectangular parallelepiped. The size of the lower part of the guide groove 213 is 0.7 mm larger than the size of the magnet 1. The vacuum suction nozzle 32 matches the lower part of the guide groove 213, that is, the vacuum suction nozzle 32 can contact the inner wall of the lower part of the guide groove 213. When the vacuum suction nozzle 32 moves into the guide groove 213, the guide angle is used to move the vacuum suction nozzle 32 to the position where the bottom end of the vacuum suction nozzle 32 contacts the inner wall of the guide groove 213. This can calibrate the assembly position of the magnet and improve the discharge accuracy.

[0053] As shown in Figures 8 and 9, specifically, in this embodiment, the magnet handling claw 3 moves to the corresponding discharge position to perform the discharge operation, and the vacuum suction nozzle 32 passes through the positioning plate 31 to the guide groove 213 under the action of the lifting cylinder. The guide angle is used to move the vacuum suction nozzle 32 to the position where the bottom end of the vacuum suction nozzle 32 matches the inner wall of the guide groove 213. When it moves to this position, the vacuum suction nozzle 32 performs a vacuum breaking operation to release the magnet 1 into the guide groove 213. Since the gap between the lower half of the guide groove 213 and the magnet 1 is very small, the magnet cannot flip or tilt, and the magnet discharge accuracy is high, ensuring the yield and stability of the assembly.

[0054] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A high-precision adaptive assembly device for magnetic products, comprising a magnet temporary storage platform, a magnet handling claw and a magnet discharge platform, characterized in that: The magnet temporary storage platform is provided with a magnet feeding mechanism and a plurality of limiting protrusions, and the magnet is located on the magnet feeding mechanism; The magnet handling claw is provided with a plurality of manipulators, a positioning plate and a plurality of vacuum suction nozzles are installed on the manipulators, a plurality of positioning holes cooperating with the vacuum suction nozzles and a plurality of limiting holes cooperating with the limiting protrusions are opened on the positioning plate, and when the magnet handling claw takes the material, the vacuum suction nozzle turns on the vacuum suction to adsorb the magnet into the positioning hole; The magnet unloading platform is provided with a guide cover plate, and the guide cover plate is provided with a guide groove. When the magnet handling claw unloads, the vacuum nozzle performs a vacuum breaking operation to release the magnet into the guide groove.

2. The high-precision adaptive assembly device for magnetic products according to claim 1, characterized in that: The positioning hole is a structure that is narrow at the top and wide at the bottom, and forms a first guide angle inside.

3. The high-precision adaptive assembly device for magnetic products according to claim 1, characterized in that: The magnet feeding mechanism includes a magnet feeding shaft and a linear module. The linear module is installed at the bottom of the magnet feeding shaft. The linear module drives the magnet feeding shaft to move to a first position. The first position is the position where the magnet matches the vacuum nozzle. A plurality of grooves are provided on the magnet feeding shaft, and the magnet is located in the grooves.

4. The high-precision adaptive assembly device for magnetic products according to any one of claims 1 to 3, characterized in that: When the magnet handling claw picks up the material, the vacuum nozzle starts vacuum suction to adsorb the magnet to the positioning plate, including: The limiting protrusion penetrates into the limiting hole; The magnet feeding shaft moves to the first position; The vacuum nozzle moves to the surface of the magnet and starts vacuum suction to absorb the magnet; The vacuum nozzle moves into the positioning hole, and the first guide angle is used to correct the moving position. When the vacuum nozzle reaches the second position, a positioning groove is formed with the positioning hole, and the magnet is located in the positioning groove. The second position is the position where the bottom end of the vacuum nozzle matches the inner wall of the positioning hole.

5. The high-precision adaptive assembly device for magnetic products according to claim 1, characterized in that: The guide groove is a structure that is wide at the top and narrow at the bottom, and forms a second guide angle inside.

6. The high-precision adaptive assembly device for magnetic products according to claim 1 or 5, characterized in that: When the magnet handling claw releases the material, the vacuum nozzle performs a vacuum breaking operation to release the magnet, including: The vacuum nozzle passes through the positioning plate into the guide groove, and adjusts the moving position according to the second guide angle. When the vacuum nozzle reaches the third position, a vacuum breaking operation is performed to release the magnet into the guide groove. The third position is the position where the bottom end of the vacuum nozzle matches the inner wall of the guide groove.

7. The high-precision adaptive assembly device for magnetic products according to claim 1, characterized in that: The magnet unloading platform is provided with a cover plate detection device, and the cover plate detection device detects whether the position of the guide cover plate meets the preset requirements.

8. The high-precision adaptive assembly device for magnetic products according to claim 1, characterized in that: The outer dimension tolerance of the magnet is less than or equal to 0.06 mm, and the size of the positioning hole is adapted to the dimension tolerance.

9. The high-precision adaptive assembly device for magnetic products according to claim 1, characterized in that: The manipulator is provided with a lifting cylinder, the vacuum nozzle is located below the lifting cylinder, and the lifting cylinder pushes the vacuum nozzle to move linearly.

10. The high-precision adaptive assembly device for magnetic products according to claim 1 or 3, characterized in that: The plurality of limiting protrusions are symmetrically distributed with the magnet feeding axis as a symmetry axis, and are used to cooperate with the positioning plate.

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