CN109048976A - A kind of clamping jaw and its packing method of quick filling strip magnetic patch - Google Patents
A kind of clamping jaw and its packing method of quick filling strip magnetic patch Download PDFInfo
- Publication number
- CN109048976A CN109048976A CN201811238133.7A CN201811238133A CN109048976A CN 109048976 A CN109048976 A CN 109048976A CN 201811238133 A CN201811238133 A CN 201811238133A CN 109048976 A CN109048976 A CN 109048976A
- Authority
- CN
- China
- Prior art keywords
- magnetic patch
- strip
- guide seat
- magnet
- clamping jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012856 packing Methods 0.000 title abstract description 4
- 239000000463 material Substances 0.000 claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 17
- 239000010959 steel Substances 0.000 claims abstract description 17
- 238000012790 confirmation Methods 0.000 claims description 7
- 230000004907 flux Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Manipulator (AREA)
Abstract
A kind of clamping jaw and its packing method of quick filling strip magnetic patch, clamping jaw includes the adapter for being mounted on multi-degree-of-freemechanical mechanical arm end, the bottom surface of adapter is equipped with magnetic patch guide seat, supplied materials channel is transversely equipped on magnetic patch guide seat and is equipped with fill channel along longitudinal direction, the inside setting filling cylinder of adapter, strip magnet to be loaded enters from supplied materials channel and strip magnet is pushed in the specified conduit of disk body by push plate with fill channel face, filling cylinder；The magnetic patch guide seat suction bar that setting prevents strip magnet from falling off when position adjusts along the side of setting fill channel；It is additionally provided on magnetic patch guide seat for detecting the sensor itself whether being bonded with the magnet steel surface of disk body.The method that the present invention quickly loads strip magnetic patch is simple and efficient to handle, which can efficiently be combined with feeding machanism, forms a set of strip magnetic patch Automated assembly machine people's system, greatly improves working efficiency.
Description
Technical field
The invention belongs to Automated assembly fields, and in particular to one kind quickly loads clamping jaw and its filling side of strip magnetic patch
Method.
Background technique
The products such as magnechuck, Magnetic template belong to electric control permanent magnet product, are a kind of using electromagnetic principle, by making
Portion's coil, which is powered, generates magnetic force, by magnetic conduction panel, a kind of frock clamp that contact is tightly sucked in the workpiece of panel surface,
Due to having the features such as magnetic force is powerful, switching is efficient, safety, energy-saving and environmental protection, it is widely used to each industry neck of modernization
Domain.
In the production process of traditional electric control permanent magnet product, the filling of strip magnetic patch fully relies on worker and carries out manual operations, but
It is which has the disadvantages such as assembly quality is low, strip magnetic patch is easily broken, the amount of labour is big, assembly efficiency is low, therefore needs to use
Robot improve its assemble quality, reduce labor intensity, improve assembly efficiency, but be limited to strip magnetic patch strong magnetic force feature and
The lesser constraint of assembly space, there are no a execution clamping jaws that can be realized the filling of strip magnetic patch on the market at present, and then hinder
The realization of strip magnetic patch filling automatic robot is hindered.For these problems, need to design a kind of quickly filling strip magnetic patch
Novel clamping jaw, pass through overcome strip magnetic patch load during disk body adsorption capacity, the opening and closing movement of abandoning tradition clamping jaw, realize
The quick filling of strip magnetic patch, position movement and feeding distribution mechanism in conjunction with robot (more shutdown mechanical arms or truss robot)
The supply of strip magnetic patch, form a set of strip magnetic patch Automated assembly machine people's system, realize the high efficiency, high-quality of strip magnetic patch
Amount assembly.
Summary of the invention
The purpose of the present invention is to provide the clamping jaws and its packing method of a kind of quickly filling strip magnetic patch.
To achieve the goals above, the present invention quickly loads the clamping jaw of strip magnetic patch, including is mounted on multi freedom degree mechanical
The adapter of arm end, the bottom surface of adapter are equipped with magnetic patch guide seat, are transversely equipped with supplied materials channel simultaneously on magnetic patch guide seat
It is equipped with fill channel, the inside setting filling cylinder of adapter along longitudinal direction, strip magnet to be loaded is entered from supplied materials channel
With fill channel face, loads cylinder and strip magnet is pushed in the specified conduit of disk body by push plate；The magnetic patch is led
The introduction suction bar that setting prevents strip magnet from falling off when position adjusts along the side of setting fill channel；Described
It is additionally provided on magnetic patch guide seat for detecting the sensor itself whether being bonded with the magnet steel surface of disk body.
The magnetic patch guide seat uses c-type cylinder, and supplied materials channel is radially opened up in its bottom surface, and fill channel is along axial
It opens up.
It is provided with buffer on the bottom surface of magnetic patch guide seat, the impact being bonded for buffering magnetic patch guide seat with magnet steel surface
Power.
The push plate is all made of ferrimagnet with suction bar and is made, generation when push plate can prevent from pushing strip magnet
It falls off.
The suction bar is assembled using detachable, can be changed by the adjustment to its quantity to strip magnet
Adsorption capacity size.The suction bar uses cylindrical type strip or rectangular strip.
The method that the present invention quickly loads strip magnetic patch, comprising the following steps:
Step 1 drives magnetic patch guide seat to be moved to feeding position, feeding mechanism by multi-degree-of-freemechanical mechanical arm through adapter
Strip magnet is pushed on magnetic patch guide seat by supplied materials channel；
Step 2, the surface that magnetic patch guide seat is moved to disk body by multi-degree-of-freemechanical mechanical arm adjust magnetic patch guide seat
Direction, so that the specified conduit of strip magnet and disk body is aligned；
Step 3 makes magnetic patch guide seat be displaced downwardly to bottom surface and the magnet steel surface of disk body to fit by multi-degree-of-freemechanical mechanical arm,
And detection confirmation is carried out by sensor, start to execute filling operation after confirmation fitting；
Step 4, filling cylinder will be located at the strip magnet in supplied materials channel along fill channel by push plate in magnetic patch guide seat
It releases, strip magnet enters in the specified conduit of disk body；
Step 5, strip magnet and magnet steel form flux circuit, and filling cylinder withdraws push plate.
Compared with prior art, the present invention is with following the utility model has the advantages that logical by the way that supplied materials is arranged on magnetic patch guide seat
Road and fill channel realize the clamping to strip magnet, make bar shaped magnetic using the mobile magnetic patch guide seat of multi-degree-of-freemechanical mechanical arm
The specified conduit of block and disk body aligns, and strip magnet is finally pushed to by filling cylinder by push plate the specified conduit of disk body
In, clamping jaw of the invention by overcome strip magnetic patch load during disk body adsorption capacity, the opening and closing movement of abandoning tradition clamping jaw,
Realize the quick filling of strip magnetic patch, multi-degree-of-freemechanical mechanical arm can also be replaced by truss robot.The clamping jaw can be with confession
Material mechanism efficiently combines, and forms a set of strip magnetic patch Automated assembly machine people's system, greatly improves working efficiency.
Compared with prior art, the present invention quickly load strip magnetic patch method it is simple and efficient to handle, when multiple degrees of freedom machine
Tool arm make magnetic patch guide seat be displaced downwardly to bottom surface and disk body magnet steel surface fit after, detection confirmation is carried out by sensor, is prevented
Only not being bonded closely causes flux circuit bad and filling is caused to fail, after strip magnet is pushed to specified conduit, filling
Cylinder withdraws push plate, and since strip magnet and magnet steel have re-formed flux circuit at this time, push plate just can be with strip magnet
It is smoothly detached, strip magnet is stayed in specified conduit, the opening and closing movement of traditional clamping jaw has been abandoned during filling, it is accurate high
Effect.
Detailed description of the invention
The whole assembling schematic diagram of Fig. 1 clamping jaw of the present invention；
First visual angle three dimensional structure diagram of Fig. 2 clamping jaw of the present invention；
Second visual angle three dimensional structure diagram of Fig. 3 clamping jaw of the present invention；
The filling of Fig. 4 clamping jaw of the present invention prepares schematic diagram；
The process schematic of Fig. 5 clamping jaw push strip magnet of the present invention；
In figure: 1- clamping jaw；2- multi-degree-of-freemechanical mechanical arm；3- disk body；4- magnetic patch guide seat；5- loads cylinder；6- adapter；
7- push plate；8- suction bar；9- buffer；10- sensor；11- strip magnet；12- magnet steel；13- specifies conduit；14- supplied materials is logical
Road；15- fill channel.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
Referring to Fig. 1-3, the present invention quickly loads the clamping jaw of strip magnetic patch, including is mounted on 2 end of multi-degree-of-freemechanical mechanical arm
Adapter 6, the bottom surface of adapter 6 is equipped with magnetic patch guide seat 4, is transversely equipped with supplied materials channel 14 simultaneously on magnetic patch guide seat 4
It is equipped with fill channel 15 along longitudinal direction, magnetic patch guide seat 4 uses c-type cylinder, is made of stainless steel material, supplied materials channel 14 is at its bottom
Face radially opens up, and fill channel 15 is opened up along axial direction, provides the constrained path during strip magnet 11 loads.
The inside setting filling cylinder 5 of adapter 6, strip magnet 11 to be loaded are entered and are loaded from supplied materials channel 14
Strip magnet 11 is pushed in the specified conduit 13 of disk body 3 by 15 face of channel, filling cylinder 5 by push plate 7.It is guided in magnetic patch
It is provided with buffer 9 on the bottom surface of seat 4, the impact force being bonded for buffering magnetic patch guide seat 4 with 12 surface of magnet steel.
The setting along the side of setting fill channel 15 of magnetic patch guide seat 4 prevents strip magnet 11 when position adjusts
The suction bar 8 to fall off, push plate 7 are all made of ferrimagnet with suction bar 8 and are made, and push plate 7 can prevent push strip magnet 11
When fall off.Suction bar 8 is assembled using detachable, can be changed by the adjustment to its quantity to strip magnet 11
Adsorption capacity size.Suction bar 8 uses cylindrical type strip or rectangular strip, and the distance between fill channel 15 is adjustable.Magnetic
It is additionally provided on block guide seat 4 for detecting the sensor 10 itself whether being bonded with 12 surface of magnet steel of disk body 3, prevents magnetic patch from leading
Introduction 4 is not bonded with magnet steel 12 closely causes flux circuit bad, and in turn resulting in causes filling to fail.
Referring to fig. 4-5, the method that the present invention quickly loads strip magnetic patch, comprising the following steps:
Step 1 drives magnetic patch guide seat 4 to be moved to feeding position, feeding by multi-degree-of-freemechanical mechanical arm 2 through adapter 6
Strip magnet 11 is pushed on magnetic patch guide seat 4 by mechanism by supplied materials channel 14；
Step 2, the surface that magnetic patch guide seat 4 is moved to disk body 3 by multi-degree-of-freemechanical mechanical arm 2, adjustment magnetic patch are led
The direction of introduction 4 makes strip magnet 11 and the specified conduit 13 of disk body 3 align；
Step 3, the 12 surface phase of magnet steel for making magnetic patch guide seat 4 be displaced downwardly to bottom surface with disk body 3 by multi-degree-of-freemechanical mechanical arm 2
Fitting, and detection confirmation is carried out by sensor 10, start to execute filling operation after confirmation fitting；
Step 4, filling cylinder 5 will be located at the strip magnet 11 in supplied materials channel 14 along dress by push plate 7 in magnetic patch guide seat 4
Fill channel 15 is released, and strip magnet 11 enters in the specified conduit 13 of disk body 3；
Step 5, strip magnet 11 and magnet steel 12 form flux circuit, and filling cylinder 5 withdraws push plate 7.
Above embodiments are merely to illustrate structure and working principle of the invention, according to above-mentioned technology contents, are not taking off
From within the spirit and principles in the present invention, made any modification, replacement and improvement etc., should be included in protection model of the invention
Within enclosing.
Claims (7)
1. a kind of clamping jaw of quickly filling strip magnetic patch, it is characterised in that: including being mounted on multi-degree-of-freemechanical mechanical arm (2) end
The bottom surface of adapter (6), adapter (6) is equipped with magnetic patch guide seat (4), transversely logical equipped with supplied materials on magnetic patch guide seat (4)
Road (14) is simultaneously equipped with fill channel (15) along longitudinal direction, inside setting filling cylinder (5) of adapter (6), bar shaped magnetic to be loaded
Block (11) is entered from supplied materials channel (14) passes through push plate (7) for strip magnet with fill channel (15) face, filling cylinder (5)
(11) it is pushed in the specified conduit (13) of disk body (3)；The magnetic patch guide seat (4) is along the side of setting fill channel (15)
The suction bar (8) that upper setting prevents strip magnet (11) from falling off when position adjusts；On the magnetic patch guide seat (4) also
Equipped with for the sensor (10) itself whether being bonded with magnet steel (12) surface of disk body (3) to be detected.
2. quickly loading the clamping jaw of strip magnetic patch according to claim 1, it is characterised in that: the magnetic patch guide seat (4)
Using c-type cylinder, supplied materials channel (14) are radially opened up in its bottom surface, and fill channel (15) is opened up along axial direction.
3. the clamping jaw of quick filling strip magnetic patch according to claim 1 or claim 2, it is characterised in that: the bottom of magnetic patch guide seat (4)
Buffer (9) are provided on face, the impact force being bonded for buffering magnetic patch guide seat (4) with magnet steel (12) surface.
4. quickly loading the clamping jaw of strip magnetic patch according to claim 1, it is characterised in that: the push plate (7) and suction
Bar (8) is all made of ferrimagnet and is made, and push plate (7) can prevent from falling off when push strip magnet (11).
5. quickly loading the clamping jaw of strip magnetic patch according to claim 1, it is characterised in that: the suction bar (8) uses
It is detachable to be assembled, the adsorption capacity size to strip magnet (11) can be changed by the adjustment to its quantity.
6. the clamping jaw of quick filling strip magnetic patch according to claim 1 or claim 2, it is characterised in that: the suction bar (8) is adopted
With cylindrical type strip or rectangular strip.
7. a kind of method for loading strip magnetic patch based on the clamping jaw for quickly loading strip magnetic patch described in claim 1, feature exist
In:
Step 1 drives magnetic patch guide seat (4) to be moved to feeding position by multi-degree-of-freemechanical mechanical arm (2) through adapter (6), send
Strip magnet (11) are pushed on magnetic patch guide seat (4) by material mechanism by supplied materials channel (14)；
Step 2, the surface that magnetic patch guide seat (4) is moved to disk body (3) by multi-degree-of-freemechanical mechanical arm (2), adjust magnetic patch
The direction of guide seat (4) makes strip magnet (11) and the specified conduit (13) of disk body (3) align；
Step 3 passes through magnet steel (12) table that multi-degree-of-freemechanical mechanical arm (2) make magnetic patch guide seat (4) be displaced downwardly to bottom surface Yu disk body (3)
Face fits, and carries out detection confirmation by sensor (10), starts to execute filling operation after confirmation fitting；
Step 4, filling cylinder (5) will be located at the strip magnet of supplied materials channel (14) by push plate (7) in magnetic patch guide seat (4)
(11) it is released along fill channel (15), strip magnet (11) enters in the specified conduit (13) of disk body (3)；
Step 5, strip magnet (11) and magnet steel (12) form flux circuit, and push plate (7) are withdrawn in filling cylinder (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811238133.7A CN109048976B (en) | 2018-10-23 | 2018-10-23 | Clamping jaw for rapidly filling strip-shaped magnetic blocks and filling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811238133.7A CN109048976B (en) | 2018-10-23 | 2018-10-23 | Clamping jaw for rapidly filling strip-shaped magnetic blocks and filling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048976A true CN109048976A (en) | 2018-12-21 |
| CN109048976B CN109048976B (en) | 2023-11-14 |
Family
ID=64764336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811238133.7A Active CN109048976B (en) | 2018-10-23 | 2018-10-23 | Clamping jaw for rapidly filling strip-shaped magnetic blocks and filling method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048976B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394633A (en) * | 2019-08-23 | 2019-11-01 | 西安中科光电精密工程有限公司 | A kind of positioning is automatically separated with annulus unit of plastic and filling mechanism and method |
| CN110405443A (en) * | 2019-08-20 | 2019-11-05 | 西安中科光电精密工程有限公司 | A kind of strip-shaped permanent-magnet block entire row feeding and automatic material distributing device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04133528U (en) * | 1991-06-03 | 1992-12-11 | 住友金属工業株式会社 | Device for incorporating permanent magnets into ferromagnetic materials |
| CN103009045A (en) * | 2012-12-06 | 2013-04-03 | 嘉善蓝创塑胶有限公司 | Rectangular magnet press-in tool |
| CN204868081U (en) * | 2015-07-31 | 2015-12-16 | 惠州市金利锋电子设备科技有限公司 | Automatic machine of loading of magnetic path |
| CN205363188U (en) * | 2015-10-21 | 2016-07-06 | 江门麦威电子科技有限公司 | Magnet set task work adorns fixture device that impresses |
| CN206484214U (en) * | 2016-12-06 | 2017-09-12 | 歌尔科技有限公司 | Magnet assembling device |
| CN207174909U (en) * | 2017-08-16 | 2018-04-03 | 歌尔科技有限公司 | Magnetic part erecting device |
| CN209022094U (en) * | 2018-10-23 | 2019-06-25 | 西安中科光电精密工程有限公司 | A kind of clamping jaw of quick filling strip magnetic patch |
-
2018
- 2018-10-23 CN CN201811238133.7A patent/CN109048976B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04133528U (en) * | 1991-06-03 | 1992-12-11 | 住友金属工業株式会社 | Device for incorporating permanent magnets into ferromagnetic materials |
| CN103009045A (en) * | 2012-12-06 | 2013-04-03 | 嘉善蓝创塑胶有限公司 | Rectangular magnet press-in tool |
| CN204868081U (en) * | 2015-07-31 | 2015-12-16 | 惠州市金利锋电子设备科技有限公司 | Automatic machine of loading of magnetic path |
| CN205363188U (en) * | 2015-10-21 | 2016-07-06 | 江门麦威电子科技有限公司 | Magnet set task work adorns fixture device that impresses |
| CN206484214U (en) * | 2016-12-06 | 2017-09-12 | 歌尔科技有限公司 | Magnet assembling device |
| CN207174909U (en) * | 2017-08-16 | 2018-04-03 | 歌尔科技有限公司 | Magnetic part erecting device |
| CN209022094U (en) * | 2018-10-23 | 2019-06-25 | 西安中科光电精密工程有限公司 | A kind of clamping jaw of quick filling strip magnetic patch |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405443A (en) * | 2019-08-20 | 2019-11-05 | 西安中科光电精密工程有限公司 | A kind of strip-shaped permanent-magnet block entire row feeding and automatic material distributing device and method |
| CN110405443B (en) * | 2019-08-20 | 2024-01-09 | 西安中科光电精密工程有限公司 | Strip-shaped permanent magnet block whole-row feeding and automatic distributing device and method |
| CN110394633A (en) * | 2019-08-23 | 2019-11-01 | 西安中科光电精密工程有限公司 | A kind of positioning is automatically separated with annulus unit of plastic and filling mechanism and method |
| CN110394633B (en) * | 2019-08-23 | 2024-01-09 | 西安中科光电精密工程有限公司 | Automatic separating and filling mechanism and method for circular plastic blocks for positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109048976B (en) | 2023-11-14 |
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Denomination of invention: A gripper for quickly loading bar shaped magnetic blocks and its loading method Granted publication date: 20231114 Pledgee: Shaanxi qinnong Rural Commercial Bank Co.,Ltd. Chang'an sub branch Pledgor: XI'AN ZHONGKE PHOTOELECTRIC PRECISION ENGINEERING Co.,Ltd. Registration number: Y2024980024001 |