CN110626795B - Method and device for grabbing and moving low-density magnet blank formed by pressing - Google Patents
Method and device for grabbing and moving low-density magnet blank formed by pressing Download PDFInfo
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- CN110626795B CN110626795B CN201910892271.5A CN201910892271A CN110626795B CN 110626795 B CN110626795 B CN 110626795B CN 201910892271 A CN201910892271 A CN 201910892271A CN 110626795 B CN110626795 B CN 110626795B
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- magnet blank
- vacuum jacket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Abstract
A method and apparatus for gripping and moving a press-formed low-density magnet blank, the method comprising: a. molding a low-density magnet blank by a press; b. a vacuum jacket for clamping and fixing the magnet blank is clamped by a manipulator with a negative pressure device, and the vacuum jacket is moved to the position above the magnet blank on the press from the outside of the press; c. the manipulator clamps the magnet blank through the vacuum jacket; d. the manipulator moves the clamped vacuum jacket and the magnet blank to a magnet blank placing table, and the pressure is released to complete one-time magnet blank grabbing. The device comprises a mechanical arm and a vacuum jacket, wherein the mechanical arm is provided with or connected with a negative pressure device, and the vacuum jacket is a sleeve body which has the same shape with the magnet blank and has a diameter larger than the upper opening and the lower opening of the magnet blank. The invention can grab and move the low-density magnet blank, has no collision and extrusion to the magnet blank in the grabbing and moving process, and can ensure that the magnet blank can be moved from one point to another point without damage.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a press-formed magnet, in particular to a method and a device for grabbing and moving a press-formed loose and fragile low-density magnet blank which is easy to reduce into magnetic powder.
[ background of the invention ]
In the compression molding process of the magnet, in order to ensure that the weight of the added magnetic powder is accurate when the magnet is subjected to compression molding and overcome the problem that the powder cannot be uniformly and accurately added due to other process conditions, the magnetic powder needs to be firstly compressed into magnet blanks with the same weight and the same size in a die under the condition of no magnetic field. In order to ensure that the magnetic powder can be fully oriented under the action of the orientation magnetic field, the density of the magnet is reduced as far as possible on the basis of molding, and the magnet is loose and fragile, so that the magnet can be instantly crushed and reduced into the magnetic powder to be fully oriented when being placed into a mold with the action of a curved magnetic field to be molded. However, since the pressed magnet blank has a low density and is easily broken, it is difficult to completely grasp and move the magnet blank to a subsequent processing apparatus. Therefore, how to perform the undamaged grabbing and moving of the magnet blank for press forming becomes an objective demand to be solved urgently.
[ summary of the invention ]
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a method for gripping and moving a low-density magnet blank, which can grip and move the low-density magnet blank, does not collide with the magnet blank during the gripping and moving process, does not cause extrusion, and can ensure that the magnet blank is moved from one point to another without damage.
The invention also provides a device for grabbing and moving the low-density magnet blank for realizing the method.
To achieve the above object, the present invention provides a method for gripping and moving a press-formed low-density magnet blank, the method comprising:
a. molding a low-density magnet blank by a press;
b. clamping a vacuum jacket for fixing the magnet blank by a manipulator with a negative pressure device, and moving the vacuum jacket to the position above the magnet blank on the press from the outside of the press;
c. the mechanical arm moves downwards, and the magnet blank is clamped by the vacuum jacket;
d. the manipulator moves the clamped vacuum jacket and the magnet blank adsorbed in the vacuum jacket to a magnet blank placing table, and then the pressure is released, so that one-time magnet blank grabbing is completed.
In the step a, the low-density magnet is a loose and fragile magnet which is easy to reduce into magnetic powder.
In the step b, the diameter of the vacuum jacket is larger than that of the magnet blank, and the vacuum jackets are arranged on a jacket conveying belt of the manipulator and are sequentially clamped by the manipulator.
In the step c, the vacuum jacket is sleeved outside the magnet blank from top to bottom by the manipulator, and the magnet blank is absorbed in the vacuum jacket by the negative pressure generated by the manipulator or a negative pressure device connected with the manipulator through the vacuum jacket.
The invention also provides a device for realizing the grabbing and moving of the low-density magnet blank, which comprises a manipulator and a vacuum jacket, wherein the manipulator is a three-dimensionally movable program-controlled manipulator which is provided with or connected with a negative pressure device, and the vacuum jacket is a sleeve body which has the same shape as the magnet blank and is larger than the magnet blank in diameter and is provided with an upper opening and a lower opening.
The manipulator comprises a mechanical arm and a clamp movably connected to the front end of the mechanical arm, the clamp is composed of a left clamping piece and a right clamping piece which can be opened and closed, the shape of the clamp is matched with that of the vacuum jacket, when the clamp is closed, the left clamping piece and the right clamping piece move oppositely to clamp the vacuum jacket tightly, and a jacket conveying belt is arranged below the mechanical arm.
The vacuum jacket comprises an inner core, an outer shell, an end cover, a first sealing ring and a second sealing ring, wherein the inner core is a metal sleeve body with an upper opening and a lower opening, a plurality of micropores for applying negative pressure are distributed in the middle of the wall of the sleeve body, the inner core is arranged in the outer shell, two ends of the inner core are fixed with the outer shell through the end cover, the inner core is sealed with the outer shell through the first sealing ring, and the outer shell is sealed with the end cover through the second sealing ring.
The upper end and the lower end of the shell are provided with screw holes connected with the end covers, and the side wall of the shell is provided with a radial through hole for communicating the negative pressure device with the inner core of the vacuum jacket.
The end cover is an annular plate-shaped body, and a plurality of through holes for fixing the end cover and the shell are formed in the end cover at intervals along the circumferential direction.
The contribution of the invention is that the problem of difficulty in grabbing and moving the low-density magnet blank is effectively solved. The invention can automatically grab the low-density and easily-broken magnet blank through the mechanical arm and the vacuum jacket matched with the magnet blank, and then move to another point to be processed. The magnet blank is not collided and extruded in the grabbing and moving processes, and the magnet blank can be moved from one point to another point in a complete and undamaged manner, so that the follow-up procedures are effectively guaranteed. The device can automatically run under the control of a program, can absorb the magnet blank in the vacuum jacket without damage through the mechanical arm with the negative pressure device and the vacuum jacket operated by the negative pressure, and is transferred to a point to be processed in the next procedure by the mechanical arm, the whole process is automatically carried out, orderly and efficiently, the smooth proceeding of the subsequent process can be ensured, and the quality and the efficiency of the magnet manufacturing can be ensured.
[ description of the drawings ]
Fig. 1 is a schematic view of the overall structure of the apparatus of the present invention.
Fig. 2 is a schematic structural view of a vacuum jacket according to the present invention, wherein fig. 2A is a structural sectional view, fig. 2B is a perspective view, fig. 2C is a schematic structural view of an inner core, fig. 2D is a sectional view of an inner core, fig. 2E is a perspective view of an end cap structure, and fig. 2F is a structural sectional view of an outer shell.
[ detailed description ] embodiments
The following examples are further illustrative and explanatory of the present invention and are not to be construed as limiting the invention in any way.
Referring to fig. 1, the grasping and moving method of the press-formed low-density magnet blank of the present invention includes the steps of:
s10: low density magnet blank pressing
As shown in fig. 1, a low density magnet blank 20 is molded by a press 10, and in this step, the press 10 may be a suitable known magnet press apparatus which presses a magnet device such as a magnet ring through a die. The low-density magnet is loose and fragile, is easy to reduce into magnetic powder in subsequent magnetic field orientation compression molding, and has the same weight and size as the magnet subjected to the magnetic field orientation compression molding. In this embodiment, the press 10 presses the low-density magnet blank 20 with a small pressure, and after the press forming, the magnet blank 20 is placed on an electronic scale to check whether its weight is the same as the required weight.
S20: moving the vacuum jacket to the press
As shown in fig. 1, the present invention is provided with a robot 30 for gripping a magnet blank and a vacuum jacket 40. The front end of the manipulator 30 is provided with a connection hole 33 of a negative pressure device, the negative pressure device is connected to the connection hole 33 through a connection pipe, and the connection hole 33 is communicated with the inside of the vacuum jacket 40. The vacuum jacket 40 is a negative pressure control device in which the magnet blank is placed, and has a diameter larger than that of the magnet blank 20, and in this embodiment, the inner diameter of the vacuum jacket 40 is 0.1mm larger than the outer diameter of the magnet blank. Each vacuum jacket 40 is used to grip one magnet blank. A plurality of vacuum jackets 40 are placed on a jacket conveyor (not shown) of the robot arm, and are sequentially gripped by the robot arm 30. As shown in fig. 1, the robot 30 grips a vacuum jacket 40 from the jacket conveyor, and moves the vacuum jacket 40 over the magnet blank 20 on the press.
S30: grabbing of magnet blanks
As shown in fig. 1, the manipulator 30 holding the vacuum jacket 40 moves downward, the vacuum jacket 40 is sleeved outside the magnet blank 20 from top to bottom, the negative pressure generated by the negative pressure device absorbs the magnet blank 20 in the vacuum jacket through the vacuum jacket 40, and the grabbing of the magnet blank is completed. Specifically, the middle part of the body wall of the sleeve body of the inner core 41 of the vacuum jacket is fully distributed with a plurality of micropores 411 with the diameter of 0.1-1 mm for applying negative pressure. When the vacuum jacket 40 sleeves the magnet blank 20, the negative pressure generated by the negative pressure device absorbs the magnet blank 20 to the vacuum jacket through the micropores 411 on the inner core of the vacuum jacket, so that the magnet blank is grabbed.
S40: movement of magnet blank
The manipulator 30 moves outside the press after grabbing the magnet blank 20, moves the clamped vacuum jacket 40 and the magnet blank 20 adsorbed in the vacuum jacket to the magnet blank placing table 50, or directly moves to a processing platform of the next procedure, and then releases the pressure relief, thereby completing the grabbing of the magnet blank once.
The above steps may be repeated until all the magnet blanks 20 have been moved.
The invention provides a low-density magnet blank grabbing and moving device for realizing the method.
Referring to fig. 1, the apparatus includes a robot 30 and a vacuum jacket 40, wherein the robot 30 is used for grabbing and moving the magnet blank pressed and formed by the press, and the vacuum jacket 40 holds the magnet blank without damage by negative pressure.
As shown in fig. 1, the robot 30 is a three-dimensionally movable programmable robot, which may be a suitable known programmable robot. The robot 30 may be provided with a vacuum device (not shown) or may be connected to an external vacuum device. The robot 30 includes a robot arm 31 and a jig 32. The mechanical arm 31 is connected with a driving and controlling device and can move three-dimensionally according to a control program. The front end of the mechanical arm 31 is movably connected with a clamp 32, the clamp 32 is composed of a left clamping piece 321 and a right clamping piece 322 which are matched with the vacuum jacket 40 in shape, and the left clamping piece 321 and the right clamping piece 322 are movably connected with the front end of the mechanical arm 31 and can move in opposite directions or opposite directions to be opened and closed. The gripper 32 is driven by a pneumatic mechanism mounted on a robotic arm and is shaped to match the shape of the vacuum jacket 40. When the vacuum clamping device is folded, the left clamping piece 321 and the right clamping piece 322 move oppositely to clamp the vacuum clamping sleeve 40, and when the left clamping piece 321 and the right clamping piece 322 move reversely, the vacuum clamping sleeve 40 is released. In this embodiment, a negative pressure device connection hole 33 is formed in one of the left jaw 321 and the right jaw 322, and a negative pressure generated by an external negative pressure device is introduced into the vacuum jacket 40 through the connection hole 33. A jacket conveyor belt on which a plurality of vacuum jackets 40 are sequentially arranged is provided below the robot arm 31.
The vacuum jacket 40 is a sleeve body which has the same shape as the magnet blank 20 and is larger than the magnet blank in diameter and is provided with an upper opening and a lower opening.
As shown in fig. 2A to 2F, the vacuum jacket 40 includes an inner core 41, an outer shell 42, an end cap 43, a first seal ring 44 and a second seal ring 45, wherein, as shown in fig. 2C and 2D, the inner core 41 is a metal sleeve body with an upper opening and a lower opening, a plurality of micropores 411 with a diameter of 0.1 to 1mm are distributed in the middle of the body wall of the sleeve body along the circumferential direction, and the negative pressure generated by the negative pressure device is applied to the magnet blank 20 through the micropores 411. The inner core 41 is installed in the outer shell 42, as shown in fig. 2E and fig. 2F, two ends of the inner core 41 are fixed to the outer shell 42 through the end caps 43, and the upper and lower ends of the outer shell 42 are provided with screw holes 421 for connecting with the end caps 43. The side wall of the shell 42 is provided with a radial through hole 422 for communicating the negative pressure device and the vacuum jacket inner core 41, and the radial through hole 422 corresponds to the position of the negative pressure device connecting hole 33 on the mechanical arm. The inner core 41 and the outer shell 42 are sealed by a first sealing ring 44, and the outer shell 42 and the end cover 43 are sealed by a second sealing ring 45. The end cap 43 is an annular plate-shaped body, a plurality of through holes 431 are formed in the annular plate-shaped body at intervals along the circumferential direction, and the end cap is fixed with the housing through the through holes 431 by screws.
Therefore, the grabbing and moving method and the grabbing and moving device for the low-density magnet blank formed by pressing realize grabbing and moving of the low-density magnet blank, do not collide and extrude the magnet blank in the grabbing and moving processes, and can ensure that the magnet blank can be moved from one point to another point without damage, thereby effectively ensuring the magnetic field orientation of the magnet in the subsequent process and the high-quality magnet formed by pressing.
Although the present invention has been described with reference to the above embodiments, the scope of the present invention is not limited thereto, and modifications, substitutions and the like of the above members are intended to fall within the scope of the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. A method of grasping and moving a press formed low density magnet blank, the method comprising:
a. molding out a low-density magnet blank (20) from a press (10);
b. a mechanical arm (30) with a negative pressure device clamps a vacuum jacket (40) for fixing a magnet blank (20), the vacuum jacket (40) is moved to the position above the magnet blank (20) on the press from the outside of the press (10), the vacuum jacket (40) is a sleeve body which has the same shape as the magnet blank (20) and is open at the upper part and the lower part, and the diameter of the vacuum jacket (40) is larger than that of the magnet blank (20);
c. the mechanical arm (30) moves downwards, and the magnet blank (20) is clamped through the vacuum jacket (40);
d. the manipulator (30) moves the clamped vacuum jacket (40) and the magnet blank (20) adsorbed in the vacuum jacket to a magnet blank placing table, and then the pressure is released to complete one-time magnet blank grabbing.
2. The method of claim 1, wherein in step a, the low density magnet is a loose, brittle magnet that is easily reduced to magnetic powder.
3. The method of claim 1, wherein in step b, a plurality of vacuum jackets (40) are placed on the jacket conveyor of the robot, and are sequentially gripped by the robot (30).
4. The method of claim 1, wherein in step c, the robot (30) is used for sleeving the vacuum jacket (40) on the outer part of the magnet blank (20) from top to bottom, and the negative pressure generated by the robot (30) or a negative pressure device connected with the robot is used for adsorbing the magnet blank (20) in the vacuum jacket through the vacuum jacket (40).
5. A gripping and moving device of a method for gripping and moving a press formed low density magnet blank according to claim 1, characterized in that the device comprises a robot (30) and a vacuum jacket (40), said robot (30) being a three-dimensionally movable, programmed robot with or connected to a negative pressure device.
6. The device according to claim 5, characterized in that the manipulator (30) comprises a mechanical arm (31) and a clamp (32) movably connected to the front end of the mechanical arm, the clamp (32) is composed of a left clamping piece (321) and a right clamping piece (322) which can be opened and closed, the clamp (32) is matched with the vacuum jacket (40) in shape, when the device is folded, the left clamping piece (321) and the right clamping piece (322) move oppositely to clamp the vacuum jacket (40), and a jacket conveyor belt is arranged below the mechanical arm (31).
7. The device according to claim 5, wherein the vacuum jacket (40) comprises an inner core (41), an outer shell (42), an end cap (43), a first sealing ring (44) and a second sealing ring (45), wherein the inner core (41) is a metal sleeve body with an upper opening and a lower opening, a plurality of micropores (411) for applying negative pressure are distributed in the middle of the wall of the sleeve body, the inner core (41) is arranged in the outer shell (42), two ends of the inner core (41) are fixed with the outer shell (42) through the end cap (43), the inner core (41) and the outer shell (42) are sealed by the first sealing ring (44), and the outer shell (42) and the end cap (43) are sealed by the second sealing ring (45).
8. The device as claimed in claim 7, wherein the upper and lower ends of the outer shell (42) are provided with screw holes (421) connected with the end caps (43), and the side wall of the outer shell (42) is provided with radial through holes (422) for communicating the negative pressure device with the inner core (41) of the vacuum jacket.
9. The device as claimed in claim 7, characterized in that the end cap (43) is an annular plate which is provided with a plurality of through-holes (431) at intervals in the circumferential direction for fastening to the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910892271.5A CN110626795B (en) | 2019-09-20 | 2019-09-20 | Method and device for grabbing and moving low-density magnet blank formed by pressing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910892271.5A CN110626795B (en) | 2019-09-20 | 2019-09-20 | Method and device for grabbing and moving low-density magnet blank formed by pressing |
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| Publication Number | Publication Date |
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| CN110626795A CN110626795A (en) | 2019-12-31 |
| CN110626795B true CN110626795B (en) | 2021-02-02 |
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| IT1310602B1 (en) * | 1999-05-26 | 2002-02-19 | Gruppo Barbieri & Tarozzi Srl | MODULAR DEVICE FOR TAKING AND MOTORIZING ROLLS OF FOLLOWING COMPONENTS FOR MOBILE TRANSPORT AND STORAGE PLANS. |
| DE102005003500A1 (en) * | 2005-01-25 | 2006-07-27 | Saint-Gobain Industriekeramik Rödental GmbH | Rack for stacking, transporting and firing green ceramic products incorporates adjustable spring-supported members |
| US8567453B2 (en) * | 2009-12-09 | 2013-10-29 | Android Industries Llc | Apparatus, methods, components, and systems for assembling and/or inflating a tire-wheel assembly |
| CN201946427U (en) * | 2011-01-07 | 2011-08-24 | 康舒电子(东莞)有限公司 | Energy-saving environment-friendly material sucking and feeding mechanism |
| US10604359B2 (en) * | 2018-02-14 | 2020-03-31 | The Boeing Company | High resolution vacuum grippers that utilize bi-stable flow valves |
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Effective date of registration: 20210325 Address after: 237300 north of jinkuntai project, south of Kerun power project, west of kostar project and east of Yanhe Road, Jinzhai modern industrial park, Lu'an City, Anhui Province Patentee after: Anhui Yuehai Magnetic Industry Co.,Ltd. Address before: 523809 Guangdong city of Dongguan province Dalingshan Lianping administration district Patentee before: Dongguan Haitian Magnetic Industry Co.,Ltd. |
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Denomination of invention: Method and device for gripping and moving low density magnet blanks formed by pressing Effective date of registration: 20220621 Granted publication date: 20210202 Pledgee: Anhui Lida finance guarantee Limited by Share Ltd. Pledgor: Anhui Yuehai Magnetic Industry Co.,Ltd. Registration number: Y2022980008368 |
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Date of cancellation: 20230724 Granted publication date: 20210202 Pledgee: Anhui Lida finance guarantee Limited by Share Ltd. Pledgor: Anhui Yuehai Magnetic Industry Co.,Ltd. Registration number: Y2022980008368 |