CN112092004A - Grabbing mechanism and grabbing method for neodymium iron boron permanent magnet - Google Patents
Grabbing mechanism and grabbing method for neodymium iron boron permanent magnet Download PDFInfo
- Publication number
- CN112092004A CN112092004A CN202010794632.5A CN202010794632A CN112092004A CN 112092004 A CN112092004 A CN 112092004A CN 202010794632 A CN202010794632 A CN 202010794632A CN 112092004 A CN112092004 A CN 112092004A
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- China
- Prior art keywords
- grabbing
- suction
- bottom plate
- plate
- boron permanent
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- 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
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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
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
Abstract
The invention relates to the field of neodymium iron boron permanent magnet production, in particular to a neodymium iron boron permanent magnet grabbing mechanism and a neodymium iron boron permanent magnet grabbing method. The mechanism comprises a grabbing rack, and a grabbing manipulator and a staggered moving manipulator which are fixed on the grabbing rack; the output end of the grabbing manipulator is respectively connected with the feeding device and the distributing and staggering mechanism; the output end of the dislocation moving manipulator is respectively connected with the material distributing and staggering mechanism and the blanking device; the grabbing manipulator is used for grabbing the neodymium iron boron permanent magnets which are continuously arranged; the dislocation moving manipulator is used for grabbing the neodymium iron boron permanent magnets after material distribution is staggered; the mechanism improves the moving efficiency of the neodymium iron boron permanent magnet through setting the grabbing mechanical arm and the dislocation moving mechanical arm, and improves the automatic processing degree of the whole device.
Description
Technical Field
The invention relates to the field of neodymium iron boron permanent magnet production, in particular to a neodymium iron boron permanent magnet grabbing mechanism and a neodymium iron boron permanent magnet grabbing method.
Background
The neodymium iron boron permanent magnet is an energy storage material and can generate a constant magnetic field in a certain space. Because of the extremely high coercive force and magnetic energy product, the neodymium iron boron permanent magnet material has excellent performance relative to other permanent magnets particularly under the environment of 20-150 ℃, so that the neodymium iron boron permanent magnet material is widely applied to various fields, particularly the modern high-tech field. Before magnetic detection is carried out on the neodymium iron boron magnet or before the neodymium iron boron magnet is assembled into a device with a certain function, the neodymium iron boron magnet needs to be magnetized in a magnetizing machine to have magnetism. Before magnetizing, the non-magnetized neodymium iron boron permanent magnet is collected into the magnetizing frame, and then the neodymium iron boron permanent magnet in the magnetizing frame is placed in the magnetizing machine for magnetizing. The method generally comprises the following steps when the neodymium iron boron permanent magnet is collected on the magnetizing rack: 1) the feeding device feeds the neodymium iron boron permanent magnet into the feeding collection tray; 2) the moving mechanism moves the neodymium iron boron permanent magnets in the feeding and collecting tray to the distributing and staggering mechanism; 3) the material distributing and staggering mechanism staggers and arranges the plurality of neodymium iron boron permanent magnets according to a set mode; 4) the moving mechanism moves the neodymium iron boron permanent magnet after being distributed to a magnetizing frame in the discharging device for discharging, and the magnetizing and collecting process of the neodymium iron boron permanent magnet is completed.
The existing neodymium iron boron magnetizing equipment is a full-automatic magnetizing device for bonding neodymium iron boron magnets, such as a device disclosed by Chinese patent with the publication number of CN206003578U, and comprises a magnetizing device, a feeding device and a feeding device; the feeding device comprises a feeding guide rail, a vibrating disc, a prediction cylinder and a pushing cylinder, wherein the feeding guide rail is provided with a first position and a product pushing block, the first position is connected with a discharge hole of the vibrating disc, a prediction push rod on the prediction cylinder can push a product to the product pushing block from the first position under the driving of the prediction cylinder, and the product pushing block is connected with the output end of the pushing cylinder; the feeding device comprises a movable cylinder, a product placing rod and a placing rod guide rail, and the placing rod guide rail penetrates through the magnetizing device.
The prior art has the following defects: when the neodymium iron boron permanent magnets are moved, the arranged neodymium iron boron permanent magnets are generally manually moved to the material distribution mechanism, and the neodymium iron boron permanent magnets which are distributed and staggered in the material distribution mechanism are manually moved to the magnetism charging frame; the number of the neodymium iron boron permanent magnets is large, a large amount of time is needed for manually moving the neodymium iron boron permanent magnets, and the moving efficiency of the neodymium iron boron permanent magnets is reduced; meanwhile, the neodymium iron boron permanent magnet is not beneficial to the combination of the moving process and other devices when being manually moved, and the automatic processing of the whole equipment is not beneficial.
Disclosure of Invention
The purpose of the invention is: aiming at the problems, the neodymium iron boron permanent magnet grabbing mechanism and the grabbing method are provided, wherein the grabbing manipulator and the dislocation moving manipulator are arranged, so that the moving efficiency of the neodymium iron boron permanent magnet is improved, and the automatic processing degree of the whole equipment is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a neodymium iron boron permanent magnet grabbing mechanism comprises a grabbing rack, a grabbing manipulator and a staggered moving manipulator, wherein the grabbing manipulator and the staggered moving manipulator are fixed on the grabbing rack; the output end of the grabbing manipulator is respectively connected with the feeding device and the distributing and staggering mechanism; the output end of the dislocation moving manipulator is respectively connected with the material distributing and staggering mechanism and the blanking device; the grabbing manipulator is used for grabbing the neodymium iron boron permanent magnets which are continuously arranged; the dislocation moving manipulator is used for grabbing the neodymium iron boron permanent magnets after material distribution is staggered; the dislocation moving manipulator comprises a suction cylinder, a suction bottom plate and a suction element; the suction cylinder is connected with the output end of the moving driving assembly, and the output end of the suction cylinder is connected with the suction bottom plate; the suction element is fixed on the suction bottom plate, and the input end of the suction element is communicated with the vacuum generating device; the suction bottom plate comprises a plurality of suction heads; the distribution of the plurality of suction heads on the suction bottom plate corresponds to the staggered arrangement of the neodymium iron boron permanent magnets, the input ends of the suction heads are connected with the output ends of the suction elements, and the output ends of the suction heads are connected with the material distributing and staggering mechanism; the grabbing manipulator comprises a grabbing cylinder, a grabbing bottom plate and a grabbing air suction element; the grabbing cylinder is connected with the output end of the moving driving assembly, and the output end of the grabbing cylinder is connected with the grabbing bottom plate; the grabbing and air suction element is fixed on the grabbing bottom plate, and the input end of the grabbing and air suction element is communicated with the vacuum generating device; the grabbing bottom plate comprises a plurality of grabbing heads; the plurality of grabbing heads are continuously distributed on the grabbing bottom plate and correspond to the neodymium iron boron permanent magnets which are continuously arranged in the feeding device; the input end of the grabbing head is connected with the output end of the grabbing air suction element, and the output end of the grabbing head is respectively connected with the feeding collecting disc and the distributing staggering mechanism when moving.
Preferably, the grabbing bottom plate further comprises a grabbing bottom plate upper plate, a grabbing bottom plate lower plate, a grabbing spring and a grabbing guide pillar; the upper plate of the grabbing bottom plate is connected with the output end of the grabbing cylinder, and the upper plate of the grabbing bottom plate is connected with the fixed ends of the grabbing guide columns; the upper surface of the lower plate of the grabbing bottom plate is connected with the movable ends of the grabbing guide columns, and the lower surface of the lower plate of the grabbing bottom plate is connected with a plurality of grabbing heads; the two ends of the grabbing spring are respectively contacted with the lower surface of the upper plate of the grabbing bottom plate and the upper surface of the lower plate of the grabbing bottom plate.
Preferably, the grabbing bottom plate lower plate comprises a grabbing bottom plate lower cover and a grabbing bottom plate bottom support; the upper surface of the lower cover of the grabbing bottom plate is connected with the movable end of the grabbing guide pillar, and the lower surface of the lower cover of the grabbing bottom plate is connected with the upper surface of the bottom support of the grabbing bottom plate; the lower surface of the bottom plate bottom support is connected with the grabbing head. The upper surface of the bottom support of the grabbing bottom plate is of a groove structure.
Preferably, the suction bottom plate further comprises a suction bottom plate upper plate, a suction bottom plate lower plate, a suction spring and a suction guide post; the upper plate of the absorption bottom plate is connected with the output end of the absorption cylinder, and the upper plate of the absorption bottom plate is connected with the fixed ends of the absorption guide pillars; the upper surface of the lower plate of the suction bottom plate is connected with the movable end of the suction guide column, and the lower surface of the lower plate of the suction bottom plate is connected with a plurality of suction heads; two ends of the suction spring are respectively contacted with the lower surface of the upper plate of the suction bottom plate and the upper surface of the lower plate of the suction bottom plate. Both the suction element and the gripping suction element are controlled by means of a throttle valve.
Preferably, the dislocation moving manipulator further comprises a material blocking cylinder, a material blocking guide pillar and a material blocking plate; the material blocking cylinder is fixed on the upper plate of the absorption bottom plate, and the output end of the material blocking cylinder is connected with the material blocking plate; the fixed end of the material blocking guide pillar is connected with the upper plate of the absorption bottom plate, and the sliding end of the material blocking guide pillar is connected with the material blocking plate; the striker plate links up with a plurality of absorption heads mutually. The material baffle plate comprises a material blocking hole; a plurality of fender material holes distribute on the striker plate and correspond with a plurality of heads of absorbing to keep off the material hole and cooperate with the head of absorbing of corresponding position. The material blocking holes are rectangular hole positions.
In addition, the invention also discloses a neodymium iron boron permanent magnet grabbing method, which adopts the neodymium iron boron permanent magnet grabbing mechanism and comprises the following steps:
1) the moving driving assembly acts to drive the grabbing manipulator to move above the feeding device, and simultaneously, the moving driving assembly drives the staggered moving manipulator to move above the material distributing and staggering mechanism;
2) the grabbing cylinder acts to drive the grabbing bottom plate to move downwards, and the grabbing head sucks the neodymium iron boron permanent magnets which are continuously arranged;
3) the suction air cylinder acts to drive the suction bottom plate to move downwards, and the plurality of suction heads move downwards to be in contact with the neodymium iron boron permanent magnet in the material distribution groove and suck the neodymium iron boron permanent magnet;
4) the moving driving assembly moves to drive the grabbing manipulator to move to the position above the distributing staggering mechanism to loosen and drop the continuously arranged neodymium iron boron permanent magnets into the distributing groove; meanwhile, the moving driving assembly drives the staggered moving manipulator to move to a magnetizing frame of the blanking device for blanking so as to finish the grabbing process of the neodymium iron boron permanent magnet.
In addition, the invention also discloses a neodymium iron boron permanent magnet moving mechanism which comprises a moving rack, a moving driving assembly, a grabbing manipulator and a staggered moving manipulator; the moving driving assembly is fixed on the moving rack; the grabbing manipulator and the dislocation moving manipulator are respectively connected with the output end of the moving driving component.
The neodymium iron boron permanent magnet grabbing mechanism and the grabbing method adopting the technical scheme have the advantages that:
the grabbing manipulator and the dislocation moving manipulator are arranged; after the grabbing mechanical arm and the dislocation moving mechanical arm move to corresponding stations, the grabbing cylinder acts to drive the grabbing bottom plate to move downwards, and the grabbing head sucks the neodymium iron boron permanent magnets which are continuously arranged; the suction air cylinder acts to drive the suction bottom plate to move downwards, and the plurality of suction heads move downwards to be in contact with the neodymium iron boron permanent magnet in the material distribution groove and suck the neodymium iron boron permanent magnet; the moving driving assembly moves to drive the grabbing manipulator to move to the position above the distributing staggering mechanism to loosen and drop the continuously arranged neodymium iron boron permanent magnets into the distributing groove; meanwhile, the moving driving assembly drives the staggered moving manipulator to move to a magnetizing frame of the blanking device for blanking so as to complete the moving process of the neodymium iron boron permanent magnet. In the whole moving process, the processes of moving the neodymium iron boron permanent magnet to the distributing staggering mechanism and moving the neodymium iron boron permanent magnet to the magnetizing frame are all automatically operated by the grabbing manipulator and the staggering moving manipulator, so that the time spent on manually moving the neodymium iron boron permanent magnet is reduced, and the moving efficiency of the neodymium iron boron permanent magnet is improved; meanwhile, the grabbing manipulator grabs the neodymium iron boron permanent magnet from the feeding device and moves the neodymium iron boron permanent magnet to the discharging device in a staggered mode, so that the grabbing manipulator and the staggered moving manipulator are respectively combined with the whole device, and the automatic processing degree of the whole device is improved.
Drawings
Fig. 1 is a schematic structural view of the carrying mechanism of the present patent.
Fig. 2 is a schematic product structure diagram of a neodymium iron boron permanent magnet product.
Fig. 3 is a schematic diagram of a partial enlarged structure of the ndfeb permanent magnet.
Fig. 4 is a partially enlarged schematic view of the collecting hole.
Fig. 5 is a schematic structural view of the dislocation transfer robot.
Fig. 6 is a partially enlarged schematic view of the dislocation transfer robot.
Fig. 7 is a schematic structural view of the grasping robot.
Fig. 8 is a partially enlarged schematic view of the gripper head.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings.
Example 1
The conveying mechanism 30 shown in fig. 1, 5 and 6 comprises a conveying rack 301, a conveying driving assembly 302, a grabbing manipulator 303 and a dislocation conveying manipulator 304; the moving rack 301 is fixed on the workbench, and the moving driving assembly 302 is fixed on the moving rack 301; the grabbing manipulator 303 and the dislocation moving manipulator 304 are respectively connected with the output end of the moving driving component 302; the output end of the grabbing manipulator 303 is respectively connected with the feeding device and the distributing and staggering mechanism; the output end of the dislocation moving manipulator 304 is respectively connected with the material distributing and staggering mechanism and the blanking device; the dislocation transfer robot 304 includes a suction cylinder 305, a suction base 306, and a suction element 307; the suction cylinder 305 is connected with the output end of the moving driving component 302, and the output end of the suction cylinder 305 is connected with the suction bottom plate 306; the suction element 307 is fixed on the suction base plate 306, and the input end of the suction element 307 is communicated with the vacuum generating device; the suction base plate 306 includes a plurality of suction heads 308; the distribution of the plurality of suction heads 308 on the suction bottom plate 306 corresponds to the staggered arrangement of the neodymium iron boron permanent magnets, the input end of the suction head 308 is connected with the output end of the suction element 307, and the output end of the suction head 308 is connected with the material distribution staggered mechanism; the moving driving assembly 302 is used for driving the grabbing manipulator 303 and the dislocation moving manipulator 304 to move;
the product flow direction of the neodymium iron boron permanent magnet is as follows: the transfer drive assembly 302 is connected to the gripper robot 303 and the dislocated transfer robot 304.
As shown in fig. 2, 3 and 4, the neodymium iron boron permanent magnet product is a schematic structural diagram. The neodymium iron boron permanent magnet product comprises neodymium iron boron permanent magnet a and frame b that magnetizes: the magnetizing frame b comprises a plurality of collecting holes c; the collecting hole c is matched with the NdFeB permanent magnet a, the NdFeB permanent magnets a are overlapped and pressed in the collecting hole c, and the lower surface of the NdFeB permanent magnet a located above is attached to the upper surface of the NdFeB permanent magnet a located below.
As shown in fig. 7 and 8, the grabbing manipulator 303 comprises a grabbing cylinder 3031, a grabbing base plate 3032 and a grabbing suction element 3033; the grabbing cylinder 3031 is connected with the output end of the moving driving assembly 302, and the output end of the grabbing cylinder 3031 is connected with the grabbing bottom plate 3032; the grabbing suction element 3033 is fixed on the grabbing base plate 3032, and the input end of the grabbing suction element 3033 is communicated with the vacuum generating device; the gripper base plate 3032 includes a plurality of gripper heads 3034; the plurality of grabbing heads 3034 are continuously distributed on the grabbing base plate 3032, and the plurality of grabbing heads 3034 correspond to the neodymium iron boron permanent magnets which are continuously arranged in the feeding device; the input end of the grabbing head 3034 is connected with the output end of the grabbing air suction element 3033, and the output end of the grabbing head 3034 is respectively connected with the feeding collecting tray and the distributing and staggering mechanism during movement. The grabbing base plate 3032 further comprises a grabbing base plate upper plate 3035, a grabbing base plate lower plate 3036, a grabbing spring 3037 and a grabbing guide column 3038; the grabbing base plate upper plate 3035 is connected with the output end of the grabbing cylinder 3031, and the grabbing base plate upper plate 3035 is connected with the fixed ends of a plurality of grabbing guide columns 3038; the upper surface of the grabbing bottom plate lower plate 3036 is connected with the movable end of the grabbing guide column 3038, and the lower surface of the grabbing bottom plate lower plate 3036 is connected with a plurality of grabbing heads 3034; two ends of the grabbing spring 3037 are respectively contacted with the lower surface of the grabbing baseplate upper plate 3035 and the upper surface of the grabbing baseplate lower plate 3036; the lower grabbing baseplate plate 3036 comprises a lower grabbing baseplate cover 30361 and a grabbing baseplate base 30362; the upper surface of the grabbing bottom plate lower cover 30361 is connected with the movable end of the grabbing guide column 3038, and the lower surface of the grabbing bottom plate lower cover 30361 is connected with the upper surface of the grabbing bottom plate base 30362; the lower surface of the grabbing bottom plate base 30362 is connected with a grabbing head 3034; the upper surface of the grabbing bottom plate base 30362 is of a groove structure;
as shown in fig. 5 and 6, the suction base plate 306 further includes a suction base plate upper plate 3061, a suction base plate lower plate 3062, a suction spring 3063, and a suction guide post 3064; the suction base plate upper plate 3061 is connected with the output end of the suction cylinder 305, and the suction base plate upper plate 3061 is connected with the fixed ends of a plurality of suction guide columns 3064; the upper surface of the lower suction bottom plate 3062 is connected with the movable end of a suction guide pillar 3064, and the lower surface of the lower suction bottom plate 3062 is connected with a plurality of suction heads 308; two ends of the suction spring 3063 are respectively contacted with the lower surface of the suction bottom plate upper plate 3061 and the upper surface of the suction bottom plate lower plate 3062; both the suction element 307 and the grabbing suction element 3033 are controlled by a throttle valve; the dislocation moving manipulator 304 further comprises a material stopping cylinder 3041, a material stopping guide pillar 3042 and a material stopping plate 3043; a material blocking cylinder 3041 is fixed on the upper plate 3061 of the suction bottom plate, and the output end of the material blocking cylinder 3041 is connected with a material blocking plate 3043; the fixed end of the material blocking guide pillar 3042 is connected with the upper plate 3061 of the suction bottom plate, and the sliding end of the material blocking guide pillar 3042 is connected with the material blocking plate 3043; the striker plate 3043 is engaged with the plurality of suction heads 308; the striker plate 3043 includes a striker hole 3044; a plurality of material blocking holes 3044 are distributed on the material baffle 3043 to correspond to the plurality of suction heads 308, and the material blocking holes 3044 are matched with the suction heads 308 at the corresponding positions; the stop hole 3044 is a rectangular hole.
During operation of the carrying mechanism 30: 1) the moving driving component 302 acts to drive the grabbing manipulator 303 to move above the feeding device, and meanwhile, the moving driving component 302 drives the dislocation moving manipulator 304 to move above the material distributing staggering mechanism; 2) the grabbing cylinder 3031 acts to drive the grabbing bottom plate 3032 to move downwards, and the grabbing head 3034 sucks the neodymium iron boron permanent magnets which are continuously arranged; 3) the suction cylinder 305 moves to drive the suction bottom plate 306 to move downwards, and the plurality of suction heads 308 move downwards to be in contact with the neodymium iron boron permanent magnet in the material distribution groove and suck the neodymium iron boron permanent magnet; 4) the moving driving assembly 302 acts to drive the grabbing manipulator 303 to move to the position above the distributing staggering mechanism to loosen and drop the continuously arranged neodymium iron boron permanent magnets into the distributing groove; meanwhile, the moving driving assembly 302 drives the dislocation moving manipulator 304 to move to a magnetizing frame of the blanking device for blanking so as to complete the grabbing process of the neodymium iron boron permanent magnet.
The moving mechanism 30 solves the problem that when the neodymium iron boron permanent magnets are moved, the arranged neodymium iron boron permanent magnets are generally manually moved to the material distribution mechanism, and the neodymium iron boron permanent magnets which are distributed and staggered in the material distribution mechanism are manually moved to the magnetizing frame; the number of the neodymium iron boron permanent magnets is large, a large amount of time is needed for manually moving the neodymium iron boron permanent magnets, and the moving efficiency of the neodymium iron boron permanent magnets is reduced; meanwhile, the neodymium iron boron permanent magnet is not beneficial to the combination of the moving process and other devices and the automatic processing of the whole equipment. By arranging the grabbing manipulator 303 and the dislocation moving manipulator 304; after the grabbing manipulator 303 and the dislocation moving manipulator 304 move to corresponding stations, the grabbing cylinder 3031 acts to drive the grabbing bottom plate 3032 to move downwards, and the grabbing head 3034 sucks the neodymium iron boron permanent magnets which are continuously arranged; the suction cylinder 305 moves to drive the suction bottom plate 306 to move downwards, and the plurality of suction heads 308 move downwards to be in contact with the neodymium iron boron permanent magnet in the material distribution groove and suck the neodymium iron boron permanent magnet; the moving driving assembly 302 acts to drive the grabbing manipulator 303 to move to the position above the distributing staggering mechanism to loosen and drop the continuously arranged neodymium iron boron permanent magnets into the distributing groove; meanwhile, the moving driving assembly 302 drives the dislocation moving manipulator 304 to move to a magnetizing frame of the blanking device for blanking so as to complete the moving process of the neodymium iron boron permanent magnet. In the whole moving process, the processes of moving the neodymium iron boron permanent magnet to the material distributing staggering mechanism and moving the neodymium iron boron permanent magnet to the magnetizing frame are all automatically operated by the grabbing manipulator 303 and the staggering moving manipulator 304, so that the time spent on manually moving the neodymium iron boron permanent magnet is reduced, and the moving efficiency of the neodymium iron boron permanent magnet is improved; meanwhile, the process that the grabbing manipulator 303 grabs the neodymium iron boron permanent magnet from the feeding device and the dislocation moving manipulator 304 moves the neodymium iron boron permanent magnet to the discharging device enables the grabbing manipulator 303 and the dislocation moving manipulator 304 to be respectively combined with the whole equipment, and the automatic processing degree of the whole equipment is improved.
Claims (10)
1. A neodymium iron boron permanent magnet grabbing mechanism is characterized by comprising a grabbing rack, a grabbing manipulator (303) and a dislocation moving manipulator (304), wherein the grabbing manipulator and the dislocation moving manipulator are fixed on the grabbing rack; the output end of the grabbing manipulator (303) is respectively connected with the feeding device and the distributing staggering mechanism; the output end of the dislocation moving manipulator (304) is respectively connected with the material distributing staggering mechanism and the blanking device; the grabbing manipulator (303) is used for grabbing the neodymium iron boron permanent magnets which are continuously arranged; the dislocation moving manipulator (304) is used for grabbing the neodymium iron boron permanent magnets after material distribution is staggered;
the dislocation transfer manipulator (304) comprises a suction cylinder (305), a suction base plate (306) and a suction element (307); the suction cylinder (305) is connected with the output end of the moving driving component, and the output end of the suction cylinder (305) is connected with the suction bottom plate (306); the suction element (307) is fixed on the suction base plate (306), and the input end of the suction element (307) is communicated with the vacuum generating device; the suction base plate (306) comprises a plurality of suction heads (308); the distribution of the plurality of suction heads (308) on the suction bottom plate (306) corresponds to the staggered arrangement of the neodymium iron boron permanent magnets, the input end of the suction head (308) is connected with the output end of the suction element (307), and the output end of the suction head (308) is connected with the material distributing and staggering mechanism;
the grabbing manipulator (303) comprises a grabbing cylinder (3031), a grabbing bottom plate (3032) and a grabbing air suction element (3033); the grabbing cylinder (3031) is connected with the output end of the moving driving assembly, and the output end of the grabbing cylinder (3031) is connected with the grabbing bottom plate (3032); the grabbing suction element (3033) is fixed on the grabbing base plate (3032), and the input end of the grabbing suction element (3033) is communicated with the vacuum generating device; the gripping base plate (3032) comprises a plurality of gripping heads (3034); the plurality of grabbing heads (3034) are continuously distributed on the grabbing base plate (3032), and the plurality of grabbing heads (3034) correspond to the neodymium iron boron permanent magnets which are continuously arranged in the feeding device; the input end of the grabbing head (3034) is connected with the output end of the grabbing air suction element (3033), and the output end of the grabbing head (3034) is respectively connected with the feeding collecting tray and the distributing staggering mechanism during movement.
2. The neodymium-iron-boron permanent magnet grabbing mechanism according to claim 1 is characterized in that the grabbing base plate (3032) further comprises a grabbing base plate upper plate (3035), a grabbing base plate lower plate (3036), a grabbing spring (3037) and a grabbing guide column (3038); the grabbing base plate upper plate (3035) is connected with the output end of the grabbing cylinder (3031), and the grabbing base plate upper plate (3035) is connected with the fixed ends of a plurality of grabbing guide columns (3038); the upper surface of the grabbing bottom plate lower plate (3036) is connected with the movable end of the grabbing guide column (3038), and the lower surface of the grabbing bottom plate lower plate (3036) is connected with a plurality of grabbing heads (3034); two ends of the grabbing spring (3037) are respectively contacted with the lower surface of the grabbing bottom plate upper plate (3035) and the upper surface of the grabbing bottom plate lower plate (3036).
3. The ndfeb permanent magnet grasping mechanism according to claim 2, characterized in that the grasping base plate lower plate (3036) comprises a grasping base plate lower cover (30361) and a grasping base plate base (30362); the upper surface of the grabbing bottom plate lower cover (30361) is connected with the movable end of the grabbing guide column (3038), and the lower surface of the grabbing bottom plate lower cover (30361) is connected with the upper surface of the grabbing bottom plate bottom support (30362); the lower surface of the gripping bottom plate base support (30362) is connected with a gripping head (3034).
4. The neodymium-iron-boron permanent magnet grabbing mechanism according to claim 1, wherein the upper surface of the grabbing bottom plate base support (30362) is of a groove structure.
5. The neodymium-iron-boron permanent magnet grabbing mechanism according to claim 1 is characterized in that the sucking bottom plate (306) further comprises a sucking bottom plate upper plate (3061), a sucking bottom plate lower plate (3062), a sucking spring (3063) and a sucking guide post (3064); the upper plate (3061) of the suction bottom plate is connected with the output end of the suction cylinder (305), and the upper plate (3061) of the suction bottom plate is connected with the fixed ends of a plurality of suction guide columns (3064); the upper surface of the lower suction bottom plate (3062) is connected with the movable end of a suction guide column (3064), and the lower surface of the lower suction bottom plate (3062) is connected with a plurality of suction heads (308); two ends of the suction spring (3063) are respectively contacted with the lower surface of the suction bottom plate upper plate (3061) and the upper surface of the suction bottom plate lower plate (3062).
6. A nd-fe-b permanent magnet gripping mechanism according to claim 1 wherein both the suction element (307) and the gripping suction element (3033) are controlled by a throttle valve.
7. The neodymium-iron-boron permanent magnet grabbing mechanism is characterized in that the dislocation moving manipulator (304) further comprises a material blocking cylinder (3041), a material blocking guide post (3042) and a material blocking plate (3043); the material blocking cylinder (3041) is fixed on the upper plate (3061) of the suction bottom plate, and the output end of the material blocking cylinder (3041) is connected with the material blocking plate (3043); the fixed end of the material blocking guide post (3042) is connected with the upper plate (3061) of the suction bottom plate, and the sliding end of the material blocking guide post (3042) is connected with the material blocking plate (3043); the striker plate (3043) is engaged with a plurality of suction heads (308).
8. The neodymium-iron-boron permanent magnet grabbing mechanism according to claim 7, wherein the striker plate (3043) comprises a material blocking hole (3044); the material blocking holes (3044) are distributed on the material blocking plate (3043) and correspond to the suction heads (308), and the material blocking holes (3044) are matched with the suction heads (308) at corresponding positions; the material blocking hole (3044) is a rectangular hole.
9. A neodymium iron boron permanent magnet grabbing method is characterized in that the method adopts the neodymium iron boron permanent magnet grabbing mechanism of claim 1, and the method comprises the following steps:
1) the moving driving component acts to drive the grabbing manipulator (303) to move above the feeding device, and simultaneously the moving driving component drives the dislocation moving manipulator (304) to move above the material distributing staggering mechanism;
2) the grabbing cylinder (3031) acts to drive the grabbing bottom plate (3032) to move downwards, and the grabbing head (3034) sucks the neodymium iron boron permanent magnets which are continuously arranged;
3) the suction cylinder (305) moves to drive the suction bottom plate (306) to move downwards, and the plurality of suction heads (308) move downwards to be in contact with the neodymium iron boron permanent magnet in the material distribution groove and suck the neodymium iron boron permanent magnet;
4) the moving driving assembly moves to drive the grabbing manipulator (303) to move to the position above the distributing staggering mechanism to loosen and drop the continuously arranged neodymium iron boron permanent magnets into the distributing groove; meanwhile, the moving driving assembly drives the dislocation moving manipulator (304) to move to a magnetizing frame of the blanking device for blanking so as to finish the grabbing process of the neodymium iron boron permanent magnet.
10. A neodymium iron boron permanent magnet moving mechanism is characterized by comprising a moving rack (301), a moving driving assembly, a grabbing manipulator (303) and a dislocation moving manipulator (304); the grasping robot (303) and the dislocating and transferring robot (304) are as set forth in claim 1; the moving driving component is fixed on the moving rack (301); the grabbing mechanical arm (303) and the dislocation moving mechanical arm (304) are respectively connected with the output end of the moving driving component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010794632.5A CN112092004A (en) | 2020-08-10 | 2020-08-10 | Grabbing mechanism and grabbing method for neodymium iron boron permanent magnet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010794632.5A CN112092004A (en) | 2020-08-10 | 2020-08-10 | Grabbing mechanism and grabbing method for neodymium iron boron permanent magnet |
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| CN112092004A true CN112092004A (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010794632.5A Withdrawn CN112092004A (en) | 2020-08-10 | 2020-08-10 | Grabbing mechanism and grabbing method for neodymium iron boron permanent magnet |
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| CN (1) | CN112092004A (en) |
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| CN110712217A (en) * | 2019-11-12 | 2020-01-21 | 苏州松翔电通科技有限公司 | Material suction device suitable for sucking plastic sucking disc and diaphragm |
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| US20030232709A1 (en) * | 2002-04-24 | 2003-12-18 | Cesare Ronchi | Method and machine for gripping and opening punched cardboard elements and forming open-topped boxes |
| CN201432343Y (en) * | 2009-01-09 | 2010-03-31 | 上海人造板机器厂有限公司 | Double-position vacuum plate-absorbing machine |
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Application publication date: 20201218 |