CN117282688B - Magnet outward appearance detection device and detecting system - Google Patents
Magnet outward appearance detection device and detecting system Download PDFInfo
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- CN117282688B CN117282688B CN202311578089.5A CN202311578089A CN117282688B CN 117282688 B CN117282688 B CN 117282688B CN 202311578089 A CN202311578089 A CN 202311578089A CN 117282688 B CN117282688 B CN 117282688B
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- 238000001514 detection method Methods 0.000 title claims abstract description 74
- 238000011179 visual inspection Methods 0.000 claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000002950 deficient Effects 0.000 claims description 15
- 238000005192 partition Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 5
- 238000005303 weighing Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 4
- 239000013072 incoming material Substances 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 abstract description 8
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 47
- 238000005457 optimization Methods 0.000 description 8
- 239000011521 glass Substances 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 description 3
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- 238000005299 abrasion Methods 0.000 description 2
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- 239000006247 magnetic powder Substances 0.000 description 2
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
Abstract
The invention relates to the technical field of magnetic material detection, and discloses a magnetic appearance detection device and a detection system, wherein the detection device comprises a bearing plate, and a limiting plate is arranged on the top surface of the bearing plate; the top surface of the bearing plate is provided with a side plate; a baffle is arranged in the gap between the two side plates, and 2 gaps formed by the baffle and the side plates are used as magnet channels; the top surface of the bearing plate is provided with a pushing mechanism; the device also comprises a first four-axis robot, wherein an executing hand of the first four-axis robot is provided with a suction component, and the suction component is used for sucking up a finished magnet; the suction component is provided with a first visual detection for detecting the upper surface of the finished magnet; the device also comprises a second visual inspection for inspecting the lower surface of the finished magnet and a third visual inspection for inspecting the left, right, front and rear surfaces of the finished magnet; the finished magnet moves along the magnet channel, the position of the finished magnet is accurately positioned, the appearance detection of the finished magnet from 6 directions by the first visual detection, the second visual detection and the third visual detection is guaranteed, and the detection reliability is greatly improved.
Description
Technical Field
The invention belongs to the field of magnetic material detection technology, and relates to a magnetic appearance detection device and a detection system, which are used for detecting or analyzing chemical or physical properties of materials.
Background
Neodymium iron boron magnets are the permanent magnets with the strongest magnetic forces so far, and are divided into two types, bonded neodymium iron boron and sintered neodymium iron boron. Compared with other magnet preparation processes, the bonded permanent magnet process has the advantages that the production of the bonded permanent magnet is flexible, various magnetic powder can be used for preparing magnets with various sizes through various dies, the shrinkage rate of the prepared magnets is small, the shape degree of freedom is large, the recycling rate of defective products is high, and the like.
The bonded magnet is prepared into a strip-shaped green body by adopting a normal-temperature compression molding method to press and mold the magnetic powder; and then curing the green body at 170-180 ℃ for 1-2h to obtain the bonded NdFeB-ferrite permanent magnet. The finished magnetic material needs to be subjected to appearance detection to pick out defective products (corner falling, scratch, abrasion, bump, crack and stain) so as to ensure the quality of the magnetic material.
The chinese patent of application number CN 202220931871.5 discloses a rotary glass carousel for magnetic material check out test set, including motor installation base, motor installation base's inside fixed mounting has power component, and motor installation base's upper end passes through screw fixed mounting and has glass carousel subassembly, and glass carousel subassembly's lower extreme and power component's output fixed mounting, and glass carousel subassembly's overall diameter size is greater than motor installation base's diameter size.
The chinese patent with application number CN 202121043868.1 discloses a magnetic material defect detector, including supporting at subaerial vibration charging tray, horizontal rotation setting be in vibration charging tray one side and connect in the detection dish of vibration charging tray feed end, circumference arrange in a plurality of detection probes of detection dish and be located detection dish one side and connect in the unloading subassembly of detection dish feed end, the unloading subassembly includes many slope form unloading pipe and is located the storage box of unloading pipe lower extreme, the opening part of unloading pipe lower extreme is provided with the rubber buffer piece, the rubber buffer piece with the unloading groove that the lower opening part of unloading pipe formed the feed magnetic material and falls down.
However, when the existing workpiece is transmitted to the glass turntable, the friction coefficient of the contact surface of the workpiece and the glass turntable is suddenly reduced, so that the position of the workpiece is uncertain, deviation is easy to occur, and the workpiece detection is affected.
Disclosure of Invention
The invention aims to provide a magnet appearance detection device and a magnet appearance detection system, which solve the problem that the position of a workpiece proposed in the background technology is easy to deviate.
The technical scheme adopted by the invention is as follows: a magnet appearance detection device comprises a bearing plate, wherein the bearing plate is rectangular; the top surface of the bearing plate is connected with a limiting plate through a bolt, the arrangement direction of the limiting plate is longitudinal, the shape of the limiting plate is L-shaped, and the vertical section of the limiting plate is used for limiting the position of a finished product magnet; the top surface of the bearing plate is connected with a side plate through a bolt, the arrangement direction of the side plate is transverse, the side plate is perpendicular to the limiting plate, the shape of the side plate is L-shaped, and two side plates are a group; the gap between the two side plates is connected with a baffle plate through a bolt, the baffle plate is parallel to the side plates, the baffle plate is perpendicular to the limiting plate, the upper edge of the baffle plate is flush with the upper edge of the side plates, the two baffle plates are in a group, 2 gaps formed by the baffle plates and the side plates are used as magnet channels, and the magnet channels are used for guiding movement of finished magnet products, and the positions of the finished magnet products are determined when the finished magnet products are propped against the limiting plate; the top surface of the bearing plate is provided with a pushing mechanism which is used for pushing the finished magnet in the magnet channel to a position attached to the limiting plate; the device also comprises a first four-axis robot, wherein an executing hand of the first four-axis robot is provided with a suction component, and the suction component is used for sucking up a finished magnet; the guide rail is provided with a first visual inspection, and the first visual inspection is used for detecting the upper surface of the finished magnet; the system also comprises a second visual detection and a third visual detection; the second visual inspection and the third visual inspection are arranged on the bearing plate, and the second visual inspection is used for detecting the lower surface of the finished magnet; the number of the third visual inspection is four, the 4 third visual inspection are arranged at equal angles, and the third visual inspection is used for detecting the left, right, front and back surfaces of the finished magnet.
Further, a detection system using the magnet appearance detection device is provided, and the detection system comprises an incoming material conveying line, a defective product conveying line, a qualified product conveying line and a platform; the feeding conveying lines are used for conveying the material boxes filled with the finished magnets, and the number of the feeding conveying lines is 2; a linear motor is arranged on the platform; the linear motor is provided with a second four-axis robot, the second four-axis robot is enabled to longitudinally displace along the platform by the aid of the linear motor, an executing hand of the second four-axis robot is provided with a suction assembly, and the second four-axis robot is used for sucking and transferring finished magnets in the material box; the platform is connected with bearing plates through supporting columns, the supporting columns enable the bearing plates to be suspended, the number of the bearing plates is 2, and magnet channels of the bearing plates are used for accommodating finished magnets put down by the second four-axis robot; the platform is provided with 4 first four-axis robots, 2 first four-axis robots are distributed on two sides of the bearing plate in a group, the first four-axis robots are used for sucking finished product magnets in the magnet channels, and appearance detection can be carried out on the finished product magnets from 6 directions through first visual detection, second visual detection and third visual detection; the defective product conveying line is used for conveying defective finished product magnets, the number of the defective product conveying lines is 2, and the defective finished product magnets are conveyed through a first four-axis robot; the qualified product conveying line is used for conveying qualified finished product magnets, the number of the qualified product conveying lines is 2, and the qualified finished product magnets are conveyed through the first four-axis robot.
The invention has the beneficial effects that: the finished magnet moves along the magnet channel, the position of the finished magnet is accurately positioned, the appearance detection of the finished magnet from 6 directions by the first visual detection, the second visual detection and the third visual detection is guaranteed, and the detection reliability is greatly improved.
Drawings
Fig. 1 is a schematic top view of the present invention.
Fig. 2 is a schematic perspective view of the present invention.
Fig. 3 is a schematic perspective view of the suction assembly.
Fig. 4 is a schematic perspective view of the pushing mechanism.
Fig. 5 is a schematic diagram of the front view structure of the through groove on the partition board.
Fig. 6 is a schematic side view of the ejector pin and wedge head.
Fig. 7 is a schematic side sectional structure of a wedge head.
Fig. 8 is a schematic side sectional view of a telescoping assembly.
Fig. 9 is a schematic side sectional structure of the bottom plate in the magnet passage.
Fig. 10 is a schematic side sectional structure of the movable plate.
Fig. 11 is a schematic perspective view of a cam.
Fig. 12 is a schematic side sectional structure of the screw.
Fig. 13 is a schematic perspective view of a screw.
Fig. 14 is a schematic perspective view of a ball screw.
Fig. 15 is a schematic perspective view of a rubber tube.
Fig. 16 is a schematic perspective view of a T-shaped slot.
Fig. 17 is a schematic perspective view of a vertical groove and a longitudinal groove.
Fig. 18 is a schematic view of a cross-sectional front view of the overcap.
Fig. 19 is a schematic top view of the detection system.
Fig. 20 is a schematic perspective view of a support column.
In the figure: 1. a carrying plate; 2. a limiting plate; 3. a side plate; 4. a finished magnet; 5. a partition plate; 6. a magnet channel; 7. a pushing mechanism; 8. a first four-axis robot; 9. a suction assembly; 10. a guide rail; 11. a two-way threaded screw; 12. a first motor; 13. a slide block; 14. a support; 15. a suction cup; 16. a first visual inspection; 17. a second visual inspection; 18. a third visual inspection; 19. a substrate; 20. a first telescopic rod; 21. a push plate; 22. a guide rod; 23. a baffle; 24. a through groove; 25. a push rod; 26. a telescoping assembly; 27. an I-shaped seat; 28. a wedge head; 29. a bump; 30. a spring seat; 31. a tension spring; 32. a conical top block; 33. a U-shaped seat; 34. a second telescopic rod; 35. a flat plate; 36. a first spring; 37. a bottom plate; 38. a blind hole; 39. a second spring; 40. a movable plate; 41. a ball track; 42. a ball body; 43. a rotating shaft; 44. a second motor; 45. a cam; 46. a roller; 47. a bar-shaped groove; 48. a slide; 49. a bearing seat; 50. a screw rod; 51. a third motor; 52. a guide groove; 53. a guide post; 54. a slideway; 55. a moving block; 56. a rotor seat; 57. a ball screw; 58. a shaft seat; 59. a fourth motor; 60. a rubber tube; 61. a deformation hoop; 62. a connecting bolt; 63. a T-shaped groove; 64. a vertical groove; 65. a longitudinal groove; 66. a spring groove; 67. a fourth spring; 68. a top cap; 69. a material supply line; 70. a defective product conveying line; 71. a qualified product conveying line; 72. a platform; 73. a linear motor; 74. a second four-axis robot; 75. a support column; 76. weighing table.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout or elements having like or similar functionality; the embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," "fourth" and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 and 2, in a first embodiment, a magnet appearance detecting apparatus includes a carrier plate 1, the carrier plate 1 having a rectangular shape; the top surface of the bearing plate 1 is connected with a limiting plate 2 through bolts, the arrangement direction of the limiting plate 2 is longitudinal, the shape of the limiting plate 2 is L-shaped, and the vertical section of the limiting plate 2 is used for limiting the position of a finished magnet 4; the top surface of the bearing plate 1 is connected with side plates 3 through bolts, the arrangement direction of the side plates 3 is transverse, the side plates 3 are perpendicular to the limiting plates 2, the shape of the side plates 3 is L-shaped, two side plates 3 are in one group, and 3 groups of side plates 3 are arranged in the embodiment; the gap between the two side plates 3 is connected with a baffle plate 5 through bolts, the baffle plate 5 is parallel to the side plates 3, the baffle plate 5 is perpendicular to the limiting plate 2, the upper edge of the baffle plate 5 is flush with the upper edge of the side plates 3 in the embodiment, the two baffle plates 5 are in a group, 2 gaps formed by the baffle plate 5 and the side plates 3 are used as a magnet channel 6, the magnet channel 6 is used for guiding the movement of a finished magnet 4, and the position of the finished magnet 4 is determined when the finished magnet 4 abuts against the limiting plate 2; the top surface of the bearing plate 1 is provided with a pushing mechanism 7, and the pushing mechanism 7 is used for pushing the finished magnet 4 in the magnet channel 6 to a position attached to the limiting plate 2; as shown in fig. 3, the device further comprises a first four-axis robot 8, wherein a suction assembly 9 is arranged on the executing hand of the first four-axis robot 8, and the suction assembly 9 is used for sucking up the finished magnet 4; the suction assembly 9 comprises a guide rail 10 provided on the first four-axis robot 8; the guide rail 10 is provided with a bidirectional threaded lead screw 11; the bidirectional threaded screw 11 is driven by a first motor 12; the two-way threaded screw rod 11 is provided with a sliding block 13 which is arranged oppositely; the sliding block 13 is connected with a support 14 through a bolt, and the support 14 is L-shaped; the suction cup 15 is arranged on the support 14, and an air inlet of the suction cup 15 is connected with a negative pressure pump through an air pipe; the position of the slide 13 is controlled by the first motor 12 so that the two suction cups 15 are opposite to the two finished magnets 4; the guide rail 10 of the suction assembly 9 is provided with a first visual inspection 16, and the first visual inspection 16 is used for detecting the upper surface of the finished magnet 4; also comprises a second visual inspection 17 and a third visual inspection 18; the second visual inspection 17 and the third visual inspection 18 are arranged on the bearing plate 1, and the second visual inspection 17 is used for detecting the lower surface of the finished magnet 4; the number of the third visual inspection 18 is four, the 4 third visual inspection 18 are arranged at equal angles, the third visual inspection 18 is used for inspecting the left, right, front and rear surfaces of the finished magnet 4, the second visual inspection 17 and the third visual inspection 18 are in a group, two groups of the second visual inspection 17 and the third visual inspection 18 are arranged in the embodiment, two finished magnets 4 on two suckers 15 can be inspected at the same time, and the appearance of the finished magnet 4 can be inspected from 6 directions by arranging the first visual inspection 16, the second visual inspection 17 and the third visual inspection 18; the finished magnet 4 moves along the magnet channel 6, the position of the finished magnet 4 is accurately positioned, the appearance detection of the finished magnet 4 from 6 directions by the first visual detection 16, the second visual detection 17 and the third visual detection 18 is guaranteed, and the detection reliability is greatly improved.
As shown in fig. 4, as an optimization of the first embodiment, considering that the number of the finished magnets 4 in a row is 6 in the first embodiment, the pushing mechanism 7 needs to push the 6 finished magnets 4 to a position where the limit plate 2 is attached at the same time, where the pushing mechanism 7 includes a base plate 19, the base plate 19 is disposed on the top surface of the carrier plate 1, and the base plate 19 is parallel to the carrier plate 1, and a first telescopic rod 20 is mounted on a side surface of the base plate 19, and the first telescopic rod 20 can be one of an air cylinder, a hydraulic cylinder, and an electric push rod; the piston end of the first telescopic rod 20 is provided with a push plate 21, the push plate 21 is in a strip shape, and the lower edge of the push plate 21 is flush with the upper edge of the side plate 3; the push plate 21 is provided with 2 guide rods 22, the 2 guide rods 22 are symmetrically arranged on two sides of the first telescopic rod 20, and the guide rods 22 are in sliding connection with the base plate 19; the end face of the push plate 21 is connected with baffle plates 23 through countersunk bolts, the number of the baffle plates 23 is 6 in the embodiment, the baffle plates 23 are in one-to-one correspondence with the magnet channels 6, and the baffle plates 23 are used for pushing the finished magnet 4 to displace.
As shown in fig. 5, as an optimization of the first embodiment, considering that the width of the magnet channel 6 should be slightly larger than the width of the finished magnet 4, and the two channels are in clearance fit, so that the displacement of the finished magnet 4 is facilitated, but the left clearance slightly affects the position of the finished magnet 4, in order to keep the position of the finished magnet 4 uniform and accurate, the sides of the two partition boards 5 are provided with through grooves 24, the through grooves 24 are in a U shape, and the through grooves 24 are close to the position of the limiting plate 2 (the through grooves 24 are opposite to the stay position of the finished magnet 4); the top surface of the bearing plate 1 is connected with a push rod 25 in a sliding manner, the lower end of the push rod 25 extends out of the bearing plate 1, a telescopic assembly 26 is arranged at the lower end of the push rod 25, and the telescopic assembly 26 is used for pushing the push rod 25 to ascend or descend; as shown in fig. 6 and 7, the side wall of the ejector rod 25 above the bearing plate 1 is slidably connected with an I-shaped seat 27, and the I-shaped seat 27 is fixed with the bearing plate 1 through bolts; the two notches of the I-shaped seat 27 are rotationally connected with wedge heads 28, and inclined surfaces of the wedge heads 28 on two sides are opposite to each other to form a necking structure; the facing surface of the wedge-shaped head 28 is provided with a lug 29, and the lug 29 is used for extruding the finished magnet 4; the side walls of the two wedge-shaped heads 28 are rotatably connected with spring seats 30, the spring seats 30 are positioned at the waist parts of the wedge-shaped heads 28, tension springs 31 are arranged between the two spring seats 30, and the tension springs 31 enable the two wedge-shaped heads 28 to move oppositely and be accommodated in gaps of the two partition plates 5; the upper end of the ejector rod 25 is provided with a conical ejector block 32, the inclined surface of the conical ejector block 32 is in sliding contact with the two wedge-shaped heads 28, and the conical ejector block 32 is used for expanding the two wedge-shaped heads 28 from the middle; the process of adjusting the position of the finished magnet 4: the conical jacking block 32 in the initial state is attached to the I-shaped seat 27, the two wedge-shaped heads 28 are accommodated in the gap between the two partition plates 5, at the moment, the pushing mechanism 7 pushes the finished magnet 4 to the position attached to the limiting plate 2, although the transverse position of the finished magnet 4 is limited, the longitudinal position of the finished magnet 4 is uncertain, then the telescopic assembly 26 pushes the ejector rod 25 upwards, the conical jacking block 32 jacks the wedge-shaped heads 28 on two sides, the two wedge-shaped heads 28 rotate outwards, the convex blocks 29 penetrate through the through grooves 24, the finished magnet 4 in the magnet channels 6 is extruded, the finished magnet 4 in the two magnet channels 6 moves at the right angle formed by the limiting plate 2 and the side plates 3 at the same time, the position unification of the finished magnet 4 is realized, and the accurate position is convenient for visual detection.
As shown in fig. 8, as an optimization of the first embodiment, the telescopic assembly 26 includes a U-shaped seat 33, the U-shaped seat 33 is disposed on the bottom surface of the carrier plate 1, a second telescopic rod 34 is mounted on a horizontal section of the U-shaped seat 33, and the second telescopic rod 34 may be one of an air cylinder, a hydraulic cylinder and an electric push rod; the piston end of the second telescopic rod 34 is provided with a flat plate 35, and the flat plate 35 is used for simultaneously lifting up 3 ejector rods 25; the side wall of the ejector rod 25 positioned below the bearing plate 1 is provided with a first spring 36, the first spring 36 is positioned between the flat plate 35 and the bearing plate 1 in an elastic connection mode, and the first spring 36 greatly improves the reset function of the ejector rod 25.
As shown in fig. 9, as an optimization of the first embodiment, considering that the finished magnet 4 moves along the carrier plate 1, the friction of the two easily forms scratches on the finished magnet 4, the carrier plate 1 is provided with a bottom plate 37, the bottom plate 37 is positioned in the magnet channel 6, and the bottom plate 37 is in a strip shape; as shown in fig. 10, blind holes 38 are formed in the top surface of the bottom plate 37, and a plurality of blind holes 38 are arranged in a matrix; a second spring 39 is arranged in the blind hole 38; the upper end of the second spring 39 is connected with a movable plate 40, and the movable plate 40 is in a strip shape; the ball track 41 is installed to the top surface of fly leaf 40, and the quantity of ball track 41 is 2 in this embodiment, installs ball body 42 on the ball track 41, and ball body 42 is used for bearing finished product magnet 4 for finished product magnet 4 changes rolling friction from sliding friction into through setting up ball body 42, has avoided the wearing and tearing of finished product magnet 4, and the ball body 42 of activity can avoid first four-axis robot 8 to crush finished product magnet 4.
As shown in fig. 11, in the second embodiment, unlike in the first embodiment, the telescopic assembly 26 includes a U-shaped seat 33, and the U-shaped seat 33 is disposed on the bottom surface of the carrier plate 1; the vertical section of the U-shaped seat 33 is provided with a rotating shaft 43; the rotating shaft 43 is driven by a second motor 44, and the second motor 44 is connected with the U-shaped seat 33; the side wall of the rotating shaft 43 is provided with 3 cams 45, and the number of the cams 45 in the embodiment is 3; the lower end of the ejector rod 25 is provided with a roller 46, and the roller 46 is in rolling contact with the cam 45; by arranging the cam 45, 3 ejector rods 25 can be lifted up simultaneously; the side wall of the ejector rod 25 positioned below the bearing plate 1 is provided with a first spring 36, the first spring 36 is positioned between the roller 46 and the bearing plate 1 in an elastic connection mode, and the first spring 36 greatly improves the reset function of the ejector rod 25.
As shown in fig. 12, in the third embodiment, unlike in the first embodiment, considering that the positions of the side plates 3 are fixed, the finished magnets 4 of different types cannot be applied, and in order to improve the applicability of the magnet channel 6, the top surface of the carrier plate 1 is provided with strip-shaped grooves 47, the strip-shaped grooves 47 are parallel to the limiting plate 2, and the number of the strip-shaped grooves 47 in the first embodiment is 2; the bar-shaped groove 47 is connected with a sliding seat 48 in a sliding way, and the sliding seat 48 is connected with the side plate 3 through a bolt; the bearing seat 49 is arranged on the bottom surface of the bearing plate 1, a screw rod 50 is rotationally connected to the bearing seat 49, the screw rod 50 is driven by a third motor 51, the third motor 51 is connected with the bearing plate 1, the screw rod 50 is provided with guide grooves 52 which are arranged in a segmented manner, the two guide grooves 52 are in a group, and the screw rod 50 is in threaded connection with the sliding seat 48; as shown in fig. 13, the bearing seat 49 is provided with 2 guide posts 53, the 2 guide posts 53 are symmetrically arranged at two sides of the screw rod 50, and the guide posts 53 are slidably connected with the sliding seat 48; the third motor 51 drives the screw rod 50 to rotate, the screw rod 50 drives the single-group sliding seat 48 to move in opposite directions or away from each other, the width of the magnet guide groove 52 can be reduced when the single-group sliding seat 48 moves in opposite directions, and the width of the magnet guide groove 52 can be increased when the single-group sliding seat moves away from each other, so that the magnet channel 6 can convey finished magnets 4 of different types, and the applicability of the magnet channel 6 is greatly improved.
As shown in fig. 14, the fourth embodiment is different from the first embodiment in that, considering that the pushing mechanism 7 is located outside the carrier plate 1, structural interference is easy to form, and the extension length is difficult to control, the top surface of the carrier plate 1 is provided with 2 slide ways 54, the number of the slide ways 54 in the present embodiment is 2, the cross section of the slide ways 54 is T-shaped, and the slide ways 54 are parallel to the side plates 3; the pushing mechanism 7 comprises a moving block 55, and the moving block 55 is in sliding connection with the slideway 54; the movable block 55 is provided with a rotor seat 56; the pushing plate 21 is arranged at the gap between the two rotor seats 56, the pushing plate 21 is in a strip shape, and the lower edge of the pushing plate 21 is flush with the upper edge of the side plate 3; the end face of the push plate 21 is connected with baffle plates 23 through countersunk bolts, the number of the baffle plates 23 is 6 in the embodiment, the baffle plates 23 are in one-to-one correspondence with the magnet channels 6, and the baffle plates 23 are used for pushing the finished magnet 4 to displace; the rotor seat 56 is in threaded connection with a ball screw 57; the side wall of the ball screw 57 is provided with a shaft seat 58, and the shaft seat 58 is connected with the bearing plate 1; the ball screw 57 is driven by a fourth motor 59, and the fourth motor 59 is connected with the shaft seat 58; the two fourth motors 59 drive the ball screw 57 to rotate, so as to drive the rotor seat 56 to transversely displace, drive the push plate 21 to displace, and the baffle plate 23 can push the finished magnet 4 to a position attached to the limiting plate 2; such a structure is integrated on the carrier plate 1, avoiding the problem of structural disturbances, and the protruding length of the baffles 23 is better controlled.
As shown in fig. 15, as an optimization of the fourth embodiment, considering that the moving distance of the mover holder 56 needs to be accurately controlled, a rubber tube 60 is slidably connected to the side wall of the ball screw 57; the outer side wall of the rubber tube 60 is sleeved with deformation hoops 61, the shape of the deformation hoops 61 is C-shaped, the two deformation hoops 61 are fixed through connecting bolts 62, the deformation hoops 61 are used for clamping the rubber tube 60, the position of the rotor seat 56 can be limited through the arrangement of the rubber tube 60, and accurate control of the displacement distance of the finished magnet 4 is guaranteed.
As shown in fig. 16, as optimization of the fourth embodiment, considering that the position of the baffle plate 23 is fixed, in order to adapt to different types of finished magnets 4, a T-shaped groove 63 is formed on the end surface of the baffle plate 23, and countersunk bolts are installed in the T-shaped groove 63; by arranging the T-shaped groove 63, the position of the baffle 23 can be adjusted up and down, and the pushing of finished magnets 4 of different models can be realized.
As shown in fig. 17, as optimization of the fourth embodiment, considering that the position of the side plate 3 is adjustable, the baffle plate 23 should also be adjustable for adapting to the magnet channel 6, the top surface of the push plate 21 is provided with vertical slots 64, the side surface of the push plate 21 is provided with longitudinal slots 65, the number of the longitudinal slots 65 is 2 in this embodiment, the longitudinal slots 65 are used for installing countersunk bolts, by setting the longitudinal slots 65, the position of the baffle plate 23 can be adjusted in the front-rear direction, and the up-down adjusting function of the T-shaped slot 63 is matched, so that the baffle plate 23 can better adapt to the magnet channel 6.
As shown in fig. 18, as optimization of the fourth embodiment, considering that the above-mentioned baffle plate 23 and the finished magnet 4 are in surface contact, an attaching effect is easy to form between them, when the baffle plate 23 withdraws, the finished magnet 4 undergoes tiny return movement, in order to eliminate tiny return movement, the end face of the baffle plate 23 is provided with spring grooves 66, the number of the spring grooves 66 is 4 in this embodiment, a fourth spring 67 is installed in the spring grooves 66, a top cap 68 is installed at the free end of the fourth spring 67, the top cap 68 extends out of the spring grooves 66, the top cap 68 is used for pushing the finished magnet 4, by setting the top cap 68, the finished magnet 4 cannot attach to the baffle plate 23, and the formed point contact is convenient for the baffle plate 23 to separate, so that the tiny return movement problem is avoided.
As shown in fig. 19, further, considering that the finished magnet 4 is placed in the material box and needs to be placed in the magnet channel 6, and then visual inspection is performed, the finished magnet 4 after inspection also needs to be subjected to an assembly line, and in order to improve production efficiency, a detection system using the magnet appearance detection device is provided, and the detection system comprises an incoming material conveying line 69, a defective product conveying line 70, a qualified product conveying line 71 and a platform 72; the feeding conveying lines 69 are used for conveying the material boxes filled with the finished magnets 4, and the number of the feeding conveying lines 69 is 2; a linear motor 73 is mounted on the platform 72; the linear motor 73 is provided with a second four-axis robot 74, the linear motor 73 is arranged to enable the second four-axis robot 74 to longitudinally displace along the platform 72, an executing hand of the second four-axis robot 74 is provided with a suction component 9, and the second four-axis robot 74 is used for sucking and transferring the finished product magnet 4 in the material box; the platform 72 is connected with the bearing plates 1 through the supporting columns 75, the supporting columns 75 enable the bearing plates 1 to be suspended, the number of the bearing plates 1 is 2 in the embodiment, and the magnet channels 6 of the bearing plates 1 are used for accommodating finished magnets 4 put down by the second four-axis robot 74; the platform 72 is provided with 4 first four-axis robots 8,2 first four-axis robots 8 are distributed on two sides of the bearing plate 1 in a group, the suction component 9 on the first four-axis robots 8 is used for sucking the finished product magnet 4 in the magnet channel 6, and the appearance of the finished product magnet 4 can be detected from 6 directions through the first visual detection 16, the second visual detection 17 and the third visual detection 18; the defective product conveying line 70 is used for conveying the defective finished product magnets 4, the number of the defective product conveying lines 70 is 2, and the defective finished product magnets 4 are conveyed through the first four-axis robot 8; the qualified product conveying line 71 is used for conveying qualified finished product magnets 4, the number of the qualified product conveying lines 71 is 2, and the qualified finished product magnets 4 are conveyed through the first four-axis robot 8; the finished magnet 4 is subjected to flaw, size and appearance detection and boxing, and corner drop, scratch and abrasion of products are avoided in operation, and the product qualification rate reaches 99.9%; visual detection and differentiation are carried out on unqualified finished products such as unfilled corners, bumps, cracks, stains and the like; in the blanking operation, the magnetic material boxing and stacking work is completed.
As shown in fig. 20, further, a weighing table 76 is further included, the weighing table 76 is provided on the platform 72, and the weighing table 76 is used for detecting whether the weight of the finished magnet 4 reaches the standard.
The first visual inspection 16, the second visual inspection 17, and the third visual inspection 18 are sp-e300 in model number.
Although the present invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that the foregoing embodiments may be modified and practiced in the field of the invention, and that certain modifications, equivalents, improvements and substitutions may be made thereto without departing from the spirit and principles of the invention.
Claims (9)
1. The magnet appearance detection device comprises a bearing plate (1) and is characterized in that a limiting plate (2) is arranged on the top surface of the bearing plate (1); the top surface of the bearing plate (1) is provided with side plates (3), the side plates (3) are perpendicular to the limiting plates (2), a partition plate (5) is arranged in a gap between the two side plates (3), the partition plate (5) is parallel to the side plates (3), and 2 gaps formed by the partition plate (5) and the side plates (3) are used as magnet channels (6); the top surface of the bearing plate (1) is provided with a pushing mechanism (7), and the pushing mechanism (7) is used for pushing the finished magnet (4) in the magnet channel (6) to a position attached to the limiting plate (2); the device also comprises a first four-axis robot (8), wherein an executing hand part of the first four-axis robot (8) is provided with a suction component (9), and the suction component (9) is used for sucking up the finished magnet (4); the suction assembly (9) is provided with a first visual detection (16), and the first visual detection (16) is used for detecting the upper surface of the finished magnet (4); also comprises a second visual detection (17) and a third visual detection (18); the second visual detection (17) and the third visual detection (18) are arranged on the bearing plate (1), and the second visual detection (17) is used for detecting the lower surface of the finished magnet (4); the 4 third visual inspection (18) are arranged at equal angles, and the third visual inspection (18) is used for inspecting the left, right, front and back surfaces of the finished magnet (4); the side surfaces of the two partition boards (5) are provided with through grooves (24); the top surface of the bearing plate (1) is connected with a push rod (25) in a sliding manner, the lower end of the push rod (25) extends out of the bearing plate (1), the lower end of the push rod (25) is provided with a telescopic assembly (26), and the telescopic assembly (26) is used for pushing the push rod (25) to ascend or descend; the side wall of the ejector rod (25) above the bearing plate (1) is connected with an I-shaped seat (27) in a sliding manner, and the I-shaped seat (27) is fixed with the bearing plate (1); two notches of the I-shaped seat (27) are rotationally connected with wedge-shaped heads (28), and inclined surfaces of the wedge-shaped heads (28) on two sides are opposite to each other to form a necking structure; the deviating surface of the wedge-shaped head (28) is provided with a lug (29), the lug (29) passes through the through groove (24) and then extrudes the finished magnet (4) in the magnet channel (6), so that the finished magnet (4) is clung to a right-angle position formed by the side plate (3) and the limiting plate (2); the side walls of the two wedge-shaped heads (28) are rotationally connected with spring seats (30), the spring seats (30) are positioned at the waist parts of the wedge-shaped heads (28), tension springs (31) are arranged between the two spring seats (30), and the tension springs (31) enable the two wedge-shaped heads (28) to move in opposite directions and be accommodated in gaps of the two partition plates (5); the upper end of the ejector rod (25) is provided with a conical ejector block (32), and the conical ejector block (32) is used for expanding the two wedge-shaped heads (28) from the middle.
2. A magnet appearance inspection device according to claim 1, characterized in that the suction assembly (9) comprises a guide rail (10) provided on the first four-axis robot (8); a bidirectional threaded lead screw (11) is arranged on the guide rail (10); the bidirectional threaded lead screw (11) is driven by a first motor (12); the bidirectional threaded screw rod (11) is provided with sliding blocks (13) which are oppositely arranged; a support (14) is arranged on the sliding block (13); the support (14) is provided with a sucker (15).
3. The magnet appearance detection device according to claim 1, characterized in that the pushing mechanism (7) comprises a base plate (19), the base plate (19) is arranged on the top surface of the bearing plate (1), and a first telescopic rod (20) is arranged on the side surface of the base plate (19); a push plate (21) is arranged at the piston end of the first telescopic rod (20); the push plate (21) is provided with a guide rod (22), and the guide rod (22) is in sliding connection with the base plate (19); the end face of the push plate (21) is provided with a baffle plate (23), and the baffle plate (23) is used for pushing the finished magnet (4) to displace.
4. A magnet appearance detection device according to claim 1, characterized in that the telescopic assembly (26) comprises a U-shaped seat (33), the U-shaped seat (33) is arranged on the bottom surface of the carrier plate (1), and the horizontal section of the U-shaped seat (33) is provided with a second telescopic rod (34); a flat plate (35) is arranged at the piston end of the second telescopic rod (34), and the flat plate (35) is used for jacking the ejector rod (25); the side wall of the ejector rod (25) positioned below the bearing plate (1) is provided with a first spring (36), and the first spring (36) is positioned between the flat plate (35) and the bearing plate (1) in an elastic connection mode.
5. A magnet appearance inspection device according to claim 1, characterized in that the carrier plate (1) is provided with a bottom plate (37), the bottom plate (37) being located in the magnet channel (6); a blind hole (38) is formed in the top surface of the bottom plate (37); a second spring (39) is arranged in the blind hole (38); the upper end of the second spring (39) is connected with a movable plate (40); the top surface of fly leaf (40) is equipped with ball track (41), is equipped with ball body (42) on ball track (41), and ball body (42) are used for bearing finished product magnet (4).
6. The magnet appearance detection device according to claim 5, characterized in that the top surface of the bearing plate (1) is provided with a strip-shaped groove (47), and the strip-shaped groove (47) is parallel to the limiting plate (2); a sliding seat (48) is connected on the strip-shaped groove (47) in a sliding way, and the sliding seat (48) is connected with the side plate (3); a bearing seat (49) is arranged on the bottom surface of the bearing plate (1), a screw rod (50) is rotationally connected to the bearing seat (49), the screw rod (50) is driven by a third motor (51), guide grooves (52) which are arranged in a segmented mode are formed in the screw rod (50), the two guide grooves (52) are in a group, and the screw rod (50) is in threaded connection with the sliding seat (48); the bearing seat (49) is provided with a guide post (53), and the guide post (53) is in sliding connection with the sliding seat (48).
7. The magnet appearance detection device according to claim 1, characterized in that a slide way (54) is arranged on the top surface of the bearing plate (1), and the slide way (54) is parallel to the side plate (3); the pushing mechanism (7) comprises a moving block (55), and the moving block (55) is in sliding connection with the slideway (54); a rotor seat (56) is arranged on the moving block (55); a push plate (21) is arranged at the gap between the two rotor seats (56); the end face of the push plate (21) is provided with a baffle (23), and the baffle (23) is used for pushing the finished magnet (4) to displace; the rotor seat (56) is in threaded connection with a ball screw (57); the side wall of the ball screw (57) is provided with a shaft seat (58), and the shaft seat (58) is connected with the bearing plate (1); the ball screw (57) is driven by a fourth motor (59).
8. A magnet appearance inspection device according to claim 7, characterized in that a rubber tube (60) is slidably attached to a side wall of the ball screw (57); the outer side wall of the rubber tube (60) is sleeved with a deformation hoop (61), the shape of the deformation hoop (61) is C-shaped, and the two deformation hoops (61) are fixed through a connecting bolt (62).
9. A detection system using the magnet appearance detection device according to any one of claims 1 to 8, comprising an incoming material conveying line (69), a defective product conveying line (70), a qualified product conveying line (71), and a platform (72); the feeding conveyor line (69) is used for conveying a material box with finished magnets (4); a linear motor (73) is arranged on the platform (72); a second four-axis robot (74) is arranged on the linear motor (73), a suction assembly (9) is arranged at the execution hand part of the second four-axis robot (74), and the second four-axis robot (74) is used for sucking and transferring the finished product magnet (4) in the material box; the platform (72) is connected with a bearing plate (1) through a supporting column (75), and a magnet channel (6) of the bearing plate (1) is used for accommodating a finished magnet (4) put down by a second four-axis robot (74); 4 first four-axis robots (8) are arranged on the platform (72), the first four-axis robots (8) are used for sucking finished products of magnets (4) in the magnet channels (6), and appearance detection can be carried out on the finished products of magnets (4) from 6 directions through first visual detection (16), second visual detection (17) and third visual detection (18); the defective product conveying line (70) is used for conveying the finished product magnet (4) which is unqualified in detection, and the unqualified finished product magnet (4) is conveyed through the first four-axis robot (8); the qualified product conveying line (71) is used for conveying qualified finished product magnets (4) through detection and transferring the qualified finished product magnets (4) through the first four-axis robot (8); and the weighing table (76) is used for detecting whether the weight of the finished magnet (4) meets the standard or not.
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| CN202311578089.5A CN117282688B (en) | 2023-11-24 | 2023-11-24 | Magnet outward appearance detection device and detecting system |
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| CN202311578089.5A CN117282688B (en) | 2023-11-24 | 2023-11-24 | Magnet outward appearance detection device and detecting system |
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