CN208614818U - Automatic pick-up device after neodymium iron boron product plated film - Google Patents

Abstract

The utility model discloses automatic pick-up device after a kind of neodymium iron boron product plated film, it is used to pick up in the workpiece after multiple neodymium iron boron product plated films of matrix type structure arrangement and neatly stack into magazine, automatic pick-up device includes: rack；Substrate frame, upper surface are equipped with the type chamber for accommodating multiple workpiece；Gasket box is the cube structure that the top surface being fixedly arranged in the rack, bottom surface penetrate through；Magazine is set to the cube structure of the top surface opening in the rack for sliding；First grasping mechanism, between the substrate frame and the magazine, first grasping mechanism is connect with the housing slide；Second grasping mechanism, between the gasket box and the magazine, second grasping mechanism is connect with the housing slide.The utility model can be accurately and rapidly put into workpiece after plated film is orderly in magazine, and a gasket is laid between two connected up and down workpiece.

Description

Automatic pick-up device after neodymium iron boron product plated film

Technical field

The utility model relates to neodymium iron boron product process equipments.More specifically, the utility model relates to a kind of neodymium iron borons Automatic pick-up device after product plated film.

Background technique

Vacuum coating is a kind of production technology of neodymium iron boron product, is mainly plated on the neodymium iron boron product surface of chip shape One layer of metal cooperates subsequent seeping at high temperature technique, can promote magnet performance.

In order to promote the efficiency of seeping at high temperature, the workpiece after plated film need to be piled up in special magazine, magazine block pattern row pattern In seeping at high temperature furnace；Workpiece after plated film is layered tiling in magazine, adhesion when permeating in order to prevent, needs to put between workpiece A gasket is set to keep apart.

In the prior art by the operation of putting for being accomplished manually workpiece, first the workpiece that plated film is completed is taken from substrate frame Out, it then swings in magazine again, efficiency is extremely low, is not able to satisfy the productive temp of plated film, and when continuous production needs ten people simultaneously It puts and is just able to satisfy beat, increase production cycle and recruitment cost.

Therefore, needing one kind can will be laid in substrate frame, and the neodymium iron boron product workpiece after plated film is automatically, orderly Automatic pick-up device be put into magazine and that gasket is put between two adjacent workpiece.

Utility model content

One purpose of the utility model is to solve at least the above problems, and provide the advantages of at least will be described later.

There are one purposes to be to provide automatic pick-up device after a kind of neodymium iron boron product plated film for the utility model, passes through three Axis robot, two axis robots cooperate with each other, and the multiple neodymium iron boron product workpiece that will be laid in substrate frame quickly pick up Take and it is orderly be put into magazine, while placing a gasket between workpiece group connected up and down, be subsequent seeping at high temperature Process carries out perfect preparation；The utility model the degree of automation is higher, strong operability, accuracy are higher, Neng Gou great The big working efficiency for improving neodymium iron boron product processing.

In order to realize these purposes and other advantages according to the present utility model, provides a kind of its and be used to be in matrix form Workpiece after multiple neodymium iron boron product plated films of Structural assignments is picked up and is neatly stacked into magazine, the automatic pick-up device packet It includes:

Rack；

Substrate frame, for the horizontal plate body being set in the rack, the middle part of the upper surface of the substrate frame is equipped with rectangular The type chamber for being used to accommodate multiple workpiece of shape；

Gasket box is the cube structure that the top surface being fixedly arranged in the rack, bottom surface penetrate through；The gasket box Cross section and horizontal positioned shim size are adapted；

Magazine, the cube structure of the top surface opening in the rack is set to for sliding, and the magazine is located at the base Between gasket box described in horse box, the magazine cross sectional dimensions is consistent with the gasket box cross sectional dimensions；

First grasping mechanism, between the substrate frame and the magazine, first grasping mechanism and the machine Frame is slidably connected；

Second grasping mechanism, between the gasket box and the magazine, second grasping mechanism and the machine Frame is slidably connected.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, first grasping mechanism include:

Three axle robert is fixedly arranged in the rack；

First sucker disk seat is horizontally disposed plate body, the upper surface of first sucker disk seat and the three axle robert First mechanical arm be fixedly connected；

Multiple first vacuum chucks are laid in the lower surface of first sucker disk seat in matrix type structure interval, any First vacuum chuck is set as, and the spacing of first vacuum chuck, first vacuum chuck adjacent with two sides is true with first The sum of suction disk diameter is less than workpiece minimum widith.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, second grasping mechanism include:

Two axis robots are fixedly arranged in the rack；Two axis robot is by the second motor driven；

Second sucker disk seat is horizontally disposed plate body, the upper surface of second sucker disk seat and two axis robot Second mechanical arm be fixedly connected；The size for being dimensioned slightly smaller than magazine cross section of second sucker disk seat；

Four the second vacuum chucks are fixedly arranged on close second sucker of the lower surface of second sucker disk seat respectively At the position at four angles of seat.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, the substrate frame by fixed mechanism with The rack connection, the first side of the substrate frame is equipped with multiple location holes being intervally arranged along its length, described On the second side parallel with its first side of substrate frame vertically be equipped with the first fixed plate, the upper end of first fixed plate and Lower end protrudes from the upper and lower surfaces of the substrate frame respectively, and it is first logical that first fixed plate is equipped at least one Hole；The fixed mechanism includes:

Two roller groups, length direction along the first side of the substrate frame it is opposite be laid in the substrate frame Lower surface, any roller group include multiple third sides vertical with the first side of the substrate frame along the substrate frame The idler wheel that the length direction interval on side is laid, any idler wheel are connect with the gantry rotation；

Multiple positioning pins, the corresponding location hole of a positioning pin, and the end of any positioning pin can It is arranged in a corresponding location hole, the tail portion of the positioning pin is fixedly arranged in the rack；

Second fixed plate, is vertically arranged, and the lower end of second fixed plate is fixedly arranged in the rack, and upper end is lower than The upper end of the idler wheel, the top of second fixed plate is Chong Die with the lower part of first fixed plate, second fixed plate It is equipped at least one second through-hole, the corresponding first through hole of second through-hole；Second fixed plate with The distance between any described positioning pin is greater than the length of the third side of the substrate frame；

At least one positioning bolt, number is equal with the number of second through-hole, any positioning bolt and one A second through-hole matches, and the head of the positioning bolt is equipped with rotating handle.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, further includes feeding mechanism comprising:

Belt is positioned horizontally between the gasket box and the magazine, the belt and gasket box center and institute The line for stating magazine center is parallel, and the first end of the belt is located at the underface of the gasket box, the belt close to the Position sensor is embedded on the upper surface at two ends；

Two leather belt rollers, are sheathed on the both ends of the belt respectively, and any leather belt roller and the gantry rotation connect It connects, one of them described leather belt roller is by third motor driven.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, gasket rub with the belt upper surface Wipe the frictional force that power is greater than between two gaskets.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, it is horizontal in the rack to be equipped with a pair of of phase Mutually the 6th parallel sliding rail, any 6th sliding rail are vertically arranged with the belt；Level is set on a pair of 6th sliding rail There is a pallet, the lower surface of the pallet sets that there are two sliding blocks, and a sliding block is slidingly accommodated in the 6th sliding rail, described The lower surface of magazine and the lower surface of the pallet are detachably connected.

Preferably, automatic pick-up device after the neodymium iron boron product plated film, the gasket are high density aluminum oxide pottery Porcelain material；The magazine is graphite material.

The utility model is include at least the following beneficial effects:

The utility model is cooperated with each other by three axle robert, two axis robots, will be laid in substrate frame Multiple neodymium iron boron product workpiece, quick pick-up and it is orderly be put into magazine, while being placed between workpiece group connected up and down One gasket carries out perfect preparation for subsequent seeping at high temperature process；The utility model the degree of automation is higher, can grasp The property made is strong, accuracy is higher, can greatly improve the working efficiency of neodymium iron boron product processing；Using the second vacuum chuck to gasket Suction and two axis robots the mobile drive of second mechanical arm 63, gasket is moved in magazine and water is placed on magazine On bottom surface；Followed by vacuum chuck suction effect by the workpiece in substrate frame according to 4 × 4 matrix type structure be a list Member is drawn, and the first sucker disk seat can correspond to the workpiece group an of unit, by a workpiece group under the operation of three axle robert It is moved in magazine, and is placed on gasket upper surface, such two axis robot and the operation of three axle robert alternate repetition realize one A gasket, a workpiece, a gasket, a workpiece, a gasket ... the form that stacks complete the workpiece after multiple plated films Picking task, when magazine is filled be located at it is uppermost be gasket；The freedom degree of three axle robert and two axis robots is high, can Accurately and rapidly complete pickup, the placement movement of workpiece and gasket.

The further advantage, target and feature of the utility model will be partially reflected by the following instructions, and part will also pass through Research and practice to the utility model and be understood by the person skilled in the art.

Detailed description of the invention

Fig. 1 be the utility model in one embodiment after the neodymium iron boron product plated film automatic pick-up device structure Schematic diagram；

Fig. 2 be the utility model in another embodiment after the neodymium iron boron product plated film automatic pick-up device knot Structure schematic diagram；

Fig. 3 is the structural schematic diagram of the utility model fixed mechanism in another embodiment；

Fig. 4 is the structural schematic diagram of the utility model gasket box in another embodiment.

Specific embodiment

The utility model is described in further detail with reference to the accompanying drawings and embodiments, to enable those skilled in the art Refer to the instruction text can be implemented accordingly.

It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more The presence or addition of a other elements or combinations thereof.

In the description of the present invention, term " transverse direction ", " longitudinal direction ", "upper", "lower", "front", "rear", "left", "right", The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on the figure or Positional relationship is merely for convenience of describing the present invention and simplifying the description, and is not the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

As shown in figures 1-4, the utility model provides automatic pick-up device after a kind of neodymium iron boron product plated film, be used for by It picks up in the workpiece after multiple neodymium iron boron product plated films of matrix type structure arrangement and neatly stacks into magazine 4, it is described automatic Pick device includes:

Rack 1；

Substrate frame 2, the middle part for the horizontal plate body being set in the rack 1, the upper surface of the substrate frame 2 are equipped with length The rectangular type chamber 21 for being used to accommodate multiple workpiece；

Gasket box 3 is the cube structure that the top surface being fixedly arranged in the rack 1, bottom surface penetrate through；The gasket box 3 cross section and horizontal positioned shim size are adapted；

Magazine 4, the cube structure of the top surface opening in the rack 1 is set to for sliding, and the magazine 4 is located at described Between gasket box 3 described in 2 box of substrate frame, 4 cross sectional dimensions of magazine is consistent with 3 cross sectional dimensions of gasket box；

First grasping mechanism, between the substrate frame 2 and the magazine 4, first grasping mechanism with it is described Rack 1 is slidably connected；

Second grasping mechanism, between the gasket box 3 and the magazine 4, second grasping mechanism with it is described Rack 1 is slidably connected.

In the above-mentioned technical solutions, the second grasping mechanism of the utility model moves between gasket box 3 and magazine 4, crawl Gasket in gasket box 3 is moved in magazine 4, is placed in the bottom surface of magazine 4, then by the second grasping mechanism in substrate frame 2 It moves, the workpiece in substrate frame 2 is moved in magazine 4 and is layed on gasket between magazine 4, be repeated in operation second Grasping mechanism and the first grasping mechanism realize that a gasket, workpiece stack form, finally by the workpiece after multiple plated films It is placed into magazine 4 and guarantees that level is equipped with gasket between neighbouring workpiece, workpiece is kept apart up and down, is avoided subsequent Adhesion in seeping at high temperature process between workpiece and workpiece top and bottom；The utility model is preferably the first grasping mechanism one It is secondary to grab 16 workpiece for being rectangle matrix arrangement, it is arranged according to 4 × 4 matrix type structure, adjacent side edge of workpiece Closely, the first grasping mechanism once grabs a rectangular area and is calculated as a workpiece group, the size of gasket and workpiece group Size is adapted while being less than the size of 4 cross section of magazine, it is ensured that gasket and a workpiece group smoothly level can be put into material In box 4, while guaranteeing that the top and bottom of workpiece group are covered by workpiece completely.

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film, first gripper Structure includes:

Three axle robert is fixedly arranged in the rack 1；Three axle robert selects commercially available conventional equipment, three shaft mechanicals Hand includes the first sliding rail 51 being horizontally located in the rack 1, be slidably connected horizontally disposed of the first sliding rail 51 and with the The second vertical sliding rail 52 of one sliding rail 51, be slidably connected the third sliding rail 53 being vertically arranged and sliding with third with the second sliding rail 52 The first mechanical arm 54 that rail 53 is slidably connected；First sliding rail 51 be located at the top of substrate frame 2 and be located at substrate frame 2 and magazine 4 it Between, the line between the first sliding rail 51 and the substrate frame 2 and magazine 4 is arranged in parallel, the second sliding rail 52 and the first sliding rail 51 Downside is slidably connected, and the second sliding rail 52 is slided along the length direction level of the first sliding rail 51；Third sliding rail 53 is slided with second The leading flank of rail 52 is slidably connected, and third sliding rail 53 is slided along the length direction level of the second sliding rail 52；First mechanical arm 54 Upper end sliding is arranged in third sliding rail 53, can be slided up and down along third sliding rail 53, to realize first mechanical arm 54 in horizontal plane X, the three-dimensional of Y direction and vertical plane Z-direction it is mobile, finally enable the first mechanical arm 54 of three axle robert by base Workpiece after the plated film being laid on horse 2 is moved in magazine 4；Three axle robert is driven by first motor；

First sucker disk seat 55 is horizontally disposed plate body, the upper surface of first sucker disk seat 55 and the three axis machine The arm fixation of tool hand connects；The size of the cross section for being dimensioned slightly smaller than magazine 4 of first sucker disk seat 55；

Multiple first vacuum chucks 56 are laid in the lower surface of first sucker disk seat 55 in matrix type structure interval, Any first vacuum chuck 56 is set as, between first vacuum chuck 56, the first vacuum chuck 56 adjacent with two sides Away from being less than workpiece minimum widith with the sum of 56 diameter of the first vacuum chuck.Ensure right above workpiece that at least one is first true Suction disk 56.The lower surface of first sucker disk seat 55 be equipped with it is multiple along the horizontal-extending kidney-shaped groove in width of the workpiece direction, one the The upper end sliding of one vacuum chuck 56 is arranged in a groove, so as to adjust along width of the workpiece direction adjacent wantonly one or two the Spacing between one vacuum chuck 56,

In the above-mentioned technical solutions, in the preferred scheme of the utility model, workpiece in substrate frame 2 according to 28 × 40 square Configuration structure is laid with, and closely, the number of the first sucker is preferably 16 × 4 and according to matrix form to any two adjacent side edge of workpiece Structure is laid with, and when the spacing between two adjacent the first vacuum chucks 56 is maximum, a workpiece corresponding one first true Suction disk 56, the number of each grabbing workpiece of the first grasping mechanism is 64 (16 × 4), when two adjacent the first vacuum chucks When spacing between 56 is minimum, corresponding two the first vacuum chucks 56 of a workpiece, each grabbing workpiece of the first grasping mechanism Number be 32 (8 × 4), by each crawl rectangular area of a first grasping mechanism extremely workpiece group, according to magazine 4 The size of cross section and the size of gasket, adjust workpiece group size, guarantee workpiece group size and gasket adjoining dimensions and It is slightly less than the size of the cross section of magazine 4, it is ensured that a workpiece group horizontal can be contained in magazine 4 just, and gasket Just a workpiece group can be covered；Sucker disk seat can be replaced, as needed in actual operation so as to adjust of the first sucker Number.Three axle robert can be driven by servo first motor realize three axle robert the front and rear, left and right of first mechanical arm 54, on Movement on lower three directions, to drive movement of first sucker disk seat 55 on front and rear, left and right and upper and lower three directions；First When sucker disk seat 55 is moved to above the workpiece after plated film, vacuum generator starting, work of multiple first vacuum chucks 56 to lower part Part generates upward suction, and first vacuum chuck 56 is enabled easily to draw a workpiece, the first electricity of subsequent start-up Machine drives three axle robert mobile, and the first sucker disk seat 55 is moved in magazine 4, and workpiece group level is placed on magazine 4 Bottom surface or gasket upper surface, vacuum generator stops at this time, and multiple first vacuum chucks 56 start first motor and drive without suction Dynamic triaxial manipulator removes magazine 4, and wait next workpiece group pipettes operation.

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film, second gripper Structure includes:

Two axis robots are fixedly arranged in the rack 1；Two axis robot is by the second motor driven；This is practical new Type uses commercially available two conventional axis robots, and two axis robots include the 4th sliding rail 61 being horizontally located in rack 1, vertical It is arranged and the 5th sliding rail 62 being slidably connected with the 4th sliding rail 61 and the second mechanical arm 63 being slidably connected with the 5th sliding rail 62, The horizontal axis of 4th sliding rail 61 is located at the top of gasket box 3 and between gasket box 3 and magazine 4, the 4th sliding rail 61 and two The line at the center of a box body is parallel and is located at same vertical plane, and the 5th sliding rail 62 can be along the 4th sliding rail 61 in gasket box 3 and material Level slidably reciprocates between box 4；Second mechanical arm 63 can be slided up and down along the 5th sliding rail 62, to realize the of two axis robots Two mechanical arms 63 can horizontally slip between gasket box 3 and magazine 4, at the same can lower slider in the vertical direction so that two axis Gasket in gasket box 3 can be accurately moved in magazine 4 by the second mechanical arm 63 of manipulator；

Second sucker disk seat 64 is horizontally disposed plate body, the upper surface of second sucker disk seat 64 and the two axis machine The second mechanical arm 63 of tool hand is fixedly connected；The size for being dimensioned slightly smaller than 4 cross section of magazine of second sucker disk seat 64；Ensure Second sucker disk seat 64 is able to enter in magazine 4, and gasket is put into magazine 4；

Four the second vacuum chucks 65 are fixedly arranged on close described the second of the lower surface of second sucker disk seat 64 respectively At the position at four angles of sucker disk seat 64.

In the above-mentioned technical solutions, the mechanical arm of two axis robots can by the second motor driven of servo realize left and right, Upper and lower both direction is mobile；The cross sectional dimensions of magazine 4 and gasket box 3, and level is oppositely arranged, second mechanical arm 63 only needs edge The direction of the line of two boxes move horizontally, cooperate moving up and down on vertical direction, gasket can be moved to magazine 4 In；Second vacuum chuck 65 can generate suction to the upper surface for the gasket for being moved to 31 second end of belt when vacuumizing, and will pad Piece is drawn and is moved, the design safety of vacuum chuck, strong operability, and will not generate damage to gasket；The gasket of gasket box 3 moves It moves to when fixing position, the second mechanical arm 63 of starting two axis robot of the second motor driven is mobile, drives the second sucker disk seat 64 It is moved to right above gasket, so that the lower end of four the second vacuum chucks 65 is contacted with the upper surface of gasket, starts the second vacuum Generator guarantees four points simultaneously so that four the second vacuum chucks 65 generate upward suction to four angles of gasket upper surface Gasket is drawn, the stability of gasket crawl operation is improved；The second mechanical arm of two axis robot of the second motor driven of subsequent start-up 63 is mobile, and gasket is moved in magazine 4 from fixed position, gasket is placed on to the upper surface of workpiece group, the second vacuum occurs Device stops, i.e., the crawl operation of a complete gasket.

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film, the substrate frame 2 passes through Fixed mechanism is connect with the rack 1, and the first side of the substrate frame 2 is equipped with multiple to be intervally arranged along its length Location hole, is equipped with the first fixed plate 23 on the second side parallel with its first side of the substrate frame 2 vertically, and described first The top and bottom of fixed plate 23 protrude from the upper and lower surfaces of the substrate frame 2 respectively, in first fixed plate 23 Equipped at least one first through hole；The fixed mechanism includes:

Two 26 groups of idler wheel, length direction along the first side of the substrate frame 2 it is opposite be laid in the substrate The lower surface of frame 2, any 26 groups of idler wheel include multiple along the vertical with the first side of the substrate frame 2 of the substrate frame 2 The idler wheel 26 that the length direction interval of straight third side is laid, any idler wheel 26 are rotatablely connected with the rack 1；

Multiple positioning pins 22, the corresponding location hole of a positioning pin 22, and any positioning pin 22 End can be arranged in a corresponding location hole, and the tail portion of the positioning pin 22 is fixedly arranged in the rack 1；

Second fixed plate 24, is vertically arranged, and the lower end of second fixed plate 24 is fixedly arranged in the rack 1, on End is lower than the upper end of the idler wheel 26, and the top of second fixed plate 24 is Chong Die with the lower part of first fixed plate 23, institute The second fixed plate 24 is stated equipped at least one second through-hole, the corresponding first through hole of second through-hole；Institute State the length of the distance between the second fixed plate 24 and any described positioning pin 22 greater than the third side of the substrate frame 2；

At least one positioning bolt 25, number is equal with the number of second through-hole, any positioning bolt 25 Match with second through-hole, the head of the positioning bolt 25 is equipped with rotating handle.Fixed mechanism can be by substrate Frame 2 is stably fixed to suitable position, and in operation process External force interference is avoided to lead to the generation of displacement accident of substrate frame 2.

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film, further includes feeding mechanism, Comprising:

Belt 31 is positioned horizontally between the gasket box 3 and the magazine 4, in the belt 31 and the gasket box 3 The heart is parallel with the line at 4 center of magazine, and the first end of the belt 31 is located at the underface of the gasket box 3, second end It is not contacted with the magazine 4, is embedded position sensor 35 on the upper surface of the close second end of the belt 31；Belt 31 The upper side level of inner surface is equipped with support plate 33, the upside face contact of support plate 33 and the inner surface of belt 31, support plate 33 For supporting the gasket of 31 top of belt, multiple pads is avoided to bend belt 31；

Two leather belt rollers 32 are sheathed on the both ends of the belt 31, any leather belt roller 32 and the rack 1 respectively Rotation connection, one of them described leather belt roller 32 is by third motor driven.

In the above-mentioned technical solutions, the bottom surface edge of gasket box 3 is connect with rack 1, gasket box 3 it is parallel with belt 31 Two first sides be located at the two sides of belt 31, the side inner wall of two first sides of gasket box 3 close to belt 31 Upper difference is equipped with a material blocking rod 34 vertically, and the lower end of any material blocking rod 34 is greater than a piece of pad at a distance from the upper surface of belt 31 The thickness of piece and the thickness for being less than two panels gasket, gasket box 3 vertical with belt 31 and close to belt 31 one of them the Two side faces perforation setting, the lower end of two material blocking rods 34 and two first sides, the second side of perforation of gasket box 3, form Height is greater than the thickness of a piece of gasket and is less than the discharge port of the thickness of two panels gasket；Multiple pads are along the vertical direction at pile It successively overlays in gasket box 3, is contacted positioned at nethermost gasket with the upper surface of belt 31, when belt 31 is towards close to magazine When 4 direction rotation, since the frictional force of belt 31 and gasket is greater than the frictional force of two gaskets, gasket can be along 31 table of belt Face being fed forward one by one；Gasket moves forward, when the gasket for being located at forefront is moved to 31 second end upper surface of belt 35 position of position sensor at when, belt 31 stops operating, and gasket is parked in fixed position and the crawl of the second grasping mechanism is waited to move It is dynamic.)

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film, gasket and the belt The frictional force of 31 upper surfaces is greater than the frictional force between two gaskets.Ensure that the gasket that lowest part is contacted with belt 31 can be turned Dynamic belt 31 is taken away, and gasket being laid on belt 31 one by one is finally made.

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film is horizontal in the rack 1 Equipped with the 6th sliding rail 42 that a pair is parallel to each other, any 6th sliding rail 42 is vertically arranged with the belt 31；Described in a pair Horizontal on 6th sliding rail 42 to be equipped with pallet 41, the lower surface of the pallet 41 is set there are two sliding block, and a sliding block sliding is held It is contained in the 6th sliding rail 42, the lower surface of the magazine 4 and the lower surface of the pallet 41 are detachably connected.

In the above-mentioned technical solutions, the movement of two sliding blocks is by the 4th motor driven, the mobile drive pallet 41 of sliding block Move horizontally, thus at position magazine 4 being moved horizontally between substrate frame 2 and gasket box 3, start the first grasping mechanism and Second grasping mechanism starts to intersect the operation drawn, placed, and is sequentially placed into a workpiece group into magazine 4, a piece of gasket, and one Workpiece group and a piece of gasket, in this way circulation interlock, and realizes that one layer of gasket, one layer of workpiece stack form, so that adjacent two It is folded with a gasket between workpiece group to keep apart, avoids in seeping at high temperature technical process, is sent out between two workpiece groups Raw adhesion；After being placed to all workpiece, sliding block reverse movement, thus drive magazine 4 from substrate frame 2 and gasket box 3 it Between remove, the magazine 4 for occupying workpiece is taken away from pallet 41 manually, the empty magazine of workpiece to be put then is put on pallet 41 4, continue next charging operation.

In another technical solution, automatic pick-up device after the neodymium iron boron product plated film, the gasket is highly dense Spend aluminium oxide ceramics material；The magazine 4 is graphite material.The gasket of aluminium oxide ceramics material and the magazine 4 of graphite material are equal Has the characteristics that high temperature resistant, indeformable.

The utility model further includes controller, the first motor, second motor, the third motor, described Four motors and the position sensor 35 are electrically connected with the controller；Any first vacuum chuck 56 is equipped with one first Vacuum logical valve, any second vacuum chuck 65 are equipped with a second vacuum logical valve, and the first vacuum generator is correspondingly provided with First vacuum switch, the second vacuum generator are correspondingly provided with the second vacuum switch；First vacuum generator and the second vacuum occur Device is responsible for realizing vacuum, and the first vacuum switch and the second vacuum switch are respectively used to the first vacuum chuck 56 of detection and the second vacuum Whether the vacuum degree at sucker 65 meets the requirements.First vacuum generator and the second vacuum generator are also electrically connected with the controller.)

The workflow of the utility model: controller controls the 4th motor driven sliding block and moves in the 6th sliding rail 42, will Magazine 4 to be charged is moved between substrate frame 2 and belt 31, and stacked multiple pads are put into gasket box 3, will be equipped with The substrate frame 2 of workpiece after plated film is moved to fixed position and is positioned by fixed mechanism；Controller controls third motor driven Leather belt roller 32 rotates, so that belt 31 be driven to rotate towards the direction close to magazine 4, the rotation of belt 31 drives the pad of lowest part Piece is towards close to the movement of the direction of magazine 4, and when the gasket is moved to the top of position sensor 35, position sensor 35 is detected To gasket, signal, position sensor 35 transmit signals to controller in place, and controller controls third motor stalls, control Device, which controls the 4th motor, to be stopped, and places a gasket in 4 bottom level of magazine first, controller controls two axis of the second motor driven The second mechanical arm 63 or so of manipulator moves up and down, and driving the second sucker disk seat 64 to be moved to, to be placed on 31 upper surface of belt solid The top for the gasket set is positioned, so that the lower end of four the second vacuum chucks 65 is contacted with the upper surface of gasket, controller control Second vacuum generator starting, so that the inner wall of any second vacuum chuck 65 and the upper surface of gasket form closed vacuum office Domain, gasket are tightly drawn by four the second vacuum chucks 65；Second machine of controller control two axis robot of the second motor driven Tool arm 63 is mobile, drives the second sucker disk seat 64 to be moved in magazine 4 above belt 31, and gasket is put on 4 bottom surface of magazine； Controller controls the second vacuum generator and closes, and gasket and four 65 suction of the second vacuum chuck release, controller control second The second mechanical arm 63 of two axis robot of motor driven is mobile, so that the second sucker disk seat 64 be removed from magazine 4, that is, completes the The crawl operation of one gasket；Wait the crawl operation of next gasket；

Then, a workpiece group is placed in the gasket upper surface of 4 bottom of magazine, workpiece group is dimensioned slightly smaller than gasket ruler It is very little, it is ensured that entire workpiece group is contained in gasket；The first mechanical arm 54 for controlling first motor driving three axle robert is mobile, band Dynamic first vacuum chuck 56 is moved to the top of the type chamber 21 of substrate frame 2, so that multiple first vacuum chucks 56 are one corresponding The lower end of workpiece group and first vacuum chuck 56 is contacted with the upper surface of a workpiece, and controller controls the first vacuum and occurs Device starting, so that forming vacuum area, workpiece between the inner wall of any first vacuum chuck 56 and corresponding workpiece surface It is tightly drawn by the first vacuum chuck 56；The first mechanical arm 54 that controller controls first motor driving three axle robert is mobile, The first vacuum chuck 56 is driven to be moved in magazine 4 from the top of type chamber 21, lower surface and the gasket upper surface of workpiece group connect Touching, the first mechanical arm 54 that controller controls first motor driving three axle robert is mobile, thus by the first sucker disk seat 55 from material It is removed in box 4, that is, completes the crawl operation of unit one group, wait the crawl operation of next workpiece group；

And then second gasket crawl operation, the crawl operation of second workpiece group are successively carried out according to above-mentioned method, Finally realize that one layer of gasket, one layer of workpiece group are successively stacked into magazine 4, after magazine 4 is filled, controller controls the 4th motor It drives sliding block direction mobile, magazine 4 is removed, is manually taken fully charged magazine 4 from pallet 41 away, then on pallet 41 It is put into the empty magazine 4 of workpiece to be put, continues next charging operation.

Number of devices and treatment scale described herein are the explanations for simplifying the utility model.To the utility model Application, modifications and variations will be readily apparent to persons skilled in the art.

It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art, Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality It is not limited to specific details and legend shown and described herein with novel.

Claims (8)

1. automatic pick-up device after neodymium iron boron product plated film, which is characterized in that it is used for will be in the multiple of matrix type structure arrangement Workpiece after neodymium iron boron product plated film is picked up and is neatly stacked into magazine, and the automatic pick-up device includes:

Rack；

Substrate frame, for the horizontal plate body being set in the rack, the middle part of the upper surface of the substrate frame is equipped with rectangular For accommodating the type chamber of multiple workpiece；

Gasket box is the cube structure that the top surface being fixedly arranged in the rack, bottom surface penetrate through；The gasket box it is transversal Face and horizontal positioned shim size are adapted；

Magazine, the cube structure of the top surface opening in the rack is set to for sliding, and the magazine is located at the substrate frame Between gasket box described in box, the magazine cross sectional dimensions is consistent with the gasket box cross sectional dimensions；

First grasping mechanism, between the substrate frame and the magazine, first grasping mechanism and the rack are sliding Dynamic connection；

Second grasping mechanism, between the gasket box and the magazine, second grasping mechanism and the rack are sliding Dynamic connection.

2. automatic pick-up device after neodymium iron boron product plated film as described in claim 1, which is characterized in that first gripper Structure includes:

Three axle robert is fixedly arranged in the rack；

First sucker disk seat is horizontally disposed plate body, the upper surface of first sucker disk seat and the hand of the three axle robert Arm is fixedly connected；

Multiple first vacuum chucks are laid in the lower surface of first sucker disk seat in matrix type structure interval, any described First vacuum chuck is set as, and the spacing and the first vacuum of first vacuum chuck, first vacuum chuck adjacent with two sides are inhaled The sum of disk diameter is less than workpiece minimum widith.

3. automatic pick-up device after neodymium iron boron product plated film as claimed in claim 2, which is characterized in that second gripper Structure includes:

Two axis robots are fixedly arranged in the rack；Two axis robot is by the second motor driven；

Second sucker disk seat, is horizontally disposed plate body, the of the upper surface of second sucker disk seat and two axis robot Two mechanical arms 63 are fixedly connected；The size for being dimensioned slightly smaller than magazine cross section of second sucker disk seat；

Four the second vacuum chucks are fixedly arranged on close second sucker disk seat of the lower surface of second sucker disk seat respectively At the position at four angles.

4. automatic pick-up device after neodymium iron boron product plated film as claimed in claim 3, which is characterized in that the substrate frame passes through Fixed mechanism is connect with the rack, the first side of the substrate frame be equipped with it is multiple be intervally arranged along its length determine Position hole is equipped with the first fixed plate on the second side parallel with its first side of the substrate frame vertically, and described first is fixed The top and bottom of plate protrude from the upper and lower surfaces of the substrate frame respectively, and first fixed plate is equipped at least one A first through hole；The fixed mechanism includes:

Two roller groups, the opposite following table for being laid in the substrate frame of length direction along the first side of the substrate frame Face, any roller group include multiple third sides vertical with the first side of the substrate frame along the substrate frame The idler wheel that length direction interval is laid, any idler wheel are connect with the gantry rotation；

Multiple positioning pins, the corresponding location hole of a positioning pin, and the end of any positioning pin, which can block, to be set In a corresponding location hole, the tail portion of the positioning pin is fixedly arranged in the rack；

Second fixed plate, is vertically arranged, and the lower end of second fixed plate is fixedly arranged in the rack, and upper end is lower than described The upper end of idler wheel, the top of second fixed plate is Chong Die with the lower part of first fixed plate, sets in second fixed plate There are at least one second through-hole, the corresponding first through hole of second through-hole；Second fixed plate with it is any The distance between described positioning pin is greater than the length of the third side of the substrate frame；

At least one positioning bolt, number is equal with the number of second through-hole, any positioning bolt and an institute It states the second through-hole to match, the head of the positioning bolt is equipped with rotating handle.

5. automatic pick-up device after neodymium iron boron product plated film as claimed in claim 4, which is characterized in that further include feeder Structure comprising:

Belt is positioned horizontally between the gasket box and the magazine, the belt and gasket box center and the material The line at box center is parallel, and the first end of the belt is located at the underface of the gasket box, the close second end of the belt Upper surface on be embedded position sensor；

Two leather belt rollers are sheathed on the both ends of the belt respectively, and any leather belt roller is connect with the gantry rotation, In a leather belt roller by third motor driven.

6. automatic pick-up device after neodymium iron boron product plated film as claimed in claim 5, which is characterized in that gasket and the belt The frictional force of upper surface is greater than the frictional force between two gaskets.

7. automatic pick-up device after neodymium iron boron product plated film as claimed in claim 6, which is characterized in that horizontal in the rack Equipped with the 6th sliding rail that a pair is parallel to each other, any 6th sliding rail is vertically arranged with the belt；A pair of described 6th is sliding Horizontal on rail to be equipped with pallet, the lower surface of the pallet is set there are two sliding block, and a sliding block is slidingly accommodated in one the 6th In sliding rail, the lower surface of the magazine and the lower surface of the pallet are detachably connected.

8. automatic pick-up device after neodymium iron boron product plated film as claimed in claim 7, which is characterized in that the gasket is highly dense Spend aluminium oxide ceramics material；The magazine is graphite material.