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CN-122007838-A - Strong magnetic magnet assembling robot and magnet assembling method

CN122007838ACN 122007838 ACN122007838 ACN 122007838ACN-122007838-A

Abstract

The invention relates to the technical field of industrial robots and discloses a strong magnetic magnet assembling robot and a magnet assembling method, wherein the strong magnetic magnet assembling robot comprises a machine body, an end effector and a feeding assembly are arranged on the machine body, the end effector comprises a fixed seat and a clamping seat, the clamping seat is rotationally connected with the fixed seat, clamping grooves are symmetrically formed in the clamping seat, and clamping blocks are arranged in the clamping grooves. According to the invention, the workpiece with the foolproof groove is arranged, the clamping seat is required to ensure that the foolproof groove is opposite to the clamping block in the clamping groove in the process of grabbing the workpiece at the storage plate, the workpiece can normally enter the clamping groove, otherwise, the workpiece can not normally enter the clamping groove, the effect of detecting the polarity of the workpiece can be achieved through the structure, and the workpiece can be grabbed through the clamping seat with the clamping groove and the clamping block, so that the effect of detecting the size of the workpiece can be achieved.

Inventors

  • CHEN QI
  • Si Shunan
  • LUO JI
  • YANG YUANSHUO

Assignees

  • 宁波睿驰磁材科技有限公司

Dates

Publication Date
20260512
Application Date
20260320

Claims (10)

  1. 1. The strong magnetic body assembling robot comprises a machine body (1) and is characterized in that an end effector and a feeding component are arranged on the machine body (1), the end effector comprises a fixed seat (2) and a clamping seat (3), the clamping seat (3) is rotationally connected with the fixed seat (2), clamping grooves (301) are symmetrically formed in the clamping seat (3), and clamping blocks (302) are arranged in the clamping grooves (301); The feeding assembly comprises a storage plate (5) which is symmetrically arranged, a plug seat (6) is arranged on the storage plate (5), a workpiece (7) is plugged in the plug seat (6), a fool-proof groove (8) is formed in one end of the workpiece (7), a clamping block (9) which is matched with the fool-proof groove (8) is arranged in the clamping seat (3), and a first cylinder (10) which is used for pulling the storage plate (5) to move is arranged on the machine body (1).
  2. 2. The ferromagnetic body assembling robot according to claim 1, wherein the clamping seat (3) is internally provided with a marking mechanism, the marking mechanism comprises a pen seat (11), a marking pen (12) is arranged on the pen seat (11), the pen seat (11) is elastically connected with the clamping seat (3) through a first spring (13), and one end of the marking pen (12) extends into the clamping groove (301).
  3. 3. The ferromagnetic body assembling robot according to claim 2, wherein the storage plate (5) is provided with a plurality of fixing grooves (14) for fixing the socket (6), the socket (6) is elastically connected with the storage plate (5) through a rebound spring (15), and an adjusting rod (16) for adjusting the pen holder (11) is arranged in the fixing groove (14).
  4. 4. A ferromagnetic body assembling robot according to claim 3, wherein the adjusting rod (16) is elastically connected with the storage plate (5) through a second spring (17), a guide block (18) is arranged on one side of the adjusting rod (16), a protrusion (19) is arranged on the inserting seat (6), and the position of the protrusion (19) is opposite to the guide block (18).
  5. 5. The ferromagnetic body assembling robot according to claim 4, wherein a connecting seat (20) is provided at one end of the marker pen (12), the connecting seat (20) is elastically connected with the pen seat (11) through a third spring (23), and an adjusting mechanism for adjusting the connecting seat (20) is provided at the clamping seat (3).
  6. 6. The ferromagnetic body assembling robot according to claim 5, wherein the adjusting mechanism comprises a first guide block (21) and a second guide block (22), the first guide block (21) is slidably connected with the clamping seat (3), one end of the first guide block (21) is provided with an inclined plane, one end of the second guide block (22) is fixedly connected with the connecting seat (20), the clamping block (302) is provided with an extension rod (29), and the extension rod (29) is abutted against one end with the inclined plane of the first guide block (21).
  7. 7. A ferromagnetic body assembling robot according to claim 5, wherein said adjusting mechanism comprises a third guide block (24), said third guide block (24) is slidably connected to said pen holder (11), and one end of said third guide block (24) passes through said pen holder (11) and is fixedly connected to said connection holder (20).
  8. 8. The ferromagnetic body assembling robot according to claim 1, wherein the clamping seat (3) is provided with a second cylinder (303) for driving the clamping block (302) to move, and the fixing seat (2) is provided with a servo motor (25) for driving the clamping seat (3) to rotate.
  9. 9. The ferromagnetic body assembling robot according to claim 1, wherein the body (1) is provided with a driving component for driving the end effector to move, the driving component comprises a mounting seat (26) and a sliding seat (4), one end of the mounting seat (26) is provided with an electric push rod (27), a piston rod of the electric push rod (27) is fixedly connected with the fixed seat (2), the sliding seat (4) is in sliding connection with the body (1), and one end of the sliding seat (30) is provided with a driving motor (28) for driving the mounting seat (26) to rotate.
  10. 10. A magnet assembling method of a ferromagnetic magnet assembling robot according to any one of claims 1-9, comprising the steps of: S1, feeding, namely placing a workpiece (7) on a storage plate (5), wherein one end of the workpiece (7) without a fool-proof groove (8) is inserted into an insertion seat (6); s2, taking materials, adjusting the position of the clamping seat (3) through the driving assembly to enable the clamping seat to move to the storage plate (5), and then enabling the storage plate (5) to drive the workpiece (7) to move, so that one end of the workpiece (7) with the fool-proof groove (8) enters the clamping groove (301); s3, judging the position of the workpiece (7) through a pressure sensor in the clamping groove (301), if the workpiece (7) enters normally, the workpiece is abutted against the pressure sensor, and if the workpiece (7) does not enter normally, the pressure sensor reads zero, so that whether the material taking of the clamping seat (3) is normal is judged; S4, path planning, when the workpieces (7) at two ends of the clamping seat (3) are all normally entered, the clamping seat (3) is adjusted to an assembly station, then the workpieces (7) are assembled, when the workpieces (7) at one end of the clamping seat (3) are normal, the workpieces (7) at the other end of the clamping seat are abnormal or the workpieces (7) at two ends of the clamping seat (3) are abnormal, the clamping seat (3) gives up clamping of the two workpieces (7) at the material taking position, and moves to the next material taking station until the workpieces (7) at two ends of the clamping seat (3) are all normal, and then the next assembly is carried out.

Description

Strong magnetic magnet assembling robot and magnet assembling method Technical Field The invention relates to the technical field of industrial robots, in particular to a strong magnetic magnet assembling robot and a magnet assembling method. Background The conventional strong magnet assembly robot mainly comprises a machine body system, an end execution system, a driving system and a control system, wherein the end execution system is used for grabbing a workpiece, the machine body system is used for driving the end execution system to realize multi-freedom movement, the driving system is used for driving each component to move, and the control system is used for controlling each component. Compared with the common magnet, the assembly of the strong magnet has the characteristics that the product is extremely easy to lose function due to incorrect magnetic pole direction, and the product can not be disassembled in a lossless manner after the suction, so that the rejection rate is higher, and the problem of the strong magnet in the assembly process needs to be avoided as much as possible. The traditional strong magnet assembly robot can only generally complete simple work piece grabbing and assembling work, has simple functions, does not have the functions of detecting defects and polarities of the work pieces, and is easy to produce assembly errors in the assembly process. Disclosure of Invention The invention provides a strong magnetic magnet assembling robot and a magnet assembling method, which have the beneficial effects of realizing the judgment of the pole of a magnet N, S and marking an abnormal workpiece in an assembling stage, and solve the problems that the existing assembling mechanism in the prior art does not have the function of detecting the defect and the polarity of the workpiece and is easy to generate an assembling error in the assembling process. The invention provides a strong magnetic body assembling robot which comprises a machine body, wherein an end effector and a feeding component are arranged on the machine body, the end effector comprises a fixed seat and a clamping seat, the clamping seat is rotationally connected with the fixed seat, clamping grooves are symmetrically formed in the clamping seat, and clamping blocks are arranged in the clamping grooves; the feeding assembly comprises a storage plate which is symmetrically arranged, a plug-in seat is arranged on the storage plate, a workpiece is plugged in the plug-in seat, a fool-proof groove is formed in one end of the workpiece, a clamping block which is matched with the fool-proof groove is arranged in the clamping seat, and a cylinder used for pulling the storage plate to move is arranged on the machine body. As an alternative scheme of the strong magnetic body assembling robot, a marking mechanism is arranged in the clamping seat and comprises a pen seat, a marking pen is arranged on the pen seat, the pen seat is elastically connected with the clamping seat through a first spring, and one end of the marking pen extends into the clamping groove. As an alternative scheme of the strong magnetic body assembling robot, the storage plate is provided with a plurality of fixing grooves for fixing the plug-in socket, the plug-in socket is elastically connected with the storage plate through a rebound spring, and an adjusting rod for adjusting the pen holder is arranged in the fixing grooves. As an alternative scheme of the strong magnetic body assembling robot, the adjusting rod is elastically connected with the storage plate through the second spring, a guide block is arranged on one side of the adjusting rod, a protrusion is arranged on the inserting seat, and the position of the protrusion is opposite to that of the guide block. As an alternative scheme of the strong magnetic body assembling robot, one end of the marker pen is provided with a connecting seat, the connecting seat is elastically connected with the pen seat through a third spring, and an adjusting mechanism for adjusting the connecting seat is arranged at the inserting seat. As an alternative scheme of the strong magnetic body assembling robot, the adjusting mechanism comprises a first guide block and a second guide block, wherein the first guide block is in sliding connection with the clamping seat, one end of the first guide block is provided with an inclined plane, one end of the second guide block is fixedly connected with the connecting seat, and the clamping block is provided with an extension rod which is abutted against one end of the first guide block with the inclined plane. As an alternative scheme of the strong magnetic body assembling robot, the adjusting mechanism comprises a third guide block, the third guide block is connected with the pen holder in a sliding mode, and one end of the third guide block penetrates through the pen holder and is fixedly connected with the connecting seat. As an alternative scheme of the strong magnetic body assembling