Automatic permanent magnet separation device and separation method
阅读说明:本技术 永磁块自动分离装置及分离方法 (Automatic permanent magnet separation device and separation method ) 是由 李川 赵晓进 张保军 孙鹏 郭强 于 2019-09-24 设计创作,主要内容包括:本发明涉及一种永磁块自动分离装置及分离方法,其解决了现有电永磁吸盘生产制造过程中,依靠人工手动分离永磁块时,分离效率低,分离难度大,永磁块易破碎,劳动量大,操作工容易受伤的技术问题,其包括底板、进给机构、料库和分离机构,所述进给机构连接于底板上,所述料库与进给机构连接;其可广泛应用于电永磁吸盘生产制造技术领域。(The invention relates to an automatic permanent magnet separating device and a separating method, which solve the technical problems that in the production and manufacturing process of the existing electric permanent magnet sucker, when the permanent magnets are manually separated, the separation efficiency is low, the separation difficulty is high, the permanent magnets are easy to break, the labor capacity is high, and operators are easy to be injured; the method can be widely applied to the technical field of production and manufacturing of the electric permanent magnetic chuck.)
1. An automatic permanent magnet separating device is characterized by comprising a bottom plate, a feeding mechanism, a material warehouse and a separating mechanism; the feeding mechanism is connected to the bottom plate, and the material warehouse is connected with the feeding mechanism;
the feeding mechanism comprises a feeding base, a feeding cylinder, a feeding push plate connecting plate and a feeding guide rail, wherein the feeding base is provided with a mounting groove, the feeding guide rail is connected in the mounting groove of the feeding base, the feeding push plate connecting plate is connected with the feeding guide rail, the feeding cylinder is connected with the rear end of the mounting groove of the feeding base, and a piston rod of the feeding cylinder is connected with the feeding push plate connecting plate; the feeding push plate connecting plate is connected with a plurality of pushing assemblies; the pushing assembly comprises a feeding push plate, a pin shaft and two torsional springs, the feeding push plate connecting plate is provided with a feeding push plate mounting groove, the pin shaft is connected with two sides of the feeding push plate mounting groove, the feeding push plate is provided with a bottom surface, an inclined surface and a vertical surface, the lower part of the feeding push plate is provided with a through hole, the upper part of the right side of the feeding push plate is provided with a torsional spring mounting hole, the upper part of the left side of the feeding push plate is provided with a torsional spring mounting hole, and the pin shaft penetrates through; the two torsion springs are sleeved on the pin shaft, one end of one torsion spring is connected with a torsion spring mounting hole in the upper part of the right side of the feeding push plate, and the other end of the torsion spring abuts against the feeding push plate mounting groove; one end of the other torsion spring is connected with a torsion spring mounting hole at the upper part of the left side of the feeding push plate, and the other end of the other torsion spring abuts against the feeding push plate mounting groove; the base is connected with the bottom plate;
the material warehouse comprises a material warehouse body and an extension plate, wherein the material warehouse body is provided with a front end outlet and a rear end inlet, the extension plate is connected with the bottom of the front end outlet of the material warehouse body, and the bottom of the material warehouse body is provided with an opening; the feed push plate upwards passes through an opening at the bottom of the feed warehouse body;
the separating mechanism comprises a supporting plate, a separating cylinder, a separating guide rail, a separating plate and an accommodating groove, the separating cylinder is connected with the supporting plate, the separating guide rail is connected with the supporting plate, the separating plate is connected with the separating guide rail, a piston rod of the separating cylinder is connected with the separating plate, the separating plate is provided with a shifting part, the accommodating groove is connected with the supporting plate, and the shifting part is aligned with the accommodating groove; the receiving slot is aligned with the extension plate.
2. The automatic permanent magnet separation device of claim 1, wherein the bottom surface of the feeding push plate is a cambered surface.
3. The automatic permanent magnet separation device of claim 1, wherein the separation mechanism further comprises a clamping cylinder, the clamping cylinder is connected with the support plate, and a piston rod of the clamping cylinder penetrates through a side wall of the accommodating groove.
4. The automatic permanent magnet separation device according to claim 3, wherein a magnetic pole detection sensor is connected to the support plate, and a separation stopper is connected to the support plate.
5. The automatic permanent magnet separation device according to claim 1, wherein the feeding mechanism further comprises a positioning baffle plate, and the feeding positioning baffle plate is connected with the front end of the base; the material warehouse also comprises a permanent magnet positioning flange, and the permanent magnet positioning flange is connected with the extension plate.
6. The automatic permanent magnet separation device according to claim 1, wherein the magazine body and the extension plate are made of austenitic stainless steel.
7. The automatic permanent magnet separation device according to any one of claims 1 to 6, further comprising a lifting mechanism, wherein the lifting mechanism is connected to the bottom plate, and a support plate of the separation mechanism is connected to the lifting mechanism.
8. The automatic permanent magnet separation device according to claim 7, wherein a vertical mounting plate is connected to a support plate of the separation mechanism, the lifting mechanism comprises a lifting mounting plate, a lead screw and a lifting motor, two ends of the lead screw are connected with the lifting mounting plate through two bearing seats, and the lead screw is connected with a nut seat; the lifting mounting plate is connected with two guide rails through a guide rail mounting plate, and an output shaft of the lifting motor is connected with a lead screw through a transmission mechanism; the lifting motor is connected to the lifting mounting plate or the bottom plate; the lifting mounting plate is vertically connected with the bottom plate; and the nut seat and the two guide rails on the lifting mounting plate are respectively connected with the vertical mounting plate.
9. A separation method using the automatic permanent magnet separation device according to claim 1, comprising the steps of:
step 1, preparing a permanent magnet stockpile and a stockpile library, wherein the permanent magnet stockpile consists of a plurality of rows and is placed in the stockpile library;
step 2, mounting the material warehouse on a feeding mechanism, wherein in the process of mounting the material warehouse, a feeding push plate is pressed downwards by the bottom surface of a permanent magnet material pile at an opening at the bottom of a material warehouse body, so that the feeding push plate rotates to the front end of the feeding mechanism by a certain angle;
step 3, retracting a piston rod of the feeding cylinder to drive the feeding push plate connecting plate to move backwards, and driving the feeding push plate connecting plate to move backwards for a certain distance so that a feeding push plate at the rear end is separated from the bottom surface of the permanent magnet material pile and bounces to a vertical state;
step 4, a piston rod of the feeding cylinder extends out to enable a feeding push plate connecting plate to move forwards, the feeding push plate connecting plate drives a vertical feeding push plate positioned at the rear end of the permanent magnet pile to apply thrust to the permanent magnet pile forwards, so that the permanent magnet pile integrally moves forwards in the material warehouse, a row of permanent magnets at the front end of the permanent magnet pile are pushed out from a front end outlet of the material warehouse, and the row of permanent magnets are supported by an extension plate;
and 5, retracting a piston rod of the separation cylinder to drive the separation plate to move towards the containing groove, and pushing the single-row permanent magnet blocks on the extension plate into the containing groove by a poking part of the separation plate.
10. The automatic permanent magnet separation device according to claim 1, wherein there are two sets of said feeding mechanism, two sets of said magazine, and two sets of said separation cylinder of said separation mechanism are of a double-shaft double-acting type; the number of the separating plates of the separating mechanism is two, and the number of the accommodating grooves of the separating mechanism is two; and each group of feeding mechanisms is connected with a material warehouse shifting cylinder arranged on the bottom plate through a slide rail.
Technical Field
The invention relates to the technical field of production and manufacturing of electric permanent magnetic chucks, in particular to an automatic permanent magnetic block separation device and a separation method.
Background
The electric permanent magnetic chuck is a permanent magnetic chuck controlled by electric pulse, and is composed of a cast steel shell, a coil, neodymium iron boron permanent magnetic blocks, a magnetic pole block, epoxy resin and alnico steel, and is referred to the Chinese invention patent with the patent number of 201410263876.5.
In the production and manufacturing process of the electric permanent magnetic chuck, the conventional permanent magnetic block separation process mainly depends on manual operation, but the mode has the defects of low separation efficiency, high separation difficulty, easiness in permanent magnetic block crushing, high labor capacity, easiness in operator injury and the like, assembly parameters cannot be directly obtained after separation, the automation and intelligence degrees are not high, and the requirement for intelligent assembly of permanent magnetic blocks cannot be met.
Disclosure of Invention
The invention aims to solve the technical problems that in the production and manufacturing process of the existing electric permanent magnetic chuck, when permanent magnets are manually separated, the separation efficiency is low, the separation difficulty is high, the permanent magnets are easy to break, the labor amount is large, and operators are easy to hurt, and provides the automatic permanent magnet separation device and the separation method which are high in separation efficiency, high in automation and intelligent degree, can reduce the separation difficulty, and avoid the permanent magnets from breaking and the operators from being easy to hurt.
The technical scheme of the invention is that the automatic permanent magnet separating device comprises a bottom plate, a feeding mechanism, a material warehouse and a separating mechanism; the feeding mechanism is connected to the bottom plate, and the material warehouse is connected with the feeding mechanism;
the feeding mechanism comprises a feeding base, a feeding cylinder, a feeding push plate connecting plate and a feeding guide rail, wherein the feeding base is provided with a mounting groove, the feeding guide rail is connected in the mounting groove of the feeding base, the feeding push plate connecting plate is connected with the feeding guide rail, the feeding cylinder is connected with the rear end of the mounting groove of the feeding base, and a piston rod of the feeding cylinder is connected with the feeding push plate connecting plate; the feeding push plate connecting plate is connected with a plurality of pushing assemblies; the pushing assembly comprises a feeding push plate, a pin shaft and two torsional springs, the feeding push plate connecting plate is provided with a feeding push plate mounting groove, the pin shaft is connected with two sides of the feeding push plate mounting groove, the feeding push plate is provided with a bottom surface, an inclined surface and a vertical surface, the lower part of the feeding push plate is provided with a through hole, the upper part of the right side of the feeding push plate is provided with a torsional spring mounting hole, the upper part of the left side of the feeding push plate is provided with a torsional spring mounting hole; two torsion springs are sleeved on the pin shaft, one end of one torsion spring is connected with a torsion spring mounting hole at the upper part of the right side of the feeding push plate, and the other end of the torsion spring abuts against the feeding push plate mounting groove; one end of the other torsion spring is connected with a torsion spring mounting hole at the upper part of the left side of the feeding push plate, and the other end of the other torsion spring abuts against the feeding push plate mounting groove; the base is connected with the bottom plate;
the material warehouse comprises a material warehouse body and an extension plate, wherein the material warehouse body is provided with a front end outlet and a rear end inlet, the extension plate is connected with the bottom of the front end outlet of the material warehouse body, and the bottom of the material warehouse body is provided with an opening; the feed push plate upwards passes through an opening at the bottom of the feed warehouse body;
the separating mechanism comprises a supporting plate, a separating cylinder, a separating guide rail, a separating plate and an accommodating groove, the separating cylinder is connected with the supporting plate, the separating guide rail is connected with the supporting plate, the separating plate is connected with the separating guide rail, a piston rod of the separating cylinder is connected with the separating plate, the separating plate is provided with a shifting part, the accommodating groove is connected with the supporting plate, and the shifting part is aligned with the accommodating groove; the receiving groove is aligned with the extension plate.
Preferably, the bottom surface of the feeding push plate is a cambered surface.
Preferably, the separating mechanism further comprises a clamping cylinder, the clamping cylinder is connected with the supporting plate, and a piston rod of the clamping cylinder penetrates through a side wall of the accommodating groove.
Preferably, the support plate is connected with a magnetic pole detection sensor, and the support plate is connected with a separation stop block.
Preferably, the feeding mechanism further comprises a positioning baffle plate, and the feeding positioning baffle plate is connected with the front end of the base; the material warehouse also comprises a permanent magnet positioning flange, and the permanent magnet positioning flange is connected with the extension plate.
Preferably, the material of the material storehouse body and extension plate is austenitic stainless steel.
Preferably, the permanent magnet automatic separation device further comprises a lifting mechanism, the lifting mechanism is connected to the bottom plate, and a support plate of the separation mechanism is connected with the lifting mechanism.
Preferably, the support plate of the separating mechanism is connected with a vertical mounting plate, the lifting mechanism comprises a lifting mounting plate, a lead screw and a lifting motor, two ends of the lead screw are connected with the lifting mounting plate through two bearing seats, and the lead screw is connected with a nut seat; the lifting mounting plate is connected with two guide rails through a guide rail mounting plate, and an output shaft of the lifting motor is connected with the screw rod through a transmission mechanism; the lifting motor is connected to the lifting mounting plate or the bottom plate; the lifting mounting plate is vertically connected with the bottom plate; the nut seat and the two guide rails on the lifting mounting plate are respectively connected with the vertical mounting plate.
Preferably, the feeding mechanisms are provided with two groups, the material warehouse is provided with two groups, and the separating cylinders of the separating mechanism are double-shaft double-acting cylinders; the number of the separating plates of the separating mechanism is two, and the number of the accommodating grooves of the separating mechanism is two; each group of feeding mechanisms is connected with a material storehouse shifting cylinder arranged on the bottom plate through a slide rail.
The invention also provides a separation method using the permanent magnet automatic separation device, which comprises the following steps:
and 5, retracting a piston rod of the separation cylinder to drive the separation plate to move towards the containing groove, and pushing the single-row permanent magnet blocks on the extension plate into the containing groove by a poking part of the separation plate.
The invention has the beneficial effects that:
manual operation is replaced, automatic and intelligent automatic separation is realized, the separation efficiency is high, the separation difficulty is greatly reduced, and the permanent magnet is prevented from being broken and operators are prevented from being injured. The automatic and intelligent assembling requirements of the electric permanent magnetic chuck are met.
The separated permanent magnets have certain position precision in space, precise positioning can be realized by using precise transmission, key parts of the precise transmission comprise a step lifting motor, a ball screw, a linear guide rail and the like, the positioning precision is high, the abrasion is less, the precision can be maintained for a long time, the transmission efficiency is good, and the interchangeability is good.
The structure size of the electric permanent magnetic chuck is large, and the requirement for the number of permanent magnetic blocks for filling the electric permanent magnetic chuck is correspondingly large, so that the separation is completed by a quick and coherent process action flow in the process of executing the separation. The pneumatic technology is simple, rapid and reliable, the control is convenient, and the method has good continuity. In order to improve the assembly efficiency, the material warehouse separation system is required to be matched with an assembly line to follow up, the visual positioning camera can well meet the requirements of accurately positioning the position to be assembled in any assembly area of the sucker, feeding back the position information to an upper computer and matching with an industrial robot to assemble.
The whole separation and filling environment of the permanent magnets is a strong magnetic field, the magnetic induction sensor and the contact sensor cannot work in the environment, the non-contact photoelectric sensor can solve the problems, and information in the permanent magnet separation system can be well acquired and transmitted.
The polarity of a single permanent magnet can be detected, determined and separated by using Hall elements and fed back to an upper computer, and an industrial robot obtains a process parameter of the filling polarity before the permanent magnet is filled.
Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.
Drawings
Fig. 1 is a perspective view of an automatic permanent magnet separation apparatus;
fig. 2 is a top view of the permanent magnet automatic separation device;
FIG. 3 is a diagram showing the positional relationship between the magazine and the separating mechanism;
FIG. 4 is a schematic structural diagram of a material warehouse installed on a feeding mechanism, wherein a permanent magnet material pile is loaded in the material warehouse;
FIG. 5 is a cross-sectional view of the magazine mounted on the feed mechanism;
FIG. 6 is a schematic view of the feed mechanism;
FIG. 7 is an enlarged view of a portion of the structure shown in FIG. 6;
FIG. 8 is a top view of the feed mechanism;
FIG. 9 is a schematic view of the structure of the feed pusher web;
FIG. 10 is a schematic view showing the connection relationship between the feeding push plate, the pin shaft and the torsion spring;
FIG. 11 is a schematic view of the structure of the feed pusher plate;
FIG. 12 is a schematic structural diagram of the feeding mechanism connected to the bottom plate via a slide rail and the piston rod of the magazine shift cylinder connected to the feeding mechanism;
FIG. 13 is a schematic view of the structure of the separating mechanism;
FIG. 14 is a schematic view of the structure of the receiving groove of the separating mechanism;
fig. 15 is a schematic view of the clamping cylinder of the separating mechanism clamping the permanent magnets in the accommodating groove;
FIG. 16 is a schematic view of the construction of the elevator mechanism;
fig. 17 is a schematic view of a permanent magnet stack being loaded from the rear end of the magazine;
FIG. 18 is a front view of the magazine;
FIG. 19 is a schematic view of the magazine mounted to the feed base by a card edge slot configuration;
fig. 20 is a schematic view showing a state in which a magazine filled with a permanent magnet pile is mounted on a feeding mechanism, and a feeding push plate is pressed downward by the bottom surface of the permanent magnet pile;
fig. 21 is a schematic view of several of the feed rams of fig. 20 moved rearwardly a distance to cause a feed ram near the rear end of the stack of permanent magnet material to bounce to an upright position;
fig. 22 is a schematic view of the feeding cylinder in fig. 21 with the piston rod retracted to make the 2 nd feeding push plate at the rear end of the permanent magnet material pile bounce to the vertical state.
The symbols in the drawings illustrate that:
1. a base plate; 2, a feeding mechanism, 2-1, a feeding base, 2-2, a feeding push plate, 2-3, a feeding cylinder, 2-4, a feeding positioning baffle, 2-5, a feeding push plate connecting plate, 2-6, a feeding guide rail, 2-7, a pin shaft and 2-8 of a torsion spring; 3. the device comprises a separating mechanism, a supporting plate, a separating cylinder, a separating guide rail, a separating plate, a pneumatic sliding table, a receiving groove, a separating stop block, a clamping cylinder, a magnetic pole detection sensor and a vertical mounting plate, wherein the separating mechanism comprises 3-1 parts of a supporting plate, 3-2 parts of a separating cylinder, 3-3 parts of a separating guide rail, 3-4 parts of a separating plate, 3-5 parts of a pneumatic sliding table, 3-6 parts of a receiving groove, 3-7 parts of a separating stop block; 4. the device comprises a lifting mechanism, 4-1 lifting mounting plates, 4-2 guide rail mounting plates, 4-3 reinforcing ribs, 4-4 lead screws, 4-5 guide rails, 4-6 bearing seats, 4-7 synchronous belts, 4-8 upper limiting photoelectric switches, 4-9 lower limiting photoelectric switches, 5 visual positioning cameras, 6 material storehouses, 6-1 permanent magnet positioning blocking edges, 6-2 material storehouse bodies, 6-3 handles, 6-4 notches, 6-5 extending plates, 7 lifting motors, 8 material storehouse shifting cylinders, 9 electromagnetic valve groups, 10 permanent magnet material piles and 11 slide rails.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.
As shown in fig. 1 and 2, the permanent magnet automatic separation device comprises a
The solenoid valve group 9 is installed on the
As shown in fig. 3-11, the
As shown in fig. 12 and 2, a piston rod of the magazine shift cylinder 8 is connected to the rear end of the base 2-1 of the
As shown in fig. 13, 1, 2 and 3, the
As shown in fig. 15, a piston rod 3-8-1 of a clamping cylinder 3-8 clamps a permanent magnet 10-1 in an accommodating groove 3-6, so that the relative position information of the permanent magnet is unchanged in the displacement process of the pneumatic sliding table, and an industrial robot grabs the permanent magnet according to the position information and polarity of the permanent magnet. After separation, the magnetic pole detection sensor 3-9 detects and judges the polarity of the permanent magnet 10-1 and feeds the polarity back to the upper computer. The pneumatic sliding table 3-5 moves to an open area, a manipulator of the industrial robot can conveniently grab the permanent magnet blocks 10-1 in the accommodating grooves 3-6, and the piston rod 3-8-1 of the clamping cylinder 3-8 retracts to release the permanent magnet blocks 10-1 during grabbing.
It should be noted that the pneumatic sliding table 3-5 is the preferred technical solution, and the two accommodating grooves 3-6, the two separating stoppers 3-7, the two clamping cylinders 3-8 and the two magnetic pole detecting sensors 3-9 can be directly mounted on the supporting plate 3-1 without mounting the pneumatic sliding table 3-5.
As shown in fig. 16, the
As shown in fig. 17, 18, 5 and 4, the
As shown in fig. 19, the two sides of the
It should be noted that, fixing the
Referring to fig. 4 and 5, the permanent magnet positioning rib 6-1 of the
Referring to fig. 1, 2 and 3, the extension plate 6-5 of the
As shown in figure 1, the
The separation method of the automatic separation device for the permanent magnetic blocks of the electric permanent magnetic chuck of the device comprises the following steps:
The left and
And 3, the feeding cylinder 2-3 acts, the piston rod of the feeding cylinder 2-3 retracts to drive the feeding push plate connecting plate 2-5 to move backwards (towards the rear end of the feeding mechanism 2), the feeding push plate connecting plate 2-5 drives a plurality of feeding push plates 2-2 to move backwards for a certain distance according to the arrow direction in the figure 21, so that one feeding push plate 2-2 at the rear end is separated from the bottom surface of the permanent
And 4, extending a piston rod of the feeding cylinder 2-3 to enable the feeding push plate connecting plate 2-5 to move forwards, driving the feeding push plate connecting plate 2-5 to drive the feeding push plates 2-2 to move forwards (in the leftward direction in the figure 21), and applying a thrust force to the
And 5, referring to fig. 1, 3 and 13, aligning the poking part 3-4-1 of the separation plate 3-4 with the uppermost permanent magnet of the single row of permanent magnets on the extension plate 6-5, and separating the single row of permanent magnets on the extension plate 6-5 one by the
And 6, after separation is finished, the magnetic pole detection sensor 3-9 detects and judges the polarity of the permanent magnet in the accommodating groove 3-6 and feeds the polarity back to an upper computer, and the industrial robot grabs the permanent magnet in the accommodating groove 3-6 to a final assembly station of the electric permanent magnet chuck according to the position information and the polarity of the permanent magnet.
And 7, after the separation of the uppermost permanent magnet of the single row of permanent magnets on the extension plate 6-5 is completed, extending a piston rod on the left side of the separation cylinder 3-2, starting the lifting
And 8, after the permanent magnets of each single row of permanent magnets are separated from top to bottom, the piston rod of the feeding cylinder 2-3 retracts once again to enable the 2 nd feeding push plate 2-2 at the rear end of the
In the embodiment of the invention, 68-standard permanent magnet blocks can be filled with about 400 permanent magnet blocks at a time, and 48-standard permanent magnet blocks can be filled with about 600 permanent magnet blocks at a time.
In the embodiment of the invention, the left and right material storehouses can be filled once for feeding materials simultaneously, and permanent magnets with any specification can be placed in the left and right material storehouses.
In the embodiment of the invention, the separating mechanism is lifted to the positions of different layer heights by adopting a transmission mode of a motor and a lead screw, the positioning precision is about 0.05mm, and the positioning precision is high. The motor with the band-type brake can effectively avoid damage to other parts of the system caused by sudden conditions such as power failure.
In the embodiment of the invention, all pneumatic elements have the working air pressure of 0.6-0.7 MPa and the temperature of room temperature.
In an embodiment of the invention, the sensor that detects the determined output position in an embodiment of the invention, which separates the individual permanent magnets, uses the hall principle.
When the separation cylinder 3-2 is used as a double-shaft double-acting cylinder, the piston rod on the left side of the separation cylinder retracts to separate the single row of permanent magnets at the outlet of the left material warehouse, and the material warehouse shifting cylinder 8 on the right side drives the feeding mechanism on the right side and the material warehouse to retreat, so that the piston rod on the right side of the separation cylinder extends out to interfere with the single row of permanent magnets at the outlet of the right material warehouse. When the piston rod on the right side of the separation cylinder retracts to separate the single-row permanent magnets at the outlet of the right material warehouse, the left material warehouse shifting cylinder 8 drives the left feeding mechanism and the material warehouse to retreat, and the situation that the piston rod on the left side of the separation cylinder extends out to interfere with the single-row permanent magnets at the outlet of the left material warehouse is avoided. Thereby realizing the separation operation of double stations.
It should be noted that if only one permanent magnet is arranged in each row of the permanent magnet stockpile loaded in the stock bin, the whole automatic separation mechanism does not need a lifting mechanism, and the separation mechanism is fixed on a plane and matched with the stock bin and the feeding mechanism.
The above description is only for the purpose of illustrating preferred embodiments of the present invention and is not to be construed as limiting the present invention, and it is apparent to those skilled in the art that various modifications and variations can be made in the present invention.
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