CN212892631U - Double-station arc-shaped magnet feeding and grabbing device - Google Patents

Abstract

The utility model provides a duplex position arc magnet pay-off grabbing device, include: the double-cartridge-type material conveying device comprises a double-cartridge-type material conveying module, an XY-axis moving unit, a Z-axis grabbing unit, a lower visual module and an upper visual module, wherein the double-cartridge-type material conveying module is arranged below the XY-axis moving unit and the Z-axis grabbing unit, the lower visual module and the upper visual module are respectively arranged above and below one end of the double-cartridge-type material conveying module close to the Z-axis grabbing unit, the double-cartridge-type material conveying module comprises a push-pull mounting bottom plate, a material pushing mechanism, a cartridge clip support, a magnet cartridge clip module, a cartridge clip fixing module and a magnet distributing mechanism, the magnet cartridge clip module is arranged on the material pushing mechanism through the cartridge clip support, and one end of the magnet cartridge clip module is connected with the magnet distributing mechanism through the cartridge clip fixing module. The utility model discloses can guarantee that the mechanism realizes not shutting down the reloading, improve production efficiency and assembly speed, effectively reduce the defective rate of product.

Description

Double-station arc-shaped magnet feeding and grabbing device

Technical Field

The utility model relates to a magnet pay-off grabbing device especially relates to a duplex position arc magnet pay-off grabbing device.

Background

On present industrial line, circular or square regular magnet adopts the mode of automatic assembly usually, but arc magnet is because the shape is irregular, installation accuracy is high, small and snatch characteristics such as difficulty, consequently at present in the equipment of the miniature arc magnet of electronic product, mostly adopt manual assembly's production mode, ubiquitous inefficiency, yield are not high and product detection difficulty scheduling problem.

Disclosure of Invention

The utility model aims to solve the technical problem that a need provide a magnet pay-off grabbing device that can improve arc magnet assembly efficiency and precision.

To this, the utility model provides a duplex position arc magnet pay-off grabbing device, include: the double-cartridge-type material conveying device comprises a double-cartridge-type material conveying module, an XY-axis moving unit, a Z-axis grabbing unit, a lower visual module and an upper visual module, wherein the double-cartridge-type material conveying module is arranged below the XY-axis moving unit and the Z-axis grabbing unit, the lower visual module and the upper visual module are respectively arranged above and below one end of the double-cartridge-type material conveying module close to the Z-axis grabbing unit, the double-cartridge-type material conveying module comprises a push-pull type mounting bottom plate, a material pushing mechanism, a cartridge clip support, a magnet cartridge clip module, a cartridge clip fixing module and a magnet distributing mechanism, the material pushing mechanism is arranged on the push-pull type mounting bottom plate, the magnet cartridge clip module is arranged on the material pushing mechanism through the cartridge clip support, and one end of the magnet cartridge clip module is connected with the magnet distributing mechanism through the cartridge.

The utility model discloses a further improvement lies in, pushing equipment includes photoelectric sensing ware, magnet push rod, buffer spring and first linear guide, photoelectric sensing ware and magnet push rod set up respectively in on the first linear guide, buffer spring set up in between magnet push rod and the first linear guide.

The utility model discloses a further improvement lies in, magnet cartridge clip module includes laser-induced device and two magnet cartridge clips that are used for holding magnet, the laser-induced device set up in on the magnet cartridge clip, two the magnet cartridge clip set up side by side in on the cartridge clip support.

The utility model discloses a further improvement lies in, magnet feed mechanism includes lead screw motor combination, magnet cartridge clip, magnet briquetting and jacking axle, the jacking axle set up in the top of lead screw motor combination, the magnet cartridge clip passes through the magnet briquetting with the jacking axle is connected.

The utility model discloses a further improvement lies in, XY axle motion unit includes unable adjustment base, Y axle straight line module, second linear guide, X axle mounting panel, Z axle mounting panel, X axle straight line module and tow chain module, Y axle straight line module set up in unable adjustment base is last, X axle straight line module through second linear guide and X axle mounting panel set up in on the Y axle straight line module, the Z axle snatchs the unit and passes through Z axle mounting panel set up in on the X axle straight line module, the tow chain module set up in on the X axle mounting panel.

The utility model discloses a further improvement lies in, the Z axle snatchs the unit and includes step motor, hold-in range action wheel, hold-in range from driving wheel, slip buffering module, rotating electrical machines, vacuum suction nozzle and R axle inductor, step motor passes through hold-in range action wheel and hold-in range are connected to from the driving wheel the slip buffering module, the slip buffering module is connected to through rotating electrical machines vacuum suction nozzle, R axle inductor set up in by the vacuum suction nozzle.

The utility model discloses a further improvement lies in, the quantity that the Z axle snatched the unit is two, two Z axles snatch the unit and set up side by side, just vacuum nozzle's position with two cartridge clip formula feeding module snatch the position and correspond the setting.

The utility model discloses a further improvement lies in, the buffering module that slides includes extension spring, activity round pin, compression spring and third linear guide, extension spring and compression spring set up respectively in on the activity round pin, the activity round pin passes through third linear guide is connected to the rotating electrical machines.

The utility model discloses a further improvement lies in, vision module includes industry camera, first camera lens, light source fixed plate, camera light source, light source regulating plate, vision mount pad and manual slip table down, the industry camera passes through first camera lens and light source fixed plate are connected to the camera light source, the industry camera passes the light source regulating plate is connected to manual slip table, the vision mount pad set up in on the manual slip table.

The utility model discloses a further improvement lies in, it includes light source, second camera lens, camera mounting panel, connecting plate and light source mounting panel to go up the vision module, the light source passes through the second camera lens be connected to the camera, the camera pass through the camera mounting panel set up in on the light source mounting panel, the light source with the connecting plate is connected.

Compared with the prior art, the beneficial effects of the utility model reside in that: the double-cartridge-clip type feeding module adopts the design of double cartridges to ensure that the mechanism can realize non-stop material changing, the production efficiency is improved, and the arc-shaped magnet can realize industrialized feeding and grabbing through the structural design of the double-cartridge-clip type feeding module; correspondingly, the two independent Z-axis grabbing units are preferably adopted, grabbing and assembling of two double-station arc magnets can be achieved each time, and assembling speed is effectively improved; on the basis, a lower visual module and an upper visual module are further adopted, an R-axis rotating motor is additionally arranged, high-precision positioning and appearance detection of the magnet are achieved on an automatic production line, a foundation can be provided for adjusting the position of the magnet, and the yield of the product is further guaranteed.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;

fig. 2 is a schematic diagram of an explosive structure according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a dual clip-type feeding module according to an embodiment of the present invention;

fig. 4 is an exploded view of a dual clip feed module according to an embodiment of the present invention;

fig. 5 is a partially enlarged schematic structural diagram of a pushing mechanism according to an embodiment of the present invention;

fig. 6 is an enlarged schematic structural view of a magnet clip module according to an embodiment of the present invention;

fig. 7 is an enlarged schematic structural view of a magnet distributing mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural view of an XY axis moving unit according to an embodiment of the present invention;

fig. 9 is an exploded view of an XY axis motion unit according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a Z-axis grasping unit according to an embodiment of the present invention;

fig. 11 is an exploded view of a Z-axis grasping unit according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a sliding buffer module according to an embodiment of the present invention;

fig. 13 is a schematic structural view of a motor synchronization module of the Z-axis grabbing unit according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a lower visual module according to an embodiment of the present invention;

fig. 15 is an exploded view of the lower vision module according to an embodiment of the present invention;

fig. 16 is a schematic structural diagram of an upper vision module according to an embodiment of the present invention;

fig. 17 is an exploded view of an upper vision module according to an embodiment of the present invention.

Detailed Description

Preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 17, the utility model provides a duplex position arc magnet pay-off grabbing device, include: a double cartridge clip type feeding module 1, an XY axis moving unit 2, a Z axis grabbing unit 3, a lower visual module 4 and an upper visual module 5, as shown in figures 1 and 2, the double cartridge clip type feeding module 1 is arranged below the XY axis moving unit 2 and the Z axis grabbing unit 3, preferably, the double cartridge clip type feeding module 1 is connected with the Z axis grabbing unit 3 through the XY axis moving unit 2, the lower visual module 4 and the upper visual module 5 are respectively arranged above and below one end of the double cartridge clip type feeding module 1 close to the Z axis grabbing unit 3, as shown in figures 3 and 4, the double cartridge clip type feeding module 1 comprises a push-pull type mounting base plate 11, a material pushing mechanism 12, a cartridge clip support 13, a magnet cartridge clip module 14, a cartridge clip fixing module 15 and a magnet material distributing mechanism 16, the material pushing mechanism 12 is arranged on the push-pull type mounting base plate 11, the magnet clip module 14 is arranged on the pushing mechanism 12 through the clip support 13, and one end of the magnet clip module 14 is connected with the magnet distributing mechanism 16 through the clip fixing module 15. In operation, the pusher mechanism 12 feeds the magnets 142 in the magnet clip module 14 forward to the magnet separating mechanism 16, the magnet separating mechanism 16 divides the magnets 142 into individual magnets 142, and the individual magnets 142 are lifted to the gripping position of the XY-axis moving unit 2.

More specifically, as shown in fig. 5, the pushing mechanism 12 of the present embodiment includes a photoelectric sensor 121, a magnet pusher 122, a buffer spring 123 and a first linear guide 124, wherein the photoelectric sensor 121 and the magnet pusher 122 are respectively disposed on the first linear guide 124, and the buffer spring 123 is disposed between the magnet pusher 122 and the first linear guide 124. The photoelectric sensor 121 is a photoelectric switch, and the switch control is realized through photoelectric sensing; the magnet push rod 122 can compress the buffer spring 123 to achieve the protection effect when contacting the magnet 142, the first linear guide rail 124 is used for achieving linear motion under the action of the guide rail, in this example, the magnet push rod 122 can compress the buffer spring 123 to move backwards after contacting the magnet 142, the magnet 142 is protected, meanwhile, the photoelectric sensor 121 is disconnected, signals of the magnet push rod 122 contacting the magnet 142 are output, and the stability and the reliability of the pushing motion of the pushing mechanism 12 are guaranteed.

As shown in fig. 4 and 6, the magnet clip module 14 in this embodiment includes a laser sensor 141 and two magnet clips 143 for accommodating the magnet 142, the laser sensor 141 is disposed on the magnet clips 143, the two magnet clips 143 are disposed in parallel on the clip support 13 for clamping and detecting the magnet 142, and when there is material in the magnet clips 143, the laser sensor 141 detects the magnet 142; when the magnet 142 in the magnet clip 143 is about to be exhausted, the laser sensor 141 cannot sense the magnet 142 in the magnet clip 143 shown in fig. 6, and a material shortage alarm is given out to prompt an operator to feed materials.

As shown in fig. 7, the magnet separating mechanism 16 of this embodiment includes a screw motor assembly 161, a magnet clip 162, a magnet pressing block 163 and a lifting shaft 164, wherein the lifting shaft 164 is disposed above the screw motor assembly 161, and the magnet clip 162 is connected to the lifting shaft 164 through the magnet pressing block 163. The magnet separating mechanism 16 is one of the design points of this embodiment, the screw motor assembly 161 can move up and down through a screw to control the up-and-down movement of the Z axis, the magnet clip 162 is a clip for mounting the magnet 142 in the magnet separating mechanism 16, in actual operation, the screw of the screw motor assembly 161 pushes the lifting shaft 164 to ascend, the lifting shaft 164 is also called a material pushing shaft, the lifting shaft 164 and the magnet pressing block 163 generate shearing force to separate the magnet 142 in the magnet clip 162, and the magnet 142 is continuously lifted to a gripping station, so that the separating and lifting actions of the magnet 142 are simultaneously realized.

It should be noted that the magnet pressing block 163 in this embodiment is preferably an arc-shaped pressing block, that is, the side of the arc-shaped pressing block close to the lifting shaft 164 is shaped into an arc-shaped edge matching with the arc-shaped magnet (magnet 142), so that when the magnet 142 moves above the lifting shaft 164, the magnet 142 in the magnet clip 162 can be separated by the shearing force generated by the lifting shaft 164 and the magnet pressing block 163, and the lifting shaft 164 can be lifted to the grabbing station by lifting the magnet 142.

The push-pull type mounting bottom plate 11 is used for facilitating the mounting bottom plate in the material changing process and is used for mounting the material pushing mechanism 12; pushing equipment 12 is with including the straight line module of first straight line guide rail 124 is power, improves the precision of pay-off, simultaneously pushing equipment 12 preferably is provided with and has included buffer spring 123's spring buffer, and then magnet push rod 122 contact can compress behind the magnet 142 buffer spring 123 moves backward, and the realization is right magnet 142's protection, simultaneously photoelectric sensing ware 121 disconnection, output magnet push rod 122 and magnet 142's contact signal, pushing away material motion can go on, cartridge clip support 13 is for being used for realizing the support that the cartridge clip supported.

The double-cartridge-clip type feeding module 1 is used for feeding the magnet 142, the magnet 142 refers to an arc-shaped magnet, the XY-axis moving unit 2 is used for realizing the motion control of the grabbing unit in the XY direction, the Z-axis grabbing unit is used for grabbing and assembling the magnet 142, the lower vision module 4 is used for realizing the accurate positioning of the magnet 142 during grabbing and assembling, and the upper vision module 5 is used for realizing the appearance detection of the magnet 142 and preventing the grabbing of defective products or wrong-model products.

In actual operation, the magnet 142 in the magnet clip module 14 is fed forward by the pushing mechanism 12 from the buffer spring 123 of the pushing mechanism 12 to the magnet pressing block 163, and then is cut into individual magnets 142 by the pushing rod 164 of the jacking device and jacked to the grabbing position; then, the XY moving unit 2 moves to a grabbing position, the stepping motor 31 of the motor synchronous belt module in the Z-axis grabbing unit 3 drives the synchronous belt driving wheel 32 to rotate, so that the sliding buffer module 34 carries the vacuum suction nozzle 36 to realize suction nozzle movement, and moves to the grabbing position of the magnet 142 to realize suction of the magnet 142, the magnet 142 is moved to a photographing position by the XY moving unit 2 and the Z-axis grabbing unit 3, the upper visual module 5 photographs to detect the appearance and the type, the qualified product of the magnet 142 is continuously assembled, otherwise, the qualified product is discarded and grabbed again, the lower visual module 4 photographs the installation position of the product to obtain position information, and the angle of the magnet 142 on the R axis is adjusted by the rotating motor 35, and the process is as follows: the industrial camera 41 obtains the position of the magnet 142 and compares the position with a standard mounting position stored in a computer, and compensates the difference value of the magnet 142 and the standard mounting position by controlling the motor to rotate for a certain angle, so that the magnet 142 is adjusted to a correct mounting position; the R-axis refers to a rotation axis of the magnet 142 about the Z-axis, i.e., a rotation angle of the magnet 142 with respect to a reference line on a plane perpendicular to the Z-axis; and finally, the magnet 142 is moved to the mounting position acquired by the lower vision module 4 by the XY-axis moving unit 2 and the Z-axis grabbing unit 3 together, so that the precise assembly process of the magnet 142 is completed.

As shown in fig. 8 and 9, the XY-axis moving unit 2 in this embodiment includes a fixed base 21, a Y-axis linear module 22 for realizing Y-direction movement of the mechanism, a second linear guide rail 23 for realizing guidance and improving the bearing capacity of the mechanism, an X-axis mounting plate 24, a Z-axis mounting plate 25, an X-axis linear module 26 for realizing X-direction movement of the mechanism, and a drag chain module 27 for realizing cable protection and fixing action, where the Y-axis linear module 22 is disposed on the fixed base 21, the X-axis linear module 26 is disposed on the Y-axis linear module 22 through the second linear guide rail 23 and the X-axis mounting plate 24, the Z-axis grabbing unit 3 is disposed on the X-axis linear module 26 through the Z-axis mounting plate 25, and the drag chain module 27 is disposed on the X-axis mounting plate 24. As shown in fig. 8, the bottom of the fixing base 21 is further provided with a reinforcing rib 28, so as to increase the stability and reliability of the product.

As shown in fig. 10, 11 and 13, the Z-axis gripping unit 3 in this embodiment includes a stepping motor 31, a timing belt driving pulley 32, a timing belt driven pulley 33, a sliding buffer module 34, a rotating motor 35 for adjusting the position of the magnet 142, a vacuum suction nozzle 36 and an R-axis sensor 37, wherein the stepping motor 31 is connected to the sliding buffer module 34 through the timing belt driving pulley 32 and the timing belt driven pulley 33, the sliding buffer module 34 is connected to the vacuum suction nozzle 36 through the rotating motor 35, and the R-axis sensor 37 is disposed beside the vacuum suction nozzle 36. The stepping motor 31, the synchronous belt driving wheel 32 and the synchronous belt driven wheel 33 form a motor synchronous module, and the reciprocating motion of the grabbing unit in the Z direction is realized through the combination of a motor belt wheel and a synchronous belt; the vacuum suction nozzle 36 uses negative pressure to grasp and position the magnet 142, and the R-axis sensor 37 is used to realize the return-to-zero movement of the vacuum suction nozzle 36, thereby improving the assembly accuracy.

As shown in fig. 10, in this embodiment, the number of the Z-axis grabbing units 3 is two, that is, the Z-axis grabbing units 3 are double-station Z-axis grabbing units and are composed of two sets of independent grabbing structures, the two Z-axis grabbing units 3 are arranged in parallel, and the position of the vacuum suction nozzle 36 corresponds to the grabbing position of the double-clip type feeding module 1.

As shown in fig. 12, the sliding buffer module 34 of this embodiment includes an extension spring 341, a movable pin 342, a compression spring 343, and a third linear guide 344, wherein the extension spring 341 and the compression spring 343 are respectively disposed on the movable pin 342, and the movable pin 342 is connected to the rotating electrical machine 35 through the third linear guide 344. The sliding buffer module 34 in this embodiment utilizes linear guide guiding and spring buffering to realize flexible grabbing.

As shown in fig. 14 and 15, the lower vision module 4 of this embodiment includes an industrial camera 41, a first lens 42, a light source fixing plate 43, a camera light source 44, a light source adjusting plate 45, a vision mount 46, and a manual slide table 47, wherein the industrial camera 41 is connected to the camera light source 44 through the first lens 42 and the light source fixing plate 43, the industrial camera 41 is connected to the manual slide table 47 through the light source adjusting plate 45, and the vision mount 46 is disposed on the manual slide table 47. The industrial camera 41 is used for obtaining the magnet taking and installing position information, and the manual sliding table 47 is used for adjusting the height of the industrial camera 41, so that the high-precision positioning of the magnet 142 is facilitated.

As shown in fig. 16 and 17, the upper visual module 5 of this embodiment includes a light source 51, a second lens 52, a camera 53, a camera mounting plate 54, a connecting plate 55, and a light source mounting plate 56, wherein the light source 51 is connected to the camera 53 through the second lens 52, the camera 53 is disposed on the light source mounting plate 56 through the camera mounting plate 54, and the light source 51 is connected to the connecting plate 55. The light source mounting plate 56 is used for fixing and adjusting the height of the light source 51, and the upper visual module 5 takes a picture of the magnet 142 to determine the appearance and the type of the magnet 142, so as to further improve the product yield.

In summary, the double-cartridge-clip type feeding module 1 of the present embodiment adopts a double-cartridge-clip design, which can ensure that the mechanism realizes non-stop material changing, so as to improve the production efficiency, and the arc-shaped magnet can realize industrialized feeding and grabbing through the structural design of the double-cartridge-clip type feeding module 1; correspondingly, the two independent Z-axis grabbing units 3 are preferably adopted, and grabbing and assembling of two double-station arc magnets can be realized each time, so that the assembling speed is increased; on the basis, the lower vision module 4 and the upper vision module 5 are further adopted, the R-axis rotating motor is additionally arranged, high-precision positioning and appearance detection of the magnet are achieved on an automatic production line, and a foundation can be provided for adjusting the position of the magnet, so that the yield of the product is well guaranteed, the precision requirement on the position of the supplied material of the product is reduced, the assembling efficiency and the control precision of the arc-shaped magnet are effectively improved, and the reject ratio of the product is also effectively reduced.

In addition, the present embodiment also adds the sliding buffer module 34 and other components, and designs the cover plate into a quick-release type, so as to protect the product, prolong the service life of the product, and facilitate the treatment after material clamping.

The above-mentioned embodiments are the preferred embodiments of the present invention, and the scope of the present invention is not limited to the above-mentioned embodiments, and the scope of the present invention includes and is not limited to the above-mentioned embodiments, and all equivalent changes made according to the shape and structure of the present invention are within the protection scope of the present invention.

Claims (10)

1. The utility model provides a duplex position arc magnet pay-off grabbing device which characterized in that includes: the device comprises a double cartridge clip type feeding module (1), an XY axis moving unit (2), a Z axis grabbing unit (3), a lower visual module (4) and an upper visual module (5), wherein the double cartridge clip type feeding module (1) is arranged below the XY axis moving unit (2) and the Z axis grabbing unit (3), the lower visual module (4) and the upper visual module (5) are respectively arranged above and below one end, close to the Z axis grabbing unit (3), of the double cartridge clip type feeding module (1), the double cartridge clip type feeding module (1) comprises a push-pull type mounting bottom plate (11), a pushing mechanism (12), a cartridge clip support (13), a magnet cartridge clip module (14), a cartridge clip fixing module (15) and a magnet distributing mechanism (16), the pushing mechanism (12) is arranged on the push-pull type mounting bottom plate (11), and the magnet cartridge clip module (14) is arranged on the pushing mechanism (12) through the cartridge clip support (13), one end of the magnet clip module (14) is connected with the magnet distributing mechanism (16) through the clip fixing module (15).

2. The double-station arc-shaped magnet feeding and grabbing device according to claim 1, wherein the pushing mechanism (12) comprises a photoelectric sensor (121), a magnet push rod (122), a buffer spring (123) and a first linear guide rail (124), the photoelectric sensor (121) and the magnet push rod (122) are respectively arranged on the first linear guide rail (124), and the buffer spring (123) is arranged between the magnet push rod (122) and the first linear guide rail (124).

3. The double-station arc-shaped magnet feeding and grabbing device according to claim 1, wherein the magnet clip module (14) comprises a laser sensor (141) and two magnet clips (143) for accommodating magnets (142), the laser sensor (141) is arranged on the magnet clips (143), and the two magnet clips (143) are arranged on the clip support (13) in parallel.

4. The double-station arc-shaped magnet feeding and grabbing device according to claim 1, wherein the magnet distribution mechanism (16) comprises a screw motor assembly (161), a magnet clip (162), a magnet pressing block (163) and a jacking shaft (164), the jacking shaft (164) is arranged above the screw motor assembly (161), and the magnet clip (162) is connected with the jacking shaft (164) through the magnet pressing block (163).

5. The double-station arc-shaped magnet feeding and grabbing device according to any one of claims 1 to 4, wherein the XY-axis moving unit (2) comprises a fixed base (21), a Y-axis linear module (22), a second linear guide rail (23), an X-axis mounting plate (24), a Z-axis mounting plate (25), an X-axis linear module (26) and a drag chain module (27), the Y-axis linear module (22) is arranged on the fixed base (21), the X-axis linear module (26) is arranged on the Y-axis linear module (22) through the second linear guide rail (23) and the X-axis mounting plate (24), the Z-axis grabbing unit (3) is arranged on the X-axis linear module (26) through the Z-axis mounting plate (25), and the drag chain module (27) is arranged on the X-axis mounting plate (24).

6. The double-station arc-shaped magnet feeding and grabbing device according to any one of claims 1 to 4, wherein the Z-axis grabbing unit (3) comprises a stepping motor (31), a synchronous belt driving wheel (32), a synchronous belt driven wheel (33), a sliding buffer module (34), a rotating motor (35), a vacuum suction nozzle (36) and an R-axis sensor (37), the stepping motor (31) is connected to the sliding buffer module (34) through the synchronous belt driving wheel (32) and the synchronous belt driven wheel (33), the sliding buffer module (34) is connected to the vacuum suction nozzle (36) through the rotating motor (35), and the R-axis sensor (37) is arranged beside the vacuum suction nozzle (36).

7. The double-station arc-shaped magnet feeding and grabbing device according to claim 6, wherein the number of the Z-axis grabbing units (3) is two, the two Z-axis grabbing units (3) are arranged in parallel, and the position of the vacuum suction nozzle (36) corresponds to the grabbing position of the double cartridge clip type feeding module (1).

8. The double-station arc-shaped magnet feeding and grabbing device according to claim 6, wherein the sliding buffer module (34) comprises an extension spring (341), a movable pin (342), a compression spring (343) and a third linear guide rail (344), the extension spring (341) and the compression spring (343) are respectively arranged on the movable pin (342), and the movable pin (342) is connected to the rotating motor (35) through the third linear guide rail (344).

9. The double-station arc-shaped magnet feeding and grabbing device according to any one of claims 1 to 4, characterized in that the lower vision module (4) comprises an industrial camera (41), a first lens (42), a light source fixing plate (43), a camera light source (44), a light source adjusting plate (45), a vision mounting seat (46) and a manual sliding table (47), wherein the industrial camera (41) is connected to the camera light source (44) through the first lens (42) and the light source fixing plate (43), the industrial camera (41) penetrates through the light source adjusting plate (45) to be connected to the manual sliding table (47), and the vision mounting seat (46) is arranged on the manual sliding table (47).

10. The double-station arc-shaped magnet feeding and grabbing device according to any one of claims 1 to 4, wherein the upper vision module (5) comprises a light source (51), a second lens (52), a camera (53), a camera mounting plate (54), a connecting plate (55) and a light source mounting plate (56), the light source (51) is connected to the camera (53) through the second lens (52), the camera (53) is arranged on the light source mounting plate (56) through the camera mounting plate (54), and the light source (51) is connected with the connecting plate (55).

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