Automatic feeding device and method for integrally forming air springs

Abstract

The automatic feeding device and method for integrated air spring molding described in this invention proposes a feeding and calibration device specifically for platform-type molding machines. This device achieves directional feeding through continuous, automated control of sheet loading and calibration positioning, enabling sheet introduction and placement without manual intervention or assistance. This approach aims to automate the air spring molding process, improve the bond density of the preform, and enhance the performance of the air spring. The automatic feeding device for integrated air spring molding includes a suction assembly driven by a six-axis robot to oscillate the transfer fabric, as well as a visual inspection and positioning assembly.

Description

Technical Field

[0001] The invention relates to an automatic feeding device and a method for integrally forming a sleeve-type air spring, and belongs to the fields of rubber product production and mechanical design. Background Art

[0002] An air spring is a device that uses compressed air in a sealed container to achieve its elasticity by utilizing the compressibility of gas. As a rubber-based device with significant elasticity, air springs offer superior performance and benefits in applications such as cushioning, shock absorption, and high-frequency vibration isolation.

[0003] At present, domestic sleeve-type air spring processing equipment generally adopts platform-type molding processing machinery, such as the following previously disclosed patent application, application number CN202221491113.2, and the name is a sleeve-type air spring platform-type molding machine, which includes a frame; a bonding platform, provided on the frame, for placing the film; a bonding head, provided above the bonding platform, for winding and bonding the film into one; a head drive motor, which is connected to the bonding head for driving the bonding head to rotate; a head moving mechanism, which is connected to the bonding head, for contacting the bonding head with the film; an adsorption and blowing mechanism, which is connected to the bonding head, for adsorbing the film onto the bonding head, or separating the rubber blank from the bonding head after bonding is completed.

[0004] The aforementioned conventional platform-type forming machines still require manual feeding of film and cord. Specifically, before the laminating head is engaged to absorb the film and cord, the film and cord are manually transferred from the cutting conveyor line to the laminating platform based on the web position indications provided by a calibration device (e.g., a laser calibration beam). Finally, the laminating head rotates to sequentially wrap the film and cord around the head, ultimately forming the rubber blank for the air spring.

[0005] Since the existing technology still relies on on-site manual feeding and calibration assistance, it is still impossible to truly realize the automated molding process of air springs. Not only is the production cost high and the processing efficiency low, but the labor intensity of manual auxiliary feeding and calibration is also high, which affects the overall processing quality and causes the rubber blank to have a low and uneven bonding density, which directly affects the actual performance of the air spring.

[0006] In view of this, this patent application is hereby filed. Summary of the Invention

[0007] The automatic feeding device and method for integral molding of air springs described in the present invention aim to solve the problems existing in the above-mentioned prior art and propose a feeding and calibration device specifically for platform-type molding machines, so as to realize directional feeding through continuous and automated control means of sheet weighing and calibration positioning, thereby achieving sheet introduction and placement operations without manual intervention and auxiliary conditions, in order to realize the design purpose of automatic molding processing technology of air springs, improve the bonding density of rubber blanks and the performance of air springs.

[0008] In order to achieve the above-mentioned design purpose, the automatic feeding device for integrally forming air springs described in the present application includes an adsorption component driven by a six-axis manipulator to realize the swing transfer of the curtain cloth, and a visual detection and positioning component; the adsorption component includes a positioning shaft with one end fixedly connected to the driving end of the six-axis manipulator, and the other end of the positioning shaft is vertically connected to a hollow adsorption ventilation core plate, and a plurality of groups of air paths are laid inside the adsorption ventilation core plate; two groups of adsorption rotating plates are slidably connected to both sides of the positioning shaft and the two ends of the adsorption ventilation core plate. ; A set of vacuum valves and vacuum suction cups are vertically arranged at the bottom of each set of adsorption rotating plates and adsorption ventilation core plates, and each set of vacuum valves and vacuum suction cups are connected to the external air pipe and air source through the air path inside the adsorption ventilation core plate respectively; each set of adsorption rotating plates is fixed to the central column of the adsorption ventilation core plate at the bottom through a bearing sleeve, and a circular rotating groove is provided on each set of adsorption rotating plates. Tighten the screws to thread through the rotating groove and press against the adsorption ventilation core plate, or tighten the screws to unscrew them from the rotating groove to release the adsorption rotating plate.

[0009] Furthermore, the bottom end of the central column passes through the adsorption ventilation core plate and is fixedly connected to a rotating connecting plate at the bottom of the adsorption ventilation core plate. A slider is provided on the inner side of the rotating connecting plate, and the slider is engaged and connected to a guide rail laid on the top of the adsorption ventilation core plate.

[0010] Furthermore, arrays of positioning holes are provided on both longitudinal sides of the adsorption ventilation core plate, and positioning pins are provided on the side of the adsorption rotating plate.

[0011] Furthermore, the bottom end of the positioning shaft is fixedly connected to a transversely arranged adsorption connecting plate, an array of guide columns vertically penetrates the adsorption connecting plate, and the bottom end of the array of guide columns is fixedly connected to the adsorption ventilation core plate; above the adsorption connecting plate, a linear bearing is sleeved on each group of guide columns, and a gasket and a screw are tightly packaged at the top of the guide column; between the bottom of the adsorption connecting plate and the adsorption ventilation core plate, an adjustment spring is sleeved on each group of guide columns.

[0012] Furthermore, the visual detection and positioning component includes a fixing frame, on which a lens is fixedly connected via a lens bracket, and an upper and lower set of light tubes are fixedly connected via a square tube.

[0013] Based on the above automatic feeding device, this application also proposes the following automatic feeding method for integrated air spring molding:

[0014] A suction assembly driven by a six-axis robot is installed on one side of the two sets of curtain fabric cutting conveyor lines to achieve swing transfer of the curtain fabric. A set of visual inspection and positioning assemblies is installed on one side of the laminating platform and the two sets of curtain fabric cutting conveyor lines respectively. When the first set of films is transported from the first film cutting conveyor line to the laminating platform, the visual inspection and positioning assembly detects and identifies the distance and angle between the long and short sides of the first set of films relative to the boundary of the laminating platform.

[0015] The six-axis robot drives the adsorption component to adsorb the curtain and transfer it to the bonding platform. After the transfer, the short sides of the first and second groups of curtains are respectively in the same straight line with the short sides of the first group of films, and the first and second groups of curtains are placed in a centrally symmetrical manner with each other; the second group of films is transported from the second film cutting conveyor line to the bonding platform, and the first and second groups of films are placed in a centrally symmetrical manner with each other.

[0016] Furthermore, the visual detection and positioning component respectively detects and identifies the distance and angle between the long side and the short side of the first and second groups of curtains relative to the boundaries of the first curtain cutting conveyor line and the second curtain cutting conveyor line, and the six-axis manipulator drives the adsorption component to rotate to achieve the angle at which the adsorption ventilation core plate and the curtains are parallel to each other.

[0017] Furthermore, the automatic feeding method includes the following detection and identification steps:

[0018] First, coordinates are set and visual inspection boundaries are divided. A point O is selected on the first or second cord cutting conveyor line or the laminating platform as the zero coordinate. The positive directions of the X and Y axes are selected, and then the distance from the origin O of the separation belt conveyor to the belt edge x1, x2, y1, and y2 is measured. The measured data is input into the visual control algorithm to obtain the visual inspection boundary.

[0019] Then, the boundaries of the film and / or curtain are calibrated and the coordinate information is collected. When the film or curtain appears within the field of view of the lens, the lens calibrates its outer boundaries. The captured outer boundaries contain multiple coordinate information. The above coordinate information is the basis for the algorithm to determine the edge and vertex of the film or curtain based on image recognition.

[0020] In summary, the automatic feeding device and method for integrated molding of air springs in the present application have the following advantages: 1. The feeding device is carried and driven by a six-axis manipulator, and has a complete extension and swing angle in three-dimensional space when transferring the sheet to the molding platform by adsorption. It can be applied to the automatic transfer of films or curtains of all specifications and sizes, without the need for manual intervention and assistance throughout the process. It has a high degree of automation, can place the sheets on the molding platform in sequence in a short time, and has high processing accuracy and operating efficiency.

[0021] 2. The use of visual recognition and positioning devices can accurately indicate the placement position and angle of the feeding device, and can realize the mutual positioning and placement of all the sheets at one time. The subsequent bonding head can absorb and wrap the sheets into a rubber blank at one time. The bonding density of the rubber blank is high and uniform, which is conducive to improving the performance of the air spring.

[0022] 3. The overall device is used for one-piece molding of air springs, which significantly reduces labor costs and improves processing quality.

[0023] 4. The feeding and calibration device proposed in this application has high scalability and the difficulty of subsequent technical upgrades and modifications is relatively low. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application will now be further described with reference to the following drawings.

[0025] Figure 1 It is a schematic diagram of the layout of the air spring integrated molding equipment applying the present application;

[0026] Figure 2 It is a structural diagram of the adsorption component;

[0027] Figure 3 Yes Figure 2 a side view schematic diagram of the structure shown;

[0028] Figure 4 It is a structural diagram of the visual detection and positioning component;

[0029] Figure 5 It is a schematic diagram of the visual detection and recognition area; DETAILED DESCRIPTION

[0030] Example 1, as Figures 1 to 5 As shown, the air spring integrated molding machine applied to the automatic feeding device and method described in this application includes a bonding platform 100 and a bonding head 200 running vertically above the bonding platform 100;

[0031] On one side of the laminating platform 100 are provided a first film cutting conveyor line 300, a first curtain fabric cutting conveyor line 400, a second curtain fabric cutting conveyor line 500 and a second film cutting conveyor line 600;

[0032] Between the first cord cutting and conveying line 400 and the second cord cutting and conveying line 500, a set of adsorption components 800 driven by a six-axis manipulator 700 is provided to realize swing transfer of the cord;

[0033] A set of visual inspection and positioning components 900 is respectively provided on one side of the laminating platform 100 , the first cord cutting and conveying line 400 , and the second cord cutting and conveying line 500 .

[0034] Specifically, the adsorption assembly 800 includes a positioning shaft 801, one end of which is fixedly connected to the driving end of the six-axis manipulator 700. The other end of the positioning shaft 801 is vertically connected to a hollow adsorption ventilation core plate 1. Several groups of air paths (not shown in the figure) are laid inside the adsorption ventilation core plate 1.

[0035] Two sets of adsorption rotating plates 3 are slidably connected to both sides of the positioning shaft 801 and both ends of the adsorption ventilation core plate 1. A set of vacuum valves 85 and vacuum suction cups 86 are vertically arranged on each set of adsorption rotating plates 3 and the bottom of the adsorption ventilation core plate 1. Each set of vacuum valves 85 and vacuum suction cups 86 are connected to the external air pipe 803 and the air source through the air path inside the adsorption ventilation core plate 1, so as to realize the adsorption and release of the curtain by the vacuum suction cups 86.

[0036] Each set of adsorption rotating plates 3 is mounted on the central column 802 of the bottom fixedly connected to the adsorption ventilation core plate 1 through a bearing sleeve. An annular rotation groove 804 is provided on each set of adsorption rotating plates 3. Tighten the screw 84, which is threaded through the rotation groove 804 and pressed against the adsorption ventilation core plate 1, or tighten the screw 84 and unscrew it from the rotation groove 804 to release the adsorption rotating plate 3. After being released, the adsorption rotating plate 3 can rotate a certain angle around the axial center of the central column 802 relative to the adsorption ventilation core plate 1, thereby adjusting its adsorption angle and direction relative to the curtain.

[0037] Furthermore, the following sliding connection design structure of the adsorption rotating plate 3 can be adopted. Of course, various types of sliding connection solutions can be selected, which will not be described here.

[0038] The bottom end of the central column 802 passes through the adsorption ventilation core plate 1 and is fixedly connected to the rotating connecting plate 2 at the bottom of the adsorption ventilation core plate 1. A slider 7 is provided on the inner side of the rotating connecting plate 2, and the slider 7 is engaged and connected to the guide rail 8 laid on the top of the adsorption ventilation core plate 1; by pushing and pulling the adsorption rotating plates 3 on both sides, the distance relative to the positioning axis 801 can be adjusted, so that the specific adsorption distance and range can be adjusted according to the specifications of the curtain.

[0039] In order to improve the stability of the relative position of the adsorption rotating plates 3 on both sides of the positioning shaft 801 after the sliding adjustment of the adsorption spacing, an array of positioning holes 10 can be set on both sides of the longitudinal direction of the adsorption ventilation core plate 1, and positioning pins (not shown in the figure) are set on the side of the adsorption rotating plate 3. When the adsorption rotating plate 3 is adjusted into place along the longitudinal direction of the adsorption ventilation core plate 1, the positioning pins can be inserted into the corresponding positioning holes 10 to achieve a limited connection between the two, thereby preventing the adsorption rotating plate 3 from sliding sideways.

[0040] When the six-axis manipulator 700 drives the suction assembly 800 to rotate as a whole in three-dimensional space, sucking the curtain fabric and swinging the material during the feeding process, in order to avoid a large hard collision with the first curtain fabric cutting conveyor line 400 or the second curtain fabric cutting conveyor line 500 due to the weight of the equipment during high-speed operation, thereby causing stress damage to the curtain fabric 1000, the following elastic connection method can be adopted between the six-axis manipulator 700 and the suction assembly 800:

[0041] The bottom end of the positioning shaft 801 is fixedly connected to a horizontally arranged adsorption connecting plate 4, and the array of guide pillars 5 vertically penetrates the adsorption connecting plate 4, and the bottom end of the array of guide pillars 5 is fixedly connected to the adsorption ventilation core plate 1;

[0042] Above the adsorption connecting plate 4, each set of guide posts 5 is sleeved with a linear bearing 82, and a gasket and a screw 811 are tightly packaged on the top of the guide posts 5; between the bottom of the adsorption connecting plate 4 and the adsorption ventilation core plate 1, each set of guide posts 5 is sleeved with an adjustment spring 83;

[0043] When the six-axis robot 700 drives the adsorption component 800 to swing to the first curtain cutting conveyor line 400 or the second curtain cutting conveyor line 500 to vertically adsorb the curtain 1000, or releases the curtain 1000 to the bonding platform 100, the interaction force between the vacuum suction cup 86 and the curtain 1000 can be transmitted to the adjustment spring 83 for absorption, thereby reducing the impact force formed on the surface of the curtain 1000 and protecting the curtain 1000 from damage.

[0044] The visual detection and positioning assembly 900 includes a fixing frame 901 , on which a lens 903 is fixedly connected via a lens bracket 902 , and two groups of upper and lower light tubes 905 are fixedly connected via a square tube 904 .

[0045] By using the aforementioned visual inspection and positioning assembly 900, the present application constructs a coordinate system for the effective field of view of the lens 903 on the first and second cord cutting and conveying lines 400 and 500, and the laminating platform 100, so as to compare images within the same recognition range at different times through a visual algorithm, and subsequently implement visual inspection boundaries to distinguish the location, angle, or orientation of the film 2000 and cord 1000.

[0046] Among them, first, coordinate setting and visual detection boundary division are as follows Figure 5 As shown, a point O is selected on the first cord cutting conveyor line 400, the second cord cutting conveyor line 500 or the laminating platform 100 as the zero coordinate; the positive directions of the X-axis and Y-axis are selected, and then the data of the coordinate origin O of the separation belt conveyor and the distance from the belt edge x1, x2, y1, y2 are measured. The measured data is input into the visual control algorithm to obtain the visual detection boundary;

[0047] Then, the film and / or curtain boundary is calibrated and coordinate information is obtained; that is, when the film 2000 or the curtain 1000 appears in the field of view of the lens 903, the lens 903 calibrates its outer boundary, and the captured outer boundary contains multiple coordinate information. This information is the basis for the algorithm to determine the image recognition of the edge and vertex of the film 2000 or the curtain 1000.

[0048] Based on this, the position of the long side of the film 2000 which is a rectangle after cutting and the long side of the curtain 1000 which is a parallelogram after cutting are identified, as well as the angle (between 0 and 90°) between the long side and the longitudinal direction of the first curtain cutting conveyor line 400, the second curtain cutting conveyor line 500 or the bonding platform 100, so as to adjust the swing angle and direction of the driving adsorption component 800 of the six-axis manipulator 700, and finally maintain the adsorption ventilation core plate 1 at an angle and direction parallel to the cords in the curtain 1000 to implement the adsorption operation of the film or curtain.

[0049] Based on the above-mentioned automatic feeding device structural design for integrated air spring molding, this application also proposes the following automatic feeding method:

[0050] Between the first cord cutting and conveying line 400 and the second cord cutting and conveying line 500, a set of adsorption components 800 driven by a six-axis manipulator 700 is provided to realize swing transfer of the cord;

[0051] A set of visual inspection and positioning components 900 is respectively provided on one side of the laminating platform 100, the first curtain fabric cutting and conveying line 400, and the second curtain fabric cutting and conveying line 500;

[0052] When the first set of films 2000 are conveyed from the first film cutting and conveying line 300 to the laminating platform 100, the visual detection and positioning assembly 900 detects and identifies the distance and angle between the long side and the short side of the first set of films 2000 and the boundary of the laminating platform 100;

[0053] The six-axis robot 700 drives the adsorption assembly 800 to adsorb and transfer the first and second groups of curtain fabrics 1000 to the laminating platform 100. After the transfer, the short sides of the first and second groups of curtain fabrics 1000 are aligned with the short sides of the first group of film 2000, and the first and second groups of curtain fabrics 1000 are arranged in a centrally symmetrical manner.

[0054] The second group of films 2000 are conveyed from the second film cutting and conveying line 600 to the laminating platform 100 , and the first group of films 2000 and the second group of films 2000 are placed in a centrally symmetrical manner with respect to each other.

[0055] During the above-mentioned curtain transfer process, the visual detection and positioning component 900 respectively detects and identifies the distance and angle between the long side and the short side of the first group and the second group of curtains relative to the boundaries of the first curtain cutting conveyor line 400 and the second curtain cutting conveyor line 500, and then the six-axis manipulator 700 drives the adsorption component 800 to rotate to achieve the adsorption of the curtain at an angle parallel to the adsorption ventilation core plate 1 and the curtain.

[0056] Furthermore, the adsorption component 800 includes a positioning shaft 801 with one end fixedly connected to the driving end of the six-axis manipulator 700, and the other end of the positioning shaft 801 is vertically connected to a hollow adsorption ventilation core plate 1, and a plurality of air paths are laid inside the adsorption ventilation core plate 1; two groups of adsorption rotating plates 3 are slidably connected to both sides of the positioning shaft 801 and both ends of the adsorption ventilation core plate 1, and a plurality of vacuum valves 85 and vacuum suction cups 86 are vertically provided on each group of adsorption rotating plates 3 and the bottom of the adsorption ventilation core plate 1; each group of vacuum valves 85 and vacuum suction cups 86 are respectively connected to the external air pipe 803 and the air source through the air path inside the adsorption ventilation core plate 1, so as to realize the adsorption and release of the curtain by the vacuum suction cups 86;

[0057] Each set of adsorption rotating plates 3 is mounted on the central column 802 of the bottom fixedly connected to the adsorption ventilation core plate 1 through a bearing sleeve. An annular rotation groove 804 is provided on each set of adsorption rotating plates 3. Tighten the screw 84, which is threaded through the rotation groove 804 and pressed against the adsorption ventilation core plate 1, or tighten the screw 84 and unscrew it from the rotation groove 804 to release the adsorption rotating plate 3. After being released, the adsorption rotating plate 3 can rotate a certain angle around the axial center of the central column 802 relative to the adsorption ventilation core plate 1, thereby adjusting its adsorption angle and direction relative to the curtain.

[0058] The bottom end of the central column 802 passes through the adsorption ventilation core plate 1 and is fixedly connected to the rotating connecting plate 2 at the bottom of the adsorption ventilation core plate 1. A slider 7 is provided on the inner side of the rotating connecting plate 2, and the slider 7 is engaged and connected to the guide rail 8 laid on the top of the adsorption ventilation core plate 1; by pushing and pulling the adsorption rotating plates 3 on both sides, the distance relative to the positioning axis 801 can be adjusted, so that the specific adsorption distance and range can be adjusted according to the specifications of the curtain.

[0059] An array of positioning holes 10 is set on both longitudinal sides of the adsorption ventilation core plate 1, and a positioning pin (not shown in the figure) is set on the side of the adsorption rotating plate 3. When the adsorption rotating plate 3 is adjusted into position along the longitudinal direction of the adsorption ventilation core plate 1, the positioning pin can be inserted into the corresponding positioning hole 10 to achieve a limited connection between the two, thereby preventing the adsorption rotating plate 3 from sliding sideways.

[0060] The bottom end of the positioning shaft 801 is fixedly connected to a horizontally arranged adsorption connecting plate 4. The group of guide pillars 5 vertically penetrates the adsorption connecting plate 4. The bottom end of the group of guide pillars 5 is fixedly connected to the adsorption ventilation core plate 1. A linear bearing 82 is sleeved on each group of guide pillars 5 above the adsorption connecting plate 4. A gasket and screw 811 are tightly packaged on the top of the guide pillar 5. An adjustment spring 83 is sleeved on each group of guide pillars 5 between the bottom of the adsorption connecting plate 4 and the adsorption ventilation core plate 1.

[0061] When the six-axis robot 700 drives the adsorption component 800 to swing to the first curtain cutting conveyor line 400 or the second curtain cutting conveyor line 500 to vertically adsorb the curtain 1000, or releases the curtain 1000 to the bonding platform 100, the interaction force between the vacuum suction cup 86 and the curtain 1000 can be transmitted to the adjustment spring 83 for absorption, thereby reducing the impact force formed on the surface of the curtain 1000 and protecting the curtain 1000 from damage.

[0062] Furthermore, the automatic feeding method for integrally forming an air spring described in the present application includes the following detection and identification steps:

[0063] First, coordinates are set and visual inspection boundaries are defined. A point O is selected on the first cord cutting conveyor line 400, the second cord cutting conveyor line 500, or the laminating platform 100 as the zero coordinate. The positive directions of the X and Y axes are selected, and the distances from the origin O of the separation belt conveyor to the belt edge (x1, x2, y1, y2) are measured. The measured data is input into the visual control algorithm to determine the visual inspection boundary.

[0064] Then, the film and / or curtain boundary is calibrated and coordinate information is obtained. When the film 2000 or curtain 1000 appears within the field of view of the lens 903, the lens 903 calibrates its outer boundary. The captured outer boundary contains multiple coordinate information, which is the basis for the algorithm to determine the edge and vertex of the film 2000 or curtain 1000. The position of one long side of the rectangular film 2000 or the parallelogram curtain 100 after cutting can be identified, as well as the angle (between 0 and 90 degrees) between the long side and the longitudinal direction of the first curtain cutting conveyor line 400, the second curtain cutting conveyor line 500, or the laminating platform 100. The swing angle and direction of the driving adsorption component 800 of the six-axis manipulator 700 are adjusted, and finally the adsorption ventilation core plate 1 is maintained at an angle and direction parallel to the cords in the curtain 1000 for adsorption.

[0065] In summary, the embodiments provided in conjunction with the accompanying drawings are only preferred solutions. Those skilled in the art can be inspired by this and directly deduce other alternative structures that are consistent with the design concept of the present invention, which should also fall within the scope of the solutions described in the present invention.

Claims

1. An automatic feeding device for integrally forming an air spring, characterized by: It includes an adsorption component driven by a six-axis manipulator to realize the swing transfer of the curtain fabric, and a visual detection and positioning component; The adsorption assembly includes a positioning shaft with one end fixedly connected to the driving end of the six-axis manipulator, and the other end of the positioning shaft is vertically connected to a hollow adsorption ventilation core plate, and a plurality of groups of air paths are laid inside the adsorption ventilation core plate; Two sets of adsorption rotating plates are slidably connected on both sides of the positioning shaft and at both ends of the adsorption ventilation core plate; The bottom end of the positioning shaft is fixedly connected to a transversely arranged adsorption connecting plate, and an array of guide posts vertically penetrates the adsorption connecting plate, and the bottom end of the array of guide posts is fixedly connected to the adsorption ventilation core plate; a linear bearing is sleeved on each group of guide posts above the adsorption connecting plate, and a gasket and a screw are tightly packaged on the top of the guide post; an adjustment spring is sleeved on each group of guide posts between the bottom of the adsorption connecting plate and the adsorption ventilation core plate; A set of vacuum valves and vacuum cups are vertically arranged at the bottom of each set of adsorption rotating plates and adsorption ventilation core plates. Each set of vacuum valves and vacuum cups are connected to the external air pipe and air source through the air path inside the adsorption ventilation core plates. Each set of adsorption rotating plates is mounted on the central column of the bottom fixedly connected to the adsorption ventilation core plate through a bearing sleeve. A circular rotating groove is provided on each set of adsorption rotating plates. Tighten the screws to thread through the rotating groove and press against the adsorption ventilation core plate, or tighten the screws to unscrew them from the rotating groove to release the adsorption rotating plates.

2. The automatic feeding device for integrally forming an air spring according to claim 1, characterized in that: The bottom end of the central column passes through the adsorption ventilation core plate and is fixedly connected to the rotating connecting plate at the bottom of the adsorption ventilation core plate. A slider is provided on the inner side of the rotating connecting plate, and the slider is engaged with the guide rail laid on the top of the adsorption ventilation core plate.

3. The automatic feeding device for integrally forming an air spring according to claim 2, characterized in that: Arrays of positioning holes are arranged on both longitudinal sides of the adsorption ventilation core plate, and positioning pins are arranged on the side of the adsorption rotating plate.

4. The automatic feeding device for integrally forming an air spring according to claim 1, characterized in that: The visual detection and positioning component comprises a fixing frame, on which a lens is fixedly connected via a lens bracket, and an upper and lower set of light tubes are fixedly connected via a square tube.

5. An automatic feeding method using the automatic feeding device for integrally forming an air spring according to any one of claims 1 to 4, characterized in that: On one side of the two sets of cord cutting and conveying lines, an adsorption component driven by a six-axis manipulator is set to realize the swing transfer of the cord; The adsorption assembly includes a positioning shaft with one end fixedly connected to the driving end of the six-axis manipulator, and the other end of the positioning shaft is vertically connected to a hollow adsorption ventilation core plate, and a plurality of air paths are laid inside the adsorption ventilation core plate; two groups of adsorption rotating plates are slidably connected to both sides of the positioning shaft and both ends of the adsorption ventilation core plate, and a plurality of vacuum valves and vacuum suction cups are vertically arranged on each group of adsorption rotating plates and the bottom of the adsorption ventilation core plate; each group of vacuum valves and vacuum suction cups are connected to an external air pipe and an air source through the air path inside the adsorption ventilation core plate, so as to realize the adsorption and release of the curtain by the vacuum suction cup; Each set of adsorption rotating plates is mounted on the central column of the bottom fixedly connected to the adsorption ventilation core plate through a bearing sleeve. An annular rotation groove is provided on each set of adsorption rotating plates. Tighten the screws to penetrate the rotation groove and press against the adsorption ventilation core plate, or tighten the screws to unscrew them from the rotation groove to release the adsorption rotating plates. After being released, the adsorption rotating plates can rotate a certain angle around the axial center of the central column relative to the adsorption ventilation core plate, thereby adjusting their adsorption angle and direction relative to the curtain fabric. The bottom end of the positioning shaft is fixedly connected to a transversely arranged adsorption connecting plate, and an array of guide columns vertically penetrates the adsorption connecting plate, and the bottom end of the array of guide columns is fixedly connected to the adsorption ventilation core plate; a linear bearing is sleeved on each group of guide columns above the adsorption connecting plate, and a gasket and a screw are tightly packaged on the top of the guide column; an adjustment spring is sleeved on each group of guide columns between the bottom of the adsorption connecting plate and the adsorption ventilation core plate; when the six-axis manipulator drives the adsorption assembly to swing to the first curtain cutting conveyor line or the second curtain cutting conveyor line vertically above to adsorb the curtain, or releases the curtain to the bonding platform, the interaction force between the vacuum suction cup and the curtain can be transmitted to the adjustment spring for absorption, thereby reducing the impact force formed on the curtain surface and protecting the curtain from damage; A set of visual inspection and positioning components are respectively set on one side of the laminating platform and the two sets of cord cutting and conveying lines; When the first set of films is conveyed from the first film cutting conveyor line to the laminating platform, the visual detection and positioning component detects and identifies the distance and angle between the long side and the short side of the first set of films and the border of the laminating platform; The six-axis robot drives the adsorption assembly to adsorb and transfer the curtains to the laminating platform. After transfer, the short edges of the first and second sets of curtains are aligned with the short edges of the first set of films, and the first and second sets of curtains are placed symmetrically with each other. The second set of films is conveyed from the second film cutting conveyor line to the laminating platform, and the first set of films and the second set of films are placed in a centrally symmetrical manner with respect to each other.

6. The automatic feeding method for integrally forming an air spring according to claim 5, characterized in that: The visual detection and positioning component respectively detects and identifies the distance and angle between the long and short sides of the first and second groups of curtains relative to the boundaries of the first curtain cutting conveyor line and the second curtain cutting conveyor line. The six-axis robot drives the adsorption component to rotate to achieve an angle at which the adsorption ventilation core plate and the curtains are parallel to each other.

7. The automatic feeding method for integrally forming an air spring according to claim 6, characterized in that: It includes the following detection and identification steps: First, coordinates are set and visual inspection boundaries are divided. A point O is selected on the first or second cord cutting conveyor line or the laminating platform as the zero coordinate. The positive directions of the X and Y axes are selected, and then the distance from the origin O of the separation belt conveyor to the belt edge x1, x2, y1, and y2 is measured. The measured data is input into the visual control algorithm to obtain the visual inspection boundary. Then, the boundaries of the film and / or curtain are calibrated and the coordinate information is collected. When the film or curtain appears within the field of view of the lens, the lens calibrates its outer boundaries. The captured outer boundaries contain multiple coordinate information. The above coordinate information is the basis for the algorithm to determine the edge and vertex of the film or curtain based on image recognition.

Images