A mounting device for automobile interior parts clips and workpieces

Abstract

The present invention provides a device for installing clips and workpieces for automotive interior parts, comprising: a clip grabbing device, including a clip grabbing mechanism and a first six-axis robot; the clip grabbing mechanism includes a first mounting seat, multiple first cylinders, and multiple clip grabbing heads; the first cylinders are used to enable the clip grabbing heads to advance and retract, and the clip grabbing heads grasp the clips by clamping with clamping blocks; a workpiece grabbing device, including a workpiece grabbing mechanism and a second six-axis robot; the workpiece grabbing mechanism grasps multiple workpieces by suction using vacuum suction cups; and a workpiece clamping device, including a support platform, multiple support seats mounted on the support platform, multiple positioning blocks, and multiple clamping mechanisms. This automotive installation device can simultaneously grasp and transfer multiple clips and multiple workpieces, and can automatically complete the assembly of clips and workpieces, significantly improving the degree of automation and operational efficiency of automotive interior part assembly.

Description

Technical Field

[0001] The present invention relates to the field of automobile interior decoration assembly, and in particular to a device for installing a buckle of an automobile interior decoration part and a workpiece. Background Art

[0002] The interior of automotive interior parts is equipped with multiple snap-in locations for mounting clips to meet installation requirements. Due to the large number of snap-in locations on the workpiece and the small size of the clips themselves, which make them difficult to grasp, the assembly of the workpiece and the clips is currently performed manually. However, with the increasing level of automation, the use of robots to replace human labor is a technological development trend. Therefore, the goal is to design an automated installation device with a focus on increasing the number and convenience of clips and workpiece grasping. Summary of the Invention

[0003] The present invention is made to solve the above-mentioned problem, and its purpose is to provide a mounting device for a buckle of an automobile interior decoration part and a workpiece.

[0004] The present invention provides a device for installing a clip and a workpiece of an automobile interior decoration part, which has the following characteristics: a clip grasping device, including a clip grasping mechanism and a first six-axis robot that drives the clip grasping mechanism to move, the clip grasping mechanism including a first mounting seat, a plurality of first cylinders, and a plurality of clip grasping heads, the first mounting seat is connected to the first six-axis robot and has a mounting plate, the plurality of first cylinders are evenly distributed along the circumference and are mounted on the mounting plate, and the piston ends thereof are all arranged perpendicular to the mounting plate, the first cylinder is used to realize the feeding and retraction of the clip grasping head, the plurality of clip grasping heads are respectively mounted on the piston ends of the plurality of first cylinders, and each clip grasping head is mounted on the piston ends of the plurality of first cylinders. A clip grabbing head is used to grab a clip by clamping it with a clamping block; a workpiece grabbing device includes a workpiece grabbing mechanism and a second six-axis robot that drives the workpiece grabbing mechanism to move, the workpiece grabbing mechanism is used to grab multiple workpieces by adsorption of a vacuum suction cup; and a workpiece clamping device includes a support table and multiple support seats, multiple positioning blocks and multiple clamping mechanisms installed on the support table, each support seat is used to support a workpiece, multiple positioning blocks are distributed at the edges of the multiple support seats for positioning the edges of the workpiece, and multiple clamping mechanisms are distributed on the sides of the multiple support seats for clamping the workpiece on the support seats.

[0005] The installation device for automobile interior parts clips and workpieces provided by the present invention may also have the following characteristics: each clip grabbing head includes a grabbing seat, two clamping blocks, two springs, and an optical fiber sensor. A first groove for accommodating the clip is opened in the center of the top of the grabbing seat, and the bottom of the grabbing seat is connected to the piston end of the first cylinder. The two clamping blocks are respectively arranged on both sides of the grabbing seat, and the middle part of each clamping block is rotatably connected to the grabbing seat. The tops of the two clamping blocks are respectively arranged corresponding to the two sides of the first groove and are used to clamp the clip. The two springs are respectively connected between the two sides of the grabbing seat and the bottom of the two clamping blocks, and are used to drive the two clamping blocks to rotate to clamp the clip. The optical fiber sensor is installed on the grabbing seat and is used to detect whether a clip is clamped in the first groove.

[0006] Furthermore, second grooves for accommodating clamping blocks are provided on both sides of the grabbing seat, the tops of the two second grooves are respectively connected to the two sides of the first groove, and the middle part of each clamping block is rotatably connected to the side wall of the second groove through a pin shaft.

[0007] A protruding positioning groove for positioning the buckle is provided at the bottom of the first groove. The positioning groove is made of a transparent material to allow light from the optical fiber sensor to pass through.

[0008] A protrusion for clamping the side of the buckle is provided on the side surface of the top of each clamping block facing the first groove.

[0009] A third groove for installing the optical fiber sensor is also provided on the side surface of the grabbing seat, and the third groove is inclined to the bottom of the first groove.

[0010] The mounting device for automobile interior parts clips and workpieces provided by the present invention may also have the following features: the first mounting seat also includes a first connecting flange and a first connecting arm, the first connecting flange is connected to the end output shaft of the first six-axis robot, the first connecting arm is arranged along the axis and the two ends are respectively connected to the mounting plate and the first connecting flange, and the first connecting arm is also provided with a valve island connected to multiple first cylinders.

[0011] The mounting device for automobile interior parts clips and workpieces provided by the present invention may also have the following features: the workpiece grasping mechanism includes a second mounting seat, multiple vacuum suction cups, an adapter seat and a vacuum generator, the second mounting seat includes two transverse tubes and two longitudinal tubes, the two transverse tubes are arranged in parallel and the two ends of each transverse tube are respectively connected to the two longitudinal tubes, the multiple vacuum suction cups are divided into four groups, each group of vacuum suction cups is used to adsorb a workpiece and includes at least two vacuum suction cups facing in the same direction and perpendicular to the transverse tubes and the longitudinal tubes, every two groups of vacuum suction cups are installed on a longitudinal tube in opposite directions, the adapter seat is connected to the middle of the two transverse tubes and the second six-axis robot, and the vacuum generator is connected to the multiple vacuum suction cups and installed on the adapter seat.

[0012] Furthermore, the adapter includes a second connecting flange and a second connecting arm, the second connecting flange is connected to the end output shaft of the second six-axis robot, the second connecting arm is parallel to the longitudinal tube, and one end of the second connecting arm is connected to the second connecting flange, and the other end is connected to the middle of the two transverse tubes.

[0013] The mounting device for automobile interior parts clips and workpieces provided by the present invention may also have the following features: each clamping mechanism includes an articulated seat, a second cylinder, and a clamping block, the articulated seat has a seat body mounted on a support platform and a rotating block rotatably connected to the seat body, the cylinder body and piston end of the second cylinder are respectively hinged on the seat body and the rotating block, the clamping block is fixed on the rotating block and has a plurality of distributed pressure heads.

[0014] Functions and effects of the invention

[0015] The device for installing automobile interior buckles and workpieces according to the present invention comprises a buckle grasping device, a workpiece grasping device and a workpiece clamping device, wherein the buckle grasping device comprises a buckle grasping mechanism and a first six-axis robot, the buckle grasping mechanism comprises a plurality of buckle grasping heads for grasping buckles by clamping blocks, and can grasp a plurality of buckles at a time, the workpiece grasping device comprises a workpiece grasping mechanism and a second six-axis robot, the workpiece grasping mechanism adopts a vacuum suction cup adsorption method to grasp a plurality of workpieces, the workpiece clamping device can support and clamp the workpiece, so that the buckle grasping device can install the buckle on the workpiece, so the device for installing automobile interior buckles and workpieces can complete the grasping and transfer of a plurality of buckles and a plurality of workpieces at a time, can automatically complete the assembly of buckles and workpieces, and significantly improves the degree of automation and operating efficiency of automobile interior assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of a mounting device for a buckle and a workpiece of an automobile interior trim part according to an embodiment of the present invention;

[0017] Figure 2 2 is a schematic structural diagram of a buckle grabbing device according to an embodiment of the present invention;

[0018] Figure 3 2 is a schematic structural diagram of a buckle grabbing mechanism in an embodiment of the present invention;

[0019] Figure 4 Schematic diagram of the structure of the cylinder and the buckle grabbing head in an embodiment of the present invention;

[0020] Figure 5 2 is a schematic diagram of an exploded view of the snap-on grabbing head with the optical fiber sensor removed in an embodiment of the present invention;

[0021] Figure 6 is a schematic structural diagram of a workpiece grasping device in an embodiment of the present invention;

[0022] Figure 7 is a schematic structural diagram of a workpiece grasping mechanism in an embodiment of the present invention;

[0023] Figure 8 This is a schematic structural diagram of a workpiece grasping mechanism after grasping a workpiece in an embodiment of the present invention;

[0024] Figure 9 is a schematic structural diagram of a workpiece clamping device in an embodiment of the present invention;

[0025] Figure 10 It is a schematic structural diagram of a workpiece after the workpiece is mounted on the workpiece clamping device in an embodiment of the present invention.

[0026] Description of reference numerals:

[0027] 1. Buckle; 2. Workpiece; 100. Buckle grabbing device; 110. Buckle grabbing mechanism; 111. First mounting seat; 1111. Mounting plate; 1112. First connecting flange; 1113. First connecting arm; 112. First cylinder; 113. Buckle grabbing head; 1131. Grasping seat; 11311. First groove; 11312. Positioning groove; 11313. Second groove; 11314. Third groove; 1132. Clamping block; 11321. Protrusion; 1133. Spring; 1134. Fiber optic sensor; 120. First six-axis robot; 200. Workpiece grasping device; 210 workpiece grasping mechanism; 211 second mounting seat; 2111 horizontal tube; 2112 vertical tube; 2113 first engaging member; 212 vacuum suction cup; 213 adapter seat; 2131 second connecting flange; 2132 second connecting arm; 2133 second engaging member; 214 vacuum generator; 220 second six-axis robot; 300 workpiece clamping device; 310 support table; 320 support seat; 330 positioning block; 340 clamping mechanism; 341 articulated seat; 342 second cylinder; 343 clamping block. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is described in detail in the following embodiments with reference to the accompanying drawings.

[0029] Example

[0030] Figure 1 It is a structural diagram of a mounting device for automobile interior parts clips and workpieces.

[0031] like Figure 1As shown, this embodiment provides a device for installing a clip and a workpiece on an automotive interior component, comprising a clip grasping device 100, a workpiece grasping device 200, and a workpiece clamping device 300. The clip grasping device 100 is used to grasp and move the clip 1, the workpiece grasping device 200 is used to grasp and move the workpiece 2, and the workpiece clamping device 300 is used to support the workpiece. Each component is described in detail below.

[0032] Figure 2 1 is a schematic structural diagram of a buckle grabbing device 100. Figure 3 2 is a schematic structural diagram of the buckle grabbing mechanism 110 .

[0033] like Figure 2 As shown, the buckle grasping device 100 includes a buckle grasping mechanism 110 and a first six-axis robot 120 . The buckle grasping mechanism 110 is used to grasp multiple buckles 1 at one time, and the first six-axis robot 120 is used to drive the buckle grasping mechanism 110 to move.

[0034] like Figure 3 As shown, the buckle grabbing mechanism 110 includes a first mounting seat 111 , a plurality of first cylinders 112 , and a plurality of buckle grabbing heads 113 .

[0035] The first mounting base 111 includes a mounting plate 1111, a first connecting flange 1112, and a first connecting arm 1113 connecting the two. The mounting plate 1111 is circular and is used to mount the first cylinder 112 and the snap-on gripping head 113. The first connecting flange 1112 is used to connect to the first six-axis robot 120. A valve island for connecting and controlling the multiple first cylinders 112 is also fixed to the first connecting arm 1113.

[0036] Multiple first cylinders 112 are evenly distributed along the circumference on the mounting plate 1111 of the first mounting seat 111, and the fixed end of each first cylinder 112 is fixed on the mounting plate 1111. The piston end of each first cylinder 112 is perpendicular to the mounting plate 1111 and a snap grab head 113 is installed thereon. The first cylinder 112 is used to drive the snap grab head 113 to move in a direction perpendicular to the mounting plate 1111, thereby realizing the feeding and retracting action of the snap grab head 113.

[0037] Figure 4 It is a structural diagram of the first cylinder 112 and the buckle grabbing head 113. Figure 5 It is a schematic diagram of the decomposition of the snap-on grabbing head 113 after removing the optical fiber sensor 1134.

[0038] like Figure 4 and Figure 5As shown, each snap-on grabbing head 113 includes a grabbing seat 1131 and two clamping blocks 1132 , two springs 1133 and an optical fiber sensor 1134 mounted on the grabbing seat 1131 .

[0039] A first groove 11311 for accommodating the buckle 1 is provided at the center of the top of the grab seat 1131. The extension direction of the first groove 11311 corresponds to the radial direction of the mounting plate 1111. The cross-section of the first groove 11311 matches the cross-section of the buckle 1 to be grabbed. In this embodiment, the cross-sections of the first groove 11311 and the buckle 1 are both approximately triangular. The bottom of the first groove 11311 is also provided with a raised positioning groove 11312 for positioning the buckle 1. The bottom of the grab seat 1131 is provided with multiple connection holes for connecting to the piston end of the first cylinder 112.

[0040] Both sides of the gripping seat 1131 are provided with second grooves 11313 for accommodating clamping blocks 1132. The tops of the two second grooves 11313 are connected to the two sides of the first groove 11311, respectively, allowing the tops of the two clamping blocks 1132 to clamp the buckle 1. The two clamping blocks 1132 are respectively disposed in the two second grooves 11313. The middle portion of each clamping block 1132 is rotatably connected to the sidewall of the second groove 11313 via a pin. The top side of each clamping block 1132 facing the first groove 11311 is formed with a protrusion 11321 for gripping the side of the buckle 1, effectively preventing the buckle 1 from falling off. A spring 1133 is connected between the same side of the bottom of each clamping block 1132 and the sidewall of the corresponding second groove 11313. The spring 1133 is used to drive the clamping block 1132 to rotate to clamp the buckle 1.

[0041] A third groove 11314 for installing the optical fiber sensor 1134 is provided on the other side of the grabbing seat 1131. The third groove 11314 is inclined to the bottom of the first groove 11311. The optical fiber sensor 1134 is inserted into the third groove 11314, and the positioning groove 11312 is made of transparent material to allow the light of the optical fiber sensor 1134 to pass through. The optical fiber sensor 1134 is used to detect whether a buckle 1 is clamped in the first groove 11311.

[0042] During use, a plurality of clips 1 are placed on a special loading tray, waiting to be grabbed by the clip grabbing device 100 and assembled onto a workpiece.

[0043] The process of the buckle grabbing device 100 grabbing the buckle 1 is as follows: the first six-axis robot 120 drives the buckle grabbing mechanism 110 to move to a certain distance directly above the loading tray, so that the buckle grabbing mechanism 110 faces downward and directly toward the loading tray. Then, the piston ends of all the first cylinders 112 of the buckle grabbing mechanism 110 extend downward respectively, driving the buckle grabbing heads 113 connected to them to move downward to grab the buckle 1. For each buckle grabbing head 113, the buckle 1 will be stuck into the first groove 11311 of the grabbing seat 1131. Specifically, when the buckle 1 is stuck into the first groove 11311, the two clamping blocks 1132 will be slightly flipped to the sides due to being squeezed, so that the buckle 1 enters the first groove 11311. Then, the two clamping blocks 1132 are reset under the action of their respective springs 1133. The tops of the two clamping blocks 1132 clamp on the two side surfaces of the buckle 1 from both sides to prevent the buckle 1 from falling off. When the buckle 1 is inserted into the first groove 11311, the positioning groove 11312 in the first groove 11311 positions the buckle 1 to prevent it from deflecting. The optical fiber sensor 1134 detects the captured buckle 1 and sends a signal that the capture is complete. The first cylinder 112 drives the buckle grasping head 113 to retract. In this way, the buckle grasping device 100 can grasp multiple buckles 1 at a time.

[0044] The process of assembling the buckle 1 of the buckle grasping device 100 is as follows: the first six-axis robot 120 drives the buckle grasping mechanism 110 to move to a certain distance from a buckle position of the workpiece, so that the buckle 1 on a buckle grasping head 113 of the buckle grasping mechanism 110 is aligned with the buckle position. Then, the first cylinder 112 corresponding to the buckle grasping head 113 drives the buckle grasping head 113 to extend, so that the buckle 1 is stuck in the buckle position. Next, the first cylinder 112 drives the buckle grasping head 113 to retract. During the retraction process of the buckle grasping head 113, the two clamping blocks 1132 are slightly flipped to both sides due to being squeezed, so that the buckle 1 stuck in the buckle position can be easily detached from the buckle grasping head 113, completing the separation. Repeating this process can complete the assembly of all buckles 1.

[0045] Figure 6 2 is a schematic structural diagram of a workpiece grasping device 200 .

[0046] like Figure 6 As shown, the workpiece grasping device 200 includes a workpiece grasping mechanism 210 and a second six-axis robot 220 . The workpiece grasping mechanism 210 is used to grasp multiple workpieces 2 at one time, and the second six-axis robot 220 is used to drive the workpiece grasping mechanism 210 to move.

[0047] Figure 7 is a structural diagram of the workpiece grasping mechanism 210, Figure 8 This is a schematic diagram of the structure of the workpiece grasping mechanism 210 after grasping the workpiece

[0048] like Figure 7 and Figure 8 As shown, the workpiece grasping mechanism 210 includes a second mounting seat 211 , a plurality of vacuum suction cups 212 , an adapter seat 213 , and a vacuum generator 214 .

[0049] The second mounting base 211 includes two transverse tubes 2111, two longitudinal tubes 2112, and four first engaging members 2113. The two transverse tubes 2111 are arranged in parallel, and the ends of each transverse tube 2111 are connected to the two longitudinal tubes 2112 via first engaging members 2113, so that the entire second mounting base 2111 is in an I-shape.

[0050] A plurality of vacuum suction cups 212 are mounted on the two longitudinal tubes 2112 of the second mounting base 211. Specifically, the plurality of vacuum suction cups 212 are divided into four groups, and each group of vacuum suction cups 212 consists of at least two vacuum suction cups 212, which are used to vacuum absorb one workpiece 2. Every two groups of vacuum suction cups 212 are mounted on one longitudinal tube 2112, and the two groups of vacuum suction cups 212 on each longitudinal tube 2112 are arranged in opposite directions. The directions of the individual vacuum suction cups 212 of each group of vacuum suction cups 212 are the same and are perpendicular to the transverse tube 2111 and the longitudinal tube 2112. In this embodiment, each vacuum suction cup 212 is mounted on the longitudinal tube 2112 by a clamp and an angle code. In this way, the workpiece grasping mechanism 210 can absorb four workpieces 2 through four groups of vacuum suction cups 212, and the two workpieces 2 on the same side will not interfere with each other, thereby improving the grasping efficiency.

[0051] The adapter 213 is used to connect to the second six-axis robot 220 and includes a second connecting flange 2131, a second connecting arm 2132, and a second engaging member 2133. Specifically, the second connecting flange 2131 is connected to the terminal output shaft of the second six-axis robot 220. The second connecting arm 2132 is arranged parallel to the longitudinal tube 2112 of the second mounting base 211. One end of the second connecting arm 2132 is connected to the second connecting flange 2131, and the other end is connected to the middle portion of the two transverse tubes 2111 of the second mounting base 211 via the second engaging member 2133.

[0052] The vacuum generator 134 is connected to the plurality of vacuum suction cups 212 and is mounted on the second embracing member 2133 of the adapter 213 .

[0053] The workpiece grasping device 200 grasps a workpiece 2 as follows: the second six-axis robot 220 drives the workpiece grasping mechanism 210 to move directly above the workpiece 2 to be grasped. The workpiece grasping mechanism 210 uses two sets of vacuum suction cups 212 located on the same surface to simultaneously grasp two workpieces 2. After grasping two workpieces 2 on one side, the second six-axis robot 220 drives the workpiece grasping mechanism 210 to flip over. The workpiece grasping mechanism 210 then uses two sets of vacuum suction cups 212 on the other surface to simultaneously grasp two more workpieces 2. In this way, the workpiece grasping device 200 can grasp four workpieces 2 and then transfer them together.

[0054] Figure 9 is a structural diagram of a workpiece clamping device 300, Figure 10 It is a schematic structural diagram of the workpiece 2 after being mounted on the workpiece clamping device 300.

[0055] like Figure 9 and Figure 10 As shown, the workpiece clamping device 300 includes a support platform 310 and two support seats 320 installed on the support platform 310 , a plurality of positioning blocks 330 and a plurality of clamping mechanisms 340 .

[0056] Two support seats 320 are mounted 180° symmetrically on the top surface of the support platform 310. Each support seat 320 is shaped to match the workpiece 2 and is used to support a single workpiece 2. The relative position between the two support seats 320 corresponds to the relative position of two workpieces 2 grasped on either side of the workpiece grasping mechanism 210 of the workpiece grasping device 200. In this way, the workpiece grasping device 200 can simultaneously place two workpieces 2 on two support seats 320.

[0057] A plurality of positioning blocks 330 are distributed at the edges of the two support seats 320 for positioning the edges of the workpiece 2. Figure 10 In this embodiment, each positioning block 330 is mounted on the top surface of the support platform 310 via an angle bracket.

[0058] Multiple clamping mechanisms 340 are distributed beside the two support bases 320 and are used to clamp the workpiece 2 on the support base 320 to install the clip 1. Each clamping mechanism 340 includes an articulated base 341, a second cylinder 342, and a clamping block 343. The articulated base 341 has a base mounted on the support platform 310 and a rotating block rotatably connected to the base. The cylinder body and piston end of the second cylinder 342 are respectively hinged to the base and rotating block of the articulated base 341. The clamping block 343 is fixed to the rotating block and has multiple distributed pressure heads. When the piston end of the second cylinder 342 retracts, the clamping block 343 is lifted upward by the rotating block driven by the second cylinder 342. When the piston end of the second cylinder 342 extends, the clamping block 343 is pressed downward by the rotating block driven by the second cylinder 342 onto the support base 320. When the workpiece 2 is placed on the support base 320, the clamping block 343 can press the workpiece 2 against the support base 320. In this embodiment, there are four clamping mechanisms 340, with two clamping mechanisms 340 corresponding to each support base 320.

[0059] The operating process of this device for installing clips and workpieces for automotive interior parts is as follows: First, the clip grasping device 100 grasps multiple clips 1 from the clip loading tray, and the workpiece grasping device 200 grasps four workpieces 2 from the loading area of ​​the workpiece 2. Then, the workpiece grasping device 200 places two workpieces 2 located on the same side onto the two support blocks 320 of the workpiece clamping device 300. The clamping mechanisms 340 adjacent to each support block 320 clamp the workpieces 2 on each side. Next, the clip grasping device 100 sequentially installs the clips 1 on the clipping locations of the two workpieces 2. After the clips 1 are installed, the clamping mechanisms 340 are released, and the workpiece grasping device 200 grasps the two workpieces 2 and flips them over, placing two workpieces 2 on the other side onto the two support blocks 320 of the workpiece clamping device 300. The clip grasping device 100 then installs the clips 1 on the clipping locations of the other two workpieces 2. Similarly, after the buckle 1 is installed, the clamping mechanism 340 is released, and the workpiece grasping device 200 grasps another two workpieces 2. At this time, the workpiece grasping device 200 has grasped four workpieces 2 with the buckle 1 installed, which can be transferred to the quality inspection area, and each buckle position on the workpiece 2 can be inspected by automated or manual methods.

[0060] It should be noted that the specifications of the first six-axis robot 120 and the second six-axis robot 220 can be adjusted according to the actual site conditions. They can adopt different specifications as shown in the figure of this embodiment, or they can adopt the same specifications as needed.

[0061] Functions and Effects of the Embodiments

[0062] The device for installing automobile interior buckles and workpieces according to this embodiment includes a buckle grasping device, a workpiece grasping device and a workpiece clamping device, wherein the buckle grasping device includes a buckle grasping mechanism and a first six-axis robot, the buckle grasping mechanism includes multiple buckle grasping heads that grasp the buckles by clamping the clamping blocks, and can grasp multiple buckles at one time, the workpiece grasping device includes a workpiece grasping mechanism and a second six-axis robot, the workpiece grasping mechanism adopts a vacuum suction cup adsorption method to grasp multiple workpieces, and the workpiece clamping device can support and clamp the workpiece so that the buckle grasping device can install the buckle on the workpiece. Therefore, the device for installing automobile interior buckles and workpieces can complete the grasping and transfer of multiple buckles and multiple workpieces at one time, and can automatically complete the assembly of buckles and workpieces, which significantly improves the degree of automation and operating efficiency of automobile interior assembly.

[0063] The above embodiments are preferred examples of the present invention and are not intended to limit the scope of protection of the present invention.

Claims

1. A device for mounting a buckle and a workpiece of an automobile interior decoration part, characterized in that: include: The buckle grabbing device includes a buckle grabbing mechanism and a first six-axis robot that drives the buckle grabbing mechanism to move. The buckle grabbing mechanism includes a first mounting seat, a plurality of first cylinders, and a plurality of buckle grabbing heads. The first mounting seat is connected to the first six-axis robot and has a mounting plate, A plurality of the first cylinders are evenly distributed along the circumference on the mounting plate and their piston ends are arranged perpendicular to the mounting plate. The first cylinders are used to realize the feeding and retraction of the buckle grabbing head. The plurality of buckle grabbing heads are respectively mounted on the piston ends of the plurality of first cylinders, and each of the buckle grabbing heads is used to grab one buckle by clamping it with a clamping block; The workpiece grasping device includes a workpiece grasping mechanism and a second six-axis robot that drives the workpiece grasping mechanism to move. The workpiece grasping mechanism is used to grasp a plurality of the workpieces by suction through a vacuum suction cup; and The workpiece clamping device includes a support platform and a plurality of support seats, a plurality of positioning blocks and a plurality of clamping mechanisms installed on the support platform. Each of the support seats is used to support one of the workpieces. The plurality of positioning blocks are distributed at the edges of the plurality of support seats, and are used to position the edges of the workpiece. The plurality of clamping mechanisms are distributed beside the plurality of support seats, and are used to clamp the workpiece on the support seats. Each of the snap-on grabbing heads includes a grabbing seat, two clamping blocks, two springs, and an optical fiber sensor. A first groove for accommodating the buckle is provided at the center of the top of the grab seat, and the bottom of the grab seat is connected to the piston end of the first cylinder. The two clamping blocks are respectively arranged on both sides of the grab seat, the middle part of each clamping block is rotatably connected to the grab seat, and the tops of the two clamping blocks are respectively arranged corresponding to the two sides of the first groove and are used to clamp the buckle. The two springs are respectively connected between the two sides of the grab seat and the bottoms of the two clamping blocks, and are used to drive the two clamping blocks to rotate to clamp the buckle. The optical fiber sensor is mounted on the grab seat and is used to detect whether the buckle is clamped in the first groove. The workpiece grasping mechanism includes a second mounting seat, a plurality of vacuum suction cups, an adapter seat and a vacuum generator. The second mounting base includes two transverse tubes and two longitudinal tubes, the two transverse tubes are arranged in parallel and the two ends of each transverse tube are connected to the two longitudinal tubes respectively. The plurality of vacuum suction cups are divided into four groups, each group of vacuum suction cups is used to absorb a workpiece and includes at least two vacuum suction cups facing in the same direction and perpendicular to the horizontal tube and the vertical tube, and each two groups of vacuum suction cups are installed on one vertical tube in opposite directions. The adapter is connected to the middle of the two transverse tubes and the second six-axis robot. The vacuum generator is connected to the plurality of vacuum cups and is mounted on the adapter. The adapter includes a second connecting flange and a second connecting arm, The second connecting flange is connected to the end output shaft of the second six-axis robot. The second connecting arm is parallel to the longitudinal tube, and one end of the second connecting arm is connected to the second connecting flange, and the other end is connected to the middle of the two transverse tubes. Each of the clamping mechanisms includes a hinged seat, a second cylinder, and a clamping block. The hinged seat comprises a seat body mounted on the support platform and a rotating block rotatably connected to the seat body. The cylinder body and piston end of the second cylinder are hinged to the base body and the rotating block respectively. The clamping block is fixed on the rotating block and has a plurality of distributed pressing heads.

2. The mounting device for the automobile interior component buckle and workpiece according to claim 1, characterized in that: in, Both sides of the grab seat are provided with a second groove for accommodating the clamping block. The tops of the two second grooves are respectively connected to the two sides of the first groove. The middle portion of each clamping block is rotatably connected to the side wall of the second groove through a pin shaft.

3. The mounting device for the automobile interior component buckle and workpiece according to claim 1, characterized in that: in, The bottom of the first groove is provided with a protruding positioning groove for positioning the buckle. The positioning groove is made of a transparent material to allow the light of the optical fiber sensor to pass through.

4. The mounting device for a buckle and a workpiece of an automobile interior decoration part according to claim 1, characterized in that: in, A protrusion for clamping the side surface of the buckle is provided on the side surface of the top of each clamping block facing the first groove.

5. The mounting device for the automobile interior component buckle and workpiece according to claim 1, characterized in that: in, The side of the grab seat is also provided with a third groove for installing the optical fiber sensor. The third groove is inclined to the bottom of the first groove.

6. The device for mounting a buckle and a workpiece for an automobile interior decoration part according to claim 1, characterized in that: in, The first mounting base further includes a first connecting flange and a first connecting arm, The first connecting flange is connected to the terminal output shaft of the first six-axis robot. The first connecting arm is arranged along the axis and has two ends connected to the mounting plate and the first connecting flange respectively. The first connecting arm is also provided with a valve island connected to the plurality of first cylinders.

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