Automatic installation device and method for automobile interior trim buckle

Abstract

The present invention provides an automatic installation device and method for automotive interior buckles, wherein the device includes: a buckle loading and unloading device, including a feeding mechanism, a material dividing mechanism, a material sorting mechanism, and a material clearing mechanism; a buckle grasping device capable of grasping multiple buckles at once by clamping; a workpiece grasping device capable of grasping multiple workpieces at once by vacuum adsorption; a workpiece clamping device disposed between the buckle grasping device and the workpiece grasping device for clamping the workpiece; a photographing device for photographing an image of the workpiece on the workpiece clamping device; and a control device. The automatic installation device and method for automotive interior buckles can complete the loading, grasping, and installation of multiple buckles at once, can complete the grasping and clamping of multiple workpieces at once, can photograph images for quality inspection, and can automatically complete the assembly of buckles and workpieces, significantly improving the degree of automation and operating efficiency of automotive interior assembly.

Description

Technical Field

[0001] The present invention relates to the field of automobile interior decoration assembly, and in particular to an automatic installation device and method for automobile interior decoration buckle buckles. Background Art

[0002] The interior of automotive interior parts is equipped with multiple snap-in locations for mounting clips to meet specific 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 clips is currently performed manually, resulting in limited assembly efficiency. However, with the advancement of automation, the use of robots to replace human labor is a technological trend. Therefore, the design of an automated installation device and method focuses on addressing the orderly loading and grasping of multiple clips, the grasping and clamping of multiple clips, process quality inspection, and the automated operation of the entire equipment. Summary of the Invention

[0003] The present invention is made to solve the above-mentioned problem, and its purpose is to provide an automatic installation device and an installation method for automobile interior decoration buckles.

[0004] The present invention provides an automatic installation device for automobile interior decoration buckles, which has the following characteristics: a buckle loading and unloading device, including a feeding mechanism, a material dividing mechanism, a material sorting mechanism, and a material clearing mechanism, the feeding mechanism is used to arrange multiple buckles in order and convey them to the material dividing mechanism, the material dividing mechanism is used to distribute the multiple buckles arranged in order to the material sorting mechanism one by one, the material sorting mechanism is used to assign multiple buckles to positions in sequence so that the following buckle grasping device can grasp them at one time, and the material clearing mechanism is used to remove the buckles on the following buckle grasping device; a buckle grasping device is used to grasp the buckles and install them on the workpiece, including a buckle grasping mechanism and a first six-axis robot that drives the buckle grasping mechanism to move, the buckle grasping mechanism is used to grasp multiple buckles at one time by clamping; a workpiece grasping device, including 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 multiple buckles at one time by vacuum adsorption. a workpiece; a workpiece clamping device, arranged between the buckle grasping device and the workpiece grasping device, for clamping the workpiece so that the buckle grasping device can install the buckle on the workpiece, including multiple support seats for supporting the workpiece and multiple clamping mechanisms distributed beside the support seats; a photographing device, arranged directly above the workpiece clamping device, for photographing an image of the workpiece on the workpiece clamping device; and a control device, including a buckle loading control part, a buckle unloading control part, a buckle grasping control part, a workpiece grasping control part, a workpiece clamping control part, and a photographing control part. The buckle loading control part is used to control the operation of the feeding mechanism, the material dividing mechanism and the material sorting mechanism, the buckle unloading control part is used to control the operation of the material clearing mechanism, the buckle grasping control part is used to control the operation of the buckle grasping device, the workpiece grasping control part is used to control the operation of the workpiece clamping control part, and the photographing control part is used to control the operation of the photographing device.

[0005] The automatic installation equipment for automobile interior parts buckles provided by the present invention can also have the following characteristics: the feeding mechanism includes a material chute, a hopper, a first straight vibration feeder, a vibration plate, and a second straight vibration feeder. The lower end of the material chute is arranged corresponding to the upper end of the hopper. The top of the first straight vibration feeder has a first linear trough, and the two ends of the first linear trough correspond to the lower end of the hopper and the blanking cavity in the center of the vibration plate respectively. The top of the second straight vibration feeder has a second linear trough, and the two ends of the second linear trough correspond to the discharge port and the material dividing mechanism of the vibration plate respectively. The width of the second linear trough is slightly larger than the width of a single buckle, so that the buckles can only be arranged in one row thereon. The first straight vibration feeder, the vibration plate, and the second straight vibration feeder are all controlled by the buckle feeding control unit.

[0006] The automatic installation equipment for automobile interior parts buckles provided by the present invention can also have the following characteristics: the dividing mechanism includes a base and a first dividing cylinder, a linear guide rail, a dividing block, a first optical fiber sensor, a second dividing cylinder, a dividing rod, and a second optical fiber sensor installed on the base. The first dividing cylinder and the linear guide rail are arranged horizontally parallel and perpendicular to the feeding direction of the feeding mechanism. The dividing block is installed on the slider of the linear guide rail, and one end is connected to the piston end of the first dividing cylinder, and a material channel and a detection hole are opened at the other end. The material channel is connected in the feeding direction of the feeding mechanism for accommodating a single buckle, and the detection hole is vertically connected from the surface of the dividing block to the material channel In the channel, the first optical fiber sensor is arranged at the discharge port of the feeding mechanism, which is used to detect whether the buckle transported by the feeding mechanism enters the material channel through the detection hole. The second material dividing cylinder is arranged parallel to the feeding direction of the feeding mechanism. The dividing rod is horizontally perpendicular to the dividing block, and one end is connected to the piston end of the second material dividing cylinder, and the other end is used to be inserted into the material channel to push the buckle therein to the material sorting mechanism. The second optical fiber sensor is arranged at the feed port of the material sorting mechanism, which is used to detect whether the buckle in the material channel is pushed out by the dividing rod. The first material dividing cylinder and the second material dividing cylinder are controlled by the buckle feeding control unit according to the detection signals of the first optical fiber sensor and the second optical fiber sensor.

[0007] The automatic installation equipment for automobile interior parts buckles provided by the present invention can also have the following characteristics: the material sorting mechanism includes a rotating disk bracket, a rotating disk, a servo motor, a transmission assembly, multiple groups of buckle positioning blocks, multiple third optical fiber sensors, multiple push rods, push rod fixing disks, and multiple first lifting cylinders. The top of the rotating disk bracket is cylindrical and a feed port corresponding to the material dividing mechanism is opened on the side wall. The rotating disk can be horizontally rotatably installed on the top of the rotating disk bracket. The top edge of the rotating disk is evenly distributed with multiple material slots along the circumference. Each material slot is used to accommodate a buckle. The servo motor drives the rotating disk to rotate horizontally through the transmission assembly. Multiple groups of buckle positioning blocks are respectively arranged corresponding to the multiple material slots in the circumferential direction. Each group of buckle positioning blocks includes a dividing member. Two buckle positioning blocks are respectively installed on the rotating disk bracket and the top surface of the rotating disk, which are used to locate the two ends of the lifted buckle. Multiple third optical fiber sensors are respectively installed on the multiple buckle positioning blocks located on the rotating disk bracket, which are used to detect whether there is a buckle in the corresponding material slot. Multiple push rods are respectively passed through the multiple material slots. The upper end of each push rod is used to lift the buckle in the material slot, and the lower end is fixed on the push rod fixing plate directly below the rotating disk. Multiple first lifting cylinders are evenly distributed along the circumference below the push rod fixing plate, and the piston end of each first lifting cylinder faces upward and is connected to the push rod fixing plate. The servo motor and the multiple first lifting cylinders are controlled by the buckle feeding control unit according to the detection signals of the multiple third optical fiber sensors.

[0008] The automatic installation equipment for automobile interior parts buckles provided in the present invention can also have the following features: the material cleaning mechanism includes a material cleaning bracket, a material basin, multiple driving rods, a driving rod linkage disk, and a second lifting cylinder, the top of the material cleaning bracket has a ring-shaped driving rod bracket and multiple material basin brackets distributed circumferentially on the driving rod bracket, the material basin is fixed on the multiple material basin brackets, and the side walls of the material basin are provided with multiple driving rod avoidance grooves evenly distributed along the circumference and extending to the edge, the multiple driving rods are respectively arranged in the circumferential direction corresponding to the multiple driving rod avoidance grooves, the middle part of each driving rod is hinged on the driving rod bracket, one end is hinged on the driving rod linkage disk located below the material basin, and the other end is used to drive the buckle grabbed on the buckle grabbing device into the material basin, the second lifting cylinder is arranged below the driving rod linkage disk, the piston end of the second lifting cylinder faces upward and is connected to the driving rod linkage disk, and the second lifting cylinder is controlled by the buckle unloading control unit.

[0009] The automatic installation device for snap fasteners of automobile interior parts provided by the present invention may also have the following features: the snap fastener grasping mechanism includes a first mounting seat, a plurality of feed cylinders, and a plurality of snap fastener grasping heads. The first mounting seat is connected to the first six-axis robot and has a mounting plate. The plurality of feed cylinders are evenly distributed along the circumference and mounted on the mounting plate, and their piston ends are all arranged perpendicular to the mounting plate. The feed cylinders are used to realize the feeding of the snap fastener grasping heads. The plurality of snap fastener grasping heads are respectively mounted on the piston ends of the plurality of feed cylinders. Each snap fastener grasping head includes a grasping seat, two clamping blocks, two springs, and a fourth Fiber optic sensor, a first groove for accommodating the buckle is opened in the center of the top of the grabbing seat, the bottom of the grabbing seat is connected to the piston end of the feed cylinder, two clamping blocks are respectively arranged on both sides of the grabbing seat, 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 buckle, two springs are respectively connected between the two sides of the grabbing seat and the bottom of the two clamping blocks, used to drive the two clamping blocks to rotate to clamp the buckle, and the fourth fiber optic sensor is installed on the grabbing seat, which is used to detect whether a buckle is clamped in the first groove.

[0010] The automatic installation equipment for automobile interior parts buckles provided by the present invention can also have the following characteristics: 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 horizontal tubes and two vertical tubes, the two horizontal tubes are arranged in parallel and the two ends of each horizontal tube are respectively connected to the two vertical 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 horizontal tubes and the vertical tubes, every two groups of vacuum suction cups are installed on a vertical tube in opposite directions, the adapter seat is connected to the middle of the two horizontal tubes and the second six-axis robot, the vacuum generator is connected to the multiple vacuum suction cups and is installed on the adapter seat, and the vacuum generator is controlled by the workpiece grasping control unit.

[0011] The automatic installation equipment for automobile interior parts buckles provided by the present invention can also have the following characteristics: the workpiece clamping device also includes a support platform and a plurality of positioning blocks installed on the support platform, a plurality of support seats are installed on the support platform, each support seat is used to support a workpiece, and a plurality of positioning blocks are distributed at the edges of the plurality of support seats for positioning the edges of the workpiece, and a plurality of clamping mechanisms are installed on the support platform, each clamping mechanism includes an articulated seat, a clamping cylinder, and a clamping block, the articulated seat has a seat body installed on the support platform and a rotating block rotatably connected to the seat body, the cylinder body and piston end of the clamping cylinder are respectively hinged on the seat body and the rotating block, the clamping cylinder is controlled by the workpiece clamping control unit, and the clamping block is fixed on the rotating block and has a plurality of distributed pressure heads.

[0012] The automatic installation equipment for automobile interior parts buckles provided by the present invention can also have the following features: the shooting device includes a lifting guide rail, an industrial camera, a locking screw, and a baffle. The lifting guide rail is arranged directly above the workpiece clamping device. The industrial camera is installed on the lifting guide rail and can be adjusted in height through the lifting guide rail. The position is fixed by the locking screw. The industrial camera is used to shoot the image of the workpiece on the workpiece clamping device to confirm whether the workpiece is clamped in place, and to shoot the image of the workpiece after the buckle installation is completed to confirm whether the buckles are installed in each buckle position of the workpiece. The industrial camera is controlled by the shooting control unit. The baffle is arranged below the lifting guide rail and the industrial camera as a reference for the height adjustment and lens adjustment of the industrial camera. An opening corresponding to the industrial camera is opened on the baffle.

[0013] The present invention also provides a method for automatically installing automobile interior parts buckles, which has the following characteristics: using the above-mentioned automobile interior parts buckle automatic installation equipment, including the following steps: S1, the workpiece grabbing control unit controls the workpiece grabbing device to grab a full workpiece in the workpiece loading area, and places half of the grabbed workpieces on the workpiece clamping device; S2, the workpiece clamping control unit controls the clamping mechanism beside each support seat to clamp the workpiece; S3, the shooting control unit controls the shooting device to shoot the image of the workpiece on the workpiece clamping device to confirm whether the workpiece is clamped in place, if If the clamping is in place, it enters S4. If the clamping is not in place, the workpiece clamping control unit controls the clamping mechanism to release the workpiece and returns to S3. In S4, the buckle grabbing control unit controls the buckle grabbing device to grab multiple buckles on the material sorting mechanism, and install the buckles on the buckle positions of each workpiece in turn. In S5, the shooting control unit controls the shooting device to shoot the image of the workpiece on the workpiece clamping device to confirm whether each buckle position is installed with a buckle. If the buckles are all installed in place, the workpiece clamping control unit controls the clamping mechanism to release the workpiece, and the workpiece grabbing control unit controls the workpiece grabbing device First grab the assembled workpiece, and place the other half of the workpiece on the workpiece clamping device, and then transfer the assembled workpiece to the qualified area. If the buckle is not installed in place, the workpiece clamping control unit controls the clamping mechanism to release the workpiece, and the buckle grabbing control unit controls the buckle grabbing device to cooperate with the clearing mechanism of the buckle loading and unloading device controlled by the buckle unloading control unit to clear the remaining buckles on the buckle grabbing device. The workpiece grabbing control unit controls the workpiece grabbing device to grab the defective assembled workpiece first, and place the other half of the workpiece on the workpiece clamping device, and then The unassembled workpiece is transferred to the unqualified area; S6, the workpiece grabbing control unit controls the workpiece grabbing device to grab half of the workpieces in the workpiece loading area and return to S2; S7, when there is no workpiece to be assembled with buckles in the workpiece loading area, the automatic installation equipment for automobile interior buckles stops working; wherein, during the working process of the automatic installation equipment for automobile interior buckles, the buckle loading control unit controls the feeding mechanism of the buckle loading and unloading device to transport, the dividing mechanism to divide the materials, and the material sorting mechanism to sort the materials, so that multiple buckles are arranged in sequence on the material sorting mechanism, waiting to be grabbed by the buckle grabbing device.

[0014] Functions and effects of the invention

[0015] According to the automatic installation device and method of automobile interior parts buckles involved in the present invention, the device includes a buckle loading and unloading device, a buckle grabbing device, a workpiece grabbing device, a shooting device, and a control device, wherein the buckle loading and unloading device can realize the orderly loading and conveying of multiple buckles and the unloading and cleaning of the buckles. The buckle grabbing device can grab multiple buckles from the buckle loading and unloading device at one time, and respectively install these multiple buckles on the workpiece clamped by the workpiece clamping device, and cooperate with the buckle loading and unloading device to perform buckle unloading and cleaning. The workpiece grabbing device can grab multiple workpieces and place them on the workpiece. Multiple workpieces can be placed on and removed from the workpiece clamping device, the shooting device can shoot images of the workpieces on the workpiece clamping device to confirm the clamping conditions of the workpieces and the installation conditions of the clips, and the control device can control the automatic operation of other devices. Therefore, the automatic installation equipment and installation method of automobile interior buckles can complete the loading, grasping and installation of multiple buckles at one time, can complete the grasping and clamping of multiple workpieces at one time, can shoot images to detect quality, and can automatically complete the assembly of clips and workpieces, which significantly improves the degree of automation and operating efficiency of automobile interior assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 2 is a schematic structural diagram of an automatic mounting device for automobile interior trim buckles according to an embodiment of the present invention;

[0017] Figure 2 2 is a schematic structural diagram of the automatic installation device for automobile interior parts buckles after the external frame is hidden in an embodiment of the present invention;

[0018] Figure 3 This is a system block diagram of an automatic installation device for automobile interior trim buckles according to an embodiment of the present invention;

[0019] Figure 4 2 is a schematic structural diagram of a buckle loading and unloading device in an embodiment of the present invention;

[0020] Figure 5 2 is a schematic structural diagram of a material dispensing mechanism in an embodiment of the present invention;

[0021] Figure 6 2 is a schematic structural diagram of a material sorting mechanism in an embodiment of the present invention;

[0022] Figure 7 1 is a schematic diagram of a partial structure of a material sorting mechanism in an embodiment of the present invention;

[0023] Figure 8 2 is a schematic structural diagram of a material clearing mechanism in an embodiment of the present invention;

[0024] Figure 9 This is a schematic diagram of the structure of the material cleaning mechanism after the material basin is hidden in the embodiment of the present invention;

[0025] Figure 10 2 is a schematic structural diagram of a buckle grabbing device according to an embodiment of the present invention;

[0026] Figure 11 2 is a schematic structural diagram of a buckle grabbing mechanism in an embodiment of the present invention;

[0027] Figure 12 Schematic diagram of the structure of the cylinder and the buckle grabbing head in an embodiment of the present invention;

[0028] Figure 13 is an exploded schematic diagram of the snap-on grabbing head after hiding the fourth optical fiber sensor in an embodiment of the present invention;

[0029] Figure 14 is a schematic structural diagram of a workpiece grasping device in an embodiment of the present invention;

[0030] Figure 15 is a schematic structural diagram of a workpiece grasping mechanism in an embodiment of the present invention;

[0031] Figure 16 is a schematic structural diagram of a workpiece clamping device in an embodiment of the present invention;

[0032] Figure 17 is a schematic structural diagram of a photographing device in an embodiment of the present invention;

[0033] Figure 18 1 is a schematic diagram of the working process of the automatic installation device for automobile interior decoration buckles in an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1. Buckle; 2. Workpiece; 100. Buckle loading and unloading device; 110. Feeding mechanism; 111. Material chute; 112. Hopper; 113. First linear vibrating feeder; 114. Vibrating plate; 115. Second linear vibrating feeder; 120. Material distribution mechanism; 121. Base; 122. First distribution cylinder; 123. Linear guide; 124. Distribution block; 124. Material channel; 125. First optical fiber sensor; 126. Second distribution cylinder; 127. Distribution rod; 128. Second optical fiber sensor; 130. Material sorting mechanism; 131. Rotating plate bracket; 1311. Feed inlet; 132. Rotating plate; 1321. Material clip slot; 133 servo motor; 134 transmission assembly; 135 snap-fit ​​positioning block; 136 third optical fiber sensor; 137 first lifting cylinder; 140 material cleaning mechanism; 141 material cleaning bracket; 1411 lever bracket; 1412 material basin bracket; 142 material basin; 1421 lever avoidance slot; 143 lever; 144 lever linkage plate; 145 second lifting cylinder; 200 snap-fit ​​grasping device; 210 snap-fit ​​grasping mechanism; 211 first mounting seat; 2111 mounting plate; 2112 first connecting flange; 2113 first connecting arm; 212 feed cylinder; 213 snap Grabbing head; 2131 grabbing seat; 21311 first groove; 21312 positioning groove; 21313 second groove; 21314 third groove; 2132 clamping block; 21321 protrusion; 2133 spring; 2134 fourth optical fiber sensor; 220 first six-axis robot; 300 workpiece grasping device; 310 workpiece grasping mechanism; 311 second mounting seat; 3111 horizontal tube; 3112 vertical tube; 3113 first engaging member; 312 vacuum suction cup; 313 adapter seat; 3131 second connecting flange; 3132 second connecting arm; 3133 second engaging member; 314 vacuum generator; 320 second six-axis robot; 400 workpiece clamping device; 410 support table; 420 support seat; 430 positioning block; 440 clamping mechanism; 441 articulated seat; 442 clamping cylinder; 443 clamping block; 500 shooting device; 510 lifting guide rail; 520 industrial camera; 530 baffle; 531 opening; 600 control device; 610 buckle loading control unit; 620 buckle unloading control unit; 630 buckle grasping control unit; 640 workpiece grasping control unit; 650 workpiece clamping control unit; 660 shooting control unit; 700 external frame. DETAILED DESCRIPTION

[0036] 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.

[0037] Example

[0038] Figure 1 This is a structural diagram of the automatic installation equipment for automobile interior parts buckles. Figure 2This is a structural diagram of the automatic installation equipment for automobile interior parts with the external frame 700 hidden. Figure 3 This is a system block diagram of an automatic installation device for automobile interior parts clips.

[0039] like Figures 1 to 3 As shown, this embodiment provides an automatic installation device for automobile interior parts clips, which mainly includes a clip loading and unloading device 100, a clip grasping device 200, a workpiece grasping device 300, a workpiece clamping device 400, a shooting device 500, and a control device 600. All devices are supported and protected by an external frame 700.

[0040] Among them, the buckle loading and unloading device 100 is used for loading, conveying and unloading of buckles; the buckle grasping device 200 is used to grasp multiple buckles from the buckle loading and unloading device 100 at one time, and respectively install these multiple buckles on the workpiece clamped by the workpiece clamping device 400, and cooperate with the buckle loading and unloading device 100 to perform buckle unloading and cleaning; the workpiece grasping device 300 is used to grasp multiple workpieces and place them on the workpiece clamping device 400, and remove multiple workpieces from the workpiece clamping device 400; the workpiece clamping device 400 is used to grasp multiple workpieces and place them on the workpiece clamping device 400, and remove multiple workpieces from the workpiece clamping device 400. 00 is used to clamp the workpiece; the camera device 500 is used to capture an image of the workpiece on the workpiece clamping device 400 to confirm whether the workpiece is clamped in place, and after the buckle is installed, capture an image of the workpiece to confirm whether the buckle is installed at each buckle position of the workpiece; the control device 600 is used to control the operation of other devices, including the corresponding buckle loading control unit 610, buckle unloading control unit 620, buckle grasping control unit 630, workpiece grasping control unit 640, workpiece clamping control unit 650, and camera control unit 660. Each device is described in detail below.

[0041] Figure 4 2 is a schematic structural diagram of a buckle loading and unloading device 100 .

[0042] like Figure 4 As shown, the buckle loading and unloading device 100 includes a feeding mechanism 110, a material dividing mechanism 120, a material sorting mechanism 130, and a material clearing mechanism 140. The feeding mechanism 110, the material dividing mechanism 120, and the material sorting mechanism 130 are controlled by the buckle loading control unit 610. The feeding mechanism 110 is used to arrange the buckles 1 in an orderly manner and convey them to the material dividing mechanism 120. The material dividing mechanism 120 is used to distribute the orderly arranged buckles 1 one by one to the material sorting mechanism 130. The material sorting mechanism 130 is used to assign the buckles 1 to positions in sequence to facilitate the one-time grasping of the buckle grasping device 200. The material clearing mechanism 140 is controlled by the buckle unloading control unit 620. The material clearing mechanism 140 is used to remove excess or failed-installation buckles 1 from the buckle grasping device 200 to facilitate the subsequent re-grasping operation of the buckle grasping device 200. The structure of each mechanism is described in detail below.

[0043] like Figure 4 As shown, the feeding mechanism 110 includes a material chute 111, a hopper 112, a first straight vibration feeder 113, a vibrating disk 114, and a second straight vibration feeder 115. The material chute 111 is fixed to the external frame 700 and its lower end is arranged corresponding to the upper end of the hopper 112. The material chute 111 is used for a large number of clips 1 to be placed in and fall into the hopper 112 under the action of gravity. The hopper 112 is fixed to the external frame 700 and its lower end is arranged corresponding to the top of the first straight vibration feeder 113. The top of the first straight vibration feeder 113 has a first linear trough, the width of the first linear trough is slightly larger than the width of the lower end of the hopper 112, and the discharge port of the first linear trough is arranged corresponding to the blanking cavity in the center of the vibrating disk 114. The discharge port of the vibrating disk 114 is arranged corresponding to the top of the second straight vibration feeder 115. The top of the second straight vibration feeder 115 is provided with a second linear trough, and the two ends of the second linear trough correspond to the discharge port of the vibration disk 114 and the material distribution mechanism 120 respectively. The width of the second linear trough is slightly larger than the width of a single buckle 1, so that the buckles 1 transported by the vibration disk 114 are arranged in a row thereon.

[0044] The working principle of the feeding mechanism 110 is as follows: after a large number of clips 1 are poured into the material chute 111, they first slide into the hopper 112 under the action of gravity, and then pass through the first straight vibration feeder 113, the vibration plate 114, and the second straight vibration feeder 115 in sequence, and finally are transported in a row to the distributing mechanism 120.

[0045] Figure 5 2 is a schematic structural diagram of the material distribution mechanism 120.

[0046] like Figure 5 As shown, the dividing mechanism 120 mainly includes a base 121 and a first dividing cylinder 122 , a linear guide rail 123 , a dividing block 124 , a first optical fiber sensor 125 , a second dividing cylinder 126 , a dividing rod 127 , and a second optical fiber sensor 128 installed on the base 121 .

[0047] Among them, the first material distribution cylinder 122 and the linear guide 123 are installed horizontally and parallelly on the base 121, and are both arranged perpendicular to the feeding direction of the second straight vibration feeder 115 at the end of the feeding mechanism 110. The distribution block 124 is in the shape of an elongated block. The distribution block 124 is extended along the telescopic direction of the first material distribution cylinder 122 and is installed on the slider of the linear guide 123. One end of the distribution block 124 is connected to the piston end of the first material distribution cylinder 122. A material channel 1241 and a detection hole (not shown in the figure) are provided near the other end of the distribution block 124. The material channel 1241 is arranged to pass through in the feeding direction of the second straight vibration feeder 115. The material channel 1241 is used to accommodate a single buckle 1. The detection hole is vertically connected from the top surface of the distribution block 124 to the material channel 1241. The detection hole is used for the first optical fiber sensor 125 to detect the buckle in the material channel 1241. The first optical fiber sensor 125 is arranged at the discharge port of the second linear trough at the top of the second straight vibration feeder 115. The first optical fiber sensor 125 is used to detect whether the buckle 1 delivered by the second straight vibration feeder 115 enters the material channel 1241 through the detection hole on the dividing block 124.

[0048] The second feeding cylinder 126 is arranged parallel to the feeding direction of the second straight vibration feeder 115, that is, the extension and contraction direction of the second feeding cylinder 126 is perpendicular to the extension and contraction direction of the first feeding cylinder 122. The feeding rod 127 extends along the extension and contraction direction of the second feeding cylinder 126, that is, horizontally and perpendicularly to the feeding block 124. One end of the feeding rod 127 is connected to the piston end of the second feeding cylinder 126, and the other end is used to push the single clip 1 in the material channel 1241 of the feeding block 124 to the material sorting mechanism 130. The second optical fiber sensor 128 is arranged near the feed inlet of the material sorting mechanism 130, and the second optical fiber sensor 128 is used to detect whether the clip 1 in the material channel 1241 is pushed out by the feeding rod 127.

[0049] The first material distribution cylinder 122 and the second material distribution cylinder 126 are controlled by the buckle feeding control unit 610 according to the detection signals of the first optical fiber sensor 125 and the second optical fiber sensor 128 .

[0050] The working principle of the material distribution mechanism 120 is as follows: In the initial state, the first material distribution cylinder 122 is extended, the distribution block 124 is in a position where the material channel 1241 is exactly connected to the discharge port of the second linear trough, the second material distribution cylinder 126 is retracted, and the other end of the distribution rod 127 is a certain distance away from the distribution block 124. When the second linear feeder 115 feeds a clip 1 into the material channel 1241 of the distribution block 124, the first optical fiber sensor 125 detects the presence of the clip 1 in the material channel 1241. At this time, the first material distribution cylinder 122 is retracted, and the distribution block 124 moves with the clip 1 to a position in the material channel 1241 that is directly opposite the other end of the distribution rod 127. Then, the second material distribution cylinder 126 drives the distribution rod 127 to extend, and the other end of the distribution rod 127 is inserted into the material channel 1241, pushing the clip 1 out of the material channel 1241 and into the material sorting mechanism 130. Finally, the first optical fiber sensor 125 detects that the buckle 1 has been pushed out of the material channel 1241 by the material distribution rod 127, and the second material distribution cylinder 126 and the first material distribution cylinder 122 are reset in sequence. At this point, the material distribution mechanism 120 completes the material distribution operation of one buckle 1. By repeating this process, the material distribution mechanism 120 can distribute multiple buckles 1 one by one to the material sorting mechanism 130.

[0051] Figure 6 1 is a structural diagram of the material sorting mechanism 130. Figure 7 It is a schematic diagram of the partial structure of the material sorting mechanism 130.

[0052] like Figure 6 and Figure 7 As shown, the material sorting mechanism 130 mainly includes a rotating disk bracket 131, a rotating disk 132, a servo motor 133, a transmission assembly 134, multiple sets of snap positioning blocks, multiple third optical fiber sensors 136, multiple push rods (not shown in the figure), a push rod fixing plate (not shown in the figure), and multiple first lifting cylinders 137.

[0053] The top of the rotating disk bracket 131 is cylindrical, and the rotating disk 132 is mounted therein so as to rotate horizontally. The top surface of the rotating disk 132 is flush with the top surface of the rotating disk bracket 131. A feed port 1311 is provided on the top side wall of the rotating disk bracket 131. The feed port 1311 is connected to the discharge port of the material distribution mechanism 120. The top edge of the rotating disk 132 is uniformly distributed along the circumference with multiple material slots 1321, each of which is used to accommodate a clip 1. The rotating disk 132 is driven by a servo motor 133 and a transmission assembly 134 to achieve horizontal rotation. The transmission assembly 134 of this embodiment includes two drive shafts and two bevel gears. The two drive shafts are respectively connected to the rotating disk 132 and the servo motor 133. The two bevel gears are respectively mounted on adjacent ends of the two drive shafts and mesh with each other.

[0054] Multiple sets of buckle positioning blocks are evenly distributed along the circumference of the rotating disk bracket 131 and the top surface of the rotating disk 132, corresponding one-to-one to the multiple material slots 1321. Each set of buckle positioning blocks includes two buckle positioning blocks, mounted on the top surfaces of the rotating disk bracket 131 and the rotating disk 132, respectively, to position the ends of the lifted buckle 1. Multiple third fiber optic sensors 136 are mounted on the multiple buckle positioning blocks 135 located on the rotating disk bracket 131, respectively, to detect whether a buckle 1 is present in the corresponding material slot 1321.

[0055] Multiple push rods are respectively inserted into the multiple material slots 1321 of the rotating disk 132. The upper end of each push rod is used to lift the clip 1 in the material slot 1321, and the lower end is fixed to the push rod fixing plate. The push rod fixing plate is annular and located directly below the rotating disk 132. Multiple first lifting cylinders 137 are evenly distributed along the circumference below the push rod fixing plate, and the piston end of each first lifting cylinder 137 faces upward and is connected to the push rod fixing plate.

[0056] The servo motor 133 and the plurality of first lifting cylinders 137 are controlled by the buckle loading control unit 610 according to the detection signals of the plurality of third optical fiber sensors 136 .

[0057] The working principle of the material sorting mechanism 130 is as follows: each buckle 1 distributed by the material distribution mechanism 120 enters the material slot 1321 of the rotating disk 132 through the feed port 1311 of the rotating disk bracket 131, and when a buckle 1 enters a material slot 1321, the servo motor 133 drives the rotating disk 132 to rotate a certain angle through the transmission assembly 134, so that another empty material slot 1321 is aligned with the feed port 1311 of the rotating disk bracket 131 to accommodate the next buckle 1. When all the third optical fiber sensors 136 detect the buckle 1 in the corresponding material slot 1321, a signal is sent, and all the first lifting cylinders 137 lift the push rod fixing plate together. The push rod fixing plate drives all the push rods to lift the buckle 1 in each material slot 1321. The lifted buckle 1 is positioned by being clamped between the corresponding two buckle positioning blocks at both ends. At this time, the material sorting mechanism 130 completes the material sorting and loading operations of multiple buckles 1, and waits for the buckle grasping device 200 to grasp them.

[0058] Figure 8 1 is a schematic structural diagram of the material clearing mechanism 140. Figure 9 It is a structural diagram of the material cleaning mechanism 140 after hiding the material basin 142.

[0059] like Figure 8 and Figure 9 As shown, the material cleaning mechanism 140 includes a material cleaning bracket 141 , a material basin 142 , a plurality of shifting rods 143 , a shifting rod linkage disk 144 , and a second lifting cylinder 145 .

[0060] The top of the material cleaning bracket 141 features a ring-shaped lever bracket 1411 and multiple material basin brackets 1412 distributed circumferentially on the lever bracket 1411. The material basin 142 is secured to the multiple material basin brackets 1412. The sidewalls of the material basin 142 are provided with multiple lever avoidance grooves 1421 evenly distributed circumferentially and extending to the edge. Multiple levers 143 are provided, one corresponding to the lever avoidance grooves 1421 of the material basin 142. Each lever 143 is hinged at its midpoint to the lever bracket 1411, with one end hinged to a lever linkage plate 144 located below the material basin 142. The other end is used to push the clip 1 captured by the clip grabbing device 200 into the material basin 142. The second lifting cylinder 145 is arranged directly below the shift rod linkage disk 144 , the piston end of the second lifting cylinder 145 faces upward and is connected to the shift rod linkage disk 144 , and the second lifting cylinder 145 is controlled by the buckle blanking control unit 620 .

[0061] The working principle of the material clearing mechanism 140 is as follows: In the initial state, the second lifting cylinder 145 lifts the lever linkage disk 144, and all levers 143 are positioned around the material basin 142, not inserted into the lever avoidance slots 1421 of the material basin 142. When the clip grabbing device 200 drives the clips 1 to move directly above the material basin 142 and it is time to remove excess or failed clips 1, the second lifting cylinder 145 lowers the lever linkage disk 144. Driven by the lever linkage disk 144, each lever 143 rotates around the hinge on the lever bracket 1411, and the other end rotates and inserts into the lever avoidance slots 1421, pushing the corresponding clip 1 on the clip grabbing device 200 into the material basin, completing the material clearing operation. Finally, the second lifting cylinder 145 resets the lever linkage disk 144. At this point, the material clearing mechanism 140 completes a material clearing operation.

[0062] Figure 10 2 is a schematic structural diagram of a buckle grabbing device 200. Figure 11 2 is a schematic structural diagram of the buckle grabbing mechanism 210 .

[0063] like Figure 10 As shown, the buckle grasping device 200 is controlled by the buckle grasping control unit 630, and includes a buckle grasping mechanism 210 and a first six-axis robot 220. The buckle grasping mechanism 210 is used to grasp multiple buckles at one time, and the first six-axis robot 220 is used to drive the buckle grasping mechanism 210 to move.

[0064] like Figure 11 As shown, the buckle grabbing mechanism 210 includes a first mounting seat 211 , a plurality of feeding cylinders 212 , and a plurality of buckle grabbing heads 213 .

[0065] The first mounting base 211 includes a mounting plate 2111, a first connecting flange 2112, and a first connecting arm 2113 connecting the two. The mounting plate 2111 is circular and is used to mount the feed cylinder 212 and the snap-on gripping head 213. The first connecting flange 2112 is used to connect to the first six-axis robot 220. A valve island for connecting and controlling the multiple feed cylinders 212 is also fixed to the first connecting arm 2113.

[0066] Multiple feed cylinders 212 are evenly distributed along the circumference on the mounting plate 2111 of the first mounting seat 211, and the fixed end of each feed cylinder 212 is fixed on the mounting plate 2111. The piston end of each feed cylinder 212 is perpendicular to the mounting plate 2111 and a snap grab head 213 is installed thereon. The feed cylinder 212 is used to drive the snap grab head 213 to move in a direction perpendicular to the mounting plate 2111 to realize the feeding action of the snap grab head 213.

[0067] Figure 12 It is a structural diagram of the feed cylinder 212 and the buckle grabbing head 213. Figure 13 It is a schematic diagram of the decomposition of the snap-on grabbing head 213 after hiding the fourth optical fiber sensor 2134 .

[0068] like Figure 12 and Figure 13 As shown, each snap-on grabbing head 213 includes a grabbing seat 2131 and two clamping blocks 2132 , two springs 2133 and a fourth optical fiber sensor 2134 mounted on the grabbing seat 2131 .

[0069] A first groove 21311 for accommodating the buckle 1 is provided at the center of the top of the grab seat 2131. The extension direction of the first groove 21311 corresponds to the radial direction of the mounting plate 2111. The cross-section of the first groove 21311 matches the cross-section of the buckle 1 to be grabbed. In this embodiment, the cross-sections of the first groove 21311 and the buckle 1 are both approximately triangular. The bottom of the first groove 21311 is also provided with a raised positioning groove 21312 for positioning the buckle 1. The bottom of the grab seat 2131 is provided with multiple connection holes for connecting to the piston end of the feed cylinder 212.

[0070] Both sides of the gripping seat 2131 are provided with second grooves 21313 for accommodating the clamping blocks 2132. The tops of the two second grooves 21313 are connected to the sides of the first groove 21311, respectively, allowing the tops of the two clamping blocks 2132 to clamp the buckle 1. The two clamping blocks 2132 are respectively disposed within the two second grooves 21313. The middle portion of each clamping block 2132 is rotatably connected to the sidewall of the second groove 21313 via a pin. The top side of each clamping block 2132 facing the first groove 21311 is formed with a protrusion 21321 for gripping the side of the buckle 1, effectively preventing the buckle 1 from falling off. A spring 2133 is connected between the same side of the bottom of each clamping block 2132 and the sidewall of the corresponding second groove 21313. The spring 2133 is used to drive the clamping block 2132 to rotate to clamp the buckle 1.

[0071] A third groove 21314 for installing the fourth optical fiber sensor 2134 is provided on the other side of the grabbing seat 2131. The third groove 21314 is inclined to the bottom of the first groove 21311. The fourth optical fiber sensor 2134 is inserted into the third groove 21314, and the positioning groove 21312 is made of a transparent material to allow light from the fourth optical fiber sensor 2134 to pass through. The fourth optical fiber sensor 2134 is used to detect whether a buckle 1 is clamped in the first groove 21311.

[0072] The buckle grabbing device 200 operates as follows: To grab a buckle 1, the first six-axis robot 220 drives the buckle grabbing mechanism 210 to a certain distance directly above the material handling mechanism 130 of the buckle loading and unloading device 100, so that the buckle grabbing mechanism 210 faces downward and directly toward the material handling mechanism 130. Then, the piston ends of all the feed cylinders 212 of the buckle grabbing mechanism 210 extend downward, driving their connected buckle grabbing heads 213 to feed downward to grab the buckle 1 on the material handling mechanism 130. For each buckle grabbing head 213, the buckle 1 will be snapped into the first groove 21311 of the grabbing seat 2131. Specifically, when the buckle 1 is snapped into the first groove 21311, the two clamping blocks 2132 will be slightly flipped to the sides due to being squeezed, so that the buckle 1 enters the first groove 21311. Then, the two clamping blocks 2132 are reset under the action of their respective springs 2133. The tops of the two clamping blocks 2132 clamp on the two side surfaces of the buckle 1 from both sides to prevent the buckle 1 from falling off. After the buckle 1 is snapped into the first groove 21311, the positioning groove 21312 in the first groove 21311 positions the buckle 1 to prevent the buckle 1 from deflecting. The fourth optical fiber sensor 2134 detects the buckle 1 that has been grabbed and sends a signal that the grab is completed. The feed cylinder 212 drives the buckle grabbing head 213 to retract. In this way, the buckle grabbing device 200 can complete the grabbing of multiple buckles 1 at one time.

[0073] When assembling the buckle 1, the first six-axis robot 220 drives the buckle grasping mechanism 210 to move to a certain distance from a buckle position of the workpiece, so that the buckle 1 on a buckle grasping head 213 of the buckle grasping mechanism 210 is facing the buckle position. Then, the feed cylinder 212 corresponding to the buckle grasping head 213 drives the buckle grasping head 213 to extend, so that the buckle 1 is stuck in the buckle position. Next, the feed cylinder 212 drives the buckle grasping head 213 to retract. During the retraction process of the buckle grasping head 213, the two clamping blocks 2132 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 213, completing the separation. Repeating this process, the buckle grasping device 200 can complete the assembly of all buckles 1 on the workpiece.

[0074] When it is necessary to clean the clip 1 grasped thereon, the first six-axis robot 220 drives the clip grasping mechanism 210 to move to a certain distance directly above the cleaning mechanism 140 of the clip loading and unloading device 100, so that the clip grasping mechanism 210 faces downward and directly toward the cleaning mechanism 140, and then the cleaning mechanism 140 performs the cleaning operation. The working principle of the cleaning mechanism 140 is described above and will not be repeated here.

[0075] Figure 14 is a schematic structural diagram of a workpiece grasping device 300, Figure 15 3 is a schematic structural diagram of the workpiece grasping mechanism 310.

[0076] like Figure 14 As shown, the workpiece grasping device 300 is controlled by the workpiece grasping control unit 640, and includes a workpiece grasping mechanism 310 and a second six-axis robot 320. The workpiece grasping mechanism 310 is used to grasp multiple workpieces 2 at one time, and the second six-axis robot 320 is used to drive the workpiece grasping mechanism 310 to move.

[0077] like Figure 15 As shown, the workpiece grasping mechanism 310 includes a second mounting seat 311 , a plurality of vacuum suction cups 312 , an adapter seat 313 , and a vacuum generator 314 .

[0078] The second mounting base 311 includes two transverse tubes 3111, two longitudinal tubes 3112, and four first engaging members 3113. The two transverse tubes 3111 are arranged in parallel, and each transverse tube 3111 is connected to the two longitudinal tubes 3112 at both ends via the first engaging members 3113, forming an I-shape.

[0079] A plurality of vacuum suction cups 312 are mounted on the two longitudinal tubes 3112 of the second mounting base 311. Specifically, the plurality of vacuum suction cups 312 are divided into four groups, and each group of vacuum suction cups 312 consists of at least two vacuum suction cups 312, which are used to vacuum absorb one workpiece 2. Every two groups of vacuum suction cups 312 are mounted on one longitudinal tube 3112, and the two groups of vacuum suction cups 312 on each longitudinal tube 3112 are arranged in opposite directions. The directions of the individual vacuum suction cups 312 of each group of vacuum suction cups 312 are the same and are perpendicular to the transverse tube 3111 and the longitudinal tube 3112. In this embodiment, each vacuum suction cup 312 is mounted on the longitudinal tube 3112 by a clamp and an angle code. In this way, the workpiece grasping mechanism 310 can absorb four workpieces 2 through four groups of vacuum suction cups 312, and the two workpieces 2 on the same side will not interfere with each other, thereby improving the grasping efficiency.

[0080] The adapter 313 is used to connect to the second six-axis robot 320 and includes a second connecting flange 3131, a second connecting arm 3132, and a second engaging member 3133. Specifically, the second connecting flange 3131 is connected to the terminal output shaft of the second six-axis robot 320. The second connecting arm 3132 is arranged parallel to the longitudinal tube 3112 of the second mounting base 311. One end of the second connecting arm 3132 is connected to the second connecting flange 3131, and the other end is connected to the middle portion of the two transverse tubes 3111 of the second mounting base 311 via the second engaging member 3133.

[0081] The vacuum generator 134 is connected to the plurality of vacuum suction cups 312 and is mounted on the second embracing member 3133 of the adapter 313 . The vacuum generator 134 is controlled by the workpiece grasping control unit 640 .

[0082] The workpiece gripping device 300 operates as follows: When gripping a workpiece 2 without a clip, the second six-axis robot 320 drives the workpiece gripping mechanism 310 to move directly above the workpiece 2 to be gripped. The workpiece gripping mechanism 310 then uses two sets of vacuum suction cups 312 on the same side to simultaneously grasp two workpieces 2. After grasping two workpieces 2 on one side, the second six-axis robot 320 flips the workpiece gripping mechanism 310, which then uses two sets of vacuum suction cups 312 on the other side to simultaneously grasp two more workpieces 2. In this way, the workpiece gripping device 300 can grasp four workpieces 2 and subsequently transfer them together.

[0083] Figure 16 4 is a schematic structural diagram of a workpiece clamping device 400.

[0084] like Figure 16 As shown, the workpiece clamping device 400 includes a support platform 410 and two support seats 420 mounted on the support platform 410 , a plurality of positioning blocks 430 and a plurality of clamping mechanisms 440 . The clamping mechanisms 440 are controlled by a workpiece clamping control unit 650 .

[0085] Two support blocks 420 are mounted 180° symmetrically on the top surface of the support platform 410. Each support block 420 is shaped to match the workpiece and is used to support a single workpiece. The relative position of the two support blocks 420 corresponds to the relative position of two workpieces grasped on either side of the workpiece grasping mechanism 310 of the workpiece grasping device 300. This allows the workpiece grasping device 300 to simultaneously place two workpieces on the two support blocks 420.

[0086] A plurality of positioning blocks 430 are distributed at the edges of the two support seats 420 for positioning the edges of the workpiece. In this embodiment, each positioning block 430 is mounted on the top surface of the support platform 410 via an angle code.

[0087] Multiple clamping mechanisms 440 are distributed beside the two support bases 420 and are used to clamp the workpiece on the support base 420 to install the buckle 1. Each clamping mechanism 440 includes an articulated base 441, a clamping cylinder 442, and a clamping block 443. The articulated base 441 has a base body mounted on the support platform 410 and a rotating block rotatably connected to the base body. The clamping cylinder 442 is controlled by the workpiece clamping control unit 650. The cylinder body and piston end of the clamping cylinder 442 are respectively hinged to the base body and rotating block of the articulated base 441. The clamping block 443 is fixed to the rotating block and has multiple distributed pressure heads. When the piston end of the clamping cylinder 442 retracts, the clamping block 443 is lifted upward by the rotating block driven by the clamping cylinder 442. When the piston end of the clamping cylinder 442 extends, the clamping block 443 is pressed downward by the rotating block driven by the clamping cylinder 442 onto the support base 420. When a workpiece is placed on the support base 420, the clamping block 443 can press the workpiece against the support base 420. In this embodiment, there are four clamping mechanisms 440, with two clamping mechanisms 440 corresponding to each support base 420.

[0088] The working principle of the workpiece clamping device 400 is as follows: When a workpiece 2 needs to be clamped, the workpiece 2 is placed on the support base 420 of the workpiece clamping device 400. The edge of each workpiece 2 is blocked by multiple positioning blocks 430 on the edge of the corresponding support base 420 to achieve positioning. The clamping mechanism 440 beside each support base 420 is activated, and the clamping block 443 is driven by the clamping cylinder 442 to flip and press downward, thereby clamping the workpiece 2 on the support base 420. When the workpiece 2 needs to be released, the clamping mechanism 440 beside each support base 420 is activated, and the clamping block 443 is driven by the clamping cylinder 442 to flip upward.

[0089] Figure 17 5 is a schematic structural diagram of the photographing device 500.

[0090] like Figure 1 and Figure 17 As shown, the photographing device 500 includes a lifting guide rail 510, an industrial camera 520, a locking screw (not shown), and a baffle 530. The industrial camera 520 is controlled by a photographing control unit 660.

[0091] The lifting guide rail 510 is installed at the top inside the external frame 700 and is located directly above the workpiece clamping device 400. The industrial camera 520 is installed on the slider of the lifting guide rail 510, and the lens is set vertically downward. The height of the industrial camera 520 is adjusted by the lifting guide rail 510. The locking screw connects the industrial camera 520 and the lifting guide rail 510, and the locking screw is used to lock the position of the industrial camera 520 on the lifting guide rail 510. The baffle 530 is installed at the top inside the external frame 700 and is located below the lifting guide rail 510 and the industrial camera 520. The baffle 530 is provided with an opening 531 corresponding to the industrial camera 520. The baffle 530 serves as a reference for height adjustment and lens adjustment of the industrial camera 520, and also plays a certain protective role for the industrial camera 520.

[0092] Figure 18 This is a schematic diagram of the working process of the automatic installation equipment for automobile interior parts clips.

[0093] During the operation of the automatic installation equipment for automobile interior parts buckles, multiple buckles 1 are constantly controlled by the buckle loading and unloading device 100's feeding mechanism 110, material sorting mechanism 120, and material sorting mechanism 130 through the buckle loading and unloading control unit 610, and are arranged in a circle on the rotating disk 132 of the material sorting mechanism 130, waiting to be grabbed by the buckle grabbing device 200.

[0094] like Figure 18As shown, the working process and method of the automatic installation equipment for automobile interior parts clips are as follows: During the first execution, the workpiece grasping control unit 640 controls the workpiece grasping device 300 to grasp four workpieces 2 in the workpiece loading area outside the equipment, and places two workpieces 2 located on the same surface onto the two support seats 420 of the workpiece clamping device 400 (step S1). Next, the workpiece clamping control unit 650 controls the clamping mechanism 440 next to each support seat 420 to clamp the workpiece 2 thereon (step S2). The shooting control unit 660 controls the shooting device 500 to capture an image of the workpiece 2 on the workpiece clamping device 400 to confirm whether the workpiece 2 is clamped in place (step S3). If it is clamped in place, the process proceeds to the next step. If it is not clamped in place, the workpiece clamping control unit 650 controls the clamping mechanism 440 to release and then clamp again. After confirming that the workpiece 2 is clamped in place, the buckle grabbing control unit 630 controls the buckle grabbing device 200 to grab the buckle 1 on the material sorting mechanism 13, and installs the buckle 1 on the buckle positions of the two workpieces 2 in turn (step S4). After the buckle 1 is installed, the shooting control unit 660 controls the shooting device 500 to shoot the image of the workpiece 2 on the workpiece clamping device 400 to confirm whether the buckle 1 is installed in each buckle position (step S5). If there is a problem with the installation of the buckle 1, the workpiece clamping control unit 650 controls the clamping mechanism 440 to loosen, and the workpiece grabbing control unit 640 controls the workpiece grabbing device 300 to grab the two workpieces 2 and then flip them over, placing the two workpieces 2 on the other side onto the two support seats 420 of the workpiece clamping device 400, ensuring that the buckle grabbing device 200 can perform the buckle 1 installation operation of the other two workpieces 2, and the two workpieces 2 with problems with the buckle 1 installation are transferred by the workpiece grabbing device 300 to the unqualified area outside the device. If there is no problem with the installation of the buckle 1, the workpiece grasping control unit 640 controls the workpiece grasping device 300 to grasp the two workpieces 2 and then flip them over, placing the two workpieces 2 on the other side onto the two support seats 420 of the workpiece clamping device 400, and the two workpieces 2 with qualified installation of the buckle 1 are transferred by the workpiece grasping device 300 to the qualified area outside the device. Afterwards, the workpiece grasping control unit 640 controls the workpiece grasping device 300 to grasp two more workpieces 2 in the workpiece loading area (step S6), ensuring the number of workpieces 2 to be assembled thereon, and then repeating the aforementioned steps S2 to S6. When there are no workpieces 2 to be assembled with the buckle 1 in the workpiece loading area (step S7), the device stops working.

[0095] Among them, when there is a problem with the installation of the buckle 1 on the workpiece 2, it is mostly the case that the buckle grasping device 200 fails to install the buckle 1. At this time, the buckle 1 basically remains on the buckle grasping device 200, which will affect the next grasping action of the buckle grasping device 200. Therefore, after the shooting device 500 shoots and confirms that there is a problem with the installation of the buckle 1 on the workpiece 2, the buckle grasping control unit 630 controls the buckle grasping device 200, and cooperates with the buckle unloading control unit 620 to control the cleaning mechanism 140 of the buckle loading and unloading device 100 to realize the clearing of the residual buckle 1 on the buckle grasping device 200. Subsequently, the buckle grasping control unit 630 controls the buckle grasping device 200 to re-grab the buckle 1 on the material sorting mechanism 130, and then performs the buckle 1 installation operation.

[0096] Functions and Effects of the Embodiments

[0097] According to the automatic installation equipment and method of automobile interior parts buckles involved in this embodiment, because the equipment includes a buckle loading and unloading device, a buckle grasping device, a workpiece grasping device, a shooting device, and a control device, among which the buckle loading and unloading device can realize the orderly loading and conveying, unloading and cleaning of multiple buckles, the buckle grasping device can grab multiple buckles from the buckle loading and unloading device at one time, and respectively install these multiple buckles on the workpiece clamped by the workpiece clamping device, and cooperate with the buckle loading and unloading device to perform buckle unloading and cleaning, and the workpiece grasping device can grab multiple workpieces and place them on the workpiece The automatic installation device and method of automobile interior buckle buckles can complete the loading, grabbing and installation of multiple buckles at one time, can complete the grabbing and clamping of multiple workpieces at one time, can take images to detect quality, and can automatically complete the assembly of buckles and workpieces, which significantly improves the degree of automation and operating efficiency of automobile interior buckle assembly.

[0098] 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. An automatic installation device for automobile interior parts buckles, characterized in that: include: The buckle loading and unloading device includes a feeding mechanism, a material dividing mechanism, a material sorting mechanism, and a material clearing mechanism. The feeding mechanism is used to arrange multiple buckles in an orderly manner and transport them to the distributing mechanism. The material distribution mechanism is used to distribute the plurality of buckles arranged in an orderly manner to the material sorting mechanism one by one. The material sorting mechanism is used to distribute the positions of multiple buckles in order so that the buckle grabbing device described below can grab them at one time. The material clearing mechanism is used to remove the buckle on the buckle grabbing device described below; The buckle grabbing device is used to grab the buckle and install the buckle on the workpiece, including a buckle grabbing mechanism and a first six-axis robot that drives the buckle grabbing mechanism to move. The buckle grabbing mechanism is used to grab multiple buckles at one time by clamping; 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 multiple workpieces at one time by vacuum adsorption; a workpiece clamping device, disposed between the buckle grasping device and the workpiece grasping device, for clamping the workpiece so that the buckle grasping device can install the buckle on the workpiece, comprising a plurality of support seats for supporting the workpiece and a plurality of clamping mechanisms distributed beside the support seats; a photographing device, disposed just above the workpiece clamping device, for photographing an image of the workpiece on the workpiece clamping device; as well as The control device includes a buckle loading control unit, a buckle unloading control unit, a buckle grabbing control unit, a workpiece grabbing control unit, a workpiece clamping control unit, and a shooting control unit. The buckle feeding control unit is used to control the operation of the feeding mechanism, the material dividing mechanism and the material sorting mechanism. The buckle unloading control unit is used to control the operation of the cleaning mechanism. The buckle grabbing control unit is used to control the operation of the buckle grabbing device. The workpiece grasping control unit is used to control the operation of the workpiece grasping device. The workpiece clamping control unit is used to control the operation of the workpiece clamping device. The photographing control unit is used to control the operation of the photographing device.

2. The automatic installation device for automobile interior parts according to claim 1, characterized in that: in, The feeding mechanism includes a material chute, a hopper, a first straight vibration feeder, a vibrating plate, and a second straight vibration feeder. The lower end of the material chute is arranged corresponding to the upper end of the hopper. The top of the first straight vibration feeder is provided with a first linear trough, the two ends of which correspond to the lower end of the hopper and the blanking cavity in the center of the vibration plate respectively. The top of the second straight vibration feeder is provided with a second linear trough, the two ends of which correspond to the discharge port of the vibration plate and the material distribution mechanism respectively, and the width of the second linear trough is slightly larger than the width of a single clip, so that the clips can only be arranged in one row thereon. The first direct vibration feeder, the vibration plate, and the second direct vibration feeder are all controlled by the buckle feeding control unit.

3. The automatic installation device for automobile interior trim buckles according to claim 1 is characterized in that: in, The material distribution mechanism includes a base and a first material distribution cylinder, a linear guide rail, a material distribution block, a first optical fiber sensor, a second material distribution cylinder, a material distribution rod, and a second optical fiber sensor installed on the base. The first material distribution cylinder and the linear guide rail are arranged horizontally parallel and perpendicular to the feeding direction of the feeding mechanism. The distribution block is mounted on the slider of the linear guide rail, and one end is connected to the piston end of the first distribution cylinder, and the other end is provided with a material channel and a detection hole. The material channel is connected to the feeding direction of the feeding mechanism and is used to accommodate a single buckle. The detection hole is connected to the material channel vertically from the surface of the distribution block. The first optical fiber sensor is provided at the discharge port of the feeding mechanism and is used to detect whether the buckle delivered by the feeding mechanism enters the material channel through the detection hole. The second material distribution cylinder is arranged parallel to the feeding direction of the feeding mechanism. The material distribution rod is horizontally perpendicular to the material distribution block, and one end is connected to the piston end of the second material distribution cylinder, and the other end is used to be inserted into the material channel to push the buckle inside it to the material sorting mechanism. The second optical fiber sensor is provided corresponding to the feed port of the material sorting mechanism and is used to detect whether the buckle in the material channel is pushed out by the material dividing rod. The first material distribution cylinder and the second material distribution cylinder are controlled by the buckle feeding control unit according to the detection signals of the first optical fiber sensor and the second optical fiber sensor.

4. The automatic installation device for automobile interior trim buckles according to claim 1 is characterized in that: in, The material sorting mechanism includes a rotating disk bracket, a rotating disk, a servo motor, a transmission assembly, multiple sets of snap positioning blocks, multiple third optical fiber sensors, multiple push rods, a push rod fixing disk, and multiple first lifting cylinders. The top of the rotating disc bracket is cylindrical and a feeding port corresponding to the material distribution mechanism is opened on the side wall. The rotating disk is horizontally rotatably mounted on the top of the rotating disk bracket. The top edge of the rotating disk is evenly distributed with a plurality of material slots along the circumference, and each of the material slots is used to accommodate a buckle. The servo motor drives the rotating disk to rotate horizontally through the transmission assembly. Multiple groups of buckle positioning blocks are respectively arranged corresponding to multiple material slots in the circumferential direction, and each group of buckle positioning blocks includes two buckle positioning blocks respectively installed on the rotating disk bracket and the top surface of the rotating disk, for positioning the two ends of the jacked buckle, The plurality of third optical fiber sensors are respectively mounted on the plurality of buckle positioning blocks located on the rotating disk bracket, and are used to detect whether there is a buckle in the corresponding material slot. The plurality of ejector rods are respectively arranged in the plurality of material slots. The upper end of each ejector rod is used to lift the buckle in the material slot, and the lower end is fixed on the ejector rod fixing plate located directly below the rotating plate. The plurality of first lifting cylinders are uniformly distributed below the mandrel fixing plate along the circumferential direction, and the piston end of each first lifting cylinder faces upward and is connected to the mandrel fixing plate. The servo motor and the plurality of first lifting cylinders are controlled by the buckle feeding control unit according to the detection signals of the plurality of third optical fiber sensors.

5. The automatic installation device for automobile interior parts buckles according to claim 1 is characterized in that: in, The material cleaning mechanism includes a material cleaning bracket, a material basin, multiple shifting rods, a shifting rod linkage plate, and a second lifting cylinder. The top of the material cleaning bracket is provided with a ring-shaped shifting rod bracket and a plurality of material basin brackets distributed on the shifting rod bracket along the circumferential direction. The material basin is fixed on a plurality of material basin brackets, and a plurality of lever avoidance grooves are provided on the side wall of the material basin, which are evenly distributed along the circumference and extend to the edge. The plurality of levers are circumferentially arranged corresponding to the plurality of lever avoidance grooves. The middle portion of each lever is hinged to the lever bracket, one end is hinged to the lever linkage disk below the material basin, and the other end is used to push the buckle grabbed by the buckle grabbing device into the material basin. The second lifting cylinder is arranged below the shifting rod linkage disk, the piston end of the second lifting cylinder faces upward and is connected to the shifting rod linkage disk, and the second lifting cylinder is controlled by the buckle blanking control part.

6. The automatic installation device for automobile interior parts buckles according to claim 1 is characterized in that: in, The buckle grabbing mechanism includes a first mounting seat, a plurality of feed 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 feed cylinders are evenly distributed along the circumference on the mounting plate and their piston ends are arranged perpendicular to the mounting plate. The feed cylinders are used to realize the feeding of the buckle grabbing head. The plurality of snap-on grabbing heads are respectively mounted on the piston ends of the plurality of feed cylinders. Each of the snap-on grabbing heads comprises a grabbing seat, two clamping blocks, two springs, and a fourth 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 feed 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 fourth optical fiber sensor is mounted on the grabbing seat and is used to detect whether the buckle is clamped in the first groove.

7. The automatic installation device for automobile interior trim buckles according to claim 1, characterized in that: in, 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 suction cups and is mounted on the adapter. The vacuum generator is controlled by the workpiece grasping control unit.

8. The automatic installation device for automobile interior parts buckles according to claim 1 is characterized in that: in, The workpiece clamping device further includes a support platform and a plurality of positioning blocks mounted on the support platform. A plurality of support seats are mounted on the support platform, and each support seat is used to support a workpiece. 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. A plurality of the clamping mechanisms are installed on the support platform, and each of the clamping mechanisms includes a hinge seat, a clamping 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 clamping cylinder are hinged on the base body and the rotating block respectively, and the clamping cylinder is controlled by the workpiece clamping control unit. The clamping block is fixed on the rotating block and has a plurality of distributed pressing heads.

9. The automatic installation device for automobile interior parts according to claim 1, characterized in that: in, The shooting device includes a lifting guide rail, an industrial camera, a locking screw, and a baffle. The lifting guide rail is arranged directly above the workpiece clamping device. The industrial camera is mounted on the lifting guide rail and can be adjusted in height by the lifting guide rail. The position is fixed by the locking screw. The industrial camera is used to take an image of the workpiece on the workpiece clamping device to confirm whether the workpiece is clamped in place, and to take an image of the workpiece after the buckle is installed to confirm whether each buckle position of the workpiece is installed. The industrial camera is controlled by the shooting control unit. The baffle is arranged below the lifting guide rail and the industrial camera as a reference for adjusting the height and lens of the industrial camera, and an opening corresponding to the industrial camera is opened on the baffle.

10. A method for automatically installing a buckle of an automobile interior decoration part, characterized in that: The automatic installation device for automobile interior trim buckles according to any one of claims 1 to 9 comprises the following steps: S1. The workpiece grabbing control unit controls the workpiece grabbing device to grab a full load of workpieces in the workpiece loading area and places half of the grabbed workpieces on the workpiece clamping device; S2, the workpiece clamping control unit controls the clamping mechanism beside each support seat to clamp the workpiece; S3, the shooting control unit controls the shooting device to shoot the image of the workpiece on the workpiece clamping device to confirm whether the workpiece is clamped in place. If the clamping is in place, enter S4. If the clamping is not in place, the workpiece clamping control unit controls the clamping mechanism to release the workpiece and returns to S3; S4, the buckle grabbing control unit controls the buckle grabbing device to grab multiple buckles on the material sorting mechanism, and install the buckles on the buckle positions of each workpiece in turn; S5, the shooting control unit controls the shooting device to shoot the image of the workpiece on the workpiece clamping device to confirm whether each buckle position is installed with a buckle, If the buckles are all installed in place, the workpiece clamping control unit controls the clamping mechanism to release the workpiece, and the workpiece grabbing control unit controls the workpiece grabbing device to grab the assembled workpiece first, and place the other half of the workpiece on the workpiece clamping device, and then transfer the assembled workpiece to the qualified area. If the buckle is not installed in place, the workpiece clamping control unit controls the clamping mechanism to release the workpiece, the buckle grabbing control unit controls the buckle grabbing device to cooperate with the clearing mechanism of the buckle loading and unloading device controlled by the buckle unloading control unit to clear the remaining buckles on the buckle grabbing device, and the workpiece grabbing control unit controls the workpiece grabbing device to first grab the defective workpiece and place the other half of the workpiece on the workpiece clamping device, and then transfer the defective workpiece to the unqualified area; S6, the workpiece grabbing control unit controls the workpiece grabbing device to grab half of the workpieces in the workpiece loading area and returns to S2; S7. When there is no workpiece to be assembled with buckles in the workpiece loading area, the automatic buckle installation equipment for automobile interior parts stops working; Among them, during the operation of the automatic installation equipment for automobile interior parts buckles, the buckle loading control unit controls the feeding mechanism of the buckle loading and unloading device to transport, the dividing mechanism to divide the materials, and the material sorting mechanism to sort the materials, so that multiple buckles are arranged in sequence on the material sorting mechanism, waiting to be grabbed by the buckle grabbing device.

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