A snap assembly system

Abstract

This application discloses a buckle assembly system, comprising a robotic arm, a visual positioning assembly, and a picker and placer for clamping buckles. The robotic arm is connected to the picker and placer and is used to drive the picker and placer to move. The visual positioning assembly is disposed on the picker and placer and is used to locate the position of the picker and placer. The visual positioning assembly is in communication with the robotic arm. When retrieving materials, the robotic arm drives the picker and placer to a retrieving station, where the picker and placer grabs the buckle. When loading materials, the robotic arm drives the picker and placer to an installation station, where the picker and placer releases the buckle. This application enables automated buckle installation, improving both operational efficiency and quality.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle parts assembly, and in particular to a snap assembly system. Background Art

[0002] The assembly process of the roof water strip buckle requires the buckle to be installed on the roof. The existing operation method is generally performed manually, and the workers need to lift their hands for a long time to work, and a variety of jigs are needed for positioning and coordination when installing the buckle. Therefore, there are problems such as low operation efficiency, high operation intensity, and unstable operation quality due to inadequate positioning and assembly.

[0003] Therefore, it is necessary to design a buckle assembly system that can realize automatic installation of buckles and improve work efficiency and work quality. Summary of the Invention

[0004] The purpose of this application is to overcome the shortcomings of the existing technology and provide a buckle assembly system that can realize automatic installation of buckles, thereby improving work efficiency and work quality, reducing the labor intensity of staff, and saving labor costs.

[0005] The technical solution of the present application provides a buckle assembly system, comprising a robotic arm, a visual positioning component, and a picker and placer for clamping the buckle;

[0006] The robotic arm is connected to the picker and placer and is used to drive the picker and placer to move, the visual positioning component is arranged on the picker and placer and is used to locate the position of the picker and placer, and the visual positioning component is communicatively connected to the robotic arm;

[0007] When picking up materials, the robotic arm drives the picker to move to the picking station, and the picker grabs the buckle;

[0008] During loading, the robotic arm drives the picker and placer to move to the installation station, and the picker and placer releases the buckle.

[0009] Preferably, the picker and placer includes a base, a clamping mechanism, and a trigger mechanism, wherein the clamping mechanism includes a clamping seat, a first clamping portion, and a second clamping portion. The clamping seat and the trigger mechanism are both arranged on the base, and the first clamping portion and the second clamping portion are respectively elastically and movably connected to the clamping seat.

[0010] When unlocking, the trigger mechanism is connected to the first clamping portion and the second clamping portion and drives the first clamping portion and the second clamping portion to move toward each other;

[0011] When locked, the trigger mechanism is separated from the first clamping portion and the second clamping portion, and the first clamping portion and the second clamping portion elastically move away from each other and are clamped with the buckle.

[0012] Preferably, there is a movable space between the first clamping portion and the second clamping portion;

[0013] When unlocking, the trigger mechanism is connected to the first clamping portion and the second clamping portion and drives the first clamping portion and the second clamping portion to move closer to each other toward the activity space.

[0014] Preferably, the first clamping portion is provided with a first protrusion, the second clamping portion is provided with a second protrusion, the trigger mechanism includes a trigger block, the trigger block is movably connected to the base, and the trigger block is provided with an unlocking inclined surface;

[0015] When unlocking, the unlocking inclined surface contacts the first convex portion and the second convex portion and pushes the first clamping portion and the second clamping portion to move toward each other.

[0016] Preferably, the trigger mechanism also includes a driving rod and a return spring, the driving rod is movably connected to the base, a pressure plate is provided at the end of the driving rod, the return spring is sleeved on the driving rod and arranged between the pressure plate and the base, and the driving rod is connected to the trigger block.

[0017] Preferably, the clamping mechanism and the triggering mechanism are provided in plurality, and the clamping mechanism is provided corresponding to the triggering mechanism. The picker and placer further includes a first frame, a first drive assembly and a second drive assembly. The base is connected to the base bracket, and the base bracket is slidably connected to the first frame. The first drive assembly is provided on the first frame and is used to trigger the action of the triggering mechanism. The second drive assembly is connected to the first frame and is used to drive the base bracket to slide on the first frame.

[0018] Preferably, it also includes a feeding mechanism, which includes a second frame, a first lifting mechanism, a second lifting mechanism and a transfer mechanism. The first lifting mechanism, the second lifting mechanism and the transfer mechanism are all arranged on the second frame. The first lifting mechanism is provided with a first lifting component for carrying a snap tray, and the second lifting mechanism is provided with a second lifting component. The transfer mechanism is used to move the snap tray on the first lifting component to the second lifting component.

[0019] Preferably, the transfer mechanism includes a moving assembly and a third driving assembly for driving the moving assembly to move between the first lifting assembly and the second lifting assembly, and the third driving assembly is connected to the moving assembly.

[0020] Preferably, the moving assembly includes a first limiting portion for abutting against the top of the clip tray and a second limiting portion for abutting against the side of the clip tray.

[0021] Preferably, the feeding mechanism further includes a first shifting mechanism and a second shifting mechanism, the first shifting mechanism includes a third lifting mechanism and a first moving device, the third lifting mechanism is provided with a first supporting plate, the first moving device is connected to the third lifting mechanism, the second shifting mechanism includes a fourth lifting mechanism and a second moving device, the fourth lifting mechanism is provided with a second supporting plate, and the second moving device is connected to the third lifting mechanism;

[0022] The first lifting assembly includes two first support rods arranged at intervals, and a first opening for the first pallet to pass through is formed between the two first support rods. The second lifting assembly includes two second support rods arranged at intervals, and a second opening for the second pallet to pass through is formed between the two second support rods.

[0023] The above technical solution has the following beneficial effects:

[0024] The present application uses a robotic arm to drive the picker and placer to move to different positions, and can locate the position of the picker and placer through a visual positioning component. When picking up materials, the robotic arm can drive the picker and placer to move to the material picking station, and the visual positioning component can accurately locate the position of the picker and placer, so that the picker and placer can accurately grab the buckle. When loading materials, the robotic arm drives the picker and placer to move to the installation station on the roof, and the visual positioning component can accurately locate it, so that the picker and placer can accurately install the buckle at the installation station on the roof. The present application can realize automated installation of buckles, thereby improving work efficiency and quality, reducing the labor intensity of staff, and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The disclosure of this application will become easier to understand with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings:

[0026] Figure 1 is a schematic diagram of the overall structure of a snap assembly system in one embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a pick-and-place device in one embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of a pick-and-place device in one embodiment of the present invention from another angle;

[0029] Figure 4is a schematic diagram of a clamping mechanism and a triggering mechanism in one embodiment of the present invention;

[0030] Figure 5 is an exploded view of a clamping mechanism and a triggering mechanism in one embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of a clamping mechanism in one embodiment of the present invention;

[0032] Figure 7 is a schematic diagram of a plurality of clamping mechanisms arranged in parallel on a base in one embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of a feeding mechanism in one embodiment of the present invention;

[0034] Figure 9 It is a schematic diagram of the feeding mechanism from another angle in one embodiment of the present invention.

[0035] Reference table of accompanying symbols:

[0036] Robotic arm 1;

[0037] Visual positioning component 2: light source 21, camera 22;

[0038] Pick and place device 3:

[0039] Base 31, base bracket 310;

[0040] The clamping mechanism 32 includes a clamping seat 320 , a first clamping portion 321 , a first connecting post 3211 , a first clamping lip 3212 , a first protrusion 3213 , a second clamping portion 322 , a second connecting post 3221 , a second clamping lip 3222 , a second protrusion 3223 , and a movable space 323 .

[0041] Trigger mechanism 33:

[0042] Trigger block 331, unlocking slope 3311;

[0043] Driving rod 332, return spring 333, pressure plate 334;

[0044] First rack 34;

[0045] First drive assembly 35;

[0046] Second drive assembly 36, stepper motor 361, belt 362, drive wheel 363;

[0047] Feeding mechanism 4:

[0048] Second rack 41;

[0049] A first lifting mechanism 42, a first lifting assembly 421, and a first support rod 4211;

[0050] Second lifting mechanism 43, second lifting assembly 431, second support rod 4311;

[0051] Transfer mechanism 44, moving assembly 441, first limiting portion 4411, second limiting portion 4412, third driving assembly 442;

[0052] A first shifting mechanism 45, a third lifting mechanism 451, a first moving device 452, and a first supporting plate 453;

[0053] Second shifting mechanism 46, fourth lifting mechanism 461, second moving device 462, second supporting plate 463;

[0054] Gantry 5: lateral movement mechanism 51. DETAILED DESCRIPTION

[0055] The specific implementation of this application is further described below with reference to the accompanying drawings.

[0056] It is easy to understand that according to the technical solution of this application, a variety of structural methods and implementation methods can be replaced with each other by those skilled in the art without changing the essential spirit of this application. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of this application and should not be regarded as the entire application or as a limitation or restriction of the technical solution of the application.

[0057] In this specification, directional terms such as "up," "down," "left," "right," "front," "back," "front," "back," "top," and "bottom" are defined relative to the configurations shown in the accompanying drawings. These terms are relative and may vary depending on the device's location or usage. Therefore, these and other directional terms should not be construed as restrictive. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0059] In one embodiment of the present invention, a snap-fit ​​assembly system is disclosed, such as Figure 1 and Figure 2 As shown, it includes a robotic arm 1, a visual positioning component 2 and a picker and placer 3 for clamping the buckle;

[0060] The robot arm 1 is connected to the picker and placer 3 and is used to drive the picker and placer 3 to move. The visual positioning component 2 is set on the picker and placer 3 and is used to locate the position of the picker and placer 3. The visual positioning component 2 is in communication with the robot arm 1;

[0061] When picking up materials, the robot arm 1 drives the pick-and-place device 3 to move to the picking station, and the pick-and-place device 3 grabs the buckle;

[0062] During loading, the robotic arm 1 drives the picker and placer 3 to move to the installation station, and the picker and placer 3 releases the buckle.

[0063] Furthermore, the robotic arm 1 has multiple degrees of freedom, enabling it to move the picker 3 in multiple directions and angles, allowing it to be moved to different installation positions suitable for the vehicle roof. By using the robotic arm 1 to move the picker 3 to the installation and retrieval positions, the time-consuming manual lifting required to install the clips in the prior art can be avoided, thereby reducing the labor intensity of the operator.

[0064] In addition, the present application also provides a visual positioning component 2, wherein the visual positioning component 2 is provided on the picker and placer 3 so as to accurately position the position of the picker and placer 3. Figure 2 As shown, the visual positioning component 2 includes a light source 21 and a camera 22. The light source 21 can improve the ambient brightness captured by the camera 22. The camera 22 can capture images of the environment in which the picker 3 is located and perform visual positioning. The positioning data is transmitted to the robot arm 1 to control the movement of the robot arm 1, thereby enabling the robot arm 1 to accurately move the picker 3 to the material retrieving station and the material loading station. The use of the visual positioning component 2 can achieve precise positioning of the picker 3. Compared with the prior art of manually using a jig to position and install the buckle, the present application uses the visual positioning component 2 in conjunction with the robot arm 1 to accurately and efficiently install the buckle, thereby improving work efficiency and work quality.

[0065] Furthermore, if Figure 1 As shown, the robot arm 1 is mounted on a gantry 5, wherein a transverse movement mechanism 51 is provided on the gantry 5. One end of the robot arm 1 is connected to the transverse movement mechanism 51, and the other end of the robot arm 1 is connected to the picker 3. The transverse movement mechanism 51 can drive the robot arm 1 to move laterally, thereby increasing the operating range of the robot arm 1. The transverse movement mechanism 51 includes a slide rail, a plate, and a cylinder. The slide rail is provided on the gantry 5, and the plate is slidably connected to the slide rail. The cylinder is connected to the plate and is used to drive the plate to slide along the slide rail. The robot arm 1 is connected to the plate and can slide along the plate.

[0066] In some embodiments of the present invention, Figure 2-Figure 5 As shown, the picker and placer 3 includes a base 31, a clamping mechanism 32, and a trigger mechanism 33. The clamping mechanism 32 includes a clamping seat 320, a first clamping portion 321, and a second clamping portion 322. The clamping seat 320 and the trigger mechanism 33 are both disposed on the base 31. The first clamping portion 321 and the second clamping portion 322 are respectively elastically and movably connected to the clamping seat 320.

[0067] When unlocking, the trigger mechanism 33 is connected to the first clamping portion 321 and the second clamping portion 322 and drives the first clamping portion 321 and the second clamping portion 322 to move toward each other;

[0068] When locked, the trigger mechanism 33 is separated from the first clamping portion 321 and the second clamping portion 322 , and the first clamping portion 321 and the second clamping portion 322 elastically move away from each other and are clamped with the buckle.

[0069] Furthermore, if Figure 5 and Figure 6 As shown, the first clamping portion 321 includes a first connecting column 3211 and a first clamping lip 3212, and the second clamping portion 322 includes a second connecting column 3221 and a second clamping lip 3222, wherein the first connecting column 3211 and the second connecting column 3221 are respectively connected to the clamping seat 320, the first clamping lip 3212 is arranged on the outside of the first connecting column 3211, and the second clamping lip 3222 is arranged on the outside of the second connecting column 3221, and the first connecting column 3211, the second connecting column 3221 and the clamping seat 320 are an integrated molding structure, which can be an integrated injection molding or an integrated molding of an elastic metal material. The first end of a connecting column 3211 is connected to the clamping seat 320, and the first clamping lip 3212 is arranged at the second end of the first connecting column 3211. Similarly, the first end of the second connecting column 3221 is connected to the clamping seat 320, and the second clamping lip 3222 is arranged at the second end of the second connecting column 3221. Since the first connecting column 3211 and the second connecting column 3221 are elastically deformable parts, when the second ends of the first connecting column 3211 and the second connecting column 3221 are subjected to force, they can be elastically deformed relative to each other with the second ends as the fulcrum, so that the first clamping lip 3212 and the second clamping lip 3222 can be moved closer to or away from each other.

[0070] When locked, the first connecting post 3211 and the second connecting post 3221 remain parallel to each other or have a force acting in a direction away from each other in the absence of an external force, thereby enabling the first engaging lip 3212 and the second engaging lip 3222 to engage with the buckle on the buckle, thereby grasping the buckle. When unlocked, the trigger mechanism 33 connects with the first connecting post 3211 and the second connecting post 3221 and triggers the first connecting post 3211 and the second connecting post 3221 to move, thereby causing the first engaging lip 3212 and the second engaging lip 3222 to move toward each other, so that the first engaging lip 3212 and the second engaging lip 3222 are disengaged from the buckle on the buckle. At this time, the buckle can be separated from the access device 3 and installed in the installation position on the vehicle roof.

[0071] Specifically, if Figure 4 As shown, the buckle has a roughly V-shaped cross-section, with a notch at the buckle's location. A first snap-on lip 3212 and a second snap-on lip 3222 snap into the notch and secure the buckle, allowing it to be gripped. An adhesive portion is located on the other side of the notch. To install the buckle, the robotic arm 1 drives the picker 3 toward the vehicle roof, pressing the adhesive portion to the mounting location. The picker 3 is then unlocked, and the first and second snap-on lips 3212, 3222 separate from the buckle, completing installation.

[0072] Optionally, guide slopes are provided on the first snap-fit ​​lip 3212 and the second snap-fit ​​lip 3222. When grabbing the buckle, the robot arm 1 controls the picker and placer 3 to press toward the buckle. At this time, the buckle contacts the guide slopes on the first snap-fit ​​lip 3212 and the second snap-fit ​​lip 3222, thereby driving the first snap-fit ​​lip 3212 and the second snap-fit ​​lip 3222 to approach each other and then be able to be snapped into the buckle's socket, thereby enabling the buckle to be quickly grabbed.

[0073] Preferably, if Figure 7 As shown, there are multiple sets of clamping mechanisms 32, and the trigger mechanism 33 can drive the multiple sets of clamping mechanisms 32 to act synchronously. By providing multiple sets of clamping mechanisms 32, the connection between the picker 3 and the buckle can be made more secure.

[0074] Optionally, the first clamping portion 321 and the second clamping portion 322 are slidably connected to the clamping seat 320, wherein a spring is provided between the first clamping portion 321 and the second clamping portion 322. The spring can exert a force to move the first clamping portion 321 and the second clamping portion 322 away from each other, so that the first clamping portion 321 and the second clamping portion 322 can be clamped and fixed with the buckle when locked. When unlocking, the trigger mechanism 33 drives the first clamping portion 321 and the second clamping portion 322 toward each other, thereby separating from the buckle and unlocking.

[0075] In some embodiments of the present invention, Figure 6 As shown, there is a movable space 323 between the first clamping portion 321 and the second clamping portion 322;

[0076] When unlocking, the trigger mechanism 33 is connected to the first clamping portion 321 and the second clamping portion 322 and drives the first clamping portion 321 and the second clamping portion 322 to move closer to each other toward the movable space 323 .

[0077] Furthermore, if Figure 6 As shown, the first connecting column 3211 and the second connecting column 3221 are arranged in parallel and at intervals, and an active space 323 is formed between the first connecting column 3211 and the second connecting column 3221. When the trigger mechanism 33 triggers the first connecting column 3211 and the second connecting column 3221 to move, the first connecting column 3211 and the second connecting column 3221 can be deformed / bent toward the active space 323, so that the first snap-fit ​​lip 3212 and the second snap-fit ​​lip 3222 can approach each other and disengage from the buckle to achieve unlocking.

[0078] In some embodiments of the present invention, Figure 6 As shown, the first clamping portion 321 is provided with a first protrusion 3213, and the second clamping portion 322 is provided with a second protrusion 3223. Figure 5 As shown, the trigger mechanism 33 includes a trigger block 331 , which is movably connected to the base 31 , and an unlocking inclined surface 3311 is provided on the trigger block 331 ;

[0079] When unlocking, the unlocking inclined surface 3311 contacts the first protrusion 3213 and the second protrusion 3223 and pushes the first clamping portion 321 and the second clamping portion 322 to move toward each other.

[0080] Furthermore, the two trigger blocks 331 are respectively arranged on one side of the first clamping portion 321 and one side of the second clamping portion 322, and the two trigger blocks 331 operate synchronously. The first protrusion 3213 is arranged on the outside of the first connecting column 3211, and the second protrusion 3223 is arranged on the outside of the second connecting column 3221.

[0081] When locked, the unlocking inclined surface 3311 on the trigger block 331 separates from the first and second protrusions 3213, 3223. The first and second connecting posts 3211, 3221 remain open under their own elastic force, allowing the first and second clipping lips 3212, 3222 to engage with the buckle. When unlocked, the trigger block 331 moves toward the first and second protrusions 3213, 3223, causing the first and second protrusions 3213, 3223 to contact the unlocking inclined surface 3311. The first and second connecting posts 3211, 3221 move toward each other under the guidance of the unlocking inclined surface 3311, thereby allowing the first and second clipping lips 3212, 3222 to move toward each other, thereby separating and unlocking the first and second clipping lips 3212, 3222 from the buckle.

[0082] In some embodiments of the present invention, Figure 5 As shown, the trigger mechanism 33 also includes a driving rod 332 and a reset spring 333. The driving rod 332 can movably pass through the middle cavity of the base 31. The end of the driving rod 332 is fixedly connected to the pressure plate 334. The reset spring 333 is sleeved on the driving rod 332 and is arranged between the pressure plate 334 and the bottom plate of the base 31 to promote the reset of the driving rod 332 when it is not under stress. The driving rod 332 is connected to the trigger block 331.

[0083] Furthermore, the drive rod 332 is axially slidable relative to the base 31. The trigger block 331 is provided with an accommodating groove on the inner side relative to the drive rod 332. A side portion of the drive rod 332 is disposed within the accommodating groove. The two sides of the drive rod 332 are respectively fixedly connected to a trigger block 331 via fasteners, thereby synchronously driving the two trigger blocks 331 to operate. During unlocking, an external drive device abuts against the pressure plate 334 and drives the drive rod 332 to slide, causing the unlocking bevel 3311 on the trigger block 331 to contact the first protrusion 3213 and the second protrusion 3223. During locking, the force applied to the drive rod 332 is removed, and the drive rod 332 is reset under the elastic force of the return spring 333, causing the unlocking bevel 3311 to separate from the first protrusion 3213 and the second protrusion 3223.

[0084] In some embodiments of the present invention, Figure 7 As shown, there are multiple clamping mechanisms 32 and triggering mechanisms 33, and the clamping mechanisms 32 and triggering mechanisms 33 are correspondingly arranged, such as Figure 2As shown, the picker and placer 3 also includes a first frame 34, a first drive assembly 35 and a second drive assembly 36. The base bracket 310 is slidably connected to the first frame 34. The first drive assembly 35 is set on the first frame 34 and is used to trigger the trigger mechanism 33 to operate. The second drive assembly 36 is connected to the first frame 34 and is used to drive the base 31 to slide on the first frame 34.

[0085] Furthermore, if Figure 7 As shown, multiple clamping mechanisms 32 are arranged side by side on the base bracket 310. Preferably, four clamping mechanisms 32 are provided, allowing the picker 3 to simultaneously grasp four clips at a time for installation at four corresponding mounting locations on the roof. This can save the reciprocating material removal and installation process and improve work efficiency. The first drive assembly 35 is a cylinder mounted on the first frame 34. When unlocking, the cylinder contacts the pressure plate 334 on the drive rod 332 and pushes the drive rod 332 to move, achieving unlocking.

[0086] Furthermore, the second drive component 36 can drive the base bracket 310 to slide on the first frame 34, so that the first drive component 35 can control different clamping mechanisms 32 to unlock. When the buckle is installed at the first installation position, the second drive component 36 drives the base bracket 310 to slide to the position where the first clamping mechanism 32 and the first drive component 35 are axially matched. At this time, the action of the first drive component 35 can control the first drive component 35 to unlock. Similarly, multiple clamping mechanisms 32 can be unlocked to meet the installation needs of different positions.

[0087] Among them, Figure 2 As shown, the second drive assembly 36 includes a stepper motor 361, a belt 362 and a drive wheel 363. The belt 362 is wrapped around the two drive wheels 363. The stepper motor 361 is connected to one of the drive wheels 363. The belt 362 is connected to the drive wheel 363 of the base bracket 310. The stepper motor 361 drives the drive wheel 363 to rotate to control the movement of the belt 362, thereby driving the base 31 to slide.

[0088] Optionally, the number of the clamping mechanisms 32 can be increased or decreased according to demand.

[0089] In some embodiments of the present invention, Figure 8As shown, it also includes a feeding mechanism 4, which includes a second frame 41, a first lifting mechanism 42, a second lifting mechanism 43 and a transfer mechanism 44. The first lifting mechanism 42, the second lifting mechanism 43 and the transfer mechanism 44 are all arranged on the second frame 41. The first lifting mechanism 42 is provided with a first lifting component 421 for carrying a snap tray, and the second lifting mechanism 43 is provided with a second lifting component 431. The transfer mechanism 44 is used to move the snap tray on the first lifting component 421 to the second lifting component 431.

[0090] Furthermore, multiple clips are arranged and placed on the clip trays, and multiple clip trays are stacked in sequence, wherein multiple clip trays loaded with clips are stacked and placed on the first lifting component 421, and the clip tray at the top is controlled by the first lifting mechanism 42 to move to the material picking station to facilitate the picker 3 to pick up the material. At the same time, the second lifting mechanism 43 controls the second lifting component 431 or the empty clip tray at the top of the second lifting component 431 to move to the bottom of the clip tray at the top of the first lifting component 421. The height difference between the two is the thickness of a single clip tray. When the clips on the clip tray on the first lifting component 421 are completely removed, the clip tray on the first lifting component 421 can be moved to the second lifting component 431 through the transfer mechanism 44.

[0091] A position sensor for detecting the position of the clip tray is provided on the first frame 34 , and the position sensor is in communication with the first lifting mechanism 42 and the second lifting mechanism 43 to control the movement of the first lifting mechanism 42 and the second lifting mechanism 43 .

[0092] In some embodiments of the present invention, Figure 8 As shown, the transfer mechanism 44 includes a moving assembly 441 and a third driving assembly 442 for driving the moving assembly 441 to move between the first lifting assembly 421 and the second lifting assembly 431 , and the third driving assembly 442 is connected to the moving assembly 441 .

[0093] Among them, the transfer mechanism 44 is at the top of the first lifting mechanism 42 and the second lifting mechanism 43, and the third driving component 442 can drive the moving component 441 to slide horizontally to move the clip tray on the first lifting component 421 to the second lifting component 431.

[0094] In some embodiments of the present invention, Figure 8 As shown, the moving assembly 441 includes a first limiting portion 4411 for abutting against the top of the snap tray and a second limiting portion 4412 for abutting against the side of the snap tray.

[0095] The first limiting portion 4411 abuts against the top of the tray, thereby providing a positioning function, allowing the topmost clip tray of the first lifting assembly 421 to move to a set height, facilitating the picker 3 to grasp the clips. Simultaneously, the second limiting portion 4412 abuts against the side of the clip tray. When the third driving assembly 442 drives the moving assembly 441 to move laterally, the second limiting portion 4412 can push the clip tray to move laterally onto the second lifting tray.

[0096] In some embodiments of the present invention, Figure 9 As shown, the feeding mechanism 4 further includes a first shifting mechanism 45 and a second shifting mechanism 46. The first shifting mechanism 45 includes a third lifting mechanism 451 and a first moving device 452. The third lifting mechanism 451 is provided with a first supporting plate 453. The first moving device 452 is connected to the third lifting mechanism 451. The second shifting mechanism 46 includes a fourth lifting mechanism 461 and a second moving device 462. The fourth lifting mechanism 461 is provided with a second supporting plate 463. The second moving device 462 is connected to the third lifting mechanism 451.

[0097] The first lifting assembly 421 includes two first support rods 4211 arranged at intervals, and a first opening for the first support plate 453 to pass through is formed between the two first support rods 4211. The second lifting assembly 431 includes two second support rods 4311 arranged at intervals, and a second opening for the second support plate 463 to pass through is formed between the two second support rods 4311.

[0098] The width of the first support plate 453 is smaller than the width of the first opening, and the width of the second support plate 463 is smaller than the width of the second opening. When loading the clip tray with clips, the first moving device 452 drives the first support plate 453 to move to the side of the first lifting mechanism 42, and the third lifting mechanism 451 drives the first support plate 453 higher than the first support rod 4211. The staff can place multiple clip trays on the first support plate 453 and move the first tray to the position of the first lifting mechanism 42 through the first moving device 452. The third lifting mechanism 451 then descends, allowing the clip tray to be transferred to the first lifting assembly 421. Similarly, when the empty clip tray on the second lifting assembly 431 is full, the fourth lifting mechanism 461 drives the second support plate 463 to rise and lift the clip tray, and then the second moving device 462 moves the clip tray out.

[0099] The above description is only the principle and preferred embodiment of the present application. It should be noted that, for those skilled in the art, on the basis of the principle of the present application, several other variations can be made, which should also be considered as the scope of protection of the present application.

Claims

1. A snap assembly system, characterized in that: It includes a robotic arm, a visual positioning component, and a picker and placer for clamping the buckle; The robotic arm is connected to the picker and placer and is used to drive the picker and placer to move. The visual positioning component is set on the picker and placer and is used to locate the position of the picker and placer. The visual positioning component is communicatively connected with the robotic arm; When retrieving materials, the robotic arm drives the pick-and-place device to move to the retrieving station, and the pick-and-place device grabs the buckle; During loading, the robotic arm drives the picker and placer to move to the installation station, and the picker and placer releases the buckle; the picker and placer includes a base, a clamping mechanism, and a trigger mechanism, the clamping mechanism includes a clamping seat, a first clamping portion, and a second clamping portion, the clamping seat and the trigger mechanism are both arranged on the base, and the first clamping portion and the second clamping portion are respectively elastically and movably connected to the clamping seat; The first clamping portion is provided with a first connecting post, a first clamping lip and a first protrusion, and the second clamping portion is provided with a second connecting post, a second clamping lip and a second protrusion. The first connecting post and the second connecting post are respectively connected to the clamping seat. The first clamping lip is provided on the outer side of the first connecting post, and the second clamping lip is provided on the outer side of the second connecting post. The trigger mechanism includes a trigger block, which is movably connected to the base and has an unlocking inclined surface; When locked, the unlocking inclined surface on the trigger block separates from the first convex portion and the second convex portion, and the first connecting column and the second connecting column remain open under the action of their own elastic force, so that the first clamping lip and the second clamping lip can be clamped with the buckle; When unlocking, the trigger block moves toward the first protrusion and the second protrusion, and makes the first protrusion and the second protrusion contact with the unlocking inclined surface. The first connecting column and the second connecting column move toward each other under the guidance of the unlocking inclined surface, so that the first clip lip and the second clip lip can move toward each other, thereby separating the first clip lip and the second clip lip from the buckle and unlocking.

2. The buckle assembly system according to claim 1, characterized in that: There is a movable space (323) between the first clamping portion (321) and the second clamping portion (322); When unlocking, the trigger mechanism (33) is connected to the first clamping portion (321) and the second clamping portion (322) and drives the first clamping portion (321) and the second clamping portion (322) to move closer to each other toward the activity space (323).

3. The buckle assembly system according to claim 1, characterized in that: The trigger mechanism (33) further comprises a driving rod (332) and a return spring (333); the driving rod (332) is movably connected to the base (31); a pressure plate (334) is provided at the end of the driving rod (332); the return spring (333) is sleeved on the driving rod (332) and arranged between the pressure plate (334) and the base (31); and the driving rod (332) is connected to the trigger block (331).

4. The snap assembly system according to claim 1, wherein: The clamping mechanism (32) and the triggering mechanism (33) are provided in plurality, and the clamping mechanism (32) and the triggering mechanism (33) are provided correspondingly. The picker (3) further comprises a first frame (34), a first driving assembly (35) and a second driving assembly (36). The base (31) is connected to a base bracket (310), and the base bracket (310) is slidably connected to the first frame (34). The first driving assembly (35) is provided on the first frame (34) and is used to trigger the triggering mechanism (33) to operate. The second driving assembly (36) is connected to the first frame (34) and is used to drive the base bracket (310) to slide on the first frame (34).

5. The snap assembly system according to claim 1, wherein: The invention also includes a feeding mechanism (4), wherein the feeding mechanism (4) includes a second frame (41), a first lifting mechanism (42), a second lifting mechanism (43) and a transfer mechanism (44), wherein the first lifting mechanism (42), the second lifting mechanism (43) and the transfer mechanism (44) are all arranged on the second frame (41), the first lifting mechanism (42) is provided with a first lifting component (421) for carrying a clip tray, the second lifting mechanism (43) is provided with a second lifting component (431), and the transfer mechanism (44) is used to move the clip tray on the first lifting component (421) to the second lifting component (431).

6. The snap assembly system according to claim 5, characterized in that: The transfer mechanism (44) includes a moving component (441) and a third driving component (442) for driving the moving component (441) to move between the first lifting component (421) and the second lifting component (431), and the third driving component (442) is connected to the moving component (441).

7. The snap assembly system according to claim 6, wherein: The moving assembly (441) comprises a first limiting portion (4411) for abutting against the top of the snap tray and a second limiting portion (4412) for abutting against the side of the snap tray.

8. The snap assembly system according to claim 5, wherein: The feeding mechanism (4) further comprises a first shifting mechanism (45) and a second shifting mechanism (46), wherein the first shifting mechanism (45) comprises a third lifting mechanism (451) and a first moving device (452), wherein the third lifting mechanism (451) is provided with a first supporting plate (453), and the first moving device (452) is connected to the third lifting mechanism (451), and the second shifting mechanism (46) comprises a fourth lifting mechanism (461) and a second moving device (462), wherein the fourth lifting mechanism (461) is provided with a second supporting plate (463), and the second moving device (462) is connected to the third lifting mechanism (451); The first lifting assembly (421) includes two first support rods (4211) arranged at intervals, and a first opening for the first support plate (453) to pass through is formed between the two first support rods (4211). The second lifting assembly (431) includes two second support rods (4311) arranged at intervals, and a second opening for the second support plate (463) to pass through is formed between the two second support rods (4311).

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