Handle assembly system

Abstract

The application relates to the technical field of handle accessory assembly, and particularly provides a handle accessory assembly system, which comprises a cabinet, a first mechanical arm, a first end picker, a second end picker and a controller. The controller is used for controlling the first mechanical arm to cooperate with a grabbing mechanism to grab a decorative sheet and place the grabbed decorative sheet into a positioning groove. The controller is also used for controlling a pin correcting mechanism to correct the pins of a bent pin decorative sheet, so that the bent pin decorative sheet is corrected into a vertical pin decorative sheet. The controller is also used for controlling the first mechanical arm to cooperate with the grabbing mechanism to grab a handle cover, placing the grabbed handle cover on the vertical pin decorative sheet, and controlling a pin bending mechanism to bend the pins, so as to obtain a handle accessory. The system can effectively solve the problems of high labor intensity, low assembly efficiency and poor consistency of assembly quality caused by the manual pin correction of the bent pin decorative sheet and the assembly of the handle accessory.

Description

Technical Field

[0001] This application relates to the field of handle accessory assembly technology, and more specifically, to a handle accessory assembly system. Background Technology

[0002] The handle accessory consists of a decorative plate and a handle cover. The decorative plate has multiple pins (see reference). Figure 1 (a) The handle cover has multiple sockets facing the pins (see reference). Figure 2 (b) In the prior art, the bent-pin decorative pieces (decorative pieces with bent pins) require manual pin straightening and sequentially inserting the vertical-pin decorative pieces (decorative pieces with unbent pins) into the sockets of the handle cover and bending the pins. Because the prior art requires manual pin straightening of the bent-pin decorative pieces and assembly of the handle accessories, it suffers from high labor intensity, low assembly efficiency, and poor assembly quality consistency due to the need for manual pin straightening and assembly of the handle accessories.

[0003] There is currently no effective technical solution to the above problems. Summary of the Invention

[0004] The purpose of this application is to provide a handle accessory assembly system that can effectively solve the problems of high labor intensity, low assembly efficiency, and poor assembly quality consistency caused by the need for manual straightening of bent pin decorative pieces and assembly of handle accessories.

[0005] This application provides a handle accessory assembly system, which includes: The system includes a cabinet, a first robotic arm, a first end effector, a second end effector, and a controller. Both the first robotic arm and the second end effector are mounted on the cabinet. The first end effector is connected to the end of the first robotic arm. The first end effector has a gripping mechanism and a pin bending mechanism. The second end effector has a decorative piece fixture and a pin straightening mechanism. The decorative piece fixture has a positioning groove for placing decorative pieces. The controller is used to control the first robotic arm to cooperate with the gripping mechanism to grip the decorative piece and place the gripped decorative piece into the positioning slot; The controller is also used to control the pin straightening mechanism to straighten the bent pin decoration piece to straighten it into a vertical pin decoration piece. The bent pin decoration piece is the decoration piece whose upper pin is bent, and the vertical pin decoration piece is the decoration piece whose upper pin is not bent. The controller is also used to control the first robotic arm to cooperate with the gripping mechanism to grip the handle cover and place the gripped handle cover onto the vertical pin decoration piece, and to control the pin bending mechanism to bend the pin to obtain the handle accessory.

[0006] This application provides a handle accessory assembly system. First, a first robotic arm and a gripping mechanism work together to grip a decorative piece and place it into a positioning groove. Then, the first robotic arm and the gripping mechanism grip a handle cover and place it onto a vertical pin decorative piece. Finally, a pin bending mechanism is controlled to bend the pins. Because this handle accessory assembly system can insert the pins of the decorative piece into the holes of the handle cover and bend the pins through the cooperation of the first robotic arm, the gripping mechanism, and the pin bending mechanism, and because this handle accessory assembly system can use a pin straightening mechanism to straighten the pins of the bent pin decorative piece, this application is equivalent to providing an automatic pin straightening system for bent pin decorative pieces and an automatic handle accessory assembly system. Therefore, this application eliminates the need for manual pin straightening of bent pin decorative pieces and assembly of handle accessories, effectively solving the problems of high labor intensity, low assembly efficiency, and poor assembly quality consistency caused by manual pin straightening of bent pin decorative pieces and assembly of handle accessories.

[0007] Optionally, the first end effector also has a first bracket, the end of the first robotic arm is connected to the first bracket, and the pin bending mechanism includes a first drive assembly, a connecting base plate, a floating connecting plate, a pin-mounted angled pressure head, a compression spring, a pin, a floating connector, a guide shaft, a guide sleeve, and a displacement sensor. The first drive assembly is mounted on the first bracket, and the output end of the first drive assembly is fixedly connected to the connecting base plate. The guide shaft and the pin are both fixedly connected to the connecting base plate. The guide sleeve is sleeved outside the guide shaft and slidably connected to the guide shaft. The compression spring is sleeved outside the guide shaft and located above the guide sleeve. The floating connecting plate is fixedly connected to the guide sleeve. The end of the guide shaft away from the connecting base plate has a cavity. The floating connector is slidably connected to the cavity and one end extends out of the guide shaft. A displacement sensor is fixed at the end of the floating connector near the connecting base plate. The pin-mounted angled pressure head is fixed to the floating connecting plate. The pin is slidably connected to the pin-mounted angled pressure head and the end of the pin away from the connecting base plate can extend out of the pin-mounted angled pressure head. The displacement sensor is used to collect the displacement information of the floating connector relative to the connecting base plate. The process of the controller controlling the pin bending mechanism to bend the pin includes: The first drive component is controlled to drive the connecting base plate to move toward the decorative piece fixture until the displacement information is greater than or equal to the first preset displacement threshold, so that the buckle foot angled pressure head and the ejector pin cooperate to bend the pin.

[0008] This technical solution is equivalent to controlling the movement of the ejector pin according to the displacement information and the first preset displacement threshold, thereby effectively avoiding situations where the pin movement is insufficient, resulting in the decorative piece pin not being bent to contact the end of the handle cover away from the decorative piece, thus reducing the pressing and fixing effect of the decorative piece pin on the handle cover, or where the pin movement is too large, resulting in direct contact between the ejector pin and the handle cover, thus causing damage to the handle cover.

[0009] Optionally, the first end effector also has a vision inspection mechanism for acquiring image information. The gripping mechanism includes a second drive assembly and two grippers. The second drive assembly is mounted on a first bracket. A first through hole is provided on the connecting base plate. Limiting grooves are provided on both sides of the floating connecting plate. The grippers are connected to the second drive assembly. Both grippers pass through the first through hole and are respectively located in the limiting grooves on both sides of the floating connecting plate. The process of the controller controlling the first robotic arm to cooperate with the gripping mechanism to grip the decorative piece and place the gripped decorative piece into the positioning groove includes: Based on the image information, the first robotic arm is controlled to move the gripping mechanism above the decorative piece; Control the first robotic arm to drive the first end effector to move toward the decorative piece until the displacement information is greater than or equal to the second preset displacement threshold, and the second preset displacement threshold is less than or equal to the first preset displacement threshold. The second drive assembly is controlled to move the gripper toward the center of the floating connecting plate to grab the decorative piece; Based on the image information, the first robotic arm is controlled to move the gripping mechanism above the decorative piece fixture, and the second drive assembly is controlled to drive the gripper to move away from the center of the floating connecting plate, so as to place the gripped decorative piece into the positioning slot.

[0010] Optionally, the positioning groove is equipped with a positioning detection component and a magnetic attraction component. The positioning detection component is used to detect whether a decorative piece is placed in the positioning groove. Both the positioning detection component and the magnetic attraction component are electrically connected to the controller. The controller is also used to control the magnetic attraction component to attract the decorative piece when the positioning detection component detects that a decorative piece is placed in the positioning groove.

[0011] After the positioning detection component detects that a decorative piece is placed in the positioning groove, this technical solution controls the magnetic suction component to attract the decorative piece and fix it in the positioning groove. Therefore, this technical solution can effectively avoid the situation where the handle cover cannot be successfully placed on the decorative piece due to the change in the position of the decorative piece after it is placed in the positioning groove, resulting in the failure of the handle accessory assembly.

[0012] Optionally, the handle accessory assembly system also includes a second robotic arm, with the second end effector connected to the end of the second robotic arm.

[0013] Optionally, the second end effector also has a secondary positioning fixture for the decorative piece and a secondary positioning fixture for the handle cover. The secondary positioning fixtures for the decorative piece and the handle cover are symmetrically arranged on the second end effector. The process of the controller controlling the first robotic arm to cooperate with the gripping mechanism to grip the decorative piece and place the gripped decorative piece into the positioning groove includes: The first robotic arm is controlled to cooperate with the gripping mechanism to grip the decorative piece. During the gripping process, the second robotic arm is controlled to drive the second end effector to move toward the first end effector according to the first transformation matrix and the second transformation matrix, so that the distance between the first end effector and the second end effector is within a preset safe distance range. The first transformation matrix is ​​the transformation matrix from the coordinate system of the first end effector to the coordinate system of the first robotic arm base, and the second transformation matrix is ​​the transformation matrix from the coordinate system of the second end effector to the coordinate system of the second robotic arm base. The first robotic arm and gripping mechanism are controlled to place the gripped decorative piece into the secondary positioning fixture for the decorative piece; The first robotic arm and gripping mechanism are controlled to place the decorative piece in the secondary positioning fixture into the positioning slot; The process of the controller controlling the first robotic arm to cooperate with the gripping mechanism to grasp the handle cover and place the grasped handle cover onto the vertical pin decorative piece includes: The first robotic arm is controlled to cooperate with the gripping mechanism to grip the handle cover. During the gripping process, the second robotic arm is controlled to drive the second end effector to move toward the first end effector and to drive the second end effector to rotate, so that the distance between the first end effector and the second end effector is within a preset safe distance range and the distance between the first end effector and the secondary positioning fixture of the handle cover is less than the distance between the first end effector and the secondary positioning fixture of the decorative piece. Control the first robotic arm and the gripping mechanism to place the gripped handle cover into the secondary positioning fixture of the handle cover; The first robotic arm and gripping mechanism are controlled to place the handle cover in the secondary positioning fixture onto the vertical pin decorative piece.

[0014] This technical solution improves the precision of the first robotic arm's gripping of the decorative piece and the handle cover by performing secondary positioning of the handle cover and decorative piece. Therefore, it effectively improves the assembly precision of the handle accessory assembly system. Furthermore, when the first robotic arm and gripping mechanism grip the decorative piece, the solution reduces the distance between the gripping mechanism and the secondary positioning fixture by controlling the second robotic arm to drive the second end effector toward the first end effector. Similarly, when the first robotic arm and gripping mechanism grip the handle cover, the solution reduces the distance between the gripping mechanism and the secondary positioning fixture by controlling the second robotic arm to drive the second end effector toward the first end effector and to rotate the second end effector. This effectively reduces the amount of movement required for the first robotic arm to place the gripped decorative piece and the handle cover into the secondary positioning fixture. In other words, this solution effectively shortens the idle travel of the first robotic arm, thereby significantly improving the assembly efficiency of the handle accessories.

[0015] Optionally, the second end effector also includes a second bracket, a transfer connecting plate, and a third drive assembly. The transfer connecting plate is connected to the second bracket, and a second through hole is provided in the center of the transfer connecting plate. The third drive assembly is mounted on the second bracket, and the output end of the third drive assembly is located in the second through hole and connected to the decorative piece fixture. The pin straightening mechanism is mounted on the transfer connecting plate. The process of the controller controlling the pin straightening mechanism to straighten the bent pin decorative piece includes: The control third drive component works in conjunction with the pin straightening mechanism to straighten the pins of the bent pin decoration piece.

[0016] Optionally, the pin straightening mechanism includes a fourth drive assembly and a push rod. The fourth drive assembly is mounted on the transfer connecting plate, and the push rod is mounted on the fourth drive assembly. The end of the push rod away from the fourth drive assembly has a U-shaped groove. The fourth drive assembly is used to drive the U-shaped groove to move toward or away from the decorative piece fixture. The process of the controller controlling the third drive assembly to cooperate with the pin straightening mechanism to straighten the pins of the bent pin decorative piece includes: A1. Based on the first preset distance, control the fourth driving component to drive the U-shaped groove to move toward the decorative piece fixture, and control the third driving component to drive the decorative piece fixture to rise, so as to move the pins of the decorative piece into the U-shaped groove. A2. Based on the second preset distance, control the fourth drive component to drive the U-shaped groove to move away from the decorative piece fixture; A3. Control the third drive component to reset, control the fourth drive component to drive the U-shaped groove to move away from the decorative piece fixture according to the third preset distance, and control the third drive component to drive the decorative piece fixture to rise, so as to move the pin to the side of the push rod away from the fourth drive component. A4. Based on the fourth preset distance, control the fourth drive component to drive the U-shaped groove to move toward the decorative piece tooling, control the third drive component and the fourth drive component to reset, and reduce the second preset distance and the fourth preset distance based on the first preset adjustment threshold, where the second preset distance is greater than the fourth preset distance; A5. Determine whether the number of times step A4 has been executed is greater than or equal to the first preset number. If yes, execute step A6; otherwise, return to step A1. A6. According to the fifth preset distance, control the fourth driving component to drive the U-shaped groove to move toward the decorative piece fixture, and control the third driving component to drive the decorative piece fixture to rise, so as to move the pin to the side of the push rod away from the fourth driving component. The first preset distance is greater than the fifth preset distance. A7. According to the sixth preset distance, control the fourth drive component to drive the U-shaped groove to move toward the decorative piece fixture; A8. Control the third drive component to reset, control the fourth drive component to drive the U-shaped groove to move toward the decorative piece fixture according to the seventh preset distance, and control the third drive component to drive the decorative piece fixture to rise so as to move the pin into the U-shaped groove. A9. Based on the eighth preset distance, control the fourth drive component to drive the U-shaped groove to move toward the decorative piece fixture, control the third drive component to drive the decorative piece fixture to descend and control the fourth drive component to reset, and reduce the sixth preset distance and the eighth preset distance based on the second preset adjustment threshold, where the sixth preset distance is greater than the eighth preset distance. A10. Determine whether the number of times step A9 has been executed is greater than or equal to the second preset number. If yes, complete the pin calibration. If no, return to step A6.

[0017] This technical solution is equivalent to straightening the bent pin decorative piece by repeatedly pushing and pulling the pin. Since the internal force of the pin is eliminated during the repeated pushing and pulling process, this technical solution can effectively improve the structural stability of the pin and reduce fatigue damage to the pin, thereby effectively improving the structural stability and service life of the handle accessories.

[0018] Optionally, the second end effector also has a bending detection component mounted on the second bracket. The bending detection component is used to detect whether the pin bending mechanism bends all the pins.

[0019] Optionally, the first end effector is connected to the first robotic arm via a first flexible flange connector.

[0020] Since the first end effector of this technical solution is connected to the first robotic arm through the first flexible flange connector, this technical solution can dampen and buffer the first end effector to improve the movement accuracy of the first end effector.

[0021] As can be seen from the above, the handle accessory assembly system provided in this application first uses a first robotic arm and a gripping mechanism to grip a decorative piece and place the gripped decorative piece into a positioning groove. Then, the first robotic arm and the gripping mechanism grip the handle cover and place the gripped handle cover onto the vertical pin decorative piece. Finally, the pin bending mechanism is controlled to bend the pin. Since this handle accessory assembly system can complete the insertion of the pin of the decorative piece into the insertion hole of the handle cover and the bending of the pin through the cooperation of the first robotic arm, the gripping mechanism and the pin bending mechanism, and the handle accessory assembly system can complete the pin bending of the bent pin decorative piece using a pin straightening mechanism, this application is equivalent to providing an automatic pin straightening system for bent pin decorative pieces and an automatic assembly system for handle accessories. Therefore, this application eliminates the need for manual pin straightening of bent pin decorative pieces and assembly of handle accessories, thus effectively solving the problems of high labor intensity, low assembly efficiency and poor assembly quality consistency caused by the need for manual pin straightening of bent pin decorative pieces and assembly of handle accessories. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the decorative piece.

[0023] Figure 2 This is a schematic diagram of the handle cover.

[0024] Figure 3 This is a schematic diagram of a handle accessory assembly system provided in an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the structure of the first end effector and the first flexible flange connector provided in the embodiments of this application.

[0026] Figure 5 This is a rear view of the first end effector and the first flexible flange connector provided in an embodiment of this application.

[0027] Figure 6 This is a partial cross-sectional view of the pin bending mechanism provided in the embodiment of this application along the vertical direction.

[0028] Figure 7 This is a schematic diagram of the structure of the second end effector and the second flexible flange connector provided in the first embodiment of this application.

[0029] Figure 8 This is a schematic diagram of the structure of the second end effector and the second flexible flange connector provided in the second embodiment of this application.

[0030] Reference numerals: 1. First robotic arm; 2. First end effector; 201. Gripping mechanism; 2011. Second drive assembly; 2012. Gripper; 202. Pin bending mechanism; 2021. First drive assembly; 2022. Connecting base plate; 2023. Floating connecting plate; 2024. Angle clamping head; 2025. Compression spring; 2026. Ejector pin; 2027. Floating joint; 2028. Guide shaft; 2029. Guide sleeve; 2030. Displacement sensor; 203. First bracket; 204. Vision inspection mechanism; 205. Vision light source; 3 301. Second end effector; 302. Second bracket; 303. Decorative piece fixture; 304. Pin straightening mechanism; 305. Fourth drive assembly; 306. Push rod; 307. Fifth drive assembly; 308. Secondary positioning fixture for decorative piece; 309. Secondary positioning fixture for handle cover; 3000. Transfer connection plate; 301. Third drive assembly; 302. Sixth drive assembly; 303. Second robotic arm; 304. Position detection assembly; 305. Magnetic suction assembly; 306. Bending detection assembly; 307. First flexible flange connector; 308. Second flexible flange connector; 10. Cabinet. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0032] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] like Figures 3-8 As shown, this application provides a handle accessory assembly system, which includes: The cabinet 10, the first robotic arm 1, the first end effector 2, the second end effector 3 and the controller are all mounted on the cabinet 10. The first end effector 2 is connected to the end of the first robotic arm 1. The first end effector 2 has a gripping mechanism 201 and a pin bending mechanism 202. The second end effector 3 has a decorative piece fixture 302 and a pin straightening mechanism 303. The decorative piece fixture 302 is provided with a positioning groove for placing decorative pieces. The controller is used to control the first robotic arm 1 to cooperate with the gripping mechanism 201 to grip the decorative piece and place the gripped decorative piece into the positioning groove; The controller is also used to control the pin straightening mechanism 303 to straighten the bent pin decorative piece to straighten it into a vertical pin decorative piece. The bent pin decorative piece is a decorative piece in which the upper pin is bent, and the vertical pin decorative piece is a decorative piece in which the upper pin is not bent. The controller is also used to control the first robotic arm 1 to cooperate with the gripping mechanism 201 to grip the handle cover and place the gripped handle cover onto the vertical pin decorative piece, and to control the pin bending mechanism 202 to bend the pin to obtain the handle accessory.

[0034] In this embodiment, the first robotic arm 1 is a robotic arm capable of moving along multiple axes. The first end effector 2 is connected to the first robotic arm 1. Specifically, the first end effector 2 has a gripping mechanism 201, a pin bending mechanism 202, and a first support 203. The first robotic arm 1 is connected to the first support 203. Both the gripping mechanism 201 and the pin bending mechanism 202 are mounted on the first support 203. The gripping mechanism 201 can be an electric gripper or a pneumatic gripper, etc., capable of gripping decorative pieces and handle covers. The pin bending mechanism 202 can be a bending machine or an electric pressure head, etc., capable of bending the pins on the decorative pieces. The second end effector 3 in this embodiment has a second bracket 301, a decorative piece fixture 302, and a pin straightening mechanism 303. Both the decorative piece fixture 302 and the pin straightening mechanism 303 are mounted on the second bracket 301. The decorative piece fixture 302 has a positioning groove for placing the decorative piece, which prevents displacement of the decorative piece when placing the handle cover and bent pins. The pin straightening mechanism 303 can straighten the bent pins of the decorative piece. The first robotic arm 1, the gripping mechanism 201, the pin bending mechanism 202, and the pin straightening mechanism 303 in this embodiment are all electrically connected to the controller. This embodiment can utilize a decorative piece supply assembly and a handle cover supply assembly to supply the decorative pieces and handle covers needed for decorating handle accessories. Alternatively, this embodiment can supply the decorative pieces and handle covers needed for decorating handle accessories by manually placing them in specific positions. This embodiment can analyze whether the decorative piece is a bent-pin decorative piece before the first robotic arm 1 cooperates with the gripping mechanism 201 to grip the decorative piece. This embodiment can also analyze whether the decorative piece is a bent-pin decorative piece after it has been gripped and placed into the positioning groove. Specifically, this embodiment can use existing decorative piece defect detection devices or visual inspection technology to analyze whether the decorative piece is a bent-pin decorative piece. Preferably, when controlling the first robotic arm 1 to cooperate with the gripping mechanism 201 to grip the handle cover, this embodiment analyzes whether the decorative piece placed in the positioning groove is a bent-pin decorative piece and performs pin correction on the bent-pin decorative piece to correct it into a vertical pin decorative piece. That is, this embodiment is equivalent to using the time of gripping the handle cover to analyze and correct the bent-pin decorative piece, thereby effectively improving the assembly efficiency of the handle accessory assembly system. It should be understood that the decorative piece in this embodiment has multiple pins and the handle cover has multiple holes facing the pins. After the handle cover is picked up and placed on the vertical pin decorative piece, each pin on the decorative piece is inserted into a hole of the handle cover. After the pin bending mechanism 202 bends the pin, the pin abuts against the side of the handle cover away from the decorative piece, that is, the handle cover is pressed and fixed on the decorative piece.It should also be understood that after the assembly of the handle accessories is completed, this embodiment can use the first robotic arm 1 and the gripping mechanism 201 to unload the handle accessories. It should also be understood that since the decorative pieces in this embodiment are obtained by stamping, the leads of these stamped decorative pieces usually have a certain degree of bending. Therefore, this embodiment can consider all decorative pieces as curved-lead decorative pieces; that is, this embodiment performs lead correction on all decorative pieces placed in the positioning groove.

[0035] This application provides a handle accessory assembly system. First, a first robotic arm 1 and a gripping mechanism 201 work together to grip a decorative piece and place it into a positioning groove. Then, the first robotic arm 1 and the gripping mechanism 201 grip a handle cover and place it onto a vertical pin decorative piece. Finally, a pin bending mechanism 202 is controlled to bend the pin. Because this handle accessory assembly system can insert the pin of the decorative piece into the hole of the handle cover and bend the pin through the cooperation of the first robotic arm 1, the gripping mechanism 201 and the pin bending mechanism 202, and can use a pin straightening mechanism 303 to straighten the pin of the bent pin decorative piece, this application is equivalent to providing an automatic pin straightening system for bent pin decorative pieces and an automatic handle accessory assembly system. Therefore, this application eliminates the need for manual pin straightening of bent pin decorative pieces and assembly of handle accessories, thus effectively solving the problems of high labor intensity, low assembly efficiency and poor assembly quality caused by manual pin straightening of bent pin decorative pieces and assembly of handle accessories.

[0036] In some embodiments, the first end effector 2 further includes a first bracket 203, the end of the first robotic arm 1 is connected to the first bracket 203, and the pin bending mechanism 202 includes a first drive assembly 2021, a connecting base plate 2022, a floating connecting plate 2023, a buckle foot inclined pressure head 2024, a compression spring 2025, a pin 2026, a floating connector 2027, a guide shaft 2028, a guide sleeve 2029, and a displacement sensor 2030. The first drive assembly 2021 is mounted on the first bracket 203, and the output end of the first drive assembly 2021 is fixedly connected to the connecting base plate 2022. The guide shaft 2028 and the pin 2026 are both fixedly connected to the connecting base plate 2022. The guide sleeve 2029 is sleeved outside the guide shaft 2028 and slidably connected to the guide shaft 2028. The compression spring 2025 is sleeved outside the guide shaft 2028 and located on the guide shaft 2028. Above sleeve 2029, floating connecting plate 2023 is fixedly connected to guide sleeve 2029. The end of guide shaft 2028 away from connecting base plate 2022 has a cavity. Floating connector 2027 is slidably connected to the cavity, with one end extending out of guide shaft 2028. A protrusion is provided inside guide shaft 2028, allowing floating connector 2027 to abut against the protrusion. A displacement sensor 2030 is fixed to the end of floating connector 2027 near connecting base plate 2022. Buckle foot inclined pressure head 2024 is fixed to floating connecting plate 2023. Ejector pin 2026 is slidably connected to buckle foot inclined pressure head 2024, with its end away from connecting base plate 2022 extending out of buckle foot inclined pressure head 2024. Displacement sensor 2030 is used to collect displacement information of floating connector 2027 relative to connecting base plate 2022. The process of the controller controlling pin bending mechanism 202 to bend the pin includes: The first drive component 2021 drives the connecting base plate 2022 to move toward the decorative piece fixture 302 until the displacement information is greater than or equal to the first preset displacement threshold, so that the buckle foot inclined pressure head 2024 and the ejector pin 2026 cooperate to bend the pin.

[0037] The first driving component 2021 in this embodiment can be an electric cylinder, pneumatic cylinder, or hydraulic cylinder, which can drive the connecting base plate 2022 to move toward or away from the decorative piece tooling 302. In this embodiment, the guide shaft 2028 is provided with an annular retaining ring at one end away from the connecting base plate 2022. The annular retaining ring can abut against the floating joint 2027. Therefore, this embodiment is equivalent to limiting the extension length of the floating joint 2027 by setting the annular retaining ring (equivalent to limiting the lower limit position of the floating joint 2027 in the cavity). The annular retaining ring can also prevent the floating joint 2027 from falling out of the cavity. In this embodiment, the end of the buckle bevel pressure head 2024 away from the floating connecting plate 2023 has an inclined surface that is inclined toward the floating connecting plate 2023. When the buckle bevel pressure head 2024 contacts the pin, the pin will move along the inclined surface. Therefore, the buckle bevel pressure head 2024 in this embodiment can perform preliminary bending on the pin. There are multiple buckle bevel pressure heads 2024 in this embodiment, and each buckle bevel pressure head 2024 preferably corresponds to the pin of a decorative piece. When the first drive assembly 2021 drives the connecting base plate 2022 to move toward the decorative piece fixture 302, the floating connecting plate 2023 follows the connecting base plate 2022 toward the decorative piece fixture 302. The floating joint 2027 will abut against the decorative piece fixture 302. As the first drive assembly 2021 continues to drive the connecting base plate 2022 toward the decorative piece fixture 302, the floating joint 2027 slides toward the connecting base plate 2022 within the guide shaft 2028 (equivalent to the floating joint 2027 displacing toward the connecting base plate 2022). At this time, the displacement sensor 2030 will collect the displacement information of the floating joint 2027 relative to the connecting base plate 2022. After the floating joint 2027 abuts against the decorative piece fixture 302, the buckle foot inclined pressure head 2024 begins to contact the pin, compressing the spring. When the spring 2025 deforms, the force provided by the compression spring 2025 to the floating connecting plate 2023 enables the buckle foot angled pressure head 2024 to initially bend the pin. After the buckle foot angled pressure head 2024 contacts the decorative piece fixture 302, the end of the ejector pin 2026 away from the connecting base plate 2022 extends out of the buckle foot angled pressure head 2024 and contacts the pin, so as to bend the pin to contact the end of the handle cover away from the decorative piece. That is, this embodiment is equivalent to first initially bending the pin through the cooperation of the buckle foot angled pressure head 2024 and the compression spring 2025, and then using the ejector pin 2026 to bend the pin to contact the end of the handle cover away from the decorative piece. It should be understood that after the buckle foot angled pressure head 2024 contacts the decorative piece fixture 302, only the connecting base plate 2022 and the ejector pin 2026 move toward the decorative piece fixture 302. In this embodiment, the first preset displacement threshold is a preset displacement value. Those skilled in the art can change the size of the first displacement threshold according to actual needs. When the displacement information is greater than or equal to the first preset displacement threshold, the pin of the decorative piece is bent to abut against the end of the handle cover away from the decorative piece.This embodiment controls the movement of the ejector pin 2026 based on displacement information and a first preset displacement threshold. This effectively prevents situations where insufficient movement of the ejector pin 2026 results in the decorative piece's pins not being bent to contact the end of the handle cover furthest from the decorative piece, thus reducing the clamping and fixing effect of the decorative piece's pins on the handle cover. It also prevents excessive movement of the ejector pin 2026 from directly contacting the handle cover, causing damage or breakage. It should be understood that when the displacement information is greater than or equal to the first preset displacement threshold, the controller controls the first drive assembly 2021 to stop driving the connecting base plate 2022 toward the decorative piece fixture 302 and controls the first drive assembly 2021 to reset.

[0038] In some embodiments, the first end effector 2 further includes a vision detection mechanism 204 for acquiring image information. The grasping mechanism 201 includes a second drive assembly 2011 and two grippers 2012. The second drive assembly 2011 is mounted on the first bracket 203. A first through hole is provided on the connecting base plate 2022. Limiting grooves are provided on both sides of the floating connecting plate 2023. The grippers 2012 are connected to the second drive assembly 2011. Both grippers 2012 pass through the first through hole and are respectively located in the limiting grooves on both sides of the floating connecting plate 2023. The process of the controller controlling the first robotic arm 1 to cooperate with the grasping mechanism 201 to grasp the decorative piece and place the grasped decorative piece into the positioning groove includes: Based on the image information, the first robotic arm 1 is controlled to move the gripping mechanism 201 above the decorative piece; Control the first robotic arm 1 to drive the first end effector 2 to move toward the decorative piece until the displacement information is greater than or equal to the second preset displacement threshold, and the second preset displacement threshold is less than or equal to the first preset displacement threshold. The second drive assembly 2011 is controlled to drive the gripper 2012 to move toward the center of the floating connecting plate 2023 to grasp the decorative piece; Based on the image information, the first robotic arm 1 is controlled to move the gripping mechanism 201 above the decorative piece fixture 302, and the second drive assembly 2011 is controlled to drive the gripper 2012 to move away from the center of the floating connecting plate 2023 so as to place the gripped decorative piece into the positioning groove.

[0039] The visual inspection mechanism 204 in this embodiment can be a binocular camera, visual sensor, or depth camera, or other mechanism capable of acquiring image information. Preferably, the visual inspection mechanism 204 is mounted on the first bracket 203 with adjustable position and orientation. The first end effector 2 in this embodiment also preferably has a visual light source 205, which can be an LED lamp or incandescent lamp, or other component capable of emitting light. By providing the visual light source 205, this embodiment effectively avoids the inability to identify and position the decorative piece, positioning groove, and handle cover based on image information due to low ambient brightness in the handle accessory assembly system. The second drive component 2011 in this embodiment can be a cylinder, electric cylinder, or hydraulic cylinder, or other component capable of driving the gripper 2012 to move towards or away from the center of the floating connecting plate 2023. In this embodiment, the two grippers 2012 are respectively located in the limiting grooves on both sides of the floating connecting plate 2023. The limiting grooves can limit the amount of movement of the grippers 2012 toward the center of the floating connecting plate 2023, thereby effectively avoiding the situation where the amount of movement of the grippers 2012 toward the center of the floating connecting plate 2023 is too large, and the force applied by the grippers 2012 to the decorative piece or handle cover is too large, which may cause damage or even destruction to the decorative piece or handle cover. Specifically, in this embodiment, the decorative piece is located on the decorative piece supply component or the decorative piece placement component (e.g., the decorative piece box). When the first drive component 2021 drives the connecting base plate 2022 to move toward the decorative piece, the floating joint 2027 will abut against the decorative piece supply component or the decorative piece placement component. Since the first drive component 2021 continues to drive the connecting base plate 2022 to move toward the decorative piece tooling 302, the floating joint 2027 slides toward the connecting base plate 2022 within the guide shaft 2028 (equivalent to the floating joint 2027 displacing toward the connecting base plate 2022). The displacement sensor 2030 will collect the displacement information of the floating joint 2027. The second preset displacement threshold of this embodiment is a preset displacement value that is less than or equal to the first preset displacement threshold. Those skilled in the art can change the size of the second preset displacement threshold according to actual needs. The second preset displacement threshold of this embodiment is preferably 5cm. When the displacement information is greater than or equal to the second preset displacement threshold, the gripper 2012 is moved to the vicinity of the decorative piece. At this time, the decorative piece can be gripped by using the second driving component 2011 to drive the gripper 2012 to move toward the center of the floating connecting plate 2023.

[0040] In some embodiments, the positioning groove is provided with a positioning detection component 5 and a magnetic attraction component 6. The positioning detection component 5 is used to detect whether a decorative piece is placed in the positioning groove. Both the positioning detection component 5 and the magnetic attraction component 6 are electrically connected to a controller. The controller is also used to control the magnetic attraction component 6 to attract the decorative piece when the positioning detection component 5 detects that a decorative piece is placed in the positioning groove. In this embodiment, the positioning detection component 5 can be a photoelectric sensor or a photoelectric switch, etc., which can detect whether a decorative piece is placed in the positioning groove. In this embodiment, the magnetic attraction component 6 is preferably an electromagnet. In this embodiment, the decorative piece can be attracted by supplying power to the magnetic attraction component 6. After the positioning detection component 5 detects that a decorative piece is placed in the positioning groove, this embodiment controls the magnetic attraction component 6 to attract the decorative piece to fix the decorative piece in the positioning groove. Therefore, this embodiment can effectively avoid the situation where the handle cover cannot be properly placed on the decorative piece after the decorative piece is placed in the positioning groove due to the change in the position of the decorative piece, resulting in assembly failure of the handle accessory.

[0041] In some embodiments, the handle accessory assembly system further includes a second robotic arm 4, with a second end effector 3 connected to the end of the second robotic arm 4. Specifically, in this embodiment, the end of the second robotic arm 4 is connected to a second bracket 301, and the handle accessory assembly system in this embodiment also includes a cabinet 10, on which both the first robotic arm 1 and the second robotic arm 4 are mounted.

[0042] In some embodiments, the second end effector 3 further includes a decorative piece secondary positioning fixture 304 and a handle cover secondary positioning fixture 305. The decorative piece secondary positioning fixture 304 and the handle cover secondary positioning fixture 305 are symmetrically arranged on the second end effector 3. The process of the controller controlling the first robotic arm 1 to cooperate with the gripping mechanism 201 to grip the decorative piece and place the gripped decorative piece into the positioning groove includes: The first robotic arm 1 is controlled to cooperate with the gripping mechanism 201 to grip the decorative piece. During the gripping process, the second robotic arm 4 is controlled to drive the second end effector 3 to move toward the first end effector 2 according to the first transformation matrix and the second transformation matrix, so that the distance between the first end effector 2 and the second end effector 3 is within the preset safe distance range. The first transformation matrix is ​​the transformation matrix from the first end effector coordinate system to the first robotic arm base coordinate system, and the second transformation matrix is ​​the transformation matrix from the second end effector coordinate system to the second robotic arm base coordinate system. The first robotic arm 1 and the gripping mechanism 201 are controlled to place the gripped decorative piece into the secondary positioning fixture 304 for the decorative piece; The first robotic arm 1 and the gripping mechanism 201 are controlled to place the decorative piece in the secondary positioning fixture 304 into the positioning groove. The process of the controller controlling the first robotic arm 1 to cooperate with the gripping mechanism 201 to grip the handle cover and place the gripped handle cover onto the vertical pin decorative piece includes: The first robotic arm 1 is controlled to cooperate with the gripping mechanism 201 to grip the handle cover. During the gripping process, the second robotic arm 4 is controlled to drive the second end effector 3 to move toward the first end effector 2 according to the first conversion matrix and the second conversion matrix, and the second robotic arm 4 is controlled to drive the second end effector 3 to rotate, so that the distance between the first end effector 2 and the second end effector 3 is within the preset safe distance range and the distance between the first end effector 2 and the handle cover secondary positioning fixture 305 is less than the distance between the first end effector 2 and the decorative piece secondary positioning fixture 304. Control the first robotic arm 1 and the gripping mechanism 201 to place the gripped handle cover into the handle cover secondary positioning fixture 305; The first robotic arm 1 and the gripping mechanism 201 are controlled to place the handle cover in the secondary positioning fixture 305 onto the vertical pin decorative piece.

[0043] In this embodiment, the decorative piece secondary positioning fixture 304 and the handle cover secondary positioning fixture 305 are symmetrically arranged on the side of the second support 301 away from the second robotic arm 4. The shape of the handle cover secondary positioning fixture 305 matches the shape of the handle cover, and the shape of the decorative piece secondary positioning fixture 304 matches the shape of the decorative piece. Both the decorative piece secondary positioning fixture 304 and the handle cover secondary positioning fixture 305 have the characteristic of contracting towards the second support 301. Therefore, this embodiment can perform corrective positioning (i.e., secondary positioning) of the handle cover and the decorative piece by placing the handle cover into the handle cover secondary positioning fixture 305 and the decorative piece into the decorative piece secondary positioning fixture 304. By default, the distance between the first end effector 2 and the handle cover secondary positioning fixture 305 is greater than the distance between the first end effector 2 and the decorative piece secondary positioning fixture 304. Specifically, the handle cover secondary positioning fixture 305 has openings on both sides. In this embodiment, the gripping mechanism 201 can grip the handle cover within the secondary positioning fixture 305 by having the gripper 2012 abut against the outer wall of the handle cover. Similarly, in this embodiment, the gripping mechanism 201 can grip the decorative piece within the decorative piece secondary positioning fixture 304 by having the gripper 2012 abut against the inner wall of the decorative piece. This embodiment can control the movement of the first robotic arm 1 based on image information. Since the handle cover supply position is fixed, the decorative piece fixture 302 will be in the default position (i.e., the position of the decorative piece fixture 302 when the third drive component 307 is reset). The handle cover secondary positioning fixture 305 is fixed on the second bracket 301. Therefore, this embodiment can also control the movement of the first robotic arm 1 based on the first and second transformation matrices. Specifically, since the first end effector 2 is fixed at the end of the first robotic arm 1, the transformation matrix from the first end effector coordinate system to the first robotic arm end effector coordinate system (hereinafter referred to as the third transformation matrix) can be pre-calibrated. The first robotic arm 1 can output the transformation matrix from the first robotic arm base coordinate system to the first robotic arm end effector coordinate system (equivalent to the pose of the first robotic arm 1, hereinafter referred to as the fourth transformation matrix). Therefore, this embodiment can obtain the first transformation matrix based on the third and fourth transformation matrices. Since the second end effector 3 is fixed at the end of the second robotic arm 4, the transformation matrix from the second end effector coordinate system to the second robotic arm end effector coordinate system (hereinafter referred to as the fifth transformation matrix) can be pre-calibrated. The second robotic arm 4 can output the transformation matrix from the second robotic arm base coordinate system to the second robotic arm end effector coordinate system (equivalent to the pose of the second robotic arm 4, hereinafter referred to as the sixth transformation matrix). Therefore, this embodiment can obtain the second transformation matrix based on the fifth and sixth transformation matrices.The preset safe distance range in this embodiment is a preset distance range. Those skilled in the art can adjust the coverage of the preset safe distance range according to actual needs. If the distance between the first end effector 2 and the second end effector 3 is within the preset safe distance range, then the distance between the first end effector 2 and the second end effector 3 is appropriate and there will be no collision between the first end effector 2 and the second end effector 3 or the second robotic arm 4. In this embodiment, the coordinates of the first end effector 2 in the coordinate system of the first robotic arm base and the coordinates of the second end effector 3 in the coordinate system of the second robotic arm base can be obtained first according to the first transformation matrix and the second transformation matrix. Then, the amount of motion of the second robotic arm 4 required to move the second end effector 3 to a distance within the preset safe distance range is calculated based on these two coordinates. Finally, the second robotic arm 4 is controlled to drive the second end effector 3 toward the first end effector 2 based on the amount of motion. Because this embodiment can improve the gripping accuracy of the decorative piece and the handle cover by performing secondary positioning of the handle cover and decorative piece, it can effectively improve the assembly accuracy of the handle accessory assembly system. Furthermore, when the first robotic arm 1 grips the decorative piece with the gripping mechanism 201, this embodiment reduces the distance between the gripping mechanism 201 and the secondary positioning fixture 304 of the decorative piece by controlling the second robotic arm 4 to drive the second end effector 3 towards the first end effector 2. And when the first robotic arm 1 grips the handle cover with the gripping mechanism 201, this embodiment... By controlling the second robotic arm 4 to drive the second end effector 3 to move toward the first end effector 2 and to drive the second end effector 3 to rotate, the distance between the gripping mechanism 201 and the secondary positioning fixture 305 of the handle cover is reduced. Therefore, this embodiment can effectively reduce the amount of movement required for the first robotic arm 1 to place the gripped decorative piece onto the secondary positioning fixture 304 of the decorative piece and to place the gripped handle cover onto the secondary positioning fixture 305 of the handle cover. In other words, this embodiment can effectively shorten the idle travel of the first robotic arm 1, thereby effectively improving the assembly efficiency of the handle accessories.

[0044] In some embodiments, the second end effector 3 further includes a second bracket 301, a transfer connecting plate 306, and a third drive assembly 307. The transfer connecting plate 306 is connected to the second bracket 301, and a second through hole is provided in the center of the transfer connecting plate 306. The third drive assembly 307 is mounted on the second bracket 301, and the output end of the third drive assembly 307 is located in the second through hole and connected to the decorative piece fixture 302. The pin straightening mechanism 303 is mounted on the transfer connecting plate 306. The process of the controller controlling the pin straightening mechanism 303 to straighten the bent pin decorative piece includes: The third drive component 307 is controlled to cooperate with the pin straightening mechanism 303 to straighten the pins of the bent pin decoration piece.

[0045] The third drive component 307 in this embodiment can be an electric cylinder, pneumatic cylinder, or hydraulic cylinder, which can drive the decorative piece tooling 302 to move toward or away from the transfer connecting plate 306. Specifically, when the decorative piece is placed into the positioning groove or the handle cover is placed on the decorative piece, the third drive component 307 in this embodiment drives the decorative piece tooling 302 to move toward the transfer connecting plate 306, so as to reduce the amount of movement of the first robotic arm 1 in placing the decorative piece into the positioning groove or placing the handle cover on the decorative piece. In this embodiment, the driving direction of the pin straightening mechanism 303 is perpendicular to the driving direction of the third driving component 307. Therefore, in this embodiment, all pins on the decorative piece can be moved into or out of the plane where the pin straightening mechanism 303 is located at once by driving the decorative piece fixture 302 up or down by the third driving component 307. In this embodiment, the position of all pins on the decorative piece relative to the pin straightening mechanism 303 can be changed simultaneously by controlling the third driving component 307 to drive the decorative piece fixture 302 down, controlling the pin straightening mechanism 303 to move relative to the decorative piece fixture 302 along its driving direction, and controlling the third driving component 307 to drive the decorative piece fixture 302 up. This effectively improves the convenience of adjusting the position of the pins relative to the pin straightening mechanism 303.

[0046] In some embodiments, the pin straightening mechanism 303 includes a fourth drive assembly 3031 and a push rod 3032. The fourth drive assembly 3031 is mounted on the transfer connecting plate 306, and the push rod 3032 is mounted on the fourth drive assembly 3031. The end of the push rod 3032 away from the fourth drive assembly 3031 has a U-shaped groove. The fourth drive assembly 3031 is used to drive the U-shaped groove to move toward or away from the decorative piece fixture 302. The process of the controller controlling the third drive assembly 307 to cooperate with the pin straightening mechanism 303 to straighten the pins of the bent pin decorative piece includes: A1. According to the first preset distance, control the fourth driving component 3031 to drive the U-shaped groove to move toward the decorative piece fixture 302, and control the third driving component 307 to drive the decorative piece fixture 302 to rise, so as to move the pin of the decorative piece into the U-shaped groove. A2. According to the second preset distance, the fourth drive component 3031 drives the U-shaped groove to move away from the decorative piece fixture 302. A3. Control the third drive component 307 to reset, control the fourth drive component 3031 to drive the U-shaped groove away from the decorative piece fixture 302 according to the third preset distance, and control the third drive component 307 to drive the decorative piece fixture 302 to rise, so as to move the pin to the side of the push rod 3032 away from the fourth drive component 3031. A4. According to the fourth preset distance, control the fourth drive component 3031 to drive the U-shaped groove to move toward the decorative piece tooling 302, control the third drive component 307 and the fourth drive component 3031 to reset, and reduce the second preset distance and the fourth preset distance based on the first preset adjustment threshold, where the second preset distance is greater than the fourth preset distance. A5. Determine whether the number of times step A4 has been executed is greater than or equal to the first preset number. If yes, execute step A6; otherwise, return to step A1. A6. According to the fifth preset distance, control the fourth driving component 3031 to drive the U-shaped groove to move toward the decorative piece fixture 302, and control the third driving component 307 to drive the decorative piece fixture 302 to rise, so as to move the pin to the side of the push rod 3032 away from the fourth driving component 3031. The first preset distance is greater than the fifth preset distance. A7. According to the sixth preset distance, control the fourth drive component 3031 to drive the U-shaped groove to move toward the decorative piece fixture 302; A8. Control the third drive component 307 to reset, control the fourth drive component 3031 to drive the U-shaped groove to move toward the decorative piece fixture 302 according to the seventh preset distance, and control the third drive component 307 to drive the decorative piece fixture 302 to rise so as to move the pin into the U-shaped groove. A9. According to the eighth preset distance, control the fourth drive component 3031 to drive the U-shaped groove to move toward the decorative piece fixture 302, control the third drive component 307 to drive the decorative piece fixture 302 to descend and control the fourth drive component 3031 to reset, and reduce the sixth preset distance and the eighth preset distance based on the second preset adjustment threshold, where the sixth preset distance is greater than the eighth preset distance. A10. Determine whether the number of times step A9 has been executed is greater than or equal to the second preset number. If yes, complete the pin calibration. If no, return to step A6.

[0047] The fourth drive assembly 3031 in this embodiment can be an electric cylinder, pneumatic cylinder, hydraulic cylinder, or linear slide, etc., capable of driving the push rod 3032 to move. In this embodiment, the end of the push rod 3032 away from the fourth drive assembly 3031 has a U-shaped groove. The fourth drive assembly 3031 in this embodiment can drive the U-shaped groove to move towards or away from the decorative piece fixture 302 by driving the push rod 3032 towards or away from the decorative piece fixture 302. Specifically, when the pin moves into the U-shaped groove and the fourth drive assembly 3031 drives... When the moving U-shaped groove moves away from the decorative piece fixture 302, the side of the U-shaped groove away from the fourth drive component 3031 abuts against the pin. The force provided by the U-shaped groove to the pin can make the pin bend outward. When the pin moves to the side of the push rod 3032 away from the fourth drive component 3031 and the fourth drive component 3031 drives the U-shaped groove to move towards the decorative piece fixture 302, the side of the push rod 3032 away from the fourth drive component 3031 abuts against the pin. The force provided by the push rod 3032 to the pin can make the pin bend inward. The number of fourth driving components 3031 and push rods 3032 in this embodiment can be multiple. Those skilled in the art can change the number and arrangement of the fourth driving components 3031 and push rods 3032 according to actual needs. Preferably, the number of fourth driving components 3031 in this embodiment is four, with the four fourth driving components 3031 respectively arranged around the decorative piece fixture 302. Preferably, the number of push rods 3032 in this embodiment is the same as the number of pins, that is, each push rod 3032 corresponds to one pin. This embodiment is equivalent to pin correction for all pins on the same side of the bent pin on the decorative piece. The first preset distance, second preset distance, third preset distance, fourth preset distance, fifth preset distance, sixth preset distance, seventh preset distance, eighth preset distance, first preset number of times, and second preset number of times in this embodiment are all preset values. Those skilled in the art can change the magnitude of these preset values ​​according to actual needs. Specifically, after the first execution of step A2, the pin bends outward by 0.3°; after the first execution of step A4, the pin bends inward by 0.2°; after the first execution of step A7, the pin bends inward by 0.5°; and after the first execution of step A9, the pin bends outward by 0.3°. This embodiment is equivalent to correcting the bent pin decorative piece by repeatedly pushing and pulling the pin. Since the internal force of the pin is eliminated during the repeated pushing and pulling process, this embodiment can effectively improve the structural stability of the pin and reduce fatigue damage to the pin, thereby effectively improving the structural stability and service life of the handle accessory.Preferably, the pin correction mechanism 303 in this embodiment further includes a fifth drive component 3033, which is mounted on the transfer connection plate 306. A fourth drive component 3031 is movably mounted on the transfer connection plate 306. The fifth drive component 3033 drives the fourth drive component 3031 to move. The driving direction of the fourth drive component 3031 is perpendicular to the driving direction of the fifth drive component 3033. This embodiment effectively enables the pin correction mechanism 303 to move along two axes, so as to pass through the third drive component 307. The cooperation of the fourth drive component 3031 and the fifth drive component 3033 enables the pins of different types of decorative pieces to be smoothly moved into or out of the U-shaped groove. It should be understood that this embodiment can move the pins into or out of the U-shaped groove solely through the cooperation of the fourth drive component 3031 and the fifth drive component 3033. That is, this embodiment can move the pins into or out of the U-shaped groove solely by moving the drive push rod 3032, without having to move the push rod 3032 by raising or lowering the decorative piece fixture 302.

[0048] In some embodiments, the second end effector 3 further includes a sixth drive assembly 308, which is mounted on the second bracket 301. The output end of the sixth drive assembly 308 is connected to the transfer connection plate 306, and the sixth drive assembly 308 is used to drive the transfer connection plate 306 to move toward or away from the second robotic arm 4. Since the pin correction mechanism 303 is mounted on the transfer connection plate 306, this embodiment can adjust the relative height between the decorative piece fixture 302 and the pin correction mechanism 303 by controlling the sixth drive assembly 308 to drive the transfer connection plate 306 to move toward or away from the second robotic arm 4, so that the pin correction mechanism 303 can be adapted to different pin correction requirements. In this embodiment, the pin correction mechanism 303 preferably performs pin correction at a position on the pin that is one-third of the pin length away from the end away from the decorative piece.

[0049] In some embodiments, the second end effector 3 further includes a bending detection component 7, which is mounted on the second bracket 301. The bending detection component 7 is used to detect whether the pin bending mechanism 202 bends all the pins. Preferably, the pin bending detection mechanism in this embodiment has multiple fiber optic sensors, with each pin corresponding to one fiber optic sensor. Specifically, before the pin bending mechanism 202 bends the pin, the light beam emitted by the fiber optic sensor is blocked by the pin. After the pin bending mechanism 202 bends the pin, the light beam emitted by the fiber optic sensor is not blocked by the pin. Therefore, the pin bending detection mechanism in this embodiment can determine whether the pin bending mechanism 202 has bent the pin by judging whether the light beam emitted by the fiber optic sensor changes from being blocked to not being blocked. Preferably, the fiber optic sensor in this embodiment can cooperate with the positioning detection component 5 to determine whether the decorative piece is correctly positioned within the decorative piece fixture 302. Specifically, only when the positioning detection component 5 detects that a decorative piece is placed in the positioning groove and all the light beams emitted by the fiber optic sensors are blocked by the pins can the decorative piece be considered correctly positioned within the decorative piece fixture 302. It should be understood that when the pin bending mechanism 202 detects that all the pins have been bent, this embodiment controls the first robotic arm 1 to cooperate with the gripping mechanism 201 to unload the handle parts.

[0050] In some embodiments, the first end effector 2 is connected to the first robotic arm 1 via a first flexible flange connector 8. Because the first end effector 2 in this embodiment is connected to the first robotic arm 1 via the first flexible flange connector 8, this embodiment can provide vibration damping for the first end effector 2, thereby improving the movement accuracy of the first end effector 2. Preferably, the second end effector 3 is connected to the second robotic arm 4 via a second flexible flange connector 9.

[0051] As can be seen from the above, the handle accessory assembly system provided in this application first uses a first robotic arm 1 and a gripping mechanism 201 to grip a decorative piece and place the gripped decorative piece into a positioning groove. Then, the first robotic arm 1 and the gripping mechanism 201 grip a handle cover and place the gripped handle cover onto a vertical pin decorative piece. Finally, the pin bending mechanism 202 is controlled to bend the pins. Because this handle accessory assembly system can complete the insertion of the decorative piece's pins into the handle cover's insertion hole and the... The pins are bent, and the handle accessory assembly system can use the pin straightening mechanism 303 to complete the pin straightening of the bent pin decorative piece. That is, this application is equivalent to providing an automatic pin straightening system for bent pin decorative pieces and an automatic assembly system for handle accessories. Therefore, this application eliminates the need for manual pin straightening of bent pin decorative pieces and assembly of handle accessories, thereby effectively solving the problems of high labor intensity, low assembly efficiency and poor assembly quality consistency caused by the need for manual pin straightening of bent pin decorative pieces and assembly of handle accessories.

[0052] In the embodiments provided in this application, it should be understood that relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0053] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A handle accessory assembly system, characterized in that, The handle accessory assembly system includes a cabinet, a first robotic arm, a first end effector, a second end effector, and a controller. The first robotic arm and the second end effector are both mounted on the cabinet. The first end effector is connected to the end of the first robotic arm. The first end effector has a gripping mechanism and a pin bending mechanism. The second end effector has a decorative piece fixture and a pin straightening mechanism. The decorative piece fixture is provided with a positioning groove for placing the decorative piece. The controller is used to control the first robotic arm to cooperate with the gripping mechanism to grip the decorative piece and place the gripped decorative piece into the positioning groove; The controller is also used to control the pin straightening mechanism to straighten the bent pin decorative piece to straighten it into a vertical pin decorative piece. The bent pin decorative piece is a decorative piece in which the upper pin is bent, and the vertical pin decorative piece is a decorative piece in which the upper pin is not bent. The controller is also used to control the first robotic arm to cooperate with the gripping mechanism to grip the handle cover and place the gripped handle cover onto the vertical pin decorative piece, and to control the pin bending mechanism to bend the pin to obtain the handle accessory; The first end effector also has a first bracket, and the end of the first robotic arm is connected to the first bracket. The pin bending mechanism includes a first drive assembly, a connecting base plate, a floating connecting plate, a buckle-type inclined pressure head, a compression spring, a pin, a floating connector, a guide shaft, a guide sleeve, and a displacement sensor. The first drive assembly is mounted on the first bracket, and the output end of the first drive assembly is fixedly connected to the connecting base plate. The guide shaft and the pin are both fixedly connected to the connecting base plate. The guide sleeve is sleeved outside the guide shaft and slidably connected to the guide shaft. The compression spring is sleeved outside the guide shaft and located above the guide sleeve. The floating connecting plate is fixedly connected to the guide sleeve. The end of the guide shaft away from the connecting base plate has a cavity. The floating joint is slidably connected to the cavity, with one end extending out of the guide shaft. The displacement sensor is fixed to the end of the floating joint near the connecting base plate. The buckle angled pressure head is fixed to the floating connecting plate. The ejector pin is slidably connected to the buckle angled pressure head, with its end away from the connecting base plate extending out of the buckle angled pressure head. The displacement sensor is used to collect displacement information of the floating joint relative to the connecting base plate. The process of the controller controlling the pin bending mechanism to bend the pin includes: The first driving component is controlled to drive the connecting base plate to move toward the decorative piece fixture until the displacement information is greater than or equal to the first preset displacement threshold, so that the buckle foot angled pressure head and the ejector pin cooperate to bend the pin.

2. The handle accessory assembly system according to claim 1, characterized in that, The first end effector also has a vision detection mechanism for acquiring image information. The gripping mechanism includes a second drive assembly and two grippers. The second drive assembly is mounted on the first bracket. A first through hole is provided on the connecting base plate. Limiting grooves are provided on both sides of the floating connecting plate. The grippers are connected to the second drive assembly. Both grippers pass through the first through hole and are respectively located in the limiting grooves on both sides of the floating connecting plate. The process of the controller controlling the first robotic arm to cooperate with the gripping mechanism to grip the decorative piece and placing the gripped decorative piece into the positioning groove includes: Based on the image information, the first robotic arm is controlled to move the gripping mechanism above the decorative piece; Control the first robotic arm to drive the first end effector to move toward the decorative piece until the displacement information is greater than or equal to a second preset displacement threshold, where the second preset displacement threshold is less than or equal to the first preset displacement threshold. The second drive component is controlled to drive the gripper to move toward the center of the floating connecting plate in order to grasp the decorative piece; Based on the image information, the first robotic arm is controlled to move the gripping mechanism above the decorative piece fixture, and the second drive component is controlled to drive the gripper to move away from the center of the floating connecting plate, so as to place the gripped decorative piece into the positioning groove.

3. The handle accessory assembly system according to claim 2, characterized in that, The positioning groove is equipped with a positioning detection component and a magnetic attraction component. The positioning detection component is used to detect whether a decorative piece is placed in the positioning groove. Both the positioning detection component and the magnetic attraction component are electrically connected to the controller. The controller is also used to control the magnetic attraction component to attract the decorative piece when the positioning detection component detects that a decorative piece is placed in the positioning groove.

4. The handle accessory assembly system according to claim 1, characterized in that, The handle accessory assembly system also includes a second robotic arm, and the second end effector is connected to the end of the second robotic arm.

5. The handle accessory assembly system according to claim 4, characterized in that, The second end effector also has a secondary positioning fixture for the decorative piece and a secondary positioning fixture for the handle cover. The secondary positioning fixtures for the decorative piece and the handle cover are symmetrically arranged on the second end effector. The process of the controller controlling the first robotic arm to cooperate with the gripping mechanism to grip the decorative piece and place the gripped decorative piece into the positioning groove includes: The first robotic arm is controlled to cooperate with the gripping mechanism to grip the decorative piece. During the gripping process, the second robotic arm is controlled to drive the second end effector to move toward the first end effector according to the first transformation matrix and the second transformation matrix, so that the distance between the first end effector and the second end effector is within a preset safe distance range. The first transformation matrix is ​​the transformation matrix from the first end effector coordinate system to the first robotic arm base coordinate system, and the second transformation matrix is ​​the transformation matrix from the second end effector coordinate system to the second robotic arm base coordinate system. Control the first robotic arm and the gripping mechanism to place the gripped decorative piece into the secondary positioning fixture for the decorative piece; Control the first robotic arm and the gripping mechanism to place the decorative piece in the secondary positioning fixture into the positioning groove; The process by which the controller controls the first robotic arm to cooperate with the gripping mechanism to grasp the handle cover and place the grasped handle cover onto the vertical pin decorative piece includes: The first robotic arm is controlled to cooperate with the gripping mechanism to grip the handle cover. During the gripping process, the second robotic arm is controlled to drive the second end effector to move toward the first end effector and to drive the second end effector to rotate, so that the distance between the first end effector and the second end effector is within the preset safe distance range and the distance between the first end effector and the secondary positioning fixture of the handle cover is less than the distance between the first end effector and the secondary positioning fixture of the decorative piece. Control the first robotic arm and the gripping mechanism to place the gripped handle cover into the secondary positioning fixture of the handle cover; The first robotic arm and the gripping mechanism are controlled to place the handle cover in the secondary positioning fixture onto the vertical pin decorative piece.

6. The handle accessory assembly system according to claim 1, characterized in that, The second end effector also includes a second bracket, a transfer connecting plate, and a third drive assembly. The transfer connecting plate is connected to the second bracket, and a second through hole is formed in the center of the transfer connecting plate. The third drive assembly is mounted on the second bracket, and its output end is located within the second through hole and connected to the decorative piece fixture. The pin straightening mechanism is mounted on the transfer connecting plate. The process by which the controller controls the pin straightening mechanism to straighten the bent pin decorative piece includes: The third drive component is controlled to cooperate with the pin straightening mechanism to straighten the pins of the bent pin decoration piece.

7. The handle accessory assembly system according to claim 6, characterized in that, The pin straightening mechanism includes a fourth drive assembly and a push rod. The fourth drive assembly is mounted on the transfer connection plate, and the push rod is mounted on the fourth drive assembly. The end of the push rod away from the fourth drive assembly has a U-shaped groove. The fourth drive assembly is used to drive the U-shaped groove to move toward or away from the decorative piece fixture. The process by which the controller controls the third drive assembly to cooperate with the pin straightening mechanism to straighten the pins of the bent pin decorative piece includes: A1. Based on the first preset distance, control the fourth driving component to drive the U-shaped groove to move toward the decorative piece fixture, and control the third driving component to drive the decorative piece fixture to rise, so as to move the pins of the decorative piece into the U-shaped groove; A2. Based on the second preset distance, the fourth driving component is controlled to drive the U-shaped groove to move away from the decorative piece fixture; A3. Control the third driving component to reset, control the fourth driving component to drive the U-shaped groove to move away from the decorative piece fixture according to the third preset distance, and control the third driving component to drive the decorative piece fixture to rise, so as to move the pin to the side of the push rod away from the fourth driving component; A4. Based on the fourth preset distance, control the fourth driving component to drive the U-shaped groove to move toward the decorative piece tooling, control the third driving component and the fourth driving component to reset, and reduce the second preset distance and the fourth preset distance based on the first preset adjustment threshold, wherein the second preset distance is greater than the fourth preset distance; A5. Determine whether the number of times step A4 has been executed is greater than or equal to the first preset number. If yes, execute step A6; otherwise, return to step A1. A6. According to the fifth preset distance, control the fourth driving component to drive the U-shaped groove to move toward the decorative piece fixture, and control the third driving component to drive the decorative piece fixture to rise, so as to move the pin to the side of the push rod away from the fourth driving component, where the first preset distance is greater than the fifth preset distance; A7. According to the sixth preset distance, the fourth driving component drives the U-shaped groove to move toward the decorative piece fixture; A8. Control the third driving component to reset, control the fourth driving component to drive the U-shaped groove toward the decorative piece fixture according to the seventh preset distance, and control the third driving component to drive the decorative piece fixture to rise, so as to move the pin into the U-shaped groove; A9. Based on the eighth preset distance, control the fourth driving component to drive the U-shaped groove to move toward the decorative piece fixture, control the third driving component to drive the decorative piece fixture to descend and control the fourth driving component to reset, and reduce the sixth preset distance and the eighth preset distance based on the second preset adjustment threshold, wherein the sixth preset distance is greater than the eighth preset distance; A10. Determine whether the number of times step A9 has been executed is greater than or equal to the second preset number. If yes, complete the pin calibration. If no, return to step A6.

8. The handle accessory assembly system according to claim 6, characterized in that, The second end effector also has a bending detection component, which is mounted on the second bracket and is used to detect whether the pin bending mechanism bends all the pins.

9. The handle accessory assembly system according to claim 1, characterized in that, The first end effector is connected to the first robotic arm via a first flexible flange connector.

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