Automatic assembling tool for automobile part buckles

Abstract

The invention relates to the technical field of automobile part assembling, and discloses an automobile part buckle automatic assembling tool which comprises a buckle taking and placing robot and buckle assembling stations, each buckle assembling station comprises a buckle feeding mechanism and a protection plate positioning and placing mechanism, and a plurality of sets of buckle assembling stations are evenly arranged in the circumferential direction of the buckle taking and placing robot at intervals; the buckle picking and placing robot comprises a supporting core column and a plurality of buckle picking and placing modules, and each buckle picking and placing module comprises a supporting arm and a buckle picking piece which slides on the supporting arm in a guiding mode in the length direction of the supporting arm and can do reciprocating motion in the vertical direction and the horizontal direction perpendicular to the supporting arm. All the buckle picking pieces synchronously move in the length direction of the supporting arm in a reciprocating mode through the guide sliding pieces and are controlled by the balance weight driving assemblies, the buckle picking and placing robot can synchronously pick and assemble the multiple buckles at the same time, and the assembling efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile part assembly, and particularly relates to an automatic assembly tool for automobile part fasteners. Background Art

[0002] Fasteners need to be installed on an automobile plastic fender, and multiple fasteners need to be installed on one fender and are distributed in different areas. Currently, mostly semi-automatic assembly tools are used. During the assembly process, many steps still require manual intervention. In order to improve the assembly efficiency, it is very necessary to further increase the automation of the assembly.

[0003] A Chinese patent with the publication number CN116748833B discloses a left and right fender fastener installation device, including a second feeding station for preparing materials; a fastener installation station for carrying and installing the fender and cooperating with the assembly of the fasteners; a second fastener installation robot for removing the fasteners on the second feeding station and assembling them on one side of the fender at the fastener installation station; a first feeding station and a first fastener installation robot, and the first fastener installation robot is used to remove the fasteners on the upper cover of the first feeding station and assemble them on the other side of the fender at the fastener installation station; the first feeding station and the second feeding station have the same structure, both consisting of a feeding platform, a fastener sorting table, and a vibrating feeding mechanism. A fastener conveying track is arranged between the vibrating feeding mechanism and the fastener sorting table. The first fastener installation robot and the second fastener installation robot are both six-axis robots. A picking fixture is installed at the front end of the robot's robotic arm. A number of picking rods are movably assembled at both ends of the picking fixture, and parallel clamps are arranged at the ends of the picking rods.

[0004] The above assembly uses the flexible joints of a six-axis robot to pick up the fasteners and assemble them at the preset positions of the fender according to logical programming. Each joint of the six-axis robot requires a driving mechanism for control. Therefore, the cost is high; in addition, a six-axis robot can only pick up and assemble a single fastener on a single fender at a time. Although the degree of automation has been improved, there is still room for efficiency improvement. Summary of the Invention

[0005] In view of the disadvantages that a six-axis robot needs to be used for picking and assembling fasteners and can only complete the assembly of a single fastener on one fender at a time, and the efficiency still needs to be improved, the present invention provides an automatic assembly tool for automobile part fasteners that can simultaneously assemble the fasteners of multiple fenders at a time, and the assembly efficiency per unit time is significantly improved.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions: An automatic assembly tool for automobile part fasteners includes a fastener picking and placing robot and a fastener assembly station. The fastener assembly station includes a fastener feeding mechanism and a fender positioning and placing mechanism. A number of groups of fastener assembly stations are evenly spaced circumferentially around the fastener picking and placing robot; The buckle picking and placing robot includes a vertically arranged support core column and a number of buckle picking and placing modules corresponding to the product assembly stations, which are circumferentially and spaced apart on the outer wall of the support core column. The buckle picking and placing module includes a support arm with one end fixed to the support core column and the other end extending horizontally outward, and a buckle picking member that is guided and slid on the support arm along the length direction of the support arm and can perform reciprocating movements in the vertical direction and the horizontal direction perpendicular to the support arm. All the buckle picking members are synchronously reciprocated along the length direction of the support arm through a guiding and sliding member and are controlled by a counterweight driving assembly. The counterweight driving assembly includes a main screw rod sliding table assembly vertically arranged in the support core column, a first pulling rope connecting the guiding and sliding member and the main sliding table of the main screw rod sliding table assembly, and a second pulling rope connecting the other end of the guiding and sliding member. A counterweight block with a downward trend is connected to the end of the second pulling rope far away from the guiding and sliding member.

[0007] With the above scheme, the six-axis robot is replaced by a buckle picking and placing robot. The buckle picking and placing robot can simultaneously realize the synchronous picking and assembly of multiple buckles. Several groups of buckle assembly stations are arranged circumferentially around the buckle picking and placing robot, and the number of sets is the same as the number of support arms of the buckle picking and placing robot. A buckle picking member is arranged along the length direction on each support arm of the buckle picking and placing robot, and the buckle picking member itself can also move vertically and horizontally in the direction perpendicular to the length direction of the support arm. In this way, it can meet the movement of the buckle picking member in the XYZ axis directions. To realize the synchronous driving of all the picking members to move the same stroke along the length direction of the support arm, the counterweight driving assembly is adopted. The advantage of setting the counterweight driving assembly is that all the buckle picking members can be synchronously moved by using a set of main screw rod sliding table assemblies, reducing the number of sets of conventional screw rod sliding table assemblies, and the structure is more compact. The main screw rod sliding table assembly uses the lifting of its sliding table combined with the lifting of the counterweight block to control the moving distance of the buckle picking member. The self-weight of the counterweight block can accurately act on the buckle picking member the displacement of the lifting product. Selecting a pulling rope with good anti-deformation performance can ensure the moving accuracy of the buckle picking member and meet the assembly accuracy of assembling buckles on the guard plate.

[0008] Preferably, the counterweight block is vertically guided and slid on the outer wall of the support core column. The end of the second pulling rope far away from the counterweight block is connected to the end of the guiding and sliding member far away from the support core column. A number of second fixed pulleys for realizing the commutation of the second pulling rope are arranged at the end of the support arm far away from the support core column and on the outer side wall of the support arm.

[0009] With the above scheme, if the counterweight block is arranged at the end of the support arm far away from the support core column, it may touch the parts on other workstations after falling, causing interference. When arranged on the support core column, the support core column can guide it to avoid the impact or interference behavior caused by shaking during its falling process.

[0010] Preferably, there are two second stay ropes, which are respectively fixedly connected from the end of the support arm far away from the support core column along the outer walls on both sides of the support arm to the fixed convex columns on both sides of the counterweight.

[0011] With the above solution, both ends of the counterweight are respectively connected to a second stay rope. This setting method can improve the stability and smoothness of the lifting of the counterweight.

[0012] Preferably, when the counterweight rises to the maximum stroke, the buckle picking part is closest to the support core column. At this time, a limiting structure for relieving the tension of the first stay rope and the second stay rope is provided between the counterweight and the support core column.

[0013] Preferably, the limiting structure includes a limiting groove recessed on the side of the counterweight close to the support core column, a limiting block elastically telescopically arranged on the outer wall of the support core column and capable of being inserted and matched with the aligned limiting groove in the normal state, and an electromagnet that drives the limiting block to retract when powered on.

[0014] With the above solution, the setting of the limiting structure can reduce the pulling force of the counterweight on the first stay rope and the second stay rope, can significantly reduce the external force on the first stay rope and the second stay rope when the equipment is idle, delay the deformation of the first stay rope and the second stay rope, and increase the service life of the first stay rope and the second stay rope.

[0015] Preferably, the guiding and sliding part is a guiding and sliding vehicle. A guiding groove runs through the support arm along its length direction. The guiding and sliding vehicle includes a vehicle body in the shape of "I". Each of the moving plates parallel to each other up and down of the vehicle body is provided with rollers that respectively roll and fit with the upper and lower ends of the support arm. The moving plates are connected into one body through guide blocks that are inserted and guided with the guiding groove.

[0016] With the above solution, the guiding and sliding part adopts the structure of the vehicle body combined with rollers, which can reduce the friction force when the guiding and sliding part moves, and makes it more labor-saving to drive the guiding and sliding part to move.

[0017] Preferably, the buckle assembly station includes two guard plate positioning and placing mechanisms horizontally spaced apart and parallel to the support arm, and two buckle feeding mechanisms. The buckle feeding mechanism includes a vibrating feeding tray, a buckle conveyor, and a buckle lifting part. The buckle conveyor conveys the buckles provided by the vibrating feeding tray to the buckle lifting part. The buckle lifting part delivers the buckles to the buckle picking part. The buckle picking part includes two adsorption type clamps that are vertically lifted by a Z-axis lead screw sliding table assembly and a positive and negative lead screw sliding table assembly that makes the machine shell of the two Z-axis lead screw sliding table assemblies move relatively closer or farther away synchronously in the horizontal direction perpendicular to the support arm.

[0018] By adopting the above scheme, each buckle assembly station is respectively provided with two sets of buckle feeding mechanisms and guard plate positioning and placement mechanisms. In the buckle picking part, the two adsorption-type clamps are each lifted and lowered synchronously with the help of a Z-axis screw slide assembly, and are moved horizontally synchronously with the help of a set of forward and reverse screw slide assemblies, thereby realizing the buckle assembly of the two guard plates at the same time, further increasing the assembly efficiency.

[0019] Preferably, the buckle lifting member includes a material receiving seat located at the discharge end of the buckle conveying member, and a material receiving trough is arranged on the material receiving seat, the opening of the material receiving trough faces the buckle conveying member and the adsorption type clamp, and the material receiving seat vertically lifts and there is a material lifting member that enters the material receiving trough when it rises and pushes the buckle to fit the adsorption surface of the adsorption type clamp, and the lifting and lowering of the material lifting member is controlled by the pressing driving member.

[0020] Preferably, the adsorption type clamp includes an adsorption member having a covering groove at the lower end for the buckle to enter with an opening downward, the upper end of the adsorption member is guided to slide on the slide of the Z-axis screw slide assembly and tends to descend to the maximum stroke through a buffer elastic member, and an air duct is provided inside the adsorption member, one end of the air duct is located at the bottom of the covering groove and forms an adsorption port, and the other end of the air duct is located on the side wall of the adsorption member and is connected to the vacuum assembly.

[0021] By adopting the above scheme, the buckle enters the covering groove with the opening in the downward direction and is adsorbed by the adsorption member, and is finally delivered to the position of the guard plate where the buckle needs to be assembled with the opening in the downward direction, and the assembly of the buckle is achieved with the help of the descent of the adsorption member.

[0022] Preferably, a positioning mark is provided between the housing end wall of the forward and reverse screw slide assembly and the side wall of the support arm for detecting whether the first pull rope is deformed when the buckle picking member moves to the maximum stroke in the direction of the support core column, and a detection mark is provided on the support core column for aligning with the bottom surface of the counterweight block when the buckle picking member moves to the maximum stroke in the direction of the support core column and for detecting whether the second pull rope is deformed.

[0023] When the above scheme is adopted, the first pull rope and the second pull rope are stretched and deformed, which will cause position deviation when the buckle picking part is assembled with the buckle. Therefore, it is very necessary to have a detection structure for detecting the deformation of the first pull rope and the second pull rope. The operator can correct the deviation according to the detection result or replace the first pull rope or the second pull rope in time to ensure the normal operation of the equipment.

[0024] Preferably, the guard plate positioning and placing mechanism includes a placing seat with a product positioning groove and a rotatable and liftable pressing piece. Before discharging the material, the pressing piece rotates to the outside of the product positioning groove and is in an ascending and avoiding state; after discharging the material, the pressing piece rotates to the inside of the product positioning groove and is in a state of pressing down the product.

[0025] The present invention has significant technical effects due to the adoption of the above technical solution: 1. Replace the six-axis robot with a buckle picking and placing robot, which can simultaneously achieve synchronous picking and assembly of multiple buckles. The movement of multiple buckle picking parts along the length direction of the support arm is controlled by a set of main lead screw slide assemblies, counterweights with the same number as the buckle picking parts, and a cable assembly, which can significantly reduce the number of sets of conventional lead screw slide assemblies and make the structure more compact. The lead screw transmission in the main lead screw slide assembly is used to control the transmission accuracy, and the self-weight of the counterweight can ensure that the sliding stroke of the slide caused by the lead screw drive can accurately act on the buckle picking part; 2. Improve the assembly method and assembly position of the counterweight, which can significantly avoid the interference situation generated during the lifting process of the counterweight; 3. Each buckle picking part on the support arm can simultaneously pick up and assemble two buckles, further increasing the assembly efficiency of the buckles on the guard plate per unit time; 4. Set alignment marks and detection marks for detecting whether the first cable and the second cable are deformed, so as to facilitate the operator to correct the position deviation caused by the deformation of the first cable or the second cable, or replace or adjust the length of the first cable or the second cable in time; 5. Add a limiting structure for limiting the counterweight to further delay the time when the first cable and the second cable are deformed and extend the service life of both. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is an axonometric view of an automatic assembly tool for automotive part buckles in this embodiment; Figure 2 is the front view of the buckle picking and placing robot in this embodiment; Figure 3 is Figure 2 the sectional view taken along A-A of Figure 4 is Figure 3 the sectional view taken along B-B of Figure 5 is Figure 4 the enlarged view of A of Figure 6 is Figure 4 the sectional view taken along C-C of Figure 7 is Figure 6 the enlarged view of B of Figure 8 is Figure 4 the sectional view taken along D-D of Figure 9 is the axonometric view of a set of buckle assembly stations corresponding to each support arm in this embodiment; Figure 10 is the axonometric view when the adsorption type fixture and the buckle lifting part cooperate in this embodiment.

[0027] The names of the parts referred to by each digital label in the above drawings are as follows: 1. Machine base; 2. Support core column; 201. First guide rail; 3. Support arm; 301. Guide groove; 4. Vibration feeding tray; 5. Snap fastener conveyor; 6. Positive and negative lead screw slide assembly; 601. Positive and negative lead screw; 602. Positive and negative slide; 603. Second driving motor; 7. Z-axis lead screw slide assembly; 8. Adsorption component; 801. Coating groove; 802. Adsorption port; 9. Placing seat; 10. Pressing component; 11. Second guide rail; 12. Second slider; 13. Buffer elastic component; 14. Fixed block; 15. Material receiving seat; 1501. Material receiving groove; 16. Pushing component; 17. Pushing and pressing driving component; 18. Main driving motor; 19. Main lead screw; 20. First pulling rope; 21. Second pulling rope; 22. First fixed pulley; 23. Second fixed pulley; 24. Guide sliding vehicle; 241. Moving plate; 242. Guide block; 243. Roller; 25. Main slide; 26. Counterweight block; 261. Limiting groove; 27. Fixed convex column; 28. Alignment mark; 29. Detection mark; 30. Electromagnet; 31. Pressing spring; 32. Limiting block. Detailed implementation mode

[0028] The present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0029] An automatic assembly tool for automotive part snaps includes a machine base 1 and a snap fastener picking and placing robot and a snap fastener assembly station arranged on the machine base 1. The snap fastener picking and placing robot includes a support core column 2 vertically fixed on the upper end surface of the machine base 1 and three groups of snap fastener picking and placing modules circumferentially and evenly spaced on the outer circumferential wall at the upper end of the support core column 2. There are three groups of snap fastener assembly stations, which are arranged in one-to-one correspondence with the snap fastener picking and placing modules.

[0030] The snap-on pick-and-place module includes a support arm 3 fixed to the support core column 2 at one end and extending horizontally outward at the other end, and a snap-on pick-up member guided and slidable on the support arm 3 along the length direction of the support arm 3 and capable of reciprocating vertically and horizontally perpendicular to the support arm 3. The snap-on pick-up member includes a forward and reverse screw slide assembly 6 extending in a horizontal direction perpendicular to the length direction of the support arm 3, a Z-axis screw slide assembly 7 respectively arranged on the forward and reverse slides 602 of the forward and reverse screw slide assembly 6, and an adsorption-type clamp fixed on the slide of each Z-axis screw slide assembly 7, and a casing of the three sets of forward and reverse screw slide assemblies 6. Each is guided and slid back and forth along the length direction of a support arm 3 through a guide sliding member and is synchronously controlled by a counterweight drive assembly. The counterweight drive assembly includes a main screw slide assembly vertically arranged in the support core column 2, a first pull rope 20 connected between the guide sliding member and the main screw slide assembly, and a second pull rope 21 connected to the other end of the guide sliding member. The second pull rope 21 is connected to a counterweight block 26 with a falling tendency at one end away from the guide sliding member. The first pull rope 20 and the second pull rope 21 are Kevlar pull ropes made of aramid fiber, and the counterweight block 26 is made of austenitic stainless steel. This embodiment uses 304 stainless steel.

[0031] The Z-axis screw slide assembly 7 includes a vertically arranged housing, a screw that rotates vertically in the housing, and a slide that slides in the housing and vertically rises and falls with the rotation of the screw. A first driving motor that drives the screw to rotate is fixed to the upper end of the housing.

[0032] The forward and reverse screw slide assembly 6 includes a casing arranged in a horizontal direction perpendicular to the support arm 3, a forward and reverse screw 601 rotating in the casing and having two threaded sections with opposite thread directions, and a forward and reverse slide 602 guided and slidable in the casing and respectively located on the forward and reverse screw 601 and relatively approaching or moving away with the rotation of the forward and reverse screw 601. A second driving motor 603 for driving the forward and reverse screw 601 to rotate is fixed at one end of the outer wall of the casing.

[0033] The main screw slide assembly includes a main screw 19 that rotates vertically in the supporting core column 2, a main slide 25 that is vertically guided and slides in the supporting core column 2 and is screwed on the main screw 19 and vertically rises and falls with the rotation of the main screw 19, and a main drive motor 18 that is arranged at the lower end of the machine base 1 and is used to drive the main screw 19 to rotate forward and reverse.

[0034] The guide sliding member is a guide sliding vehicle 24, and a guide groove 301 is penetrated on the support arm 3 along its length direction. The guide sliding vehicle 24 includes a vehicle body in the shape of an "I". The upper and lower parallel moving plates 241 of the vehicle body are respectively provided with rollers 243 which are respectively rollingly fitted with the upper and lower ends of the support arm 3. The moving plates 241 are connected as a whole by a guide block 242 which is guide-plugged and fitted with the guide groove 301. The first pull rope 20 and the second pull rope 21 are fixedly connected to the guide block 242 at both ends along the moving direction.

[0035] In order to reduce the probability of interference during the lifting and lowering of the counterweight block 26, the counterweight block 26 vertically guides and slides on the outer wall of the support core column 2. A first guide rail 201 for the counterweight block 26 to be embedded and guide and slide is vertically protruded on the outer wall of the support core column 2. In order to improve the stability of the lifting and lowering of the counterweight block 26, each guiding and sliding vehicle 24 is equipped with two second pulling ropes 21. The two second pulling ropes 21 are respectively fixedly connected to the opposite side walls of the counterweight block 26. The ends of the two second pulling ropes 21 away from the counterweight block 26 are simultaneously connected to the end of the guide block 242 away from the support core column 2. Each second pulling rope 21 is reversed through three second fixed pulleys 23. Among the three second fixed pulleys 23, two are located at the end of the support arm 3 away from the support core column 2 and are horizontally rotatably arranged, and one is located on the side wall of the support arm 3 above the counterweight block 26 and is vertically rotatably arranged. Fixed convex columns 27 for fixing the second pulling ropes 21 are protruded on both sides of the counterweight block 26; the first pulling rope 20 is reversed through the first fixed pulley 22, and the first fixed pulley 22 is rotatably arranged at the end of the support arm 3 close to the support core column 2.

[0036] When the counterweight block 26 rises to the maximum stroke, the buckle picking part is closest to the support core column 2. At this time, a limiting structure for relieving the pulling forces of the first pulling rope 20 and the second pulling rope 21 is arranged between the counterweight block 26 and the support core column 2. The limiting structure includes a limiting groove 261 recessed on one side of the counterweight block 26 close to the support core column 2, a limiting block 32 elastically telescopically arranged on the outer wall of the support core column 2 and capable of being inserted and matched with the aligned limiting groove 261 in the normal state, and an electromagnet 30 that drives the limiting block 32 to retract when powered on. A receiving groove is recessed on the support core column 2, the electromagnet 30 is fixed at the bottom of the receiving groove, the limiting block 32 elastically telescopes in the receiving groove, a pressing spring 31 fixed to both of them is arranged between the limiting block 32 and the electromagnet 30, and an iron block is fixed to one end of the limiting block 32 close to the electromagnet 30.

[0037] The buckle assembly station includes two guard plate positioning and placing mechanisms horizontally spaced apart and parallel to the support arm 3 and two buckle feeding mechanisms. The buckle feeding mechanism includes a vibrating feeding tray 4, a buckle conveyor 5, and a buckle lifting member. The buckle conveyor 5 is a conveyor belt, and the buckle conveyor 5 conveys the buckles provided by the vibrating feeding tray 4 to the buckle lifting member, and the buckle lifting member delivers the buckles to the adsorption type fixture.

[0038] The buckle lifting member includes a receiving seat 15 at the discharge end of the buckle conveyor 5. A receiving groove 1501 is arranged on the receiving seat 15. The opening of the receiving groove 1501 faces the buckle conveyor 5 and the adsorption type fixture. A top member 16 that enters the receiving groove 1501 when rising and tops the buckle to fit with the adsorption surface of the adsorption type fixture is vertically lifted on the receiving seat 15. The lifting of the top member 16 is controlled by a top pressure driving member 17. The top pressure driving member 17 is a vertically arranged cylinder, and the piston rod of the cylinder is vertically upward.

[0039] The adsorption type clamp includes an adsorption member 8, the lower end of which is provided with a covering groove 801 for the buckle to enter with an opening downward, a second guide rail 11 is vertically fixed on the slide of the Z-axis screw slide assembly 7, a second slider 12 is fixed on the upper end of the adsorption member 8 and is embedded in the second guide rail 11 for guiding sliding, a fixed block 14 is fixed on the slide of the Z-axis screw slide assembly 7, a buffer elastic member 13 is arranged between the fixed block and the adsorption member 8, the buffer elastic member 13 is a buffer spring, and the adsorption member 8 is in a state of descending to the maximum stroke under the action of the buffer elastic member 13 in normal state, an air duct is arranged inside the adsorption member 8, one end of the air duct is located at the bottom of the covering groove 801 and forms an adsorption port 802, and the other end of the air duct is located on the side wall of the adsorption member 8 and is connected to the air pump.

[0040] The guard plate positioning and placing mechanism includes a placing seat 9 with a product positioning groove and a rotatable and liftable pressing piece 10. The pressing piece 10 adopts a lifting and rotating cylinder. The lifting and rotating cylinder is a standard part and its structure is not described here. Before discharging the material, the pressing piece 10 rotates to the outside of the product positioning groove and is in an ascending avoidance state; after discharging the material, the pressing piece 10 rotates to the inside of the product positioning groove and is in a state of pressing down the product.

[0041] In order to ensure the moving accuracy of the adsorption type clamp along the direction of the support arm 3, an alignment mark 28 is provided between the casing end wall of the forward and reverse screw slide assembly 6 and the side wall of the support arm 3 for detecting whether the first pull rope 20 is deformed when the adsorption component 8 moves to the maximum stroke in the direction of the support core column 2. A detection mark 29 is provided on the outer wall of the support core column 2 for aligning with the bottom surface of the counterweight block 26 when the adsorption component 8 moves to the maximum stroke in the direction of the support core column 2 and for detecting whether the second pull rope 21 is deformed. By observing the alignment of the alignment mark 28 and the alignment of the detection mark 29 with the bottom of the counterweight block 26, it can be To identify whether the first pull rope 20 or the second pull rope 21 has tensile deformation and the specific amount of deformation, a scale can be set on the outer wall of the support core column 2 below the detection mark 29, and a scale can be set on the outer wall of the support arm 3 at the side of the alignment mark 28 away from the support core column 2. Once deformation is found, the length of the first pull rope 20 or the second pull rope 21 can be adjusted to shorten the amount of deformation; error compensation can also be performed by modifying the moving distance of the slide in the main screw slide assembly. This method is suitable only when the three groups of pull rope assemblies have the same deformation amount; the error can also be eliminated by replacing the first pull rope 20 or the second pull rope 21.

[0042] All electronic control components are connected to a PLC controller, and the existing logic programming in the PLC controller is used to open and close all components and switch them in sequence.

[0043] When in the idle state, the slide of the positive and negative lead screw slide assembly 6 is relatively close to the nearest position; the housing of the positive and negative lead screw slide assembly 6 moves to the nearest position to the support core column 2, that is, the main slide 25 of the main lead screw slide assembly is in the state of descending to the lowest position; the suction attachment 8 is in the state of rising to the highest position; the counterweight 26 is in the state of rising to the highest position; the electromagnet 30 is in the power-off state.

[0044] When in the working state, the guard plate is placed into the product positioning groove of the placing seat 9 manually or by a robotic arm, and the pressing part 10 rotates above the guard plate and presses down to hold the guard plate; the vibrating feeding tray 4 vibrates to discharge materials, and the buckles are delivered one by one to the receiving groove 1501 through the buckle conveyor 5. Each time the suction attachment rises and falls, the buckle conveyor 5 delivers one buckle forward; the lead screw of the Z-axis lead screw slide assembly 7 rotates to drive the suction attachment 8 to descend directly above the receiving groove 1501, the top pressure driving part 17 extends to drive the ejector 16 to rise, and the ejector 16 pushes the buckle into the covering groove 801. The air pump pumps air, and the suction attachment 8 sucks the buckle; the top pressure driving part 17 retracts; the slides of the positive and negative lead screw slide assembly 6 move away from each other to the horizontal position perpendicular to the support arm 3 corresponding to the first buckle installation position, the main slide 25 rises, and the housing of the positive and negative lead screw slide assembly 6 moves along the support arm 3 to the first buckle installation position. The first buckle installation position is the buckle installation position closest to the support core column 2, and is sequentially named the second buckle installation position to the Nth buckle installation position as the distance from the support core column 2 gradually increases. The slide of the Z-axis lead screw slide assembly 7 descends to make the suction attachment 8 descend to press and assemble the buckle at the first buckle installation position of the guard plate; the suction attachment 8 then rises and resets. The housing of the positive and negative lead screw slide assembly 6 resets to the initial position towards the support core column 2. At the same time, the slides of the positive and negative lead screw slide assembly 6 relatively approach the initial position. Then, refer to the foregoing steps to suck another buckle and install it at the second buckle installation position of the guard plate, and then repeat the operation in sequence until the assembly of all the buckles on the guard plate is completed. This device can simultaneously perform the synchronous assembly of the buckles on 6 guard plates.

[0045] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An automatic assembly tool for automobile parts buckles, comprising a buckle picking and placing robot and a buckle assembly station, wherein the buckle assembly station comprises a buckle feeding mechanism and a guard plate positioning and placing mechanism, characterized in that: Several groups of buckle assembly stations are evenly spaced around the circumference of the buckle pick-and-place robot; The buckle picking and placing robot comprises a vertically arranged support column (2) and a plurality of buckle picking and placing modules which are distributed at intervals in the circumferential direction of the outer ring wall of the support column (2) and correspond to the product assembly stations. The buckle picking and placing module comprises a support arm (3) which is fixed to the support column (2) at one end and extends horizontally outward at the other end, and a buckle picking member which is guided and slidable on the support arm (3) along the length direction of the support arm (3) and can reciprocate vertically and in a horizontal direction perpendicular to the support arm (3). All the buckle picking members are synchronously reciprocated along the length direction of the support arm (3) through a guide sliding member and are controlled by a counterweight driving assembly. The counterweight drive assembly comprises a main screw slide assembly vertically arranged in a supporting core column (2), a first pull rope (20) connected between a guide sliding member and a main slide (25) of the main screw slide assembly, and a second pull rope (21) connected to the other end of the guide sliding member, wherein the second pull rope (21) is connected to a counterweight block (26) with a downward tendency at one end away from the guide sliding member.

2. The automatic assembly tool for automobile parts buckles according to claim 1 is characterized by: The counterweight block (26) is vertically guided and slid on the outer wall of the support core column (2); one end of the second pull rope (21) away from the counterweight block (26) is connected to one end of the guide sliding member away from the support core column (2); and a plurality of second fixed pulleys (23) for realizing the reversal of the second pull rope (21) are arranged on one end of the support arm (3) away from the support core column (2) and on the outer wall of the support arm (3).

3. The automatic assembly tool for automobile parts buckles according to claim 2 is characterized by: Two second pull ropes (21) are provided and are fixedly connected from one end of the support arm (3) away from the support core column (2) along the outer walls on both sides of the support arm (3) to the fixed protrusions (27) on both sides of the counterweight block (26).

4. The automatic assembly tool for automobile parts buckles according to claim 2 or 3, characterized in that: When the counterweight (26) rises to the maximum stroke, the buckle pick-up member is closest to the support core column (2). At this time, a limit structure is provided between the counterweight (26) and the support core column (2) to relieve the tension of the first pull rope (20) and the second pull rope (21).

5. The automatic assembly tool for automobile parts buckles according to claim 4 is characterized in that: The limiting structure comprises a limiting groove (261) recessed on one side of the counterweight block (26) close to the supporting core column (2), a limiting block (32) elastically and telescopically arranged on the outer wall of the supporting core column (2) and capable of being plugged into and matched with the limiting groove (261) after being aligned in a normal state, and an electromagnet (30) for driving the limiting block (32) to retract when energized.

6. The automatic assembly tool for automobile parts buckles according to claim 1, characterized in that: The guide sliding member is a guide sliding vehicle (24). A guide groove (301) is penetrated along the length direction of the support arm (3). The guide sliding vehicle (24) comprises a vehicle body in the shape of an "I" character. The upper and lower parallel movable plates (241) of the vehicle body are respectively provided with rollers (243) respectively rollingly fitting with the upper and lower ends of the support arm (3). The movable plates (241) are connected as a whole through guide blocks (242) which are inserted and matched with the guide groove (301).

7. The automatic assembly tool for automobile parts buckles according to claim 1 is characterized by: The buckle assembly station comprises two guard plate positioning and placement mechanisms which are horizontally spaced and parallel to the support arm (3) and two buckle feeding mechanisms. The buckle feeding mechanisms comprise a vibrating loading tray (4), a buckle conveying member (5) and a buckle lifting member. The buckle conveying member (5) conveys the buckles provided by the vibrating loading tray (4) to the buckle lifting member, and the buckle lifting member delivers the buckles to the buckle picking member. The buckle picking member comprises two adsorption-type clamps which are vertically lifted and lowered by a Z-axis screw slide assembly (7) and a forward and reverse screw slide assembly (6) which enables the housings of the two Z-axis screw slide assemblies (7) to synchronously approach or move away from each other in a horizontal direction perpendicular to the support arm (3).

8. The automatic assembly tool for automobile parts buckles according to claim 7 is characterized by: The buckle lifting member comprises a material receiving seat (15) located at the material discharge end of the buckle conveying member (5), a material receiving groove (1501) is arranged on the material receiving seat (15), the opening of the material receiving groove (1501) faces the buckle conveying member (5) and the adsorption type clamp, and the material receiving seat (15) vertically rises to enter the material receiving groove (1501) and push the buckle to the material lifting member (16) that is in contact with the adsorption surface of the adsorption type clamp, and the lifting and lowering of the material lifting member (16) is controlled by the pressing driving member (17).

9. The automatic assembly tool for automobile parts buckles according to claim 7, characterized in that: The adsorption type clamp comprises an adsorption member (8) having a coating groove (801) at the lower end for a buckle to enter with an opening downward, the upper end of the adsorption member (8) is guided to slide on the slide of the Z-axis screw slide assembly (7) and tends to descend to the maximum stroke through a buffer elastic member (13), an air duct is arranged inside the adsorption member (8), one end of the air duct is located at the bottom of the coating groove (801) and forms an adsorption port (802), and the other end of the air duct is located on the side wall of the adsorption member (8) and is connected to the vacuum assembly.

10. The automatic assembly tool for automobile parts buckles according to claim 7, characterized in that: A positioning mark (28) is provided between the housing end wall of the forward and reverse screw slide assembly (6) and the side wall of the support arm (3) for detecting whether the first pull rope (20) is deformed when the buckle pick-up member moves to the maximum stroke in the direction of the support core column (2), and a detection mark (29) is provided on the support core column (2) for aligning with the bottom surface of the counterweight block (26) when the buckle pick-up member moves to the maximum stroke in the direction of the support core column (2) and for detecting whether the second pull rope (21) is deformed.

11. The automatic assembly tool for automobile parts buckles according to claim 1, characterized in that: The guard plate positioning and placing mechanism comprises a placing seat (9) with a product positioning groove and a rotatable and elevating pressing piece (10); before discharging the material, the pressing piece (10) rotates to the outside of the product positioning groove and is in an ascending and avoiding state; after discharging the material, the pressing piece (10) rotates to the inside of the product positioning groove and is in a state of pressing down the product.

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