Automatic descending multi-product buckle assembly mechanism

Abstract

The application discloses an automatic descending multi-product buckle assembling mechanism and relates to the technical field of buckle assembling. The automatic descending multi-product buckle assembling mechanism comprises a working frame, a visual identifier, a position-avoiding mechanism, an assembling mechanism, a grabbing robot and a flexible vibration table, a material rack is arranged on one side of the working frame, a standby material bin is arranged on the top of the material rack, a vibration bin is arranged on the top of the flexible vibration table, a probe of the visual identifier is arranged above the vibration bin, a V-shaped fixing block is arranged on one side of the flexible vibration table, a laser emitter is arranged on the top of the V-shaped fixing block, the grabbing robot is arranged on one side of the flexible vibration table, the position-avoiding mechanism is arranged on one side of the V-shaped fixing block, and the assembling mechanism is arranged between the grabbing robot and the flexible vibration table. The automatic descending multi-product buckle assembling mechanism provided by the application realizes the identification and distinction of buckles of different models through the arrangement of the visual identifier and the laser emitter, avoids the identification error caused by long-time assembling, and further avoids the assembling error.

Description

Technical Field

[0001] This invention relates to the field of snap-fit ​​assembly technology, and more particularly to an automatic lowering multi-product snap-fit ​​assembly mechanism. Background Technology

[0002] Snap-fit ​​assembly is an assembly method that uses specially designed snap-fit ​​and slot structures to quickly connect parts. It is widely used in electronics, automobiles, home appliances, toys, and other fields. Automotive snap-fit ​​assembly is a crucial connection method in automobile manufacturing and repair. With its advantages of being tool-free, highly efficient, and low-cost, it is widely used for connecting interior and exterior parts, chassis, and electronic components.

[0003] The existing buckle assembly often uses manual assembly, but manual assembly has the following disadvantages: (1) There are many types of buckles, some of which have similar shapes. After a long time of manual assembly, it is easy to make identification errors, which leads to assembly errors; (2) For some buckles with asymmetrical connecting protrusions, manual assembly will result in them not being able to be inserted into the slot; (3) Manual assembly is time-consuming and labor-intensive, and has low efficiency.

[0004] Therefore, an automatic lowering multi-product snap-fit ​​assembly mechanism is proposed to solve the above problems. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic lowering multi-product buckle assembly mechanism to solve the problems existing in the background technology.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an automatic lowering multi-product buckle assembly mechanism, comprising a work frame, on which a vision recognition device, a positioning mechanism, an assembly mechanism, a gripping robot, and a flexible vibration table are arranged. A material rack is arranged on one side of the work frame, and a material storage bin is arranged on the top of the material rack. A vibration chamber is arranged on the top of the flexible vibration table, and the vibration chamber is located below the outlet of the material storage bin. The probe of the vision recognition device is located above the vibration chamber. A V-shaped fixing block is arranged on one side of the flexible vibration table, and a laser emitter is arranged on the top of the V-shaped fixing block. The gripping robot is arranged on the side of the flexible vibration table away from the material rack. The positioning mechanism is located on the side of the V-shaped fixing block away from the flexible vibration table. The assembly mechanism is located between the gripping robot and the flexible vibration table. The avoidance mechanism includes a support frame and a driver mounted on the work frame. A cam strip is mounted on the top of the support frame, a fixed plate is mounted on the top of the cam strip, and a guide sinking gripper is mounted on the top of the fixed plate. The output end of the driver is connected to the cam strip. A connecting rod passing through the fixed plate is mounted on the bottom of the guide sinking gripper. A roller is mounted on the bottom side of the connecting rod, and the roller cooperates with the cam strip. A limiting spring is sleeved on the connecting rod.

[0007] By adopting the above scheme, various types of buckles can be identified and assembled by an assembly mechanism, improving efficiency. Buckles of different models enter the vibration chamber at the top of the flexible vibration table through a preparation bin. The vibration of the flexible vibration table causes the feature faces of the buckles to face upwards, where they are then identified by a vision recognition device. Since some buckles are symmetrical when viewed from the front but asymmetrical when viewed from the back, they need to be placed on a V-shaped fixing block for secondary identification by a laser emitter scanning their contours. The process of moving the buckles from the vibration chamber to the V-shaped fixing block is achieved by a gripping robot. By setting up an avoidance mechanism, the assembly mechanism allows the guide wires to sink during the assembly process, avoiding interference with the assembly process.

[0008] Preferably, there is one roller, and the roller has a groove in the middle, which cooperates with the cam strip.

[0009] By setting a groove in the middle of the roller, which cooperates with the cam strip, a single roller is more suitable for operation in small spaces. The groove between the rollers improves the reliability of the connection between the roller and the cam strip.

[0010] Preferably, the assembly mechanism includes a bracket mounted on the work frame, a first cylinder mounted on the bracket, a push plate mounted on the output end of the first cylinder, a second cylinder mounted on the bottom of the push plate, and a pressing mechanism mounted on the side of the push plate.

[0011] By adopting the above solution, the snap-fit ​​can be automatically assembled. For some workpieces that are difficult to assemble manually, the assembly mechanism can easily assemble them, and the automated assembly improves the assembly efficiency.

[0012] Preferably, the clamping mechanism includes a slide rail disposed on the side of the push plate, a slider disposed on the slide rail, a third cylinder disposed on the top of the slider, a clamping rod disposed on the top of the third cylinder, a limit block disposed on the side of the slide rail near the fixed end of the first cylinder, a guide shaft disposed on the side of the limit block near the fixed end of the first cylinder, a limit ring disposed at the other end of the guide shaft, a return spring sleeved on the guide shaft, and the two ends of the return spring being respectively connected to the limit block and the limit ring.

[0013] By adopting the above solution, for some plastic parts, the outer wall of the buckle is thin and the pressure bearing capacity is poor. If the cylinder is used to press it, it is easy to press the buckle ring. Therefore, the clamping rod is used to press it, which avoids damaging the buckle. In addition, the clamping rod and the first cylinder play a positioning role in the assembly mechanism, while the second cylinder plays an assembly role.

[0014] Preferably, the output end of the second cylinder is provided with a quick-change assembly head, which is detachably connected to the output end of the second cylinder, and the assembly head is a trapezoidal block.

[0015] The trapezoidal block design reduces the space occupied by the assembly head, making it more suitable for operation in small spaces; the quick-change structure allows the assembly head to be replaced according to different models of clips.

[0016] Preferably, a feeding mechanism is provided on one side of the material rack. The feeding mechanism is used to feed materials into the material storage bin. The feeding mechanism is a conveyor belt drive mechanism.

[0017] By adopting the above scheme, an automatic feeding mechanism is used to feed the equipment. When the number of parts in the material bin is insufficient, automatic replenishment can be performed.

[0018] Preferably, the gripping robot is equipped with detachable gripping claws, and the top of the work frame is equipped with a claw magazine containing multiple gripping claws corresponding to the latches.

[0019] The above solution is typically used to improve the equipment's versatility in assembling different types of clips. One gripper corresponds to one type of clip. When one type of clip is assembled, another type of clip needs to be assembled. At this time, the identification program needs to be changed, and the corresponding type of gripper needs to be changed. Setting the gripper magazine on the work stand avoids the rush when changing grippers, thereby improving the efficiency of the changeover.

[0020] The beneficial effects of this invention are: 1. By setting up a vision recognition device and a laser emitter, different models of buckles can be identified and distinguished, avoiding identification errors caused by prolonged assembly and thus preventing assembly errors. Buckles are divided into symmetrical and asymmetrical types, and asymmetrical ones also have directionality. The vision recognition device automatically selects the required buckle models through a pre-set program, then the gripping robot grasps it, and the internal program automatically calculates the required rotation angle and coordinate points. For asymmetrical parts, they can be placed directly in the working position. For fully symmetrical parts, the system can automatically determine the position of the laser emitter, select the contour, and compare it after selection. Based on the comparison results, the buckle is distinguished by front and back, and the coordinate angle is automatically rotated and corrected to place it in the working position in the required direction.

[0021] 2. By setting up a stop mechanism, the guide rail is lowered during the assembly process, avoiding interference with the assembly process. The driver drives the guide rail to move according to the downward curvature of the cam bar design. When it reaches the working position, it moves from the upper position to the lower position. The guide rail gripper pulls the clamping line downward, and then the assembly mechanism performs the assembly. After the assembly mechanism completes the clamping installation, it continues to move under the drive of the driver. At the same time, under the action of the limit spring, the guide rail gripper rises to the high position, and the line returns to the horizontal position to proceed to the next station.

[0022] 3. By setting up a clamping mechanism, the buckles on the guide sinking jaws are positioned again, pressing the buckles onto the guide sinking jaws. This prevents the buckles from being pushed off during assembly. At the same time, the clamping rod has less force, reducing the pressure when clamping the buckles and thus preventing the buckles from being crushed.

[0023] 4. By setting guide shafts and springs on the slide rail, the clamping rod and the second cylinder move synchronously when they extend, but their positions are not synchronized when they retract. That is, even if the starting positions of the clamping rod and the second cylinder are different, their synchronized and final positions are the same, while the clamping rod and the second cylinder can retract asynchronously.

[0024] 5. By setting up quick-change assembly heads, detachable grippers, and gripper magazines, the equipment's versatility and efficiency are improved. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0026] Figure 2 This is a schematic diagram showing the connection between the feeding mechanism and the work frame of an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0027] Figure 3 This is a schematic diagram of the structure of a flexible vibration table for an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0028] Figure 4 This is a schematic diagram of the V-shaped fixing platform of an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0029] Figure 5This is a schematic diagram of the avoidance mechanism of an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0030] Figure 6 This is a front view of the avoidance mechanism of an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0031] Figure 7 This is a schematic diagram of the assembly mechanism of an automatic lowering multi-product buckle assembly mechanism according to the present invention.

[0032] Figure 8 This is a schematic diagram of the gripping robot of the present invention, which is an automatic lowering multi-product buckle assembly mechanism.

[0033] Figure 9 This is a schematic diagram showing the connection between the buckle and the lead wire in an automatic lowering multi-product buckle assembly mechanism of the present invention.

[0034] Explanation of reference numerals in the attached figures: 1. Work frame; 11. Feeding mechanism; 12. Material preparation bin; 2. Vibration chamber; 21. Laser emitter; 22. Flexible vibration table; 23. V-shaped fixing block; 24. Vision recognition device; 3. Gripping robot; 31. Gripping claw; 32. Gripper magazine; 4. Alternating mechanism; 41. Support frame; 42. Fixed plate; 43. Driver; 44. Cam rack; 45. Roller; 46. Limiting spring; 47. Guide sinking clamp 48. Claw; 5. Connecting rod; 6. Assembly mechanism; 7. Bracket; 8. First cylinder; 9. Push plate; 10. Second cylinder; 11. Assembly head; 12. Pressing mechanism; 13. Slide rail; 14. Slider; 15. Third cylinder; 16. Pressing rod; 17. Guide shaft; 18. Return spring; 19. Limiting block; 10. Limiting ring; 11. Limiting post; 22. Buckle; 33. Clamp; 44. Clamping rod; 55. Guide shaft; 66. Return spring; 77. Limiting block; 88. Limiting ring; 99. Limiting post; 10. Buckle; 11. Clamping thread. Detailed Implementation

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Reference Figures 1 to 9According to one embodiment of the present invention, an automatic lowering multi-product buckle assembly mechanism is provided. This automatic lowering multi-product buckle assembly mechanism includes a work frame 1, on which a vision recognition device 24, a positioning mechanism 4, an assembly mechanism 5, a gripping robot 3, and a flexible vibration table 22 are arranged. A material rack is arranged on one side of the work frame 1, and a material preparation bin 12 is arranged on the top of the material rack. A vibration bin 2 is arranged on the top of the flexible vibration table 22, and the vibration bin 2 is located below the outlet of the material preparation bin 12. The probe of the vision recognition device 24 is located above the vibration bin 2. A V-shaped fixing block 23 is arranged on one side of the flexible vibration table 22, and a laser emitter 21 is arranged on the top of the V-shaped fixing block 23. The gripping robot 3 is arranged on the side of the flexible vibration table 22 away from the material rack. The positioning mechanism 4 is located on the side of the V-shaped fixing block 23 away from the flexible vibration table 22. The assembly mechanism 5 is located between the gripping robot 3 and the flexible vibration table 22. The avoidance mechanism 4 includes a support frame 41 and a driver 43 mounted on the work frame 1. A cam strip 44 is mounted on the top of the support frame 41, a fixed plate 42 is mounted on the top of the cam strip 44, and a guide sinking gripper 47 is mounted on the top of the fixed plate 42. The output end of the driver 43 is connected to the cam strip 44. A connecting rod 48 passing through the fixed plate 42 is mounted on the bottom of the guide sinking gripper 47. A roller 45 is mounted on the bottom side of the connecting rod 48. The roller 45 cooperates with the cam strip 44. A limit spring 46 is sleeved on the connecting rod 48. The guide sinking gripper 47 is used to place the buckle 6, and the top of the guide sinking gripper 47 is the working position.

[0037] Reference Figure 1 and Figure 2 In this embodiment, a material rack is provided on one side of the work frame 1, and a material storage bin 12 is provided on the top of the material rack. The outlet of the material storage bin 12 is located above the work frame 1. A feeding mechanism 11 is provided on one side of the material rack. The feeding mechanism 11 is used to feed material into the material storage bin 12. The feeding mechanism 11 is a conveyor belt drive mechanism. A flexible vibration table 22 is provided on the top of the work frame 1. A vibration bin 2 is provided on the top of the flexible vibration table 22. The vibration bin 2 is located below the material storage bin 12. A column is also provided on the work frame 1. A vision recognition device 24 is provided on the column. The flexible work table and the column are located at the corner of the work frame 1. The column is located between the material rack and the flexible work table. The probe of the vision recognition device 24 is located above the vibration bin 2. A vibration device is provided inside the flexible vibration table 22 to make the vibration bin 2 vibrate. The vibration device includes a vibration motor and other vibration structures.

[0038] Reference Figure 1 and Figure 2 In this embodiment, a V-shaped fixing block 23 and a gripping robot 3 are respectively provided on the two adjacent sides of the flexible vibration table 22. A laser emitter 21 is provided on the top of the V-shaped fixing block 23, and a gripper for gripping the buckle 6 is provided on the gripping robot 3.

[0039] Understandably, the feeding mechanism 11 transports various types of buckles 6 to the preparation bin 12, and then they fall into the vibration bin 2. Since some buckles 6 fall into the preparation bin 12 with their front facing up and some with their back facing up, the vibration action of the flexible vibration table 22 makes the buckles 6 of the same type in the vibration bin 2 face up. It is worth noting that it is sufficient to ensure that at least one buckle 6 of the same type faces up each time. After the vision recognition device 24 completes the recognition, the gripping robot 3 grips the buckle 6 and fixes it on the V-shaped fixing block 23.

[0040] Reference Figure 4 In this embodiment, a laser emitter 21 is provided on the top of the V-shaped fixing block 23. The laser emits a laser beam to scan and select the outline of the part. After the selection is completed, a comparison is made. Based on the comparison result, the buckle 6 is distinguished between front and back, and the coordinate angle is automatically rotated and corrected so that it is placed in the working position in the required direction.

[0041] Different types of snap fasteners 6 are identified and distinguished using a vision recognition device 24 and a laser emitter 21. Snap fasteners 6 are divided into symmetrical and asymmetrical types, with the asymmetrical type exhibiting directionality. The vision recognition device 24 determines the total amount of residual material in the vibration chamber 2 and automatically drives the feeding mechanism 11 and the material preparation bin 12 to feed the material. After feeding, the vision recognition device 24 automatically selects the required snap fastener 6 type according to a pre-set program, and then the gripping robot 3 grips it. The internal program automatically calculates the required rotation angle and coordinate points. For asymmetrical parts, they can be placed directly in the working position. For perfectly symmetrical parts, the system automatically determines the position of the laser emitter 21, performs contour selection, and compares the contours. Based on the comparison results, the snap fasteners 6 are distinguished front from back, and the coordinate angle is automatically corrected to place them in the working position in the required direction. The identification and distinction of different types of snap fasteners 6 using the vision recognition device 24 and laser emitter 21 avoids identification errors caused by prolonged assembly, thus preventing assembly errors.

[0042] Reference Figure 1 , Figure 2 and Figure 7In this embodiment, the work frame 1 is equipped with an assembly mechanism 5 for assembling the buckles 6. The assembly mechanism 5 includes a bracket 51 mounted on the work frame 1, a first cylinder 52 mounted on the bracket 51, a push plate 53 mounted on the output end of the first cylinder 52, a second cylinder 54 mounted at the bottom of the push plate 53, and an assembly head 55 mounted on the output end of the second cylinder 54 for gripping the buckle slot and assembling it with the buckle 6 on the work position. Furthermore, the assembly head 55 is a quick-change mechanism, detachably connected to the output end of the second cylinder 54, and is a trapezoidal block. The trapezoidal block design reduces the space occupied by the assembly head 55, making it more suitable for operation in small spaces; the quick-change structure allows the assembly head 55 to be replaced according to different models of buckles 6.

[0043] Reference Figure 1 , Figure 2 and Figure 7 In this embodiment, a pressing mechanism 56 is provided on the side of the push plate 53. The pressing mechanism 56 prevents the assembly head 55 from flying off the buckle 6 after the second cylinder 54 is pushed out. The pressing mechanism 56 includes a slide rail 561 provided on the side of the push plate 53, a slider 562 provided on the slide rail 561, a third cylinder 563 provided on the top of the slider 562, and a pressing rod 564 provided on the top of the third cylinder 563. The pressing rod is an L-shaped rod. A limit block 567 is provided on the side of the slide rail 561 near the fixed end of the first cylinder 52, and a limit post 569 is provided on the side of the slide rail 561 near the movable end of the first cylinder 52. The limit post 569 and the limit block 567 prevent the slider 562 from disengaging from the slide rail 561.

[0044] Specifically, the buckle 6 includes plastic and metal parts. For the plastic parts, the outer wall of the buckle 6 is thin and has poor pressure resistance. If a cylinder is used to press it, the buckle 6 will easily be crushed. Therefore, a pressing rod 564 is used to press it. Although the driving source for the pressing rod 564 is a cylinder, a small cylinder can be used in this case. The force of the small cylinder is smaller and will not damage the buckle 6. In addition, the pressing rod 564 and the first cylinder 52 play a positioning role in the assembly mechanism 5, and the second cylinder 54 plays an assembly role.

[0045] Reference Figure 7 In this embodiment, because the lengths of the clamping rod 564 and the piston rod of the second cylinder 54 are different, in order to ensure that the assembly head 55 on both the clamping rod 564 and the second cylinder 54 reaches the working position, a guide shaft 565 is provided on the side of the limiting block 567 near the fixed end of the first cylinder 52. A limiting ring 568 is provided at the other end of the guide shaft 565, and a return spring 566 is sleeved on the guide shaft 565. The two ends of the return spring 566 are respectively connected to the limiting block 567 and the limiting ring 568. The return spring 566 and the guide shaft 565 play the role of synchronizing the movement of the clamping rod 564 and the assembly head 55.

[0046] Understandably, the first cylinder 52 first pushes out the push plate 53, which serves as a preliminary positioning function. Then, the return spring 566 and the guide shaft 565 move synchronously to push the slider 562 forward, sending the clamping rod 564 above the working position. The third cylinder 563 retracts, causing the clamping rod 564 to press against the buckle 6. Next, the second cylinder 54 extends and assembles the buckle 6 and the slot through the assembly head 55. During this process, the clamping rod 564 and the second cylinder 54 are pushed out synchronously, meaning that even if the starting positions of the clamping rod 564 and the second cylinder 54 are different, their synchronous position and final position are the same. However, the retraction of the clamping rod 564 and the second cylinder 54 is not synchronous.

[0047] Reference Figures 1-2 and Figures 5-6 In this embodiment, because the horizontal position of the thread 61 when assembling the buckle 6 and the slot with the thread 61 will interfere with the movement of the assembly mechanism 5, an avoidance mechanism 4 needs to be set at the working position. The avoidance mechanism 4 includes a support frame 41 and a driver 43 set on the work frame 1. A cam strip 44 is set on the top of the support frame 41, a fixed plate 42 is set on the top of the cam strip 44, and a guide sinking gripper 47 is set on the top of the fixed plate 42. The output end of the driver 43 is connected to the cam strip 44. A connecting rod 48 passing through the fixed plate 42 is set at the bottom of the guide sinking gripper 47. A roller 45 is set on the bottom side of the connecting rod 48. The roller 45 cooperates with the cam strip 44. A limit spring 46 is sleeved on the connecting rod 48. The cam structure has a faster response speed. A connecting rod 48 is provided at the bottom of the fixed plate 42, and a roller 45 is provided at the bottom side of the connecting rod 48. The roller 45 is connected to the cam. A limit spring 46 is also provided at the bottom of the fixed plate 42. The other end of the limit spring 46 is fixed to the support frame 41. Preferably, there is only one roller 45. A groove is provided in the middle of the roller 45. The groove is connected to the cam strip 44. One roller 45 is more suitable for operation in small spaces. The groove between the rollers 45 improves the reliability of the connection between the roller 45 and the cam strip 44.

[0048] Understandably, the driver 43 drives the guide to slide down according to the downward curvature designed by the cam bar 44. When it moves to the working position, it moves from the upper position to the lower position. The guide sliding gripper 47 pulls the buckle 6 and the line 61 downward. Then the assembly mechanism 5 assembles the buckle 6. After the assembly mechanism 5 completes the installation of the buckle 6, it continues to move under the drive of the driver 43. At the same time, under the action of the limit spring 46, the guide sliding gripper 47 rises to the high position, and the line 61 returns to the horizontal position to perform the action of the next station.

[0049] Reference Figure 8The gripping robot 3 is equipped with detachable gripping claws 31. The top of the work frame 1 is equipped with a claw magazine 32, which contains multiple gripping claws 31 corresponding to the buckles 6. The gripping claws 31 are replaced manually. After assembling a buckle 6 of one model, the machine is stopped to replace the gripping claws 31 and the recognition program, and then the gripping claws 31 of the next model are assembled. The manual replacement of gripping claws 31 is simple and low in cost.

[0050] Working principle: The vision recognition device 24 determines the total amount of residual material in the vibration chamber 2 and automatically drives the feeding mechanism 11 and the preparation chamber 12 to feed the material. After feeding, the vision recognition device 24 automatically selects the required model of buckle 6 through the pre-set program. At the same time, the flexible vibration table 22 vibrates to make the feature surface of the corresponding model of buckle 6 face upward. Then the gripping robot 3 grips it and automatically calculates the required rotation angle and coordinate point through the internal program. For asymmetrical parts, they can be directly placed on the guide sinking gripper 47. For completely symmetrical parts, the position of the laser emitter 21 can be automatically determined and the contour is selected. After the contour is selected, it is compared. According to the comparison result, the buckle 6 is distinguished front and back and the coordinate angle is automatically rotated and corrected so that it is placed on the guide sinking gripper 47 in the required direction. Then assembly begins. The first cylinder 52 pushes out the push plate 53, providing initial positioning. Next, the return spring 566 and the guide shaft 565 move synchronously, pushing the slider 562 forward and sending the clamping rod 564 above the working position. The third cylinder 563 retracts, causing the clamping rod 564 to press against the buckle 6. Then, the second cylinder 54 extends, assembling the buckle 6 and the slot through the assembly head 55. During this process, the clamping rod 564 and the second cylinder 54 extend synchronously, meaning that even if the starting positions of the clamping rod 564 and the second cylinder 54 are different, their synchronous and final positions are the same. However, the retraction of the clamping rod 564 and the second cylinder 54 can be asynchronous. During the assembly process, the avoidance mechanism 4 works in conjunction with the driver 43, which drives the guide to move according to the downward curvature designed by the cam bar 44. When it moves to the working position, it moves from the upper position to the lower position. The guide jaw 47 pulls the buckle 6 and the line 61 downward. Then the assembly mechanism 5 performs the assembly. After the assembly mechanism 5 completes the installation of the buckle 6, it continues to move under the drive of the driver 43. At the same time, under the action of the limit spring 46, the guide jaw 47 rises to the high position, and the line 61 returns to the horizontal position to perform the action of the next station.

[0051] It is worth noting that, in this application, although there are multiple models of buckles 6, each assembly is performed on the same model of buckles 6. After the assembly is completed, the program is changed to assemble the next model of buckles 6. This can be understood as a large-scale assembly of different models of buckles 6. In addition, due to the limited space in the factory and work rack 1, two sets of equipment are usually set up on the work rack 1 for assembly. Therefore, each assembly equipment occupies a small space and the space between each mechanism is small.

[0052] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automatic lowering multi-product buckle assembly mechanism, comprising a work frame (1), characterized in that: The work frame (1) is equipped with a visual recognition device (24), a positioning mechanism (4), an assembly mechanism (5), a gripping robot (3), and a flexible vibration table (22). A material rack is provided on one side of the work frame (1), and a material storage bin (12) is provided on the top of the material rack. A vibration bin (2) is provided on the top of the flexible vibration table (22), and the vibration bin (2) is located below the outlet of the material storage bin (12). The probe of the visual recognition device (24) is located above the vibration bin (2). A V-shaped fixing block (23) is provided on one side of the flexible vibration table (22), and a laser emitter (21) is provided on the top of the V-shaped fixing block (23). The gripping robot (3) is located on the side of the flexible vibration table (22) away from the material rack. The positioning mechanism (4) is located on the side of the V-shaped fixing block (23) away from the flexible vibration table (22). The assembly mechanism (5) is located between the gripping robot (3) and the flexible vibration table (22). The avoidance mechanism (4) includes a support frame (41) and a driver (43) mounted on the work frame (1). A cam strip (44) is mounted on the top of the support frame (41). A fixed plate (42) is mounted on the top of the cam strip (44). A guide sinking gripper (47) is mounted on the top of the fixed plate (42). The output end of the driver (43) is connected to the cam strip (44). A connecting rod (48) passing through the fixed plate (42) is mounted on the bottom of the guide sinking gripper (47). A roller (45) is mounted on the bottom side of the connecting rod (48). The roller (45) cooperates with the cam strip (44). A limiting spring (46) is sleeved on the connecting rod (48).

2. The automatic lowering multi-product buckle assembly mechanism according to claim 1, characterized in that: The number of rollers (45) is one, and a groove is provided in the middle of the roller (45), which cooperates with the cam strip (44).

3. The automatic lowering multi-product buckle assembly mechanism according to claim 1, characterized in that: The assembly mechanism (5) includes a bracket (51) disposed on the work frame (1), a first cylinder (52) disposed on the bracket (51), a push plate (53) disposed at the output end of the first cylinder (52), a second cylinder (54) disposed at the bottom of the push plate (53), and a pressing mechanism (56) disposed on the side of the push plate (53).

4. The automatic lowering multi-product buckle assembly mechanism according to claim 3, characterized in that: The pressing mechanism (56) includes a slide rail (561) disposed on the side of the push plate (53), a slider (562) disposed on the slide rail (561), a third cylinder (563) disposed on the top of the slider (562), a pressing rod (564) disposed on the top of the third cylinder (563), a limit block (567) disposed on the side of the slide rail (561) near the fixed end of the first cylinder (52), a guide shaft (565) disposed on the side of the limit block (567) near the fixed end of the first cylinder (52), a limit ring (568) disposed on the other end of the guide shaft (565), a return spring (566) sleeved on the guide shaft (565), and the two ends of the return spring (566) being connected to the limit block (567) and the limit ring (568) respectively.

5. The automatic lowering multi-product buckle assembly mechanism according to claim 3, characterized in that: The output end of the second cylinder (54) is provided with a quick-change assembly head (55), which is detachably connected to the output end of the second cylinder (54) and is a trapezoidal block.

6. The automatic lowering multi-product buckle assembly mechanism according to claim 1, characterized in that: A feeding mechanism (11) is provided on one side of the material rack. The feeding mechanism (11) is used to feed the material into the material storage bin (12). The feeding mechanism (11) is a conveyor belt drive mechanism.

7. The automatic lowering multi-product buckle assembly mechanism according to claim 1, characterized in that: The gripping robot (3) is equipped with a detachable gripper (31), and the top of the work frame (1) is equipped with a gripper magazine (32), which contains multiple grippers (31) corresponding to the buckle (6).

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