Robot device for flexibly assembling chair frame

Abstract

The invention belongs to the technical field of chair frame assembly, and particularly relates to a chair frame flexible assembly robot device which comprises a chair frame spring conveying line, the chair frame spring conveying line and a mechanical arm are assembled together, the chair frame spring conveying line comprises a chair frame spring conveying line body, and the chair frame spring conveying line body comprises a power assembly and a plurality of storage positioning barrel structures. The plurality of storage positioning cylinder structures are used for sequentially bearing the chair frame springs one by one; the power assembly is used for driving the multiple storage positioning cylinder structures to circularly rotate in sequence; the storage positioning cylinder structure comprises an outer plastic sleeve and an inner plastic positioning body, and the inner plastic positioning body is used for inserting and limiting the chair frame spring; the outer plastic sleeve is arranged outside the inner plastic positioning body in a sleeving manner; a gap is reserved between the outer plastic sleeve and the inner plastic positioning body and is used for placing a chair frame spring; the defect that the chair frame spring has certain displacement change when falling is overcome, follow-up precise assembly is facilitated, and the assembly quality of products is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of chair frame assembly, in particular to a chair frame flexible assembly robot device. Background Art

[0002] Flexible assembly of chair frames usually refers to the modular, adjustable, and quickly adaptable production and assembly process for chair frames in furniture manufacturing. It is particularly suitable for small-batch, multi-variety flexible production lines; it realizes metal grasping and adaptive assembly (such as mortise and tenon joints, bolt locking, and welding).

[0003] In order to assemble the thin springs and thick springs in the wheel frame on the chair frame, the prior art application number 202310407441.2 for learning chair wheel assembly discloses that "a spring guide groove is provided below the guide tube, so that the spring falling from the guide tube will fall into the spring guide groove, and in order to achieve the arrangement of the springs one by one", which is used for feeding the thin springs and thick springs in the wheel frame; However, the spring itself is elastic and will have a certain displacement after falling into the spring guide groove, which is not conducive to subsequent precise assembly. Summary of the Invention

[0004] The spring itself is elastic and will have a certain displacement after falling into the spring guide groove, which is not conducive to the subsequent accurate assembly. To achieve the above purpose, the present invention provides the following technical solutions: A chair frame flexible assembly robot device includes a robotic arm with a clamping claw installed at its end. The clamping claw is used to flexibly clamp the chair frame spring to assemble the wheel frame spring on the chair frame; the device also includes a chair frame spring conveyor line, which is assembled with the robotic arm and is used to receive the chair frame springs one by one and continuously convey them to the position of the robotic arm; the chair frame spring conveyor line includes: The supporting shell structure is assembled with the robotic arm; A chair frame spring conveying line body is assembled on the supporting shell structure; the chair frame spring conveying line body is used to receive the chair frame springs; The chair frame spring conveyor line includes a power assembly and multiple storage and positioning cylinder structures. The multiple storage and positioning cylinder structures are sequentially distributed in an array on the power assembly. The multiple storage and positioning cylinder structures are used to sequentially receive the chair frame springs. The power assembly is used to drive the multiple storage and positioning cylinder structures to rotate in a cycle. The storage and positioning cylinder structures include: Internal plastic positioning body, used to insert the limit chair frame spring; The outer plastic sleeve is sleeved on the outside of the inner plastic positioning body; a gap is reserved between the outer plastic sleeve and the inner plastic positioning body, and the gap is used to place the chair frame spring.

[0005] The chair frame springs that fall from the guide tube will fall into multiple storage and positioning cylinder structures on the chair frame spring conveyor line in turn, completing the chair frame spring conveyor line for receiving the chair frame springs that fall from the guide tube one by one, and continuously conveying them to the position of the robotic arm, and then using the clamping claws to flexibly clamp the chair frame springs to assemble the wheel frame springs on the chair frame; the storage and positioning cylinder structure uses the gap reserved between the outer plastic sleeve and the inner plastic positioning body to store the chair frame springs, and the inner plastic positioning body will be used to insert and limit the chair frame springs, while the outer plastic sleeve will limit the chair frame springs from the outside, overcoming the problem that the chair frame springs will have a certain displacement change when falling, which is conducive to subsequent precise assembly and improves the assembly quality of the product.

[0006] In a further embodiment, the internal plastic positioning body comprises: Internal plastic column, used to insert the limit chair frame spring; A pusher base is installed at the bottom of the inner plastic column; the column center line of the pusher base and the column center line of the inner plastic column are on the same straight line.

[0007] In a further embodiment, the inner plastic column comprises: The inner support column is integrally assembled on the column center line of the pusher base; The plastic airbag B is sleeved on the outside of the inner support column; the air inlet pipe B and the air outlet pipe B of the plastic airbag B are both opened on the inner support column; the air inlet pipe B and the air outlet pipe B are independent of each other and do not interfere with each other; the air inlet pipe B and the air outlet pipe B are both connected to the plastic airbag B and are used to inflate and deflate the plastic airbag B.

[0008] The air inlet pipe B and the air outlet pipe B are both installed with solenoid valves B.

[0009] In a further embodiment, the pusher base includes: The base platform is assembled integrally with the inner support column and is in the same straight line; An annular cavity is provided on the base platform; the annular cavity is in a single opening shape; The push ring is movably placed inside the annular cavity; the size of the push ring matches the annular cavity, and the push ring can be movably raised and lowered inside the annular cavity.

[0010] The push base also includes a cylinder, which is installed on the base platform. The top of the cylinder is installed on the push ring. The cylinder is used to lift the push ring up and down and can move back and forth along the inner plastic column.

[0011] In a further embodiment, the outer plastic sleeve comprises: outer cylinder; Two cylinders are respectively distributed at the upper and lower ends of the outer cylinder; the two cylinders and the outer cylinder are on the same straight line and are connected; Plastic airbag A, laid inside the outer cylinder; The plastic airbag A, the cylinder and the outer cylinder are all sleeved on the outside of the inner plastic column.

[0012] In a further embodiment, the outer plastic sleeve further comprises: The air inlet pipe A is opened on the cylinder and the outer cylinder; The air outlet pipe A is opened on the cylinder and the outer cylinder; Among them, solenoid valves A are installed on the air inlet pipeline A and the air outlet pipeline A; the air inlet pipeline A and the air outlet pipeline A are both connected to the plastic airbag A for inflating and deflating the plastic airbag A.

[0013] The chair frame flexible assembly robot device achieves high-precision conveying and positioning through a two-level flexible limit mechanism: Level 1 limiter: The chair frame spring dropped from the guide tube enters the storage and positioning cylinder structure of the chair frame spring conveyor body. The inner plastic positioning body is inserted into the center hole of the chair frame spring to initially restrict radial displacement. The outer plastic sleeve simultaneously wraps around the spring from the outside, using the reserved gap to absorb the impact of the drop and prevent bouncing and deviation. Secondary dynamic correction: The inner support column in the inner plastic positioning body passes through the center of the chair frame spring to complete axial fixation (first limit); inflate plastic airbags A and B to expand and squeeze the gap space: plastic airbag A compresses the outer diameter of the chair frame spring from the outside to the inside; plastic airbag B tightens the inner wall of the chair frame spring from the inside to the outside; through bidirectional flexible pressure, the micro-displacement of the spring caused by elastic deformation is corrected in real time (second limit).

[0014] Robotic arm collaboration: The corrected chair frame spring is continuously transported to the robotic arm workstation by the conveyor line; the clamping claw, based on the stable posture formed by the airbag, realizes adjustment-free grasping and precise assembly to the wheel frame.

[0015] In addition, the plastic airbags A and B are inflated to expand and squeeze the gap space: the plastic airbag A compresses the outer diameter of the chair frame spring from the outside to the inside, and the plastic airbag B tightens the inner wall of the chair frame spring from the inside to the outside; the flexible deformation ability of the inflated plastic airbags A and B can adapt to chair frame springs of different wire diameters; the inflated plastic airbags A and B form an air cushion buffer layer to absorb the high-frequency vibration of the conveyor line, significantly reduce the resonance fatigue of the chair frame spring during transportation, and avoid micro cracks; the plastic airbags A and B squeeze the gap gas during the inflation / deflation process to form a micro-airflow flushing effect, that is, the volume pulsation of the plastic airbags A and B during the inflation / deflation process can discharge metal debris or oil stains on the surface of the chair frame spring; the radial pressure of the plastic airbags A and B on the chair frame spring causes it to produce micro-pre-compression. When the robotic arm grabs it and directly inserts it into the wheel frame hole, the pre-compression offsets the fit gap and eliminates abnormal rebound noise.

[0016] In a further embodiment, the supporting shell structure includes: The enclosure is mounted on the chair frame spring conveyor line; Two supporting uprights are distributed on both sides of the enclosure; the supporting uprights are fixed on the enclosure in an integrated manner; The supporting base plate is horizontally distributed at the lower end of the enclosure and is fixed integrally with the end of the supporting vertical plate.

[0017] In a further embodiment, the power assembly includes: Support column; Two limit cover plates are distributed at the upper and lower ends of the support column; the limit cover plates at the bottom of the support column are fixed on the enclosure through multiple fixing rods; A plurality of chains are movably sleeved on the support column; a guide groove is provided on the support column to match the chains, and the chains are slidably arranged in the guide groove; a plurality of storage and positioning cylinder structures are sequentially arranged in an array on the chains; The driving motor and the reduction motor connected by power transmission are connected to the chain through the rotating shaft and the sprocket power transmission.

[0018] Compared with the prior art, the chair frame flexible assembly robot device of the present invention has the following advantages: 1. The chair frame springs dropped from the guide tube will fall into multiple storage and positioning cylinder structures on the chair frame spring conveyor line in sequence. The chair frame spring conveyor line is used to receive the chair frame springs dropped from the guide tube one by one, and continuously convey them to the position of the robotic arm. The clamping claws are then used to flexibly clamp the chair frame springs to assemble the wheel frame springs on the chair frame. The storage and positioning cylinder structure uses the gap reserved between the outer plastic sleeve and the inner plastic positioning body to store the chair frame springs. The inner plastic positioning body is inserted and limited in the chair frame springs. At the same time, the outer plastic sleeve will limit the chair frame springs from the outside, overcoming the displacement change of the chair frame springs when they fall, which is conducive to subsequent precise assembly and improves the assembly quality of the product. 2. The storage and positioning cylinder structure utilizes the gap reserved between the outer plastic sleeve and the inner plastic positioning body to store the chair frame spring. During this process, the inner plastic column will utilize the inner support column to insert and limit the chair frame spring, perform the first limiting, and simultaneously inflate the plastic airbags A and B. The plastic airbags A and B expand as the gas is filled, occupying the space used to store the chair frame spring gap, completing the correction of the elastic offset position of the chair frame spring when it falls, and achieving the second correction limit, thereby achieving precise positioning of the chair frame spring and overcoming the certain displacement change of the chair frame spring when it falls. This is beneficial to the subsequent precise assembly of the robotic arm and the clamping claw, thereby improving the assembly quality of the product. 3. Inflate the plastic airbags A and B to expand and squeeze the gap space: the plastic airbag A compresses the outer diameter of the chair frame spring from the outside to the inside, and the plastic airbag B tightens the inner wall of the chair frame spring from the inside to the outside; the flexible deformation ability of the inflated plastic airbags A and B can adapt to chair frame springs of different wire diameters; the inflated plastic airbags A and B form an air cushion buffer layer to absorb the high-frequency vibration of the conveyor line, significantly reduce the resonance fatigue of the chair frame spring during transportation, and avoid micro cracks; the plastic airbags A and B squeeze the gap gas during the inflation / deflation process to form a micro-airflow flushing effect, that is, the volume pulsation of the plastic airbags A and B during the inflation / deflation process can discharge metal debris or oil stains on the surface of the chair frame spring; the radial pressure of the plastic airbags A and B on the chair frame spring causes it to produce micro-precompression. When the robotic arm grabs it and directly inserts it into the wheel frame hole, the pre-compression offsets the fit gap and eliminates abnormal rebound noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of the chair frame flexible assembly robot device of the present invention; Figure 2 for Figure 1 Schematic diagram of the structure of the middle chair frame spring conveyor line; Figure 3 for Figure 2 Schematic diagram of the structure of the middle support shell; Figure 4 for Figure 2 Schematic diagram of the structure of the middle chair frame spring conveyor line; Figure 5 for Figure 4 Schematic diagram of the structure of the power component; Figure 6 for Figure 4 A schematic diagram of the structure of the storage positioning cylinder; Figure 7 for Figure 6 Schematic diagram of the disassembly of the storage and positioning cylinder structure; Figure 8 for Figure 7 Schematic diagram of the structure of the intramedullary plastic positioning body; Figure 9 for Figure 8 Schematic diagram of the structure of the inner plastic column; Figure 10 for Figure 8 Schematic diagram of the structure of the middle pusher base; Figure 11 for Figure 7 Schematic diagram of the structure of Chinese and foreign plastic sleeves; Figure 12 for Figure 6 A top view demonstration of the effect of the positioning tube structure on the positioning plasticity of the chair frame spring.

[0020] Legend: 1. Robotic arm, 11. Clamping claw; 2. Chair frame spring conveyor line, 21. Support shell structure, 22. Chair frame spring conveyor line body, 23. Power assembly, 24. Storage positioning cylinder structure, 211. Enclosure, 212. Support vertical plate, 213. Support bottom plate, 231. Limit cover plate, 232. Support column, 233. Chain, 234. Drive motor, 235. Reducer motor, 241. Outer plastic sleeve, 242. Inner plastic positioning body, 243. Inner plastic column, 244. Pushing base, 2411. Cylinder, 2412. Outer cylinder, 2413. Plastic airbag A, 2431. Inner support column, 2432. Plastic airbag B, 2441. Pushing ring, 2442. Base, 2443. Cylinder, 3. Chair frame spring. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be further described in detail below in conjunction with specific embodiments. In the description of the present invention, unless otherwise specified, "a plurality of" means two or more.

[0022] In one embodiment of the present invention, please refer to Figure 1 and Figure 2 : A chair frame flexible assembly robot device includes a robotic arm 1, wherein the robotic arm 1 is provided with a clamping claw 11 at its end, and the clamping claw 11 is used to flexibly clamp the chair frame spring 3 to assemble the wheel frame spring on the chair frame; The robot arm 1 and the gripping claw 11 are existing prior art devices that can be purchased directly on the market and can be directly used. They can also be purchased arbitrarily by technicians in this field according to their own needs. The operation of the robotic arm 1 and the technology of the robotic arm 1 driving the clamping claw 11 to flexibly clamp the chair frame spring 3 are also prior art. They can be purchased directly on the market, or assembled by purchasing parts, or can be learned by consulting journals, etc., and technicians in this field can purchase them according to their own needs. The robotic arm 1 and the clamping claw 11 technology are not protected by this application and will not be elaborated on here. The device also includes a chair frame spring conveyor line 2, which is assembled with the robot arm 1. The chair frame spring conveyor line 2 is used to receive the chair frame springs 3 one by one and continuously convey them to the position of the robot arm 1. The chair frame spring conveyor line 2 includes: The supporting shell structure 21 is assembled with the robotic arm 1; The chair frame spring conveying line 22 is assembled on the support shell structure 21; the chair frame spring conveying line 22 is used to receive the chair frame spring 3; Therefore, when the chair frame spring conveyor line 2 and the robotic arm 1 are replaced and applied to the intelligent assembly production line for learning chair wheel assembly with the prior art application number 202310407441.2, the chair frame spring conveyor line 2 is used to sequentially receive the chair frame springs 3 dropped from the guide tube and continuously convey them to the position of the robotic arm 1, and then use the clamping claws 11 to flexibly clamp the chair frame springs 3 to assemble the wheel frame springs on the chair frame; Continue reading Figure 4 、 Figure 6-Figure 12 : Among them, the chair frame spring conveying line body 22 includes a power component 23 and multiple storage and positioning cylinder structures 24. The multiple storage and positioning cylinder structures 24 are distributed in an array on the power component 23 in sequence. The multiple storage and positioning cylinder structures 24 are used to receive the chair frame springs 3 one by one in sequence; the power component 23 is used to drive the multiple storage and positioning cylinder structures 24 to rotate in sequence; the storage and positioning cylinder structures 24 include: The inner plastic positioning body 242 is used to insert the limiting chair frame spring 3; The outer plastic sleeve 241 is sleeved on the outside of the inner plastic positioning body 242; a gap is reserved between the outer plastic sleeve 241 and the inner plastic positioning body 242, and the gap is used to place the chair frame spring 3.

[0023] To sum up, the chair frame spring 3 dropped from the guide tube will fall into the multiple storage and positioning cylinder structures 24 on the chair frame spring conveyor line 22 in turn, completing the chair frame spring conveyor line 2 for receiving the chair frame spring 3 dropped from the guide tube one by one, and continuously conveying it to the position of the robotic arm 1, and then using the clamping claw 11 to flexibly clamp the chair frame spring 3 to assemble the wheel frame spring on the chair frame; the storage and positioning cylinder structure 24 uses the gap reserved between the outer plastic sleeve 241 and the inner plastic positioning body 242 to store the chair frame spring 3, and the inner plastic positioning body 242 will be used to insert and limit the chair frame spring 3, and at the same time, the outer plastic sleeve 241 will limit the chair frame spring 3 from the outside, overcoming the certain displacement change of the chair frame spring 3 when it falls, which is conducive to subsequent precise assembly and improves the assembly quality of the product.

[0024] In another embodiment of the present invention, please refer to Figure 7 and Figure 8 : The inner plastic positioning body 242 includes: The inner plastic column 243 is used to insert the limiting chair frame spring 3; The pushing base 244 is installed at the bottom of the inner plastic column 243; the column center line of the pushing base 244 and the column center line of the inner plastic column 243 are on the same straight line.

[0025] In another embodiment of the present invention, please refer to Figure 8 and Figure 9 : The inner plastic column 243 includes: The inner support column 2431 is integrally assembled on the column center line of the pusher base 244; The plastic airbag B2432 is sleeved on the outside of the inner support column 2431; the air inlet pipe B and the air outlet pipe B of the plastic airbag B2432 are both opened on the inner support column 2431; the air inlet pipe B and the air outlet pipe B are independent of each other and do not interfere with each other; the air inlet pipe B and the air outlet pipe B are both connected to the plastic airbag B2432 and are used to inflate and deflate the plastic airbag B2432.

[0026] See also Figure 8 and Figure 9 : Solenoid valves B are installed on the air inlet pipe B and the air outlet pipe B.

[0027] In another embodiment of the present invention, please refer to Figure 8 and Figure 10 : The pushing base 244 includes: The base platform 2442 is integrally assembled with the inner support column 2431 and is in the same straight line; An annular cavity is provided on the base 2442; the annular cavity is in a single opening shape; The push ring 2441 is movably placed inside the annular cavity; the size of the push ring 2441 matches the annular cavity, and the push ring 2441 can be movably raised and lowered inside the annular cavity.

[0028] See also Figure 8 and Figure 10 : The pushing base 244 also includes a cylinder 2443, which is installed on the base 2442. The top of the cylinder 2443 is installed on the pushing ring 2441. The cylinder 2443 is used to lift the pushing ring 2441 up and down, and can move back and forth along the inner plastic column 243.

[0029] In another embodiment of the present invention, please refer to Figure 11 and Figure 12 : The outer plastic sleeve 241 includes: Outer cylinder 2412; Two cylinders 2411 are respectively located at the upper and lower ends of the outer cylinder 2412; the two cylinders 2411 and the outer cylinder 2412 are located on the same straight line and are connected (it should be noted that the cylinder 2411 at the lower end of the outer cylinder 2412 is fixed to the base 2442); Plastic airbag A2413, laid inside the outer cylinder 2412; The plastic airbag A2413, the cylinder 2411 and the outer cylinder 2412 are all sleeved on the outside of the inner plastic column 243.

[0030] For further solutions, please see Figure 11 and Figure 12 : The outer plastic sleeve 241 also includes: The air inlet pipe A is provided on the cylinder 2411 and the outer cylinder 2412; The air outlet pipe A is provided on the cylinder 2411 and the outer cylinder 2412; Among them, solenoid valves A are installed on the air inlet pipeline A and the air outlet pipeline A; the air inlet pipeline A and the air outlet pipeline A are both connected to the plastic airbag A2413, which are used to inflate and deflate the plastic airbag A2413.

[0031] Of course, as is well known to those skilled in the art, the air inlet pipe A and the air outlet pipe A, as well as the air inlet pipe B and the air outlet pipe B, are all conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selection according to their needs or convenience; The gas mobilization method of the air inlet pipeline A, the air outlet pipeline A, the air inlet pipeline B and the air outlet pipeline B is an existing technology, for example, it is achieved by adding an exhaust fan, and its detailed structure can be found in existing literature journals. It can also be purchased directly on the market, or parts can be purchased on the market to assemble it, etc.; it is not what the present invention wants to protect, so it will not be elaborated here, nor drawn in the accompanying drawings.

[0032] In another embodiment of the present invention, the storage and positioning cylinder structure 24 uses the gap reserved between the outer plastic sleeve 241 and the inner plastic positioning body 242 to store the chair frame spring 3. During this process, the inner plastic column 243 will use the inner support column 2431 to insert and limit in the chair frame spring 3, perform the first limitation, and simultaneously inflate the plastic airbag A2413 and the plastic airbag B2432. The plastic airbag A2413 and the plastic airbag B2432 expand as the gas is filled in, occupying the space used to store the chair frame spring 3 in the gap, completing the correction of the elastic offset position of the chair frame spring 3 when it falls, and achieving the second correction limit, thereby realizing precise positioning of the chair frame spring 3, overcoming the problem that the chair frame spring 3 will have a certain displacement change when it falls, and facilitating the subsequent precise assembly of the robotic arm 1 and the clamping claw 11, thereby improving the assembly quality of the product.

[0033] In summary, the chair frame flexible assembly robot device achieves high-precision conveying and positioning through a two-level flexible limit mechanism: 1) Level 1 limit: The chair frame spring 3 dropped from the guide tube enters the storage and positioning tube structure 24 of the chair frame spring conveyor line 22. The inner plastic positioning body 242 is inserted into the center hole of the chair frame spring 3 to initially restrict radial displacement. The outer plastic sleeve 241 simultaneously wraps around the spring from the outside, using the reserved gap to absorb the impact of the drop and prevent bouncing and deviation. 2) Secondary dynamic correction: the inner support column 2431 in the inner plastic positioning body 242 passes through the center of the chair frame spring 3 to complete axial fixation (first limit); the plastic airbag A2413 and the plastic airbag B2432 are inflated to expand and squeeze the gap space: the plastic airbag A2413 compresses the outer diameter of the chair frame spring 3 from the outside to the inside; the plastic airbag B2432 tightens the inner wall of the chair frame spring 3 from the inside to the outside; through bidirectional flexible pressure, the micro-displacement of the spring caused by elastic deformation is corrected in real time (second limit).

[0034] 3) Coordination with the robotic arm 1: The corrected chair frame spring 3 is continuously transported from the conveyor line to the workstation of the robotic arm 1; the clamping claw 11, based on the stable posture formed by the airbag, realizes adjustment-free grasping and precise assembly to the wheel frame.

[0035] In addition, the plastic airbags A2413 and B2432 are inflated to expand and squeeze the gap space: the plastic airbag A2413 compresses the outer diameter of the chair frame spring 3 from the outside to the inside, and the plastic airbag B2432 tightens the inner wall of the chair frame spring 3 from the inside to the outside; the flexible deformation ability of the inflated plastic airbags A2413 and B2432 can adapt to chair frame springs 3 with different wire diameters; the inflated plastic airbags A2413 and B2432 form an air cushion buffer layer to absorb the high-frequency vibration of the conveyor line, significantly reducing the vibration of the chair frame spring 3 during conveying. Resonance fatigue in the seat frame can be reduced to avoid micro cracks; the plastic airbag A2413 and the plastic airbag B2432 squeeze the gap gas during inflation / deflation to form a micro-airflow flushing effect, that is, the volume pulsation of the plastic airbag A2413 and the plastic airbag B2432 during inflation / deflation can discharge metal debris or oil stains on the surface of the seat frame spring 3; the radial pressure of the plastic airbag A2413 and the plastic airbag B2432 on the seat frame spring 3 causes it to produce micro-precompression. When the robot arm 1 grabs it and directly inserts it into the wheel frame hole, the pre-compression amount offsets the fitting clearance and eliminates the rebound noise.

[0036] In another embodiment of the present invention, please refer to Figure 2 and Figure 3 : The supporting shell structure 21 includes: The enclosure 211 is sleeved on the chair frame spring conveying line 22; Two supporting uprights 212 are distributed on both sides of the enclosure 211; the supporting uprights 212 are fixed integrally to the enclosure 211; The supporting bottom plate 213 is laterally distributed at the lower end of the enclosure 211 and is integrally fixed to the end of the supporting vertical plate 212 .

[0037] For further solutions, please see Figure 4 and Figure 5 : The power assembly 23 includes: Support column 232; Two limiting cover plates 231 are distributed at the upper and lower ends of the support column 232; the limiting cover plates 231 at the bottom of the support column 232 are fixed on the enclosure 211 through multiple fixing rods; A plurality of chains 233 are movably mounted on the support column 232; a guide groove is provided on the support column 232 to match the chain 233, and the chain 233 is slidably arranged in the guide groove; a plurality of storage and positioning cylinder structures 24 are sequentially arranged in an array on the chain 233; The driving motor 234 and the reduction motor 235 connected by power transmission are connected to the chain 233 by power transmission through a rotating shaft and a sprocket.

[0038] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A chair frame flexible assembly robot device, comprising a robotic arm with a clamping claw mounted at its end, the clamping claw being used to flexibly clamp the chair frame spring to assemble the wheel frame spring on the chair frame; characterized in that: The device also includes a chair frame spring conveyor line, which is assembled with the robotic arm. The chair frame spring conveyor line is used to receive the chair frame springs one by one and continuously convey them to the position of the robotic arm. The chair frame spring conveyor line includes: The supporting shell structure is assembled with the robotic arm; A chair frame spring conveying line body is assembled on the supporting shell structure; the chair frame spring conveying line body is used to receive the chair frame springs; The chair frame spring conveyor line includes a power assembly and multiple storage and positioning cylinder structures. The multiple storage and positioning cylinder structures are sequentially distributed in an array on the power assembly. The multiple storage and positioning cylinder structures are used to sequentially receive the chair frame springs. The power assembly is used to drive the multiple storage and positioning cylinder structures to rotate in a cycle. The storage and positioning cylinder structures include: Internal plastic positioning body, used to insert the limit chair frame spring; The outer plastic sleeve is sleeved on the outside of the inner plastic positioning body; a gap is reserved between the outer plastic sleeve and the inner plastic positioning body, and the gap is used to place the chair frame spring.

2. The chair frame flexible assembly robot device according to claim 1, characterized in that: The inner plastic positioning body comprises: Internal plastic column, used to insert the limit chair frame spring; A pusher base is installed at the bottom of the inner plastic column; the column center line of the pusher base and the column center line of the inner plastic column are on the same straight line.

3. The chair frame flexible assembly robot device according to claim 2, characterized in that: The inner plastic column comprises: The inner support column is integrally assembled on the column center line of the pusher base; The plastic airbag B is sleeved on the outside of the inner support column; the air inlet pipe B and the air outlet pipe B of the plastic airbag B are both opened on the inner support column; the air inlet pipe B and the air outlet pipe B are independent of each other and do not interfere with each other; the air inlet pipe B and the air outlet pipe B are both connected to the plastic airbag B and are used to inflate and deflate the plastic airbag B.

4. The chair frame flexible assembly robot device according to claim 3, characterized in that: The air inlet pipe B and the air outlet pipe B are both installed with solenoid valves B.

5. The chair frame flexible assembly robot device according to claim 2, characterized in that: The pusher base comprises: The base platform is assembled integrally with the inner support column and is in the same straight line; An annular cavity is provided on the base platform; the annular cavity is in a single opening shape; The push ring is movably placed inside the annular cavity; the size of the push ring matches the annular cavity, and the push ring can be movably raised and lowered inside the annular cavity.

6. The chair frame flexible assembly robot device according to claim 5, characterized in that: The push base also includes a cylinder, which is installed on the base platform. The top of the cylinder is installed on the push ring. The cylinder is used to lift the push ring up and down and can move back and forth along the inner plastic column.

7. The chair frame flexible assembly robot device according to any one of claims 1 to 6, characterized in that: The outer plastic sleeve comprises: outer cylinder; Two cylinders are respectively distributed at the upper and lower ends of the outer cylinder; the two cylinders and the outer cylinder are on the same straight line and are connected; Plastic airbag A, laid inside the outer cylinder; The plastic airbag A, the cylinder and the outer cylinder are all sleeved on the outside of the inner plastic column.

8. The chair frame flexible assembly robot device according to claim 7, characterized in that: The outer plastic sleeve also includes: The air inlet pipe A is opened on the cylinder and the outer cylinder; The air outlet pipe A is opened on the cylinder and the outer cylinder; Among them, solenoid valves A are installed on the air inlet pipeline A and the air outlet pipeline A; the air inlet pipeline A and the air outlet pipeline A are both connected to the plastic airbag A for inflating and deflating the plastic airbag A.

9. The chair frame flexible assembly robot device according to any one of claims 1 to 6, characterized in that: The supporting shell structure comprises: The enclosure is mounted on the chair frame spring conveyor line; Two supporting uprights are distributed on both sides of the enclosure; the supporting uprights are fixed on the enclosure in an integrated manner; The supporting base plate is horizontally distributed at the lower end of the enclosure and is fixed integrally with the end of the supporting vertical plate.

10. The chair frame flexible assembly robot device according to claim 9, characterized in that: The power assembly includes: Support column; Two limit cover plates are distributed at the upper and lower ends of the support column; the limit cover plates at the bottom of the support column are fixed on the enclosure through multiple fixing rods; A plurality of chains are movably sleeved on the support column; a guide groove is provided on the support column to match the chains, and the chains are slidably arranged in the guide groove; a plurality of storage and positioning cylinder structures are sequentially arranged in an array on the chains; The driving motor and the reduction motor connected by power transmission are connected to the chain through the rotating shaft and the sprocket power transmission.

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