Double-robot automatic buckle mounting equipment

Abstract

The invention relates to the technical field of automobile part mounting equipment, in particular to double-robot automatic buckle mounting equipment which comprises two manipulators, the two manipulators are mounted on a rack, and a clamp assembly used for clamping a clip is mounted at the execution end of each manipulator; the feeding assembly is mounted on the rack and is used for automatically arranging the clips according to a sequence; the mold frame assembly is installed on the machine frame, and a clamping part used for clamping a sheet metal part is installed on the mold frame assembly; the cleaning assembly is located on the side wall of the mechanical arm and used for cleaning the clamps left on the clamp assembly; and the control assembly is electrically connected with the manipulator and the feeding assembly. The automatic buckle mounting device facilitates automatic buckle mounting and improves the assembly quality and the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automotive parts installation equipment technology, and in particular to a dual-robot automatic snap-fit ​​installation device. Background Technology

[0002] The structure of a snap fastener is usually quite simple, consisting of basic parts such as a snap head, snap arm, and snap slot. It does not have complex mechanical structures or electronic components. Most interior parts such as car seats, door panels, dashboards, center consoles, and armrest boxes are connected and fixed using snap fasteners.

[0003] With the continuous development of the automotive industry and the increasing production of automobiles year by year, the demand for clips has also risen accordingly. Simultaneously, with the continuous advancement of automotive technology and the upgrading of automotive parts, higher requirements are being placed on the performance, quality, and installation accuracy of clips. Currently, most clips on automotive parts are installed manually. Due to the large number of clips used in a car, workers need to repeatedly perform the installation action for extended periods. This not only consumes a significant amount of manpower and resources, but also, due to the instability of manual operation and individual differences, it is difficult to ensure that the installation accuracy of each clip is highly consistent. Under prolonged high-intensity work conditions, worker fatigue increases, inevitably leading to fluctuations in installation accuracy, which in turn affects the overall assembly quality and production efficiency of automotive parts.

[0004] Therefore, those skilled in the art are dedicated to developing a dual-robot automatic snap-fit ​​installation device that facilitates automatic snap-fit ​​installation, thereby improving assembly quality and production efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dual-robot automatic buckle installation device, which facilitates automatic buckle installation and improves assembly quality and production efficiency.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A dual-robot automatic snap-fit ​​installation device, including Two robotic arms are mounted on a frame, and the actuators of the robotic arms are equipped with gripper assemblies for holding clamps. A feeding assembly, which is mounted on the frame and is used to automatically arrange the clips in sequence; A mold frame assembly, which is mounted on the frame and has clamping components for clamping sheet metal parts. A cleaning component located on the side wall of the robotic arm for cleaning residual clips on the gripper assembly; A control component, which is electrically connected to the robotic arm and the feeding component.

[0007] The beneficial effects of adopting the above solution are as follows: by using two robotic arms on the frame, and equipped with clamping components, feeding components, mold rack components, cleaning components and control components, the snap-fit ​​installation is automated. The two robotic arms work together to improve the efficiency of snap-fit ​​installation, reduce the labor intensity of manual installation, and avoid the installation accuracy problems caused by the instability of manual operation and individual differences, thus effectively improving the quality and production efficiency of automotive parts assembly.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the frame includes multiple bases, and the side walls of the bases are equipped with fences. The side walls of the fences are also equipped with sensor gratings, start buttons, and emergency stop buttons. The sensor gratings, start buttons, and emergency stop buttons are all electrically connected to the control components.

[0010] The beneficial effects of adopting the above-mentioned further solutions are as follows: the base sidewall of the frame is equipped with a fence, a light sensor, a start button, and an emergency stop button, all of which are electrically connected to the control components, enhancing the safety and ease of operation of the equipment. The light sensor can promptly detect and provide feedback to the control components when a person or object enters the dangerous area, allowing the control components to immediately take corresponding safety measures, such as stopping the robot arm's movement, effectively preventing accidents. The start button and emergency stop button facilitate operators to quickly start or urgently stop the equipment, ensuring the safety and controllability of the equipment during operation.

[0011] Furthermore, the control component includes a control box, which houses a central controller, as well as a human-machine interface, a data communication module, a motion control module, an input / output interface module, and a power supply module, all electrically connected to the central controller.

[0012] The beneficial effects of adopting the above-mentioned further solutions are as follows: the central controller, as the core, can accurately coordinate and control the operation of the entire equipment; the human-machine interface facilitates information exchange between operators and the equipment, enabling functions such as parameter setting, operation command input, and equipment status monitoring; the data communication module enables data transmission between the equipment and external systems (such as production management systems), facilitating centralized management and analysis of production data; the motion control module can precisely control the movement of components such as the robotic arm and the feeding assembly, ensuring the accuracy and efficiency of the snap-fit ​​installation; the input / output interface module provides interface support for the connection of the equipment with other peripheral devices (such as sensors, actuators, etc.), enhancing the expandability and integration of the equipment; and the power supply module provides stable power assurance for the normal operation of the entire control component and the equipment, improving the reliability and stability of the equipment.

[0013] Furthermore, the clamping assembly includes a rotating component, and the output end of the robotic arm is connected to the rotating component; The mounting plate assembly is mounted on the rotating assembly, and a plurality of clip clamping assemblies for clamping clips are evenly mounted on the outer periphery of the mounting plate assembly. The clamping assembly includes a mounting rod, one end of which is connected to the mounting plate assembly, and the other end of which is connected to a mounting base. A first clamping member and a second clamping member are mounted on the mounting base. The first clamping member and the second clamping member are arranged opposite to each other, and an elastic component is installed between the first clamping member and the second clamping member. The elastic component includes a guide rod and a compression spring. One end of the guide rod is fixedly connected to the first clamping member, and the other end of the guide rod passes through the second clamping member and extends out of the second clamping member. The compression spring is sleeved on the guide rod, and both ends of the compression spring abut against the first clamping member and the second clamping member, respectively.

[0014] The beneficial effects of adopting the above-mentioned further solution are as follows: the rotating component allows the robot arm to flexibly adjust its angle to adapt to the buckle installation requirements of different positions and postures, increasing the applicability and flexibility of the equipment; multiple clamping components are evenly installed on the mounting plate assembly, which can clamp multiple clamps at a time, improving the efficiency of buckle installation; the first clamping member and the second clamping member in the clamping component are arranged opposite to each other and connected by an elastic component, which includes a guide rod and a compression spring. This structure can provide appropriate elastic force when clamping the clamp, ensuring that the clamp is firmly clamped while avoiding damage to the clamp due to excessive clamping force, thus improving the quality and reliability of buckle installation.

[0015] Furthermore, an ultrasonic welder is also mounted on the clamp assembly, the ultrasonic welder is mounted on the mounting plate assembly, and the ultrasonic welder is connected to a welding rod.

[0016] The beneficial effects of adopting the above-mentioned further solutions are: the ultrasonic welder can quickly weld and fix the buckle after it is installed in place, which further enhances the connection strength and stability between the buckle and the sheet metal parts, ensures the reliability and safety of automotive parts during use, and broadens the functional range and application scenarios of the equipment.

[0017] Furthermore, the feeding assembly includes a clamp vibratory feeder, and a conveying track assembly is installed at the output end of the clamp vibratory feeder; A limiting component, wherein the limiting component is located at the output end of the conveying track assembly; A feeding and lifting assembly is mounted on a support and located on the side wall of the limiting assembly. The feeding and lifting assembly is used to lift a single clip.

[0018] The beneficial effects of adopting the above-mentioned further solution are as follows: the vibratory feeder enables the clips to vibrate automatically and arrange them in a certain direction and sequence. Then, the arranged clips are conveyed to the loading and lifting assembly via the conveyor track assembly. The limiting assembly ensures the accurate positioning of the clips during the conveying process. The loading and lifting assembly then lifts each clip to a suitable height for the robotic arm to grasp. The entire loading process is highly automated, requiring no manual intervention, thus improving the overall efficiency of clip installation while also ensuring the accuracy and stability of clip loading.

[0019] Furthermore, the conveying track assembly includes a conveying block, one end of which is mounted on the clamp vibratory plate, and the other end of which is mounted on the support. A conveying track is provided on the conveying block, and the conveying track is clearance-fitted with the clamp. A horizontal linear vibration assembly is also installed at the lower end of the conveying block. The limiting component includes a limiting block, which is installed on the side wall of the feeding and lifting component; The support includes a fixing plate, which is mounted on the base. The end of the conveying block is mounted on the fixing plate, and the fixing plate is provided with a through hole for the clamp to pass through. The feeding and lifting assembly includes a feeding and lifting block, a limiting block is installed on the side wall of the feeding and lifting block, and the feeding and lifting block is connected to a feeding and lifting cylinder through a guide assembly. The feeding and lifting cylinder is installed on the fixed base. The guiding assembly includes a guide block, the lower end of which is connected to the feeding lifting cylinder, and the upper end of which is connected to the feeding lifting block. A fixing block is installed on the fixing base, and a fixing hole is provided on the fixing block for the guide block to pass through.

[0020] The beneficial effects of adopting the above-mentioned further solutions are as follows: The conveying block of the conveying track assembly is installed on the clamp vibratory plate and the support. The conveying track and the clamp are fitted with a clearance and equipped with a horizontal linear vibration component, which can ensure that the clamp moves forward smoothly and steadily during the conveying process, avoiding jamming or deviation of the clamp in the conveying track, and improving the reliability of clamp conveying; The limiting block of the limiting component is installed on the side wall of the feeding lifting component, which can accurately limit the clamp and ensure that the clamp is in the correct position during lifting; The fixing plate of the support is installed on the fixing base, and the fixing plate is provided with through holes to facilitate the smooth passage of the clamp, while providing a stable installation foundation for the conveying block; The feeding lifting block of the feeding lifting component is connected to the feeding lifting cylinder through the guide component. The guide component includes a guide block and a fixing block, which ensures the smoothness and linearity of the movement of the feeding lifting block during the lifting process, and can accurately lift a single clamp to the designated position, providing precise feeding support for the robot's gripping.

[0021] Furthermore, the mold frame assembly includes a mold frame on which multiple support plate assemblies are mounted; A mold lifting assembly is installed on the lower side of the bearing plate assembly, and a rolling support assembly is installed on the upper end of the mold lifting assembly; The mold lifting assembly includes a mold lifting cylinder, the lower end of which is mounted on a support plate, the support plate is mounted on the mold frame, a mold lifting block is mounted on the output end of the mold lifting cylinder, and the rolling support assembly is mounted on the mold lifting block; The rolling support assembly includes support balls, which are mounted on the mold lifting block via rolling support seats. The bearing plate assembly is provided with lifting holes for the support balls to pass through.

[0022] The beneficial effects of adopting the above-mentioned further solution are as follows: multiple bearing plate assemblies are installed on the mold frame, which can be flexibly adjusted and arranged according to sheet metal parts of different sizes and shapes, improving the versatility and adaptability of the equipment; the mold lifting assembly is installed on the lower side of the bearing plate assembly, and through the cooperation of the mold lifting cylinder and the rolling support assembly, the sheet metal parts can be stably lifted and supported. The support balls of the rolling support assembly are installed on the mold lifting block through the rolling support seat. The rolling support method can reduce friction during the lifting process, so that the sheet metal parts are subjected to uniform force, avoiding deformation or damage to the sheet metal parts during the lifting process, ensuring that the sheet metal parts are in the right position and state when the buckles are installed, and improving the quality and accuracy of the buckle installation.

[0023] Furthermore, the clamping component includes a first clamping assembly and a second clamping assembly, the ends of the first clamping assembly and the second clamping assembly are connected by a linkage assembly, and both the first clamping assembly and the second clamping assembly have clamping arms for pressing against the sheet metal parts; A telescopic force-adding component is installed at the ends of the first clamping component and the second clamping component. The telescopic force-adding component extends and retracts to drive the clamping arm to rotate in order to press against the sheet metal part. Both the first clamping assembly and the second clamping assembly include a rotating column, and the clamping arm is perpendicularly connected to the rotating column. The telescopic force-adding component includes a telescopic cylinder, and the output end of the telescopic cylinder is connected to a hinge component. The end of the rotating column is equipped with a rotating block for abutting against the hinge assembly. The telescopic cylinder extends and retracts, causing the hinge assembly and the rotating block to rotate, so that the clamping arm rotates around the rotating column. The hinge assembly includes a hinge column, one end of which is hinged to the output end of the telescopic cylinder, the other end of which is close to the rotating block, the middle part of which is connected to one end of a hinge plate, and the other end of the hinge plate is hinged to the mold base, which is mounted on the telescopic cylinder.

[0024] The beneficial effects of adopting the above-mentioned further solution are as follows: The clamping component adopts a structure in which the first clamping assembly and the second clamping assembly are connected by a linkage assembly, and a telescopic force-adding assembly is installed at the end. This structure achieves a stable clamping of the sheet metal part. The telescopic cylinder of the telescopic force-adding assembly extends and retracts, driving the hinge assembly and the rotating block to rotate, thereby causing the clamping arm to rotate around the rotating column, thus generating a counterforce on the sheet metal part. This clamping method can be automatically adjusted according to the shape and size of the sheet metal part, and the clamping force is uniform and stable. It can effectively prevent the sheet metal part from shifting or shaking during the snap-fit ​​installation process, improving the accuracy and quality of the snap-fit ​​installation. At the same time, this structural design of the clamping component also facilitates the operator to quickly clamp and disassemble the sheet metal part, improving the production efficiency of the equipment.

[0025] Furthermore, the cleaning component includes a base assembly; A disc assembly is mounted on a base assembly via a fixing assembly. The disc assembly has a cavity for a robot arm to pass through. A cleaning assembly is installed on the inner wall of the cavity, and the end of the cleaning assembly faces the center of the disc assembly. The base assembly includes a base plate, which is circular in shape, and a plurality of evenly distributed support rods are installed on the underside of the base plate. The disc assembly is mounted on the base plate. The disk assembly includes a disk, which is mounted on the base plate by the fixing assembly, and the outer diameter of the disk is smaller than the outer diameter of the base plate; The fixing component includes a fixing block, which has a first fixing member and a second fixing member fixedly connected. The lower side of the first fixing member abuts against the upper surface of the disk, the side of the second fixing member abuts against the end face of the disk, and the second fixing member is connected to the base plate. The cleaning assembly includes cleaning wires, with one end of each cleaning wire connected to the inner wall of the disc, and the other end of each cleaning wire facing the center of the disc.

[0026] The beneficial effects of adopting the above-mentioned further solution are as follows: The structure of the cleaning component can effectively clean the residual clips on the gripper assembly, ensuring the cleanliness and clamping performance of the gripper assembly. The disc assembly is mounted on the base assembly via a fixing component. The base assembly has a circular base plate with multiple support rods, providing stable support for the disc assembly. A cleaning component is installed on the inner wall of the cavity of the disc assembly. The cleaning wire end of the cleaning component faces the center of the disc. When the robot assembly passes through the cavity, the cleaning wire can wipe and clean the surface of the gripper assembly from all directions, removing residual clip fragments, dust, and other impurities. This avoids residues affecting subsequent clamping and installation, improves the operational stability of the equipment and the quality of clamping installation, and also reduces the risk of equipment failure due to residues. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a dual-robot automatic snap-fit ​​installation device according to a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a robotic arm and gripper assembly according to a specific embodiment of the present invention; Figure 3 A schematic diagram of the mounting disk assembly and clamping assembly structure according to a specific embodiment of the invention. Figure 1 ; Figure 4 This is a schematic diagram of the installation disk assembly and clamping assembly structure according to a specific embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the clamping component structure according to a specific embodiment of the present invention; Figure 6 This is a schematic diagram of a welding assembly structure according to a specific embodiment of the present invention; Figure 7 This is a schematic diagram of the feeding component structure according to a specific embodiment of the present invention; Figure 8 This is a schematic diagram of the conveyor track assembly structure according to a specific embodiment of the present invention; Figure 9 This is a schematic diagram of the limiting component and the feeding lifting component according to a specific embodiment of the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the limiting component and the feeding lifting component according to a specific embodiment of the present invention. Figure 2 ; Figure 11 This is a schematic diagram of a mold frame assembly structure according to a specific embodiment of the present invention; Figure 12 This is a schematic diagram of the mold lifting assembly and rolling support assembly according to a specific embodiment of the present invention; Figure 13 This is a schematic diagram of the lateral limiting component and the longitudinal limiting component according to a specific embodiment of the present invention; Figure 14 This is a schematic diagram of the clamping component structure according to a specific embodiment of the present invention; Figure 15 This is a schematic diagram of the structure of a specific first clamping component, a second clamping component, and a linkage component of the present invention; Figure 16 This is a schematic diagram of the telescopic force-adding component structure according to a specific embodiment of the present invention; Figure 17 This is a schematic diagram of the fixed component structure according to a specific embodiment of the present invention; Figure 18 This is a schematic diagram of the structure of a robotic arm component according to a specific embodiment of the present invention.

[0028] The attached diagram lists the components represented by each number as follows: 100. Robotic arm; 110. Executing robotic arm; 120. Base; 130. Rotating assembly; 140. Mounting plate assembly; 150. Clamping assembly; 160. Welding assembly; 141. Mounting plate; 142. Connecting rod; 151. Mounting rod; 152. Mounting seat; 153. First clamping member; 154. Second clamping member; 155. First rotating pin; 156. Second rotating pin; 157. Guide rod; 158. Compression spring; 159. Clamping cavity; 1510. Limiting boss; 1511. Clamping boss; 161. Ultrasonic welder; 162. Welding rod; 163. Welding needle; 200. Frame; 210. Base; 220. Fence; 230. Sensor light grid; 240. Start button; 250. Emergency stop button; 300. Feeding assembly; 310. Clamping vibratory feeder; 320. Feeding base; 330. Conveyor track assembly; 340. Limiting assembly; 350. Feeding lifting assembly; 360. Support; 370. Horizontal vertical vibration assembly; 380. Photoelectric sensor; 331. Conveyor block; 332. Conveyor track; 341. Limiting block; 351. Feeding lifting block; 352. Feeding lifting cylinder; 353. Guide block; 354. Fixing block; 355. Fixing hole; 356. Slider; 357. Slide rail; 361. Fixing plate; 362. Fixing seat; 363. Through hole; 400. Mold frame assembly; 410. Mold frame; 411. Mold height adjustment assembly; 420. Support plate assembly; 421. Support plate; 422. Ejector hole; 430. Mold ejector assembly; 431. Mold ejector cylinder; 432. Support plate; 433. Mold ejector block; 440. Rolling support assembly; 441. Support ball; 442. Rolling support seat; 450. Lateral limiting assembly; 451. Limiting post; 460. Longitudinal limiting assembly; 461. Longitudinal limiting block; 462. Guide bearing; 471. Mold base plate; 472. Limiting groove; 473. Handle; 500. Clamping component; 510. Clamping base; 511. Clamping height adjustment assembly; 520. First clamping assembly; 521. Rotating column; 522. Support seat; 523. Rotating block; 530. Second clamping assembly; 540. Linkage assembly; 541. Linkage seat; 542. Rotating rod; 550. Clamping arm; 551. Adjusting rod; 552. Rubber column; 560. Telescopic force-adding assembly; 561. Telescopic cylinder; 562. Hinge column; 563. Hinge piece; 564. Mold base; 570. First position detection assembly; 571. First photoelectric sensor; 572. First detection block; 580. Second position detection assembly; 581. Second photoelectric sensor; 582. Second detection block; 600. Control components; 610. Control box; 700 Cleaning component; 710 Base assembly; 711 Base plate; 712 Support rod; 720 Base frame; 730 Disc assembly; 731 Through cavity; 732 Disc; 740 Fixing component; 741 First fixing component; 742 Second fixing component; 750 Cleaning component; 751 Cleaning wire. Detailed Implementation

[0029] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0030] In the description of this invention, it should be understood that the terms "center," "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "inner," "outer," "circumferential," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] like Figures 1 to 18 As shown, a dual-robot automatic buckle installation device includes two robotic arms 100 mounted on a frame 200. The actuators of the robotic arms 100 are equipped with clamping assemblies for holding clips. The feeding assembly 300 is mounted on the frame 200 and is used to automatically arrange the clips in sequence. A mold holder assembly 400 is mounted on a frame 200, and a clamping component 500 for clamping sheet metal parts is mounted on the mold holder assembly 400. Cleaning component 700, located on the side wall of robot arm 100, is used to clean residual clips on gripper assembly; The control component 600 is electrically connected to the robot arm 100 and the feeding component 300.

[0034] like Figure 1 As shown, in some embodiments, the frame 200 includes multiple bases 210, with each component mounted on a different base 210. A fence 220 is installed on the side wall of each base 210, and a sensor light grid 230, a start button 240, and an emergency stop button 250 are also installed on the side wall of the fence 220. The sensor light grid 230, start button 240, and emergency stop button 250 are all electrically connected to the control component 600. The sensor light grid 230 can promptly sense when a person or object enters the hazardous area and provide feedback to the control component 600, allowing the control component 600 to immediately take appropriate safety measures to effectively prevent accidents. The start button 240 and emergency stop button 250 facilitate quick start or emergency stop of the equipment by the operator, ensuring the safety and controllability of the equipment during operation.

[0035] In this embodiment, the control component 600 includes a control box 610. The control box 610 is made of robust and durable metal, possessing excellent sealing and heat dissipation performance to ensure stable operation of internal precision components in complex industrial environments and effectively resist adverse factors such as dust, humidity, and high temperatures. The control box 610 houses a central controller, as well as a human-machine interface, a data communication module, a motion control module, an input / output interface module, and a power supply module, all electrically connected to the central controller. In a specific embodiment, the central controller employs an industrial processor with superior data processing capabilities and processing speed, capable of handling massive amounts of instruction information simultaneously, ensuring rapid and accurate system response. The human-machine interface allows operators to perform parameter settings, function configurations, and status queries. Simultaneously, the interface can display real-time system operating data, alarm information, and historical records, enabling operators to understand the system's operating status promptly and comprehensively, facilitating precise control and management decisions. The data communication module is responsible for data transmission between the control system and external devices or a host computer, enabling high-speed and reliable data exchange with different types of equipment. Whether receiving data from external sensors or sending control commands to external actuators, the data communication module ensures the accuracy and timeliness of data transmission, thereby enabling interconnection and collaborative operation of the entire system and providing a solid data communication guarantee for the intelligent operation of the system.

[0036] The motion control module can precisely control the speed, position, and acceleration of the motors, drivers, and loading components 300 within the robotic arm 100. Employing advanced motion control algorithms, the module can achieve complex motion trajectory planning and coordinated motion control, ensuring that mechanical components move efficiently and stably according to preset programs. This meets the application requirements of various high-precision motion control applications. Furthermore, through the configuration of input / output interfaces, the control system can easily connect and interact with various external devices, enabling precise control and automated management of different processes.

[0037] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, the gripper assembly includes a rotating assembly 130, the robot 100 is an execution robot 110, the robot is mounted on the base 120 and the output end of the robot 100 is connected to the rotating assembly 130; the rotating assembly 130 is a component of the robot 100. Mounting disk assembly 140 is mounted on rotating assembly 130, and multiple clip clamping assemblies 150 for clamping clips are evenly mounted on the outer periphery of mounting disk assembly 140. Welding assembly 160 is installed in the middle of mounting plate assembly 140.

[0038] In some embodiments, the mounting plate assembly 140 includes a mounting plate 141, the side of which is connected to the rotating assembly 130 via a connecting rod 142. This connection method is not only simple in structure, but also ensures that the mounting plate 141 rotates stably under the drive of the rotating assembly 130 through the support and torque transmission of the connecting rod 142. This provides a stable installation foundation for the subsequent precise clamping of the clip by the clip clamping assembly 150, ensuring the installation accuracy of the clip during rotation.

[0039] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in another embodiment, the clip clamping assembly 150 includes a mounting rod 151. One end of the mounting rod 151 is connected to the mounting plate assembly 140 via a connecting bolt and a mounting groove. The other end of the mounting rod 151 is connected to a mounting base 152. A first clamping member 153 and a second clamping member 154 are mounted on the mounting base 152. The first clamping member 153 and the second clamping member 154 are arranged opposite to each other. Both the first clamping member 153 and the second clamping member 154 have clamping cavities 159. The shape of the clamping cavity 159 is adapted to the shape of the clip. When the clip clamping assembly 150 clamps the clip, the clip can fit tightly in the clamping cavity 159. By increasing the contact area, the clamping force is evenly distributed, effectively preventing the clip from being deformed or damaged due to excessive local force.

[0040] The side wall of the clamping cavity 159 also has a limiting boss 1510 and a clamping boss 1511. The limiting boss 1510 can initially position the clamp when it is inserted into the clamping cavity 159, limiting its movement along the direction of the mounting rod 151. The clamping boss 1511 further contacts the surface of the clamp during the clamping process, increasing the friction and preventing the clamp from rotating or sliding during the clamping process, thus ensuring the stability and reliability of the clamp during the installation process.

[0041] The first clamping member 153 is connected to the mounting base 152 in the middle via the first rotating pin 155, and the second clamping member 154 is connected to the mounting base 152 in the middle via the second rotating pin 156. This allows the first clamping member 153 and the second clamping member 154 to rotate flexibly within a certain range. When clamping clips of different shapes and sizes, the clamping members can automatically adjust the clamping angle according to the outline of the clips to better fit the shape of the clips and achieve more precise and stable clamping. At the same time, this rotating design can also reduce the rigid contact between the clamping members and the clips, reduce wear, and extend the service life of the clamping members.

[0042] In other embodiments, the upper ends of the first clamping member 153 and the second clamping member 154 are also provided with end caps, which are installed on the mounting base 152 to reduce the entry of impurities and dust.

[0043] An elastic component is installed between the first clamping member 153 and the second clamping member 154. Specifically, the elastic component includes a guide rod 157 and a compression spring 158. One end of the guide rod 157 is fixedly connected to the first clamping member 153, and the other end of the guide rod 157 passes through the second clamping member 154 and extends out of the second clamping member 154. The diameter of the hole on the second clamping member 154 is larger than the diameter of the guide rod 157, allowing the guide rod 157 to rotate slightly. The guide rod 157 not only serves as a connector but also provides a stable mounting and guiding platform for the compression spring 158, allowing the compression spring 158 to freely extend and contract in the axial direction without shifting or tilting.

[0044] A compression spring 158 is sleeved on the guide rod 157. The two ends of the compression spring 158 abut against the first clamping member 153 and the second clamping member 154, respectively. When the clamping assembly 150 clamps the clamp, the clamp exerts pressure on the first clamping member 153 and the second clamping member 154, causing the compression spring 158 to compress. The elastic reaction force generated by the compression spring 158 at this time is the clamping force. Because the compression spring 158 can apply elastic force evenly under the constraint of the guide rod 157, the clamping force of the first clamping member 153 and the second clamping member 154 on the clamp is always maintained within a suitable range. Insufficient clamping force will prevent the clamp from loosening, and excessive clamping force will not damage the clamp, effectively improving the quality and stability of the clamp installation.

[0045] In one embodiment, the welding assembly 160 includes an ultrasonic welder 161 mounted on the mounting plate assembly 140. The ultrasonic welder 161 is connected to a welding rod 162, and the end of the welding rod 162 is provided with multiple welding pins 163. When the ultrasonic welder 161 is working, it generates high-frequency vibrations, which are transmitted to the welding pins 163 through the welding rod 162. When the welding pins 163 come into contact with the clip and the object being welded, the high-frequency vibrations intensify the friction between the clip and the object being welded, generating heat, thereby fusing the two together to achieve a fast and strong weld. The design of multiple welding pins 163 allows the welding energy to be distributed more evenly on the contact surface between the clip and the object being welded, avoiding local overheating or uneven welding caused by concentrated welding energy, improving the accuracy and quality of the weld, and ensuring that the clip can be firmly fixed in the target position after welding, meeting the quality requirements of the production process.

[0046] like Figure 1 , Figure 7 , Figure 8 , Figure 9 and Figure 10As shown, the feeding assembly 300 includes a clamp vibratory feeder 310, which is mounted on the feeding base 320. A conveyor track assembly 330 is installed at the output end of the clamp vibratory feeder 310. The clamp vibratory feeder 310 is the starting point of the entire device. Internally, it generates vibrations of a certain frequency and amplitude through a specific electromagnetic vibration principle, enabling the internal clamps to be initially arranged in a certain direction and sequence. When the clamp vibratory feeder 310 is started, the internal clamps move forward continuously along the spiral upward track under the action of vibration, gradually changing from a disordered state to an ordered state, and finally being orderly output from the output end to the conveyor track assembly 330.

[0047] Limiting component 340 is located at the output end of conveyor track component 330; The feeding lifting assembly 350 is mounted on the support 360 and located on the side wall of the limiting assembly 340. The lifting assembly 350 is used to lift a single clip.

[0048] In some embodiments, the conveyor track assembly 330 includes a conveyor block 331, one end of which is mounted on the clamp vibratory feeder 310, and the other end of which is mounted on a support 360. A horizontal vertical vibration assembly 370 is also mounted on the lower end of the conveyor block 331. A conveyor track 332 is provided on the conveyor block 331, and the conveyor track 332 is clearance-fitted with the clamps. The conveyor track assembly 330 receives the clamps after initial sorting from the clamp vibratory feeder 310 and further guides them forward accurately. The dimensions of the conveyor track 332 are designed to be clearance-fitted with the clamps, which ensures that the clamps can slide smoothly within the track and effectively restricts the degrees of freedom of the clamps in the lateral and longitudinal directions, preventing excessive offset, flipping, or stacking of the clamps during the conveying process, and ensuring that the clamps move forward along the conveyor track 332 in a neat and orderly manner.

[0049] The horizontal vertical vibration component 370 at the lower end of the conveying block 331 plays an auxiliary role in the conveying process. It can apply additional horizontal vibration to the conveying block 331 and the clamps therein, which helps to overcome the friction between the clamps and the conveying track 332. Especially when the clamps have irregular shapes or rough surfaces, resulting in greater conveying resistance, the vibration generated by the horizontal vertical vibration component 370 can make the clamps slide more easily within the conveying track 332, thereby improving conveying efficiency and sorting accuracy.

[0050] In another embodiment, the limiting component 340 includes a limiting block 341, which is mounted on the side wall of the loading and lifting component 350. The main function of the limiting component 340 is to cooperate with the loading and lifting component 350 to ensure that a single clamp can be accurately lifted to a designated position, facilitating subsequent automatic gripping by the robotic arm. When the clamp moves along the conveying track 332 to the limiting component 340, the limiting block 341 will block and position the clamp, precisely limiting its position and ensuring that it is in the appropriate position for the loading and lifting component 350 to perform the lifting operation.

[0051] In this embodiment, the support 360 includes a fixing plate 361, which is mounted on the fixing base 362. The fixing plate 361 provides a stable mounting base for the end of the conveying block 331, ensuring that the conveying track 332 will not shake or deform during vibration and conveying, thereby ensuring the accuracy of the clamp conveying. The fixing plate 361 is provided with a through hole 363, through which the clamp smoothly transitions from the conveying track 332 to the subsequent limiting and lifting area.

[0052] The mounting base 362 is also equipped with a photoelectric sensor 380 for detecting the position of the clamps. The photoelectric sensor 380 can detect the position information of the clamps in real time during the conveying process. Once an abnormality such as blockage, misalignment, or missing clamps is detected, the photoelectric sensor 380 will immediately send a detection signal to the control system. After receiving the signal, the control system will quickly trigger the alarm device and suspend related operations, thereby avoiding equipment damage or production quality accidents caused by incorrect clamp positioning, and ensuring the safe, stable, and efficient operation of the entire feeding device.

[0053] The distance between the fixed plate 361 and the limiting block 341 is greater than the width of a single clamp but less than the sum of the widths of two clamps. This allows for precise separation of a single clamp, preventing multiple clamps from being lifted simultaneously and ensuring that each lifting operation accurately handles a single clamp. The end of the conveying block 331 is mounted on the fixed plate 361, which has a through hole 363 for the clamps to pass through. The clamps smoothly transition from the conveying track 332 to the subsequent limiting and lifting areas through the through hole 363.

[0054] In this embodiment, the loading and lifting assembly 350 includes a loading and lifting block 351, a limiting block 341 installed on the side wall of the loading and lifting block 351, and a loading and lifting cylinder 352 connected to the loading and lifting block 351 via a guide assembly. The loading and lifting cylinder 352 is installed on a fixed base 362. When the clamp is in the appropriate position under the action of the limiting assembly 340, the loading and lifting cylinder 352 receives a control signal and starts working, pushing the loading and lifting block 351 upward. The loading and lifting block 351 directly contacts the clamp and lifts it to a predetermined height so that the subsequent robotic arm can accurately grasp it.

[0055] The guiding assembly includes a guide block 353, the lower end of which is connected to the loading lifting cylinder 352, and the upper end of which is connected to the loading lifting block 351. A fixing block 354 is installed on the fixing seat 362. The fixing block 354 is provided with a fixing hole 355 for the guide block 353 to pass through. The guide block 353 slides in the fixing hole 355, which restricts its radial movement and ensures that the guide block 353 can only make stable linear movements along the axial direction of the fixing hole 355. This provides precise guidance for the loading lifting block 351, ensures the linearity and stability of the lifting movement, and enables the clamp to be accurately lifted to the target position, meeting the high precision requirements of automated production.

[0056] To further improve the vertical movement accuracy of the guide block 353, a slider 356 is also installed on the side wall of the guide block 353, and a slide rail 357 that cooperates with the slider 356 is installed on the fixed seat 362. The cooperation between the slider 356 and the slide rail 357 provides additional guiding support for the feeding lifting assembly 350, further enhancing the stability and reliability during the lifting process, effectively reducing possible swaying or deviation during the lifting process, and ensuring the precise execution of the lifting action.

[0057] like Figure 1 , Figure 11 , Figure 12 and Figure 13 As shown, the mold frame assembly 400 includes a mold frame 410, on which a plurality of support plate assemblies 420 are mounted; The mold rack 410 has mold height adjustment components 411 installed at its four corners. These components allow for fine-tuning of the overall height of the mold rack 410 based on the flatness of the workshop floor, ensuring stability and providing a foundation for subsequent stable storage and replacement of molds. The mold height adjustment components 411 can consist of a locking nut, an adjusting screw, and a base. Multiple support plate assemblies 420 are installed on the mold rack 410. The mold lifting assembly 430 is installed below the support plate assembly 420, and a rolling support assembly 440 is installed on the upper end of the mold lifting assembly 430. The mold lifting assembly 430 extends and drives the rolling support assembly 440 to move upward so that its upper end is higher than the plane of the support plate assembly 420. When mold changing is required, the mold lifting assembly 430 is activated, and its power output drives the rolling support assembly 440 to move upward until its upper end is higher than the plane of the support plate assembly 420. At this time, the bottom of the mold contacts the upper end of the rolling support assembly 440, providing support and power for the mold to move from the mold frame 410 to the moving trolley. The rolling characteristics of the rolling support assembly 440 reduce the friction during the mold movement, enabling the mold to move smoothly and conveniently, effectively improving the mold changing efficiency and reducing the intensity of manual operation.

[0058] In some embodiments, the support plate assembly 420 includes a support plate 421 made of hard steel plate. The support plate 421 is fixedly installed on the upper end of the mold frame 410. During the non-mold replacement stage, the support plate 421 can provide stable support for the mold, ensuring that the mold is in a stable state, avoiding its shaking or displacement, and preventing damage to the mold during placement. At the same time, it provides a reliable connection foundation for the installation and cooperation of the mold lifting assembly 430 and other subsequent components, ensuring the stability and reliability of the entire device.

[0059] In another embodiment, the mold lifting assembly 430 includes mold lifting cylinders 431. The lower ends of multiple mold lifting cylinders 431 are mounted on a support plate 432, and both ends of the support plate 432 are mounted on a mold frame 410. Mold lifting blocks 433 are mounted on the output ends of the mold lifting cylinders 431, and multiple rolling support assemblies 440 are spaced apart on the mold lifting blocks 433. By controlling the working state of the mold lifting cylinders 431, the lifting and lowering of the mold lifting blocks 433 can be precisely controlled, thereby realizing the flexible lifting and lowering of the rolling support assemblies 440, meeting the need to lift and move the mold during mold changing, and ensuring the smooth progress of mold changing operations.

[0060] In other embodiments, sliders are installed at both ends of the mold lifting block 433, and guide rails that cooperate with the sliders are installed inside the mold frame 410. The mold lifting block 433 can move vertically up and down by cooperating with the guide rails and sliders, thereby reducing offset.

[0061] In this embodiment, the rolling support assembly 440 includes a support ball 441, which is mounted on the mold lifting block 433 via a rolling support seat 442. The bearing plate assembly 420 is provided with a lifting hole 422 for the support ball 441 to pass through. When the mold lifting cylinder 431 lifts, the support ball 441 passes through the lifting hole 422 under the action of the mold lifting cylinder 431, and its surface contacts the bottom of the mold. The rolling characteristics of the ball can effectively reduce the friction between the mold and the support component, making it easier and less strenuous to push the mold onto the moving vehicle, reducing the intensity of manual operation. At the same time, the rolling support structure helps to reduce the wear of the bearing plate 421 and the bottom of the mold, extending the service life of related components.

[0062] In one embodiment, a lateral limiting component 450 and a longitudinal limiting component 460 are also installed on the support plate 421. Specifically, the lateral limiting component 450 includes limiting posts 451, with the lower ends of multiple limiting posts 451 mounted on the support plate 421 and located on the same side. The mold base plate 471 is provided with limiting grooves 472 that cooperate with the limiting posts 451. A handle 473 is also installed on the mold base plate 471. During mold changing, the limiting grooves 472 on the mold base plate 471 are aligned with the limiting posts 451 and placed, which can quickly achieve accurate positioning and limiting of the mold in the lateral direction, improve the accuracy and efficiency of mold installation, reduce the time cost of manually adjusting the mold position, and prevent the mold from shifting when subjected to lateral force, thereby enhancing the stability of the mold on the mold frame 410. The handle 473 provides the operator with a convenient hand support point for applying force, making it easy to push the mold to move.

[0063] The longitudinal limiting assembly 460 includes a longitudinal limiting block 461, which is mounted on a support plate 421. Multiple guide bearings 462 are also spaced between the longitudinal limiting block 461 and the support plate 421. When the mold moves on the support plate 421, the guide bearings 462 provide guidance for the longitudinal movement of the mold, ensuring smooth and stable movement along the predetermined longitudinal direction. This prevents longitudinal skewing, jamming, and other adverse phenomena during mold movement, improving the reliability and stability of mold changing operations. Simultaneously, the guide bearings 462 reduce friction between the mold and the longitudinal limiting block 461 and the support plate 421, reducing component wear. After the mold base plate 471 is pushed to the appropriate position, the guide bearings 462 also serve for longitudinal limiting.

[0064] like Figure 1 , Figure 14 , Figure 15 and Figure 16As shown, the clamping component 500 includes a clamping base 510, a first clamping assembly 520, and a second clamping assembly 530. A clamping height adjustment assembly 511 is also installed at the four corners of the bottom of the clamping base 510. The clamping height adjustment assembly 511 can be composed of a fixing nut, an adjusting screw, and a support cup assembly. By adjusting the height of each corner, it can adapt to different ground conditions and keep the plane of the clamping base 510 horizontal.

[0065] The first clamping assembly 520 and the second clamping assembly 530 are both mounted on the clamping base 510, and the ends of the first clamping assembly 520 and the second clamping assembly 530 are connected by a linkage assembly 540. The first clamping assembly 520 and the second clamping assembly 530 both have clamping arms 550 for pressing against sheet metal parts. When the telescopic force-applying assembly 560 is activated, the linkage assembly 540 can be used to realize the synchronous action of the two clamping assemblies and drive the clamping arms 550 to rotate. The telescopic force-adding component 560 is installed at the ends of the first clamping component 520 and the second clamping component 530. The telescopic force-adding component 560 extends and retracts to drive the clamping arm 550 to rotate and press against the sheet metal part.

[0066] In some embodiments, both the first clamping assembly 520 and the second clamping assembly 530 include a rotating column 521. The end of the rotating column 521 is mounted on the clamping base 510 via a support seat 522, allowing the rotating column 521 to rotate stably under the support of the support seat 522 and bear the torque generated during clamping. The clamping arm 550 is vertically connected to the rotating column 521 to ensure efficient force transmission, allowing the clamping arm 550 to rotate smoothly and accurately under the drive of the rotating column 521. An adjusting rod 551 is installed on the clamping arm 550. The adjusting rod 551 can be a screw, which is installed on the clamping arm 550 through the cooperation of the screw and a locking nut. A rubber post 552 for abutting against the sheet metal part is installed at the end of the adjusting rod 551. When clamping sheet metal parts of different sizes and shapes, the length or position of the adjusting rod 551 can be adjusted so that the rubber post 552 can accurately abut against the surface of the sheet metal part, and the rubber material can buffer the clamping force and prevent damage to the surface of the sheet metal part.

[0067] In another embodiment, the linkage assembly 540 includes a linkage seat 541, on which a rotating rod 542 is mounted via a support bearing. The support bearing reduces the friction of the rotating rod 542 during rotation, ensuring flexible rotation. Both ends of the rotating rod 542 extend beyond the linkage seat 541 and connect to the ends of the rotating column 521. When the telescopic force-applying assembly 560 actuates, causing the rotating column 521 of the second clamping assembly 530 to rotate, the rotating rod 542 can simultaneously drive the rotating column 521 of the first clamping assembly 520 to rotate, achieving simultaneous clamping at two stations.

[0068] In one embodiment, the telescopic force-adding assembly 560 includes a telescopic cylinder 561, which is mounted on the clamping base 510. The output end of the telescopic cylinder 561 is connected to a hinge assembly, and the end of the rotating column 521 is equipped with a rotating block 523 for abutting against the hinge assembly. The telescopic cylinder 561 extends and retracts, causing the hinge assembly and the rotating block 523 to rotate, so that the clamping arm 550 rotates around the rotating column 521. Specifically, the hinge assembly includes a hinge post 562. One end of the hinge post 562 is hinged to the output end of the telescopic cylinder 561, allowing the hinge post 562 to swing within a certain angle range to adapt to the rotation trajectory of the clamping arm 550. The other end of the hinge post 562 is close to the rotating block 523. The middle part of the hinge post 562 is connected to one end of the hinge plate 563. The other end of the hinge plate 563 is hinged to the mold base 564. The mold base 564 is mounted on the telescopic cylinder 561. When the telescopic cylinder 561 extends or retracts, the hinge post 562 converts linear motion into rotation of the rotating post 521 by abutting against the rotating block 523, thereby driving the clamping arm 550 to move.

[0069] In this embodiment, a first position detection component 570 and a second position detection component 580 are also installed on the rotating column 521 to monitor the position of the clamping arm 550 in real time and provide feedback to the automated control system for precise control of the clamping process.

[0070] The first position detection component 570 includes a first photoelectric sensor 571. The detection end of the first photoelectric sensor 571 is horizontally set. A first detection block 572 for cooperating with the first photoelectric sensor 571 is installed on the rotating column 521. When the clamping arm 550 reaches the preset horizontal position, the first detection block 572 blocks or reflects light to the photoelectric sensor, triggering a corresponding signal.

[0071] Similarly, the second position detection component 580 includes a second photoelectric sensor 581. The detection end of the second photoelectric sensor 581 is vertically arranged. A second detection block 582 is installed on the rotating column 521 to cooperate with the second photoelectric sensor 581. This block is used to detect the position of the clamping arm 550 in the vertical direction, ensuring that the clamping arm 550 accurately completes the clamping action and improving the reliability and automation of the entire device.

[0072] like Figure 1 , Figure 17 and Figure 18 As shown, the cleaning assembly 700 includes a base assembly 710; the base assembly 710 is mounted on a base frame 720, which provides stable support for the entire cleaning mechanism, ensuring that the entire mechanism will not be displaced or shaken due to vibration or other external forces when the robot arm 100 performs high-speed and frequent clamp cleaning operations, thus ensuring the accuracy and stability of the cleaning work. The disk assembly 730 is mounted on the base assembly 710 by a fixing assembly 740. The disk assembly 730 has a cavity 731 through which the robot arm 100 and the gripper assembly pass. A cleaning assembly 750 is installed on the inner wall of the cavity 731, and the end of the cleaning assembly 750 faces the center of the disk assembly 730.

[0073] In some embodiments, the base assembly 710 includes a base plate 711 made of hardened steel plate and in an annular shape, providing a relatively open and uniform mounting platform for the subsequently installed disc assembly 730. Multiple evenly distributed support rods 712 are mounted on the underside of the base plate 711, and the disc assembly 730 is mounted on the base plate 711. The support rods 712 further enhance the overall load-bearing capacity of the base assembly 710, enabling it to withstand various forces generated by the robot arm 100 during operation. Furthermore, the evenly distributed layout of the multiple support rods 712 ensures that the base assembly 710 is subjected to uniform force on the base frame 720, preventing deformation or damage to the base assembly 710 due to excessive localized stress, thereby extending the service life of the entire cleaning mechanism. The disc assembly 730, mounted on the base plate 711, works in conjunction with the base assembly 710 and constitutes a major component of the entire cleaning mechanism.

[0074] In another embodiment, the disc assembly 730 includes a disc 732, a cavity 731 disposed on the disc 732, and the disc 732 is mounted on the base plate 711 by a fixing assembly 740. The outer diameter of the disc 732 is smaller than the outer diameter of the base plate 711, so that the base plate 711 can provide good support and protection for the disc 732, preventing the disc 732 from being damaged due to uneven force or accidental collision during operation. On the other hand, it is also conducive to rationally planning the path of the robot arm 100 through the cavity 731, ensuring that the robot arm 100 has enough space to operate when passing through, while ensuring the effective range of action of the cleaning assembly 750 on the residual clips on the robot arm 100, thereby improving cleaning efficiency and quality.

[0075] In this embodiment, the fixing component 740 includes a fixing block with a first fixing member 741 and a second fixing member 742 fixedly connected. The first fixing member 741 and the second fixing member 742 are fixedly connected in a generally T-shaped block. The lower side of the first fixing member 741 abuts against the upper surface of the disk 732, and the side of the second fixing member 742 abuts against the end face of the disk 732. The second fixing member 742 is connected to the base plate 711. This fixing method enables the disk 732 to be securely and reliably installed on the base component 710, preventing the disk 732 from loosening or shifting when the robot arm 100 passes through or when the cleaning component 750 performs cleaning work. This ensures the positional accuracy and stability of the disk component 730, thereby guaranteeing the normal operation and cleaning effect of the entire cleaning mechanism.

[0076] In one embodiment, the cleaning component 750 includes cleaning wires 751. Multiple cleaning wires 751 have ends connected to the inner wall of the disc 732, with the other end facing the center of the disc 732. When the robotic arm 100 passes through the cavity 731, the cleaning wires 751, due to their elasticity and toughness, can effectively hook and scrape off residual clips of different shapes and sizes on the robotic arm's gripping component. The simultaneous action of multiple cleaning wires 751 increases the cleaning range and improves cleaning efficiency. Furthermore, during operation, the cleaning wires 751 can flexibly adjust their shape according to the movement trajectory and force of the robotic arm 100, ensuring effective cleaning of residual clips, helping to quickly remove them, reducing the risk of production interruptions, and ensuring the continuity of production processes such as automobile manufacturing.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-robot automatic snap-fit ​​installation device, characterized in that: include Two robotic arms (100) are mounted on a frame (200), and the actuators of the robotic arms (100) are equipped with clamping assemblies for gripping clasps; A feeding assembly (300) is mounted on the frame (200) and is used to automatically arrange the clips in sequence; A mold holder assembly (400) is mounted on the frame (200) and a clamping component (500) for clamping sheet metal parts is mounted on the mold holder assembly (400). A cleaning component (700) is located on the side wall of the robotic arm (100) for cleaning residual clips on the gripper assembly; A control component (600) is electrically connected to the robotic arm (100) and the feeding component (300).

2. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The frame (200) includes multiple bases (210), and the side walls of the bases (210) are equipped with fences (220). The side walls of the fences (220) are also equipped with sensor gratings (230), start buttons (240) and emergency stop buttons (250). The sensor gratings (230), start buttons (240) and emergency stop buttons (250) are all electrically connected to the control component (600).

3. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The control component (600) includes a control box (610), which houses a central controller and a human-machine interface, a data communication module, a motion control module, an input / output interface module, and a power supply module, all electrically connected to the central controller.

4. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The clamping assembly includes a rotating component (130), and the output end of the manipulator (100) is connected to the rotating component (130). Mounting disk assembly (140), which is mounted on the rotating assembly (130), and a plurality of clip clamping assemblies (150) for clamping clips are evenly mounted on the outer periphery of the mounting disk assembly (140). The clip clamping assembly (150) includes a mounting rod (151), one end of which is connected to the mounting plate assembly (140), and the other end of which is connected to a mounting base (152). A first clamping member (153) and a second clamping member (154) are mounted on the mounting base (152). The first clamping member (153) and the second clamping member (154) are arranged opposite to each other, and an elastic component is installed between the first clamping member (153) and the second clamping member (154). The elastic component includes a guide rod (157) and a compression spring (158). One end of the guide rod (157) is fixedly connected to the first clamping member (153), and the other end of the guide rod (157) passes through the second clamping member (154) and extends out of the second clamping member (154). The compression spring (158) is sleeved on the guide rod (157), and both ends of the compression spring (158) abut against the first clamping member (153) and the second clamping member (154) respectively.

5. The dual-robot automatic snap-fit ​​installation device according to claim 4, characterized in that: An ultrasonic welder (161) is also mounted on the clamp assembly. The ultrasonic welder (161) is mounted on the mounting plate assembly (140) and is connected to a welding rod (162).

6. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The feeding assembly (300) includes a clamp vibratory feeder (310), and a conveying track assembly (330) is installed at the output end of the clamp vibratory feeder (310). A limiting component (340) is located at the output end of the conveying track assembly (330); A feeding lifting assembly (350) is mounted on a support (360) and located on the side wall of the limiting assembly (340). The feeding lifting assembly (350) is used to lift a single clip.

7. The dual-robot automatic snap-fit ​​installation device according to claim 6, characterized in that: The conveying track assembly (330) includes a conveying block (331), one end of which is mounted on the clamp vibrating plate (310), and the other end of which is mounted on the support (360). A conveying track (332) is provided on the conveying block (331), and the conveying track (332) is in clearance fit with the clamp. A horizontal linear vibration assembly (370) is also installed at the lower end of the conveying block (331). The limiting component (340) includes a limiting block (341), which is installed on the side wall of the feeding lifting component (350); The support (360) includes a fixing plate (361), which is mounted on a fixing base (362). The end of the conveying block (331) is mounted on the fixing plate (361), and the fixing plate (361) is provided with a through hole (363) for the clamp to pass through. The feeding lifting assembly (350) includes a feeding lifting block (351), the limiting block (341) is installed on the side wall of the feeding lifting block (351), the feeding lifting block (351) is connected to a feeding lifting cylinder (352) through a guide assembly, and the feeding lifting cylinder (352) is installed on the fixed base (362); The guiding assembly includes a guide block (353), the lower end of which is connected to the feeding lifting cylinder (352), and the upper end of which is connected to the feeding lifting block (351). A fixing block (354) is installed on the fixing seat (362), and a fixing hole (355) is provided on the fixing block (354) for the guide block (353) to pass through.

8. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The mold frame assembly (400) includes a mold frame (410) on which a plurality of support plate assemblies (420) are mounted. A mold lifting assembly (430) is installed on the lower side of the bearing plate assembly (420), and a rolling support assembly (440) is installed on the upper end of the mold lifting assembly (430). The mold lifting assembly (430) includes a mold lifting cylinder (431), the lower end of which is mounted on a support plate (432), the support plate (432) is mounted on the mold frame (410), a mold lifting block (433) is mounted on the output end of the mold lifting cylinder (431), and the rolling support assembly (440) is mounted on the mold lifting block (433). The rolling support assembly (440) includes a support ball (441), which is mounted on the mold lifting block (433) via a rolling support seat (442). The bearing plate assembly (420) is provided with a lifting hole (422) for the support ball (441) to pass through.

9. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The clamping component (500) includes a first clamping assembly (520) and a second clamping assembly (530). The ends of the first clamping assembly (520) and the second clamping assembly (530) are connected by a linkage assembly (540). Both the first clamping assembly (520) and the second clamping assembly (530) have clamping arms (550) for pressing against sheet metal parts. Telescopic force-adding component (560) is installed at the ends of the first clamping component (520) and the second clamping component (530). The telescopic force-adding component (560) telescopically drives the clamping arm (550) to rotate to press against the sheet metal part. Both the first clamping assembly (520) and the second clamping assembly (530) include a rotating post (521), and the clamping arm (550) is perpendicularly connected to the rotating post (521). The telescopic force-adding assembly (560) includes a telescopic cylinder (561), and the output end of the telescopic cylinder (561) is connected to a hinge assembly. The rotating column (521) has a rotating block (523) installed at its end for abutting against the hinge assembly. The telescopic cylinder (561) extends and retracts to drive the hinge assembly and the rotating block (523) to rotate so that the clamping arm (550) rotates around the rotating column (521). The hinge assembly includes a hinge post (562), one end of which is hinged to the output end of the telescopic cylinder (561), the other end of which is close to the rotating block (523), the middle part of which is connected to one end of a hinge piece (563), the other end of which is hinged to a mold base (564), and the mold base (564) is mounted on the telescopic cylinder (561).

10. The dual-robot automatic snap-fit ​​installation device according to claim 1, characterized in that: The cleaning component (700) includes a base assembly (710); A disc assembly (730) is mounted on the base assembly (710) by a fixing assembly (740). The disc assembly (730) has a cavity (731) through which a robot arm (100) passes. A cleaning assembly (750) is installed on the inner wall of the cavity (731), and the end of the cleaning assembly (750) faces the center of the disc assembly (730). The base assembly (710) includes a base plate (711) which is annular in shape. Multiple evenly distributed support rods (712) are installed on the underside of the base plate (711). The disc assembly (730) is mounted on the base plate (711). The disk assembly (730) includes a disk (732), which is mounted on the base plate (711) by the fixing assembly (740), and the outer diameter of the disk (732) is smaller than the outer diameter of the base plate (711); The fixing component (740) includes a fixing block, which has a first fixing member (741) and a second fixing member (742) fixedly connected. The lower side of the first fixing member (741) abuts against the upper surface of the disk (732), and the side of the second fixing member (742) abuts against the end face of the disk (732). The second fixing member (742) is connected to the base plate (711). The cleaning assembly (750) includes cleaning wires (751), with one end of each cleaning wire (751) connected to the inner wall of the disc (732), and the other end of each cleaning wire (751) facing the center of the disc (732).

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