Coordinate type mushroom head buckle rotary pushing-in machine and using method thereof
The automated assembly of the coordinate-type mushroom head buckle rotary push-in machine solves the problem of low efficiency in traditional manual assembly, realizes efficient and precise buckle assembly and stable material supply, and reduces production costs.
Patent Information
- Application Number
- CN202610101276.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-26
- Publication Date
- 2026-03-06
AI Technical Summary
Traditional mushroom-head snap-fit assembly relies on manual operation, resulting in low production efficiency, especially for complex products where efficient assembly is difficult to achieve, thus increasing production costs.
The coordinate-type mushroom head buckle rotary pusher uses an adjustment mechanism, sensors, and a stepper motor to drive the gripping head to complete the gripping, rotation, and pushing of the buckles. Combined with a vibratory feeder and conveying mechanism, it achieves automated material feeding, ensuring assembly accuracy and efficiency.
It improves the assembly accuracy and production efficiency of mushroom head buckles, reduces the intensity of manual intervention, ensures the stability of automated feeding, and enhances overall production efficiency.
Smart Images
Figure CN121607904A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automated assembly equipment technology, specifically to a coordinate-type mushroom head buckle rotary push-in machine and its usage method. Background Technology
[0002] Mushroom-shaped clips are tool-free connectors that are now widely used in various fields: in furniture manufacturing, they are often used for the quick positioning and fastening of panel furniture components; in automotive interiors, they can be used to fix and assemble non-load-bearing components such as door panel trims and dashboard covers; and in the assembly of electronic product casings, they are also commonly used for the snap-fit connection of front and rear covers. The connection mechanism of this structure mainly relies on the interference fit between the mushroom-shaped head and the snap hole to achieve high efficiency and speed in the assembly process.
[0003] In summary, in current industrial production scenarios, the assembly of traditional snap fasteners mainly relies on manual handling of snap fastener components, one by one, to complete the assembly. When the product structure is special and the snap fasteners need to be assembled in different directions and positions, the assembly difficulty will increase, resulting in low production efficiency. At the same time, it will also increase the assembly time of a single product, thus limiting production efficiency and increasing production costs.
[0004] To address this, we propose a coordinate-based mushroom head snap-fit rotary pusher. Summary of the Invention
[0005] To address the shortcomings of existing technologies, this invention provides a coordinate-type mushroom-head buckle rotary push-in machine and its usage method. It utilizes an adjustment mechanism to drive the installation assembly along the second and third guide rails to complete displacement adjustment. Simultaneously, it combines the real-time feedback of buckle position information and installation status from the first and second sensors. In conjunction with the first, second, and third stepper motors, it drives the gripping head to sequentially complete the gripping, rotating, and pushing-in actions of the buckle, thereby ensuring the accuracy of assembly operations and improving production efficiency, thus solving the problems mentioned in the background art.
[0006] To achieve the above objectives, the present invention provides the following technical solution: a coordinate-type mushroom head buckle rotary push-in machine, comprising a first frame, a safety light curtain fixedly connected to the inner wall of the first frame, a second guide rail fixedly connected to the side of the first frame away from the first guide rail, and a first stepper motor fixedly connected to the outer wall of the side of the first frame close to the second guide rail. The first stepper motor is used to drive the component connected to the second guide rail, and an adjustment mechanism is also provided inside the first frame. In the above technical solution, the adjustment mechanism includes a first sliding frame, which is slidably connected to the outer surface of the second guide rail and driven to move horizontally by a first stepper motor. A second stepper motor is fixedly connected to the outer wall of the first sliding frame away from the second guide rail. The output end of the second stepper motor is connected to a ball screw through a first coupling. The upper end of the ball screw is rotatably connected to the first sliding frame through a first bearing. A first sensor is fixedly connected to the outer wall of the first sliding frame near the first bearing, and its lower end is rotatably connected to the first sliding frame through a second bearing. A first slider is threaded onto the outer surface of the ball screw. The outer wall of the first slider is provided with an installation component for gripping, rotating, and installing a buckle.
[0007] Based on the above, a third guide rail is fixedly connected to the inner wall of the first sliding frame near the first slider. The first slider cooperates with both the ball screw and the third guide rail, so that the second stepper motor can drive the first slider to move vertically along the third guide rail.
[0008] It is worth noting that a second frame is provided on one side of the outer wall of the first frame. A sound insulation component is fixedly connected to the top of the second frame to isolate the noise generated by the operation of the equipment. A vibratory feeder is fixedly connected inside the second frame. The vibratory feeder is used to organize the mushroom head clips. A fourth guide rail is provided on the side of the second frame near the discharge port of the vibratory feeder, and a conveying mechanism is provided inside this side to receive and convey the clips from the vibratory feeder.
[0009] In the above technical solution, the mounting assembly includes a second sliding frame fixedly connected to the first slider. A third stepper motor is fixedly connected to the outer wall of the second sliding frame. The output end of the third stepper motor is connected to a drive shaft through a second coupling. The outer surface of the second coupling is rotatably connected to the second sliding frame through a third bearing. The outer surface of the second coupling is also rotatably connected to the second sliding frame through a fourth bearing. A second sensor is also fixedly connected to the second sliding frame. The detection end of the second sensor corresponds to the end of the rotary drive shaft and is used to detect whether the buckle is installed in place and to identify defective products.
[0010] Preferably, a first cylinder is fixedly connected to the end of the drive shaft, the output shaft of the first cylinder is vertically downward, a second cylinder is fixedly connected to the end of the output shaft of the first cylinder, and a gripping head is fixedly connected to the end of the output shaft of the second cylinder. The first cylinder is used to drive the second cylinder and the gripping head to move in the vertical direction, and the second cylinder is used to drive the gripping head to perform gripping and releasing actions.
[0011] Based on the above, the conveying mechanism includes a third sliding frame, which is slidably sleeved on the outer surface of the fourth guide rail. A first through-beam sensor is fixedly connected to the outer wall of one end of the third sliding frame to detect whether the buckle has reached the predetermined position. A second through-beam sensor is fixedly connected to the other end of the third sliding frame to monitor the discharge status of the vibratory feeder. A linear vibrator is fixedly connected to the third sliding frame, and a second slider is fixedly connected to the discharge end of the linear vibrator to orderly convey the buckles to the material picking station. The material conveying status is monitored by the first and second through-beam sensors through the vibratory feeder and the conveying mechanism, and the material pulling and misalignment is realized by the third cylinder, thereby ensuring the stability of automated feeding and reducing the intensity of manual intervention.
[0012] Furthermore, a third cylinder is fixedly connected to the outer wall of the third sliding frame near the first through-beam sensor. Simultaneously, a first guide rail is fixedly connected to the inner wall of the first frame. An auxiliary motor is fixedly connected to the inner wall of the first guide rail near the safety light curtain. A sliding mold is provided at the output end of the auxiliary motor. The sliding mold is customized according to the shape and size of the target product and is used to fix the workpiece to be installed with the buckle inside the sliding mold, thereby preventing the workpiece from shifting during the buckle push-in process and ensuring the accuracy of the buckle installation position. The auxiliary motor is used to drive the sliding mold to slide along the first guide rail. The top of the sliding mold is used to place the workpiece, and a cylinder group is fixedly connected to the edge of the workpiece. The cylinder group is used to press the buckle picked up and delivered by the robotic arm into the installation hole of the workpiece.
[0013] A method for using a coordinate-type mushroom head snap-on rotary pusher includes the following steps: S1. Place the mushroom head clips to be installed in batches into the vibratory feeder. The vibratory feeder will organize the messy clips by vibration and transport them in the same direction. They will be conveyed by the conveying mechanism and positioned to the predetermined picking area. S2. The first stepper motor drives the first sliding frame to move horizontally along the second guide rail to the X-axis coordinate corresponding to the material picking area. At the same time, the second stepper motor drives the ball screw to rotate, causing the first slider to move vertically along the third guide rail to the material picking height. Thus, after the installation component reaches the material picking position, the second cylinder in the installation component drives the gripping head to grab a pre-positioned buckle. S3. The third stepper motor drives the drive shaft, the first cylinder, the second cylinder, and the gripping head to rotate as a whole through the second coupling, adjusting the buckle to the required installation angle. The adjustment mechanism then works in coordination to drive the installation assembly to move the buckle to the target installation coordinates above the sliding mold. Next, the first cylinder drives the buckle to make a slight downward adjustment and initially push it into the installation hole of the workpiece. Finally, the cylinder group on the sliding mold actuates to apply a pressing force to the buckle, completing the secure installation.
[0014] Compared with existing technologies, it has the following beneficial effects: 1. In this coordinate-type mushroom head buckle rotary push-in machine, the installation component is driven to move along the second and third guide rails by the adjustment mechanism. Combined with the real-time detection of buckle position and installation status by the first and second sensors, it is ensured that the gripping head completes the gripping, rotation and push-in action of the buckle together by the first stepper motor, the second stepper motor and the third stepper motor, thereby effectively improving assembly accuracy and production efficiency.
[0015] 2. The coordinate-type mushroom head buckle is rotated and pushed into the machine. The material conveying status is monitored by the vibrating plate and the conveying mechanism through the first and second photoelectric sensors. The third cylinder realizes the material pulling and misalignment, thereby ensuring the stability of automated feeding and reducing the intensity of manual intervention. Attached Figure Description
[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall front structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall front structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the overall front cross-sectional structure of the present invention; Figure 4 This is a schematic diagram of the sliding mold structure of the present invention; Figure 5 This is a schematic diagram of the adjustment mechanism structure of the present invention; Figure 6 This is a schematic diagram of the installation component structure of the present invention; Figure 7 This is a schematic diagram of the conveying mechanism of the present invention.
[0017] The meanings of the labels in the diagram are as follows: In the diagram: 1. First frame; 2. Safety light curtain; 3. Auxiliary motor; 31. First guide rail; 4. Sliding mold; 401. Cylinder assembly; 402. Workpiece; 5. Second guide rail; 501. First stepper motor; 6. Adjustment mechanism; 601. First sliding frame; 602. Second stepper motor; 603. First coupling; 604. First bearing; 605. First sensor; 606. Ball screw; 607. First slider; 608. Second bearing; 609. Third guide rail; 61. Mounting assembly; 611. 612. Second sliding frame; 613. Third stepper motor; 614. Second coupling; 615. Third bearing; 616. Second sensor; 617. Fourth bearing; 618. First cylinder; 619. Second cylinder; 610. Gripping head; 7. Second frame; 701. Sound insulation assembly; 8. Conveying mechanism; 801. Third sliding frame; 802. First through-beam sensor; 803. Third cylinder; 804. Second slider; 805. Linear vibrator; 806. Second through-beam sensor; 9. Vibrating plate; 91. Fourth guide rail. Detailed Implementation
[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.
[0019] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.
[0020] 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0021] In industrial production, traditional snap-fit assembly relies on manual handling of parts one by one to complete the assembly. If the product structure is special and snap-fit assembly is required in different directions and positions, the assembly difficulty will increase significantly, leading to problems such as low production efficiency, extended assembly time for single parts, and limited efficiency improvement, ultimately resulting in increased production costs.
[0022] Therefore, in view of the above-mentioned problems, the present invention provides a coordinate-type mushroom head buckle rotary push-in machine, with reference to... Figure 1-2 As shown, the device includes a first frame 1. A safety light curtain 2 is fixedly connected to the inner wall of the first frame 1. The safety light curtain 2 is used to protect the operator. When the operator's hand or body part enters the work area, the safety light curtain 2 generates a light curtain that is blocked, and the equipment stops running to prevent the moving parts from accidentally injuring the personnel and to ensure production safety. A second guide rail 5 is fixedly connected to the side of the first frame 1 away from the first guide rail 31. A first stepper motor 501 is fixedly connected to the outer wall of the side of the first frame 1 close to the second guide rail 5. The first stepper motor 501 is used to drive the components connected to the second guide rail 5 (and the X-axis). An adjustment mechanism 6 is also provided inside the first frame 1. refer to Figure 5-6 As shown, the adjustment mechanism 6 includes a first sliding frame 601, which is slidably connected to the outer surface of the second guide rail 5 and driven to move horizontally by a first stepper motor 501. A second stepper motor 602 is fixedly connected to the outer wall of the first sliding frame 601 away from the second guide rail 5. The output end (and Z-axis) of the second stepper motor 602 is connected to a ball screw 606 through a first coupling 603. The upper end of the ball screw 606 is rotatably connected to the first sliding frame 601 through a first bearing 604. A first sensor 60 is fixedly connected to the outer wall of the first sliding frame 601 near the first bearing 604. 5. Its lower end is rotatably connected to the first sliding frame 601 via the second bearing 608. The first bearing 604 and the second bearing 608 are used to reduce the frictional resistance between components, reduce wear, improve transmission stability and equipment service life, and at the same time ensure smoothness during operation. The outer surface of the ball screw 606 is threaded with the first slider 607. The first slider 607 is used to install the movement direction of the component 61, allowing it to move only in a straight line along the third guide rail 609 to avoid deviation, while distributing the load and ensuring stability during high-speed movement. The outer wall of the first slider 607 is provided with the mounting component 61 for gripping, rotating and installing the buckle.
[0023] A third guide rail 609 is fixedly connected to the inner wall of the first sliding frame 601 near the first slider 607. The first slider 607 cooperates with both the ball screw 606 and the third guide rail 609, so that the second stepper motor 602 can drive the first slider 607 to move vertically along the third guide rail 609.
[0024] Mounting assembly 61 includes a second sliding frame 611 fixedly connected to the first slider 607. A third stepper motor 612 is fixedly connected to the outer wall of the second sliding frame 611. The output end of the third stepper motor 612 is connected to a drive shaft through a second coupling 613. The function of the first coupling 603 and the second coupling 613 is to transmit motor power, compensate for installation errors, reduce the impact of vibration on transmission accuracy, and ensure stable power transmission. The outer surface of the second coupling 613 is rotatably connected to the second sliding frame 611 through a third bearing 614. The outer surface of the second coupling 613 is also rotatably connected to the second sliding frame 611 through a fourth bearing 616. A second sensor 615 is also fixedly connected to the second sliding frame 611. The detection end of the second sensor 615 corresponds to the end of the rotary drive shaft and is used to detect whether the buckle is installed in place and to identify defective products.
[0025] A first cylinder 617 is fixedly connected to the end of the drive shaft. The output shaft of the first cylinder 617 is set vertically downward. A second cylinder 618 is fixedly connected to the end of the output shaft of the first cylinder 617. A gripping head 619 is fixedly connected to the end of the output shaft of the second cylinder 618. The first cylinder 617 is used to drive the second cylinder 618 and the gripping head 619 to move in the vertical direction. The second cylinder 618 is used to drive the gripping head 619 to perform gripping and releasing actions.
[0026] refer to Figure 3 As shown, a first guide rail 31 is fixedly connected to the inner wall of the first frame 1. An auxiliary motor 3 is fixedly connected to the inner wall of the first guide rail 31 near the safety light curtain 2. A sliding mold 4 is provided at the output end of the auxiliary motor 3. The sliding mold 4 is customized according to the shape and size of the target product and is used to fix the workpiece 402 to be installed with the buckle inside the sliding mold 4, thereby preventing the workpiece 402 from shifting during the buckle push-in process and ensuring the accuracy of the buckle installation position. The auxiliary motor 3 is used to drive the sliding mold 4 to slide along the first guide rail 31 (and the Y-axis). The top of the sliding mold 4 is used to place the workpiece 402. A cylinder group 401 is fixedly connected to the edge of the workpiece 402. The cylinder group 401 is used to press the buckle picked up and delivered by the robotic arm into the installation hole of the workpiece 402.
[0027] A second frame 7 is provided on one outer wall of the first frame 1. A sound insulation component 701 is fixedly connected to the top of the second frame 7 to isolate the noise generated by the operation of the equipment. A vibrating plate 9 is fixedly connected inside the second frame 7. The vibrating plate 9 uses vibration to organize the messy mushroom head clips into a uniform direction, thereby replacing manual material handling. A fourth guide rail 91 is provided on the side of the second frame 7 near the discharge port of the vibrating plate 9, and a conveying mechanism 8 is provided inside this side to receive and convey the clips from the vibrating plate 9.
[0028] refer to Figure 7As shown, the conveying mechanism 8 includes a third sliding frame 801, which is slidably sleeved on the outer surface of the fourth guide rail 91. A first through-beam sensor 802 is fixedly connected to the outer wall of one end of the third sliding frame 801. Specifically, the first through-beam sensor 802 is a high-precision product positioning through-beam sensor. The first through-beam sensor 802 is used to detect and control the second slider 804. When the latch is conveyed to the designated position, the sensing light of the first through-beam sensor 802 is blocked, sending a signal to the control system that the material has arrived, thereby triggering the subsequent material picking action to ensure the accuracy of material picking. A second through-beam sensor 801 is fixedly connected to the other end of the third sliding frame 801. 6. The second through-beam sensor 806 is a high-precision full-material through-beam sensor used to detect the material inventory. When the material is full, feeding is paused and the vibratory feeder 9 is turned off. When the material is below the required range, material is replenished to avoid material interruption or overflow and to ensure continuous production. It is used to monitor the discharge status of the vibratory feeder 9. A linear vibrator 805 is fixedly connected to the third sliding frame 801. The linear vibrator 805 is used to assist the conveying components. Through linear vibration, the buckles output by the vibratory feeder 9 are smoothly and continuously conveyed to the picking position to avoid material accumulation or jamming. A second slider 804 is fixedly connected to the discharge end of the linear vibrator 805 to orderly convey the buckles to the picking station.
[0029] A third cylinder 803 is fixedly connected to the outer wall of the third sliding frame 801 near the first through-beam sensor 802. The third cylinder 803 is used to realize the material pulling and misalignment operation. In response to the possible stacking and uneven arrangement of the materials, the material pulling and misalignment action is used to adjust the spacing and posture of the materials, ensuring that each snap-fit unit can enter the material picking station independently, effectively avoiding material jamming failures and defective products caused by the simultaneous picking and placing of multiple materials.
[0030] A method for using a coordinate-type mushroom head snap-on rotary pusher includes the following steps: S1. Place the mushroom head clips to be installed in batches into the vibratory feeder 9. The vibratory feeder 9 will organize the messy clips by vibration and transport them in the same direction. They will be conveyed by the conveying mechanism 8 and positioned to the predetermined material picking area. S2. The first stepper motor 501 drives the first sliding frame 601 to move horizontally along the second guide rail 5 to the X-axis coordinate corresponding to the material picking area. At the same time, the second stepper motor 602 drives the ball screw 606 to rotate, causing the first slider 607 to move vertically along the third guide rail 609 to the material picking height. After the installation component 61 reaches the material picking position, the second cylinder 618 in the installation component 61 drives the gripping head 619 to grip a pre-positioned buckle. S3. The third stepper motor 612 drives the drive shaft, the first cylinder 617, the second cylinder 618 and the gripping head 619 to rotate as a whole through the second coupling 613, adjusting the buckle to the required installation angle. The adjustment mechanism 6 then works in coordination to drive the installation assembly 61 to move the buckle to the target installation coordinate above the sliding mold 4. Then, the first cylinder 617 drives the buckle to be slightly adjusted downward and initially pushed into the installation hole of the workpiece 402. Finally, the cylinder group 401 on the sliding mold 4 actuates to apply a pressing force to the buckle, completing the stable installation.
[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0032] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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 coordinate-type mushroom head buckle rotary push-in machine, comprising a first frame (1), a safety light curtain (2) fixedly connected to the inner wall of the first frame (1), a second guide rail (5) fixedly connected to the side of the first frame (1) away from the first guide rail (31), and a first stepper motor (501) fixedly connected to the outer wall of the side of the first frame (1) near the second guide rail (5), wherein the first stepper motor (501) is used to drive the component connected to the second guide rail (5), characterized in that, The inside of the first rack (1) is further provided with an adjusting mechanism (6); The adjusting mechanism (6) comprises: The first sliding frame (601) is slidingly connected to the outer surface of the second guide rail (5) and is driven by the first stepper motor (501) to move horizontally, a second stepper motor (602) is fixedly connected to the outer wall of the side of the first sliding frame (601) away from the second guide rail (5), the output end of the second stepper motor (602) is connected with a ball screw (606) through a first coupling (603), the upper end of the ball screw (606) is rotatably connected with the first sliding frame (601) through a first bearing (604), a first sensor (605) is fixedly connected to the outer wall of the side of the first sliding frame (601) close to the first bearing (604), and the lower end of the first sensor (605) is rotatably connected with the first sliding frame (601) through a second bearing (608); a first sliding block (607) is threadedly connected to the outer surface of the ball screw (606), and the outer wall of the first sliding block (607) is provided with a mounting assembly (61) for grabbing, rotating and mounting the buckle.
2. The coordinate mushroom head buckle rotary push-in machine according to claim 1, characterized in that: The first sliding frame (601) is fixedly connected with a third guide rail (609) on the inner wall of the side close to the first sliding block (607), and the first sliding block (607) cooperates with the ball screw (606) and the third guide rail (609) to enable the second stepper motor (602) to drive the first sliding block (607) to move vertically along the third guide rail (609).
3. The coordinate mushroom head buckle rotary push-in machine according to claim 1, characterized in that: A second rack (7) is arranged on the outer wall of one side of the first rack (1), a sound insulation assembly (701) is fixedly connected to the top of the second rack (7) and is used for isolating noise generated during equipment operation, a vibration disc (9) is fixedly connected in the second rack (7) and is used for arranging mushroom head buckles, and a fourth guide rail (91) is arranged on the side close to the discharge port of the vibration disc (9), and a conveying mechanism (8) is arranged in the side and is used for receiving and conveying the buckles from the vibration disc (9).
4. The coordinate mushroom head buckle rotary push-in machine according to claim 3, characterized in that: The mounting assembly (61) comprises a second sliding frame (611) fixedly connected with the first sliding block (607), a third stepper motor (612) is fixedly connected to the outer wall of the second sliding frame (611), the output end of the third stepper motor (612) is connected with a driving shaft through a second coupling (613), the outer surface of the second coupling (613) is rotatably connected with the second sliding frame (611) through a third bearing (614), the outer surface of the second coupling (613) is also rotatably connected with the second sliding frame (611) through a fourth bearing (616), and a second sensor (615) is also fixedly connected to the second sliding frame (611), and the detection end of the second sensor (615) corresponds to the end of the rotating driving shaft and is used for detecting whether the buckle is installed in place and identifying defective products.
5. The coordinate mushroom head buckle rotary push-in machine according to claim 4, characterized in that: The end of the driving shaft is fixedly connected with a first air cylinder (617), the output shaft of the first air cylinder (617) is vertically downward, the output shaft of the first air cylinder (617) is fixedly connected with a second air cylinder (618), the output shaft of the second air cylinder (618) is fixedly connected with a grabbing head (619), the first air cylinder (617) is used for driving the second air cylinder (618) and the grabbing head (619) to move in the vertical direction, and the second air cylinder (618) is used for driving the grabbing head (619) to perform grabbing and releasing actions.
6. The coordinate mushroom head buckle rotary push-in machine according to claim 3, characterized in that: The conveying mechanism (8) comprises a third sliding frame (801), the third sliding frame (801) is slidably sleeved on the outer surface of the fourth guide rail (91), one end of the third sliding frame (801) is fixedly connected with a first pair of photoelectric sensors (802) for detecting whether the buckle reaches a predetermined position, the other end of the third sliding frame (801) is fixedly connected with a second pair of photoelectric sensors (806) for monitoring the discharging state of the vibrating disc (9), and a linear vibrator (805) is fixedly connected to the third sliding frame (801), the discharging end of the linear vibrator (805) is fixedly connected with a second sliding block (804) for orderly conveying the buckle to the material taking station.
7. The coordinate mushroom head push-in buckle rotation machine according to claim 6, characterized in that: The outer wall of one side of the third sliding frame (801) close to the first pair of photoelectric sensors (802) is fixedly connected with a third air cylinder (803), the third air cylinder (803) is used for avoiding the stacking and misalignment of the buckle through material pulling misalignment.
8. The coordinate mushroom head buckle rotary push-in machine according to claim 1, characterized in that: The inner wall of the first rack (1) is fixedly connected with a first guide rail (31), the inner wall of one end of the first guide rail (31) close to the safety grating (2) is fixedly connected with an auxiliary motor (3), the output end of the auxiliary motor (3) is provided with a sliding mold (4), and the auxiliary motor (3) is used for driving the sliding mold (4) to slide along the first guide rail (31).
9. The coordinate mushroom head buckle rotary push-in machine according to claim 8, characterized in that: The top of the sliding mold (4) is used for placing a machining part (402), a cylinder group (401) is fixedly connected to the edge close to the machining part (402), and the cylinder group (401) is used for pressing the buckle taken by the mechanical arm into the mounting hole of the machining part (402).
10. The method of using a rotary push-in machine for mushroom head fasteners of claim 1-9, wherein, The method comprises the following steps: S1, a plurality of mushroom head buckles to be installed are placed in the vibrating disc (9), the vibrating disc (9) arranges the disordered buckles and conveys them in the same direction through vibration, and the conveying mechanism (8) is used for conveying and positioning the buckles to a predetermined material taking area; S2, the first stepping motor (501) drives the first sliding frame (601) to move horizontally along the second guide rail (5) to the X-axis coordinate corresponding to the material taking area, at the same time, the second stepping motor (602) drives the ball screw (606) to rotate, drives the first sliding block (607) to move vertically along the third guide rail (609) to the material taking height, so that the installation assembly (61) reaches the material taking position, and the second air cylinder (618) in the installation assembly (61) drives the grabbing head (619) to grab a positioned buckle; S3, the third stepper motor (612) drives the drive shaft, the first cylinder (617), the second cylinder (618) and the grabbing head (619) to rotate as a whole through the second coupling (613), so as to adjust the buckle to the required angle. The adjusting mechanism (6) cooperates again to drive the installation assembly (61) to move to the target installation coordinate above the sliding mold (4), then the first cylinder (617) drives the buckle to fine-tune downward and preliminarily push into the installation hole of the workpiece (402), finally, the cylinder group (401) on the sliding mold (4) acts to exert a pressing force on the buckle, thereby completing the stable installation.