Automobile seat sponge mold buckle feeding device

Abstract

The present disclosure relates to the technical field of snap assembly, and provides a kind of automobile seat sponge mold buckle feeding device, including the power chassis circulating movement along the meandering guide rail, and positioning assembly, feeding assembly and feeding assembly are installed on the power chassis;The conveying carrier loaded with mold moves along the preset direction, the meandering guide rail has assembly section adjacent to the conveying path and in the same direction, and the power chassis moves in the same direction with the conveying carrier in the section and follows motion;Positioning assembly drives positioning block to retract and extend by positioning cylinder, and positioning cooperation or release cooperation with conveying carrier, to limit the relative position of both in the direction perpendicular to the conveying direction;Mechanical arm drives the multidirectional movement of feeding piece relative to mold during following motion, and feeding piece adsorbs buckle output by feeding assembly and is assembled to the preset installation site of mold.The feeding device realizes the continuous stable feeding and assembly of buckle in the moving process.

Description

Technical Field

[0001] This disclosure relates to the field of snap-fit ​​assembly technology, and more specifically, to a snap-fit ​​feeding device for automotive seat foam molds. Background Technology

[0002] In the production process of car seats, multiple clips are usually installed into the preset positions of the foam mold before the foam is foamed. Therefore, a feeding device is needed to continuously transport the clips to the assembly station to meet the requirements of automated assembly.

[0003] Currently, most automotive seat foam mold clip feeding devices use a vibratory feeder combined with a linear feeding track for material supply. The assembly mechanism retrieves the clips at a fixed picking position and completes the installation. This method can meet the feeding needs of fixed workstations, but the assembly mechanism needs to move back and forth between the picking and installation positions, affecting overall work efficiency. However, when the assembly mechanism needs to complete assembly operations while moving, the traditional fixed feeding method cannot achieve continuous feeding of clips during the movement, which can easily lead to material retrieval interruptions or waiting, thus affecting the production cycle of automotive seat foam mold clip assembly.

[0004] Therefore, how to achieve continuous and stable feeding and assembly of automotive seat foam mold clips during the movement process has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a car seat foam mold clip feeding device, which solves the problems mentioned in the background art.

[0006] This disclosure provides a car seat foam mold clip feeding device, including a power chassis that moves cyclically along a loop guide rail. The power chassis is equipped with a positioning component, a feeding component, and a feeding component. The positioning component includes a positioning cylinder and a positioning block, and the feeding component includes a robotic arm and a feeding component. The conveyor carrying the car seat foam mold moves along a preset conveying direction, and the spiral guide rail has an assembly section that is adjacent to the conveying path of the conveyor and extends in the same direction; the power chassis is used to move in the same direction as the conveyor when passing through the assembly section. The positioning cylinder is used to drive the positioning block to extend and retract, so that the positioning block is positioned and engaged or disengaged from the conveying vehicle, thereby defining the relative position of the power chassis and the conveying vehicle in a direction perpendicular to the conveying direction during their co-movement. The robotic arm is used to drive the loading component to move in multiple directions relative to the automotive seat foam mold during the co-movement of the power chassis and the conveyor; the loading component is used to absorb the buckles output by the feeding assembly and assemble the buckles into the preset mounting position of the automotive seat foam mold.

[0007] Optionally, the robotic arm includes a mounting base, the positioning component passes through the mounting base, and a first arm, a second arm, a third arm and a lifting arm are sequentially mounted on the mounting base, and the loading component is connected to the lifting arm; The first arm is used to drive the second arm to rotate in a vertical direction, the second arm is used to drive the third arm to rotate in a vertical direction, and the third arm is used to drive the lifting arm to move up and down in a vertical direction.

[0008] Optionally, a junction box is fixedly installed on one side of the third arm, and a mounting bracket is installed on the other side of the third arm. A detection camera and a ring light source are coaxially mounted on the mounting bracket. The detection camera is used to visually locate the preset installation position of the car seat foam mold, and the height of the detection camera is higher than the height of the ring light source.

[0009] Optionally, the feeding component includes an extension plate connected to the robotic arm, a reduction gearbox is provided at the bottom of the extension plate, and a rotating frame is mounted on the output shaft of the reduction gearbox; The rotating frame is equipped with a speed-reducing swing motor, the output shaft of the speed-reducing swing motor is equipped with a swing frame, and the side wall of the swing frame is equipped with an adsorption head.

[0010] Optionally, the adsorption head includes a lifting cylinder connected to the swing frame, an adsorption seat is mounted on the telescopic rod of the lifting cylinder, and an adsorption nozzle is provided at the bottom of the adsorption seat.

[0011] Optionally, a limiting block is fixedly installed on the adsorption seat, and the limiting block is provided with a receiving groove, with the end of the adsorption nozzle away from the adsorption seat extending out of the receiving groove.

[0012] Optionally, the number of adsorption heads is set to two, and the two adsorption heads are respectively located on opposite sides of the swing frame.

[0013] Optionally, the power chassis includes a power housing, in which an electrically connected power control cabinet and a geared motor are installed. The power control cabinet is used to control the working status of the positioning cylinder, the robotic arm, and the loading component. A moving gear that meshes with the loop guide rail is rotatably connected to the outside of the power housing.

[0014] Optionally, a power frame is installed inside the power housing, and a transmission gear coaxially connected to the moving gear is rotatably connected inside the power frame; An encoder is also installed inside the power frame. A detection gear that meshes with the transmission gear is installed on the output shaft of the encoder. The outer diameters of the transmission gear, the moving gear, and the detection gear decrease in that order.

[0015] Optionally, a coupling is installed on the output shaft of the geared motor, and the coupling is fitted with a first clutch and a second clutch; The first clutch is fixedly connected to the coupling, and the bottom of the second clutch is fixedly connected to the transmission gear. The first clutch and the second clutch transmit the power of the reduction motor to the moving gear through electromagnetic clutch engagement.

[0016] Optionally, the positioning assembly further includes a positioning plate mounted on the power chassis, and the positioning cylinder is mounted on the positioning plate; A slider is fixedly connected to the positioning plate, and a slide rail is provided on the telescopic rod of the positioning cylinder to slide and cooperate with the slider. The slide rail is set perpendicular to the conveying direction when passing through the assembly section, and the positioning block is fixedly connected to the end of the slide rail away from the positioning cylinder.

[0017] Optionally, the slider is provided with a first protrusion and a first groove adjacent to each other, and the sidewall of the slide rail is provided with a second protrusion and a second groove adjacent to each other. The first protrusion and the second groove are slidably adapted to each other, and the second protrusion and the first groove are slidably adapted to each other.

[0018] Optionally, the feeding assembly includes a vibratory feeder connected to the power chassis, the vibratory feeder having a linear feeder arranged perpendicular to the conveying direction when passing through the assembly section, and the output port of the linear feeder having an end cap.

[0019] Optionally, the number of linear feeders is set to two, the two linear feeders are arranged side by side, and the end caps are used to jointly block the output ports corresponding to the two linear feeders.

[0020] Optionally, the same side wall of the power chassis is provided with adjacent anti-collision posts and anti-collision components. The anti-collision components are located at a corner of the power chassis relative to the inner side of the loop guide rail. Both the anti-collision posts and the anti-collision components are used to prevent the two power chassis located on the loop guide rail from colliding.

[0021] Optionally, the anti-collision assembly includes an anti-collision base fixedly connected to the power chassis, and the anti-collision base is slidably connected to two opposing anti-collision blocks, one of which is fixedly connected to an anti-collision rod and an anti-collision disc; The anti-collision bar is fitted with anti-collision springs that abut against the two anti-collision blocks. One end of the anti-collision bar extends out of the other anti-collision block. A proximity switch that senses and cooperates with the anti-collision bar is installed on the anti-collision base.

[0022] Optionally, the anti-collision base is provided with a clearance hole adapted to the anti-collision rod, and the end face of the anti-collision post away from the power chassis is tangent to the outer circumference of the anti-collision plate.

[0023] As can be seen from the above technical solution, the automotive seat foam mold clip feeding device in the exemplary embodiment of this disclosure has at least the following advantages and positive effects: This disclosure achieves continuous feeding of the buckle during movement by setting up a powered chassis that circulates along a loop guide rail. The powered chassis completes positioning, material handling, and assembly while moving in the same direction as the conveyor. This avoids the waiting and interruptions caused by the assembly mechanism's back-and-forth movement between the material handling and installation positions in traditional devices, significantly improving assembly cycle time and work efficiency. Simultaneously, the positioning component limits the relative position of the powered chassis and the conveyor in the direction perpendicular to the conveying direction during the accompanying movement, ensuring the positioning accuracy of the feeding component during dynamic following and ensuring that the buckle is accurately installed into the preset installation position of the mold, thus improving assembly consistency and reliability.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 This diagram shows a three-dimensional structural schematic of a car seat foam mold clip feeding device according to an embodiment of the present disclosure; Figure 2 A schematic diagram of the structure of a spiral guide rail according to an embodiment of the present disclosure is shown; Figure 3 A three-dimensional structural schematic diagram of the feeding component in an automotive seat sponge mold clip feeding device according to an embodiment of the present disclosure is shown; Figure 4A partial structural schematic diagram of the feeding component in an automotive seat foam mold clip feeding device according to an embodiment of the present disclosure is shown; Figure 5 This diagram illustrates the structure of the feeding component in a car seat foam mold clip feeding device according to an embodiment of the present disclosure; Figure 6 This diagram illustrates the structure of the adsorption head in a car seat foam mold clip feeding device according to an embodiment of the present disclosure. Figure 7 A three-dimensional structural schematic diagram of the power chassis in an automotive seat sponge mold clip feeding device according to an embodiment of the present disclosure is shown. Figure 8 A side view of the power chassis in an automotive seat foam mold clip feeding device according to an embodiment of the present disclosure is shown; Figure 9 It shows Figure 8 A schematic diagram of the AA cross-sectional structure; Figure 10 A partial structural schematic diagram of the power chassis in an automotive seat foam mold clip feeding device according to an embodiment of the present disclosure is shown. Figure 11 This diagram illustrates the structure of a positioning component in an automotive seat foam mold clip feeding device according to an embodiment of the present disclosure. Figure 12 An exploded structural diagram of the slider and slide rail in an automotive seat foam mold clip feeding device according to an embodiment of the present disclosure is shown. Figure 13 This diagram illustrates the structure of a feeding assembly in an automotive seat foam mold clip feeding device according to an embodiment of the present disclosure. Figure 14 A schematic diagram of the anti-collision component in a car seat foam mold clip feeding device according to an embodiment of the present disclosure is shown.

[0026] Illustration: 10. Guide rail; 11. Assembly section; 100. Power chassis; 110. Power housing; 111. Power frame; 120. Power control cabinet; 130. Geared motor; 140. Moving gear; 150. Transmission gear; 160. Encoder; 170. Detection gear; 180. Coupling; 191. First clutch; 192. Second clutch; 200, Positioning component; 210, Positioning plate; 220, Positioning cylinder; 230, Positioning block; 240, Slider; 241, First protrusion; 242, First groove; 250, Slide rail; 251, Second protrusion; 252, Second groove; 300. Feeding assembly; 310. Vibratory feeder; 320. Linear conveyor; 321. Output port; 330. End cap; 400. Feeding assembly; 410. Robotic arm; 411. Mounting base; 412. First arm; 413. Second arm; 414. Third arm; 415. Lifting arm; 420. Feeding component; 421. Extension plate; 422. Gearbox; 423. Rotating frame; 424. Geared swing motor; 425. Swing frame; 426. Adsorption head; 4261. Lifting cylinder; 4262. Adsorption seat; 4263. Adsorption nozzle; 4264. Limiting block; 4265. Receiving slot; 430. Junction box; 440. Fixing frame; 450. Detection camera; 460. Ring light source; 500, crash barriers; 600, Anti-collision component; 610, Anti-collision base; 611, Alternating perforation; 620, Anti-collision block; 630, Anti-collision bar; 640, Anti-collision disc; 650, Anti-collision spring; 660, Proximity switch. Detailed Implementation

[0027] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0028] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0029] After describing the exemplary embodiments with reference to the accompanying drawings, the specific structure and working process of the automotive seat sponge mold clip feeding device provided in this disclosure are as follows.

[0030] like Figures 1 to 14 As shown, the feeding device includes a powered chassis 100 that circulates along a loop guide rail 10. The loop guide rail 10 has an assembly section 11 that is adjacent to the conveying path of the conveyor and extends in the same direction. The powered chassis 100 is used to maintain the same direction of movement as the conveyor when passing through the assembly section 11. A positioning assembly 200, a feeding assembly 300, and a feeding assembly 400 are mounted on the powered chassis 100.

[0031] Furthermore, the entry end of assembly section 11 is equipped with a vehicle detection component for detecting the arrival of the transport vehicle, and the transport vehicle is equipped with a vehicle identification part that can be identified by the vehicle detection component. The vehicle detection component can be a photoelectric sensor, a proximity sensor, or a vision inspection device, and the vehicle identification part can be a sensor sheet, a reflective mark, an identification code, or a preset shape structure of the transport vehicle. The vehicle detection component is electrically connected to the power control cabinet 120 and is used to send a vehicle arrival signal to the power control cabinet 120 when the transport vehicle enters assembly section 11.

[0032] Assembly section 11 is also equipped with a vehicle motion detection device for acquiring the motion status of the conveyor. The vehicle motion detection device is used to detect the current position and / or running speed of the conveyor along the conveying direction. In one embodiment, the vehicle motion detection device consists of multiple position sensors spaced apart along the conveying path. The power control cabinet 120 calculates the running speed of the conveyor based on the time intervals between the conveyor passing through the multiple position sensors in sequence.

[0033] The power control cabinet 120 controls the power chassis 100 to enter the synchronization preparation state according to the arrival signal of the vehicle, and adjusts the speed of the reduction motor 130 according to the position and running speed of the conveying vehicle and the position and running speed of the power chassis 100 detected by the encoder 160, so that the power chassis 100 gradually approaches the accompanying position corresponding to the conveying vehicle.

[0034] like Figures 7 to 10 As shown, the power chassis 100 includes a power housing 110, which houses an electrically connected power control cabinet 120 and a geared motor 130. The power control cabinet 120 controls the working status of the positioning cylinder 220, the robotic arm 410, and the loading component 420. A moving gear 140, meshing with a loop guide rail 10, is rotatably connected to the power housing 110. The geared motor 130 drives the moving gear 140 to rotate via a transmission structure, thereby causing the power chassis 100 to move along the loop guide rail 10.

[0035] Furthermore, a power frame 111 is installed inside the power housing 110, and a transmission gear 150, coaxially connected to the moving gear 140, is rotatably connected inside the power frame 111. An encoder 160 is also installed inside the power frame 111, and a detection gear 170, meshing with the transmission gear 150, is mounted on the output shaft of the encoder 160. The outer diameters of the transmission gear 150, the moving gear 140, and the detection gear 170 decrease in that order. Through this gear transmission and the cooperation of the encoder 160, the moving distance and speed of the power chassis 100 can be accurately detected, facilitating precise motion control by the power control cabinet 120.

[0036] When the power chassis 100 moves in tandem with the conveyor, the power control cabinet 120 acquires the chassis position and speed of the power chassis 100, as well as the vehicle position and speed of the conveyor. It determines the longitudinal position deviation based on the difference between the chassis position and the vehicle position, and determines the speed deviation based on the difference between the chassis speed and the vehicle speed. The power control cabinet 120 adjusts the output speed of the reduction motor 130 according to the longitudinal position deviation and speed deviation, ensuring that the longitudinal position deviation between the power chassis 100 and the conveyor remains within a preset allowable range.

[0037] The accompanying position refers to the position where the robotic arm 410 on the power chassis 100 can cover the preset installation position of the automotive seat foam mold, and the positioning block 230 can cooperate with the positioning structure of the conveyor. After the power chassis 100 reaches the accompanying position, the power control cabinet 120 controls the positioning cylinder 220 to operate, and continues to perform closed-loop adjustment of the reduction motor 130 according to the longitudinal position deviation to compensate for the longitudinal displacement error caused by the fluctuation of the conveyor's running speed.

[0038] When the longitudinal position deviation exceeds the first preset deviation, the power control cabinet 120 controls the robotic arm 410 to pause assembly and increases or decreases the speed of the reduction motor 130 to re-establish the accompanying position; when the longitudinal position deviation exceeds the second preset deviation which is greater than the first preset deviation, the power control cabinet 120 controls the loading part 420 to reset and the positioning block 230 to retract, and causes the power chassis 100 to exit the current assembly process, thereby avoiding snap-fit ​​assembly in an abnormal relative position state.

[0039] A coupling 180 is mounted on the output shaft of the geared motor 130. The coupling 180 is fitted with a first clutch 191 and a second clutch 192. The first clutch 191 is fixedly connected to the coupling 180, and the bottom of the second clutch 192 is fixedly connected to the transmission gear 150. The first clutch 191 and the second clutch 192 transmit the power of the geared motor 130 to the moving gear 140 through electromagnetic clutch engagement.

[0040] When power transmission is required, the first clutch 191 and the second clutch 192 are engaged by electromagnetic clutch, and the output power of the reduction motor 130 is transmitted to the moving gear 140 through the coupling 180, the first clutch 191, the second clutch 192, and the transmission gear 150. When power output needs to be stopped, the first clutch 191 and the second clutch 192 are disengaged to cut off the power transmission between the reduction motor 130 and the moving gear 140.

[0041] Optionally, the geared motor 130 is equipped with an electromagnetic brake. When the power chassis 100 needs to stop quickly, the power control cabinet 120 controls the electromagnetic brake to operate while controlling the electromagnetic clutch to disengage, so as to limit the power chassis 100 from continuing to move.

[0042] like Figure 11 and Figure 12 As shown, the positioning assembly 200 includes a positioning plate 210 mounted on the power chassis 100, and a positioning cylinder 220 mounted on the positioning plate 210. A slider 240 is fixedly connected to the positioning plate 210, and a slide rail 250 is provided on the telescopic rod of the positioning cylinder 220 to slide in cooperation with the slider 240. The slide rail 250 is positioned perpendicular to the conveying direction when passing through the assembly section 11, and a positioning block 230 is fixedly connected to the end of the slide rail 250 away from the positioning cylinder 220. The positioning cylinder 220 drives the slide rail 250 to extend or retract relative to the slider 240, thereby causing the positioning block 230 to extend or retract, so that the positioning block 230 is positioned and engaged or disengaged from the conveyor, thereby defining the relative position of the power chassis 100 and the conveyor in the direction perpendicular to the conveying direction during the co-movement of the power chassis 100 and the conveyor.

[0043] Furthermore, the conveying vehicle has a vehicle positioning part on the side facing the power chassis 100. The vehicle positioning part includes a positioning guide groove extending along the conveying direction, and a guide ramp is provided at the entrance of the positioning guide groove. The positioning block 230 has a guide part adapted to the positioning guide groove at one end facing the conveying vehicle. When the positioning cylinder 220 drives the positioning block 230 to extend, the guide part enters the positioning guide groove under the guidance of the guide ramp.

[0044] The width of the positioning guide groove perpendicular to the conveying direction is adapted to the corresponding width of the positioning block 230 to limit the relative position of the power chassis 100 and the conveying vehicle perpendicular to the conveying direction; the positioning guide groove extends along the conveying direction so that the positioning block 230 can move relative to the positioning block 230 in the positioning guide groove along the conveying direction, thereby avoiding the positioning block 230 bearing the longitudinal driving force between the power chassis 100 and the conveying vehicle.

[0045] Optionally, the positioning cylinder 220 is equipped with an extension position detection switch and a retraction position detection switch, which are electrically connected to the power control cabinet 120 respectively, and are used to detect whether the positioning block 230 has reached the extension position or the retraction position. When the extension position detection switch detects that the positioning block 230 has reached the extension position, the power control cabinet 120 allows the loading assembly 400 to perform the assembly action.

[0046] To further improve the positioning accuracy of the positioning block 230 and the sliding stability of the slide rail 250, the slider 240 is provided with a first protrusion 241 and a first groove 242 adjacent to each other, and the sidewall of the slide rail 250 is provided with a second protrusion 251 and a second groove 252 adjacent to each other. The first protrusion 241 and the second groove 252 are slidably adapted to each other, and the second protrusion 251 and the first groove 242 are slidably adapted to each other. Through this complementary sliding fit structure, the slide rail 250 can be effectively prevented from shifting or shaking during the extension and retraction process.

[0047] like Figure 13 As shown, the feeding assembly 300 includes a vibratory feeder 310 connected to the power chassis 100. The vibratory feeder 310 has a linear feeder 320 arranged perpendicular to the conveying direction when passing through the assembly section 11. An end cap 330 is provided at the output port 321 of the linear feeder 320. After being sorted by the vibratory feeder 310, the clips are sequentially conveyed to the output port 321 along the linear feeder 320. The end cap 330 can prevent the clips from accidentally falling off when not being picked up.

[0048] In some embodiments, a latching detection element is also provided at the output port 321. The latching detection element is electrically connected to the power control cabinet 120 and is used to detect whether the latch at the foremost end of the linear conveyor 320 has reached the preset material picking position. When the latching detection element detects that the latch is in place, the power control cabinet 120 allows the suction head 426 to perform the material picking action; when the latch is not in place, the robotic arm 410 remains in a waiting state or performs assembly actions at other installation positions.

[0049] Optionally, the number of linear feeders 320 is set to two, and the two linear feeders 320 are arranged side by side. The end caps 330 are used to jointly block the output ports 321 corresponding to the two linear feeders 320, thereby simultaneously conveying two buckles of the same specification and improving the feeding efficiency of the feeding assembly 300.

[0050] like Figures 3 to 6 As shown, the loading assembly 400 includes a robotic arm 410 and a loading component 420. The robotic arm 410 includes a mounting base 411, and a positioning component 200 passes through the mounting base 411 (i.e., part of the structure of the positioning component 200 can be accommodated inside the mounting base 411 or pass through its reserved space to save installation space). A first arm 412, a second arm 413, a third arm 414, and a lifting arm 415 are sequentially mounted on the mounting base 411. The loading component 420 is connected to the lifting arm 415. The first arm 412 drives the second arm 413 to rotate vertically, the second arm 413 drives the third arm 414 to rotate vertically, and the third arm 414 drives the lifting arm 415 to move vertically. Through the rotational movement of the three arms and the lifting movement of the lifting arm 415, the loading component 420 can move flexibly in multiple directions within three-dimensional space.

[0051] like Figure 4 As shown, a junction box 430 is fixedly installed on one side of the third arm 414. The junction box 430 is used to house and organize electrical wiring. A mounting bracket 440 is installed on the other side of the third arm 414. A detection camera 450 and a ring light source 460 are coaxially mounted on the mounting bracket 440. The detection camera 450 is used for visual positioning of the preset installation position of the automotive seat foam mold. The height of the detection camera 450 is higher than the height of the ring light source 460 to avoid the ring light source 460 obstructing the camera's field of view. At the same time, the ring light source 460 provides uniform illumination for the detection camera 450, improving image recognition accuracy.

[0052] The car seat foam mold has visual positioning features that have a known positional relationship with the preset installation position. These visual positioning features can be positioning holes, mold edges, feature protrusions, or visual marks set on the mold. A detection camera 450 acquires an image of the mold containing the visual positioning features. The power control cabinet 120 or a vision controller communicatively connected to the power control cabinet 120 determines the position of the visual positioning features in the camera coordinate system based on the mold image. Then, based on the pre-calibrated transformation relationship between the camera coordinate system and the robotic arm coordinate system, it obtains the target position of the preset installation position in the robotic arm coordinate system.

[0053] During the equipment debugging phase, the robotic arm 410 moves the calibration component sequentially to multiple preset calibration positions, and the detection camera 450 captures the corresponding image positions of the calibration component. Based on the multiple preset calibration positions and the image positions, a coordinate transformation relationship is established between the camera coordinate system and the robotic arm coordinate system. For different models of automotive seat foam molds, visual positioning features and installation offset parameters corresponding to each mold model can be pre-stored in the power control cabinet 120.

[0054] When the detection camera 450 acquires images of the mold, the power control cabinet 120 records the corresponding image acquisition time. Based on the running speed of the conveyor at the image acquisition time and the time interval between the image acquisition time and the arrival of the loading part 420 at the preset installation position, the power control cabinet 120 determines the compensation displacement generated by the automotive seat foam mold along the conveying direction during that time interval. The power control cabinet 120 superimposes the compensation displacement onto the target position to obtain the dynamic assembly position, and controls the robotic arm 410 to move the loading part 420 to the dynamic assembly position.

[0055] Optionally, after the robotic arm 410 drives the loading part 420 close to the preset installation position, the detection camera 450 re-captures the mold image to perform secondary correction on the dynamic assembly position. When the visual recognition result exceeds the preset allowable range or no visual positioning feature is recognized, the power control cabinet 120 controls the working state of the robotic arm 410 and terminates the assembly of the current buckle.

[0056] like Figure 5and Figure 6 As shown, the loading component 420 includes an extension plate 421 connected to the robotic arm 410. A reduction gearbox 422 is located at the bottom of the extension plate 421, and a rotating frame 423 is mounted on the output shaft of the reduction gearbox 422. A reduction-speed swing motor 424 is mounted on the rotating frame 423, and a swing frame 425 is mounted on the output shaft of the reduction-speed swing motor 424. An adsorption head 426 is located on the side wall of the swing frame 425. By driving the rotating frame 423 to rotate around a vertical axis via the reduction gearbox 422, and simultaneously driving the swing frame 425 to swing, multi-angle attitude adjustment of the adsorption head 426 can be achieved to adapt to different installation positions.

[0057] In this embodiment, a sensing plate is installed at the end of the swing frame 425 away from the adsorption head 426, and a sensor that cooperates with the sensing plate is installed on the rotating frame 423. The number of sensors is set to three, and the three sensors are distributed at intervals. When the swing frame 425 is in its natural state, the sensing plate and the middle sensor are correspondingly set; by setting the spacing between two adjacent sensors, the swing angle of the swing frame 425 can be adjusted accordingly.

[0058] like Figure 6 As shown, the adsorption head 426 includes a lifting cylinder 4261 connected to the swing frame 425. An adsorption seat 4262 is mounted on the telescopic rod of the lifting cylinder 4261, and an adsorption nozzle 4263 is provided at the bottom of the adsorption seat 4262. The lifting cylinder 4261 can drive the adsorption seat 4262 and the adsorption nozzle 4263 to rise and fall, so as to approach or move away from the output port 321 of the linear feeder 320 to pick up materials, and to press the buckle into the mold mounting position. A limiting block 4264 is fixedly installed on the adsorption seat 4262. The limiting block 4264 is provided with a receiving groove 4265. The end of the adsorption nozzle 4263 away from the adsorption seat 4262 extends out of the receiving groove 4265. The receiving groove 4265 can circumferentially limit the buckle when the adsorption nozzle 4263 adsorbs the buckle, preventing the buckle from shifting or falling off.

[0059] The suction nozzle 4263 is connected to a negative pressure generating assembly (not shown) via a vacuum line. The negative pressure generating assembly may include a vacuum generator, a suction control valve, and a vacuum breaking control valve. The suction control valve and the vacuum breaking control valve are electrically connected to the power control cabinet 120. When the power control cabinet 120 controls the suction control valve to open, a negative pressure is formed at the suction nozzle 4263 to attract the latch located at the output port 321. When the power control cabinet 120 controls the suction control valve to close and controls the vacuum breaking control valve to open, the negative pressure at the suction nozzle 4263 is released, causing the latch to separate from the suction nozzle 4263.

[0060] The vacuum pipeline is also equipped with a negative pressure detection device, which is used to detect the negative pressure value at the suction nozzle 4263. When the negative pressure value reaches the preset suction threshold, the power control cabinet 120 determines that the suction nozzle 4263 has adsorbed the latch and controls the lifting cylinder 4261 to drive the latch to rise; when the negative pressure value does not reach the preset suction threshold within the preset time, the power control cabinet 120 determines that the material picking has failed and controls the suction nozzle 4263 to perform the material picking action again or terminate the current assembly.

[0061] The receiving groove 4265 of the limiting block 4264 is adapted to at least a portion of the outer contour of the buckle. When the suction nozzle 4263 suctions the buckle, a portion of the buckle's structure enters the receiving groove 4265. The receiving groove 4265 is used to restrict the lateral movement and rotation of the buckle relative to the suction seat 4262, so that the buckle maintains a preset picking posture during the movement of the robotic arm 410 and the adjustment of the posture by the swing frame 425.

[0062] Optionally, the number of adsorption heads 426 is set to two, with the two adsorption heads 426 located on opposite sides of the swing frame 425, which can pick up two clips at once, further improving the operating efficiency of the loading part 420.

[0063] like Figure 1 and Figure 14 As shown, anti-collision posts 500 and anti-collision components 600 are adjacently arranged on the same side wall of the power chassis 100. The anti-collision component 600 is located at a corner of the power chassis 100 relative to the inner side of the loop guide rail 10 (i.e., the corner near the inner side of the guide rail). Both the anti-collision posts 500 and the anti-collision component 600 are used to prevent the two power chassis 100 located on the loop guide rail 10 from colliding. The anti-collision component 600 includes an anti-collision base 610 fixedly connected to the power chassis 100. The anti-collision base 610 is slidably connected to two opposing anti-collision blocks 620. One of the anti-collision blocks 620 is fixedly connected to an anti-collision rod 630 and an anti-collision disc 640. The anti-collision rod 630 is fitted with anti-collision springs 650 that abut against the two anti-collision blocks 620. One end of the anti-collision rod 630 extends out of the other anti-collision block 620. A proximity switch 660 that senses and cooperates with the anti-collision rod 630 is installed on the anti-collision base 610.

[0064] When the rear anti-collision plate 640 of the power chassis 100 impacts the front power chassis 100, the anti-collision bar 630 slides relative to the anti-collision base 610, compressing the anti-collision spring 650 for buffering. At the same time, the extended end of the anti-collision bar 630 approaches the proximity switch 660, triggering the proximity switch 660 to send a signal. After receiving the signal, the power control cabinet 120 controls the deceleration power motor 130 to decelerate or stop to avoid collision.

[0065] In addition, the anti-collision base 610 is provided with a clearance hole 611 adapted to the anti-collision bar 630. The end face of the anti-collision post 500 away from the power chassis 100 is correspondingly arranged with the outer circumference of the anti-collision plate 640, so that when two adjacent power chassis 100 approach each other, the anti-collision post 500 and the anti-collision plate 640 can make contact first. The arc-shaped outer circumference of the anti-collision plate 640 can guide the contact position and move the anti-collision bar 630 along its sliding direction to compress the anti-collision spring 650, thereby reducing the risk of rigid collision between adjacent power chassis 100.

[0066] The following describes one working process of the feeding device: the powered chassis 100 moves cyclically along the loop guide rail 10. When the carrier detection component detects that the conveyor carrying the automotive seat foam mold has entered the assembly section 11, the carrier detection component sends a carrier arrival signal to the power control cabinet 120. The power control cabinet 120 acquires the carrier position and speed, and controls the reduction motor 130 to accelerate or decelerate according to the chassis position and speed of the powered chassis 100 detected by the encoder 160, so that the powered chassis 100 reaches the accompanying position corresponding to the conveyor.

[0067] When the longitudinal positional deviation and speed deviation between the power chassis 100 and the conveying vehicle are both within the corresponding preset allowable ranges, the power control cabinet 120 controls the positioning cylinder 220 to drive the slide rail 250 to extend. The positioning block 230, guided by the vehicle positioning section, enters the positioning guide groove to define the relative position of the power chassis 100 and the conveying vehicle perpendicular to the conveying direction. After the positioning block 230 reaches the positioning position, the extension position detection switch sends a positioning completion signal to the power control cabinet 120.

[0068] During the accompanying motion, the power control cabinet 120 continuously compares the position and speed of the power chassis 100 and the conveyor, and adjusts the speed of the reduction motor 130 to maintain their relative position along the conveying direction within a preset range. Simultaneously, the vibratory feeder 310 continuously organizes and conveys the clips to the linear conveyor 320, causing one clip to enter the preset pick-up position corresponding to the output port 321. The clip placement detection element detects that the clip is in place and sends a pick-up permission signal to the power control cabinet 120.

[0069] The detection camera 450 acquires images of the car seat foam mold and determines the position of the preset installation location based on visual positioning features. The power control cabinet 120 determines the dynamic assembly position corresponding to the preset installation location based on the coordinate transformation relationship between the camera coordinate system and the robotic arm coordinate system, as well as the movement distance of the conveyor from the image acquisition time to the expected assembly time.

[0070] Upon receiving the material handling permission signal, the robotic arm 410 drives the loading component 420 to move above the output port 321. The reduction gearbox 422 and the reduction swing motor 424 adjust the horizontal and swing angles of the adsorption head 426, respectively, so that the adsorption nozzle 4263 is aligned with the preset adsorption part of the buckle. The lifting cylinder 4261 lowers the adsorption nozzle 4263, and the adsorption control valve opens, allowing the adsorption nozzle 4263 to adsorb the buckle. When the negative pressure value detected by the negative pressure detector reaches the preset adsorption threshold, the power control cabinet 120 determines that the material handling is successful and controls the lifting cylinder 4261 to raise the buckle.

[0071] Subsequently, the robotic arm 410 moves the loading component 420 to the dynamic assembly position. The gearbox 422 and the geared swing motor 424 adjust the direction of the buckle according to the preset installation posture. The lifting cylinder 4261 drives the buckle to move towards the preset installation position and presses the buckle into the automotive seat foam mold. The power control cabinet 120 determines whether the buckle is assembled in place based on the pressing stroke, pressing pressure, and / or pressing displacement. After the buckle is assembled in place, the adsorption control valve closes, the vacuum breaking control valve opens, causing the adsorption nozzle 4263 to release the buckle, and the lifting cylinder 4261 drives the adsorption head 426 to rise.

[0072] For multiple preset mounting positions on the same automotive seat foam mold, the power control cabinet 120 repeatedly executes visual positioning, snap-fit ​​material picking, posture adjustment, and pressing steps according to the pre-stored assembly sequence until the assembly of each snap-fit ​​within the working range of the robotic arm 410 is completed. During the assembly process, if longitudinal position deviation exceeds the limit, positioning block 230 is not in place, snap-fit ​​material picking fails, visual recognition fails, or pressing is abnormal, the power control cabinet 120 controls the robotic arm 410 to stop the current action and performs repositioning, re-picking, alarm, or exit the assembly process according to the type of abnormality.

[0073] When the assembly task of the current conveyor is completed, or when the powered chassis 100 approaches the exit end of the assembly section 11, the robotic arm 410 drives the loading component 420 back to a safe position, and the positioning cylinder 220 drives the positioning block 230 to retract and release its positioning engagement with the conveyor. The power control cabinet 120 controls the powered chassis 100 to gradually disengage from the conveyor, and the powered chassis 100 continues to move along the loop guide 10, passing through the return section of the loop guide 10 to return to the entry end of the assembly section 11 to execute the next cycle.

[0074] When the distance between the two power chassis 100 located on the guide rail 10 decreases, the anti-collision disc 640 or anti-collision post 500 of the rear power chassis 100 contacts the corresponding structure of the front power chassis 100, the anti-collision spring 650 is compressed and absorbs part of the impact energy; after the proximity switch 660 detects that the anti-collision rod 630 has generated a preset displacement, it sends an anti-collision signal to the power control cabinet 120. The power control cabinet 120 controls the reduction motor 130 to reduce the speed or stop the power output, and controls the feeding assembly 400 to enter the safe state.

[0075] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0076] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A car seat foam mold clip feeding device, characterized in that, The system includes a power chassis that moves cyclically along a loop guide rail. The power chassis is equipped with a positioning component, a feeding component, and a loading component. The positioning component includes a positioning cylinder and a positioning block. The loading component includes a robotic arm and a loading component. The conveyor carrying the car seat foam mold moves along a preset conveying direction, and the spiral guide rail has an assembly section that is adjacent to the conveying path of the conveyor and extends in the same direction; the power chassis is used to move in the same direction as the conveyor when passing through the assembly section. The positioning cylinder is used to drive the positioning block to extend and retract, so that the positioning block is positioned and engaged or disengaged from the conveying vehicle, thereby defining the relative position of the power chassis and the conveying vehicle in a direction perpendicular to the conveying direction during their co-movement. The robotic arm is used to drive the loading component to move in multiple directions relative to the automotive seat foam mold during the co-movement of the power chassis and the conveyor; the loading component is used to absorb the buckles output by the feeding assembly and assemble the buckles into the preset mounting position of the automotive seat foam mold.

2. The automotive seat sponge mold clip feeding device according to claim 1, characterized in that, The robotic arm includes a mounting base, the positioning component passes through the mounting base, and a first arm, a second arm, a third arm, and a lifting arm are sequentially mounted on the mounting base. The loading component is connected to the lifting arm. The first arm is used to drive the second arm to rotate in a vertical direction, the second arm is used to drive the third arm to rotate in a vertical direction, and the third arm is used to drive the lifting arm to move up and down in a vertical direction.

3. The automotive seat sponge mold clip feeding device according to claim 2, characterized in that, A junction box is fixedly installed on one side of the third arm, and a mounting bracket is installed on the other side of the third arm. A detection camera and a ring light source are coaxially mounted on the mounting bracket. The detection camera is used to visually locate the preset installation position of the car seat foam mold, and the height of the detection camera is higher than the height of the ring light source.

4. The automotive seat sponge mold clip feeding device according to claim 1, characterized in that, The feeding component includes an extension plate connected to the robotic arm, and a reduction gearbox is provided at the bottom of the extension plate. A rotating frame is mounted on the output shaft of the reduction gearbox. The rotating frame is equipped with a speed-reducing swing motor, the output shaft of the speed-reducing swing motor is equipped with a swing frame, and the side wall of the swing frame is equipped with an adsorption head.

5. The automotive seat sponge mold clip feeding device according to claim 4, characterized in that, The adsorption head includes a lifting cylinder connected to the swing frame, an adsorption seat is installed on the telescopic rod of the lifting cylinder, and an adsorption nozzle is provided at the bottom of the adsorption seat.

6. The automotive seat sponge mold clip feeding device according to claim 5, characterized in that, A limiting block is fixedly installed on the adsorption seat, and the limiting block is provided with a receiving groove. The end of the adsorption nozzle away from the adsorption seat extends out of the receiving groove.

7. The automotive seat sponge mold clip feeding device according to claim 4 or 5, characterized in that, The number of adsorption heads is set to two, and the two adsorption heads are respectively located on opposite sides of the swing frame.

8. The automotive seat sponge mold clip feeding device according to claim 1, characterized in that, The power chassis includes a power housing, which houses an electrically connected power control cabinet and a geared motor. The power control cabinet controls the working status of the positioning cylinder, the robotic arm, and the loading component. A moving gear that meshes with the loop guide rail is rotatably connected to the outside of the power housing.

9. The automotive seat sponge mold clip feeding device according to claim 8, characterized in that, A power frame is installed inside the power housing, and a transmission gear coaxially connected to the moving gear is rotatably connected inside the power frame. An encoder is also installed inside the power frame. A detection gear that meshes with the transmission gear is installed on the output shaft of the encoder. The outer diameters of the transmission gear, the moving gear, and the detection gear decrease in that order.

10. The automotive seat sponge mold clip feeding device according to claim 9, characterized in that, A coupling is installed on the output shaft of the geared motor, and the coupling is fitted with a first clutch and a second clutch. The first clutch is fixedly connected to the coupling, and the bottom of the second clutch is fixedly connected to the transmission gear. The first clutch and the second clutch transmit the power of the reduction motor to the moving gear through electromagnetic clutch engagement.

11. The automotive seat sponge mold clip feeding device according to claim 1, characterized in that, The positioning assembly also includes a positioning plate mounted on the power chassis, and the positioning cylinder is mounted on the positioning plate; A slider is fixedly connected to the positioning plate, and a slide rail is provided on the telescopic rod of the positioning cylinder to slide and cooperate with the slider. The slide rail is set perpendicular to the conveying direction when passing through the assembly section, and the positioning block is fixedly connected to the end of the slide rail away from the positioning cylinder.

12. The automotive seat sponge mold clip feeding device according to claim 11, characterized in that, The slider is provided with a first protrusion and a first groove adjacent to each other, and the sidewall of the slide rail is provided with a second protrusion and a second groove adjacent to each other. The first protrusion and the second groove are slidably adapted to each other, and the second protrusion and the first groove are slidably adapted to each other.

13. The automotive seat sponge mold clip feeding device according to claim 1, characterized in that, The feeding assembly includes a vibratory feeder connected to the power chassis. The vibratory feeder has a linear feeder arranged perpendicular to the conveying direction when passing through the assembly section. The output port of the linear feeder is provided with an end cap.

14. The automotive seat sponge mold clip feeding device according to claim 13, characterized in that, The number of linear feeders is set to two, and the two linear feeders are arranged side by side. The end cap is used to jointly block the output ports corresponding to the two linear feeders.

15. The automotive seat sponge mold clip feeding device according to claim 1, characterized in that, The power chassis is provided with anti-collision posts and anti-collision components adjacent to each other on the same side wall. The anti-collision components are located at a corner of the power chassis relative to the inner side of the loop guide rail. Both the anti-collision posts and the anti-collision components are used to prevent the two power chassis located on the loop guide rail from colliding.

16. The automotive seat sponge mold clip feeding device according to claim 15, characterized in that, The anti-collision assembly includes an anti-collision base fixedly connected to the power chassis, and the anti-collision base is slidably connected to two opposing anti-collision blocks, one of which is fixedly connected to an anti-collision rod and an anti-collision disc; The anti-collision bar is fitted with anti-collision springs that abut against the two anti-collision blocks. One end of the anti-collision bar extends out of the other anti-collision block. A proximity switch that senses and cooperates with the anti-collision bar is installed on the anti-collision base.

17. The automotive seat sponge mold clip feeding device according to claim 16, characterized in that, The anti-collision base is provided with a clearance hole adapted to the anti-collision rod, and the end face of the anti-collision post away from the power chassis is tangent to the outer circumference of the anti-collision plate.

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