Grabbing and assembling system

Abstract

The utility model relates to a grabbing assembly system. The grabbing and assembling system comprises a material box used for storing a plurality of airbag gas generators; the feeding trolley is used for stacking a plurality of material boxes; the turnover clamp is used for bearing the airbag gas generator; and the industrial robot is used for grabbing the airbag gas generator from the material box and placing the airbag gas generator on the turnover clamp. According to the grabbing assembly system, the assembly efficiency is improved, and installation is accurate.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent manufacturing technical field especially relates to a kind of grabbing assembly system. BACKGROUND

[0002] Airbag inflator plays a vital role in the automotive safety system. When the vehicle is unfortunately involved in a collision, the airbag inflator will quickly come into play, it can produce a large amount of gas in an instant, these gases are filled into the airbag at extremely fast speed, so that the airbag can be fully deployed. After the airbag is deployed, it will form an effective buffer barrier between the passenger and the hard components in the car, thereby greatly reducing the impact force suffered by the passenger during the collision, playing a key role in protecting the life safety of the passenger.

[0003] Airbag inflator is the core equipment located inside the airbag, it is directly related to whether the airbag can normally play a role. In order to meet the needs of different vehicle models, different positions and different passenger protection, the airbag is provided with a variety of different specifications of inflator. Each specification of inflator has its specific design and performance parameters to adapt to different collision situations and protection requirements. Therefore, in the process of automobile production and maintenance, it is very important to use the correct inflator model and the correct installation method. Only in this way, can we ensure that the airbag can play an accurate and timely role in the event of an accident, provide reliable protection for the passengers and minimize the harm caused to the passengers by the accident.

[0004] The traditional manual assembly of inflator has the following problems:

[0005] I. More man-hours

[0006] In the process of manual assembly, first of all, the inflator needs to be taken by hand, then the position of the inflator is confirmed, and finally it is assembled into the product. The whole process completely depends on manual operation, which consumes a lot of working hours.

[0007] II. Inflator is used incorrectly

[0008] Because there are many types of airbags, the corresponding types of inflators are also relatively rich. This is easy to lead to the situation of assembling the wrong inflator in the assembly process, and once the inflator is assembled incorrectly, it will affect the performance of the product.

[0009] III. Inflator installation angle error

[0010] When manually assembling the inflator, due to the lack of accurate positioning and control, it is likely to cause the inflator installation angle to deviate. This angle error will also adversely affect the performance of the product.

[0011] In summary, the traditional manual assembly gas generator exists artificial time-consuming, gas generator wrong and the angle of loading error and other problems. Utility model content

[0012] In view of the above problems of the prior art, the utility model provides a grabbing assembly system, which is suitable for air bag gas generators, improves assembly efficiency and is accurate in installation.

[0013] Specifically, the utility model provides a grabbing assembly system, which is suitable for air bag gas generators and comprises:

[0014] A material box is used for storing a plurality of air bag gas generators.

[0015] A feeding trolley is used for stacking a plurality of material boxes.

[0016] A turnover clamp is used for carrying the air bag gas generators.

[0017] An industrial robot is used for grabbing the air bag gas generators from the material boxes and placing them on the turnover clamp.

[0018] According to one embodiment of the utility model, the industrial robot comprises a cylinder arranged at the end of a rotating arm and a plurality of movable clamps, and the cylinder is used for controlling the plurality of movable clamps to move radially to grab or loosen the air bag gas generators.

[0019] According to one embodiment of the utility model, the feeding trolley comprises a lifting mechanism, and the lifting mechanism is used for lifting the material boxes to the grabbing height of the industrial robot.

[0020] According to one embodiment of the utility model, the grabbing assembly system further comprises a pickup mechanism, and if the air bag gas generators in the top material box of the feeding trolley are all grabbed, the pickup mechanism takes away the empty material box.

[0021] If the empty material box is taken away, the lifting mechanism lifts the material boxes in the feeding trolley, so that the top material box reaches the grabbing height of the industrial robot.

[0022] According to one embodiment of the utility model, a vision system is arranged on the rotating arm of the industrial robot, the vision system is used for acquiring the accurate position of the air bag gas generator to be grabbed in the material box, and the industrial robot grabs the air bag gas generator based on the accurate position.

[0023] According to one embodiment of the utility model, when the vision system is located above the air bag gas generator to be grabbed in the material box, the vision system acquires the accurate position of the air bag gas generator in real time.

[0024] According to one embodiment of the present application, the visual system comprises a camera, a coordinate recognition module and a coordinate conversion module, the camera is used to capture the image of the airbag gas generator, the coordinate recognition module is used to recognize the camera coordinates of the airbag gas generator according to the image, and the coordinate conversion module is used to convert the camera coordinates into robot coordinates, and the industrial robot grasps the airbag gas generator based on the robot coordinates.

[0025] According to one embodiment of the present application, the grasping assembly system further comprises:

[0026] An assembly fixture is used to carry a product assembly, and the product assembly is suitable for being assembled into the airbag gas generator.

[0027] A scanning system is used to scan the airbag gas generator on the turnover fixture to confirm the assembly model.

[0028] The industrial robot grasps the airbag gas generator from the turnover fixture and places it on the product assembly on the assembly fixture.

[0029] According to one embodiment of the present application, the scanning system is located above the turnover fixture, a bar code is arranged on the top of the airbag gas generator, and the scanning system scans the bar code to obtain the model of the airbag gas generator.

[0030] According to one embodiment of the present application, the grasping assembly system further comprises a press-fitting mechanism, which is used to press the airbag gas generator into the product assembly to complete the assembly.

[0031] The grasping assembly system provided by the present application mainly improves the assembly efficiency of the airbag gas generator through the cooperation of the industrial robot, the material box and the turnover fixture.

[0032] It should be understood that the above general description and the following detailed description of the present application are exemplary and illustrative, and are intended to provide further explanation of the present application as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings are included to provide further explanation of the present application, which are incorporated and constitute a part of the present application, and the drawings show embodiments of the present application and play a role of explaining the principles of the present application together with the present specification. In the drawings:

[0034] Figure 1 A schematic view of a grasping assembly system of one embodiment of the present application is shown.

[0035] Figure 2 A structural schematic view of an industrial robot of one embodiment of the present application is shown.

[0036] Figure 3 A structure diagram of a lifting mechanism of one embodiment of the utility model is shown.

[0037] Figure 4 A structure diagram of an assembly fixture of one embodiment of the utility model is shown.

[0038] Figure 5 A structure diagram of a turnover fixture and a scanning system of one embodiment of the utility model is shown.

[0039] Among them, the above-mentioned drawing includes the following figure marks:

[0040] Grabbing assembly system 100

[0041] Material box 101

[0042] Air bag gas generator 102

[0043] Feeding trolley 103

[0044] Industrial robot 104

[0045] Turnover fixture 105

[0046] Rotary arm 106

[0047] Cylinder 107

[0048] Movable grab 108

[0049] Lifting mechanism 109

[0050] Rack 110

[0051] Gear 111

[0052] Vision system 112

[0053] Scanning system 113

[0054] Assembly fixture 114 DETAILED DESCRIPTION

[0055] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely in the description of the embodiments of the present application in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the application and its applications or uses. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0057] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular forms are intended to include the plural forms, unless the context clearly indicates otherwise, and it should be further understood that the terms "comprise" and / or "include" as used herein specify the presence of stated features, steps, operations, devices, components and / or combinations thereof.

[0058] Unless specifically stated otherwise, the relative arrangements of the components and steps illustrated in these embodiments and the numerical expressions and values set forth in the examples are not limiting. It should be understood that the various parts of the drawings are not necessarily drawn to scale, and that, for the purpose of convenience and clarity, not all components and steps can be shown in a given figure. Techniques, methods, and devices known to those of ordinary skill in the art can not be discussed in detail, but are intended to be part of the specification, where appropriate. In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation on the scope of the exemplary embodiments. Thus, other examples of the exemplary embodiments can have different values. It is noted that like references and labels can be used to denote like items throughout the drawings, and that, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0059] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, without the opposite indication, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0060] Moreover, it needs to be explained that the use of the words "first", "second" and the like to qualify parts is merely intended to facilitate the distinction of the corresponding parts, and, in the absence of a further declaration, the above words do not have a special meaning and therefore cannot be understood as limiting the scope of protection of the present application. Furthermore, although the terms used in the present application are selected from the commonly known and used terms, some of the terms mentioned in the present application may be selected by the applicant according to his or her judgment, and the detailed meanings thereof are explained in the relevant part of the description. In addition, the present application is required to be understood not only by the actual terms used, but also by the meaning implied by each term.

[0061] Figure 1 A schematic diagram of a grabbing assembly system according to an embodiment of the present application is shown. Figure 2 A structural schematic diagram of an industrial robot according to an embodiment of the present application is shown. As shown in the figure, a grabbing assembly system 100 suitable for air bag gas generators 102 mainly includes:

[0062] A magazine 101 is specially used for storing a plurality of air bag gas generators 102. The internal structure and size of the magazine 101 are optimized according to the shape and number of the air bag gas generators 102 to ensure that a plurality of gas generators can be neatly and stably accommodated. The magazine 101 is usually made of high-strength, wear-resistant materials, such as high-quality plastics or metal alloys, which not only can withstand the weight of a plurality of air bag gas generators 102, but also can maintain good stability and durability during long-term use. In addition, the surface of the magazine 101 is specially treated, such as anti-static treatment or anti-rust treatment, to prevent potential damage to the air bag gas generators 102.

[0063] A feeding trolley 103 is used to stack a plurality of magazines 101 to provide a continuous material source for the industrial robot 104. The design of the feeding trolley 103 fully considers the convenience and safety of actual operation. The feeding trolley 103 has a solid frame structure that can withstand the total weight of a plurality of magazines 101 and the air bag gas generators 102 contained therein, providing a stable basis for the grabbing operation of the industrial robot 104.

[0064] A turnover clamp 105 is mainly used to carry the air bag gas generators 102. The design of the turnover clamp 105 fully considers the characteristics and assembly requirements of the air bag gas generators 102. During the grabbing and placing of the air bag gas generators 102 by the industrial robot 104, the turnover clamp 105 can ensure that the gas generators are always in the correct position, providing a reliable basis for subsequent assembly operations.

[0065] The industrial robot 104 is the core execution component of the entire gripping and assembly system 100. It has a highly flexible rotating arm 106 that can accurately grip the airbag gas generator 102 from the material box 101 and place it onto the turnover fixture 105.

[0066] like Figure 2 As shown, the industrial robot 104 includes a cylinder 107 and multiple movable grippers 108 disposed at the end of the rotating arm 106. The cylinder 107 is a key component for controlling the movement of the movable grippers 108. Through precise air pressure regulation, the cylinder 107 can accurately control the radial movement of the multiple movable grippers 108. When it is necessary to grasp the airbag gas generator 102, the cylinder 107 drives the movable grippers 108 to move towards the center and firmly grasp the gas generator. When it is necessary to release the airbag gas generator 102, the cylinder 107 controls the movable grippers 108 to move outward and release the gas generator. This design allows the industrial robot 104 to adapt to airbag gas generators 102 of different sizes and shapes, exhibiting strong versatility and flexibility. In some examples, three movable grippers 108 are provided at the end of the rotating arm of the industrial robot 104. The three movable grippers 108 work together in coordination under the precise control of the cylinder 107 to efficiently grip and place the airbag gas generator 102, greatly improving production efficiency.

[0067] Figure 3 A schematic diagram of the lifting mechanism according to an embodiment of the present invention is shown. As shown, the loading trolley 103 includes a lifting mechanism 109, which is used to lift the material box 101 to the gripping height of the industrial robot 104, so that the industrial robot 104 can grip the airbag gas generator 102. In some examples, the lifting mechanism 109 is a rack and pinion transmission mechanism. The rack 110 is arranged vertically, and multiple tooth grooves are evenly distributed on the rack 110. The gear 111 can be mounted on a base plate, which is located at the bottom of the loading trolley 103 and is used to support the stacked material boxes 101. The gear 111 meshes with the rack 110. According to actual operational needs, rotating the gear 111 causes the gear 111 to engage with the rack 110, driving the base plate to rise and lift the material box 101 to the gripping height of the industrial robot 104, ensuring the continuity of the entire assembly process. This design greatly improves the system's working efficiency, reduces the need for manual intervention, and also ensures the stability and accuracy of material supply.

[0068] In some examples, the gripping assembly system 100 also includes a picking mechanism that removes empty material boxes 101 if all the airbag gas generators 102 in the top material box 101 of the loading trolley 103 are gripped. If the empty material box 101 is removed, the lifting mechanism 109 lifts the material boxes 101 in the loading trolley 103 so that the top material boxes 101 reach the gripping height of the industrial robot 104.

[0069] Turning back to Figure 1 A vision system 112 is provided on the rotating arm 106 of the industrial robot 104. The vision system 112 is used to obtain the accurate position of the inflator 102 to be picked up in the magazine 101, and the industrial robot 104 picks up the inflator 102 based on the accurate position.

[0070] Further, when the vision system 112 is located above the inflator 102 to be picked up in the magazine 101, the vision system 112 obtains the accurate position of the inflator 102 in real time. Preferably, the vision system 112 includes a camera, a coordinate recognition module, and a coordinate conversion module. The camera usually has the characteristics of high resolution and high sensitivity, and is specially responsible for capturing clear images of the inflator 102. The coordinate recognition module analyzes the image captured by the camera, accurately identifies the position information of the inflator 102 in the camera coordinate system, and calculates the accurate coordinate value in the camera coordinate. At the same time, the coordinate conversion module is responsible for converting the camera coordinate determined by the coordinate recognition module into the robot coordinate that the industrial robot 104 can understand and operate. This process needs to consider many factors such as the relative position, angle and spatial relationship between the camera and the industrial robot 104. The coordinate conversion module accurately and accurately converts the position information in the camera coordinate system to the robot coordinate system through accurate mathematical calculation and model construction. The industrial robot 104 accurately carries out the picking action of the inflator 102 according to the robot coordinate provided by the coordinate conversion module.

[0071] Figure 4 A structure schematic view of the turnover fixture and the scanning system of one embodiment of the utility model is shown. Figure 5 A structure schematic view of the turnover fixture and the scanning system of one embodiment of the utility model is shown. As shown in the figure, the picking assembly system 100 further includes an assembly fixture 114 and a scanning system 113.

[0072] The assembly fixture 114 is used to carry the product assembly. The structure and size of the product assembly are matched with the inflator 102, and are suitable for accommodating the inflator 102, laying a foundation for subsequent assembly work.

[0073] The scanning system 113 is used to scan the inflator 102 on the turnover fixture 105 to confirm the assembly model.

[0074] The industrial robot 104 picks up the inflator 102 from the turnover fixture 105 and places it on the product assembly on the assembly fixture 114, waiting for subsequent assembly.

[0075] In some embodiments, the scanning system 113 is positioned above the transfer fixture 105. Conventionally, a bar code is provided on the top of the inflator 102, and the scanning system 113 scans the bar code to obtain the model of the inflator 102 to ensure the accuracy of the present assembly. By way of example and not limitation, a two-dimensional code or other symbol, graphic containing model information can be provided on the top surface of the inflator 102 to facilitate the scanning system 113 to identify the type of the inflator 102.

[0076] In some embodiments, the pick-and-place assembly system 100 further includes a press-fit mechanism for pressing the inflator 102 into the product assembly to complete the assembly. The press-fit mechanism has a strong pressure output capability, and the driving device inside the press-fit mechanism is capable of generating a uniform and stable pressure. After the industrial robot 104 places the inflator 102 at the corresponding position of the product assembly, the press-fit mechanism is activated to quickly press the inflator 102 into the product assembly.

[0077] It is apparent to those skilled in the art that various modifications and variations can be made to the above-described exemplary embodiments of the present application without departing from the spirit and scope of the present application. Thus, it is intended that the present application cover the modifications and variations of this application that come within the scope of the appended claims and their equivalents.

Claims

1. A pick-up assembly system suitable for an airbag inflator, characterized by, The system comprises: a magazine for storing a plurality of the inflator gas generators; a feeding trolley for stacking a plurality of the magazines; the feeding trolley is provided with a lifting mechanism for lifting the magazines to a grabbing height; a transfer fixture for carrying the inflator gas generators; an industrial robot for grabbing the inflator gas generators from the magazines and placing them on the transfer fixture; the end of a rotating arm of the industrial robot is provided with a cylinder and a plurality of movable grippers, the cylinder is used to control the radial movement of the movable grippers to grab or release the inflator gas generators; and the rotating arm is provided with a vision system for obtaining the accurate position of the inflator gas generator to be grabbed in the magazine, and the industrial robot grabs the inflator gas generator based on the accurate position; a scanning system located above the transfer fixture for scanning the inflator gas generators on the transfer fixture to confirm the assembly model; an assembly fixture for carrying a product assembly suitable for assembling the inflator gas generators, and the industrial robot grabs the model-confirmed inflator gas generator from the transfer fixture and places it on the product assembly on the assembly fixture.

2. The pick-and-place assembly system of claim 1, wherein, The grabbing and assembly system further comprises a pickup mechanism for removing the empty magazine if all the inflator gas generators in the top magazine of the feeding trolley are grabbed; if the empty magazine is removed, the lifting mechanism lifts the magazines in the feeding trolley so that the top magazine reaches the grabbing height of the industrial robot.

3. The pick-and-place assembly system of claim 1, wherein, When the vision system is located above the inflator gas generator to be grabbed in the magazine, the vision system obtains the accurate position of the inflator gas generator in real time.

4. The pick-and-place assembly system of claim 1, wherein, The vision system comprises a camera, a coordinate recognition module and a coordinate conversion module, the camera is used to capture the image of the inflator gas generator, the coordinate recognition module is used to recognize the camera coordinates of the inflator gas generator according to the image, and the coordinate conversion module is used to convert the camera coordinates into robot coordinates, and the industrial robot grabs the inflator gas generator based on the robot coordinates.

5. The pick-and-place assembly system of claim 1, wherein, The scanning system is located above the transfer fixture, and a barcode is provided on the top of the inflator gas generator, and the scanning system scans the barcode to obtain the model of the inflator gas generator.

6. The pick-and-place assembly system of claim 5, wherein, The grabbing and assembly system further comprises a press-fitting mechanism for pressing the inflator gas generator into the product assembly to complete the assembly.

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