CN219311292U

CN219311292U - Manipulator capable of automatically clamping elastic buckle

Info

Publication number: CN219311292U
Application number: CN202320338155.0U
Authority: CN
Inventors: 李泽林; 张绍全
Original assignee: Chongqing Baihu Machinery Manufacturing Co ltd
Current assignee: Chongqing Baihu Machinery Manufacturing Co ltd
Priority date: 2023-02-27
Filing date: 2023-02-27
Publication date: 2023-07-07
Anticipated expiration: 2033-02-27

Abstract

The utility model discloses a manipulator capable of automatically clamping elastic buckles, wherein an installation module is assembled at the front end of the manipulator, a buckle seat is arranged on one side of the installation module, an installation groove is formed in the buckle seat and used for placing buckles distributed in a row, a notch penetrating downwards is formed in one end of the installation groove, a push rod and a push block capable of moving linearly are arranged on the installation module, the push block is horizontally arranged at one end, far away from the notch, of the buckle seat and used for pushing buckles in the installation groove to the notch position one by one, the push rod is arranged at the notch position along the vertical direction and used for pushing the buckles downwards; the mounting module is provided with a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the push rod to move up and down, and the second driving mechanism is used for driving the push block to move along the horizontal direction. The beneficial effects of the utility model are as follows: not only can carry whole row of buckles, can install the buckle on the product one by one moreover.

Description

Manipulator capable of automatically clamping elastic buckle

Technical Field

The utility model belongs to the technical field of automobile part assembly, and particularly relates to a manipulator capable of automatically clamping an elastic buckle.

Background

The assembly and fixation of the automotive interior parts are generally realized by adopting modes of buckle connection, threaded fastener connection or welding and the like. The connecting piece can be hidden and installed due to the fixed connection of the buckle, and the automobile interior decoration device has the advantages of being good in appearance quality and convenient to install, so that the buckle is used as the connecting piece to be widely applied to an automobile interior decoration system. Such as: the back plate of the seat is fixedly connected, the seat surface sleeve is fixedly connected, the decorative strip is fixedly connected and other scenes.

With the massive use of buckles, the adoption of manual embedding of buckles can not meet the output requirement. For this reason, some full-automatic buckle installation devices are also on the market, and these automatic buckle installation devices mainly have two technical routes, one is: the mechanical arm is adopted to grasp the buckles for mounting one by one; and the second is: and driving the clamping jaw to move in a compound manner in the X, Y, Z direction of the equipment by utilizing the gantry truss, so that the buckle installation is completed. In the prior art, no matter what kind of technical means are adopted to clamp the buckle for transferring and installing, only one buckle can be carried at a time, the clamping jaw part needs to continuously move back and forth between a product and a storage disc, and the technical problems of complex movement stroke and low assembly efficiency exist.

In order to solve the technical problem of low assembly efficiency of the traditional buckle installation equipment, the applicant is about to push out a full-automatic buckle installation equipment again, and the design concept is that a plurality of buckles are arranged in a row at first, then the whole row of buckles are simultaneously grasped by using a mechanical arm, and the buckles are installed on products one by one. In the research and development route of the technology, the prior art combined with the mechanical arm can know that the mechanical arm can grasp the whole row of buckles simultaneously, but how to mount the whole row of buckles carried on the product one by one orderly is a technical difficulty to be overcome.

Disclosure of Invention

In view of the above, the present utility model provides a manipulator capable of automatically clamping elastic buckles, which not only can carry an entire row of buckles, but also can mount the buckles one by one on a product.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

a manipulator capable of automatically clamping elastic buckles is characterized in that: the device comprises a mechanical arm and a mounting module assembled at the front end of the mechanical arm, wherein the mechanical arm is used for driving the mounting module to freely move in space; the mounting module is characterized in that a buckle seat is arranged on one side of the mounting module, a mounting groove extending along the horizontal direction is formed in the buckle seat, buckles distributed in a row are placed in the mounting groove, a notch penetrating downwards is formed in one end of the mounting groove, a push rod and a push block capable of moving linearly are arranged on the mounting module, the push block is horizontally arranged at one end, far away from the notch, of the buckle seat, the push blocks are used for pushing buckles in the mounting groove to the notch position one by one, the push rod is arranged at the notch position along the vertical direction, and the push rod is used for pushing the buckles downwards out of the notch; the mounting module is provided with a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the push rod to move up and down, and the second driving mechanism is used for driving the push block to move along the horizontal direction.

Preferably, the lower end of the push rod is provided with an inverted V-shaped notch, and positioning protrusions extending inwards are symmetrically arranged on two sides of the lower end of the inverted V-shaped notch.

Preferably, a baffle is movably arranged at one end of the buckle seat, which is far away from the push block, and the baffle is used for blocking the end part of the mounting groove; and a third driving mechanism for driving the baffle to move is arranged on the mounting module.

Preferably, the buckle seat is provided with a hollowed-out step at a position below the corresponding notch.

Preferably, two groups of positioning holes are arranged at the lower part of the buckle seat.

Preferably, the third driving mechanism is a cylinder.

Preferably, the first driving mechanism comprises a supporting plate slidably installed along the height direction of the installation module and a first-stage air cylinder for driving the supporting plate to slide up and down, a second-stage air cylinder is installed on the supporting plate, and the push rod is connected with the second-stage air cylinder through a switching block.

Preferably, the second driving mechanism comprises a supporting seat, a motor and a rack, wherein the supporting seat is slidably installed on the length direction of the installation module, the motor is fixed on the supporting seat, the rack is fixed on the installation module, a gear meshed with the rack is sleeved on an output shaft of the motor, and the pushing block is fixedly connected with the supporting seat.

Preferably, the push block and the supporting seat are respectively positioned at two sides of the installation module, a transition block is connected between the push block and the supporting seat, the installation module is provided with an avoidance hole, and the transition block is positioned in the avoidance hole.

The beneficial effects of the utility model are as follows:

by adopting the manipulator capable of automatically clamping the elastic buckles, disclosed by the utility model, after a whole row of buckles are assembled in the mounting groove of the mounting module, the second driving mechanism drives the pushing block to move along the horizontal direction so as to push the buckles to the notch positions, and then the first driving mechanism drives the push rod to move downwards so as to push the buckles in the notches downwards. Based on this principle, the arm carries the installation module and removes in the product top, and when the breach was right with the buckle mounted position of product, the push rod was ejecting downwards with the buckle in the breach, can realize buckle installation, and the process above the circulation can be with the whole row of buckles that carry in the mounting groove one by one install on the product.

Drawings

FIG. 1 is a schematic view of a manipulator capable of automatically clamping an elastic buckle;

fig. 2 is a schematic view of the structure of the installation module 1 in fig. 1 (front view);

fig. 3 is a schematic view of the mounting module 1 of fig. 1 (back side view);

fig. 4 is a schematic structural view of the push rod 1 c;

fig. 5 is a schematic structural view of the fastening seat 1 a;

FIG. 6 is a schematic view of a snap-fit automatic mounting apparatus;

FIG. 7 is a schematic view of the arrangement of the alignment device E;

FIG. 8 is an enlarged partial schematic view of the portion II in FIG. 7;

FIG. 9 is an enlarged partial schematic view of the portion I in FIG. 7;

fig. 10 is a partial schematic view of the interfacing of the mounting groove 1a1 with the pre-installation groove 2 a.

Detailed Description

The utility model is further described below with reference to examples and figures.

As shown in fig. 2 and 3, a manipulator structurally comprises a mechanical arm a, wherein an installation module 1 is installed at the front end of the mechanical arm a, and the mechanical arm a is a multi-degree-of-freedom mechanical arm and is used for driving the installation module 1 to freely move in space. One side of the installation module 1 is provided with a clamping seat 1a, and the clamping seat 1a is provided with an installation groove 1a1 penetrating along the horizontal direction. The installation groove 1a1 one end has downward breach 1a2 that runs through, be equipped with push rod 1c and the ejector pad 1d that can rectilinear movement on the installation module 1, ejector pad 1d level is arranged in the one end that buckle seat 1a kept away from breach 1a2, push rod 1c arranges in breach 1a2 position along vertical direction, be equipped with first actuating mechanism 1b and second actuating mechanism 1e on the installation module 1, first actuating mechanism 1b is used for driving push rod 1c and reciprocates, second actuating mechanism 1e is used for driving ejector pad 1d along the horizontal direction removal.

After a whole row of buckles are installed in the installation groove 1a1, the second driving mechanism 1e drives the pushing block 1d to move along the horizontal direction, the buckles in the installation groove 1a1 are pushed to the position of the notch 1a2, then the first driving mechanism 1b drives the pushing rod 1c to move downwards, and the buckles in the notch 1a2 are ejected downwards. Based on the principle, the mechanical arm A carries the installation module 1 to move to the upper part of a product, the notch 1a2 is opposite to the position of the buckle to be installed, then the push rod 1c pushes out the buckle in the notch 1a2 downwards, the buckle installation can be realized, the above process is circulated, and the whole row of buckles in the installation groove 1a1 can be installed on the product one by one.

Further, please refer to fig. 4, the lower end of the push rod 1c is provided with an inverted V-shaped notch 1c1, two sides of the lower end of the inverted V-shaped notch 1c1 are symmetrically provided with positioning protrusions 1c2 extending inwards, so that the push rod 1c can stably keep the buckle in the inverted V-shaped notch 1c1 by means of elasticity of the buckle in the process of pushing the buckle out of the buckle, thereby ensuring that the buckle cannot fall off in the process of being mounted on a product, and being beneficial to ensuring reliability of equipment.

As shown in fig. 2, in the present embodiment, the first driving mechanism 1b includes a support plate 1b1 slidably installed in the height direction of the installation module 1 and a first stage cylinder 1b2 driving the support plate 1b1 to slide up and down, a second stage cylinder 1b3 is installed on the support plate 1b1, a push rod 1c is connected with the second stage cylinder 1b3 through a transfer block 1c3, the telescopic movement of the first stage cylinder 1b2 and the second stage cylinder 1b3 can both drive the push rod 1c to move downward, and two sets of cylinders are provided to control the movement of the push rod 1c, so that the movement stroke of the push rod 1c can be raised, thereby enabling the push rod 1c to be designed longer, which helps to avoid interference between the installation module 1 and the product. Further, in order to ensure the stability and straightness of the up-and-down movement of the push rod 1c, the installation module 1 is provided with a guide block 1g at a position right above the corresponding notch 1a2, and the push rod 1c is slidably arranged in the guide block 1 g.

As shown in fig. 3, in this embodiment, the second driving mechanism 1e includes a support seat 1e1 slidably mounted in the length direction of the mounting module 1, a motor 1e2 and a rack 1e3 are fixedly mounted on the support seat 1e1, a gear 1e4 meshed with the rack 1e3 is sleeved on an output shaft of the motor 1e2, and as can be seen in connection with fig. 2, the push block 1d and the support seat 1e1 are respectively located at two sides of the mounting module 1, the push block 1d and the support seat 1e1 are fixedly connected into a whole through a transition block 1d1, an avoidance hole 11 is formed in the mounting module 1, and the transition block 1d1 is located in the avoidance hole 11. Based on this, the motor 1e2 is operated to drive the push block 1d to slide along the longitudinal direction of the mounting module 1. The pushing block 1d and the supporting seat 1e1 are arranged on two sides of the installation module 1, so that the stress balance of the second driving mechanism 1e is improved, and the mechanical arm A can control the installation module 1 to move freely.

The following is a further description of the working principle of the manipulator in combination with the specific application of the manipulator in the automatic buckle installation device:

please refer to fig. 6, an automatic buckle installing device, a working platform B is provided on a device substrate, a clamping die holder D, a arraying device E and a manipulator provided in this embodiment are installed on the working platform B, a mechanical arm a of the manipulator is disposed on the working platform B, a pressing component F is circumferentially configured on the clamping die holder D, and after a product to be installed with a buckle is placed on the clamping die holder D, the pressing component F can fixedly hold the product on the clamping die holder D.

As shown in fig. 7, the alignment device E is provided with a reference block 2, a vibration disc 3 and a pushing mechanism 4, the reference block 2 is provided with a preassembling groove 2a, and as can be seen in combination with fig. 8, the vibration disc 3 is provided with a vibration discharging channel 3a, the vibration discharging channel 3a and the preassembling groove 2a are arranged in parallel in a staggered manner, a transfer moving block 5 is arranged between the vibration discharging channel 3a and the end of the preassembling groove 2a, the transfer moving block 5 is provided with a conversion groove 5a, the alignment device E is also provided with a driving cylinder 5b, the transfer moving block 5 is connected to the moving part of the driving cylinder 5b, and the driving cylinder 5 can make the transfer moving block 5 reciprocate between the vibration discharging channel 3a and the end of the preassembling groove 2a, so that the buckles a in the vibration discharging channel 3a are transferred into the preassembling groove 2a one by one. The pushing mechanism 4 comprises a pushing cylinder 4a and a pushing block 4b controlled to move by the pushing cylinder 4a, the moving direction of the pushing block 4b coincides with the length direction of the preassembly groove 2a, and the pushing block 4b can slide in the preassembly groove 2a under the driving action of the pushing cylinder 4 a.

The purpose of the alignment device E is to align the snaps in a row within the pre-assembled groove 2 a. The specific working process is as follows: firstly, placing batches of buckles in a vibrating disc 3, vibrating the vibrating disc 3 for feeding, moving the buckles from a vibrating discharge channel 3a to a conversion groove 5a of a transfer moving block 5, driving a cylinder 5 to drive the transfer moving block 5 to move to the end part of a preassembly groove 2a, controlling a pushing block 4b to move by a pushing cylinder 4a, and pushing the buckles in the conversion groove 5a into the preassembly groove 2 a. The above steps are repeated to arrange the buckles in the preassembly tank 2a in a row.

Referring to fig. 10, based on the above arrangement of the automatic buckle installation device, after the buckles a are arranged in a row in the preassembly groove 2a, the mechanical arm a drives the installation module 1 to move in space, the installation groove 1a1 of the installation module 1 is opposite to the preassembly groove 2a of the arrangement device E, and then the pushing cylinder 4a drives the pushing block 4b to move again, so that the row of buckles a in the preassembly groove 2a are integrally pushed into the installation groove 1a1. Finally, the mechanical arm A drives the mounting module 1 to move freely above the product, and the buckles a can be mounted at corresponding positions of the product one by one. Obviously, through the design, the mechanical arm A can carry more buckles at a time and then is assembled one by one, so that the moving stroke of the mechanical arm is obviously reduced, and the device has positive promotion effect on improving the assembly efficiency.

Please refer to fig. 2, a baffle 1f is movably mounted at one end of the buckle seat 1a far away from the push block 1d, a third driving mechanism 1h is arranged on the mounting module 1, the third driving mechanism 1h is a cylinder mechanism, the baffle 1f is connected to a movable part of the cylinder mechanism, the cylinder mechanism drives the baffle 1f to move, and the baffle 1f can be blocked at a position of the mounting groove 1a1 close to the notch 1a2, so that the push block 1d can push the buckle to the notch 1a2 accurately. When the entire row of buckles are required to be installed in the installation groove 1a1 from the preassembly groove 2a, the third driving mechanism 1h drives the baffle plate 1f to move away.

As shown in fig. 9, a stopper 6 is mounted on the alignment device E, the stopper 6 is slidably assembled at an end portion of the outer end of the pre-installation groove 2a, and a spring assembly 6a is disposed between the stopper 6 and the alignment device E. When the pushing block 4b pushes the buckles to the preassembly groove 2a one by one, the elastic force of the spring assembly 6a keeps the limiting block 6 at the end of the preassembly groove 2a, namely, the end of the preassembly groove 2a away from the pushing block 4b is in a closed state. Referring to fig. 5 and 10, the position of the fastening seat 1a below the corresponding notch 1a2 is provided with a hollowed step 1a3, the hollowed step 1a3 is adapted to the upper portion of the limiting block 6, when the whole row of fasteners are installed into the installation groove 1a1 from the preassembly groove 2a, the mechanical arm a drives the installation module 1 to move at the end position of the installation groove 1a1, and then the hollowed step 1a3 presses the limiting block 6 downwards, so that the preassembly groove 2a and the installation groove 1a1 can be kept communicated.

Further, as shown in fig. 9, the alignment device E is provided with a supporting plane 7a at a position corresponding to the outer end of the preassembly groove 2a, two sets of positioning pins 7 are provided on the supporting plane 7a, and as can be seen from fig. 5, two sets of positioning holes 1a4 are provided at the lower part of the fastening seat 1a, the hole spacing between the two sets of positioning holes 1a4 is equal to the space between the two sets of positioning pins 7, and when the entire row of fasteners are assembled into the installation groove 1a1 from the preassembly groove 2a, the positioning pins 7 are matched with the positioning holes 1a4, so that the butt joint precision between the preassembly groove 2a and the installation groove 1a1 can be ensured.

Finally, it should be noted that the above description is only a preferred embodiment of the present utility model, and that many similar changes can be made by those skilled in the art without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. Can automatic clamping elasticity buckle's manipulator, its characterized in that: the device comprises a mechanical arm (A) and a mounting module (1) assembled at the front end of the mechanical arm (A), wherein the mechanical arm (A) is used for driving the mounting module (1) to freely move in space; one side of the installation module (1) is provided with a buckle seat (1 a), the buckle seat (1 a) is provided with an installation groove (1 a 1) extending along the horizontal direction, the installation groove (1 a 1) is used for placing buckles (a) distributed in a row, one end of the installation groove (1 a 1) is provided with a notch (1 a 2) penetrating downwards, the installation module (1) is provided with a push rod (1 c) and a push block (1 d) capable of moving linearly, the push block (1 d) is horizontally arranged at one end, far away from the notch (1 a 2), of the buckle seat (1 a), the push block (1 d) is used for pushing the buckles in the installation groove (1 a 1) to the position of the notch (1 a 2) one by one, the push rod (1 c) is arranged at the position of the notch (1 a 2) along the vertical direction, and the push rod (1 c) is used for pushing the buckles downwards out of the notch (1 a 2); the mounting module (1) is provided with a first driving mechanism (1 b) and a second driving mechanism (1 e), the first driving mechanism (1 b) is used for driving the push rod (1 c) to move up and down, and the second driving mechanism (1 e) is used for driving the push block (1 d) to move along the horizontal direction.

2. The manipulator capable of automatically clamping an elastic buckle according to claim 1, wherein: the push rod (1 c) lower extreme is equipped with the notch (1 c 1) of falling V type, notch (1 c 1) lower extreme bilateral symmetry is equipped with inwards extending's location arch (1 c 2).

3. The manipulator capable of automatically clamping an elastic buckle according to claim 1, wherein: a baffle plate (1 f) is movably arranged at one end of the clamping seat (1 a) far away from the pushing block (1 d), and the baffle plate (1 f) is used for blocking the end part of the mounting groove (1 a 1); the mounting module (1) is provided with a third driving mechanism (1 h) for driving the baffle plate (1 f) to move.

4. The manipulator capable of automatically clamping an elastic buckle according to claim 1, wherein: the clamping seat (1 a) is provided with a hollowed-out step (1 a 3) at a position below the corresponding notch (1 a 2).

5. The manipulator capable of automatically clamping an elastic buckle according to claim 1, wherein: two groups of positioning holes (1 a 4) are formed in the lower portion of the clamping seat (1 a).

6. The manipulator capable of automatically clamping an elastic buckle according to claim 3, wherein: the third driving mechanism (1 h) is an air cylinder.

7. The manipulator capable of automatically clamping an elastic buckle according to claim 1, wherein: the first driving mechanism (1 b) comprises a supporting plate (1 b 1) which is slidably installed along the height direction of the installation module (1) and a primary cylinder (1 b 2) which drives the supporting plate (1 b 1) to slide up and down, a secondary cylinder (1 b 3) is installed on the supporting plate (1 b 1), and the push rod (1 c) is connected with the secondary cylinder (1 b 3) through a switching block (1 c 3).

8. The manipulator capable of automatically clamping an elastic buckle according to claim 1, wherein: the second driving mechanism (1 e) comprises a supporting seat (1 e 1) which is slidably mounted on the length direction of the mounting module (1), a motor (1 e 2) which is fixed on the supporting seat (1 e 1), and a rack (1 e 3) which is fixed on the mounting module (1), a gear (1 e 4) which is meshed with the rack (1 e 3) is sleeved on an output shaft of the motor (1 e 2), and the push block (1 d) is fixedly connected with the supporting seat (1 e 1).

9. The manipulator capable of automatically clamping an elastic buckle according to claim 8, wherein: the novel anti-collision device is characterized in that the pushing block (1 d) and the supporting seat (1 e 1) are respectively located at two sides of the installation module (1), a transition block (1 d 1) is connected between the pushing block (1 d) and the supporting seat (1 e 1), an avoidance hole (11) is formed in the installation module (1), and the transition block (1 d 1) is located in the avoidance hole (11).