CN109013795A - Angle regulating device for seat of vehicle rolling and torque detecting apparatus - Google Patents

Abstract

The invention relates to the field of auto parts detection equipment, and discloses a hemming and torque detection equipment for an automobile seat recliner, including a workbench, on which a plurality of operating stations are arranged, including a detection station, and a conveyor belt And the manipulator set on the workbench, the manipulator includes a horizontal movement mechanism, a vertical movement mechanism and a plurality of grasping mechanisms, the horizontal movement mechanism is connected with the vertical movement mechanism, and the movement direction of the horizontal movement mechanism is in line with the conveyor belt Parallel, the vertical movement mechanism drives the horizontal movement mechanism to perform vertical linear movement, and there are multiple grasping mechanisms corresponding to the operating stations, and the grasping mechanism is connected with the horizontal movement mechanism. Through the setting of the manipulator, the operator only needs to continuously place the car seat recliner on the workbench, and does not need to wait for feeding and taking out materials when testing the car seat recliner at the detection station, and the detection efficiency is relatively high. High, high degree of automation.

Description

Car seat recliner hemming and torque testing equipment

technical field

The invention relates to the field of detection equipment for automobile parts, in particular to a detection device for hemming and torque of an automobile seat recliner.

Background technique

The car seat recliner is used to adjust the angle of the car seat. In order to adapt to the driving needs and comfort of drivers or passengers of different sizes, the car seat must be able to adjust the angle within a certain range. Therefore, for a car, the car seat recliner is one of the essential interior accessories.

For example, the core device of an internal meshing disc seat recliner disclosed by the Chinese patent with the publication number CN103507668A includes a disc, a torsion spring, a dial, a ring disc and a cladding; it also includes a small tooth plate and a cam; Both the small tooth plate and the cam are installed in the disc.

The outer surface of the disk has a disk positioning boss, and the outer surface of the scalloped disk has a plurality of scalloped disk positioning bosses. The cam is installed in the middle of the inner surface of the disc, a cam square platform is arranged in the middle of the cam, and a square hole is arranged in the cam square platform.

After the car seat recliner is processed, it is assembled. The last step of assembly is hemming. The purpose of hemming is to squeeze the edge of the cladding, bend the edge of the cladding, and form a hemming to wrap the disc. The disk is fixed to form a whole. After the assembly is completed, it is necessary to perform a torque test on the car seat recliner to determine whether the parts are qualified.

At present, the Chinese patent with the publication number CN108168496A discloses a device for measuring the angle and torque of a car seat recliner, including an industrial control system, a touch screen and a first detection system. The first detection system detects the torque of the recliner. The industrial control system receives and The detection data of the first detection system is processed, and the touch screen is electrically connected to the industrial control system; because the first detection system is provided with a torque sensor, an angle encoder and a vertical slide drive assembly, the first detection system passes through the industrial control system. Control, the detection of the recliner can automatically and accurately detect the size and torque of the recliner, without manual operation, saving time and effort, high efficiency and accurate measurement accuracy.

When the above detection device is in use, after a detection, the operator needs to take off the car seat recliner and replace it, and the detection efficiency is low.

Contents of the invention

The object of the present invention is to provide an automobile seat recliner hemming and torque detection device, which has the advantage of high detection efficiency.

Above-mentioned technical purpose of the present invention is achieved through the following technical solutions:

A car seat recliner hemming and torque detection equipment, including a workbench, a plurality of operation stations are arranged on the workbench, including detection stations, conveyor belts and manipulators, the operation stations are linearly arranged and Located on the same straight line as the conveyor belt;

The manipulator includes a horizontal movement mechanism, a vertical movement mechanism and a plurality of gripping mechanisms, the horizontal movement mechanism is connected with the vertical movement mechanism, the movement direction of the horizontal movement mechanism is parallel to the conveyor belt, and the vertical movement mechanism drives The horizontal movement mechanism performs vertical linear movement, the grasping mechanism corresponds to the operating station, the grasping mechanism is connected with the horizontal movement mechanism, and the horizontal movement mechanism drives the grasping mechanism to perform horizontal linear movement.

By adopting the above-mentioned technical scheme, when in use, the operator places the car seat recliner to be detected on the conveyor belt, and the conveyor belt transports the car seat recliner forward sequentially, and the manipulator moves the car seat recliner on the conveyor belt The recliner is grasped, and the car seat recliner is placed on the operating station in sequence for processing or testing. When the car seat recliner moves to the testing station, it starts to detect. Remove the car seat recliner from the position. At the same time, the manipulator grabs the car seat recliner on the previous operation station and puts it into the inspection station for inspection. Repeat the above steps, the manipulator carries and transports the car seat recliner, the operator only needs to keep placing the car seat recliner on the conveyor belt, and does not need to check the car seat recliner at the inspection station Waiting for feeding and retrieving during the test, the detection efficiency is high and the degree of automation is high. The grabbing mechanism corresponds to the operating station and sequentially transports the car seat recliner to the next operating station, which has a high degree of mechanization and high detection efficiency. When the car seat recliner moves to a certain position, the grabbing mechanism clamps the car seat recliner, the vertical movement mechanism drives the horizontal movement mechanism and the grabbing mechanism to rise, and the horizontal movement mechanism drives the grabbing mechanism to level The movement moves the car seat recliner to one of the operating stations, the vertical movement mechanism drives the horizontal movement mechanism and the grabbing mechanism down, so that the car seat recliner is placed on the station, and the grabbing mechanism is released Car seat recliner, the car seat recliner is placed on the operating station, and the manipulator resets; after the car seat recliner completes a processing or inspection, the manipulator repeats the above actions, and the car seat recliner is sequentially It is transported to the rear operating station, which is highly mechanized and easy to use.

Further, the vertical movement mechanism includes a lifting cylinder and a lifting plate, the output shaft of the lifting cylinder is connected with the lifting plate, and the horizontal movement mechanism is connected with the lifting plate;

The horizontal motion mechanism includes a horizontal plate and a horizontal cylinder, the horizontal plate is horizontally slidably connected to the lifting plate, the horizontal cylinder is fixed on the lifting plate, the output shaft of the horizontal cylinder is fixedly connected with the horizontal plate, and the grip The taking mechanism is fixed on the horizontal plate;

The grabbing mechanism includes a grabbing cylinder, the grabbing cylinder includes a cylinder base and two piston rods are respectively a left rod and a right rod, the left rod is fixedly connected with a left clip, and the right rod is fixed with a right clip block, and the left clamping block and the right clamping block move towards or away from each other synchronously.

By adopting the above technical scheme, the lifting cylinder starts to push the lifting plate to move up and down, the lifting plate drives the horizontal plate and the horizontal cylinder to move up and down synchronously, the horizontal cylinder starts to push the horizontal plate to move horizontally, and drives the grasping cylinder to move; Movement to the right, right rod to the left, left clamping block and right clamping block, left clamping block and right clamping block move closer to the middle for grabbing action, left rod to the right, right rod to the left, left clamping block and right clamping block to open The opening action is performed, the overall structure is simple, the operation is convenient and easy to control, and the cylinder runs at a fast speed, and the stroke can be controlled by the piston rod with high precision.

Further, the vertical movement mechanism includes two lifting cylinders and a lifting plate, and the horizontal plate is slidably connected between the two lifting plates.

By adopting the above technical scheme, there are two lifting cylinders and lifting plates to control the vertical movement of the horizontal plate from both ends of the horizontal plate to ensure the stability of the horizontal plate movement, ensure the levelness of the horizontal plate, and prevent the horizontal plate from tilting .

Further, the vertical movement mechanism also includes a support platform and a synchronous control mechanism, and the support platform is provided with two lifting cylinders respectively,

The synchronous control mechanism includes a rotating shaft, a control block and a control shaft. The rotating shaft is connected between the two support platforms in rotation. The control block is provided with two pieces respectively located at both ends of the rotating shaft. One end of the control block is fixedly connected to the rotating shaft. , the other end is provided with a control groove, and the control shaft is provided with two connected with the two lifting plates, one end of the control shaft is connected with the lifting plate, and the other end is slidably connected in the control groove.

By adopting the above-mentioned technical scheme, the support platform supports the lifting cylinder, and the two lifting cylinders are started simultaneously, driving the lifting plate to move upward, and the lifting plate drives the control shaft to move upward, and the end of the control shaft slides in the control groove and moves to the control groove. When an upward thrust is applied, the control block is forced to rotate around the axis of rotation. The control block, the rotating shaft and the control shaft control the synchronization of the movement of the two lifting cylinders. When the two lifting cylinders move synchronously, the rotating shaft can rotate normally. When the two lifting cylinders are going to move asynchronously, the rotation angles of the two control blocks will deviate, that is, the rotation angles at the two ends of the rotating shaft will be different. And the rotating shaft is rigid, not easy to twist, and one of the control blocks can change the rotation angle of the other control block through the rotating shaft, thereby forcing the two lifting cylinders to move synchronously. The synchronous control mechanism controls the synchronous movement of the two lifting cylinders, so as to ensure the levelness of the horizontal plate and improve the precision.

Further, the operation station includes a fool-proof station at the end of the conveyor belt,

The anti-fooling station includes a push cylinder, a positioning seat, a fool-proof cylinder, a fool-proof plate, a displacement sensor, a fool-proof table and a fool-proof thimble. The seat is connected with the output shaft of the push cylinder, the foolproof cylinder is arranged directly above the positioning seat, the foolproof plate is fixed at the lower end of the foolproof cylinder, the foolproof thimble is fixedly connected with the foolproof plate, and the foolproof platform Slidingly connected to the fool-proof thimble, a fool-proof spring is arranged between the fool-proof platform and the fool-proof plate, and the displacement sensor is fixed on the fool-proof plate and points to the fool-proof platform.

By adopting the above technical scheme, the car seat recliner has two sides, the front and the back. In order to prevent the direction of the car seat recliner from being placed in reverse, it is necessary to detect the placement direction of the car seat recliner, and the fool-proof station Detect the placement direction of the car seat recliner. When placing the car seat recliner, the disc of the car seat recliner faces upwards, that is, the cam square faces upwards, and the circular tooth plate faces downwards. Push the cylinder to shrink, and the positioning seat is lowered, so that the positioning seat is flush with the conveyor belt for the transportation of the car seat recliner. The car seat recliner is moved from the end of the conveyor belt to the positioning seat, the output shaft of the anti-fooling cylinder descends to push the anti-fooling plate down, and the anti-fooling table and the anti-fooling thimble descend accordingly. The anti-fooling thimble is gradually inserted into the square hole of the car seat recliner. When the disc of the car seat recliner is facing upwards, the anti-fooling thimble is in the process of descending, and the anti-fooling platform will conflict with the cam square platform. At this time, The anti-fool thimble and anti-fool board continue to descend, but the anti-fool table is limited and cannot move down. At this time, the anti-fool spring is squeezed, and the anti-fool table rises. The gap between the anti-fooling boards becomes smaller, and the displacement sensor detects the movement of the anti-fooling table. When the movement of the anti-fooling table is detected, it means that the seat recliner is placed in the correct direction; if no movement of the anti-fooling table is detected, it means The car seat recliner is reversed.

Further, the detection station includes a detection frame, and the detection frame is provided with a detection cylinder, a detection tool, a detection square shaft, a torque motor and a torque sensor. In the detection platform, the detection disc is provided with a number of positioning grooves that match with the positioning bosses of the circular tooth disc;

The detection frame is provided with a sliding frame, the output shaft of the detection cylinder is connected with the sliding frame, the torque motor is installed on the sliding frame, and the detection square shaft is connected to the output shaft of the torque motor through a coupling connected, and the first torque sensor is connected to the output shaft of the torque motor.

By adopting the above technical solution, the positioning boss of the circular tooth plate on the lower surface of the car seat recliner is embedded in the positioning groove, and the car seat recliner is fixed and cannot rotate relative to the detection disc. At this time, the detection cylinder pushes the detection frame down, and the detection square shaft is inserted into the square hole of the car seat recliner, and the car seat recliner is limited and cannot rotate. At this time, the torque motor is started to drive the detection disc and the car seat recliner to rotate, and the torque sensor detects the unlocking force of the torsion spring of the car seat recliner. Through the setting of the positioning groove and the detection square shaft, the positioning groove and the positioning boss of the car seat recliner cooperate to fix the car seat recliner, and detect the alignment between the square shaft and the car seat recliner The square hole is matched to fix the car seat recliner, and then the torque of a car seat recliner is detected by a torque motor and a torque sensor, and the car seat recliner is detected by a mechanical method, and the detection efficiency is relatively high. high.

Further, the operation station includes a hemming station located between the conveyor belt and the detection station, and the hemming station includes a hemming platform, a hemming pressure head, a hemming motor and a hemming cylinder,

A pre-deformed cavity for placing a car seat recliner is opened on the upper end surface of the rolling edge cap;

The hemming press head includes a guide plate and a guide cylinder, the guide cylinder is arranged on the guide plate, the hemming cylinder is arranged above the guide plate and connected with the guide plate, the hemming motor is arranged on the guide plate and connected with the guide cylinder The center of the inner chamber of the guide cylinder is provided with a pressing shaft, and the side wall of the guide cylinder is rotatably connected with a plurality of hemming wheels.

By adopting the above technical solution, the previous process of torque detection is hemming, and the existing detection equipment is only for simple detection, which is separated from the processing process. In this way, when testing, it is necessary to move the trimmed car seat recliner to the testing equipment for testing, and the production efficiency is relatively low. However, the reason why it is difficult to combine hemming and detection is because the transmission between hemming and detection requires high precision, and when deviation occurs, it is easy to cause detection failure. Because the present invention has a manipulator, the car seat recliner is transported through three independent executive components, has high precision, ensures the stability and precision of transmission, and thus improves production efficiency.

When the car seat recliner moves to the hemming station, the car seat recliner is placed on the hemming platform, and the car seat recliner is embedded in the pre-deformed cavity. The hemming motor drives the guide cylinder to rotate, the hemming cylinder pushes the guide cylinder to descend, and the guide cylinder sets the car seat recliner cover in the inner cavity. The pressing shaft compresses and fixes the disc to prevent the disc from rotating. The guide cylinder drives the hemming wheel to rotate, and the hemming wheel hems the cladding on the car seat recliner, and the side wall of the cladding is squeezed to form a hemming to wrap the disc.

Further, the center of the pre-deformation cavity is provided with a vertical sliding cavity, and a push rod is slidably connected to the slip cavity, and the upper end of the push rod extends out of the slip cavity and is located in the pre-deformation cavity. There is a rod hole corresponding to the ejector rod on the workbench, the lower end of the ejector rod is slidably connected in the rod hole, the limit ring is fixed on the ejector rod, and a stop ring is set between the limit ring and the workbench. There is a return spring, and a photoelectric switch is arranged at the hole through the rod under the workbench, and the photoelectric switch is electrically connected with the hemming cylinder.

By adopting the above technical scheme, the car seat recliner is placed on the rolling edge cap, the car seat recliner squeezes the ejector rod, the ejector rod descends in the sliding cavity, and the limit ring squeezes the return spring , the lower end of the push rod passes through the rod hole to trigger the photoelectric switch. When the photoelectric switch detects that the ejector rod is lowered, it means that there is a car seat recliner on the hemming cap, and at this moment, the hemming cylinder can descend to hem the car seat recliner. When there is no car seat recliner on the hemming platform, the ejector rod is retracted in the sliding cavity under the support of the return spring, and the photoelectric switch cannot detect the ejector rod. At this time, the hemming cylinder is closed and cannot be lowered. Through the setting of the photoelectric switch and the ejector rod, whether the car seat recliner is detected on the hemming platform can prevent the hemming cylinder from pushing the guide cylinder down and causing damage to the hemming platform when there is no load on the hemming platform.

Further, the operation station includes a transition station between the hemming station and the detection station,

The transition station includes a transition platform, and a transition cavity for placing the recliner of the car seat is opened on the transition platform.

By adopting the above technical scheme, the distance between the hemming station and the detection station is longer, and the movement line of the manipulator is longer, resulting in a larger space occupied by the equipment. After the transition bearing platform is provided, the movement stroke of the manipulator is shortened, and the equipment is reduced. take up space.

Further, the operation station includes a material distribution station, and the material distribution station is electrically connected to the detection station,

The material distributing station includes a bracket, a material distributing cylinder, a conveying plate for qualified products, a conveying plate for defective products and a turning plate. A support rod is arranged on the support, and one end of the turning plate is hinged with the supporting rod, and the other end is connected with the dividing plate. The output end of the material cylinder is hinged, and the qualified product conveying plate and the defective product conveying plate are obliquely arranged at both ends of the turning plate, and the end of the qualified product conveying plate and the unqualified conveying plate close to the turning plate is higher than the other end.

By adopting the above-mentioned technical scheme, after the detection station completes the detection of the car seat recliner, the manipulator grabs the car seat recliner and puts the car seat recliner into the distributing station. The test results of the seat recliner classify and discharge the car seat recliner. When the car seat recliner is qualified, the distribution cylinder shrinks, the flip plate tilts to the qualified product conveying plate, and is on the same straight line as the qualified product conveying plate, and the manipulator grabs the car seat recliner to adjust the angle of the car seat The recliner is placed on the turning plate, and the car seat recliner is discharged along the turning plate and the qualified product conveying plate. When the car seat recliner is unqualified, the material distribution cylinder receives the signal from the detection station, the output shaft extends, the flip plate tilts to the defective product conveying plate, and is located on the same straight line as the defective product conveying plate, and the manipulator grabs it The car seat recliner puts the car seat recliner into the turning plate, and the car seat recliner is discharged along the turning plate and the defective conveying plate.

In summary, the present invention has the following beneficial effects:

1. Through the setting of the manipulator, the operator only needs to continuously place the car seat recliner on the conveyor belt, and does not need to wait for feeding and retrieving when testing the car seat recliner at the testing station. High efficiency and high degree of automation;

2. Through the setting of the hemming station, the hemming station and the inspection station are combined, and after the hemming, the car seat recliner is transported from the hemming station to the inspection station by the manipulator, which saves the manual handling process and has high production efficiency ;

3. Through the setting of the material distribution station, the material distribution station classifies the car seat recliner according to the test results, and distinguishes qualified products from unqualified products, which is convenient to use.

Description of drawings

Fig. 1 is the structural representation of embodiment;

Fig. 2 is the structural representation of conveyor belt in the embodiment;

Fig. 3 is the schematic diagram of the connection between the adjusting plate and the connecting plate in the embodiment;

Fig. 4 is the structural representation of manipulator in the embodiment;

Fig. 5 is the structural representation of operating station in the embodiment;

Fig. 6 is a schematic structural view of the fool-proof station in the embodiment;

Fig. 7 is the schematic structural view of the hemming station in the embodiment;

Fig. 8 is a schematic diagram of the connection between the rolling cap and the workbench in the embodiment;

Fig. 9 is a schematic structural view of the guide cylinder in the embodiment;

Fig. 10 is a schematic structural view of the detection station in the embodiment;

Fig. 11 is a schematic structural view of the detection tooling in the embodiment;

Fig. 12 is a schematic diagram of the connection between the detection square shaft and the torque motor in the embodiment;

Fig. 13 is a schematic structural view of the material distribution station in the embodiment.

In the figure, 1, workbench; 11, rod hole; 12, support plate; 2, conveyor belt; 211, connecting plate; 2111, adjustment groove; 212, driving roller; 213, driven roller; 214, belt; 215 , conveying motor; 216, retaining plate; 217, blocking shelf; 221, adjusting plate; 222, anti-moving block; 223, nut seat; 224, adjusting bolt; 225, adjusting screw hole; ; 31, horizontal movement mechanism; 311, horizontal plate; 312, horizontal cylinder; 32, vertical movement mechanism; 321, lifting cylinder; Block; 326, the second buffer block; 33, grab mechanism; 331, grab cylinder; 3311, cylinder seat; 3312, piston rod; 33121, left rod; 33122, right rod; 3313, left clip block; 3314, right Clamp block; 34, synchronous control mechanism; 341, rotating shaft; 342, control block; 343, control shaft; 344, control groove; 4, operating station; Seat; 4121, baffle; 4122, baffle; 413, anti-fool cylinder; 414, anti-fool board; 415, displacement sensor; 416, anti-fool platform; 417, anti-fool thimble; 418, anti-fool spring; 419, anti-fool Frame; 42, hemming station; 420, carrier platform; 421, hemming cap; 4211, pre-deformed cavity; 4212, sliding cavity; 422, hemming pressure head; 4221, guide plate; 4222, guide cylinder; 4223 , pressing shaft; 4224, hemming wheel; 423, hemming motor; 424, hemming cylinder; 425, ejector rod; 426, limit ring; 427, return spring; 428, photoelectric switch; 429, hemming bearing seat; 43, Transition station; 431, transition bearing platform; 432, transition cavity; 44, detection station; 441, detection frame; 4411, slide rail; 4421, detection cylinder; 4422, detection square shaft; 44221, socket; Bit block; 4423, torque motor; 4424, torque sensor one; 4425, square shaft cylinder; 4426, push plate; 44261, rotating hole; 44262, bearing; 4427, fixed spring; 443, detection tooling; , detection plate; 44321, positioning groove; 444, sliding frame; 33, friction motor; 4434, torque sensor two; 4435, support plate; 4436, protective edge; 4437, gap; 45, material distribution station; Support; 452, material distribution cylinder; 453, qualified product conveying plate; 454, defective product conveying plate; 455, turnover plate; 456, support rod.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Wherein the same components are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "bottom" and "top "Face", "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.

Example:

A car seat recliner hemming and torque detection equipment, as shown in Figure 1, includes a workbench 1 on which a conveyor belt 2, an operating station 4 and a manipulator 3 are arranged. The operating station 4 and the manipulator 3 are relatively arranged on both sides of the workbench 1 .

As shown in Fig. 1, there are five operating stations 4, which are followed by: anti-fooling station 41, hemming station 42, transition station 43, detection station 44 and material distribution station 45. The five operating stations 4 are on a straight line and are on the same straight line as the conveyor belt 2, which facilitates the transportation of the car seat recliner.

As shown in Fig. 1, the manipulator 3 corresponds to the previous operation station 4, and carries the car seat recliner, and transports the car seat recliner on the corresponding operation station 4 to the lower operation station 4. The car seat recliner is transmitted in a mechanized way, with a high degree of mechanization and high efficiency.

As shown in FIG. 2 , the conveyor belt 2 includes a connecting plate 211 , a driving roller 212 , a driven roller 213 , a belt 214 and a conveying motor 215 . The connecting plate 211 is disposed on two sides of the belt 214 . The driving roller 212 and the driven roller 213 are arranged at both ends of the belt 214 , and the conveying motor 215 is connected with the driving roller 212 .

As shown in Figure 2, the upper surface of the connecting plate 211 is provided with a slanted material stopper 216 on both sides of the belt 214, and the upper end of the material stopper 216 is inclined towards the direction away from the belt 214, which is convenient for the operator to put into the car seat recliner. At the same time, the baffle plate 216 blocks the car seat recliner to prevent the car seat recliner from falling off from the belt 214 .

As shown in FIG. 2 and FIG. 3 , two parallel adjusting grooves 2111 are opened on the connecting plate 211 , and the two ends of the connecting plate 211 are slidably connected with an adjusting plate 221 and an anti-movement block 222 . There are four adjusting boards 221 , two of which form a group and are located at both ends of the connecting board 211 respectively. Both ends of the driving roller 212 and the driven roller 213 are respectively rotatably connected to two corresponding adjustment plates 221 . The conveying motor 215 is fixed on the adjusting plate 221 connected with the driving roller 212 . The adjusting plate 221 slides along the adjusting groove 2111 , thereby driving the driven roller 213 or the driving roller 212 to move, and adjusting the tightness of the belt 214 .

As shown in Fig. 3, the adjusting groove 2111 is set in a "T" shape, and a "T"-shaped nut seat 223 is installed in the adjusting groove 2111. Several adjusting bolts 224 are pierced on the adjusting plate 221 , and the adjusting bolts 224 pass through the adjusting plate 221 and are threadedly connected with the nut seat 223 . The adjusting bolt 224 rotates, and the nut seat 223 moves toward or away from the adjusting plate 221 . The nut seat 223 moves upward to the adjustment plate 221, and the nut seat 223 and the adjustment plate 221 clamp the connection plate 211, thereby clamping and fixing the adjustment plate 221; the nut seat 223 moves away from the adjustment plate 221, and the nut seat 223 and the connection plate 211 There is a gap between them, and the adjustment plate 221 can slide along the adjustment groove 2111 .

As shown in FIG. 2 , the connection mode between the anti-movement block 222 and the connection plate 211 is the same as the connection mode between the adjustment plate 221 and the connection plate 211 . The anti-movement block 222 is provided with an adjusting screw hole 225 , and the adjusting screw hole 225 is internally threaded with an adjusting screw 226 , and the end of the adjusting screw 226 conflicts with the end of the adjusting plate 221 . Loosen the adjusting bolt 224 on the adjusting plate 221, turn the adjusting screw 226, the adjusting screw 226 pushes the adjusting plate 221 to move, and adjusts the adjusting plate 221. To prevent the belt 214 from being too tight, the regulating plate 221 is retracted.

As shown in Fig. 1 and Fig. 2, the fool-proof station 41 is located at the end of the conveyor belt 2, and the conveyor belt 2 is set up with an elevated frame 217 near the end of the fool-proof station 41 to prevent the car seat recliner from being conveyed. Stacking on belt 2 caused the height to fall off the belt.

As shown in Fig. 1, the car seat recliner falls into the fool-proof station 41 after being output from the conveyor belt 2, and the manipulator 3 carries the car seat recliner to the next operation station 4 successively.

As shown in Fig. 4, the manipulator 3 includes a horizontal movement mechanism 31, a vertical movement mechanism 32 and four gripping mechanisms 33, and the four gripping mechanisms 33 correspond to the first four operating stations 4 (see Fig. 1). The grab mechanism 33 clamps and releases the car seat recliner, and the vertical movement mechanism 32 places the car seat recliner on the operating station 4 (see Figure 1) or from the operating station 4 (see Figure 1). ), the horizontal motion mechanism 31 carries the car seat recliner to the next operating station 4 (seeing Fig. 1). The horizontal movement mechanism 31 drives the grasping mechanism 33 to move horizontally, and the movement direction is parallel to the straight line where the conveyor belt 2 is located, so as to ensure the transportation accuracy.

As shown in FIG. 4 , the vertical movement mechanism 32 includes a lifting cylinder 321 and a lifting plate 322 . There are two supporting platforms 323 on the workbench 1 (see FIG. 1 ), and there are two lifting cylinders 321 and two lifting plates 322 , which are respectively arranged on the two supporting platforms 323 . The lifting plate 322 is set as a 7-shape, and the output shaft of the lifting cylinder 321 passes through the top of the supporting platform 323 and is fixedly connected with the lower surface of the upper end of the lifting plate 322 . The output shaft of the lifting cylinder 321 moves up and down to drive the lifting plate 322 to move up and down. The horizontal movement mechanism 31 and the grasping mechanism 33 are connected with the lifting plate 322 .

As shown in FIG. 4 , a horizontal limiting plate 324 is fixed on the upper end of the support platform 323 through two vertical limiting columns. The output shaft of lifting cylinder 321 stretches out, and when the upper end of lifting plate 322 conflicts with limiting plate 324, lifting plate 322 cannot continue to rise, and limiting plate 324 limits the motion height of lifting plate 322, improves the precision of equipment.

As shown in FIG. 4 , the lower surface of the limiting plate 324 is provided with a first buffer block 325 , and the upper surface of the supporting platform 323 is provided with a second buffer block 326 . The lifting plate 322 rises and collides with the first buffer block 325 , and the lifting plate 322 descends and collides with the second buffer block 326 . The first buffer block 325 and the second buffer block 326 buffer and protect the lifting plate 322 to improve the service life.

As shown in FIG. 4 , the lifting cylinder 321 is not the only driving method. As other embodiments, the lead screw and rack and pinion can also control the movement of the lifting plate 322 .

As shown in Fig. 4, a synchronous control mechanism 34 is provided between the two support platforms 323, and the synchronous control mechanism 34 controls the telescopic length of the two lifting cylinders 321 to ensure that the two are consistent and improve the accuracy of the equipment.

As shown in FIG. 4 , the synchronous control mechanism 34 includes a rotating shaft 341 , a control block 342 and a control shaft 343 . The rotating shaft 341 is rotatably connected between the two supporting platforms 323 . The control block 342 has two pieces respectively located at the two ends of the rotating shaft 341 , one end of the control block 342 is fixedly connected with the rotating shaft 341 , and the other end is connected with the lifting plate 322 . The end of the control block 342 away from the rotating shaft 341 is provided with a control groove 344, and the control shaft 343 is provided with two connected with the two lifting plates 322, one end of the control shaft 343 is connected with the lifting plate 322, and the other end is slidingly connected to the control groove 344 Inside.

As shown in Figure 4, the two lifting cylinders 321 start at the same time, driving the lifting plate 322 to move upward, the lifting plate 322 drives the control shaft 343 to move upward, and the end of the control shaft 343 slides in the control groove 344 and exerts an upward thrust on the control groove 344 , the control block 342 is forced to rotate around the rotation axis 341 . The control block 342, the rotating shaft 341 and the control shaft 343 control the synchronization of the two lifting cylinders 321. When the two lifting cylinders 321 move synchronously, the rotating shaft 341 can rotate normally. When the two lifting cylinders 321 are about to move asynchronously, the rotation angles of the two control blocks 342 will deviate, that is, the rotation angles at both ends of the rotating shaft 341 will be different. The rotating shaft 341 is rigid and difficult to twist. One of the control blocks 342 will change the rotation angle of the other control block 342 through the rotating shaft 341, thereby forcing the two lifting cylinders 321 to move synchronously. The synchronous control mechanism 34 controls the synchronous movement of the two lifting cylinders 321, so as to ensure the levelness of the horizontal plate 311 and improve the precision.

As shown in Fig. 4, the lifting plate 322 drives the horizontal movement mechanism 31 to move up and down. The horizontal motion mechanism 31 includes a horizontal plate 311 and a horizontal cylinder 312 , the horizontal plate 311 is horizontally slidably connected to two lifting plates 322 , and the horizontal cylinder 312 is fixed on one of the lifting plates 322 . The output shaft of the horizontal cylinder 312 is fixedly connected with the horizontal plate 311 . The grabbing mechanism 33 is arranged on the horizontal plate 311 and faces the operating station 4 (see FIG. 1 ).

As shown in Figure 4, the output shaft of the horizontal cylinder 312 stretches and pushes the horizontal plate 311 to move in the horizontal direction, thereby driving the grasping mechanism 33 to move horizontally, and the car seat recliner is moved to the next station. After placing, the horizontal cylinder 312 Control the catch mechanism 33 to reset, so that the next car seat recliner is caught.

As shown in Figure 4, as other embodiments, the horizontal motion mechanism 31 can also be a horizontal lead screw, a horizontal motor and a horizontal plate 311, the horizontal motor is fixed on the lifting plate 322, the horizontal lead screw is connected with the horizontal motor, and the horizontal plate 311 passes through the nut The seat is connected with the horizontal lead screw.

As shown in Figure 4, the grabbing mechanism 33 includes a grabbing cylinder 331, and the grabbing cylinder 331 includes a cylinder seat 3311, two piston rods 3312, a left clamping block 3313 and a right clamping block 3314. The cylinder base 3311 is fixed on the surface of the horizontal plate 311 facing the operating station 4 . The piston rod 3312 is divided into a left rod 33121 and a right rod 33122, the left clamping block 3313 is connected with the end of the left rod 33121, and the right clamping block 3314 is connected with the end of the right rod 33122. The left clamping block 3313 and the right clamping block 3314 move toward or away from each other synchronously.

As shown in Figure 4, when the left clamping block 3313 and the right clamping block 3314 move toward each other, the grabbing mechanism 33 performs a grabbing action to clamp the car seat recliner; the left clamping block 3313 and the right clamping block 3314 move in opposite directions , the grabbing mechanism 33 releases the car seat recliner.

As shown in Fig. 4, the movement process of the manipulator 3: the lift cylinder 321 is in the retracted state, the horizontal cylinder 312 is in the extended state, and the grasping cylinder 331 is in the released state. At this time, the manipulator 3 is in the initial state. After the car seat recliner completes an operation, grab the cylinder 331 to do a grabbing action to clamp the car seat recliner; then the output shaft of the lifting cylinder 321 stretches out, driving the car seat recliner to rise, and the car seat recliner The seat recliner is separated from the operating station 4 (see Figure 1); the horizontal cylinder 312 shrinks, and the car seat recliner moves backward by the length of the operating station 4 (see Figure 1); the lifting cylinder 321 descends, and the car The seat recliner conflicts with the operating station 4 (see Figure 1), and the cylinder 331 is grabbed for release, and the car seat recliner is placed on the operating station 4 (see Figure 1). Then, the output shaft of the lifting cylinder 321 stretches out, the output shaft of the horizontal cylinder 312 stretches out, the output shaft of the lifting cylinder 321 shrinks, and the manipulator 3 returns to the initial state.

As shown in Fig. 5, the manipulator 3 (see Fig. 4) carries the car seat recliner, and moves the car seat recliner from each operating station 4 in turn until it is discharged. The first operating station 4 is the anti-fooling station 41, which detects the placement direction of the car seat recliner to prevent the car seat recliner from being reversed and affect subsequent hemming and detection.

As shown in Figure 6, the foolproof station 41 includes a foolproof frame 419, a push cylinder 411, a positioning seat 412, a foolproof cylinder 413, a foolproof plate 414, a displacement sensor 415, a foolproof platform 416 and a foolproof thimble 417. The fool-proof frame 419 is fixed on the workbench 1 at the end of the conveyor belt 2 (see FIG. 1 ). The push cylinder 411 is arranged at the bottom of the fool-proof frame 419 , and the positioning seat 412 is arranged at the upper end of the push cylinder 411 . When the push cylinder 411 is in the retracted state, the positioning seat 412 is flush with the conveyor belt 2 (see FIG. 1 ), and carries out the recliner of the car seat. When the fool-proof station 41 detects that the car seat recliner is placed correctly, the cylinder 411 is promoted to rise and the car seat recliner is inserted between the left clamping block 3313 and the right clamping block 3314, so that the cylinder 331 is grasped.

As shown in Figure 6, two baffles 4121 are provided on the side of the positioning seat 412 away from the conveyor belt 2 (see Figure 1), and the baffles 4121 block the car seat recliner to prevent the car seat recliner from the positioning seat. 412 out.

As shown in Figure 6, the positioning seat 412 is provided with a vertically downward barrier 4122 towards the end of the conveyor belt 2 (see Figure 1). When the positioning seat 412 rises, the barrier 4122 and the end of the conveyor belt 2 (see Figure 1) If there is internal conflict, cover the car seat recliner to prevent the car seat recliner from falling.

As shown in FIG. 6 , the fool-proof cylinder 413 is arranged on the upper end of the fool-proof frame 419 , and the output shaft of the fool-proof cylinder 413 faces the positioning seat 412 vertically downward. The anti-fooling plate 414 is fixed on the end of the output shaft of the anti-fooling cylinder 413, and the anti-fooling thimble 417 is vertically fixedly connected to the center of the lower surface of the anti-fooling plate 414. The foolproof platform 416 is slidingly connected to the foolproof thimble 417 , and the foolproof platform 416 and the foolproof thimble 417 are connected by a foolproof spring 418 . The displacement sensor 415 is vertically arranged on the foolproof plate 414 and passes through the foolproof plate 414 to point to the foolproof platform 416 to detect the displacement of the foolproof platform 416 .

As shown in Figure 6, when placing the car seat recliner, the disc of the car seat recliner needs to face up, that is, the cam square platform faces up, and the conical disc faces down. Push the cylinder 411 to shrink, and the positioning seat 412 descends, so that the positioning seat 412 is flush with the conveyor belt 2 (see FIG. 1 ) to facilitate the transportation of the car seat recliner. The car seat recliner is moved from the end of the conveyor belt 2 (see Figure 1) to the positioning seat 412, the output shaft of the foolproof cylinder 413 descends to push the foolproof plate 414 down, the foolproof table 416 and the foolproof thimble 417 Followed down. The anti-fooling thimble 417 is gradually inserted into the square hole of the car seat recliner. When the disc of the car seat recliner faces upwards, the anti-fooling thimble 417 is in the process of descending, and the anti-fooling platform 416 will conflict with the cam square platform. Now, the fool-proof thimble 417 and the fool-proof plate 414 continue to descend, and the fool-proof platform 416 is limited and cannot move down. There is a relative displacement between them, the gap between the fool-proof table 416 and the fool-proof board 414 becomes smaller, and the displacement sensor 415 detects the motion of the fool-proof table 416. The placement direction of the car seat recliner is correct; if the movement of the anti-fooling platform 416 is not detected, it means that the car seat recliner is placed backwards.

As shown in Fig. 1, the position of the car seat recliner is placed correctly, and the manipulator 3 grabs the car seat recliner and puts it into the next operation station 4, namely the hemming station 42. The hemming station 42 hemmes the car seat recliner, thereby forming the car seat recliner as a whole. This equipment overcomes the problem of transmission accuracy through the manipulator 3 and combines the hemming station 42 with the detection station 44 to improve production efficiency.

As shown in FIG. 7 , the hemming station 42 includes a hemming platform seat 429 , a hemming platform 421 , a hemming pressure head 422 , a hemming motor 423 and a hemming cylinder 424 . The hemming platform 421 supports the car seat recliner, and the hemming pressure head 422 hems the car seat recliner.

As shown in FIG. 8 , the hemming platform seat 429 is fixed on the workbench 1 through four columns, and the hemming platform 421 is fixed on the hemming platform 421 plate. A pre-deformed concave cavity 4211 is opened on the upper end surface of the rolling edge platform 421 for placing the recliner of the car seat. A vertical sliding cavity 4212 is opened in the center of the pre-deformation cavity 4211 , and a rod-through hole 11 facing the sliding cavity 4212 is opened on the workbench 1 . A push rod 425 is slidably connected in the sliding cavity 4212 , and the push rod 425 passes through the rod passing hole 11 . The push rod 425 is positioned at the part below the cap seat to fix the limit ring 426, the push rod 425 is covered with a return spring 427, the upper end of the return spring 427 conflicts with the limit ring 426, and the lower end conflicts with the workbench 1.

As shown in FIG. 8 , a support plate 12 is fixed at the rod-through hole 11 under the workbench 1 , and a photoelectric switch 428 is provided on the support plate 12 . The photoelectric switch 428 is a laser through-beam photoelectric switch (the laser through-beam photoelectric switch adopts the HUAJIN E3F-20C1 laser through-beam photoelectric switch). The receiving end and the transmitting end of the photoelectric switch 428 are respectively located on both sides of the installation hole. relative settings. The photoelectric switch 428 has a normally open contact, and the normally open contact is connected in series with the hemming cylinder 424 .

As shown in Fig. 7 and Fig. 8, the car seat recliner is placed on the rolling edge platform 421, the car seat recliner squeezes the push rod 425, the push rod 425 descends in the sliding cavity 4212, and the limit ring 426 Squeeze the return spring 427, and the lower end of the push rod 425 passes through the rod hole 11 to trigger the photoelectric switch 428. When the photoelectric switch 428 detects that the push rod 425 descends, it indicates that there is a car seat recliner on the hemming platform 421. At this moment, the hemming cylinder 424 can descend to hemm the car seat recliner. When there is no car seat recliner on the hemming platform 421, the push rod 425 is retracted in the sliding cavity 4212 under the support of the return spring 427, and the photoelectric switch 428 cannot detect the push rod 425. At this time, the hemming cylinder 424 is Closed, unable to descend.

As shown in FIG. 7 , the hemming cylinder 424 is fixed on the workbench 1 through the machine platform 420 . The hemming cylinder 424 is opposite to the hemming platform 421 . The lower end of the hemming cylinder 424 is fixed with a guide plate 4221 .

As shown in FIG. 7 and FIG. 9 , the hemming press head 422 includes a guide plate 4221 and a guide cylinder 4222 . The hemming motor 423 is fixed on the guide plate 4221, and the hemming motor 423 is connected with the guide cylinder 4222 through the conveyor belt and controls the rotation of the guide cylinder 4222. A pressing shaft 4223 is provided at the center of the inner cavity of the guide cylinder 4222, and three hemming wheels 4224 are rotatably connected to the side wall of the guide cylinder 4222.

As shown in FIG. 7 and FIG. 9 , the car seat recliner is placed on the piping platform 421 , and the car seat recliner is embedded in the pre-deformed cavity 4211 . The hemming motor 423 drives the guide cylinder 4222 to rotate, and the hemming cylinder 424 promotes the guide cylinder 4222 to descend, and the guide cylinder 4222 sets the car seat recliner cover in the inner chamber. The compression shaft 4223 compresses and fixes the disc to prevent the disc from rotating. The guide cylinder 4222 drives the hemming wheel 4224 to rotate, and the hemming wheel 4224 hems the cladding on the car seat recliner, and the side wall of the cladding is squeezed to form a hemming to wrap the disc. Piping is done.

As shown in FIG. 5 , the transition station 43 plays a transition role, reducing the movement stroke of the manipulator 3 and reducing the occupied space of the entire device.

As shown in FIG. 5 , the transition station 43 includes a transition platform 431 , and the transition platform 431 is provided with a transition cavity for placing the seat recliner.

As shown in Fig. 5, the transition station 43 is followed by a detection station 44, and the detection station 44 detects the torque of the car seat recliner.

As shown in Figures 10 and 11 , the detection station 44 includes a detection frame 1 on which a detection cylinder 21 , a detection tool 3 , a detection square shaft 22 , a torque motor 23 and a torque sensor 1 24 are arranged.

As shown in Figure 10, the detection cylinder 4421 is arranged on the top of the detection frame 441, the detection frame 441 is provided with a slide rail 4411, the slide rail 4411 is slidably connected with a slide frame 444, and the output shaft of the detection cylinder 4421 is connected with the slide frame 444. The stability and guidance of the slide rail 4411 are good, ensuring the detection accuracy.

As shown in Figure 10, the torque motor 4423 is vertically arranged above the sliding frame 444, and the sliding frame 444 is slidingly connected with a push plate 4426 below the torque motor 4423, and the pushing plate 4426 is facing the output shaft of the torque motor 4423. The torque sensor one 24 is connected with the output shaft of the torque motor 4423 and is located above the push plate 4426 . A turning hole 44261 is opened on the pushing plate 4426, and a bearing 44262 is arranged in the turning hole 44261. The output shaft of the torque motor 4423 passes through the turning hole 44261, and conflicts with the inner ring of the bearing 44262.

As shown in FIG. 10 , the detection square shaft 4422 is connected to the lower end of the output shaft of the torque motor 4423 . The output shaft of the detection cylinder 4421 stretches out, the sliding frame 444 descends to drive the detection square shaft 4422 to descend, and the detection square shaft 4422 is inserted into the square hole of the car seat recliner to fix the car seat recliner. The torque motor 4423 rotates, and the torque sensor 1 4424 detects the torque of the car seat recliner.

As shown in FIG. 11 , the detection tool 443 is arranged at the lower end of the detection frame 441 and directly faces the detection square axis 4422 (see FIG. 10 ). The detection tool 443 includes a hollow detection table 4431 and a detection disc 4432 . The detection disc 4432 and the detection table 4431 support the recliner of the car seat and cooperate with the detection square shaft 4422 (see FIG. 10 ) to realize the detection of the recliner of the car seat.

As shown in FIG. 11 , a vertical upward protective edge 4436 is provided around the detection platform 4431 . The position of the car seat recliner is shielded and protected along the protective edge 4436 to prevent the car seat recliner from falling from the detection platform 4431.

As shown in Fig. 11, two notches 4437 are symmetrically opened on the protective edge 4436, and the operator can take the car seat recliner from the notches 4437, which is convenient to use.

As shown in Fig. 11 , the support plate 4435 is fixedly connected with the support plate 4435 by bolts under the detection plate 4432, and the friction motor 4433 is fixed under the detection table 4431, and the output shaft of the friction force motor 4433 is fixedly connected with the support plate 4435 coaxially. The friction motor 4433 starts to drive the support disc 4435 and the detection disc 4432 to rotate, and the output shaft of the friction motor 4433 is provided with a torque sensor 2 4434. Torque sensor 2 4434 detects the friction of the car seat recliner.

When the car seat recliner is in use, the torsion force of the torsion spring is only the unlocking force of the car seat recliner. When the torque is greater than the unlocking force, the disc and the circular tooth disc can rotate relative to each other. If the frictional force between the disk and the circular toothed disk is large, it will be difficult to rotate during use. Therefore, in order to improve the qualification rate of the car seat recliner, it is necessary to detect the friction force between the disc and the ring disc.

As shown in Fig. 10 and Fig. 11 , a plurality of positioning grooves 44321 are provided on the detection plate 4432 to cooperate with the positioning bosses of the scalloped plate. The car seat recliner's lower surface's positioning boss is embedded in the positioning groove 44321, and the car seat recliner is fixed so that it cannot rotate relative to the detection disc 4432. At this time, the detection cylinder 4421 pushes the detection table 4431 down, and the detection square shaft 4422 is inserted into the square hole of the car seat recliner, and the car seat recliner is limited and cannot rotate. At this time, the torque motor 4423 starts, and the torque sensor one 4424 detects the torque of the car seat recliner, and applies an unlocking force to the car seat recliner.

As shown in Fig. 10 and Fig. 11, after the car seat recliner is unlocked, the torque motor 4423 stops rotating. The friction motor 4433 starts to drive the detection disc 4432 to rotate, thereby driving the scalloped disk to rotate, and the scalloped disk overcomes the friction between the scalloped disk and the disc to rotate. The second torque sensor 34 detects the frictional force.

As shown in Fig. 10 and Fig. 12, a square shaft cylinder 4425 is fixed on the sliding frame 44, and the output shaft of the square shaft cylinder 4425 is connected with a push plate 4426. The lower end of the output shaft of the torque motor 23 is provided with a square socket 44221 , and the detection square shaft 4422 is slidably connected in the socket 44221 . The outer wall of the detection square shaft 4422 is fixed with a limit block 44222 , and a fixed spring 4427 is arranged between the limit block 44222 and the output shaft of the torque motor 4423 .

As shown in Figure 11 and Figure 12, the car seat recliner is placed on the detection disc 4432, the positioning boss of the circular tooth disc is staggered from the positioning groove 44321, the detection square shaft 4422 falls and the cam square platform conflicts, the fixed spring 4427 shrinks, and the detection square There is flexible interference between the shaft 4422 and the cam square. The friction motor 4433 starts slowly to drive the detection disc 4432 to rotate, the car seat recliner is limited and cannot rotate until the positioning boss of the circular tooth disc is embedded in the positioning groove 44321, the detection disc 4432 continues to rotate slowly and drives the car seat angle adjustment The device rotates until the direction of the detection square shaft 4422 is consistent with the square hole, and the detection square shaft 4422 is inserted into the square hole. At this time, the output shaft of the square shaft cylinder 4425 (see Figure 10) extends out, driving the push plate 4426 (see Figure 10) to descend, and the push plate 4426 (see Figure 10) presses the detection square shaft 4422 into the square hole to improve stability .

Detection process: the car seat recliner is placed on the detection plate 4432, the output shaft of the detection cylinder 4421 is stretched out, the sliding frame 444 drives the torque motor 4423 and the detection square shaft 4422 to descend, and at this time the output shaft of the square shaft cylinder 4425 is in contraction state. When detecting that the quadrilateral shaft 4422 conflicts with the cam square platform, the fixed spring 4427 shrinks. The friction motor 4433 rotates slowly until the positioning boss of the car seat adjuster is engaged in the positioning groove 44321. The friction motor 4433 continues to rotate until the direction of the detection square shaft 4422 is consistent with the square hole, and the detection square shaft 4422 is inserted into the square hole. At this time, the output shaft of the square shaft cylinder 4425 stretches out, and the detection square shaft 4422 is inserted into the square hole. At this time, the torque motor 4423 is started, the detection square shaft 4422 applies an unlocking force to the car seat recliner, and the torque sensor 1 4424 detects the torque of the torsion spring of the car seat recliner.

After the torsion spring was unlocked, the torque motor 4423 stopped rotating. At this time, the friction motor 4433 starts, which drives the detection disc 4432 and the car seat recliner to rotate, and the torque sensor 2 34 detects the friction of the car seat recliner.

As shown in Fig. 13, the last operating station 4 (see Fig. 1) is the distributing station 45, and the distributing station 45 classifies the car seat recliner according to the test results of the testing station 44: qualified or unqualified. The material distribution station 45 comprises a support 451, a material distribution cylinder 452, a qualified product conveying plate 453, a defective product conveying plate 454 and a turning plate 455, the support 451 is provided with a support rod 456, and one end of the turning plate 455 is hinged with the supporting rod 456, The other end is hinged with the output end of the material distribution cylinder 452, and the qualified product conveying plate 453 and the defective product conveying plate 454 are obliquely arranged at the two ends of the turning plate 455, and the qualified product conveying plate 453 and the unqualified conveying plate are close to the end of the turning plate 455. at the other end. The distribution cylinder 452 is electrically connected with the torque sensor one 4424 (see FIG. 10 ) through the controller.

As shown in Figure 13, when the car seat recliner is qualified, the torque sensor 1 4424 (see Figure 10) sends a signal to the controller, and the controller controls the distribution cylinder 452 to shrink, and the turning plate 455 tilts to the qualified product conveying plate 453, and The qualified product conveying plate 453 is located on the same straight line, the manipulator 3 grabs the car seat recliner and puts the car seat recliner on the flip plate 455, and the car seat recliner moves along the flip plate 455 and the qualified product conveying plate 453 discharge. When the recliner of the car seat is unqualified, the torque sensor 1 4424 (see Figure 10) sends a signal to the controller, and the controller controls the material distribution cylinder 452 to extend out, and the turning plate 455 tilts to the defective product conveying plate 454, and is connected to the defective product conveying plate 454. The conveying plate 454 is located on the same straight line, the manipulator 3 grabs the car seat recliner and puts the car seat recliner on the turning plate 455, and the car seat reclining device is discharged along the turning plate 455 and the defective conveying plate 454 .

The specific implementation process: the operator places the car seat recliner on the belt 214 in sequence, with the disk facing upward. The belt 214 transports the car seat recliner to the fool-proof station 41, and the fool-proof station 41 detects the car seat recliner. After being qualified, push the cylinder 411 to push the car seat recliner up, and the manipulator 3 clamps the car seat recliner, and transports the car seat recliner to the hemming station 42 . The hemming station 42 carries out hemming to the car seat recliner, and after the hemming is completed, the manipulator 3 clamps the car seat recliner and transports the car seat recliner to the transition station 43. The manipulator 3 transports the car seat recliner from the transition station 43 to the detection station 44, and the detection station 44 detects the car seat recliner. After the detection, the manipulator 3 grabs the car seat recliner. The corner parts are transported to the material distribution station 45 for final discharge.

This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. Those skilled in the art can make modifications to this embodiment without creative contribution as required after reading this specification, but as long as they are within the rights of the present invention All claims are protected by patent law.

Claims (10)

1. a kind of angle regulating device for seat of vehicle rolling and torque detecting apparatus, including workbench (1), workbench (1) are equipped with multiple Operation position (4), including detection station (44), it is characterised in that: further include conveyer belt (2) and manipulator (3), the behaviour Make station (4) to be linearly arranged and be located on the same line with conveyer belt (2)；

Manipulator (3) includes horicontal motion mechanism (31), vertical motion mechanism (32) and multiple grasping mechanisms (33), the level Movement mechanism (31) is connected with vertical motion mechanism (32), the direction of motion of the horicontal motion mechanism (31) and conveyer belt (2) Parallel, the vertical motion mechanism (32) drives horicontal motion mechanism (31) to do vertical linearity movement, the grasping mechanism (33) corresponding with operation position (4), the grasping mechanism (33) is connected with horicontal motion mechanism (31), the horizontal motion machine Structure (31) drives grasping mechanism (33) to do horizontal linear displacement.

2. a kind of angle regulating device for seat of vehicle rolling according to claim 1 and torque detecting apparatus, it is characterised in that:

The vertical motion mechanism (32) includes lifting cylinder (321) and lifter plate (322), the lifting cylinder (321) it is defeated Shaft is connected with lifter plate (322), and the horicontal motion mechanism (31) is connected with lifter plate (322)；

The horicontal motion mechanism (31) includes level board (311) and horizontal air cylinder (312), and the level board (311) is horizontal sliding Dynamic to be connected on lifter plate (322), the horizontal air cylinder (312) is fixed on lifter plate (322), the horizontal air cylinder (312) Output shaft be fixedly linked with level board (311), the grasping mechanism (33) is fixed on level board (311)；

The grasping mechanism (33) includes crawl cylinder (331), and the crawl cylinder (331) includes cylinder seat (3311) and two work Stopper rod (3312), two piston rods (3312) are respectively left bar (33121) and right bar (33122), and the left bar (33121) is fixed It is connected with left fixture block (3313), the right bar (33122) is fixed with right fixture block (3314), the left fixture block (3313) and right fixture block (3314) it synchronizes and does towards or away from movement.

3. a kind of angle regulating device for seat of vehicle rolling according to claim 2 and torque detecting apparatus, it is characterised in that: described Vertical motion mechanism (32) includes two lifting cylinders (321) and lifter plate (322), and the level board (311) is slidably connected to Between two lifter plates (322).

4. a kind of angle regulating device for seat of vehicle rolling according to claim 3 and torque detecting apparatus, it is characterised in that: described Vertical motion mechanism (32) further includes supporting table (323) and synchronizing control (34), the supporting table (323) set there are two point It is other that two lifting cylinders (321) are supported,

Synchronizing control (34) includes rotation axis (341), control block (342) and control shaft (343), the rotation axis (341) It being rotationally connected between two supporting tables (323), the control block (342) is equipped with two pieces of both ends for being located at rotation axis (341), Control block (342) one end is fixedly linked with rotation axis (341), and the other end offers control flume (344), the control shaft (343) If described control shaft (343) one end is connected with lifter plate (322), the other end there are two being connected respectively with two lifter plates (322) It is slidably connected in control flume (344).

5. a kind of angle regulating device for seat of vehicle rolling according to claim 1 and torque detecting apparatus, it is characterised in that: described Operation position (4) includes the fool proof station (41) positioned at conveyer belt (2) end,

The fool proof station (41) include pusher cylinder (411), positioning seat (412), fool proof cylinder (413), prevent stiff (414), Displacement sensor (415), fool proof platform (416) and fool proof thimble (417), the pusher cylinder (411) are fixed on workbench (1) Positioned at the end of conveyer belt (2), the positioning seat (412) is connected with the output shaft of pusher cylinder (411), the fool proof cylinder (413) it is set to the surface of positioning seat (412), the lower end prevented stiff (414) and be fixed on fool proof cylinder (413) is described anti- Slow-witted thimble (417) are fixedly connected with stiff (414) are prevented, the fool proof platform (416) is slidably connected on fool proof thimble (417), institute It states fool proof platform (416) and prevents being equipped with fool proof spring (418) between stiff (414), institute's displacement sensors (415) are fixed on fool proof On plate (414) and it is directed toward fool proof platform (416).

6. a kind of angle regulating device for seat of vehicle rolling according to claim 1 and torque detecting apparatus, it is characterised in that: described Detection station (44) includes testing stand (441), and testing stand (441) is equipped with detection cylinder (4421), detecting tool (443), inspection Square axis (4422), torque motor (4423) and torque sensor one (4424) are surveyed, the detecting tool (443) includes monitor station (4431) it is set in monitor station (4431), is opened on the detection plate (4432) with detection plate (4432), the detection plate (4432) Equipped with several locating slots (44321) matched with circular tooth disk positioning convex platform；

The testing stand (441) is equipped with sliding rack (444), the output shaft of detection cylinder (4421) and sliding rack (444) It is connected, the torque motor (4423) is installed on sliding rack (444), and the detection square axis (4422) is by shaft coupling and turns round The output shaft of torque motor (4423) is connected, and the torque sensor one (4424) is connected with the output shaft of torque motor (4423).

7. a kind of angle regulating device for seat of vehicle rolling according to claim 1 and torque detecting apparatus, it is characterised in that: described Operation position (4) includes the rolling station (42) between conveyer belt (2) and detection station (44), the rolling station (42) Including rolling cushion cap (421), rolling pressure head (422), rolling motor (423) and rolling cylinder (424),

Rolling cushion cap (421) upper surface offers the predeformation cavity (4211) for holding vehicles seat angle adjustor；

The rolling pressure head (422) includes guide plate (4221) and guide cylinder (4222), and the guide cylinder (4222) is set to guiding On plate (4221), the rolling cylinder (424) is set to above guide plate (4221) and is connected with guide plate (4221), the rolling Motor (423) is set on guide plate (4221) and is connected with guide cylinder (4222), and pressure is equipped at guide cylinder (4222) lumen centers Mandrel (4223) is rotatably connected to multiple rolling wheels (4224) on the side wall of guide cylinder (4222).

8. a kind of angle regulating device for seat of vehicle rolling according to claim 7 and torque detecting apparatus, it is characterised in that: described Predeformation cavity (4211) center offers vertical slid chamber (4212), slidably connects mandril in the slid chamber (4212) (425), mandril (425) upper end is stretched out slid chamber (4212) and is located in predeformation cavity (4211), on the workbench (1) Pole perforating hole (11) corresponding with mandril (425) is offered, the lower end of the mandril (425) is slidably connected to pole perforating hole (11) It is interior, it is fixed restraining position ring block (426) on the mandril (425), return bullet is equipped between the stop collar (426) and workbench (1) Spring (427) is equipped with optoelectronic switch (428) at pole perforating hole (11) below the workbench (1), the optoelectronic switch (428) with Rolling cylinder (424) electrical connection.

9. a kind of angle regulating device for seat of vehicle rolling according to claim 7 and torque detecting apparatus, it is characterised in that: described Operation position (4) includes the transition station (43) between rolling station (42) and detection station (44),

The transition station (43) includes transition cushion cap (431), is offered on the transition cushion cap (431) for holding vehicles seat The adapter cavity (432) of chair angle adjustor.

10. a kind of angle regulating device for seat of vehicle rolling according to claim 1 and torque detecting apparatus, it is characterised in that: institute Stating operation position (4) includes sub-material station (45), and the sub-material station (45) is electrically connected with detection station (44),

The sub-material station (45) includes bracket (451), material splitting cylinder (452), qualified product delivery board (453), substandard products delivery board (454) and returning face plate (455), the bracket (451) are equipped with support rod (456), one end of the returning face plate (455) and support Hingedly, the other end and the output end of material splitting cylinder (452) are hinged for bar (456), qualified product delivery board (453) and substandard products delivery board (454) inclination is set to the both ends of returning face plate (455), and the qualified product delivery board (453) and unqualified delivery board (454) are close to be turned over One end of rotating plate (455) is higher than the other end.