CN111958985A

CN111958985A - Helmet top belt positioning and gripping device

Info

Publication number: CN111958985A
Application number: CN202010815449.9A
Authority: CN
Inventors: 储金武
Original assignee: Anhui Runhong Plastic Co ltd
Current assignee: Anhui Runhong Plastic Co ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-11-20

Abstract

The invention particularly relates to a top belt positioning and gripping device of a safety helmet, which comprises a top belt positioning device and a top belt gripping device; the top belt positioning device comprises a first base, a first camera and a positioning unit, wherein the first base is used for transferring a top belt transferring unit, the first camera is used for shooting a top belt of a safety helmet, and the positioning unit is used for clamping; the top belt gripping device comprises a second power unit, a first base body, a gripping unit for gripping the top belt of the safety helmet and a press-fitting unit for press-fitting the gripping unit and the pressing unit, and the second power unit drives the first base body to move. First camera can be convenient learn the positive and negative of carrying the unit on the apical band, then shift the apical band on the conveyer belt to the positioning unit department through transporting the unit and carry out the accurate positioning, the rethread snatchs the unit behind the accurate positioning and just can realize the arbitrary adjustment of apical band position, is in the same place the helmet apical band with the clitellum pressure equipment through pressure equipment unit at last, above just can be convenient the accurate positioning and the removal of realization clitellum, whole operation automation very.

Description

Helmet top belt positioning and gripping device

Technical Field

The invention relates to the technical field of automatic processing of safety helmets, in particular to a positioning and gripping device for a top belt of a safety helmet.

Background

The safety helmet is a hat which can protect the head from being hurt by falling objects and other specific factors and generally comprises a helmet shell, a helmet liner, a chin strap and the like. A cap shell: the helmet is a main part of the helmet, generally adopts an elliptical or hemispherical thin shell structure, and the structure can generate certain pressure deformation under impact pressure, and due to the rigidity of the material, the impact object is easy to slide away due to the smooth surface and the circular curve, so that the impact time is reduced, and the safety of the head of a user can be effectively protected. The strength of the shell of the safety helmet is enhanced according to the requirement, and the shell can be made into various types such as a light top, a top rib, a rim and a rim-free rim. A cap liner: the hat lining is a general name of parts in the hat shell which are directly contacted with the top of the head of a wearer, and consists of a hat hoop girdle band, a safety hat top band, a sweat absorbing band and the like; the material of the cap liner can be made of cotton woven tape, synthetic fiber tape and plastic lining tape. The hat hoop is a ring-shaped belt which tightly surrounds the head of a person when being worn, and the forehead part of the belt is lined with sweat absorbing materials and has certain sweat absorbing function. The hat band can be divided into a fixing band and an adjustable band. The safety helmet top belt is a lining belt which is contacted with the top of a head of a person, the safety helmet top belt and the helmet hoop ring belt can be connected by rivets, or the safety helmet top belt and the helmet hoop ring belt adopt a plurality of lugs and insertion ports to form detachable matching, and a plurality of safety helmet top belts are generally arranged and are crossed to form a cross shape or a six-bar shape. Chin strap: the feet are tied on the strap on the chin to play a role of fixing the safety helmet, and the chin strap consists of the strap and the locking card.

FIG. 1 shows a top strap of a safety helmet, which is commonly used in the conventional safety helmet, and comprises two buckles made of plastic parts, wherein the two buckles are connected with each other through a nylon strap; fig. 2 shows a hoop band of a safety helmet commonly used in the existing safety helmet, and many details are omitted in the figure, until the related part of the present application is retained, in the production link of the safety helmet, the top band of the safety helmet is manually clamped on the hoop band of the safety helmet at present, and in order to improve the production efficiency and speed, a system capable of realizing automatic assembly of the two is urgently needed to be developed, but many problems need to be solved: firstly, the top belt and the hoop belt of the safety helmet are both sheet-shaped bodies, two buckles of the top belt are connected through a nylon belt, and the two buckles are relatively soft and are not easy to position; secondly, two safety helmet top belts need to be assembled on the helmet hoop belt, and the two top belts are crossed, so that automatic assembly becomes difficult; thirdly, in order to carry out effective protection, when the cap hoop belt is unfolded, the distance between two fixed points of the same top belt on the cap hoop belt is larger than the distance between the actual fixed points on the top belt, when the cap hoop belt is manually assembled, the cap hoop belt can deform after the same top belt is fixed, the manual installation can be free of the odd shapes, but the automatic assembly becomes a difficult point. Based on the difficulties, no similar automatic assembly device is available at present.

Disclosure of Invention

The invention aims to provide a positioning and gripping device for a top belt of a safety helmet, which can conveniently realize the accurate positioning and movement of the top belt of the safety helmet.

In order to realize the purpose, the invention adopts the technical scheme that: a top belt positioning and gripping device of a safety helmet comprises a top belt positioning device and a top belt gripping device; the top belt positioning device comprises a first base, a transferring unit, a first camera and a positioning unit, wherein the first camera is used for shooting front and back information of the top belt of the safety helmet; the top belt gripping device comprises a second power unit, a first seat body, a gripping unit and a press-fitting unit, wherein the gripping unit is used for gripping the top belt of the safety helmet, the press-fitting unit is used for pressing the top belt of the safety helmet to the ring belt of the safety helmet, the gripping unit and the press-fitting unit are both fixed on the first seat body, and the second power unit drives the first seat body to move between a material taking station and a press-fitting station.

Compared with the prior art, the invention has the following technical effects: through setting up first camera, can be convenient learn the positive and negative of carrying the unit upper carry area, then shift the apical band on the conveyer belt to the positioning unit department through transporting the unit and carry out the accurate positioning, the rethread snatchs the unit behind the accurate positioning and just can realize the arbitrary adjustment of apical band position, at last through the pressure equipment unit with the safety helmet apical band with the clitellum pressure equipment together, above just can be convenient realize the accurate positioning and the removal of clitellum, whole operation automation very.

Drawings

FIG. 1 is a schematic view of the construction of a headgear top strap;

FIG. 2 is a schematic view of the structure of the hoop band of the helmet;

FIG. 3 is a schematic view of the positioning and grasping device for the top strap of the helmet;

FIG. 4 is a schematic diagram of a positioning unit;

FIG. 5 is a schematic structural view of a transport unit;

FIG. 6 is a schematic view of the structure with the snap-in block and the lock catch in a matching state;

FIG. 7 is a schematic view of another perspective structure of the clamping block and other accessories;

FIG. 8 is a schematic view of the structure of the safety helmet top strap gripping device;

FIG. 9 is a schematic view of the positioning device for the band of the cap band;

FIG. 10 is a schematic view of the structure of FIG. 9 with portions of the parts hidden;

FIG. 11 is a schematic view of the structure of the chuck;

FIG. 12 is a partial schematic view of the left bracket;

FIG. 13 is a schematic view of another perspective of the left frame part;

FIG. 14 is a schematic structural view of the right bracket;

FIG. 15 is a schematic structural view of the middle axle, the third seat, and the fourth and fifth driving units;

FIG. 16 is a schematic view of the mandrel body construction;

FIG. 17 is a schematic view of the outer shaft body construction;

fig. 18 is a schematic structural view of an automatic press-fitting system for a top band and a hoop band of a helmet.

Detailed Description

The present invention will be described in further detail with reference to fig. 3 to 18.

Referring to fig. 3 to 8, the present invention provides a top strap positioning and gripping device for a safety helmet, including a top strap positioning device 200 and a top strap gripping device 300; the top belt positioning device 200 comprises a first base 210, a transferring unit 220, a first camera 230 and a positioning unit 240, wherein the first camera 230 is used for shooting front and back information of the top belt of the safety helmet, the transferring unit 220 transfers the top belt of the safety helmet conveyed by the conveying unit 100 to different stations of the positioning unit 240 according to the output information of the first camera 230, and the positioning unit 240 overturns and clamps the top belt of the safety helmet so as to position the top belt of the safety helmet; the top belt gripping device 300 comprises a second power unit 310, a first seat body 320, a gripping unit 330 and a press-fitting unit 340, wherein the gripping unit 330 is used for gripping the top belt of the safety helmet, the press-fitting unit 340 is used for pressing the top belt of the safety helmet to the ring belt of the safety helmet, the gripping unit 330 and the press-fitting unit 340 are both fixed on the first seat body 320, and the second power unit 310 drives the first seat body 320 to move between a material taking station and a press-fitting station. Through setting up first camera 230, can be convenient learn the positive and negative of conveyer unit 100 upper carry-over area, then shift the carry-over area on the conveyer belt to the positioning unit 240 department through transporting unit 220 and carry out the accurate positioning, the rethread snatchs the unit 330 after the accurate positioning and just can realize the arbitrary adjustment of carry-over area position, be in the same place the helmet carry-over area with the clitellum pressure equipment through pressure equipment unit 340 at last, above just can be convenient the accurate positioning and the removal of realization clitellum, whole operation automation very.

Referring to fig. 4, further, the positioning unit 240 includes a fixed block 241, a flipping block 242, and a sliding block 243; the fixed block 241 is fixedly installed on the first base 210, one side of the fixed block 241 is hinged with a turning block 242, the other side of the fixed block 241 is provided with a sliding block 243 which can be far away from or close to, when the sliding block 243 slides, the fixed block 241 and the sliding block 243 can realize the clamping and the loosening of the top belt of the helmet, and the turning block 242 is used for turning the top belt of the helmet on the back side to the front side and placing the top belt of the helmet between the fixed block 241 and the sliding block 243. The fixing block 241 is arranged for bearing the transferred top belt of the safety helmet, and the position of the fixing block 241 is always fixed, so that the positioning precision can be kept; the turning block 242 is arranged to cope with the situation that the top belt of the safety helmet faces upwards reversely, and can be turned to face upwards first and then accurately positioned; the sliding block 243 and the fixed block 241 are used together to achieve accurate positioning, and the position of the sliding block 243 can be moved, so that the top belt of the helmet can be conveniently placed between the fixed block 241 and the sliding block 243.

Furthermore, the whole fixed block 241 is square, the upper end surface of the fixed block 241 is provided with a trapezoidal protrusion, and two waist edges of the trapezoidal protrusion are matched with the inclined edges of the inner sides of the two buckles when the top belt of the safety helmet is fully unfolded; the sliding block 243 is arranged on the upper bottom side of the trapezoidal protrusion of the fixed block 241, the upper end face of the sliding block 243 is provided with the same trapezoidal protrusion, and the two trapezoidal protrusions of the fixed block 241 and the sliding block 243 clamp the top belt of the helmet in the middle and position the top belt of the helmet. The mode is adopted to accurately position the top belt of the safety helmet, the effect is very good, and the positioning pile is not used, so that the subsequent flow operation can be facilitated.

Furthermore, the turning block 242 is arranged on one side of the lower bottom of the trapezoidal protrusion of the fixed block 241, a groove for accommodating a top belt of the safety helmet is formed in the turning block 242, and the groove in the turning block 242 is large and can be conveniently placed into the top belt; the first base 210 is provided with a first motor 244, and the first motor 244 drives the turning block 242 to be in two states through a driving lever 245: the first state: the turning block 242 and the fixed block 241 are adjacently arranged, and the state two: the turning block 242 covers the upper side of the fixing block 241. After the first motor 244 and the shift lever 245 are arranged, when the top belt of the helmet is turned upside down, the top belt of the turning block 242 is only required to be placed in the groove of the turning block 242, then the first motor 244 is started to quickly turn the turning block 242 over to the upper side of the fixed block 241, at this time, the top belt of the turning block 242 is turned over to the fixed block 241, and after the turning, the first motor 244 needs to drive the turning block 242 to reset so as to receive the next top belt with the upside down.

Further, the guide rod arranged on the fixed block 241 is in sliding fit with the hole of the sliding block 243, and the first base 210 is provided with a second cylinder 246 for pushing the sliding block 243 to move; slider 243 thus acts more precisely and conveniently.

Referring to fig. 3 and 5, further, the transfer unit 220 includes a first power unit 221, a fixing plate 222, a first air cylinder 223 and a suction nozzle 224, the suction nozzle 224 is mounted on the fixing plate 222 through the first air cylinder 223, the suction nozzle 224 is used for sucking or lowering the top belt of the helmet, the first air cylinder 223 is used for driving the suction nozzle 224 to move up and down, and the first power unit 221 drives the fixing plate 222 to move between the two stations of the conveying unit 100 and the positioning unit 240. Because of the negative pressure in the suction nozzle 224, when the suction nozzle 224 is close to the top belt, the top belt is sucked up; the first air cylinder 223 is used for controlling the suction nozzle 224 to move up and down, the control is more convenient, the air cylinders are pneumatic components, air sources are conveniently provided, air path pipelines are conveniently arranged, and the air cylinders act very quickly.

Referring to fig. 6-8, further, the grasping unit 330 includes a clamping block 331, a lock 332, and a second motor 333; the bottom of the clamping block 331 is provided with a bulge, the bulge is matched with the positions and sizes of two waist-shaped holes on the buckle of the top belt of the safety helmet, and the height of the bulge is matched with the thickness of the buckle of the top belt, so that when the clamping block 331 of the grabbing unit 330 falls on the top belt, the bulge is just clamped into the waist-shaped hole of the top belt; two lock catches 332 are arranged below the protrusion, the lock catches 332 are waist-shaped and matched with the protrusion in shape, a rotating shaft is arranged in the middle of the lock catches 332 and extends into the clamping block 331, a second motor 333 and a gear 334 are arranged in the clamping block 331 and are used for driving the lock catches 332 to rotate, after the arrangement, only the second motor 333 needs to be started, the second motor 333 controls the lock catches 332 to rotate through the gear 334, the rotated lock catches and the protrusion form an X shape, and the top belt is firmly clamped in the middle; the fixed block 241 is provided with a groove which is separated from the lock catch 332, and the lock catch 332 can reliably fix and catch the top belt only by moving in the groove of the fixed block 241.

Since the safety helmet top has two buckles, it is preferable here that two buckle positions of the safety helmet top belt are respectively provided with one clamping block 331, the two clamping blocks 331 are fixed on a slider of the first driving unit 336 through an inverted T-shaped connecting rod 335, the first driving unit 336 further includes a screw rod arranged in the first base 320 and a motor driving the screw rod to rotate, and the first driving unit 336 drives the two clamping blocks 331 to synchronously move up and down through the connecting rod 335. Through the first driving unit 336, the up-and-down movement of the clamping block 331 can be conveniently operated, and the grabbing and the putting down of the top belt can be conveniently carried out.

Further, the press-fitting unit 340 comprises a press-fitting head 341 and a third power unit 342, the outer sides of the two clamping blocks 331 are respectively provided with the press-fitting head 341, the position of the press-fitting head 341 is vertically aligned with the position of a hole to be pressed on the buckle of the helmet top strap, the cross section of the press-fitting head 341 is circular or square, and the lower end part of the press-fitting head 341 is provided with a waist-shaped hole for avoiding a protrusion on the helmet strap; the third power unit 342 includes a screw rod disposed in the first seat 320, a motor driving the screw rod to rotate, and a slider moving up and down along the screw rod, and the upper end of the press-fitting head 341 is fixedly connected to the slider. The press-fitting unit 340 and the grabbing unit 330 are arranged together, so that the pressing operation after grabbing can be conveniently carried out, and the press-fitting unit 340 and the grabbing unit 330 can synchronously move, so that other positioning operations on the press-fitting head 341 are not needed, and the system is simplified.

The structure of the power unit is various, and in the present invention, preferably, the first power unit 221 includes a square frame installed at the top side of the first base 210, a slide rod and a screw rod installed between the square frames, and a motor driving the screw rod to rotate; the fixing plate 222 is provided with a through hole matched with the slide rod of the first power unit 221 and a threaded hole matched with the screw rod of the first power unit 221; the first power unit 221 is convenient to mount and dismount, and can provide reliable power, and the arrangement of the sliding rod ensures the smooth movement of the transfer unit 220. The first camera 230 is fixed on the fixing plate 222 and located at the upper side of the fastener sucked by the suction nozzle 224, so that images of the top belt can be conveniently shot, and the front side and the back side of the top belt are obviously different, so that the images can be rapidly identified through the photos.

Further, the second power unit 310 includes square frames, a slide bar and a screw rod installed between the square frames, and a motor driving the screw rod to rotate, the square frame of the second power unit 310 is installed above the square frame of the first power unit 221, and the screw rod of the second power unit 310 is perpendicular to the screw rod of the first power unit 221 and both located in a horizontal plane; the first base 320 is provided with a through hole engaged with the slide bar of the second power unit 310 and a threaded hole engaged with the screw rod of the second power unit 310. The second power unit 310 is similar in structure to the first power unit 221, and they also provide the same effect.

The invention also discloses a press mounting method of the top belt of the safety helmet, which comprises a top belt positioning device 200 and a top belt gripping device 300; the top belt positioning device 200 comprises a first base 210, a transfer unit 220, a first camera 230 and a positioning unit 240; the top belt gripping device 300 comprises a second power unit 310, a first seat 320, a gripping unit 330 and a press-fitting unit 340; the method comprises the following steps: A. the transfer unit 220 takes the top belt of the helmet from the transfer unit 100; B. the first camera 230 shoots whether the top belt of the safety helmet on the transferring unit 220 is a front side or a back side, if the top belt of the safety helmet on the transferring unit 220 is the front side, the transferring unit 220 directly places the top belt of the safety helmet on the positioning unit 240 for clamping, and if the top belt of the safety helmet on the transferring unit 220 is the back side, the top belt of the safety helmet is placed on the positioning unit 240 for clamping after being overturned; C. the second power unit 310 drives the grabbing unit 330 to move to the positioning unit 240 to grab the jammed helmet top strap; D. the second power unit 310 drives the grabbing unit 330 to move to a position where the helmet top strap is clamped with the hat hoop strap, then the press-fitting unit 340 is started, and after the press-fitting is completed, the grabbing unit 330 releases the helmet top strap. Through setting up first camera 230, can be convenient learn the positive and negative of conveyer unit 100 upper carry-over area, then shift the carry-over area on the conveyer belt to the positioning unit 240 department through transporting unit 220 and carry out the accurate positioning, the rethread snatchs the unit 330 after the accurate positioning and just can realize the arbitrary adjustment of carry-over area position, be in the same place the helmet carry-over area with the clitellum pressure equipment through pressure equipment unit 340 at last, above just can be convenient the accurate positioning and the removal of realization clitellum, whole operation automation very.

Further, the positioning unit 240 includes a fixed block 241, a turning block 242, and a sliding block 243; the fixed block 241 is fixedly installed on the first base 210, one side of the fixed block 241 is hinged with a turning block 242, and the other side of the fixed block 241 is provided with a sliding block 243 which can be far away from or close to; the step B comprises the following steps: b1, if it is the front side, the transferring unit 220 puts the top belt of the helmet between the fixed block 241 and the sliding block 243 and performs step B4; b2, if the safety helmet is the reverse side, the transfer unit 220 puts the safety helmet top belt on the turning block 242 and carries out the next step; b3, the turning block 242 drives the safety helmet top belt on the back side to turn over above the fixed block 241, and the safety helmet top belt falls between the fixed block 241 and the sliding block 243 in a front state; b4, drive the sliding block 243 to approach the fixing block 241 to clamp the top belt of the helmet. By adopting the steps, the clamping of the top belt can be well realized.

Furthermore, the whole fixed block 241 is square, the upper end surface of the fixed block 241 is provided with a trapezoidal protrusion, and two waist edges of the trapezoidal protrusion are matched with the inclined edges of the inner sides of the two buckles when the top belt of the safety helmet is fully unfolded; the sliding block 243 is arranged at the upper bottom side of the trapezoidal protrusion of the fixed block 241, the upper end face of the sliding block 243 is provided with the same trapezoidal protrusion, and in the step B4, the two trapezoidal protrusions of the fixed block 241 and the sliding block 243 clamp the top belt of the helmet.

Furthermore, the turning block 242 is arranged at one side of the lower bottom of the trapezoidal protrusion of the fixed block 241, and a groove for accommodating the top belt of the safety helmet is arranged on the turning block 242; the first base 210 is provided with a first motor 244, the first motor 244 drives the turning block 242 through a shift lever 245, the turning block 242 and the fixed block 241 are adjacently arranged when the first motor 244 is in a reset state, and in the step B3, the first motor 244 is driven to rotate forward first to enable the turning block 242 to turn over above the fixed block 241, and then the first motor 244 is driven to rotate reversely to reset.

Further, the guide rod arranged on the fixed block 241 is in sliding fit with the hole of the sliding block 243, the first base 210 is provided with a second air cylinder 246, and in the step B4, the second air cylinder 246 is driven to move; the transfer unit 220 includes a first power unit 221, a fixing plate 222, a first cylinder 223, and a suction nozzle 224, the suction nozzle 224 being mounted on the fixing plate 222 through the first cylinder 223; the step A comprises the following steps: a1, the first power unit 221 drives the fixing plate 222 to move to the conveying unit 100; a2, driving the first cylinder 223 to drive the suction nozzle 224 to move downwards to the upper part of the top belt of the safety helmet, and simultaneously generating negative pressure in the suction nozzle 224 to suck the top belt of the safety helmet; a3, driving the first cylinder 223 to drive the suction nozzle 224 to move upwards to the highest position, and then executing the step B; in step B, the first power unit 221 drives the helmet top belt to move between the fixed block 241 and the sliding block 243, or to move onto the turning block 242.

Further, the grabbing unit 330 includes a clamping block 331, a lock 332 and a second motor 333; the bottom of the clamping block 331 is provided with a bulge, the bulge is matched with the positions and the sizes of two waist-shaped holes on the buckle of the top belt of the safety helmet, and the height of the bulge is matched with the thickness of the buckle of the top belt; two lock catches 332 are arranged below the protrusions, the lock catches 332 are waist-shaped and matched with the protrusions in shape, rotating shafts are arranged in the middle of the lock catches 332 and extend into the clamping blocks 331, the second motors 333 and the gears 334 are arranged in the clamping blocks 331, and grooves which are avoided from the lock catches 332 are formed in the fixed blocks 241; the step C comprises the following steps: c1, the second power unit 310 drives the grabbing unit 330 to move above the fixed block 241; c2, the grabbing unit 330 moves downwards, and the lock catch 332 passes through the waist-shaped hole of the top belt of the safety helmet and then reaches the groove of the fixing block 241; c3, driving a second motor 333 to act, driving a lock catch 332 to rotate around the axis of the second motor 333 through a gear 334, wherein the lock catch 332 and the bulge are crossed to form an X shape and clamp the top belt of the safety helmet in the middle; c4, driving the second cylinder 246 to move to make the sliding block 243 far away from the fixed block 241, and the positioning unit 240 releases the top belt of the helmet; c5, the grabbing unit 330 moves the helmet top belt upwards.

Further, two clamping blocks 331 are respectively arranged at two clamping positions of the top belt of the helmet, the two clamping blocks 331 are fixed on a slider of the first driving unit 336 through an inverted T-shaped connecting rod 335, the first driving unit 336 further comprises a screw rod arranged in the first seat body 320 and a motor for driving the screw rod to rotate, and in the steps C2 and C5, the motor for driving the first driving unit 336 rotates forward or backward to realize the downward or upward movement of the grabbing unit 330.

Further, the press-fitting unit 340 comprises a press-fitting head 341 and a third power unit 342, the outer sides of the two clamping blocks 331 are respectively provided with the press-fitting head 341, the position of the press-fitting head 341 is vertically aligned with the position of a hole to be pressed on the buckle of the helmet top strap, the cross section of the press-fitting head 341 is circular or square, and the lower end part of the press-fitting head 341 is provided with a waist-shaped hole for avoiding a protrusion on the helmet strap; the third power unit 342 comprises a screw rod arranged in the first seat 320, a motor driving the screw rod to rotate, and a slide block moving up and down along the screw rod, and the upper end of the press-fitting head 341 is fixedly connected with the slide block; the step D comprises the following steps: d1, the second power unit 310 drives the grabbing unit 330 to move to a position where the first buckle of the top band of the safety helmet is clamped with the hoop band of the helmet; d2, starting a motor in a third power unit 342 beside the first buckle to rotate forwards and backwards, and driving a press-fitting head 341 by the third power unit 342 to press the first buckle to the hat band ring belt; d3, driving a second motor 333 on the upper side of the first buckle to act to release the lock catch 332 of the first buckle; d4, driving the motor in the first driving unit 336 to move the grabbing unit 330 upwards to the protrusion in the first buckle and withdraw the buckle 332; d5, the second power unit 310 drives the grabbing unit 330 to move to a position where the other buckle of the top belt of the safety helmet is clamped with the hoop belt; d6, according to the steps D2-D3, the press-fitting and releasing of another buckle are completed, D7, the motor in the first driving unit 336 is driven to move the grabbing unit 330 to the uppermost position.

Further, the first power unit 221 includes a square frame installed at the top side of the first base 210, a slide rod and a screw rod installed between the square frames, and a motor driving the screw rod to rotate; a through hole matched with the sliding rod of the first power unit 221 and a threaded hole matched with the screw rod of the first power unit 221 are formed in the fixing plate 222, and the first camera 230 is fixed on the fixing plate 222 and located at the upper side position of the fastener sucked by the suction nozzle 224; in the steps a1 and B, the suction nozzle 224 is driven to move onto the conveying unit 100, or between the fixed block 241 and the sliding block 243, or onto the turning block 242 by driving the motor in the first power unit 221211 to rotate forward or backward.

Further, the second power unit 310 includes square frames, a slide bar and a screw rod installed between the square frames, and a motor driving the screw rod to rotate, the square frame of the second power unit 310 is installed above the square frame of the first power unit 221, and the screw rod of the second power unit 310 is perpendicular to the screw rod of the first power unit 221 and both located in a horizontal plane; the first base 320 is provided with a through hole matched with the sliding rod of the second power unit 310 and a threaded hole matched with the screw rod of the second power unit 310; in the steps C1, D1, and D5, the motor in the second power unit 310 is driven to rotate forward or backward to drive the first seat 320 to translate, and the first seat 320 drives the grabbing unit 330 to move to the positioning unit 240 or to a position where the buckle of the top belt of the safety helmet is engaged with the band belt of the safety helmet.

Referring to fig. 9-17, the present invention further discloses a positioning device for a safety helmet hoop belt, including a left bracket 410, a right bracket 420, a second base 430 and a fourth power unit 400, wherein the right bracket 420 is fixedly installed on the second base 430, the left bracket 410 is fixed on the second base 430 through the fourth power unit 400, and the fourth power unit 400 drives the left bracket 410 to move away from or close to the right bracket 420; the right bracket 420 is used for supporting the hat hoop belt into a circular ring shape, the left bracket 410 is used for receiving the circular ring-shaped hat hoop belt, and the left bracket 410 is provided with a clamping head 415 for clamping the hat hoop belt and adjusting the posture to the state of clamping with the top belt of the safety helmet. Through establishing the cap hoop clitellum cover on right branch frame 420, just so can guarantee the preliminary gesture of cap hoop clitellum, promote it again and carry in the chuck 415 of left branch frame 410, just so can realize accurate location to the position of chuck 415 can be convenient controls, has just also realized the adjustment of cap hoop clitellum gesture, thereby has realized the accurate location and the position adjustment of lamellar cap hoop clitellum, provides convenience for subsequent automatic assembly.

Referring to fig. 11, further, the chuck 415 includes an elongated body and a pressing plate, the pressing plate of the chuck 415 is disposed adjacent to the body, a protruding column perpendicular to the surface of the body is disposed on the body of the chuck 415, and a blocking plate is disposed at one end of the protruding column away from the body of the chuck 415; the pressing plate is provided with a through hole matched with the convex column and can move along the length direction of the convex column; the periphery of the convex column is sleeved with a pressure spring, and two ends of the pressure spring are respectively abutted between the pressure plate and the blocking plate; the end of the pressure plate is bent upward to facilitate insertion of the band, and the end of the body of the clamp 415 is provided with a step to limit the insertion depth of the band. The clamping head 415 does not need extra power to control the clamping or loosening, the clamping force is kept by the elastic acting force of the compression spring, the end part of the pressing plate is completely convenient to guide and insert, and the use is very convenient and fast.

Referring to fig. 10 and 12, the left bracket 410 includes a second seat 411, a third motor 412 and a housing 413, the second seat 411 is fixed on the second base 430 through a fourth power unit 400, the third motor 412 is fixed on the second seat 411, a direction of an axis of the third motor 412 is parallel to a moving direction of the fourth power unit 400, the housing 413 is fixed on an output axis of the third motor 412, and the third motor 412 drives the housing 413 to rotate around the axis; the collet 415 is fixed to the housing 413 by a second driving unit 416, and the second driving unit 416 may drive the collet 415 to move in a radial direction of the housing 413. Thus, the chuck 415 can move in a plurality of ways, and can be driven by the fourth power unit 400 to move linearly, the third motor 412 can drive the third motor to rotate, and the second drive unit 416 can drive the third motor to move in a radial direction, so that various posture adjustments of the band can be realized through the chuck 415.

Further, the second driving unit 416 includes two parallel sliding rods and two parallel lead screws disposed in the housing 413, and a motor for driving the lead screws to rotate, where the lead screws of the second driving unit 416 are disposed along the radial direction of the housing 413 and have two sections of threads with opposite rotation directions; the clamp 415 is provided with a through hole which is in sliding fit with the slide rod of the second driving unit 416, and a threaded hole which is in threaded fit with the screw rod of the second driving unit 416, and the clamp 415 is provided with two screw threads which are arranged on the second driving unit 416 in opposite directions and have opposite rotation directions, respectively. The number of the clamping heads 415 is four, and the four clamping heads 415 are uniformly arranged at intervals along the circumferential direction; the second driving units 416 are provided with two sets, each set of the second driving units 416 drives two chucks 415 respectively, and the sliding rods and the screw rods of the two sets of the second driving units 416 are arranged at intervals in a staggered manner along the axial direction of the housing 413. The second driving unit 416 and the chuck 415 thus provided are very simple in structure and do not interfere with each other when actuated.

Referring to fig. 14-17, further, the right bracket 420 includes a middle shaft body 422, an outer shaft body 423, and a third seat body 424; the middle shaft body 422 is fixed on the second base 430 through the third seat body 424, and the outer diameter of the middle shaft body 422 is matched with the size when the hat band is clamped; the outer shaft body 423 is sleeved outside the middle shaft body 422, the third seat body 424 is provided with a fourth driving unit 425 for driving the outer shaft body 423 to move along the axial direction of the middle shaft body 422, and when the outer shaft body 423 extends out, the cap band ring sleeved on the middle shaft body 422 is extruded and sleeved into the chuck 415 of the left bracket 410. By providing the third seat 424, the middle shaft 422 can be conveniently fixed, and the outer shaft 423 can conveniently push the band of the cap band into the clamp 415 of the left bracket 410.

In consideration of the need to press the top belt and the ring belt at the time of assembly, it is preferable that the right bracket 420 includes a spindle body 421 and a fifth driving unit 426; the section of the middle shaft body 422 is an inner square and an outer circle, the outer shaft body 423 is cylindrical, the mandrel body 421 is square, the fifth driving unit 426 drives the mandrel body 421 to move along the axial direction of the middle shaft body 422, and the mandrel body 421 extends to a position between the bodies of the four chucks 415 when extending out to support the chucks 415. By providing the mandrel body 421, support can be provided when the pressing action is performed, and the reliability of pressing is improved.

In order to avoid the cap band from being deformed too much to cause falling off or interfering with other components, it is preferable here that the left bracket 410 includes a push rod 417 and a third driving unit 418; the push rod 417 comprises a strip-shaped body, one end of which is provided with a straight rod; the third driving unit 418 and the second driving unit 416 have the same structure; a through hole which forms sliding fit with the sliding rod of the third driving unit 418 and a threaded hole which forms threaded fit with the screw rod of the third driving unit 418 are formed in the body of the push rod 417; the four push rods 417 are arranged, the four push rods 417 are uniformly arranged at intervals along the circumferential direction, two groups of third driving units 418 are arranged, and each group of third driving units 418 respectively drives the two push rods 417; the slide bars and the lead screws of the third driving unit 418 are alternately arranged in the axial direction of the housing 413. The push rod 417 is arranged similar to the collet 415, and functions primarily to toggle the body of the cap band.

Referring to fig. 13, further, the cross section of the housing 413 is a regular octagonal cylinder, and a set of slide bars and screw rods of the second driving unit 416 or the third driving unit 418 are fixed on two opposite parallel plate surfaces of the housing 413; one end of the housing 413 far away from the right bracket 420 is provided with a flange fixedly connected with the third motor 412, one end of the housing 413 facing the right bracket 420 is provided with an end cover 414, and the end cover 414 is provided with a plurality of strip-shaped holes for avoiding the chuck 415 and the push rod 417. The regular octagon is just suitable for the use of the clamping head 415 and the push rod 417, a through hole is drilled on the side edge of the regular octagon, then a pin shaft and the like are arranged in the cylinder, and the cylinder is directly fixed by screws, so that the shell 413 with the structure is convenient for the arrangement and the disassembly of other parts.

Further, the fourth driving unit 425 and the fifth driving unit 426 are both composed of a screw rod, a motor driving the screw rod to rotate, and a slide block sliding along the screw rod; the tail end of the mandrel body 421 is fixed on the slider of the fifth driving unit 426, the tail section of the outer shaft 423 is provided with a guide rod penetrating through the third seat 424, and the tail end of the guide rod is fixed on the slider of the fourth driving unit 425; the fourth power unit 400 includes a linear guide rail and a lead screw installed on the second base 430, a motor driving the lead screw to rotate, and a slider sliding along the lead screw, and the lower end of the second seat 411 is fixed to the slider of the linear guide rail and the slider of the fourth power unit 400, so that the second seat 411 can be guaranteed to stably slide; the third seat 424 is fixed on the second base 430 through the bracket 431, and the second base 430 is provided with a second camera 450 below the middle shaft body 422 for shooting the angle of the cap hoop ring belt sleeved on the middle shaft body 422, so that the included angle of the shell 413 can be adjusted through the shot angle, and the clamp 415 can be ensured to accurately clamp the place where the cap hoop ring belt needs to be clamped.

Referring to fig. 3-18, an automatic press-fitting system for a top belt and a hoop belt of a safety helmet comprises a top belt positioning device 200, a top belt gripping device 300 and a belt positioning device 400, wherein the top belt positioning device 200 is used for taking out and positioning the top belt of the safety helmet on a conveying unit 100, the belt positioning device 400 is used for positioning the hoop belt of the safety helmet, the top belt gripping device 300 grips and positions the top belt of the safety helmet, moves the top belt of the safety helmet to the hoop belt of the positioned safety helmet and tightly presses the top belt and the hoop belt of the positioned safety helmet, and the belt positioning device 400 can also perform posture adjustment on the hoop belt of the safety helmet so as to realize that the two top belts of the safety helmet are alternately pressed and mounted on the hoop belt. Because the top belt and the girdle belt of the safety helmet are both made of thin plastic pieces and are not easy to grab, the top belt and the girdle belt are respectively positioned by the top belt positioning device 200 and the girdle belt positioning device 400, and then the top belt is grabbed to the proper position of the girdle belt by the top belt grabbing device 300 after the positioning and then is compressed; meanwhile, the posture of the cap hoop girdle is adjusted by the girdle positioning device 400 in the crimping process, so that the compression of four points can be realized, the system has simple structure, the automation can be realized, and the labor cost is greatly reduced.

Further, the top belt positioning device 200 comprises a first base 210, a transferring unit 220, a first camera 230 and a positioning unit 240, wherein the first camera 230 is used for shooting front and back information of the top belt of the safety helmet, the transferring unit 220 transfers the top belt of the safety helmet conveyed by the conveying unit 100 to different stations of the positioning unit 240 according to the output information of the first camera 230, and the positioning unit 240 carries out turning and then clamping or directly clamping on the top belt of the safety helmet; the girdle positioning device 400 comprises a left bracket 410, a right bracket 420, a second base 430 and a fourth power unit 400, wherein the right bracket 420 is fixedly arranged on the second base 430, the left bracket 410 is fixed on the second base 430 through the fourth power unit 400, the fourth power unit 400 drives the left bracket 410 to be far away from or close to the right bracket 420, the right bracket 420 is used for supporting the girdle of the cap hoop into a circular shape, the left bracket 410 is used for bearing the girdle of the circular cap hoop, and the left bracket 410 is provided with a clamping head 415 for clamping the girdle of the cap hoop and adjusting the posture to the state of clamping with the top girdle of the safety cap; the top strap gripping device 300 comprises a second power unit 310, a first seat body 320, a gripping unit 330 and a press-fitting unit 340, wherein the gripping unit 330 and the press-fitting unit 340 are fixed on the first seat body 320, the second power unit 310 drives the first seat body 320 to move, the gripping unit 330 is used for gripping or releasing the top strap of the safety helmet clamped on the positioning unit 240, and the press-fitting unit 340 is used for pressing the top strap of the safety helmet to the ring strap of the safety helmet.

Further, the positioning unit 240 includes a fixed block 241, a turning block 242, and a sliding block 243; the fixing block 241 is fixedly installed on the first base 210, the whole fixing block is square, a trapezoidal protrusion is arranged on the upper end face of the fixing block 241, and two waist edges of the trapezoidal protrusion are matched with inclined edges of the inner sides of the two buckles when the top belt of the safety helmet is fully unfolded; the sliding block 243 is arranged at the upper bottom side of the trapezoidal protrusion of the fixed block 241, the upper end face of the sliding block 243 is provided with the same trapezoidal protrusion, the two trapezoidal protrusions of the fixed block 241 and the sliding block 243 clamp the top belt of the helmet in the middle and position the top belt of the helmet, the sliding block 243 is provided with a hole which is in sliding fit with the guide rod arranged on the fixed block 241, and the first base 210 is provided with a second air cylinder 246 for pushing the sliding block 243 to move; the turning block 242 is disposed at one side of a lower bottom of the trapezoidal protrusion of the fixed block 241, a groove for accommodating a top belt of the helmet is disposed on the turning block 242, a first motor 244 is disposed on the first base 210, and the first motor 244 shifts the turning block 242 to be disposed adjacent to the fixed block 241 or to cover an upper side of the fixed block 241 through a shift lever 245.

Further, the transfer unit 220 comprises a first power unit 221, a fixing plate 222, a first air cylinder 223 and a suction nozzle 224, wherein the suction nozzle 224 is mounted on the fixing plate 222 through the first air cylinder 223, the suction nozzle 224 is used for sucking or putting down a helmet top strap, the first air cylinder 223 is used for driving the suction nozzle 224 to move up and down, the first power unit 221 comprises a square frame body mounted on the side edge of the top of the first base 210, a slide rod and a screw rod mounted between the square frame bodies, and a motor for driving the screw rod to rotate; the fixing plate 222 is provided with a through hole matched with the sliding rod of the first power unit 221 and a threaded hole matched with the screw rod of the first power unit 221, and the first camera 230 is fixed on the fixing plate 222 and located at the upper side position of the fastener sucked by the suction nozzle 224.

Further, the grabbing unit 330 includes a clamping block 331, a lock 332 and a second motor 333; the bottom of the clamping block 331 is provided with a bulge, the bulge is matched with the positions and the sizes of two waist-shaped holes on the buckle of the top belt of the safety helmet, and the height of the bulge is matched with the thickness of the buckle of the top belt; two lock catches 332 are arranged below the protrusions, the lock catches 332 are waist-shaped and matched with the protrusions, rotating shafts are arranged in the middle of the lock catches 332 and extend into the clamping blocks 331, second motors 333 and gears 334 are arranged in the clamping blocks 331 and used for driving the lock catches 332 to rotate, and grooves which are avoided from the lock catches 332 are formed in the fixed blocks 241; two buckle department of safety helmet top band respectively sets up a joint piece 331, and two joint pieces 331 are fixed on the slider of first drive unit 336 through the connecting rod 335 of type of falling T, and first drive unit 336 still includes the lead screw and the pivoted motor of drive lead screw that set up in first pedestal 320, and first drive unit 336 drives two joint pieces 331 through connecting rod 335 and moves about in step.

Further, the press-fitting unit 340 comprises a press-fitting head 341 and a third power unit 342, the outer sides of the two clamping blocks 331 are respectively provided with the press-fitting head 341, the position of the press-fitting head 341 is vertically aligned with the position of a hole to be pressed on the buckle of the helmet top strap, the cross section of the press-fitting head 341 is circular or square, and the lower end part of the press-fitting head 341 is provided with a waist-shaped hole for avoiding a protrusion on the helmet strap; the third power unit 342 includes a screw rod disposed in the first seat 320, a motor driving the screw rod to rotate, and a slider moving up and down along the screw rod, and the upper end of the press-fitting head 341 is fixedly connected to the slider.

Further, the left bracket 410 includes a second seat 411, a third motor 412, a housing 413, an end cap 414, a push rod 417, a second driving unit 416, and a third driving unit 418; the second base 411 is fixed on the second base 430 through the fourth power unit 400, the third motor 412 is fixed on the second base 411, the axial direction of the third motor 412 is parallel to the movement direction of the fourth power unit 400, the housing 413 is fixed on the output shaft of the third motor 412, and the third motor 412 drives the housing 413 to rotate around the axial core; the clamp 415 comprises a strip-shaped body and a pressing plate, the pressing plate of the clamp 415 is arranged by being attached to the body, a convex column perpendicular to the surface of the body is arranged on the body of the clamp 415, a blocking plate is arranged at one end, away from the body of the clamp 415, of the convex column, a through hole matched with the convex column is formed in the pressing plate, the pressing plate can move along the length direction of the convex column, a pressure spring is sleeved on the periphery of the convex column, two ends of the pressure spring are respectively abutted between the pressing plate and the blocking plate, the end portion of the pressing plate is bent upwards so as to facilitate insertion of a cap hoop ring belt, and a step is arranged at; the collet 415 is fixed on the housing 413 by a second driving unit 416, and the second driving unit 416 can drive the collet 415 to move along the radial direction of the housing 413; the push rod 417 comprises a strip-shaped body, one end of which is provided with a straight rod; the push rod 417 is fixed to the housing 413 by a third driving unit 418, and the third driving unit 418 can drive the push rod 417 to move in a radial direction of the housing 413.

Furthermore, the cross section of the shell 413 is a regular octagonal cylinder, and a set of sliding rods and screw rods of the second driving unit 416 or the third driving unit 418 are fixed on two opposite parallel plate surfaces of the shell 413; a flange is arranged at one end of the shell 413 far away from the right bracket 420 and fixedly connected with a third motor 412, an end cover 414 is arranged at one end of the shell 413 facing the right bracket 420, and a plurality of strip-shaped holes are formed in the end cover 414 and used for avoiding the chuck 415 and the push rod 417; the four chucks 415 and the four push rods 417 are respectively provided with four, the four chucks 415 and the four push rods 417 are uniformly arranged at intervals along the circumferential direction, and the slide bars and the screw rods of the second driving unit 416 and the third driving unit 418 are arranged at intervals in a staggered manner along the axial direction of the shell 413.

Further, the right bracket 420 includes a core shaft body 421, a middle shaft body 422, an outer shaft body 423, and a third seat body 424; the middle shaft body 422 is fixed on the second base 430 through the third seat body 424, and the outer diameter of the middle shaft body 422 is matched with the size when the hat band is clamped; the outer shaft body 423 is cylindrical and is sleeved outside the middle shaft body 422, the section of the middle shaft body 422 is an inner square and an outer circle, and the mandrel body 421 is square; the third seat body 424 is provided with a fourth driving unit 425 and a fifth driving unit 426 which respectively drive the outer shaft body 423 and the core shaft body 421 to move along the axial direction of the middle shaft body 422, and when the outer shaft body 423 extends out, the cap band sleeved on the middle shaft body 422 is extruded and sleeved into the chuck 415 of the left bracket 410; the mandrel body 421 extends between the bodies of the four collets 415 as it extends to cradle the collets 415.

Further, the fourth driving unit 425 and the fifth driving unit 426 are both composed of a screw rod, a motor driving the screw rod to rotate, and a slide block sliding along the screw rod; the tail end of the mandrel body 421 is fixed on the slider of the fifth driving unit 426, the tail section of the outer shaft 423 is provided with a guide rod penetrating through the third seat 424, and the tail end of the guide rod is fixed on the slider of the fourth driving unit 425; the fourth power unit 400 includes a linear guide rail and a lead screw installed on the second base 430, a motor driving the lead screw to rotate, and a slider sliding along the lead screw, and the lower end of the second base 411 is fixed to the slider of the linear guide rail and the slider of the fourth power unit 400; the third seat 424 is fixed on the second base 430 through a bracket 431, and a second camera 450 is arranged on the second base 430 below the middle shaft body 422 and is used for shooting the angle of the cap band ring sleeved on the middle shaft body 422.

The invention also discloses a method for positioning the angle of the hat band of the safety helmet, which comprises a left bracket 410, a right bracket 420, a second camera 450 and a second base 430, wherein the second camera 450 is fixed on the second base 430 and is positioned below the right bracket 420 and is used for shooting the image of the hat band sleeved on the right bracket 420, a control unit processes the image to obtain the angle of the hat band, the left bracket 410 drives a chuck 415 to rotate to a corresponding angle to receive the hat band, and the control unit processes the image according to the following steps: s100, acquiring a planar development view of an annular cap hoop belt, wherein the transverse direction of the planar development view is parallel to the annular center line of the cap hoop belt, and the longitudinal direction of the planar development view is the center line of the cap hoop belt; s200, arbitrarily drawing a transverse line as 0 degree, equidistantly drawing a plurality of transverse lines in the whole picture, wherein each transverse line corresponds to an angle; s300, cutting out a template picture with a specified length and width by taking the intersection point of the transverse line and the central line of the girdle of the hat band as an origin, and taking the angle corresponding to the transverse line as the corresponding angle of the template picture; s400, shooting a bottom view of the hat band in an actual state, and cutting out a picture to be detected with the same size as that in the step S300 by taking the transverse center line of the image and the center line of the hat band as an intersection point; s500, matching the picture to be detected with all the template pictures and outputting the corresponding angle of the matched template picture. The template picture corresponding to the known angle is obtained by obtaining a planar development picture of the annular cap band, the shot picture is matched with the template picture, the angle corresponding to the picture to be detected can be conveniently obtained, after the corresponding angle is obtained, the left support 410 drives the chuck 415 to rotate by the corresponding angle, and therefore the chuck 415 and the clamping part on the cap band can be ensured to correspond to each other, subsequent compression joint is facilitated, the angle identification method is very reliable, and the identification speed is high.

There are many schemes for obtaining angles based on template picture matching, and two preferred schemes are provided herein for reference.

In the first embodiment, in step S500, matching is performed according to the following steps: s501, calculating the similarity between the picture to be detected and all template pictures; s502, taking an angle corresponding to the template picture with similarity larger than 90%; s503, calculating the average value of all the angles to obtain the angle of the hat band ring belt. Whether the current position is the position corresponding to the template picture is judged directly by calculating the similarity of the two pictures.

In the second scheme, in the step S500, matching is performed according to the following steps: s511, repeating the steps S100-S300 to obtain a plurality of template pictures; s512, extracting features in the template picture as sample features, and taking the angle corresponding to the template picture as a sample classification result; s513, dividing the sample into a training set and a testing set according to a certain proportion; s514, substituting the characteristics and classification results of the training set into a random forest algorithm to establish a picture angle identification model; s515, testing the recognition accuracy of the picture angle recognition model by using the test set, if the accuracy is more than or equal to 90%, entering the next step, otherwise, returning to the step S511; s516, extracting the characteristics of the picture to be tested and inputting the characteristics into the picture angle identification model, and outputting the angle of the hat band. The identification of the angle is carried out by constructing an identification model, and the scheme is fast in identification in practical application because similarity calculation does not need to be carried out on each template picture. These features may be the number of holes in the picture, the size of the holes, the presence or absence of a particular shape, the width of the cuff body, etc.

Further, in step S100, the planar development diagram is obtained according to the following steps: s101, sleeving the cap hoop on the right bracket 420; s102, shooting an image of the hat band ring belt by the second camera 450; s103, manually shifting the hat band to rotate for a certain angle, and continuously shooting images; s104, repeatedly executing the step S103 until the circumferential images of the hat band are completely shot; and S105, splicing and cutting the shot images to obtain a planar expansion diagram. In this way, a planar development view can be conveniently obtained.

Further, in step S200, 360 horizontal lines are drawn in the whole drawing, which correspond to { 0 °, 1 °, 2 °, …, 359 ° }, so that the angle recognition accuracy can reach 1 ° later, and if such high accuracy is not required, a smaller number of horizontal lines can be drawn. In step S300, the width of the template picture is greater than the narrowest width of the hat band and less than the widest width of the hat band, and the length of the template picture is less than or equal to 2 cm. This allows better matching.

Further, the left bracket 410 and the right bracket 420 may be arranged according to the previously preferred scheme, and will not be described in detail here.

Claims

1. The utility model provides a safety helmet top belt location and grabbing device which characterized in that: comprises a top belt positioning device (200) and a top belt gripping device (300); the top belt positioning device (200) comprises a first base (210), a transferring unit (220), a first camera (230) and a positioning unit (240), wherein the first camera (230) is used for shooting front and back information of the top belt of the safety helmet, the transferring unit (220) transfers the top belt of the safety helmet conveyed by the conveying unit (100) to different stations of the positioning unit (240) according to the output information of the first camera (230), and the positioning unit (240) overturns and clamps the top belt of the safety helmet so as to position the top belt of the safety helmet; the top belt grabbing device (300) comprises a second power unit (310), a first base body (320), a grabbing unit (330) and a press-fitting unit (340), wherein the grabbing unit (330) is used for grabbing the top belt of the safety helmet, the press-fitting unit (340) is used for pressing the top belt of the safety helmet onto the ring belt of the safety helmet, the grabbing unit (330) and the press-fitting unit (340) are both fixed on the first base body (320), and the second power unit (310) drives the first base body (320) to move between a material taking station and a press-fitting station.

2. The headgear top-strap positioning and grasping device of claim 1, wherein: the positioning unit (240) comprises a fixed block (241), a turning block (242) and a sliding block (243); fixed block (241) fixed mounting is on first base (210), and one side of fixed block (241) articulates there is upset piece (242), and the opposite side of fixed block (241) is provided with sliding block (243) that can keep away from or be close to, and the chucking of safety helmet top belt and loosening can be realized to fixed block (241) and sliding block (243) when sliding block (243), and upset piece (242) are used for turning over the safety helmet top belt of reverse side into the front and place between fixed block (241) and sliding block (243).

3. The headgear top-strap positioning and grasping device of claim 2, wherein: the whole fixed block (241) is in a square block shape, the upper end face of the fixed block (241) is provided with a trapezoidal bulge, and two waist edges of the trapezoidal bulge are matched with inclined edges of the inner sides of the two buckles when the top belt of the safety helmet is fully unfolded; the sliding block (243) is arranged on the upper bottom side of the trapezoidal protrusion of the fixed block (241), the same trapezoidal protrusion is arranged on the upper end face of the sliding block (243), and the two trapezoidal protrusions of the fixed block (241) and the sliding block (243) clamp the top belt of the helmet in the middle and position the top belt of the helmet.

4. The headgear top-strap positioning and grasping device of claim 3, wherein: the turning block (242) is arranged on one side of the lower bottom of the trapezoidal protrusion of the fixed block (241), and a groove for accommodating a top belt of the safety helmet is formed in the turning block (242); the first base (210) is provided with a first motor (244), and the first motor (244) toggles the turning block (242) through a toggle lever (245) to be in two states: the first state: the turning block (242) and the fixed block (241) are adjacently arranged, and the state II is as follows: the turning block (242) covers the upper side of the fixed block (241).

5. The headgear top-strap positioning and grasping device of claim 4, wherein: the guide rod arranged on the fixed block (241) is in sliding fit with the hole of the sliding block (243), and the first base (210) is provided with a second cylinder (246) for pushing the sliding block (243) to move; the transfer unit (220) comprises a first power unit (221), a fixing plate (222), a first air cylinder (223) and a suction nozzle (224), wherein the suction nozzle (224) is installed on the fixing plate (222) through the first air cylinder (223), the suction nozzle (224) is used for sucking or putting down a helmet top belt, the first air cylinder (223) is used for driving the suction nozzle (224) to move up and down, and the first power unit (221) drives the fixing plate (222) to move between two stations of the conveying unit (100) and the positioning unit (240).

6. The headgear top-strap positioning and grasping device of claim 5, wherein: the grabbing unit (330) comprises a clamping block (331), a lock catch (332) and a second motor (333); the bottom of the clamping block (331) is provided with a bulge, the bulge is matched with the positions and the sizes of two waist-shaped holes on the buckle of the top belt of the safety helmet, and the height of the bulge is matched with the thickness of the buckle of the top belt; two lock catches (332) are arranged below the protrusions, the lock catches (332) are waist-shaped and matched with the protrusions in shape, rotating shafts are arranged in the middle of the lock catches (332) and extend into the clamping blocks (331), and second motors (333) and gears (334) are arranged in the clamping blocks (331) and used for driving the lock catches (332) to rotate; the fixed block (241) is provided with a groove which is avoided from the lock catch (332).

7. The headgear top-strap positioning and grasping device of claim 6, wherein: two buckle departments in safety helmet top band respectively set up a joint piece (331), and two joint pieces (331) are fixed on the slider of first drive unit (336) through connecting rod (335) of the type of falling T, and first drive unit (336) still includes the lead screw and the pivoted motor of drive lead screw that set up in first pedestal (320), and first drive unit (336) are through connecting rod (335) two joint pieces (331) of drive synchronous upper and lower action.

8. The headgear top-strap positioning and grasping device of claim 7, wherein: the pressing unit (340) comprises a pressing head (341) and a third power unit (342), the outer sides of the two clamping blocks (331) are respectively provided with the pressing head (341), the position of the pressing head (341) is vertically aligned with the position of a hole to be pressed on a buckle of the top belt of the safety helmet, the section of the pressing head (341) is circular or square, and the lower end part of the pressing head (341) is provided with a waist-shaped hole for avoiding a bulge on the safety helmet ring belt; the third power unit (342) comprises a screw rod arranged in the first seat body (320), a motor driving the screw rod to rotate and a sliding block moving up and down along the screw rod, and the upper end of the press-fitting head (341) is fixedly connected with the sliding block.

9. The headgear top-strap positioning and grasping device of claim 8, wherein: the first power unit (221) comprises square frame bodies arranged on the side edge of the top of the first base (210), sliding rods and screw rods arranged between the square frame bodies, and a motor for driving the screw rods to rotate; the fixing plate (222) is provided with a through hole matched with the sliding rod of the first power unit (221) and a threaded hole matched with the screw rod of the first power unit (221), and the first camera (230) is fixed on the fixing plate (222) and is positioned at the upper side position of the buckle sucked by the suction nozzle (224).

10. The headgear top-strap positioning and grasping device of claim 9, wherein: the second power unit (310) comprises square frame bodies, a sliding rod and a screw rod which are arranged between the square frame bodies, and a motor for driving the screw rod to rotate, the square frame bodies of the second power unit (310) are arranged above the square frame bodies of the first power unit (221), and the screw rod of the second power unit (310) is vertical to the screw rod of the first power unit (221) and is positioned in the horizontal plane; the first base (320) is provided with a through hole matched with the sliding rod of the second power unit (310) and a threaded hole matched with the screw rod of the second power unit (310).