Material distribution and positioning system for air conditioning condenser side plates

Abstract

The present invention provides a material distribution and positioning system for the side panels of an air-conditioning condenser, which includes a material storage mechanism, a transfer mechanism, a robot positioning mechanism, and a positioning platform. Among them, the material storage rack of the material storage mechanism adopts a hanging method to fix the side panels, and can be compatible with various types of side panels of different lengths and shapes. At the same time, the grabbing unit in the transfer mechanism can automatically and accurately retrieve materials relative to the material storage rack under the action of the horizontal walking unit and the vertical walking unit. The robot combined with the material retrieval and positioning unit can realize the positioning and transfer of the side panels according to the structure of the side panels, so that the side panels are positioned on the positioning platform for subsequent assembly operations. The entire system has a high degree of automation, which effectively improves the work efficiency of the side panel retrieval and positioning operations.

Description

Technical Field

[0001] The invention relates to the technical field of air-conditioning condenser manufacturing, and in particular to a material distribution and positioning system for a side plate of an air-conditioning condenser. Background Art

[0002] The air conditioner condenser is mainly assembled by fins, long U-tubes and side panels. Among them, the side panels are similar to angle irons, and their specifications are complex and diverse, but the common feature of side panels of different specifications is that their partial apertures are consistent. At present, the assembly of air conditioner condensers is mainly manual operation, and each component is manually moved to the workbench and assembled manually. The positioning of the side panels is also manually operated, with poor positioning accuracy and low assembly efficiency. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems of poor manual assembly positioning accuracy and low assembly efficiency of side plates in the assembly process of air conditioner condensers in the prior art.

[0004] In order to solve the above technical problems, the present invention provides a material distribution and positioning system for the side plate of an air-conditioning condenser, which comprises a material storage mechanism, a transfer mechanism, a robot positioning mechanism and a positioning platform; the material storage mechanism comprises a frame and a material storage bin; the frame comprises a fixed platform and a connecting frame arranged on one side of the fixed platform, and the connecting frame extends along the length direction of the fixed platform; the material storage bin is arranged on the fixed platform, the material storage bin comprises a plurality of groups of material storage racks, and the plurality of groups of the material storage racks are arranged at intervals along the length direction of the fixed platform, and each group of the material storage racks comprises a pair of oppositely arranged material string pillars and a material string rod arranged at the top ends of the two material string pillars, the material string rod is used to fix the side plate, and a plurality of the side plates are arranged on the material string rod at intervals along the length direction of the material string rod; the transfer mechanism is arranged on the connecting frame and is located above the fixed platform; the transfer mechanism comprises a horizontal walking unit, a vertical walking unit and a grabbing unit; the horizontal walking unit is movably arranged on the connecting frame, and the moving direction of the horizontal walking unit is consistent with the length direction of the fixed platform; the vertical walking unit can be lifted and lowered in the vertical direction The robot positioning mechanism is arranged on the side of the fixed platform opposite to the connecting frame, and the robot positioning mechanism includes a material picking positioning unit and a robot drivingly connected to the material picking positioning unit; the material picking positioning unit includes a fixing pin and a material picking electromagnet arranged on one side of the fixing pin, the fixing pin is used to locate the through hole of the side plate, and the material picking electromagnet is used to electromagnetically adsorb and fix the side plate, so that the side plate is transferred by the transfer mechanism under the drive of the robot; the positioning platform is arranged at the end of the fixed platform and is spaced apart from the fixed platform; the positioning platform includes a platform body and a plurality of positioning columns spaced apart on the top end surface of the platform body, the spacing between the positioning columns is adapted to the distance between the through holes on the side plate, and the side plate is transferred from the transfer mechanism by the robot and is inserted into the positioning column.

[0005] Optionally, there are multiple material storage bins, each of which includes a bin slide; the bin slide is fixed at the bottom end of the material storage rack, and the bin slide can be slidably set on the fixed table; the fixed table is provided with a loading workstation and a retrieving workstation, the loading workstation is arranged at the end of the fixed table away from the positioning table, and the retrieving workstation is located at the end of the fixed table close to the positioning table; multiple material storage bins are moved from the loading workstation to the retrieving workstation in sequence.

[0006] Optionally, the material storage mechanism also includes a silo driving cylinder, which includes a silo cylinder body and a linearly retractable silo driving rod arranged on the silo cylinder body, the silo cylinder body is fixed on the fixed table, and the silo driving rod is connected to the silo slide to drive the silo slide to move relative to the fixed table.

[0007] Optionally, the outer contours of the fixed table and the silo slide are both square, the loading workstation and the picking workstation are respectively located at two opposite diagonal positions of the fixed table, and a plurality of silo slides are moved from the loading workstation to the picking workstation in sequence along the peripheral edge of the fixed table.

[0008] Optionally, the material storage mechanism also includes a stopping arm that can be extended and retracted along a straight line and a swing arm connected to the stopping arm, the stopping arm is arranged close to the material picking work station, and the stopping arm is extended and retracted relative to the fixed platform so that the swing arm stops the storage bin located at the material picking work station.

[0009] Optionally, the material storage mechanism also includes a material sensor, which is arranged on the connecting frame and close to the material picking work station; there are multiple material sensors, and the multiple material sensors are arranged at intervals along the length direction of the fixed table, and correspond one by one to the multiple storage racks of the storage bin located at the material picking work station; the material sensor is a photoelectric sensor, which is used to detect whether the side plate is on the material string rod.

[0010] Optionally, the frame further includes a mounting seat, which is disposed on the connecting frame and can be linearly extended and retracted along the width direction of the fixed platform; a plurality of material sensors are spaced apart on the mounting seat so as to be relatively close to or away from a storage bin located at the material picking work station.

[0011] Optionally, the horizontal walking unit includes a driving motor and a connecting seat connected to the output shaft of the driving motor, and the vertical walking unit is arranged on the connecting seat; the top of the connecting frame is provided with a slide groove adapted to the connecting seat, and the end of the connecting seat can be slidably arranged in the slide groove; the driving motor is a servo motor, which is used to drive the connecting seat to move in the slide groove.

[0012] Optionally, the vertical walking unit includes a lifting drive cylinder and a transition seat, the lifting drive cylinder includes a lifting cylinder body and a lifting drive rod arranged on the lifting cylinder body; the lifting cylinder body is arranged on the connecting seat, the lifting drive rod can be telescoped in a straight line in the vertical direction relative to the connecting seat, the transition seat is arranged at the end of the lifting drive rod, and the grabbing unit is arranged on the transition seat.

[0013] Optionally, the vertical walking unit further includes a positioning rod, the positioning rod is connected to the transition seat, the connecting seat is provided with a positioning hole at a position corresponding to the positioning rod, and the positioning rod is passed through the positioning hole.

[0014] Optionally, the grabbing unit also includes a grabbing driving member, which is arranged on the transition seat, the grabbing driving member is connected to the grabbing part and drives the grabbing part to rotate, and the rotation axis of the grabbing part is consistent with the width direction of the fixed platform; the rotation directions of the two grabbing parts of the gripper are opposite so that the two grabbing parts are relatively close to or far away from each other.

[0015] Optionally, four grippers are provided, and the four grippers are respectively a first gripper, a second gripper, a third gripper and a fourth gripper; the first gripper and the fourth gripper are respectively arranged at two ends of the transition seat, and the fourth gripper is arranged close to the connecting frame; the second gripper is arranged close to the first gripper and is arranged on the inner side of the first gripper; the third gripper is arranged close to the fourth gripper and is located on the inner side of the fourth gripper; the vertical positions of the second gripper and the third gripper respectively correspond to the two opposite material string pillars of the storage rack located below the grabbing unit.

[0016] Optionally, the grabbing unit further includes a grabbing electromagnet, which is disposed on the inner side of the second gripper and is used for fixing the side plate by electromagnetic adsorption.

[0017] Optionally, the material storage mechanism also includes a material fixing assembly, which is arranged at one end of the connecting frame close to the positioning platform; the material fixing assembly is located on the outside of the vertical walking unit and is arranged above the storage bin; the material fixing assembly includes a connecting rod and a plurality of fixed electromagnets arranged on the connecting rod, one end of the connecting rod is fixed to the connecting frame, the connecting rod extends along the width direction of the fixed platform, and the plurality of fixed electromagnets are arranged at intervals along the length direction of the connecting rod, and the fixed electromagnets face the vertical walking unit.

[0018] Optionally, the material fixing components are provided in a plurality of groups, and the plurality of groups of the material fixing components are arranged on the connecting frame at intervals along the vertical direction.

[0019] Optionally, the robot positioning mechanism further comprises a distance measuring sensor, and the distance measuring sensor is arranged on the material picking positioning unit, and is used to measure the distance between the material picking positioning unit and the side plate.

[0020] Optionally, the robot positioning mechanism further includes a grab sensor, which is disposed on the material picking and positioning unit; the grab sensor is a diffuse reflection photoelectric sensor, which is used to detect whether the side plate is pierced through the fixing pin.

[0021] Optionally, the robot positioning mechanism further comprises a camera, which is disposed on the material picking positioning unit and is used to capture an image of the side plate.

[0022] Optionally, the robot includes a robot body and a robot arm rotatably connected to the robot body, and the robot arm is drivingly connected to the material picking and positioning unit.

[0023] Optionally, the material picking and positioning unit further includes a fixed plate and a pair of fixed arms vertically connected to both ends of the fixed plate, the robot is drivingly connected to the fixed plate, and the end of each fixed arm is provided with the fixing pin and the material picking electromagnet.

[0024] Optionally, a plurality of the positioning columns are arranged in groups on the top end surface of the table body, each group of positioning columns includes a plurality of the positioning columns arranged at intervals, and each positioning column in each group of the positioning columns has the same height.

[0025] Optionally, the positioning platform further includes a positioning sensor, and a plurality of the positioning sensors are provided, and the plurality of the positioning sensors are arranged in one-to-one correspondence with the plurality of groups of the positioning columns; the positioning sensor is a diffuse reflection photoelectric sensor, which is used to detect whether the side plate is penetrated on the positioning column.

[0026] It can be seen from the above technical solution that the beneficial effects of the present invention are as follows: in the material distribution and positioning system of the air-conditioning condenser side plate of the present invention, the storage rack of the storage mechanism fixes the side plate in a hanging manner, which can be compatible with various types of side plates of different lengths and shapes. At the same time, the grabbing unit in the transfer mechanism can automatically and accurately retrieve materials relative to the storage rack under the action of the horizontal walking unit and the vertical walking unit. The robot combined with the material retrieval and positioning unit can realize the positioning and transfer of the side plate according to the structure of the side plate, so that the side plate is positioned on the positioning table for subsequent assembly operations. The entire system has a high degree of automation, which effectively improves the work efficiency of the side plate retrieval and positioning operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of an embodiment of a material distribution and positioning system for a side plate of an air-conditioning condenser of the present invention.

[0028] Figure 2 yes Figure 1 The schematic diagram of the structure of the material storage mechanism and the transfer mechanism in the material distribution and positioning system is shown.

[0029] Figure 3yes Figure 1 The structural schematic diagram of the material storage mechanism in the material distribution and positioning system is shown.

[0030] Figure 4 yes Figure 1 The structural schematic diagram of the transfer mechanism in the material distribution and positioning system is shown.

[0031] Figure 5 yes Figure 1 The structural schematic diagram of the material picking positioning unit in the material distribution positioning system is shown.

[0032] Figure 6 yes Figure 1 The structural schematic diagram of the positioning platform in the material distribution and positioning system is shown.

[0033] The accompanying drawings are described as follows: 100, material distribution and positioning system; 10, material storage mechanism; 11, frame; 111, fixed platform; 112, connecting frame; 1121, vertical rod; 1122, horizontal rod; 1123, reinforcing rod; 1125, slide; 113, mounting seat; 12, material storage bin; 121, material storage rack; 1211, material string support; 1212, material string rod; 1214, clamping part; 122, silo slide; 131, stop arm; 132, swing arm; 14, silo drive cylinder; 15, material sensor; 16, material fixing assembly; 161, connecting rod; 162, fixed electromagnet; 20, transfer mechanism; 21, horizontal walking unit; 211, drive Drive motor; 212, connecting seat; 22, vertical travel unit; 221, lifting drive cylinder; 222, transition seat; 223, positioning rod; 23, grabbing unit; 231, first gripper; 232, second gripper; 233, third gripper; 234, fourth gripper; 2311, grabbing part; 236, grabbing electromagnet; 30, robot positioning mechanism; 31, material picking positioning unit; 311, fixing pin; 312, material picking electromagnet; 313, fixing plate; 314, fixing arm; 32, robot; 321, robot body; 322, mechanical arm; 40, positioning platform; 41, platform body; 42, positioning column; 43, positioning sensor; 200, side plate. DETAILED DESCRIPTION

[0034] Typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and illustrations therein are essentially used for illustration purposes rather than for limiting the present invention.

[0035] In order to further illustrate the principle and structure of the present invention, preferred embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0036] See also Figures 1 to 3In one embodiment of the present application, a material distribution and positioning system 100 for an air conditioner condenser side plate 200 is provided, which is used to realize material storage, material transfer and material distribution and positioning of the side plate 200, and improve the automation level of the assembly of the side plate 200. The material distribution and positioning system 100 of this embodiment includes a material storage mechanism 10, a transfer mechanism 20, a robot positioning mechanism 30 and a positioning platform 40.

[0037] The material storage mechanism 10 includes a frame 11 and a material storage bin 12. The frame 11 includes a fixed platform 111 and a connecting frame 112 arranged on one side of the fixed platform 111, and the connecting frame 112 extends along the length direction of the fixed platform 111. The material storage bin 12 is arranged on the fixed platform 111, and the material storage bin 12 includes a plurality of groups of material storage racks 121, and the plurality of groups of material storage racks 121 are arranged at intervals along the length direction of the fixed platform 111. Each group of material storage racks 121 includes a pair of oppositely arranged material string pillars 1211 and a material string rod 1212 arranged at the top of the two material string pillars 1211. The material string rod 1212 is used to fix the side plate 200, and a plurality of side plates 200 are passed through the material string rod 1212 along the length direction of the material string rod 1212.

[0038] The transfer mechanism 20 is arranged on the connecting frame 112 and is located above the fixed platform 111. The transfer mechanism 20 includes a horizontal walking unit 21, a vertical walking unit 22 and a grabbing unit 23. Among them, the horizontal walking unit 21 is movably arranged on the connecting frame 112, and the moving direction of the horizontal walking unit 21 is consistent with the length direction of the fixed platform 111. The vertical walking unit 22 is arranged on the horizontal walking unit 21 in a liftable manner along the vertical direction to be relatively close to or away from the fixed platform 111. The grabbing unit 23 is arranged at the bottom end of the walking unit, and the grabbing unit 23 includes a plurality of grippers, each of which includes a pair of relatively close or far away gripping parts 2311 to grab and fix the material string rod 1212.

[0039] The robot positioning mechanism 30 is arranged on one side of the fixed platform 111 relative to the connecting frame 112, and the robot positioning mechanism 30 includes a material picking positioning unit 31 and a robot 32 connected to the material picking positioning unit 31. The material picking positioning unit 31 includes a fixing pin 311 and a material picking electromagnet 312 arranged on one side of the fixing pin 311. The fixing pin 311 is used to locate the through hole of the side plate 200, and the material picking electromagnet 312 is used to electromagnetically adsorb and fix the side plate 200, so that the side plate 200 is transferred from the transfer mechanism 20 under the drive of the robot 32.

[0040] The positioning platform 40 is arranged at the end of the fixing platform 111 and is spaced apart from the fixing platform 111. The positioning platform 40 includes a platform body 41 and a plurality of positioning posts 42 spaced apart on the top end surface of the platform body 41. The spacing between the positioning posts 42 is adapted to the distance between the perforations on the side plate 200, and the side plate 200 is transferred by the robot 32 and penetrated in the positioning posts 42.

[0041] Further, see Figure 2 and Figure 3 The material storage mechanism 10 includes a frame 11 and a material storage bin 12 disposed on the frame 11. The frame 11 of this embodiment includes a fixed platform 111 and a connecting frame 112 disposed on one side of the fixed platform 111 in the width direction, and the extending direction of the connecting frame 112 is consistent with the length direction of the fixed platform 111.

[0042] In this embodiment, the fixed platform 111 is a square structure, and the connecting frame 112 is located on one side of the fixed platform 111. The connecting frame 112 includes a pair of vertical rods 1121 arranged opposite to each other and a cross bar 1122 connected to the top ends of the two vertical rods 1121. The bottom ends of the two vertical rods 1121 are respectively connected to the two ends in the length direction of the fixed platform 111. The connecting frame 112 also includes a reinforcing rod 1123, which is connected between the two vertical rods 1121 and is located below the cross bar 1122 to strengthen the overall structural strength of the connecting frame 112.

[0043] The material storage bin 12 of this embodiment is arranged on the fixed platform 111, and the material storage bin 12 includes six groups of material storage racks 121, which are arranged at intervals along the length direction of the fixed platform 111. Each group of material storage racks 121 includes a pair of oppositely arranged material string pillars 1211 and a material string rod 1212 arranged at the top of the two material string pillars 1211.

[0044] The material string rod 1212 is used to fix the side plate 200. The side plate 200 is provided with a plurality of through holes at intervals, and the material string rod 1212 is provided with a plurality of through holes at corresponding positions of the side plates 200, so that the plurality of side plates 200 are arranged on the material string rod 1212 at intervals along the length direction of the material string rod 1212.

[0045] The material string rod 1212 through which the side plate 200 is passed is placed on the material string bracket, so that the material storage of the side plate 200 can be realized. It can be understood that, in addition to the storage bin 12 shown in this embodiment including six groups of storage racks 121, the number of storage racks 121 in each storage bin 12 can also be other settings, such as five groups, seven groups, nine groups, etc., as long as the assembly requirements and workpiece size design and other factors are met, and no excessive restrictions are made here.

[0046] In this embodiment, the top end surface of each material string support 1211 is provided with a V-shaped groove, and the two ends of the material string rod 1212 are respectively clamped in the V-shaped groove. One end of the material string rod 1212 of this embodiment is provided with two opposite clamping parts 1214, and the clamping parts 1214 protrude from the surface of the material string rod 1212.

[0047] A slot is formed between the two clamping parts 1214, and the top of the material string pillar 1211 is limited in the slot. The two clamping parts 1214 form stops on both sides of the material string pillar 1211 to prevent the material string rod 1212 from falling off the material string pillar 1211, ensuring that the material string rod 1212 and the side plate 200 materials are stably located on the material string pillar 1211.

[0048] In this embodiment, three storage bins 12 are provided, and each storage bin 12 includes a bin slide plate 122. The bin slide plate 122 is fixed to the bottom end of the storage rack 121, and the bin slide plate 122 is slidably arranged on the fixed platform 111. The outer contour of the bin slide plate 122 is square.

[0049] In this embodiment, a loading station and a retrieving station are provided on the fixed platform 111. The loading station is arranged at the end of the fixed platform 111 away from the positioning platform 40, and the retrieving station is located at the end of the fixed platform 111 close to the positioning platform 40. The loading station and the retrieving station are respectively located at two oppositely arranged diagonal positions, and the retrieving station is arranged close to the connecting frame 112.

[0050] The loading station is used for the staff to place the material string rods 1212 with the side panels 200 on the material string pillars 1211 one by one to load the side panels 200. The three storage bins 12 are moved from the loading station to the material taking station, and the transfer mechanism 20 transfers the side panels 200 to realize the transfer of the side panels 200.

[0051] It can be understood that, in addition to the three storage bins 12 shown in this embodiment, the number of storage bins 12 in the storage mechanism 10 can also be two, four, six, etc., as long as the size requirements of the fixed table 111 are met and they can slide sequentially on the fixed table 111. There is no excessive limitation on the number of storage bins 12.

[0052] The material storage mechanism 10 of the present embodiment further comprises a silo driving cylinder 14, wherein the silo driving cylinder 14 comprises a silo cylinder body and a silo driving rod disposed on the silo cylinder body, and the silo driving rod can be extended and retracted along a straight line.

[0053] The silo cylinder is disposed on the fixed platform 111 and is located below the silo slide plate 122. The silo drive rod is connected to the silo slide plate 122 to drive the silo slide plate 122 to move relative to the fixed platform 111. Driven by the silo drive cylinder 14, the three silo slide plates 122 move from the loading work position to the unloading work position along the peripheral side plate 200 of the fixed platform 111 in sequence.

[0054] This arrangement enables the transfer mechanism 20 to retrieve materials at the material retrieving workstation while the staff is loading materials. The two processes are carried out simultaneously, thus avoiding the waste of operation time and ensuring the efficiency of the loading and retrieving operations of the side plate 200.

[0055] In this embodiment, the material storage mechanism 10 further includes a stopping arm 131 which can be telescopically extended along a straight line and a swing arm 132 connected to the stopping arm 131 .

[0056] The stopping arm 131 is arranged on the fixed platform 111 and is arranged near the material taking work position. The stopping arm 131 can be driven by a cylinder or a motor to achieve linear extension and retraction relative to the fixed platform 111. The swing arm 132 is arranged at the end of the stopping arm 131, and the swing arm 132 can be a spring structure. When the stopping arm 131 is extended in a straight line, the swing arm 132 can abut against the material string support 1211 to stop the storage bin 12, so that the storage bin 12 is positioned at the material taking work position, so that the transfer mechanism 20 can perform the material taking operation.

[0057] In addition, the material storage mechanism 10 of this embodiment further includes a material sensor 15. The material sensor 15 is arranged on the connecting frame 112 and is arranged near the material taking work position. The frame 11 further includes a mounting seat 113, which is arranged on the reinforcing rod 1123, and the material sensor 15 is fixed on the mounting seat 113.

[0058] In this embodiment, six material sensors 15 are provided, and the six material sensors 15 are arranged at intervals along the length direction of the fixed platform 111. When the storage bin 12 moves to the material taking work position, the six material sensors 15 correspond to the six groups of storage racks 121 of the storage bin 12. If the number of storage racks 121 in the storage bin 12 is set to other settings, the number of material sensors 15 is adjusted to the same number accordingly.

[0059] The material sensor 15 is a photoelectric sensor, which detects whether the corresponding material string rod 1212 is provided with a side plate 200 by converting a photoelectric signal, thereby providing real-time feedback on whether there is material leakage in the storage bin 12, so as to facilitate the staff to understand the material storage situation of the storage bin 12.

[0060] The mounting base 113 of this embodiment can be linearly extended and retracted along the width direction of the fixed platform 111, so that the material sensor 15 is relatively close to or away from the storage bin 12 located at the material taking working position. The linear extension and retraction of the mounting base 113 can be achieved by a cylinder or a hydraulic cylinder, or by a motor drive.

[0061] When the storage bin 12 moves to the material taking position, the mounting seat 113 extends in a straight line, and the material sensor 15 approaches the storage rack 121 to detect whether the side plate 200 leaks. After the detection is completed, the mounting seat 113 retracts in a straight line to avoid interference between the material sensor 15 and the movement of the storage bin 12.

[0062] Furthermore, combined with Figure 4The transfer mechanism 20 is arranged on the fixed platform 111 and is used to transfer the side plate 200 on the storage bin 12. The transfer mechanism 20 includes a horizontal walking unit 21, a vertical walking unit 22 and a grabbing unit 23.

[0063] The horizontal walking unit 21 is movably arranged on the crossbar 1122, and the horizontal walking unit 21 includes a driving motor 211 and a connecting seat 212 connected to the output shaft of the driving motor 211. The driving motor 211 is a servo motor, which is arranged on the connecting frame 112 to drive the connecting seat 212 to slide along the connecting frame 112.

[0064] A slide groove 1125 is provided on the crossbar 1122 of the connecting frame 112, and the slide groove 1125 extends along the length direction of the fixing platform 111, and the slide groove 1125 is adapted to the end of the connecting seat 212. One end of the connecting seat 212 is slidably disposed in the slide groove 1125, and the other end extends outward to the top of the fixing platform 111.

[0065] The vertical travel unit 22 is disposed on the connecting seat 212 and can be lifted and lowered in the vertical direction to be relatively close to or away from the fixed platform 111 .

[0066] In this embodiment, the vertical travel unit 22 includes a lifting drive cylinder 221 and a transition seat 222. The lifting drive cylinder 221 includes a lifting cylinder body and a lifting drive rod disposed on the lifting cylinder body. The lifting cylinder body is disposed on the connecting seat 212, and the lifting drive rod can be extended and retracted along a straight line in the vertical direction relative to the connecting seat 212.

[0067] The transition seat 222 is disposed at the end of the lifting drive rod. When the lifting drive rod is extended and retracted in a straight line in the vertical direction, the transition seat 222 can be relatively close to or away from the fixing platform 111 .

[0068] The vertical travel unit 22 of this embodiment further includes a positioning rod 223, the bottom end of which is connected to the transition seat 222. A positioning hole is provided at a position of the connection seat 212 corresponding to the positioning rod 223, and the positioning rod 223 is passed through the positioning hole.

[0069] When the lifting drive cylinder 221 drives the transition seat 222 to lift, the transition seat 222 is linked with the positioning rod 223 to slide in the positioning hole. The positioning hole provides a sliding guide for the positioning rod 223, so that the transition seat 222 can ensure the direction of movement when moving in the vertical direction, avoid the position deviation of the transition seat 222 during the lifting process, and ensure the accuracy of the position positioning.

[0070] The grabbing unit 23 is arranged on the transition seat 222 , and the grabbing unit 23 includes a plurality of grabbers. Each grabber includes a pair of grabbing parts 2311 that are relatively close to or far away from each other, and the two grabbing parts 2311 are relatively close to each other to grab and fix the material string rod 1212 .

[0071] In this embodiment, the grabbing unit 23 further includes a grabbing driving member, which is disposed on the transition seat 222. The grabbing driving member is connected to the grabbing portion 2311 and drives the grabbing portion 2311 to rotate, and the rotation angle range of the grabbing portion 2311 is 0° to 180°.

[0072] The grab driving member may be a cylinder, and the rotation axis of the grab portion 2311 is consistent with the width direction of the fixing platform 111. The two grab portions 2311 of the gripper rotate in opposite directions, so that the two grab portions 2311 can be relatively close to or away from each other. When the two grab portions 2311 are relatively far away from each other, the gripper releases the gripping and fixing of the material string rod 1212.

[0073] The present embodiment has four grippers, but is not limited to four. The four grippers are respectively a first gripper 231, a second gripper 232, a third gripper 233, and a fourth gripper 234. The first gripper 231 and the fourth gripper 234 are respectively arranged at both ends of the transition seat 222, and the fourth gripper 234 is arranged close to the connecting frame 112. The second gripper 232 is arranged close to the first gripper 231 and is arranged on the inner side of the first gripper 231. The third gripper 233 is arranged close to the fourth gripper 234 and is located on the inner side of the fourth gripper 234.

[0074] The vertical positions of the second gripper 232 and the third gripper 233 correspond to the two opposite material string pillars 1211 of the material storage rack 121 located below the grabbing unit 23 .

[0075] When the storage bin 12 moves to the material picking work position, the transfer mechanism 20 moves to the top of the storage bin 12 through the horizontal walking unit 21. At this time, the vertical walking unit 22 works, and the lifting drive cylinder 221 drives the transition seat 222 to descend, so that the grabbing unit 23 is close to the storage rack 121.

[0076] When the grabbing unit 23 approaches the material storage rack 121, the first grabbing hand 231 and the fourth grabbing hand 234 are opened, and after grabbing the material string rod 1212, they are closed to grab and fix the material string rod 1212. After the grabbing unit 23 grabs the material string rod 1212, the vertical travel unit 22 works, and the lifting drive cylinder 221 drives the transition seat 222 to rise, so that the material string rod 1212 is separated from the material string support 1211. At this time, the second grabbing hand 232 and the third grabbing hand 233 are closed to cooperate with the first grabbing hand 231 and the fourth grabbing hand 234 to grab and fix the material string rod 1212.

[0077] After the lifting drive cylinder 221 drives the transition seat 222 to reach the set height, the drive motor 211 in the horizontal travel unit 21 works to move the connecting seat 212 together with the vertical travel unit 22 and the grabbing unit 23 to the set position, waiting for the material picking positioning unit 31 in the robot positioning mechanism 30 to pick up the material. After the robot positioning mechanism 30 completes the material picking, the transfer mechanism 20 returns to the set position above the storage bin 12 through the horizontal travel unit 21 and the vertical travel unit 22 to start the next material transfer.

[0078] In this embodiment, the grabbing unit 23 further includes a grabbing electromagnet 236. The grabbing electromagnet 236 is disposed on the inner side of the second gripper 232 and is used for electromagnetically adsorbing and fixing the side plate 200.

[0079] Furthermore, if Figure 2 and Figure 3 As shown, the material storage mechanism 10 of this embodiment further includes a material fixing assembly 16. The material fixing assembly 16 is arranged on a vertical rod 1121 in the connecting frame 112 close to the positioning platform 40. The material fixing assembly 16 is arranged on the outside of the vertical walking unit 22 and is located above the storage bin 12.

[0080] The material fixing assembly 16 includes a connecting rod 161 and a plurality of fixed electromagnets 162. One end of the connecting rod 161 is fixed to the vertical rod 1121 of the connecting frame 112, and the other end extends to the upper side of the fixed platform 111 along the width direction of the fixed platform 111. The plurality of fixed electromagnets 162 are arranged at intervals along the length direction of the connecting rod 161, and the fixed electromagnets 162 face the vertical travel unit 22.

[0081] In this embodiment, three groups of material fixing components 16 are provided, and the three groups of material fixing components 16 are arranged at intervals along the vertical direction on the vertical rod 1121. In other embodiments, the material fixing components 16 can also be provided in two, four, six groups, etc., which are not limited here.

[0082] When the lifting drive cylinder 221 drives the transition seat 222 to reach the set height, the drive motor 211 in the horizontal walking unit 21 starts to work, so that the connecting seat 212 together with the vertical walking unit 22 and the grabbing unit 23 move to the set position, and the multiple side plates 200 on the material string rod 1212 are close to the material fixing assembly 16. At this time, under the electromagnetic action of the fixed electromagnet 162, the side plate 200 stops shaking and maintains a stable state on the material string rod 1212 to ensure that the robot positioning mechanism 30 can accurately pick up materials.

[0083] In this embodiment, if Figure 1 and Figure 5As shown, the robot positioning mechanism 30 includes a robot 32 and a material picking positioning unit 31. The robot 32 is drivingly connected to the material picking positioning unit 31 to drive the material picking positioning unit 31 to move and rotate, thereby realizing the picking of the side plate 200 at the transfer mechanism 20.

[0084] The robot 32 includes a robot body 321 and a mechanical arm 322. The mechanical arm 322 is rotatably connected to the robot body 321, and the material picking and positioning unit 31 is connected to the mechanical arm 322, and the mechanical arm 322 drives the material picking and positioning unit 31 to move and rotate.

[0085] The material picking and positioning unit 31 of this embodiment includes a fixing plate 313 and a pair of fixing arms 314 vertically connected to both ends of the fixing plate 313. The mechanical arm 322 of the robot 32 is drivingly connected to the fixing plate 313, and the ends of the two fixing arms 314 are both provided with fixing pins 311 and material picking electromagnets 312.

[0086] In this embodiment, two fixing pins 311 and two material-retrieving electromagnets 312 are provided. On each fixing arm 314, two material-retrieving electromagnets 312 are located between two fixing pins 311. The fixing pins 311 are matched with the through holes on the side plate 200, and the fixing pins 311 are inserted into the through holes, so that the material-retrieving positioning unit 31 can position the side plate 200. At this time, the material-retrieving electromagnet 312 adsorbs and fixes the side plate 200, so that the material-retrieving positioning unit 31 positions and fixes the side plate 200.

[0087] The robot positioning mechanism 30 of this embodiment further includes a distance sensor (not shown in the figure), which is arranged on the fixing plate 313. When the material picking positioning unit 31 approaches the transfer mechanism 20, the distance sensor can measure the distance between the material picking positioning unit 31 and the side plate 200.

[0088] The distance sensor feeds back the measured distance signal to the controller, and the controller controls the robot 32 according to the distance signal, and adjusts the direction and distance of rotation and movement of the mechanical arm 322 of the robot 32, so that the material picking and positioning unit 31 can pick up materials accurately.

[0089] The robot positioning mechanism 30 of this embodiment further includes a camera (not shown in the figure), which is arranged on the fixing plate 313. When the material picking positioning unit 31 is close to the transfer mechanism 20, the camera can capture the image of the side plate 200 to be picked up.

[0090] The camera feeds back the captured image signal to the controller, which can identify the hole positions on the side plate 200 based on the image signal through image processing, and then control the direction and distance of rotation and movement of the mechanical arm 322 of the robot 32, so that the fixing pin 311 in the material positioning unit 31 is accurately positioned in the perforation of the side plate 200, thereby realizing positioning and material picking.

[0091] In this embodiment, the controller can also identify whether the side plate 200 is qualified according to the image signal transmitted by the camera. When the controller identifies that the side plate 200 is a low-quality product, the controller can control the robot 32 to move the side plate 200 to the low-quality product collection area between the rack 11 and the positioning table 40 during the process of transferring the side plate 200.

[0092] In addition, the robot positioning mechanism 30 of this embodiment further includes a grab sensor (not shown in the figure), which is arranged on the fixing plate 313. The grab sensor is a diffuse reflection photoelectric sensor, which is used to detect whether the fixing pin 311 is penetrated by the side plate 200, so that the staff can understand the material picking situation of the robot positioning mechanism 30 in real time.

[0093] When the robot positioning mechanism 30 is positioning and picking up materials, the fixed pin 311 is positioned through the hole of the side plate 200, and the fixed electromagnet 162 adsorbs the side plate 200. Under the drive of the robot 32, the material picking positioning unit 31 moves the side plate 200 on the material string rod 1212 to the side of the second gripper 232. At this time, the gripping electromagnet 236 adsorbs and fixes the side plate 200.

[0094] During the process of the robot 32 removing the side plate 200 from the string rod 1212, Figure 1 In the viewing direction, the robot arm 322 first pushes the side plate 200 to the right to separate it from the adsorption of the grabbing electromagnet 236, and then moves to the left. At this time, the second gripper 232 is opened, and the robot arm moves the side plate 200 between the first gripper 231 and the second gripper 232.

[0095] At this time, the first gripper 231 is opened, the second gripper 232 is closed, and the mechanical arm 322 moves the side plate 200 to the left again to separate it from the material string rod 1212. After the side plate 200 is separated from the material string rod 1212, the robot 32 drives the mechanical arm 322 to rotate, so that the side plate 200 moves to the positioning platform 40.

[0096] Furthermore, combined with Figure 6 The positioning platform 40 is arranged at the end of the fixing platform 111 and is spaced apart from the fixing platform 111. The positioning platform 40 includes a platform body 41 and a plurality of positioning columns 42, and the plurality of positioning columns 42 are spaced apart on the top end surface of the platform body 41.

[0097] A plurality of positioning posts 42 are arranged in groups on the table body 41, and each group of positioning posts includes a pair of positioning posts 42 arranged opposite to each other. The plurality of groups of positioning posts are arranged at intervals on the end surface of the table body 41. The heights of the two positioning posts 42 in each group of positioning posts are consistent, and the distance between the two positioning posts 42 matches the distance between the holes on the side plate 200. When the robot 32 transfers the side plate 200 from the transfer mechanism 20 to the positioning table 40, the side plate 200 can be positioned and penetrated in the positioning posts 42.

[0098] In this embodiment, the positioning platform 40 further includes a positioning sensor 43. A plurality of positioning sensors 43 are provided, and are arranged one-to-one corresponding to the plurality of positioning column groups. The positioning sensor 43 in this embodiment is a diffuse reflection photoelectric sensor, which is used to detect whether the positioning column 42 is provided with a side plate 200, so that the operator can understand the material moving and positioning of the side plate 200 in real time.

[0099] When the side plate 200 material distribution and positioning system 100 of this embodiment is working, the operator first loads the side plates 200 at the loading work station, inserts a plurality of side plates 200 on the material string rod 1212, and sequentially places the material string rod 1212 with the side plates 200 inserted on the material string support 1211. The material storage rack 121 after loading is driven by the silo driving cylinder 14 and moves from the loading work station of the fixed table 111 to the material taking work station.

[0100] Before the transfer mechanism 20 performs the material taking operation, the material sensor 15 extends toward the material storage rack 121 to detect whether each material storage rack 121 is provided with a side plate 200. After the detection is completed, the material sensor 15 returns to its original position.

[0101] The transfer mechanism 20 moves to the top of the storage bin 12 through the horizontal travel unit 21, and the vertical travel unit 22 works at this time, and the lifting drive cylinder 221 drives the transition seat 222 to descend, so that the grabbing unit 23 is close to the storage rack 121. When the grabbing unit 23 is close to the storage rack 121, the first gripper 231 and the fourth gripper 234 are opened, and after grabbing the material string rod 1212, they are closed to grab and fix the material string rod 1212.

[0102] After the grabbing unit 23 grabs the material string rod 1212, the vertical walking unit 22 works, and the lifting drive cylinder 221 drives the transition seat 222 to rise, so that the material string rod 1212 is separated from the material string support 1211. At this time, the second gripper 232 and the third gripper 233 are closed to cooperate with the first gripper 231 and the fourth gripper 234 to jointly grab and fix the material string rod 1212.

[0103] After the lifting drive cylinder 221 drives the transition seat 222 to reach the set height, the drive motor 211 in the horizontal walking unit 21 works, so that the connecting seat 212 together with the vertical walking unit 22 and the grabbing unit 23 move to the set position, waiting for the material picking positioning unit 31 in the robot positioning mechanism 30 to pick up the material.

[0104] Before the robot positioning mechanism 30 picks up the material, the multiple side plates 200 on the material string rod 1212 are close to the material fixing assembly 16. At this time, under the electromagnetic action of the fixed electromagnet 162, the side plates 200 stop shaking and maintain a stable state on the material string rod 1212 to ensure that the robot positioning mechanism 30 can pick up the material accurately.

[0105] When the robot positioning mechanism 30 is picking up materials, it first determines the distance between the material picking positioning unit 31 and the side plate 200 through the distance measuring sensor, and at the same time the camera captures the image of the side plate 200 to be picked up. The controller controls the robot 32 according to the distance signal and the image signal of the side plate 200, so that the robot 32 drives the fixing pin 311 in the material positioning unit to accurately position in the perforation of the side plate 200, and at the same time the grabbing electromagnet 236 adsorbs and fixes the side plate 200 to move the side plate 200 out of the material string rod 1212.

[0106] After the side plate 200 is removed from the material string rod 1212, the robot 32 drives the material picking and positioning unit 31 to rotate and move the material picking and positioning unit 31 to the top of the positioning platform 40 to position the side plate 200 on the positioning column 42, thereby completing the material picking and positioning of the side plate 200. After completing one material picking and positioning, the robot 32 drives the material picking and positioning unit 31 to return to wait for the material picking and positioning operation of the next side plate 200.

[0107] For the material distribution and positioning system of the air conditioner condenser side plate of this embodiment, the storage rack of the material storage mechanism adopts a hanging method to fix the side plate, which can be compatible with various types of side plates of different lengths and shapes. At the same time, the grabbing unit in the transfer mechanism can automatically and accurately pick up materials relative to the storage rack under the action of the horizontal walking unit and the vertical walking unit. The robot combined with the material picking and positioning unit can realize the positioning and transfer of the side plate according to the structure of the side plate, so that the side plate is positioned on the positioning table for subsequent assembly operations. The entire system has a high degree of automation, which effectively improves the work efficiency of the side plate picking and positioning operations.

[0108] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A material distribution and positioning system for the side plate of an air-conditioning condenser, characterized in that: include: A material storage mechanism, comprising a frame and a material storage bin; the frame comprises a fixed platform and a connecting frame arranged on one side of the fixed platform, the connecting frame extending along the length direction of the fixed platform; the material storage bin is arranged on the fixed platform, the material storage bin comprises a plurality of groups of material storage racks, the plurality of groups of material storage racks are arranged at intervals along the length direction of the fixed platform, each group of the material storage racks comprises a pair of oppositely arranged material string pillars and a material string rod arranged at the top ends of the two material string pillars, the material string rod is used to fix the side plate, and a plurality of the side plates are arranged on the material string rod at intervals along the length direction of the material string rod; The transfer mechanism is arranged on the connecting frame and is located above the fixed platform; the transfer mechanism includes a horizontal walking unit, a vertical walking unit and a grabbing unit; the horizontal walking unit is movably arranged on the connecting frame, and the moving direction of the horizontal walking unit is consistent with the length direction of the fixed platform; the vertical walking unit is movably arranged on the horizontal walking unit in a vertical direction so as to be relatively close to or away from the fixed platform; the grabbing unit is arranged at the bottom end of the vertical walking unit, and the grabbing unit includes a plurality of grabbers, and the grabbers include a pair of grabbing parts that are relatively close to or far away from each other so as to grab and fix the material string rod; A robot positioning mechanism is arranged on a side of the fixed platform opposite to the connecting frame, and the robot positioning mechanism includes a material picking positioning unit and a robot drivingly connected to the material picking positioning unit; the material picking positioning unit includes a fixing pin and a material picking electromagnet arranged on one side of the fixing pin, the fixing pin is used to locate the through hole of the side plate, and the material picking electromagnet is used to electromagnetically adsorb and fix the side plate, so that the side plate is transferred from the transfer mechanism under the drive of the robot; A positioning table is arranged at the end of the fixed table and is spaced apart from the fixed table; the positioning table includes a table body and a plurality of positioning columns spaced apart on the top end surface of the table body, the spacing between the positioning columns is adapted to the distance between the through holes on the side plate, and the side plate is transferred from the transfer mechanism by the robot and penetrated into the positioning columns.

2. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: There are multiple material storage bins, each of which includes a bin slide plate; the bin slide plate is fixed to the bottom end of the material storage rack, and the bin slide plate is slidably arranged on the fixed platform; The fixed platform is provided with a loading workstation and a retrieving workstation. The loading workstation is arranged at the end of the fixed platform away from the positioning platform, and the retrieving workstation is located at the end of the fixed platform close to the positioning platform; the multiple storage bins are moved from the loading workstation to the retrieving workstation in sequence.

3. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 2, characterized in that: The material storage mechanism also includes a silo driving cylinder, which includes a silo cylinder body and a linearly retractable silo driving rod arranged on the silo cylinder body. The silo cylinder body is fixed on the fixed platform, and the silo driving rod is connected to the silo slide to drive the silo slide to move relative to the fixed platform.

4. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 2, characterized in that: The outer contours of the fixed table and the silo slide are both square, the loading workstation and the picking workstation are respectively located at two opposite diagonal positions of the fixed table, and a plurality of silo slides are moved from the loading workstation to the picking workstation in sequence along the peripheral edge of the fixed table.

5. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 2, characterized in that: The material storage mechanism also includes a stopping arm that can be telescoped along a straight line and a swing arm connected to the stopping arm. The stopping arm is arranged close to the material picking work station, and the stopping arm is telescoped relative to the fixed platform so that the swing arm stops the material storage bin located at the material picking work station.

6. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The material storage mechanism further includes a material sensor, which is arranged on the connecting frame and close to the material taking work position; There are multiple material sensors, which are arranged at intervals along the length direction of the fixed platform and correspond one-to-one to multiple storage racks of the storage bin located at the material picking work station; the material sensor is a photoelectric sensor, which is used to detect whether there is the side plate on the material string rod.

7. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 6, characterized in that: The frame also includes a mounting seat, which is arranged on the connecting frame and can be linearly extended and retracted along the width direction of the fixed platform; a plurality of material sensors are arranged on the mounting seat at intervals to be relatively close to or away from a storage bin located at the material picking work station.

8. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The horizontal walking unit includes a driving motor and a connecting seat connected to the output shaft of the driving motor, and the vertical walking unit is arranged on the connecting seat; the top of the connecting frame is provided with a slide groove adapted to the connecting seat, and the end of the connecting seat can be slidably arranged in the slide groove; the driving motor is a servo motor, which is used to drive the connecting seat to move in the slide groove.

9. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 8, characterized in that: The vertical walking unit includes a lifting drive cylinder and a transition seat, the lifting drive cylinder includes a lifting cylinder body and a lifting drive rod arranged on the lifting cylinder body; the lifting cylinder body is arranged on the connecting seat, the lifting drive rod can be telescoped in a straight line in the vertical direction relative to the connecting seat, the transition seat is arranged at the end of the lifting drive rod, and the grabbing unit is arranged on the transition seat.

10. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 9, characterized in that: The vertical walking unit also includes a positioning rod, which is connected to the transition seat. A positioning hole is formed at a position of the connecting seat corresponding to the positioning rod, and the positioning rod is inserted into the positioning hole.

11. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 9, characterized in that: The grabbing unit also includes a grabbing driving member, which is arranged on the transition seat. The grabbing driving member is connected to the grabbing part and drives the grabbing part to rotate. The rotation axis of the grabbing part is consistent with the width direction of the fixed platform. The two grabbing parts of the gripper have opposite rotation directions so that the two grabbing parts are relatively close to or far away from each other.

12. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 9, characterized in that: There are four grippers, which are respectively a first gripper, a second gripper, a third gripper and a fourth gripper; the first gripper and the fourth gripper are respectively arranged at two ends of the transition seat, and the fourth gripper is arranged close to the connecting frame; The second gripper is arranged close to the first gripper and on the inner side of the first gripper; the third gripper is arranged close to the fourth gripper and on the inner side of the fourth gripper; the vertical positions of the second gripper and the third gripper respectively correspond to the two opposite material string pillars of the storage rack located below the grabbing unit.

13. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 12, characterized in that: The grabbing unit further comprises a grabbing electromagnet, which is arranged on the inner side of the second gripper and is used for electromagnetic adsorption and fixing the side plate.

14. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The material storage mechanism further includes a material fixing assembly, which is arranged at one end of the connecting frame close to the positioning platform; the material fixing assembly is located outside the vertical walking unit and is arranged above the material storage bin; The material fixing assembly includes a connecting rod and a plurality of fixed electromagnets arranged on the connecting rod, one end of the connecting rod is fixed to the connecting frame, the connecting rod extends along the width direction of the fixed platform, and the plurality of fixed electromagnets are arranged at intervals along the length direction of the connecting rod, and the fixed electromagnets are facing the vertical walking unit.

15. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 14, characterized in that: The material fixing components are provided in a plurality of groups, and the plurality of groups of the material fixing components are arranged on the connecting frame at intervals along the vertical direction.

16. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The robot positioning mechanism also includes a distance measuring sensor, which is arranged on the material picking positioning unit and is used to measure the distance between the material picking positioning unit and the side plate.

17. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The robot positioning mechanism also includes a grab sensor, which is arranged on the material picking and positioning unit; the grab sensor is a diffuse reflection photoelectric sensor, which is used to detect whether the side plate is penetrated by the fixing pin.

18. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The robot positioning mechanism also includes a camera, which is arranged on the material picking positioning unit and is used to capture the image of the side plate.

19. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The robot comprises a robot body and a mechanical arm rotatably connected to the robot body, and the mechanical arm is drivingly connected to the material picking and positioning unit.

20. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: The material picking and positioning unit also includes a fixed plate and a pair of fixed arms vertically connected to the two ends of the fixed plate. The robot is drivingly connected to the fixed plate, and the end of each fixed arm is provided with the fixed pin and the material picking electromagnet.

21. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 1, characterized in that: A plurality of the positioning columns are arranged in groups on the top end surface of the table body, each group of positioning columns comprises a plurality of the positioning columns arranged at intervals, and the height of each positioning column in each group of the positioning columns is consistent.

22. The material distribution and positioning system for the side plate of the air conditioner condenser according to claim 21, characterized in that: The positioning platform also includes a positioning sensor, and a plurality of the positioning sensors are provided, and the plurality of the positioning sensors are arranged in one-to-one correspondence with the plurality of groups of the positioning posts; the positioning sensor is a diffuse reflection photoelectric sensor, which is used to detect whether the side plate is penetrated on the positioning post.

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