Nitrogen filling automatic calibration method, device and system based on robot

Abstract

The application discloses a nitrogen-filling automatic calibration method, device and equipment based on a robot hand, and a medium. The method comprises the following steps: if an automatic calibration signal is received, it is judged whether the operation mode of the robot hand and a conveying mechanism meets preset requirements; if yes, a conveying instruction is sent to the conveying mechanism, the conveying mechanism conveys a device to be filled to a nitrogen-filling station, and blocking position information and positioning point information corresponding to the device to be filled are obtained; a driving instruction corresponding to the positioning point information is sent, and a photoelectric sensor emits a reflected light beam to a position corresponding to the positioning point information; if signal receiving information is received, the signal receiving information is analyzed to obtain a corresponding actual nitrogen-filling position; and a moving instruction corresponding to the actual nitrogen-filling position is sent to the robot hand, so that the robot hand fills nitrogen in the device to be filled according to the actual nitrogen-filling position, thereby improving the accuracy of nitrogen-filling positioning of air conditioner devices, realizing automatic nitrogen filling of the air conditioner devices and improving the nitrogen-filling effect.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method, device, equipment and medium for automatic nitrogen filling calibration based on a robot. Background Art

[0002] Before the air conditioner leaves the factory, in order to prevent moisture in the air from entering the system and causing machine malfunction, the evaporator and condenser are usually filled with nitrogen to keep the system dry. At the same time, nitrogen filling can maintain the pressure of the two air conditioners and detect leaks.

[0003] In the prior art, nitrogen filling of air conditioners involves transporting them on a conveyor belt equipped with a blocking mechanism to block and position the conveyed air conditioners. This occurs when the air conditioners slightly collide with the blocking mechanism, causing them to shift to varying degrees. This results in inaccurate nitrogen filling positioning and prevents automatic nitrogen filling.

[0004] Therefore, the device and method for nitrogen filling the two air conditioners need to be improved to improve the accuracy of nitrogen filling positioning of the two air conditioners, realize automatic nitrogen filling of the two air conditioners and improve the nitrogen filling effect. Summary of the Invention

[0005] The embodiments of the present invention provide a method, device, equipment and medium for automatic nitrogen filling calibration based on a robot, which aims to solve the problem of inaccurate nitrogen filling positioning of the two air conditioners in the existing technical methods, realize automatic nitrogen filling of the two air conditioners and improve the nitrogen filling effect.

[0006] In a first aspect, an embodiment of the present invention provides a method for automatic nitrogen charging calibration based on a robotic arm, the method comprising:

[0007] If an automatic calibration signal is received, determining whether the operating modes of the robot arm and the conveying mechanism meet preset requirements;

[0008] If the operation mode meets the preset requirements, a transmission instruction is sent to the conveying mechanism to start the conveying mechanism to convey the device to be charged to the nitrogen filling station, and obtain the blocking position information and positioning point information corresponding to the device to be charged;

[0009] Sending a driving instruction corresponding to the positioning point information to drive the photoelectric sensor to emit a reflected light beam to a position corresponding to the positioning point information;

[0010] If signal reception information is received, the signal reception information is parsed to obtain a corresponding actual nitrogen filling position; the signal reception information is a reflection signal of the reflected light beam detected by the photoelectric sensor;

[0011] A movement instruction corresponding to the actual nitrogen filling point position is sent to the robot arm, so that the robot arm fills the component to be filled with nitrogen according to the actual nitrogen filling point position.

[0012] Optionally, in the above method, if an automatic calibration signal is received, determining whether the operating modes of the robot arm and the conveying mechanism meet preset requirements includes:

[0013] If an automatic calibration signal is received, an initialization signal is sent to the robot arm and the conveying mechanism;

[0014] The communication interface of the conveying mechanism receives the initialization signal, automatically clears the stored basic information of the device to be charged, and enters the operation mode;

[0015] The robotic arm receives an initialization signal and determines whether the robotic arm is in an initial state;

[0016] If the robot arm is in the initial state, it enters the operation mode;

[0017] If the robot arm is not in the initial state, the stored data information is automatically cleared and the robot arm is driven to reset to the initial position to enter the operation mode.

[0018] The above method, optionally, further comprises: after receiving the automatic calibration signal and determining whether the operation modes of the robot arm and the conveying mechanism meet preset requirements:

[0019] If the communication interface receives the nitrogen charging demand signal of the device to be charged, the communication interface obtains basic information of the device to be charged;

[0020] If a reset completion signal is received from the robot arm, the controller sends an information reading signal to the robot arm to obtain basic device information fed back by the robot arm, where the basic device information includes the model of the device to be charged and the taught nitrogen filling point.

[0021] The above method, optionally, wherein the conveying mechanism is configured with a conveyor belt, a blocking assembly, and a clamping assembly, and the controller sends a conveying instruction to the conveying mechanism to activate the conveying mechanism to convey the device to be charged to the nitrogen filling station, and obtains blocking position information and positioning point information corresponding to the device to be charged, including:

[0022] If it is detected that the conveyor belt conveys the device to be charged to the nitrogen charging station, a blocking signal is sent to the blocking component of the conveying mechanism to drive the blocking component to block the device to be charged from being further conveyed;

[0023] acquiring a position where the front end of the device to be charged contacts the blocking component as the blocking position information;

[0024] Acquire the position where the front end of the device to be charged deviates and stops after colliding with the blocking component as the positioning point information;

[0025] sending a pause signal to the conveyor belt to pause the conveyor belt;

[0026] A clamping signal is sent to the clamping assembly to drive the clamping assembly to clamp and fix the device to be charged.

[0027] The above method, optionally, after the robot reads the basic information to determine the model of the device to be charged and teaches the nitrogen filling point, further includes:

[0028] If the fixture model information is received, the quick-change fixture corresponding to the fixture model is driven to be transmitted to the robot for assembly; the fixture model information is the fixture model obtained by the robot according to the model of the device to be charged.

[0029] Optionally, in the above method, if signal reception information is received from the controller, obtaining the corresponding actual nitrogen filling position according to the signal reception information includes:

[0030] Calculating a teaching nitrogen filling distance, and obtaining a distance from the blocking position to the teaching nitrogen filling point as the teaching nitrogen filling distance;

[0031] The teaching nitrogen filling distance plus the moving distance of the reflected light beam is obtained as the position of the actual nitrogen filling point. The moving distance of the reflected light beam is the offset distance of the teaching nitrogen filling point. The offset distance is the distance from the blocking position to the positioning point.

[0032] In a second aspect, an embodiment of the present invention provides a nitrogen charging automatic calibration device based on a robot arm, the automatic calibration device uses the steps of the nitrogen charging automatic calibration method based on the robot arm as described in any embodiment of the first aspect above, and the automatic calibration device includes the robot arm, the conveying mechanism and the controller; the robot arm includes a base, an arm, a nitrogen charging head, a quick-change clamp and a photoelectric sensor, one end of the arm is rotatably connected to the base, the nitrogen charging head is rotatably connected to the other end of the arm, the quick-change clamp is detachably connected to the nitrogen charging head, and the photoelectric sensor is fixed to the nitrogen charging head; the conveying mechanism includes a frame, a conveyor belt, a blocking assembly and a clamping assembly, the conveyor belt is rotatably connected to the middle of the frame, the frame includes a fixed frame and an adjustment frame, the adjustment frame is slidably connected to the top of the fixed frame; the blocking assembly is slidably connected to the adjustment frame, and the blocking assembly slides toward the conveyor belt direction, the clamping assembly is slidably connected to the adjustment frame, and the two ends of the clamping assembly are respectively located on both sides opposite to the conveyor belt, and the two ends of the clamping assembly slide to cooperate to clamp the two devices.

[0033] In a third aspect, an embodiment of the present invention provides a nitrogen filling automatic calibration system based on a robot, comprising:

[0034] A judgment unit, configured to judge whether the operation modes of the robot arm and the conveying mechanism meet preset requirements;

[0035] A positioning unit, configured for the controller to send a transfer instruction to the conveying mechanism to start the conveyor belt to transfer the device to be charged to the nitrogen filling station and to position the device to be charged to obtain blocking position information and positioning point information;

[0036] a transmitting unit, configured to send a driving instruction corresponding to the positioning point information, so as to drive the photoelectric sensor to emit a reflected light beam to a position corresponding to the positioning point information;

[0037] a position acquisition unit, configured to, upon receiving signal reception information from the controller, parse the signal reception information and obtain a corresponding actual nitrogen filling position;

[0038] The execution unit is used to send a movement instruction corresponding to the actual nitrogen filling position to the robot arm, so that the robot arm fills the component to be filled with nitrogen according to the actual nitrogen filling position.

[0039] In a fourth aspect, an embodiment of the present invention further provides a nitrogen filling automatic calibration device based on a robotic arm, which includes a controller, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0040] Memory for storing computer programs;

[0041] The controller is configured to implement the steps of the automatic nitrogen filling calibration method based on a robot according to any one of claims 1 to 6 when executing the program stored in the memory.

[0042] In a fifth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automatic nitrogen filling calibration method based on a robotic arm as described in any embodiment of the first aspect.

[0043] Through the above scheme, it can be seen that the present invention provides a method, device, equipment and medium for automatic calibration of nitrogen filling based on a robot. If an automatic calibration signal is received, it is determined whether the operating mode of the robot and the conveying mechanism meets the preset requirements; if it is satisfied, a transmission instruction is sent to the conveying mechanism to start the conveying mechanism to transfer the device to be charged to the nitrogen filling station, and obtain the blocking position information and positioning point information corresponding to the device to be charged; a driving instruction corresponding to the positioning point information is sent to drive the photoelectric sensor to emit a reflected light beam to the position corresponding to the positioning point information; if signal reception information is received, the signal reception information is parsed to obtain the corresponding actual nitrogen filling position; the signal reception information is a reflection signal of the reflected light beam detected by the photoelectric sensor; a movement instruction corresponding to the actual nitrogen filling point position is sent to the robot, so that the robot fills the device to be charged with nitrogen according to the actual nitrogen filling point position. The embodiment of the present invention improves the accuracy of the nitrogen filling positioning of the two air conditioners by improving the device and method for nitrogen filling of the two air conditioners, thereby realizing automatic nitrogen filling of the two air conditioners and improving the nitrogen filling effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 A schematic diagram of the overall structure of a nitrogen filling automatic calibration device based on a robotic arm provided in an embodiment of the present invention;

[0046] Figure 2 A schematic structural diagram of a conveying mechanism in a nitrogen filling automatic calibration device based on a robot provided in an embodiment of the present invention;

[0047] Figure 3 A schematic structural diagram of a robotic arm in a nitrogen filling automatic calibration device based on a robotic arm provided in an embodiment of the present invention;

[0048] Figure 4 A schematic flow chart of a method for automatic nitrogen filling calibration based on a robotic arm provided in an embodiment of the present invention;

[0049] Figure 5 A schematic diagram of an application scenario of the automatic nitrogen filling calibration method based on a robotic arm provided in an embodiment of the present invention;

[0050] Figure 6 A block diagram of a nitrogen filling automatic calibration system based on a robotic arm provided in an embodiment of the present invention;

[0051] Figure 7 A block diagram of a judgment module provided by an embodiment of the present invention;

[0052] Figure 8 A block diagram of a positioning module provided by an embodiment of the present invention;

[0053] Figure 9 A block diagram of a location acquisition module provided by an embodiment of the present invention;

[0054] Figure 10 A block diagram of a nitrogen filling automatic calibration device based on a robot provided in an embodiment of the present invention.

[0055] Explanation of the accompanying reference numerals: 1. Conveying mechanism; 11. Frame; 111. Fixed frame; 112. Adjusting frame; 12. Conveyor belt; 13. Blocking assembly; 131. Blocking part; 14. Clamping assembly; 141. Clamping part; 142. Second driving part; 2. Robot arm; 21. Base; 22. Arm; 221. First arm; 222. Second arm; 23. Nitrogen charging head; 24. Quick-change fixture; 25. Photoelectric sensor; 26. Third driving part. DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0057] In order to solve the problem of inaccurate nitrogen filling positioning and inability to realize automatic nitrogen filling in the existing nitrogen filling automatic calibration method for air conditioners, the embodiment of the present invention provides a nitrogen filling automatic calibration device based on a robot. Figure 1 , Figure 1 This is an overall structural diagram of a nitrogen filling automatic calibration device based on a robot provided in an embodiment of the present invention. The automatic calibration device includes a robot and a conveying mechanism 1. The conveying mechanism 1 is used to transport and position two air conditioners, and the robot is used to automatically fill the two air conditioners with nitrogen.

[0058] See also Figure 2 The conveying mechanism 1 includes a frame 11, a conveyor belt 12, a blocking assembly 13 and a clamping assembly 14. Among them, the frame 11 includes a fixed frame 111 and an adjusting frame 112. The fixed frame 111 is fixedly installed on the horizontal ground by screws, and the adjusting frame 112 is slidably connected to the top of the fixed frame 111; the conveyor belt 12 is rotatably connected to the middle of the fixed frame 111, and the two air conditioners are placed on the conveyor belt 12, and the two air conditioners are transported to the nitrogen filling station through the conveyor belt 12. The blocking assembly 13 is slidably connected to the adjusting frame 112, and the blocking assembly 13 slides in the width direction of the conveyor belt 12. The clamping assembly 14 is slidably connected to the adjusting frame 112, and the two ends of the clamping assembly 14 are respectively located on the two sides opposite to each other in the width direction of the conveyor belt 12. The two ends of the clamping assembly 14 slide and cooperate to clamp and position the two air conditioners.

[0059] The blocking assembly 13 includes a first driving portion and a blocking portion 131. The first driving portion is fixedly mounted on the adjustment frame 112. The driving end of the first driving portion is fixed to the blocking portion 131, and the blocking portion 131 is slidably connected to one side of the adjustment frame 112 in the vertical direction. The first driving portion drives the blocking portion 131 to extend and retract horizontally along the width direction of the conveyor belt 12. The clamping assembly 14 includes two groups of clamping portions 141 and a second driving portion 142. The two groups of second driving portions 142 are respectively fixed to both sides of the top of the adjustment frame 112. The driving ends of the two groups of second driving portions 142 are respectively fixed to the two groups of clamping portions 141. The two groups of second driving portions 142 can respectively drive the two groups of clamping portions 141 to extend and retract horizontally along the width direction of the conveyor belt 12 at the same time, thereby clamping and positioning the two air conditioners.

[0060] See also Figure 3 The robot 2 includes a base 21, an arm 22, a nitrogen charging head 23, a quick-change fixture 24, a photoelectric sensor 25, and a third drive unit 26. The base 21 is fixed on a horizontal surface, and the third drive unit 26 is fixed to one side of the top of the base 21. The arm 22 includes a first arm 221 and a second arm 222. One end of the first arm 221 is rotatably connected to the side of the top of the base 21 away from the third drive unit 26, and the drive end of the third drive unit 26 is fixed to the first arm 221 to drive the first arm 221 to rotate. One end of the second arm 222 is rotatably connected to the end of the first arm 221 away from the base 21. The other end of the second arm 222 is rotatably connected to the nitrogen charging head 23, and the quick-change fixture 24 is detachably connected to the nitrogen charging head 23 to facilitate replacement and assembly of the quick-change fixture 24. The photoelectric sensor 25 is fixed to one side of the nitrogen charging head 23 and is used to emit a reflected light beam.

[0061] On the other hand, an embodiment of the present invention provides a method for automatic calibration of nitrogen filling based on a robot. Figure 4 and Figure 5, Figure 4 A schematic flow chart of a method for automatic nitrogen filling calibration based on a robotic arm provided in an embodiment of the present invention; Figure 5 A schematic diagram of an application scenario of the automatic nitrogen filling calibration method based on a robotic arm provided in an embodiment of the present invention.

[0062] This robotic arm-based nitrogen filling automatic calibration method is applied to the controller of an automatic calibration device. This method is executed by application software installed in the controller. The automatic calibration device is also equipped with a wireless signal transmitter. The controller establishes a network connection with the photoelectric sensor and the wireless signal transmitter to achieve data information transmission. The robotic arm establishes a network connection with the conveying mechanism through the controller. The controller is the component used to control each unit module in the automatic calibration device, such as the control circuit board with an MCU chip in the automatic calibration device. The wireless signal transmitter can establish a network connection with an external automatic calibration device to wirelessly transmit information. The photoelectric sensor is used to obtain positioning point information and transmit it to the controller. The controller can receive control signals from the photoelectric sensor and control the robotic arm.

[0063] The specific implementation process of the automatic calibration method of nitrogen filling based on the robot provided by the present invention is described in detail below. Figure 1 As shown, the method includes steps S110 to S150.

[0064] S110: If an automatic calibration signal is received, determine whether the operation modes of the robot arm and the conveying mechanism meet preset requirements.

[0065] If an automatic calibration signal is received, the controller determines whether the operating mode of the robot arm and conveying mechanism meets preset requirements. The controller can receive an automatic calibration signal, which can be input by the user (e.g., the user sends a signal to the controller via a remote control or a start switch). Upon receiving the automatic calibration signal input by the user, the controller determines the operating mode of the robot arm and conveying mechanism.

[0066] During actual operation, the robot and conveyor mechanism have multiple different operating modes, such as standby state and working state. It can be determined whether the operating mode of the robot and conveyor mechanism meets the preset requirements. If the preset requirements are met, the subsequent steps will be continued.

[0067] In a specific embodiment, step S110 includes the following steps: if an automatic calibration signal is received, sending an initialization signal to the robot arm and the conveying mechanism; upon receiving the initialization signal, the communication interface of the conveying mechanism automatically clears the stored basic information of the device to be charged and enters the operating mode; upon receiving the initialization signal, the robot arm determines whether it is in an initial state; if the robot arm is in the initial state, entering the operating mode; if the robot arm is not in the initial state, automatically clearing the stored data information and driving the robot arm to reset to its initial position to enter the operating mode. In this embodiment, the device to be charged is an air conditioner, namely, an evaporator and a condenser.

[0068] First, determine whether the conveying mechanism is in an operating state. If the conveying mechanism is in an operating state, determine whether the operating mode matches a preset mode of a preset requirement. The preset requirement includes at least one preset mode, and whether the operating mode matches any preset mode in the preset requirement can be determined. In this embodiment, the preset modes are a standby state and an operating state.

[0069] If the operating mode of the conveying mechanism matches any preset mode or the conveying mechanism is not in an operating state, it is determined that the operating mode meets the preset requirements, and the communication interface of the conveying mechanism does not need to be initialized; if the conveying mechanism is in an operating state and the operating mode does not match any preset mode, it is determined that the operating mode does not meet the preset requirements. At this time, the communication interface of the conveying mechanism receives an initialization signal from the controller, and then the communication interface automatically clears the stored basic information of the device to be charged. The stored basic information of the device to be charged includes the models of the two air conditioners set in the previous operating state and the taught nitrogen filling points and other information, and then the conveying mechanism enters the operating mode.

[0070] Next, a determination is made as to whether the robot arm is in an operating state. If the robot arm is in an operating state, a determination is made as to whether the operating mode matches a preset mode of the preset requirements. Similarly, if the preset requirements for the robot arm include at least one preset mode, a determination can be made as to whether the operating mode matches any of the preset modes in the preset requirements. In this embodiment, the preset modes are a standby state, an initial state, and an operating state.

[0071] If the operating mode of the robot arm matches any preset mode or the conveying mechanism is not in the operating state, it is determined that the operating mode meets the preset requirements and the robot arm does not need to be initialized; if the robot arm is in the operating state and the operating mode does not match any preset mode, it is determined that the operating mode does not meet the preset requirements. At this time, the robot arm receives the initialization signal from the controller, and then the robot arm automatically clears the stored data information. The stored data information includes the air conditioner model and the teaching nitrogen filling point data read in the previous operating state. At the same time, the controller drives the robot arm to reset to the initial position, and then the robot arm enters the operating mode.

[0072] If the operation modes of the robot arm and the conveying mechanism meet the preset requirements, the next step is executed. If the operation modes do not meet the preset requirements, the robot arm and the conveying mechanism continue to operate normally in the current operation state.

[0073] In a specific embodiment, step S110 is followed by the following steps: if the communication interface receives a nitrogen charging demand signal from the device to be charged, the communication interface obtains basic information about the device to be charged; if the controller receives a reset completion signal from the robot arm, the controller sends an information read signal to the robot arm to obtain basic device information fed back by the robot arm, the basic device information including the model of the device to be charged and the taught nitrogen charging point; if fixture model information is received, the controller drives a quick-change fixture corresponding to the fixture model to be transferred to the robot arm for assembly; the fixture model information is the fixture model obtained by the robot arm based on the model of the device to be charged.

[0074] Here, if the conveyor mechanism's communication interface receives a nitrogen charging demand signal from the controller regarding the component to be charged, the communication interface acquires basic information about the component to be charged, which includes the user-set model of the two components and the nitrogen charging point, and the conveyor mechanism then enters its operating state. If the controller receives a completion signal indicating that the robot has returned to its initial position, the controller sends an information read signal to the robot and drives it to read the basic information from the communication interface to determine the model of the two components and the location of the nitrogen charging point, after which the robot enters its operating state. Once the robot enters its operating state, it identifies the matching fixture model based on the two components. Upon receiving the fixture model information identified by the robot, the controller drives the corresponding quick-change fixture to be transferred to the robot for assembly.

[0075] S120: If the operation mode meets the preset requirements, send a transfer instruction to the conveying mechanism to start the conveying mechanism to transfer the device to be charged to the nitrogen filling station, and obtain the blocking position information and positioning point information corresponding to the device to be charged.

[0076] If the operating mode meets the preset requirements, the conveying mechanism and the robot arm enter the working state respectively. The user places the device to be charged on the conveyor belt and then inputs the conveying instruction. The controller sends the conveying instruction to the conveyor mechanism, causing the conveyor belt to rotate and convey the device to be charged, and then conveys the device to be charged to the nitrogen charging station. At the nitrogen charging station, the device to be charged is intercepted by the blocking component to obtain the blocking position information. Here, the blocking position information is the teaching zero point of nitrogen charging. The clamping component then clamps and positions the device to be charged to obtain the positioning point information. Here, the positioning point information is the zero point of the two devices. When the two air conditioner devices are in close contact with the blocking component, the blocking position coincides with the positioning point.

[0077] In a specific embodiment, step S120 includes the following steps: if it is detected that the conveyor belt conveys the device to be charged to the nitrogen filling station, sending a blocking signal to the blocking component of the conveying mechanism to drive the blocking component to block the device to be charged from continuing to be conveyed; obtaining the position where the front end of the device to be charged contacts the blocking component as the blocking position information; obtaining the position where the front end of the device to be charged deviates and stays after colliding with the blocking component as the positioning point information; sending a pause signal to the conveyor belt to pause the conveyor belt; sending a clamping signal to the clamping component to drive the clamping component to clamp and fix the device to be charged.

[0078] While the device to be charged is being transported to the nitrogen filling station by the conveyor belt, the blocking assembly receives the blocking signal sent by the controller, and the first drive unit drives the blocking unit to extend horizontally along the width direction of the conveyor belt, so that the blocking unit blocks the device to be charged from continuing to be transported forward. Here, the position where the front end of the device to be charged contacts the blocking unit is defined as the blocking position information. When the controller detects the blocking position information, the controller sends a pause signal to the conveyor belt to pause the rotation of the conveyor belt; when the controller detects the signal for the conveyor belt to pause, the clamping assembly receives the clamping signal sent by the controller, and then the two groups of second drive units simultaneously drive the two groups of clamping units to extend horizontally along the width direction of the conveyor belt, and the two groups of clamping units cooperate with each other to clamp and position the two air conditioners. Here, the position where the front end of the device to be charged is offset and clamped after colliding with the blocking unit is defined as the positioning point information.

[0079] S130: Send a driving instruction corresponding to the positioning point information to drive the photoelectric sensor to emit a reflected light beam to a position corresponding to the positioning point information.

[0080] After the controller obtains the positioning point information, it sends a driving instruction to the photoelectric sensor, which then drives the photoelectric sensor to emit a reflected light beam to the position of the positioning point. At the same time, the reflected light beam moves from the position of the positioning point toward the rear end of the two devices.

[0081] S140: If signal reception information is received, the signal reception information is parsed to obtain the corresponding actual nitrogen filling position; the signal reception information is the reflection signal of the reflected light beam detected by the photoelectric sensor. When the reflected light beam moves to the actual nitrogen filling point, the reflected light beam is reflected, and the controller simultaneously records the movement distance of the robot arm. The signal reception information includes the movement distance of the robot arm. Here, the movement distance of the robot arm is the offset distance between the two devices, which is also the offset distance of the taught nitrogen filling point. The controller also parses the signal reception information to obtain the corresponding actual nitrogen filling position.

[0082] In a specific embodiment, step S140 includes the steps of: calculating a taught nitrogen filling distance, obtaining a distance from the blocking position to the taught nitrogen filling point as the taught nitrogen filling distance; correspondingly, the taught nitrogen filling distance is the distance from the teaching zero point to the taught nitrogen filling point; obtaining the taught nitrogen filling distance plus the moving distance of the reflected light beam as the position of the actual nitrogen filling point, the moving distance of the reflected light beam is the offset distance of the taught nitrogen filling point, and the offset distance is the distance from the blocking position to the positioning point.

[0083] S150: Sending a movement instruction corresponding to the actual nitrogen filling point position to the robot arm, so that the robot arm fills the component to be charged with nitrogen according to the actual nitrogen filling point position.

[0084] After the controller obtains the actual position of the nitrogen filling point through analysis, it sends a movement instruction corresponding to the actual position of the nitrogen filling point to the robot arm, which then drives the robot arm to move the nitrogen filling head to the position of the actual nitrogen filling point, and automatically fills the two air conditioners with nitrogen through the nitrogen filling head.

[0085] Here, after the two air conditioners are filled with nitrogen, the controller receives a nitrogen filling receiving instruction, and then the controller sends a reset signal to the conveying component, so that the first driving part drives the blocking part to shrink and reset horizontally along the width direction of the conveyor belt, and at the same time, the two groups of second driving parts drive the two groups of clamping parts to shrink and reset horizontally along the width direction of the conveyor belt; after the controller receives the reset completion signal of the blocking component and the clamping component, it sends a continue transmission signal to the conveyor belt, and the conveyor belt continues to rotate to transport the two air conditioners to the next workstation.

[0086] When replacing the two devices of other models for nitrogen filling, it is only necessary to know the position of the taught nitrogen filling point of the two devices to realize the conversion of the actual nitrogen filling points of the two devices of different models; in addition, by measuring the offset distance of the taught nitrogen filling point by the robot arm, the measurement accuracy can be improved to improve the accuracy of the nitrogen filling positioning of the two devices of the air conditioner, so that the determination of the actual nitrogen filling point can be automated, highly adaptable and highly stable, thereby improving the nitrogen filling effect of the two devices of the air conditioner.

[0087] Corresponding to the above-mentioned automatic nitrogen charging calibration method based on a robot, an embodiment of the present invention further provides a system for automatically calibrating nitrogen charging based on a robot. The system can be configured in a controller of a device for automatically calibrating nitrogen charging based on a robot. The system is used to execute any of the above-mentioned embodiments of the automatic nitrogen charging calibration method based on a robot. Figure 6 , Figure 6 A block diagram of a nitrogen filling automatic calibration system based on a robot provided in an embodiment of the present invention.

[0088] like Figure 6 As shown, the nitrogen filling automatic calibration system includes a judgment module, a positioning module, a transmission module, a position acquisition module and an execution module.

[0089] The judgment module is used to judge whether the operation mode of the robot arm and the conveying mechanism meets the preset requirements.

[0090] In a specific embodiment, Figure 7 As shown, the judgment module includes the following sub-units: an operating state judgment unit, used to judge whether the conveying mechanism and the robot are in an operating state; a matching judgment unit, used to judge whether the operating mode matches the preset mode of the preset requirement if the conveying mechanism and the robot are in an operating state; a first judgment unit, used to judge that the operating mode meets the preset requirement if the operating mode matches the preset mode or the conveying mechanism and the robot are not in an operating state; and a second judgment unit, used to judge that the operating mode does not meet the preset requirement if the operating mode does not match the preset mode.

[0091] A positioning module is used for the controller to send a transmission instruction to the conveying mechanism to start the conveyor belt to transport the device to be charged to the nitrogen filling station and to position the device to be charged to obtain blocking position information and positioning point information.

[0092] In a specific embodiment, Figure 8 As shown, the positioning module includes the following sub-units: a blocking unit, which is used for the conveyor belt to transport the device to be charged to the nitrogen filling station, and the controller sends a blocking signal to the blocking component to drive the blocking component to block the device to be charged from continuing to be transported; a conveying suspension unit, which is used for the controller to send a pause signal to the conveyor belt to pause the conveyor belt when the blocking position information is detected; and a clamping unit, which is used for the controller to send a clamping signal to the clamping component to drive the clamping component to clamp and fix the device to be charged when the conveyor belt is detected to be paused.

[0093] The transmitting module is used to send a driving instruction corresponding to the positioning point information to drive the photoelectric sensor to emit a reflected light beam to a position corresponding to the positioning point information.

[0094] The position acquisition module is used to obtain the corresponding actual nitrogen filling position according to the signal reception information received from the controller.

[0095] In a specific embodiment, Figure 9 As shown, the position acquisition module includes the following sub-units: a first calculation unit, used to calculate the taught nitrogen filling distance, which is the distance from the blocking position to the taught nitrogen filling point; a second calculation unit, used to calculate the actual nitrogen filling distance, where the position of the actual nitrogen filling point is the taught nitrogen filling distance plus the moving distance of the reflected light beam.

[0096] The execution module is used to send a movement instruction corresponding to the actual nitrogen filling position to the robot arm, so that the robot arm fills the to-be-charged component with nitrogen according to the actual nitrogen filling position.

[0097] like Figure 10 As shown, an embodiment of the present invention further provides a nitrogen filling automatic calibration device based on a robot arm, including a controller, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; in one embodiment of the present invention, the memory is used to store a computer program; the controller is used to implement the steps of the nitrogen filling automatic calibration method based on the robot arm provided by any of the aforementioned method embodiments when executing the program stored in the memory.

[0098] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the automatic nitrogen filling calibration method based on a robot provided in any of the aforementioned method embodiments are implemented.

[0099] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include," "comprise," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or robotic-based nitrogen filling automatic calibration device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or robotic-based nitrogen filling automatic calibration device. Without further limitation, an element defined by the phrase "includes a..." does not exclude the presence of other identical elements in the process, method, article, or robotic-based nitrogen filling automatic calibration device that includes the element.

[0100] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is intended to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A nitrogen filling automatic calibration method based on a robot, wherein the automatic calibration method is applied to a controller of an automatic calibration device to calibrate the nitrogen filling position of a device to be filled, characterized in that: The automatic calibration device further includes a robot arm and a conveying mechanism. The robot arm is equipped with a photoelectric sensor. The photoelectric sensor and the controller establish a network connection to achieve data information transmission. The robot arm establishes a network connection with the conveying mechanism through the controller. The method includes: If an automatic calibration signal is received, determining whether the operating modes of the robot arm and the conveying mechanism meet preset requirements; If the operation mode meets the preset requirements, a transmission instruction is sent to the conveying mechanism to start the conveying mechanism to convey the device to be charged to the nitrogen filling station, and obtain the blocking position information and positioning point information corresponding to the device to be charged; Sending a driving instruction corresponding to the positioning point information to drive the photoelectric sensor to emit a reflected light beam to a position corresponding to the positioning point information; If signal reception information is received, the signal reception information is parsed to obtain a corresponding actual nitrogen filling position; the signal reception information is a reflection signal of the reflected light beam detected by the photoelectric sensor; A movement instruction corresponding to the actual nitrogen filling position is sent to the robot arm, so that the robot arm fills the component to be filled with nitrogen according to the actual nitrogen filling position.

2. The automatic nitrogen charging calibration method based on a robot according to claim 1, characterized in that: If the automatic calibration signal is received, determining whether the operation modes of the robot arm and the conveying mechanism meet preset requirements includes: If an automatic calibration signal is received, an initialization signal is sent to the robot arm and the conveying mechanism; The communication interface of the conveying mechanism receives the initialization signal, automatically clears the stored basic information of the device to be charged, and enters the operation mode; The robotic arm receives an initialization signal and determines whether the robotic arm is in an initial state; If the robot arm is in the initial state, it enters the operation mode; If the robot arm is not in the initial state, the stored data information is automatically cleared and the robot arm is driven to reset to the initial position to enter the operation mode.

3. The automatic nitrogen charging calibration method based on a robot according to claim 2, characterized in that: If the automatic calibration signal is received, after determining whether the operation modes of the robot arm and the conveying mechanism meet the preset requirements, the method further includes: If the communication interface receives the nitrogen charging demand signal of the device to be charged, the communication interface obtains basic information of the device to be charged; If a reset completion signal is received from the robot arm, the controller sends an information reading signal to the robot arm to obtain basic device information fed back by the robot arm, where the basic device information includes the model of the device to be charged and the taught nitrogen filling point.

4. The automatic nitrogen charging calibration method based on a robot according to claim 1, characterized in that: The conveying mechanism is equipped with a conveyor belt, a blocking assembly, and a clamping assembly. The controller sends a conveying instruction to the conveying mechanism to start the conveying mechanism to convey the device to be charged to the nitrogen filling station, and obtains the blocking position information and positioning point information corresponding to the device to be charged, including: If it is detected that the conveyor belt conveys the device to be charged to the nitrogen charging station, a blocking signal is sent to the blocking component of the conveying mechanism to drive the blocking component to block the device to be charged from being further conveyed; acquiring a position where the front end of the device to be charged contacts the blocking component as the blocking position information; Acquire the position where the front end of the device to be charged deviates and stops after colliding with the blocking component as the positioning point information; sending a pause signal to the conveyor belt to pause the conveyor belt; A clamping signal is sent to the clamping assembly to drive the clamping assembly to clamp and fix the device to be charged.

5. The automatic nitrogen charging calibration method based on a robot according to claim 3, characterized in that: After the robot reads the basic information to determine the model of the device to be charged and teaches the nitrogen charging point, the method further includes: If the fixture model information is received, the quick-change fixture corresponding to the fixture model is driven to be transmitted to the robot for assembly; the fixture model information is the fixture model obtained by the robot according to the model of the device to be charged.

6. The automatic nitrogen charging calibration method based on a robot according to claim 3, characterized in that: If the signal reception information from the controller is received, the corresponding actual nitrogen filling position is obtained according to the signal reception information, including: Calculating a teaching nitrogen filling distance, and obtaining a distance from the blocking position to the teaching nitrogen filling point as the teaching nitrogen filling distance; The teaching nitrogen filling distance plus the moving distance of the reflected light beam is obtained as the position of the actual nitrogen filling point. The moving distance of the reflected light beam is the offset distance of the teaching nitrogen filling point. The offset distance is the distance from the blocking position to the positioning point.

7. A nitrogen filling automatic calibration device based on a robot, characterized in that: The automatic calibration device uses the steps of the nitrogen filling automatic calibration method according to any one of claims 1 to 6, and the automatic calibration device includes the robot arm, the conveying mechanism and the controller; The robot arm includes a base, an arm, a nitrogen charging head, a quick-change fixture and a photoelectric sensor, one end of the arm is rotatably connected to the base, the nitrogen charging head is rotatably connected to the other end of the arm, the quick-change fixture is detachably connected to the nitrogen charging head, and the photoelectric sensor is fixed to the nitrogen charging head; The conveying mechanism includes a frame, a conveyor belt, a blocking assembly and a clamping assembly, the conveyor belt is rotatably connected to the middle of the frame, the frame includes a fixed frame and an adjusting frame, and the adjusting frame is slidably connected to the top of the fixed frame; The blocking assembly is slidably connected to the adjusting frame, and the blocking assembly slides toward the conveyor belt. The clamping assembly is slidably connected to the adjusting frame, and the two ends of the clamping assembly are respectively located on the two sides opposite to each other of the conveyor belt. The two ends of the clamping assembly slide and cooperate to clamp the two devices.

8. A nitrogen filling automatic calibration system based on a robot, the system being assembled in the controller of an automatic calibration device to calibrate the nitrogen filling position of a device to be filled, characterized in that: The automatic calibration device further includes a robot arm and a conveying mechanism. The robot arm is equipped with a photoelectric sensor. The photoelectric sensor and the controller establish a network connection to achieve data information transmission. The robot arm establishes a network connection with the conveying mechanism through the controller. The system includes: A judgment module, used to judge whether the operation mode of the robot arm and the conveying mechanism meets the preset requirements; a positioning module, configured for the controller to send a transmission instruction to the conveying mechanism, so as to activate a conveyor belt in the conveying mechanism to convey the device to be charged to the nitrogen filling station and to position the device to be charged to obtain blocking position information and positioning point information; a transmitting module, configured to send a driving instruction corresponding to the positioning point information, so as to drive the photoelectric sensor to emit a reflected light beam to a position corresponding to the positioning point information; a position acquisition module, configured to, upon receiving signal reception information from the controller, parse the signal reception information to obtain a corresponding actual nitrogen filling position; The execution module is used to send a movement instruction corresponding to the actual nitrogen filling position to the robot arm, so that the robot arm fills the to-be-charged component with nitrogen according to the actual nitrogen filling position.

9. A nitrogen filling automatic calibration device based on a robot, characterized in that: The device includes a controller, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory for storing computer programs; The controller is configured to implement the steps of the automatic nitrogen filling calibration method based on a robot according to any one of claims 1 to 6 when executing the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the automatic calibration method for nitrogen filling based on a robot according to any one of claims 1 to 6 are implemented.

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