An automated assembly line and assembly method for air outlets

Abstract

This invention discloses an automated air outlet assembly line and assembly method, comprising: a carrier conveying module, a blade feeding and assembly device for assembling blades, a first accessory feeding and assembly device for assembling blade connecting rods, a second accessory feeding and assembly device for assembling blade supports, a shell feeding module for conveying the shell, and a shell assembly robot for assembling the shell onto the blades. The blade feeding and assembly device transfers the blades to the carrier conveying module, which then moves and repositions the blades. The first accessory feeding and assembly device assembles the blade connecting rods onto the blades, the second accessory feeding and assembly device assembles the blade supports to both ends of the blades, and the shell feeding module moves the shell to one side of the second accessory feeding and assembly device. Finally, the shell assembly robot transfers the shell onto the blades and engages it with the blade supports, thus completing the automated assembly of the air outlet.

Description

Technical fields:

[0001] This invention relates to the field of automated production, and specifically to an automated assembly line and assembly method for air outlets. Background technology:

[0002] Air outlets are typically installed at the air vents of an air conditioner to adjust the direction of airflow and to close a specific air outlet. An air outlet generally includes a housing, multiple blades, at least one blade connecting rod, and at least two blade supports. Multiple blades are arranged and installed inside the housing, each blade having a different shape. They are hinged and fixed to the inner cavity of the housing by the blade supports, and the blade connecting rods connect each blade together, allowing multiple blades to swing together within the housing.

[0003] Traditional air vent assembly is usually done manually, which is not only inefficient and labor-intensive, but also prone to falling apart or assembly errors, often requiring rework and resulting in high production costs.

[0004] In view of the above, the inventors propose the following technical solution. Summary of the Invention:

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic air outlet assembly line and assembly method.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following first technical solution: an automatic air outlet assembly line, comprising: a carrier conveying module; a blade feeding and assembly device disposed beside the carrier conveying module for assembling blades; at least one first accessory feeding and assembly device disposed beside the carrier conveying module for assembling blade connecting rods; at least one second accessory feeding and assembly device disposed beside the carrier conveying module for assembling blade supports; a shell feeding module disposed parallel to the carrier conveying module for conveying shells; and a shell feeding module disposed beside the shell feeding module. The housing assembly robot is used to assemble the housing onto the blade. The housing assembly robot includes a fifth frame disposed at one end of the housing feeding module, a third or fourth-axis robotic arm disposed on the fifth frame and capable of swinging between the carrier conveying module and the housing feeding module, a gripping device disposed at the end of the third or fourth-axis robotic arm and used to grasp the blade and the housing, a third CCD camera disposed on the third or fourth-axis robotic arm and used to detect whether the blade is missing, and an eleventh drive module used to drive the lifting and lowering movement of the third CCD camera.

[0007] Furthermore, in the above technical solution, the blade feeding and assembly equipment includes a first frame, a first feeding mechanism disposed on one side of the first frame for feeding blades, a transfer mechanism disposed beside the first feeding mechanism for transferring the blades, a flipping mechanism disposed between the transfer mechanism and the first feeding mechanism for flipping the blades, a first transfer robot arm spanning between the first feeding mechanism, the transfer mechanism, and the flipping mechanism for transporting the blades, a first loading robot arm disposed at the end of the transfer mechanism for gripping and transferring the blades, a first CCD camera disposed above the junction of the first feeding mechanism and the first transfer robot arm for detecting the blades, and an oiling mechanism disposed above the transfer mechanism for oiling the blades.

[0008] Furthermore, in the above technical solution, the first feeding mechanism includes a first transport module arranged perpendicular to the movement direction of the first transfer robot, a full-pan accumulating module arranged at one end of the first transport module for stacking full-loaded pans, and an empty-pan accumulating module arranged on the other side of the first transport module for stacking empty pans. The first transfer robot passes between the full-pan accumulating module and the empty-pan accumulating module, and the first CCD camera is located above the full-pan accumulating module and the empty-pan accumulating module. Multiple blades of different shapes can be placed on the full-loaded pan.

[0009] Furthermore, in the above technical solution, the flipping mechanism includes a first contouring carrier for supporting the blade, a first rotating seat and a second rotating seat disposed on both sides of the first contouring carrier and cooperating to clamp at least one blade, a first lifting cylinder for driving the first contouring carrier to lift and detach from the blade, a first drive module disposed beside the first contouring carrier and for driving the first rotating seat and the second rotating seat to rotate synchronously, and a second drive module for driving the first rotating seat and the second rotating seat to cooperate in clamping and releasing the blade.

[0010] Furthermore, in the above technical solution, the first transfer robot includes a first support frame and a second support frame that are parallel to each other across the first feeding mechanism, the transfer mechanism, and the flipping mechanism; a fourth slide rail disposed on the first support frame; a third drive module disposed on the second support frame; a first movable frame mounted on the fourth slide rail and the third drive module and capable of moving above the first feeding mechanism, the transfer mechanism, and the flipping mechanism; multiple sets of first suction nozzle modules disposed in parallel on one side of the first movable frame for picking up the blades; multiple sets of first gripper modules disposed in parallel on the other side of the first movable frame for clamping the blades; and a fourth drive device and a fifth drive device disposed on the first movable frame for driving the first suction nozzle module and the first gripper module to move up and down respectively.

[0011] Furthermore, in the above technical solution, the first accessory feeding and assembly equipment includes a second frame, a first storage bin disposed on the second frame for storing the blade connecting rod, a first flexible vibrating plate disposed beside the first storage bin for vibrating and dispersing the blade connecting rod, a second CCD camera disposed above the first flexible vibrating plate for taking pictures and detecting the shape and position of the blade connecting rod, a clamping and positioning mechanism disposed on one side of the carrier conveying module for clamping the blade, a second loading robot disposed beside the first flexible vibrating plate for grabbing the blade connecting rod and transferring it to the carrier conveying module, and a connecting rod assembly mechanism disposed on the other side of the carrier conveying module for docking with the second loading robot to assemble the blade connecting rod onto the blade. The second accessory feeding and assembly equipment has the same structure as the first accessory feeding and assembly equipment.

[0012] Furthermore, in the above technical solution, the clamping device includes a clamping cylinder, a first clamping block assembly disposed at one end of the two arms of the clamping cylinder and used to clamp the blade, a second clamping block assembly disposed at the other end of the two arms of the clamping cylinder and used to clamp the outer shell, and a positioning fixture block disposed at the other end of the clamping cylinder and used to position the outer shell.

[0013] Furthermore, in the above technical solution, the carrier conveying module includes a third frame, a feeding conveyor chain disposed on the upper end of the third frame for conveying the blade carrier, a return conveyor chain disposed below the feeding conveyor chain for reverse conveying the blade carrier, multiple carrier positioning devices disposed on the upper end of the third frame for lifting the blade carrier, and a first carrier transfer mechanism and a second carrier transfer mechanism disposed at both ends of the third frame for transferring the blade carrier between the feeding conveyor chain and the return conveyor chain. The blade carrier is provided with multiple positioning slots for positioning the blade.

[0014] Furthermore, in the above technical solution, the outer shell feeding module includes a fourth frame, a feeding conveyor belt disposed on the upper end of the fourth frame for conveying the outer shell, a return conveyor belt disposed below the feeding conveyor belt for returning and conveying the finished product, a left stop bar and a right stop bar disposed on both sides of the feeding conveyor belt and capable of adjusting width, a stop cylinder disposed at one end of the feeding conveyor belt for blocking and separating the outer shell, and a discharge chute inclinedly disposed at one end of the return conveyor belt for docking and conveying the finished product.

[0015] To solve the above-mentioned technical problems, the present invention adopts the following second technical solution: an automatic air outlet assembly method, comprising: manually placing blades of different shapes in groups onto a full-load material tray, stacking the placed full-load material trays into a first feeding mechanism, manually filling a sufficient amount of blade connecting rods into a first storage bin in a first accessory feeding assembly device, and filling a sufficient amount of blade brackets into at least one second accessory feeding assembly device.

[0016] The first feeding mechanism moves the full-loaded tray to the area below the first CCD camera. The first CCD camera detects and determines whether each set of blades on the full-loaded tray meets the picking criteria. A set that does not meet the criteria is not picked up and is moved away with the tray. The first loading robot then transfers the set of blades that meet the criteria to the flipping mechanism to complete the flipping. The flipped blades are then transferred to the transfer mechanism, which moves them to the oiling mechanism for oiling. After that, the blades are moved to the first loading robot, which then transfers them one by one to the carrier positioning device in the carrier conveying module.

[0017] The blade connecting rod is dispersed by the first flexible vibrating plate in the first accessory feeding assembly equipment. After the position and angle are determined by the second CCD camera, the blade transferred from the carrier transfer module is first pressed and positioned by the clamping and positioning mechanism. Then, the blade connecting rod is transferred to the connecting rod assembly mechanism by the second loading robot. The blade connecting rod is then clamped onto the blade by the connecting rod assembly mechanism.

[0018] Different shaped blade supports are installed one by one onto the blades transferred from the carrier conveyor module by at least two second accessory feeding and assembly devices. The structure and assembly method of the second accessory feeding and assembly device are the same as those of the first accessory feeding and assembly device.

[0019] The shell is manually placed onto the shell feeding module, which is set up next to the carrier conveying module. The shell feeding module then delivers the shell to the carrier positioning device, where the blades, blade connecting rods, and blade supports have been assembled. The shell assembly robot first transfers the blades, blade connecting rods, and blade supports from the carrier positioning device to the assembly station, then grabs the shell and fits it onto the blades, blade connecting rods, and blade supports to complete the final assembly. The finished product is then transferred to the shell feeding module, which returns the finished product to the loading station. The finished product is then manually removed, and the carrier conveying module can return the product to the carrier positioning device for reciprocating transport.

[0020] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: In the present invention, a blade feeding and assembly device is used to transfer multiple blades of different shapes to a carrier conveying module. The carrier conveying module transfers the blades to a first accessory feeding and assembly device, which assembles the blade connecting rods onto the blades. Then, a second accessory feeding and assembly device assembles the blade supports onto both ends of the blades. The outer shell feeding module moves the outer shell to one side of the second accessory feeding and assembly device. The outer shell assembly robot transfers the outer shell onto the blades and engages with the blade supports for positioning, thereby completing the automated assembly of the air outlet. The outer shell assembly robot transfers the assembly cost to the outer shell feeding module, which then returns the finished product to the discharge station, replacing manual assembly, greatly improving production efficiency, reducing manual labor intensity, and saving enterprise production costs. Attached image description:

[0021] Figure 1 This is a perspective view of the present invention;

[0022] Figure 2 This is a perspective view of the vehicle transport module in this invention;

[0023] Figure 3 This is a perspective view of the blade feeding and assembly equipment in this invention;

[0024] Figure 4 This is a perspective view of the first feeding mechanism in this invention;

[0025] Figure 5 This is a perspective view of the outer shell feeding module in this invention;

[0026] Figure 6 This is a perspective view of the flipping mechanism in this invention;

[0027] Figure 7 This is the three-dimensional form of the first transfer robot in this invention. Figure 1 ;

[0028] Figure 8 This is the three-dimensional form of the first transfer robot in this invention. Figure 2;

[0029] Figure 9 This is a perspective view of the transfer mechanism in this invention;

[0030] Figure 10 This is a perspective view of the first loading robot arm in this invention;

[0031] Figure 11 This is a perspective view of the oiling mechanism in this invention;

[0032] Figure 12 This is a perspective view of the first accessory feeding and assembly equipment in this invention;

[0033] Figure 13 This is a perspective view of the second loading robot in this invention;

[0034] Figure 14 This is a perspective view of the robotic arm assembling the outer shell in this invention. Detailed implementation method:

[0035] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0036] See Figures 1 to 14 As shown, an automatic air outlet assembly line includes: a carrier conveying module 1; a blade feeding and assembly device 2 disposed beside the carrier conveying module 1 for assembling blades A1; at least one first accessory feeding and assembly device 3 disposed beside the carrier conveying module 1 for assembling blade connecting rods A2; at least one second accessory feeding and assembly device 30 disposed beside the carrier conveying module 1 for assembling blade supports A3; a shell feeding module 4 disposed side-by-side beside the carrier conveying module 1 for conveying shells A4; and a shell assembly robot 5 disposed beside the shell feeding module 4 for assembling the shells A4 onto the blades A1. Multiple blades A1 of different shapes are transferred to carrier conveyor module 1 by blade feeding and assembly equipment 2. Carrier conveyor module 1 then transfers blades A1 to first accessory feeding and assembly equipment 3, where blade connecting rod A2 is assembled onto blades A1. Next, second accessory feeding and assembly equipment 30 assembles blade bracket A3 onto both ends of blades A2. Then, outer shell feeding module 4 moves outer shell A4 to one side of second accessory feeding and assembly equipment 30. Outer shell assembly robot 5 transfers outer shell A4 onto blades A1 and engages with blade bracket A3 for positioning, thus completing the automated assembly of the air outlet. The cost of the completed assembly is transferred to outer shell feeding module 4 by outer shell assembly robot 5. The finished product is then returned to the discharge station by outer shell feeding module 4, replacing manual assembly, which greatly improves production efficiency, reduces labor intensity, and saves production costs for enterprises.

[0037] The blade feeding and assembly equipment 2 includes a first frame 21, a first feeding mechanism 22 disposed on one side of the first frame 21 for feeding blade A1, a transfer mechanism 23 disposed beside the first feeding mechanism 22 for transferring blade A1, a flipping mechanism 24 disposed between the transfer mechanism 23 and the first feeding mechanism 22 for flipping blade A1, a first transfer robot 25 spanning between the first feeding mechanism 22, the transfer mechanism 23 and the flipping mechanism 24 for transporting blade A1, a first loading robot 26 disposed at the end of the transfer mechanism 23 for gripping blade A1 for transfer feeding, a first CCD camera 27 disposed above the junction of the first feeding mechanism 22 and the first transfer robot 25 for detecting blade A1, and an oiling mechanism 28 disposed above the transfer mechanism 23 for oiling blade A1.

[0038] The first loading mechanism 22 includes a first transport module 221 arranged perpendicular to the movement direction of the first transfer robot 25, a full-pan accumulating module 222 arranged at one end of the first transport module 221 for stacking full-loaded pans 22A, and an empty-pan accumulating module 223 arranged on the other side of the first transport module 221 for stacking empty pans. The first transfer robot 25 passes between the full-pan accumulating module 222 and the empty-pan accumulating module 223, and the first CCD camera 27 is located above the full-pan accumulating module 222 and the empty-pan accumulating module 223. Multiple blades A1 of different shapes can be placed on the full-loaded pan 22A.

[0039] The flipping mechanism 24 includes a first contouring carrier 241 for supporting the blade A1, a first rotating seat 242 and a second rotating seat 243 disposed on both sides of the first contouring carrier 241 and cooperating to clamp at least one blade A1, a first lifting cylinder 244 for driving the first contouring carrier 241 to lift and detach from the blade A1, a first drive module 245 disposed on the side of the first contouring carrier 241 and for driving the first rotating seat 242 and the second rotating seat 243 to rotate synchronously, and a second drive module 246 for driving the first rotating seat 242 and the second rotating seat 243 to cooperate in clamping and releasing the blade A1.

[0040] The first contouring carrier 241 is provided with a plurality of contouring positioning grooves 241A for positioning the blades A1 of different shapes. The first rotating seat 242 and the second rotating seat 243 are arranged side by side and symmetrically distributed. One end of the first rotating seat 242 and the second rotating seat 243 is symmetrically provided with a first clamping groove 242A and a second clamping groove 243A for positioning the blades A1. The other end of the first rotating seat 242 and the second rotating seat 243 is provided with a first eccentric cam 242B and a second eccentric cam 243B that dock with the first drive module 245 and are used to drive it to swing.

[0041] The first drive module 245 includes a first push plate 245A disposed at the other end of the first rotary seat 242 and engaged with the first eccentric cam 242B, a second push plate 245B disposed at the other end of the second rotary seat 243 and engaged with the second eccentric cam 243B, a first connecting plate 245C slidably engaged with one end of the first push plate 245A and one end of the second push plate 245B, a first slide rail 245D disposed parallel to the first push plate 245A and the second push plate 245B and used to slide support the first connecting plate 245C, and a second cylinder 245F used to push the first connecting plate 245C along one end of the first slide rail 245D.

[0042] The second drive module 246 includes a second slide rail 246A and a third slide rail 246B arranged parallel to both ends of the first contour carrier 241 and perpendicular to the first slide rail 245D; a first movable seat 246C and a second movable seat 246D slidably disposed on the second slide rail 246A and the third slide rail 246B and respectively used to support the first rotating seat 242 and the second rotating seat 243; a bidirectional lead screw 246E connecting one end of the first movable seat 246C and the second movable seat 246D and used to drive the first movable seat 246C and the second movable seat 246D to move closer to each other and further apart; and a first motor 246F used to drive the bidirectional lead screw 246E to move.

[0043] The first transfer robot 25 includes a first support frame 251 and a second support frame 252 that are parallel to each other across the first loading mechanism 22, the transfer mechanism 23 and the flipping mechanism 24, a fourth slide rail 253 disposed on the first support frame 251, a third drive module 254 disposed on the second support frame 252, a first movable frame 255 mounted on the fourth slide rail 253 and the third drive module 254 and capable of moving above the first loading mechanism 22, the transfer mechanism 23 and the flipping mechanism 24, multiple sets of first suction nozzle modules 256 disposed in parallel on one side of the first movable frame 255 for picking up the blade A1, multiple sets of first gripper modules 257 disposed in parallel on the other side of the first movable frame 255 for gripping the blade A1, and a fourth drive device 258 and a fifth drive device 259 disposed on the first movable frame 255 for driving the first suction nozzle module 256 and the first gripper module 257 to move up and down respectively.

[0044] The first accessory feeding and assembly equipment 3 includes a second frame 31, a first storage bin 32 disposed on the second frame 31 for storing the blade connecting rod A2, a first flexible vibrating plate 33 disposed beside the first storage bin 32 for vibrating and spreading the blade connecting rod A2, a second CCD camera 34 disposed above the first flexible vibrating plate 33 for taking pictures and detecting the shape and position of the blade connecting rod A2, a clamping and positioning mechanism 35 disposed on one side of the carrier conveying module 1 for clamping the blade A1, a second loading robot 36 disposed beside the first flexible vibrating plate 33 for grabbing the blade connecting rod A2 and transferring it to the carrier conveying module 1, and a connecting rod assembly mechanism 37 disposed on the other side of the carrier conveying module 1 for docking with the second loading robot 36 to assemble the blade connecting rod A2 onto the blade A1. The second accessory feeding and assembly equipment 30 has the same structure as the first accessory feeding and assembly equipment 3.

[0045] The second loading manipulator 36 includes a second four-axis manipulator 361, a first mounting bracket 362 disposed at the end of the second four-axis manipulator 361, a second suction nozzle 363 disposed in the middle of the first mounting bracket 362 for picking up the blade connecting rod A2, and a first positioning pin 364 and a second positioning pin 365 disposed on both sides of the second suction nozzle 363 for matching and positioning with the assembly holes in the blade connecting rod A2. The pressing and positioning mechanism 35 includes a fourth support frame 351 disposed on one side of the carrier positioning device 13, a fifth slide rail 352 disposed on the fourth support frame 351 and perpendicular to the feeding conveyor chain 11, a fifth movable seat 353 slidably mounted on the fifth slide rail 352 and capable of approaching and pressing against the blade carrier 10, a first pre-pressing device 354 disposed on the fifth movable seat 353 and used to press the blade A1 against the blade carrier 10, and a fourth cylinder 355 disposed on one side of the fourth support frame 351 and used to drive the fifth movable seat 353 to slide; the connecting rod assembly mechanism 37 includes a fifth support frame 371 disposed on the other side of the carrier positioning device 13, a fifth support frame 371 disposed on the fifth support frame 371 and perpendicular to the feeding conveyor chain. The system includes: a sixth slide rail 372; a sixth movable seat 373 slidably mounted on the sixth slide rail 372 and capable of moving toward the blade carrier 10; a gear shaft 374 rotatably mounted on the sixth movable seat 373; a positioning fixture seat 375 sleeved on the gear shaft 374 and capable of swinging and alternately docking with the blade carrier 10 and the second loading manipulator 36 to transmit the blade connecting rod A2; a rack 376 slidably mounted on the sixth movable seat 373 and meshing with the gear shaft 374; a fifth cylinder 377 mounted on the sixth movable seat 373 for pushing the rack 376 to drive the gear shaft 374 to rotate; and a sixth cylinder 378 mounted on the fifth support frame 371 for pushing the sixth movable seat 373 to move.

[0046] The carrier conveying module 1 includes a third frame 110, a feeding conveyor chain 11 disposed on the upper end of the third frame 110 for conveying the blade carrier 10, a return conveyor chain 12 disposed below the feeding conveyor chain 11 for reverse conveying the blade carrier 10, multiple carrier positioning devices 13 disposed on the upper end of the third frame 110 for lifting the blade carrier 10, and a first carrier transfer mechanism 14 and a second carrier transfer mechanism 15 disposed at both ends of the third frame 110 for transferring the blade carrier 10 between the feeding conveyor chain 11 and the return conveyor chain 12. The blade carrier 10 is provided with multiple positioning slots for positioning the blade A1.

[0047] The feeding conveyor chain 11 is provided with a plurality of first buffer stops 111 and first check stops 112 respectively located at the blade feeding assembly device 2, the first accessory feeding assembly device 3, and the second accessory feeding assembly device 30. The end of the return conveyor chain 12 is provided with a second buffer stop 121 for stopping the blade carrier 10. The blade carrier 10 is driven by the carrying tray 100 to reciprocate between the feeding conveyor chain 11, the return conveyor chain 12, the first carrier transfer mechanism 14, and the second carrier transfer mechanism 15. The first carrier transfer mechanism 14 includes a tenth drive module 141 vertically arranged at one end of the feeding conveyor chain 11 and the return conveyor chain 12, and a first transmission pulley group 142 arranged on the tenth drive module 141 and capable of docking with the feeding conveyor chain 11 and the return conveyor chain 12 to transfer the carrying tray 100. The second carrier transfer mechanism 15 has the same structure as the first carrier transfer mechanism 14.

[0048] The outer casing feeding module 4 includes a fourth frame 41, a feeding conveyor belt 42 disposed on the upper end of the fourth frame 41 for conveying the outer casing A4, a return conveyor belt 43 disposed below the feeding conveyor belt 42 for returning and conveying finished products, a left stop bar 44 and a right stop bar 45 disposed on both sides of the feeding conveyor belt 42 and capable of adjusting width, a stop cylinder 46 disposed at one end of the feeding conveyor belt 42 for blocking and separating the outer casing A4, and a discharge chute 47 inclinedly disposed at one end of the return conveyor belt 43 for docking and conveying the finished products.

[0049] The outer casing assembly robot 5 includes a fifth frame 51 disposed at one end of the outer casing feeding module 4, a third four-axis robotic arm 52 disposed on the fifth frame 51 and capable of swinging between the carrier transfer module 1 and the outer casing feeding module 4, a gripping device 53 disposed at the end of the third four-axis robotic arm 52 for gripping the blade A1 and the outer casing A4, and a third CCD camera 5 disposed on the third four-axis robotic arm 52 for detecting whether the blade A1 is missing. 4 and an eleventh drive module 55 for driving the lifting and lowering movement of the third CCD camera 54. The clamping device 53 includes a clamping cylinder 531, a first clamping block group 532 disposed at one end of the two arms of the clamping cylinder 531 and used to clamp the blade A1, a second clamping block group 533 disposed at the other end of the two arms of the clamping cylinder 531 and used to clamp the outer shell A4, and a positioning fixture block 534 disposed at the other end of the clamping cylinder 531 and used to position the outer shell A4.

[0050] An automatic air outlet assembly method involves manually placing groups of blades A1 of different shapes onto a full-load tray 22A, stacking the placed full-load trays 22A into a first feeding mechanism 22, manually filling a first storage bin 32 in a first accessory feeding assembly device 3 with a sufficient amount of blade connecting rods A2, and manually filling at least one second accessory feeding assembly device 30 with a sufficient amount of blade support A3.

[0051] The first feeding mechanism 22 moves the full-load tray 22A to below the first CCD camera 27. The first CCD camera 27 detects and determines whether each set of blades A1 on the full-load tray 22A meets the picking standards. A set that does not meet the requirements is not picked up and is moved away with the tray. The first loading robot 26 then transfers the set of blades A1 that meets the requirements to the flipping mechanism 24 to flip them. The flipped blades A1 are then transferred to the transfer mechanism 23. The transfer mechanism 23 moves the blades A1 to the oiling mechanism 28 to complete the oiling. Then the blades A1 are moved to the first loading robot 26. The first transfer robot 25 transfers the blades A1 one by one and places them on the carrier positioning device 13 in the carrier conveying module 1.

[0052] The blade connecting rod A2 is dispersed by the first flexible vibrating plate 33 in the first accessory feeding assembly equipment 3. After the position and angle are determined by the second CCD camera 34, the blade A1 transferred from the carrier transfer module 1 is first pressed and positioned by the clamping and positioning mechanism 35. Then, the blade connecting rod A2 is transferred to the connecting rod assembly mechanism 37 by the second loading robot 36. The blade connecting rod A2 is then clamped onto the blade A1 by the connecting rod assembly mechanism 37.

[0053] At least two second accessory feeding and assembly devices 30 are used to install blade supports A3 of different shapes one by one onto the blades A1 transferred from the carrier conveying module 1. The structure and assembly method of the second accessory feeding and assembly devices 30 are the same as those of the first accessory feeding and assembly devices 3. The two second accessory feeding and assembly devices 30 are respectively responsible for installing the blade supports A3 onto both ends of the blades A1. The clamping and positioning mechanism 35 and the connecting rod assembly mechanism 37 in the two second accessory feeding and assembly devices 30 are alternately located on different sides of the carrier conveying module 1 to realize the installation of the blade supports A3 onto both ends of the blades A1.

[0054] The outer shell A4 is manually placed onto the outer shell feeding module 4, which is arranged side by side with the carrier conveying module 1. The outer shell feeding module 4 then delivers the outer shell A4 to the carrier positioning device 13, which has already assembled the blade A1, blade connecting rod A2, and blade support A3. The outer shell assembly robot 5 first transfers the blade A1, blade connecting rod A2, and blade support A3 from the carrier positioning device 13 to the assembly station. Then, it grabs the outer shell A4 and puts it onto the blade A1, blade connecting rod A2, and blade support A3 to complete the final assembly. The finished product is then transferred to the outer shell feeding module 4, which returns the finished product to the loading station. The finished product is then manually removed. The carrier conveying module 1 can also return the carrier positioning device 13 for reciprocating transport.

[0055] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An automated assembly line for air outlets, characterized in that, include: The vehicle conveying module (1), the blade feeding and assembly equipment (2) disposed beside the vehicle conveying module (1) for assembling blades (A1), at least one first accessory feeding and assembly equipment (3) disposed beside the vehicle conveying module (1) for assembling blade connecting rods (A2), at least one second accessory feeding and assembly equipment (30) disposed beside the vehicle conveying module (1) for assembling blade supports, a shell feeding module (4) disposed side by side beside the vehicle conveying module (1) for conveying shells (A4), and a shell feeding module (4) disposed beside the shell feeding module (4) for conveying the shells (A4). (A4) A shell assembly robot (5) is assembled onto the blade (A1). The shell assembly robot (5) includes a fifth frame (51) disposed at one end of the shell feeding module (4), a third four-axis robot arm (52) disposed on the fifth frame (51) and capable of swinging between the carrier transfer module (1) and the shell feeding module (4), a gripping device (53) disposed at the end of the third four-axis robot arm (52) for gripping the blade (A1) and the shell (A4), and a device disposed on the third four-axis robot arm (52) for detecting whether the blade (A1) is The third CCD camera (54) and the eleventh drive module (55) for driving the lifting and lowering movement of the third CCD camera (54) are not missing; the blade feeding assembly equipment (2) includes a first frame (21), a first feeding mechanism (22) disposed on one side of the first frame (21) for feeding the blade (A1), a transfer mechanism (23) disposed on the side of the first feeding mechanism (22) for transferring the blade (A1), a flipping mechanism (24) disposed between the transfer mechanism (23) and the first feeding mechanism (22) for flipping the blade (A1), and a cross-section A first transfer robot (25) is disposed between the first feeding mechanism (22), the transfer mechanism (23), and the flipping mechanism (24) and is used to transport the blade (A1); a first loading robot (26) is disposed at the end of the transfer mechanism (23) and is used to grab the blade (A1) for transfer and feeding; a first CCD camera (27) is disposed above the junction of the first feeding mechanism (22) and the first transfer robot (25) and is used to detect the blade (A1); and an oiling mechanism is disposed above the transfer mechanism (23) and is used to apply oil to the blade (A1).

2. The automatic assembly line for air outlets according to claim 1, characterized in that: The first loading mechanism (22) includes a first transport module (221) arranged perpendicular to the movement direction of the first transfer manipulator (25), a full-pan accumulator module (222) arranged at one end of the first transport module (221) for stacking full-pan trays, and an empty-pan accumulator module (223) arranged on the other side of the first transport module (221) for stacking empty trays. The first transfer manipulator (25) passes between the full-pan accumulator module (222) and the empty-pan accumulator module (223), and the first CCD camera (27) is located above the full-pan accumulator module (222) and the empty-pan accumulator module (223). Multiple blades (A1) of different shapes can be placed on the full-pan tray.

3. The automatic assembly line for air outlets according to claim 1, characterized in that: The flipping mechanism (24) includes a first contouring carrier (241) for carrying the blade (A1), a first rotating seat (242) and a second rotating seat (243) disposed on both sides of the first contouring carrier (241) and cooperating to clamp at least one blade (A1), a first lifting cylinder (244) for driving the first contouring carrier (241) to lift and detach from the blade (A1), a first drive module (245) disposed on the side of the first contouring carrier (241) and for driving the first rotating seat (242) and the second rotating seat (243) to rotate synchronously, and a second drive module (246) for driving the first rotating seat (242) and the second rotating seat (243) to cooperate to clamp and release the blade (A1).

4. The automatic assembly line for air outlets according to claim 1, characterized in that: The first transfer robot (25) includes a first support frame (251) and a second support frame (252) that are parallel to each other across the first loading mechanism (22), the transfer mechanism (23), and the flipping mechanism (24); a fourth slide rail (253) disposed on the first support frame (251); a third drive module (254) disposed on the second support frame (252); and a transfer robot (254) mounted on the fourth slide rail (253) and the third drive module (254) that can transfer between the first loading mechanism (22), the transfer mechanism (23), and the flipping mechanism (24). The first moving frame (255) moves above the rotating mechanism (24), multiple sets of first suction nozzle modules (256) arranged in parallel on one side of the first moving frame (255) for picking up the blade (A1), multiple sets of first gripper modules (257) arranged in parallel on the other side of the first moving frame (255) for gripping the blade (A1), and a fourth driving device (258) and a fifth driving device (259) arranged on the first moving frame (255) for driving the first suction nozzle module (256) and the first gripper module (257) to move up and down respectively.

5. An automatic air outlet assembly line according to claim 1, characterized in that: The first accessory feeding and assembly equipment (3) includes a second frame (31), a first storage bin (32) disposed on the second frame (31) for storing the blade connecting rod (A2), a first flexible vibrating plate (33) disposed beside the first storage bin (32) for vibrating and spreading the blade connecting rod (A2), a second CCD camera (34) disposed above the first flexible vibrating plate (33) for taking pictures to detect the shape and position of the blade connecting rod (A2), and a clamping device disposed on one side of the carrier conveying module (1). The blade (A1) includes a clamping and positioning mechanism (35), a second loading robot (36) located beside the first flexible vibrating plate (33) for gripping the blade connecting rod (A2) and transferring it to the carrier conveying module (1), and a connecting rod assembly mechanism (37) located on the other side of the carrier conveying module (1) for docking with the second loading robot (36) to assemble the blade connecting rod (A2) onto the blade (A1). The second accessory feeding assembly device (30) has the same structure as the first accessory feeding assembly device (3).

6. The automatic assembly line for air outlets according to claim 1, characterized in that: The clamping device (53) includes a clamping cylinder (531), a first clamping block group (532) disposed at one end of the two arms of the clamping cylinder (531) and used to clamp the blade (A1), a second clamping block group (533) disposed at the other end of the two arms of the clamping cylinder (531) and used to clamp the outer shell (A4), and a positioning fixture block (534) disposed at the other end of the clamping cylinder (531) and used to position the outer shell (A4).

7. An automatic air outlet assembly line according to any one of claims 1-6, characterized in that: The carrier conveying module (1) includes a third frame (110), a feeding conveyor chain (11) disposed on the upper end of the third frame (110) for conveying the blade carrier (10), a return conveyor chain (12) disposed below the feeding conveyor chain (11) for reverse conveying the blade carrier (10), multiple carrier positioning devices (13) disposed on the upper end of the third frame (110) for lifting the blade carrier (10), and a first carrier transfer mechanism (14) and a second carrier transfer mechanism (15) disposed at both ends of the third frame (110) for transferring the blade carrier (10) between the feeding conveyor chain (11) and the return conveyor chain (12). The blade carrier (10) is provided with multiple positioning slots for positioning the blade (A1).

8. An automatic air outlet assembly line according to claim 7, characterized in that: The outer shell feeding module (4) includes a fourth frame (41), a feeding conveyor belt (42) located on the upper end of the fourth frame (41) for conveying the outer shell (A4), a return conveyor belt (43) located below the feeding conveyor belt (42) for returning and conveying the finished product, a left stop bar (44) and a right stop bar (45) located on both sides of the feeding conveyor belt (42) and capable of adjusting width, a stop cylinder (46) located at one end of the feeding conveyor belt (42) for blocking and separating the outer shell (A4), and a discharge chute (47) inclined at one end of the return conveyor belt (43) for docking and conveying the finished product; the feeding conveyor chain (11) is provided with a plurality of first buffer stops and first check valves located at the blade feeding assembly equipment (2), the first accessory feeding assembly equipment (3), and the second accessory feeding assembly equipment (30), respectively.

9. An automatic assembly method for air outlets, characterized in that: Different shaped blades (A1) are manually placed in groups onto a full-load tray, and the placed full-load trays are stacked and loaded into the first feeding mechanism (22). Then, a sufficient amount of blade connecting rods (A2) are manually filled into the first storage bin (32) of the first accessory feeding assembly equipment (3), and a sufficient amount of blade support is filled into at least one second accessory feeding assembly equipment (30). The full-load tray is moved to the bottom of the first CCD camera (27) by the first feeding mechanism (22). The first CCD camera (27) detects and judges whether each set of blades (A1) on the full-load tray meets the picking standard. If the set does not meet the requirements, it is not picked up and is moved away with the tray. Then, the first loading robot (26) transfers the set of blades (A1) that meet the requirements to the flipping mechanism (24) to complete the flipping. Then, the flipped blades (A1) are transferred to the transfer mechanism (23). The transfer mechanism (23) moves the blades (A1) to the oiling mechanism to complete the oiling. Then, the blades (A1) are moved to the first loading robot (26). The first transfer robot (25) transfers the blades (A1) one by one to the vehicle positioning device (13) in the vehicle conveying module (1). The blade connecting rod (A2) is dispersed by the first flexible vibrating plate (33) in the first accessory feeding assembly equipment (3). After the position and angle are determined by the second CCD camera (34), the blade (A1) transferred from the carrier transfer module (1) is first pressed and positioned by the clamping and positioning mechanism (35). Then, the blade connecting rod (A2) is transferred to the connecting rod assembly mechanism (37) by the second loading robot (36). The blade connecting rod (A2) is then clamped onto the blade (A1) by the connecting rod assembly mechanism (37). Different shaped blade supports are installed one by one onto the blades (A1) transferred from the carrier conveying module (1) by at least two second accessory feeding and assembly devices (30). The structure and assembly method of the second accessory feeding and assembly device (30) are the same as those of the first accessory feeding and assembly device (3). The shell (A4) is placed manually on the shell feeding module (4) which is set up next to the carrier conveying module (1). The shell feeding module (4) then sends the shell (A4) to the carrier positioning device (13) where the blade (A1), blade connecting rod (A2), and blade support have been assembled. The shell assembly robot (5) first transfers the blade (A1), blade connecting rod (A2), and blade support from the carrier positioning device (13) to the assembly station. Then, the shell (A4) is grabbed and put on the blade (A1), blade connecting rod (A2), and blade support to complete the final assembly. The finished product is then transferred to the shell feeding module (4). The shell feeding module (4) returns the finished product to the loading station. The finished product is then removed manually. The carrier conveying module (1) can return the carrier positioning device (13) and transport it back and forth.

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