Air conditioner compressor foot pad automatic disorder installation equipment and method

Abstract

The application provides an air conditioner compressor foot pad automatic disorder installation equipment and method, the equipment includes foot pad pickup mechanism, foot pad installation mechanism and conveying mechanism. The foot pad pickup mechanism includes a return device, a first vision system, a feeding belt line device, a return belt line device, a four-axis robot, a foot pad pickup mechanism, a foot pad positioning device and a double-station rotary table. The foot pad is conveyed and processed through the feeding belt line, and the foot pad with correct posture is reserved. After being processed by the first vision system, the robot can disorderly grab and place the foot pad on the double-station rotary table, and then the next process; the foot pad installation mechanism includes a six-axis robot and a three-station foot pad tool clamp, which is used for grabbing and installing the complete three-station foot pad on the double-station rotary table to the product tool on the conveying line; the conveying mechanism includes a conveying line body and a second vision system, which is used for conveying and visually positioning the product tool. The application realizes the intelligentization and automation of the air conditioner compressor foot pad installation, and improves the production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic production of air conditioner compressors, and particularly relates to an automatic and flexible multi-station foot pad feeding disordered grabbing and mounting device. BACKGROUND

[0002] An air conditioner compressor is an important component of an outdoor unit, and a shock-absorbing rubber foot pad needs to be mounted on a chassis of the air conditioner compressor to reduce vibration of the air conditioner compressor. Air conditioner manufacturers in domestic enterprises gradually use automatic production lines to replace manual production lines for air conditioner outdoor unit production lines. At present, foot pad mounting still remains manual mounting, which is time-consuming and labor-intensive, or still needs manual assistance, and a vibration feeding table feeding mechanism has low compatibility and low production efficiency, and the automation degree of a workstation needs to be improved. SUMMARY

[0003] In view of the existing technology and improvement space, the present application provides an air conditioner compressor foot pad automatic disordered mounting device and method, wherein an automatic foot pad mounting device and method suitable for air conditioner outdoor unit compressor foot pad assembly are designed according to the needs and characteristics of the existing automatic production line, and a main foot pad picking mechanism, a foot pad mounting mechanism and matching components thereof are researched and designed to solve the problems of low production efficiency and low compatibility of the traditional air conditioner outdoor unit production line, and to realize an air conditioner compressor foot pad automatic disordered mounting device and method.

[0004] To achieve the above-mentioned purpose, the present application provides an air conditioner compressor foot pad mounting device and method, which comprises:

[0005] An air conditioner compressor foot pad automatic disordered mounting device, characterized in that it comprises:

[0006] a foot pad picking mechanism 100, a foot pad mounting mechanism 200 and a conveying mechanism 300;

[0007] The foot pad picking mechanism 100 comprises a material returning device 110, a first vision system 120, a feeding belt line device 130, a material returning belt line device 140, a foot pad picking mechanism 150, a foot pad positioning device 160 and a double-station rotary table 170.

[0008] The material returning device 110 is used for circulating foot pad materials, and an upper station thereof is sequentially connected with a material bin and an input end of the feeding belt line device 130; a lower station thereof is connected with an output end of the material returning belt line device 140, and an input end of the material returning belt line device 140 is connected with an output end of the feeding belt line device 130.

[0009] The feeding belt line device 130 is used for conveying foot pad materials, and the material returning belt line device 140 is arranged below the feeding belt line device 130 and is used for circulating materials.

[0010] The first vision system 120 is above the output end of the feeding belt line 130, and is used for taking photos to obtain the posture of the insole material, so as to facilitate the insole pickup mechanism 150 to clamp the insole with correct posture;

[0011] The insole pickup mechanism 150 is connected with the four-axis robot through a connecting piece, and is used for picking up the insole with correct posture on the feeding belt line device 130 and placing the insole on the double-station turntable 170;

[0012] The insole positioning device 160 is parallel to the three-position fixing seat of the double-station turntable 170, and is used for detecting whether the three insoles are placed in place;

[0013] The double-station turntable 170 is matched with the insole pickup mechanism 150, and is placed in the movement range of the insole pickup mechanism 150, and is used for switching the empty station after the three-position fixing seat on one side is filled with insoles;

[0014] The insole mounting mechanism 200 is used for transplanting the insoles on the three-position fixing seat to the outer machine chassis on the conveying mechanism 300;

[0015] The conveying mechanism 300 includes a second vision system 310 and a conveying chain drum line 320; the second vision system 310 is used for visually detecting the position of the insole stud on the outer machine chassis;

[0016] The conveying chain drum line 320 is located on one side of the insole mounting mechanism 200, and is used for conveying the outer machine chassis.

[0017] Preferably, the return material device 110 includes a lifting transmission mechanism 111 and a cylinder pushing material mechanism 112;

[0018] The lifting transmission mechanism 111 drives the cylinder pushing material mechanism 112 to lift and descend;

[0019] When the cylinder pushing material mechanism 112 rises to the upper station, the pushing cylinder of the cylinder pushing material mechanism 112 pushes the material box, and the returned material is poured into the material bin;

[0020] When the cylinder pushing material mechanism 112 descends to the lower station, the pushing cylinder of the cylinder pushing material mechanism 112 retracts, and the material box is connected to the returned material.

[0021] Preferably, the cylinder pushing material mechanism 112 includes:

[0022] The material removal frame can lift and descend with the lifting transmission mechanism 111, and the mounting column for hinging the material box is arranged on the material removal frame;

[0023] The pushing cylinder, whose cylinder body is fixed to the material removal frame, has an output end hinged to the bottom of the material box.

[0024] Preferably, the foot pad picking mechanism 150 comprises:

[0025] A cylinder rod 151, the upper end of which is fixed to the output end of the four-axis robot, and the lower end of which is hingedly connected to the mounting plate of the pneumatic gripper 153;

[0026] A cylinder 152, the cylinder body of which is fixed to the cylinder rod 151, and the cylinder rod of which passes through the middle connecting plate of the cylinder rod 151 and is hingedly connected to the mounting plate of the pneumatic gripper 153.

[0027] Preferably, the foot pad mounting mechanism 200 comprises a six-axis robot 210 and a foot pad mounting clamp 220.

[0028] The tool clamp base 221 of the foot pad mounting clamp 220 is connected to the six-axis robot 210 through a connecting piece, for accommodating the second vision system 222 and the three-station clamp 222 of the foot pad mounting clamp 220, which serves as a fixed seat thereof.

[0029] The three-station clamp 222 is mounted on the lower surface of the tool clamp base 221, and comprises:

[0030] A central shaft 227, which passes through the tool clamp base 221 and is rotatably mounted on the tool clamp base 221, and the upper end of which is connected to the output end of the push cylinder 229 through a conversion unit, which converts the linear motion of the push cylinder 229 into the rotary motion of the central shaft 227;

[0031] The lower section of the central shaft 227 passes through the central base 228 and can drive the central base 228 to rotate; the central base 228 is located below the lower mounting plate of the clamp base 221;

[0032] A central linkage 223, one end of which is hingedly connected to the central base 228, and the other end of which is hingedly connected to the three-station clamp guide base 225; the three-station clamp guide base 225 is slidingly connected to the lower surface of the lower mounting plate;

[0033] A three-claw cylinder 224, which is provided corresponding to the three-station clamp guide base 225, and the cylinder body of which is mounted on the three-station clamp guide base 225, and the output end of which is connected to the clamp.

[0034] Preferably, the conversion unit comprises:

[0035] A connecting piece 230, one end of which is sleeved on the central shaft 227, and the other end of which is sleeved on a rotating shaft; the rotating shaft is parallel to the central shaft 227;

[0036] A connecting seat 231, which is fixed to the output end of the push cylinder 229, and has a groove formed therein, and the rotating shaft is mounted in the groove.

[0037] Preferably, the tool clamp base 221 comprises an upper flange plate, and the lower mounting plate is fixed to the upper flange plate;

[0038] The upper flange plate is connected and fixed with the six-axis robot, and the push cylinder controls the distance inside the three-station clamp 222 through the center linkage rod.

[0039] Preferably, the three-station clamp jaw guide rail base 225 is uniformly arranged at 120° on the lower surface of the tool clamp base 221.

[0040] Each three-station clamp jaw guide rail base 225 is slidably connected with the lower surface of the lower mounting plate to limit the sliding of the three-jaw cylinder 224.

[0041] Preferably, the conveying mechanism 300 comprises a second vision system 310 and a conveying chain drum line 320, and the vision camera of the second vision system 310 carried by the aluminum profile mechanism is located on one side of the conveying chain drum line 320.

[0042] An air conditioner compressor foot pad mounting method comprises the following steps:

[0043] In step S100, the foot pad is poured into the hopper, the material is automatically dropped onto the feeding belt line device 130, and then transported according to the feeding direction;

[0044] When the foot pad is transported to the output end of the feeding belt line device 130, the first vision system 120 takes a photo, and the control system obtains the posture information of the foot pad; at the time of shooting, the feeding belt line device 130 stops running, and the foot pad picking mechanism 150 starts picking up;

[0045] After the foot pad material in the correct posture on the feeding belt line device 130 is picked up, the feeding belt line device 130 continues to convey; the remaining foot pad material on the feeding belt line device 130 will fall onto the return belt line device 140 and be conveyed back to the hopper of the return device 110 below the height of the return belt line device 140;

[0046] When the feeding belt line device 130 stops again for picking up, the return belt line device 140 stops feeding, the cylinder of the return device 110 extends to lift the hopper above the hopper, and the pushing cylinder extends to pour the returned material in the hopper into the hopper for feeding;

[0047] In step S200, after the foot pad picking mechanism 150 picks up the foot pad, the foot pad is placed on the double-station turntable 170.

[0048] When three sensors cannot receive signals, the double-station turntable 170 starts to rotate, rotating one end filled with the foot pad to the other end for the foot pad mounting mechanism 200 to clamp and mount, and rotating the other end without the foot pad to the foot pad picking mechanism 150 to continue to pick and place the foot pad;

[0049] In step S300, when the conveying mechanism 300 transports the air conditioner outdoor unit to the stop position, the second vision system 310 takes a picture to obtain the posture data of the air conditioner outdoor unit chassis, and after processing by the control system, the foot pad mounting mechanism 200 is controlled to mount three foot pads on the air conditioner outdoor unit chassis on the conveying drum line 320, thereby completing the foot pad mounting.

[0050] Compared with the prior art, the advantages of the present application are:

[0051] According to the needs and characteristics of the existing automatic production line, an automatic foot pad mounting device and method suitable for air conditioner outdoor unit compressor foot pad assembly are designed, and the main foot pad picking mechanism and foot pad mounting mechanism and their matching components are researched and designed to solve the problems of low production efficiency and poor compatibility of the traditional air conditioner outdoor unit production line. BRIEF DESCRIPTION OF DRAWINGS

[0052] The present application will be further described below with reference to the accompanying drawings.

[0053] Figure 1 is a structural schematic diagram of the present application, which is a new type of air conditioner compressor foot pad automatic disordered mounting equipment.

[0054] Figure 2 is a structural schematic diagram of the foot pad picking device of the present application.

[0055] Figure 3 is a structural schematic diagram of the return device of the present application.

[0056] Figure 4 is a structural schematic diagram of the foot pad picking device of the present application.

[0057] Figure 5 is a structural schematic diagram of the foot pad picking mechanism gripper of the present application.

[0058] Figure 6 is a structural schematic diagram of the foot pad mounting device of the present application.

[0059] Figure 7 is a structural schematic diagram of the foot pad mounting mechanism clamp of the present application.

[0060] Figure 8 is a bottom view of the foot pad mounting mechanism clamp of the present application.

[0061] Figure 9is the structural schematic diagram of the conveying mechanism of the invention implementation;

[0062] Figure 10 is the perspective view of the installation of the foot pad mounting clamp;

[0063] Figure 11 is the installation schematic diagram of the center base;

[0064] Figure 12 is the installation schematic diagram of the center shaft;

[0065] Figures 13-15 is the positional relationship diagram of the feeding belt line device, the returning belt line device and the stock bin.

[0066] In the figure: 100-foot pad pickup mechanism, 200-foot pad mounting mechanism, 300-conveying mechanism;

[0067] 110-returning device, 111-lifting transmission mechanism, 112-cylinder pushing mechanism, 120-first vision system, 130-feeding belt line device, 140-returning belt line device,

[0068] 150-foot pad pickup mechanism, 151-cylinder rod, 152-cylinder, 153-pneumatic clamping jaw,

[0069] 160-foot pad positioning device, 170-double-station rotary table,

[0070] 210-six-axis robot,

[0071] 220-foot pad mounting clamp, 221-fixture clamp base, 222-three-station clamp, 223-center linkage rod, 224-three-jaw cylinder, 225-clamping jaw base, 226-nozzle assembly, 227-center shaft, 228-center base, 229-pushing cylinder, 230-connection piece, 231-connection seat,

[0072] 310-second vision system, 320-conveying chain drum line. DETAILED DESCRIPTION

[0073] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in the specification are only for clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship is also regarded as the scope of the present application without substantial change in the technical content.

[0074] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in the specification are only for clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship is also regarded as the scope of the present application without substantial change in the technical content. Figures 1-9 The application is further described as follows:

[0075] Please refer to Figure 1 The embodiment of the present application is a kind of intelligent, automatic air conditioner compressor foot pad installation equipment, including foot pad pickup mechanism 100, foot pad installation mechanism 200;Conveying mechanism 300.

[0076] Among them, the foot pad pickup mechanism 100 is a kind of high compatibility feeding mechanism, which is used to automatically clamp the disordered foot pad material to the specified position, so that the foot pad installation mechanism 200 clamps and installs on the air conditioner outdoor unit chassis on the conveying mechanism 300, to complete the installation action of the air conditioner outdoor unit foot pad.

[0077] In this way, through the cooperation of each structure provided by the embodiment, the intelligent grabbing and installation of the air conditioner compressor foot pad are realized, which has the advantages of high automation degree, fast working efficiency, etc., reduces the production cost and improves the production efficiency.

[0078] As shown in Figure 2 The foot pad pickup mechanism 100 includes a material returning device 110, a lifting transmission mechanism 111, a cylinder pushing material mechanism 112, a first vision system 120, a feeding belt line device 130, a material returning belt line 140, a foot pad pickup mechanism 150, a foot pad positioning device 160, and a double-station rotary table 170. The above components are designed as a whole and fixed on the gantry.

[0079] The material returning device 110 is arranged at the last end of the foot pad pickup mechanism 100, and returns the foot pad with incorrect posture (which cannot be grabbed by the six-axis robot 210) back to the material bin, and supplies the material bin with material through the feeding belt line device 130.

[0080] The first vision system 120 is arranged at the end of the feeding belt line device 130, and directly faces the foot pad material below (at the feeding belt line device 130), takes a photo to obtain the position and posture data of the foot pad, and transmits the data to the four-axis robot arranged on the side through the control system.

[0081] Specifically, the position and posture data of the foot pads on the discharge conveyor belt are obtained through the vision detection end of the first vision system 120, which is used to assist the control system in controlling the action of the foot pad picking mechanism 150.

[0082] The upper station of the feeding belt conveyor device 130, the hopper, and the return device 110 are connected in sequence.

[0083] The return conveyor belt 140 is positioned parallel to the feeding conveyor belt device 130 below, and its output end is connected to the lower station of the return device 110.

[0084] The feeding belt conveyor 130, the return material device 110, the return material belt conveyor 140, and the hopper together constitute a circulating feeding and return material mechanism.

[0085] According to the data transmitted by the control system, the four-axis robot uses the foot pad picking mechanism 150 connected to its end to randomly grab the foot pads (at the feeding belt device 130) below and place them on the dual-station turntable 170 on the right side of the feeding belt device 130.

[0086] The footpad picking mechanism 150 coordinates the movement of each mechanism by acquiring the position status data of the first vision system 120.

[0087] For example, the foot pad positioning device 160, which consists of three sets of sensors, corresponds to the three fixed seats of the dual-position turntable 170, which is powered by a motor, and is used to detect whether the three foot pads are all placed in place.

[0088] The foot pad picking mechanism 150 moves with the four-axis robot via a connector. It is simply composed of a pneumatic rod 151, a cylinder 152 and a pneumatic gripper 153, which can move within a 90° range. The pneumatic gripper 153 is designed to be a pneumatic gripper with a centering and positioning function, which can be compatible with picking up foot pads of various models in both vertical and horizontal orientations.

[0089] The foot pad positioning device 160 consists of three sensors, which are positioned opposite the three fixed seats arranged in a triangular pattern on the dual-station turntable 170.

[0090] Once all three fixed seats are fitted with foot pads, the foot pad positioning device 160 transmits a signal to the control system. The dual-station turntable 170 rotates 180°, rotating the empty station below the foot pad picking mechanism 150, and continues working, rotating the station filled with foot pads to the installation mechanism to wait for the foot pad picking mechanism 150 to pick it up.

[0091] like Figure 3 As shown, the return material device 100 is composed of a lifting transmission mechanism 111 and a cylinder pushing mechanism 112 connected together.

[0092] The lifting transmission mechanism 111 consists of a concave frame, two sets of guide rails and a cylinder.

[0093] When the lifting cylinder of the lifting transmission mechanism 111 is raised, it pushes the cylinder pushing mechanism 112 to rise, and the pushing cylinder of the cylinder pushing mechanism 112 rises accordingly. When the height is higher than the material bin (at this time, the cylinder pushing mechanism 112 is in the upper working position), the pushing cylinder of the cylinder pushing mechanism 112 is raised, pushing the connected material box forward to pour the unidentified foot pad material into the material bin.

[0094] The lifting cylinder of the lifting transmission mechanism 111 descends, pushing the pushing cylinder to retract, and the height is lower than the return conveyor belt 140 (at this time, the cylinder pushing mechanism 112 is in the lower position), and the material box receives the poured foot pad material (output from the return conveyor belt 140).

[0095] like Figure 4 As shown, a four-axis robot is the main body, which works in conjunction with a picking mechanism 150, a foot pad positioning device 160 and a dual-station turntable 170. After receiving data from the first vision system 120, the control system controls the various component mechanisms to coordinate and complete the picking and placement of foot pads and feeding them to the next process.

[0096] The foot pad picking mechanism 150 is installed at the end of the four-axis robot hand.

[0097] The foot pad positioning device 160 consists of three optical sensors and is mounted on the four-axis robot base, facing one end of the front dual-station turntable.

[0098] When the three fixed seats at one end of the dual-station turntable 170 are fully equipped with foot pads (the foot pad positioning device 160 cannot receive light signals from the fixed seats, that is, the signal receiving range of the sensor is covered and blocked by the foot pads), the motor rotates 180°, rotating the fully loaded end to the foot pad mounting mechanism 200, while the other end, the empty three fixed seats, rotate to the bottom of the four-axis robot. After being fully loaded, the cycle repeats.

[0099] The mechanism uses a combination of electric and hydraulic components, which is simple in structure and convenient in process.

[0100] like Figure 5 As shown, the foot pad picking mechanism 150 consists of a cylinder rod 151, a cylinder 152, and a pneumatic gripper 153.

[0101] The upper support of the pneumatic rod 151 is connected to the four-axis robot, and the lower end is hinged to the mounting plate of the pneumatic gripper 153.

[0102] Specifically, the intermediate connecting plate of the cylinder rod 151 is designed as a hollow structure to facilitate the passage of the cylinder 152 extension rod and to be hinged to the mounting plate of the pneumatic gripper 153.

[0103] By lifting and retracting the cylinder 152, the connecting rod drives the pneumatic gripper 153 to rotate within a 90° range, which can pick up foot pads in both vertical and horizontal positions.

[0104] The pneumatic gripper 153 consists of a gripper cylinder and two grippers. The inner surfaces of the two grippers are designed as cylindrical concave surfaces with cylindrical parts of different depths to increase the contact area of ​​the foot pad and thus prevent it from slipping.

[0105] The pneumatic gripper 153 is driven by a gripper cylinder to move the two grippers toward each other to clamp the foot pad, or to move them apart to release the foot pad.

[0106] like Figure 6 As shown, the foot pad mounting mechanism 200 consists of a six-axis robot 210 and a foot pad mounting fixture 220.

[0107] The six-axis robot 210 works in conjunction with the foot pad picking mechanism 150 to perform repetitive back-and-forth grasping, and is the main body of the movement.

[0108] The tooling fixture base 221 of the foot pad mounting fixture 220 is connected to the connector of the six-axis robot 210, which drives the tooling fixture to perform a transfer movement, completing the action process of grabbing three foot pads from the dual-station mounting plate 150 at one time and installing them onto the air conditioner outdoor unit on the conveying mechanism 300.

[0109] like Figure 7 and Figure 8 The foot pad mounting fixture 200 shown consists of a tooling fixture base 221 and a three-station fixture 222.

[0110] The foot pad mounting mechanism 200 is mainly composed of a six-axis robot 210, and a foot pad mounting fixture 220 consisting of a tooling fixture base 221 and a three-station fixture 222 is connected to the six-axis robot 210.

[0111] The tooling fixture base 221 is connected to the manipulator of the six-axis robot 210 via a connector, serving as the main base of the tooling fixture.

[0112] The tooling fixture base 221 includes an upper flange and a lower mounting plate fixed to the upper flange.

[0113] The upper flange is connected and fixed to the six-axis robot, and the push cylinder controls the distance inside the three-position fixture 222 (the distance between the three three-position gripper guide rail bases 225) through the central linkage rod.

[0114] The third vision system 211 is composed of a vision camera and a light source assembly, which are respectively installed on the upper and lower two layers of the tool clamp base 221, and are used to check the posture of the foot pads on the double-station turntable 170 before the foot pads are fixed on the triangular seat of the double-station turntable 170, so as to avoid the foot pads from falling off and changing posture when the double-station turntable 170 rotates to switch stations.

[0115] The three-station clamp 222 is mainly installed below the tool clamp base 221, and includes:

[0116] The central shaft 227 penetrates the tool clamp base 221 and is rotatably installed on the tool clamp base 221, and the upper end of the central shaft 227 is connected to the output end of the push cylinder 229 through a conversion unit, which converts the linear motion of the push cylinder 229 into the rotary motion of the central shaft 227.

[0117] The lower section of the central shaft 227 penetrates the central base 228 and can drive the central base 228 to rotate (the central shaft 227 is in interference fit with the central base 228); the central base 228 is located below the lower mounting plate of the tool clamp base 221.

[0118] The central linkage 223 is hingedly connected to the central base 228 at one end and to the three-station clamp jaw guide base 225 at the other end; the three-station clamp jaw guide base 225 is in sliding connection with the lower surface of the lower mounting plate.

[0119] The three-jaw cylinder 224 is arranged corresponding to the three-station clamp jaw guide base 225, and the cylinder body of the three-jaw cylinder 224 is installed on the three-station clamp jaw guide base 225, and the output end of the three-jaw cylinder 224 is connected to the clamp jaw.

[0120] That is, the central linkage is arranged in the central direction of the central base 228, one end of the central linkage is connected to the push cylinder 229, and the other end of the central linkage is connected to the central linkage 223.

[0121] The working principle of the three-station clamp 222 is as follows:

[0122] By pushing and retracting the push cylinder, the clockwise and counterclockwise rotation of the lower central linkage 223 is controlled, the relative distance between the three-station clamp jaw guide bases 225 connected to the central linkage 223 and the central shaft 227 is changed, and the relative distance between the clamp jaws is adjusted, so as to adapt to the foot pad assembly work of different models of compressors. That is, the distance between the three foot pads on any model of compressor is different from the distance between the three foot pads on other models of compressors.

[0123] The clamping jaw guide rail base 225 is combined with the clamping jaw cylinder 224, and each clamping jaw group is connected with three arc-shaped jaws on the clamping jaw cylinder 224 (one clamping jaw cylinder 224 corresponds to one clamping jaw), and the opening and closing of the clamping jaws are controlled by the pneumatic control to clamp the foot pads.

[0124] The conversion unit comprises:

[0125] The connecting piece 230 is sleeved at one end of the central shaft 227 and sleeved at the other end of the rotating shaft parallel to the central shaft 227;

[0126] The connecting seat 231 is fixed to the output end of the pushing cylinder 229, and a groove is formed in the connecting seat 231, and the rotating shaft is installed in the groove.

[0127] The three clamping jaws connected with the three-jaw cylinder 224 are provided with a nozzle assembly in the middle, and the foot pads are lubricated by spraying lubricant.

[0128] The oil injection assembly 226 is installed at the center of each clamping jaw clamp, and oil is sprayed on each corresponding foot pad.

[0129] As shown in Figure 9 The conveying mechanism 300 is composed of a second visual system 310 and a conveying chain drum line 320.

[0130] The second visual system is composed of an L-shaped frame and a visual system, and is located on one side of the conveying mechanism and opposite to the foot pad mounting mechanism 200.

[0131] The second visual system 310 is located above one side of the conveying chain drum line 320 and opposite to the outer machine chassis coming from the conveying line, and is used for visually detecting the position of the chassis foot pad stud, so as to facilitate the positioning and installation of the foot pad mounting robot (the foot pad mounting mechanism 200).

[0132] The second visual system 310 is used to take pictures of the position and posture of the air conditioner outer machine chassis on the conveying drum line, and after obtaining the relevant information, the information is transmitted to the control system. The foot pad mounting mechanism 200 will move the foot pad tool clamp to the specified position according to the data information, release the clamping jaw, and place three foot pads on the air conditioner outer machine chassis, thereby completing the intelligent assembly of the foot pads.

[0133] With reference to Figures 1-15 , and in combination with the above embodiment, the embodiment also provides a use method of the air conditioner compressor foot pad mounting equipment, which comprises the following steps:

[0134] Step S100, pour the foot pads into the hopper, automatically drop the material to the feeding belt line device 130, and then transport according to the feeding direction;

[0135] When transported to the end of the conveying belt line, take a picture through the first visual system 120, and the control system obtains the posture information of the foot pads;

[0136] When shooting, the feeding belt line device 130 stops running, and the foot pad pickup mechanism 150 starts to pick up. After the foot pad material in the correct posture on the feeding belt line device 130 is picked up, the feeding belt line continues to convey;

[0137] The remaining foot pad material on the feeding belt line device 130 will fall onto the return belt line 140 and be conveyed back to the magazine of the return device 110 below the height of the return belt line 140;

[0138] When the upper end of the feeding belt line device 130 stops again for pickup, the return belt line 140 stops feeding, the cylinder of the return device extends, the material receiving box is lifted above the magazine, the material pushing cylinder is lifted, and the foot pad in the magazine is poured into the magazine for feeding.

[0139] Step S200, after the foot pad pickup mechanism 150 picks up the foot pad, the three fixed seats on the double-station turntable 170 are placed;

[0140] When the three sensors of the foot pad positioning device 160 cannot receive signals, that is, three foot pads are full, the double-station turntable 170 starts to rotate, rotating the end full of foot pads to the other end, so that the foot pad mounting clamp 220 can clamp and install, and the other end of the empty fixed seat rotates back to the foot pad pickup mechanism 150 to continue picking up and placing foot pads.

[0141] Step S300, when the conveying mechanism 300 transports the air conditioner outdoor unit to the work station under the blocking action of the stopper, the second vision system 310 takes a picture to obtain the posture data of the air conditioner outdoor unit chassis, and after processing by the control system, the foot pad mounting mechanism 200 installs three foot pads on the air conditioner outdoor unit chassis on the conveying drum line 320, completing the foot pad installation.

[0142] The above describes the embodiments of the present patent in detail, but the present patent is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present patent.

Claims

1. An automatic disordered installation apparatus for air conditioner compressor foot pads, characterized in that, The application relates to a foot pad grabbing mechanism (100), a foot pad mounting mechanism (200) and a conveying mechanism (300). The foot pad grabbing mechanism (100) comprises a material returning device (110), a first visual system (120), a feeding belt line device (130), a material returning belt line device (140), a foot pad picking mechanism (150), a foot pad positioning device (160) and a double-station rotary table (170). The material returning device (110) is used for circulating foot pad materials, and an upper station is sequentially connected with a material bin and an input end of the feeding belt line device (130); a lower station is connected with an output end of the material returning belt line device (140), and an input end of the material returning belt line device (140) is connected with an output end of the feeding belt line device (130). The feeding belt line device (130) is used for conveying foot pad materials, and the material returning belt line device (140) is arranged below the feeding belt line device (130) and is used for circulating the materials. The first visual system (120) is arranged above an output end of the feeding belt line device (130) and is used for taking photos to obtain the posture of the foot pad materials, so that the foot pad picking mechanism (150) can clamp the foot pad with a correct posture. The foot pad picking mechanism (150) is connected with a four-axis robot through a connecting piece and is used for picking the foot pad with a correct posture on the feeding belt line device (130) and placing the foot pad on the double-station rotary table (170). The foot pad positioning device (160) is arranged below a base of the four-axis robot and is parallel to and opposite to a three-station fixing base of the double-station rotary table (170) and is used for detecting whether three foot pads are placed in position. The double-station rotary table (170) is matched with the foot pad picking mechanism (150) and is arranged in a movement range of the foot pad picking mechanism (150) and is used for switching a vacant station after the three-station fixing base on one side is filled with the foot pads. The foot pad mounting mechanism (200) is used for transplanting the foot pads on the three-station fixing base to an outer machine chassis on the conveying mechanism (300). The foot pad mounting mechanism (200) comprises a six-axis robot (210) and a foot pad mounting clamp (220). A tool clamp base (221) of the foot pad mounting clamp (220) is connected with the six-axis robot (210) through a connecting piece and is used for supporting a three-station clamp (222) of a second visual system (310) and the foot pad mounting clamp (220), which serves as a fixing base. The three-station clamp (222) is installed on a lower surface of the tool clamp base (221) and comprises a center shaft (227) penetrating through the tool clamp base (221) and being rotatably installed on the tool clamp base (221), an output end of a pushing cylinder (229) being connected with an upper end of the center shaft (227) through a conversion unit, and the conversion unit converting linear motion of the pushing cylinder (229) into rotary motion of the center shaft (227). A lower section of the center shaft (227) penetrates through a center base (228) and can drive the center base (228) to rotate, and the center base (228) is located below a lower mounting plate of the tool clamp base (221). ​ ​ A center linkage rod (223) is hingedly connected to a center base (228) at one end and to a three-position gripper guide base (225) at the other end; the three-position gripper guide base (225) is in sliding connection with the lower surface of the lower mounting plate; A three-jaw cylinder (224) is arranged in correspondence with the three-position gripper guide base (225), the cylinder body of which is mounted on the three-position gripper guide base (225), and the output end thereof is connected to the gripper; The conveying mechanism (300) comprises a second vision system (310) and a conveying chain drum line (320); the second vision system (310) is used for visually detecting the position of the foot pad stud on the outer machine chassis; The conveying chain drum line (320) is located on one side of the foot pad mounting mechanism (200) and is used for conveying the outer machine chassis.

2. An automatic disordered installation apparatus for air conditioner compressor foot pads according to claim 1, characterized in that, The return device (110) comprises a lifting transmission mechanism (111) and a cylinder pushing mechanism (112); The lifting transmission mechanism (111) drives the cylinder pushing mechanism (112) to lift and lower; When the cylinder pushing mechanism (112) is lifted to the upper working position, the pushing cylinder of the cylinder pushing mechanism (112) pushes the material box, and the returned material is poured into the material bin; When the cylinder pushing mechanism (112) is lowered to the lower working position, the pushing cylinder of the cylinder pushing mechanism (112) is retracted, and the material box is connected to the returned material.

3. An automatic disordered installation apparatus for an air conditioner compressor foot pad according to claim 2, characterized in that, The cylinder pushing mechanism (112) comprises: A material removal frame which can be lifted and lowered with the lifting transmission mechanism (111) and on which a mounting column for hingedly connecting the material box is arranged; A pushing cylinder whose cylinder body is fixed to the material removal frame and whose output end is hingedly connected to the bottom of the material box.

4. The automatic disordered installation device for air conditioner compressor foot pads according to claim 1, characterized in that, The foot pad picking mechanism (150) comprises: A cylinder rod (151) whose upper end support is fixed to the output end of the four-axis robot, and whose lower end is hingedly connected to the mounting plate of the pneumatic gripper (153); A cylinder (152) whose cylinder body is fixed to the cylinder rod (151), whose cylinder rod passes through the middle connecting plate of the cylinder rod (151), and is hingedly connected to the mounting plate of the pneumatic gripper (153).

5. An automatic disordered installation apparatus for an air conditioner compressor foot pad according to claim 1, characterized in that, The conversion unit comprises: A connecting piece (230) which is sleeved on the center shaft (227) at one end and is sleeved on a rotating shaft at the other end; the rotating shaft is parallel to the center shaft (227); A connecting seat (231) which is fixed to the output end of the pushing cylinder (229) and has a recess formed therein, and the rotating shaft is mounted in the recess.

6. An automatic disordered installation apparatus for air conditioner compressor foot pads according to claim 1, characterized in that, The tool clamp base (221) comprises an upper flange plate and the lower mounting plate fixed to the upper flange plate; The upper flange plate is connected and fixed with the six-axis robot, and the pushing cylinder controls the distance inside the three-position clamp (222) through the center linkage rod.

7. An automatic disordered installation apparatus for air conditioner compressor foot pads according to claim 1, characterized in that, The three-position gripper guide bases (225) are uniformly arranged at an interval of 120° on the lower surface of the tool clamp base (221); Each three-position gripper guide base (225) is in sliding connection with the lower surface of the lower mounting plate by a sliding rail, so as to limit the sliding of the three-jaw cylinder (224).

8. An automatic disordered installation apparatus for air conditioner compressor foot pads according to claim 1, characterized in that, The conveying mechanism (300) comprises a second vision system (310) and a conveying chain drum line (320); the vision camera of the second vision system (310) carried by the aluminum profile mechanism is located on one side of the conveying chain drum line (320).

9. A method of installing an air conditioner compressor foot pad based on the automatic disorderly installation equipment of the air conditioner compressor foot pad according to any one of claims 1-8, characterized in that, The method comprises the following steps: Step S100, pour the foot pads into the hopper, automatically drop the material onto the feeding belt line device (130), and then transport according to the feeding direction; When transported to the output end of the feeding belt line device (130), take a photo through the first vision system (120), and the control system obtains the posture information of the foot pad; during shooting, the feeding belt line device (130) stops running, and the foot pad picking mechanism (150) starts picking up; After the foot pad material in the correct posture on the feeding belt line device (130) is picked up, the feeding belt line device (130) continues to convey; the remaining foot pad material on the feeding belt line device (130) will fall onto the return belt line device (140) and be conveyed back to the return device (110) The hopper below the height of the return belt line device (140); When the feeding belt line device (130) stops again for picking up, the return belt line device (140) stops feeding, the cylinder of the return device (110) extends, the material box is lifted to above the hopper, the pushing cylinder extends, and the return material in the material box is poured into the hopper for feeding; Step S200, when the foot pad picking mechanism (150) picks up the foot pad, place it on the double-station turntable (170); When the three sensors cannot receive signals, the double-station turntable (170) starts to rotate, rotates the end filled with foot pads to the other end, so that the foot pad mounting mechanism (200) clamps and installs, and the other end of the unloaded fixing seat rotates back to the foot pad picking mechanism (150) to continue picking and placing the foot pad; Step S300, when the conveying mechanism (300) transports the air conditioner outdoor unit to the stop of the work station, the second vision system (310) takes a photo to obtain the posture data of the air conditioner outdoor unit chassis, and after processing by the control system, the foot pad mounting mechanism (200) is controlled to install three foot pads on the air conditioner outdoor unit chassis on the conveying drum line (320), completing the foot pad installation.

Images