Grabbing device, air conditioner outdoor unit production line and grabbing method

Abstract

The present invention provides a grabbing device, an air conditioner outdoor unit production line and a grabbing method. The grabbing device includes a bracket, an adsorption mechanism and a clamping mechanism. The adsorption mechanism and the clamping mechanism are both installed on the bracket. The adsorption mechanism is used to adsorb the end face of the hub through negative pressure, and the clamping mechanism is used to clamp the outer peripheral surface of the hub. In this scheme, the end face of the hub is adsorbed by the adsorption mechanism, and the outer peripheral surface of the hub is clamped by the clamping mechanism, that is, the fan blade is grasped by adsorption and clamping together, avoiding the difficulty of ensuring the success rate by adsorption alone. Specifically, the position of the fan blade can be limited by clamping of the clamping mechanism, avoiding the difficulty of adsorption due to tilt of the fan blade or too small adsorption surface. With the cooperation of the clamping mechanism, the adsorption effectiveness of the adsorption mechanism is guaranteed. The grabbing device realizes the grasping of the fan blade through the combined action of clamping and adsorption, and can be applied to fan blades of different specifications, thereby improving the success rate and versatility of grasping different fan blades.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production equipment, and in particular to a gripping device, an air conditioner outdoor unit production line and a gripping method. Background Art

[0002] In the production line of air conditioner outdoor units, in order to reduce costs and improve flexibility, it is necessary to be compatible with three types of housings: 0.75P, 1P and 1.5P. The fan blades installed in these three housings have different structures. In production, a grabbing device is required to grab and move the fan blades to achieve automated assembly.

[0003] Existing grabbing devices for fan blades all grab the fan blades by means of negative pressure adsorption of the hub end face. Due to the differences in the structures of fan blades of different specifications, such as different sizes of adsorption surfaces and some fan blades being prone to tilting after being placed, it is difficult for the same grabbing device to guarantee the success rate of grabbing different fan blades, which affects the compatibility of products of different specifications on the production line. Therefore, it is necessary to improve the existing grabbing device to improve the success rate of grabbing different fan blades. Summary of the invention

[0004] The invention provides a grabbing device, an air conditioner outdoor unit production line and a grabbing method, so as to solve the problem that the grabbing device in the prior art has a low success rate in grabbing fan blades of different specifications.

[0005] In order to solve the above-mentioned problem, according to one aspect of the present invention, the present invention provides a grasping device, wherein the wind blade includes a hub and a plurality of blades arranged on the outer peripheral surface of the hub, and the grasping device includes a bracket, an adsorption mechanism and a clamping mechanism, wherein the adsorption mechanism and the clamping mechanism are both installed on the bracket, the adsorption mechanism is used to adsorb the end face of the hub through negative pressure, and the clamping mechanism is used to clamp the outer peripheral surface of the hub.

[0006] Furthermore, the clamping mechanism comprises a plurality of clamping assemblies, and the plurality of clamping assemblies are sequentially arranged along the circumference of the adsorption mechanism, and the plurality of clamping assemblies clamp the outer peripheral surface of the hub together.

[0007] Furthermore, the clamping assembly includes a support member, a cylinder and a clamping jaw, the support member is installed on the bracket, one end of the cylinder is hinged to the support member, the other end of the cylinder is hinged to one end of the clamping jaw, the other end of the clamping jaw is used to clamp the outer peripheral surface of the wheel hub, and a connecting position is provided between the two ends of the clamping jaw, and the connecting position is hinged to the support member.

[0008] Furthermore, the clamping assembly includes a clamping jaw, the clamping jaw is used to clamp the outer peripheral surface of the hub, the clamping jaw has an arcuate surface, a protective layer is provided on the arcuate surface, and the protective layer contacts the outer peripheral surface of the hub for clamping.

[0009] Furthermore, the adsorption mechanism can be arranged telescopically, and the adsorption mechanism includes a suction cup, and the suction cup is used to adsorb the end face of the hub. The support member has a stop plate, and the stop plate is located on the side of the suction cup away from the hub. The stop plate and the suction cup stop cooperate to limit the telescopic position of the suction cup.

[0010] Furthermore, the adsorption mechanism comprises an annular suction cup, and the suction cup is used to adsorb the end face of the hub through negative pressure, and the hollow cavity of the suction cup avoids the groove or protrusion structure at the end of the hub.

[0011] Furthermore, the suction cup is circumferentially provided with a plurality of adsorption sections and a plurality of avoidance sections, the avoidance sections having avoidance grooves, and the plurality of adsorption sections and the plurality of avoidance sections are alternately arranged, wherein the avoidance grooves are used to avoid the protrusions on the end face of the hub, and the adsorption sections are used to adsorb the end face of the hub.

[0012] Furthermore, the adsorption mechanism also includes an annular adsorption layer, which is arranged on the end face of the suction cup, and has a plurality of adsorption grooves and a plurality of matching grooves, the plurality of adsorption grooves and the plurality of adsorption segments correspond one-to-one, the adsorption grooves surround the negative pressure holes of the adsorption segments, the plurality of matching grooves and the plurality of avoidance grooves are connected one-to-one, and the matching grooves and the avoidance grooves jointly avoid the protrusions on the end face of the hub.

[0013] Furthermore, the adsorption mechanism also includes an elastic telescopic structure, the elastic telescopic structure is installed on the bracket, and the suction cup is installed on an end of the elastic telescopic structure away from the bracket.

[0014] Furthermore, the elastic telescopic structure includes a guide sleeve, a movable rod, a limit piece and an elastic piece. The guide sleeve is fixed to the bracket, the movable rod passes through the guide sleeve, the movable rod and the guide sleeve are slidably matched, the lower end of the movable rod is fixedly connected to the suction cup, the limit piece is fixed to the movable rod, the elastic piece is sleeved on the movable rod, the lower end of the elastic piece is matched with the limit piece, and the upper end of the elastic piece is matched with the guide sleeve or the bracket.

[0015] Furthermore, the grasping device also includes a visual recognition mechanism, which is installed on the bracket or the clamping mechanism, and is used to obtain the position of the wind blade to be grasped by vision.

[0016] Furthermore, the grabbing device also includes a photoelectric detection mechanism, which is installed on the adsorption mechanism, and the photoelectric detection mechanism is used to detect whether the wind blade is grabbed.

[0017] According to another aspect of the present invention, an air-conditioning outdoor unit production line is provided, which includes a hanging basket and the above-mentioned grabbing device, the hanging basket is used to carry a plurality of stacked fan blades, and the grabbing device is used to grab the fan blades on the hanging basket in sequence.

[0018] Furthermore, the hanging basket includes a chassis, a hanging rod and a plurality of limiting rods, the hanging rod and the plurality of limiting rods are fixed to the chassis, the chassis is used to carry a plurality of stacked fan blades, the plurality of limiting rods are used to limit the fan blades, and a protective cover is provided on the limiting rod, and the hardness of the protective cover is less than the hardness of the limiting rod.

[0019] According to another aspect of the present invention, there is provided a grasping method for the grasping device described above, the grasping method comprising:

[0020] Placing the calibrated fan blade at a grabbing station, obtaining the position of the calibrated fan blade as a preset standard position, and calibrating the standard grabbing position of the grabbing device grabbing the calibrated fan blade according to the preset standard position;

[0021] Move the fan blade to be grasped to the grasping station, obtain the actual position of the fan blade to be grasped, calculate the position deviation between the actual position and the preset standard position, and determine the actual grasping position of the fan blade to be grasped by the grasping device according to the position deviation and the standard grasping position.

[0022] Furthermore, the position of the wind blade is obtained through visual recognition, and the multiple wind blades to be grasped are stacked in a hanging basket and moved to the grasping station through the hanging basket. After the previous wind blade is grasped, the next wind blade is visually identified to adjust the actual grasping position of the grasping device to grasp the next wind blade.

[0023] The technical solution of the present invention is applied to provide a grasping device for grasping a fan blade, the fan blade includes a hub and a plurality of blades arranged on the outer peripheral surface of the hub, the grasping device includes a bracket, an adsorption mechanism and a clamping mechanism, both of which are installed on the bracket, the adsorption mechanism is used to adsorb the end face of the hub by negative pressure, and the clamping mechanism is used to clamp the outer peripheral surface of the hub. In this solution, the end face of the hub is adsorbed by the adsorption mechanism, and the outer peripheral surface of the hub is clamped by the clamping mechanism, that is, the grasping of the fan blade is achieved by adsorption and clamping together, avoiding the difficulty of ensuring the success rate by adsorption alone. Specifically, the position of the fan blade can be limited by clamping of the clamping mechanism, avoiding the difficulty of adsorption due to the tilt of the fan blade or the small adsorption surface. With the cooperation of the clamping mechanism, the adsorption effectiveness of the adsorption mechanism is guaranteed. The grasping device realizes the grasping of the fan blade through the combined action of clamping and adsorption, and can be applied to fan blades of different specifications, thereby improving the success rate and versatility of grasping different fan blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 A schematic diagram of the structure of a grabbing device provided by an embodiment of the present invention is shown;

[0026] Figure 2 Shows Figure 1 A top view of the gripping device in FIG.

[0027] Figure 3 Shows Figure 1 A schematic diagram of a clamping assembly in a gripping device;

[0028] Figure 4 Shows Figure 1 A schematic diagram of a suction cup in a gripping device;

[0029] Figure 5 Shows Figure 1 A side view of the suction cup in FIG.

[0030] Figure 6 A schematic diagram showing a grabbing device provided in an embodiment of the present invention grabbing a wind blade is shown;

[0031] Figure 7 A schematic diagram of a hanging basket and fan blades in an air conditioner outdoor unit production line provided by an embodiment of the present invention is shown.

[0032] The above drawings include the following reference numerals:

[0033] 10. Bracket;

[0034] 20. Adsorption mechanism;

[0035] 21. Suction cup; 211. Avoidance groove;

[0036] 22. annular adsorption layer; 221. adsorption groove; 222. matching groove;

[0037] 23. elastic telescopic structure; 231. guide sleeve; 232. movable rod; 233. limiting member; 234. elastic member;

[0038] 30. Clamping mechanism; 31. Support member; 311. Stop plate; 32. Cylinder; 33. Clamping claw; 34. Protective layer;

[0039] 40. Visual identification agency;

[0040] 50. Photoelectric detection mechanism;

[0041] 60. Hanging basket; 61. Chassis; 62. Suspension rod; 63. Limit rod; 64. Protective cover. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figures 1 to 7 As shown, an embodiment of the present invention provides a grasping device for grasping a fan blade, wherein the fan blade includes a hub and a plurality of blades arranged on the outer circumference of the hub, the grasping device includes a bracket 10, an adsorption mechanism 20 and a clamping mechanism 30, the adsorption mechanism 20 and the clamping mechanism 30 are both installed on the bracket 10, the adsorption mechanism 20 is used to adsorb the end face of the hub through negative pressure, and the clamping mechanism 30 is used to clamp the outer circumference of the hub.

[0044] In this solution, the end face of the hub is adsorbed by the adsorption mechanism 20, and the outer peripheral surface of the hub of the fan blade is clamped by the clamping mechanism 30, that is, the fan blade is grasped by adsorption and clamping together, avoiding the difficulty in ensuring the success rate by adsorption alone. Specifically, the position of the fan blade can be limited by the clamping of the clamping mechanism 30, avoiding the difficulty of the adsorption mechanism 20 to adsorb due to the tilt of the fan blade or the small adsorption surface. With the cooperation of the clamping mechanism 30, the adsorption effectiveness of the adsorption mechanism 20 is guaranteed. The grasping device realizes the grasping of the fan blade through the combined action of clamping and adsorption, and can be applied to fan blades of different specifications, thereby improving the success rate and versatility of grasping different fan blades.

[0045] The clamping mechanism 30 includes a plurality of clamping components, which are sequentially arranged along the circumference of the adsorption mechanism 20, and the plurality of clamping components clamp the outer peripheral surface of the hub together. In this way, the hub of the fan blade can be reliably clamped by the plurality of clamping components, and the fan blade can be positioned after the clamping is completed, thereby avoiding the deflection of the fan blade. After the clamping is completed, the adsorption is performed by the adsorption mechanism 20, thereby avoiding the adsorption effect being affected by the deflection of the fan blade, thereby ensuring the effectiveness of the adsorption.

[0046] Specifically, Figure 3As shown, the clamping assembly includes a support member 31, a cylinder 32 and a clamping jaw 33. The support member 31 is installed on the bracket 10. One end of the cylinder 32 is hinged to the support member 31, and the other end of the cylinder 32 is hinged to one end of the clamping jaw 33. The other end of the clamping jaw 33 is used to clamp the outer peripheral surface of the wheel hub. There is a connecting position between the two ends of the clamping jaw 33, and the connecting position is hinged to the support member 31.

[0047] In this way, the extension and contraction of the cylinder 32 drives the clamping jaw 33 to rotate, so that the clamping jaw 33 approaches the wheel hub to clamp the wheel hub, or the clamping jaw 33 moves away from the wheel hub and separates from the wheel hub. The bracket 10 of the grabbing device is installed on the mechanical arm, and after grabbing the fan blade, the fan blade is moved to a required position by the mechanical arm.

[0048] In this solution, the clamping assembly includes a clamping jaw 33, and the clamping jaw 33 is used to clamp the outer peripheral surface of the wheel hub. The clamping jaw 33 has an arc surface, and a protective layer 34 is provided on the arc surface. The protective layer 34 contacts the outer peripheral surface of the wheel hub for clamping. The arc surface is provided on the clamping jaw 33, which can better match the shape of the wheel hub, increase the contact area, and ensure the clamping effect. By providing the protective layer 34, damage to the wheel hub can be avoided. The protective layer 34 is made of elastic or soft material, such as silicone material. The hardness of the silicone is selected according to needs and can be set to 20 degrees to 30 degrees, for example, 25 degrees.

[0049] The adsorption mechanism 20 is telescopically arranged to provide a buffering effect when in contact with the fan blade to avoid damaging the fan blade. The adsorption mechanism 20 includes a suction cup 21, which is used to adsorb the end surface of the hub. The support member 31 has a stopper plate 311, which is located on the side of the suction cup 21 away from the hub. The stopper plate 311 and the suction cup 21 are matched to limit the telescopic position of the suction cup 21.

[0050] In this way, the stop plate 311 limits the telescopic position of the suction cup 21, thereby preventing the suction cup 21 from moving too far and colliding with other structures.

[0051] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the adsorption mechanism 20 includes an annular suction cup 21, and the suction cup 21 is used to adsorb the end face of the hub through negative pressure, and the hollow cavity of the suction cup 21 avoids the groove or protrusion structure at the end of the hub. The end of the hub has a groove or protrusion structure, which cannot be adsorbed, so it is avoided through the hollow cavity to achieve effective adsorption. The groove or protrusion structure at the end of the hub is mainly located in the middle area of ​​the end of the hub, so the suction cup 21 is set to be annular, and the hollow cavity of the suction cup 21 corresponds to the middle area, which can better adsorb the effective adsorption surface of the end face of the hub.

[0052] Specifically, the suction cup 21 is provided with a plurality of adsorption sections and a plurality of avoidance sections along the circumferential direction, the avoidance section has an avoidance groove 211, and the plurality of adsorption sections and the plurality of avoidance sections are alternately arranged, wherein the avoidance groove 211 is used to avoid the protrusions on the end face of the hub, and the adsorption section is used to adsorb the end face of the hub.

[0053] The ends of the hubs of some fan blades have protrusions, and the avoidance grooves 211 can avoid these protrusions. Compared with conventional suction cups without avoidance grooves 211, the situation that the fan blade cannot be adsorbed due to the protrusions is avoided. The suction cup 21 is suitable for fan blades with end surface protrusions and fan blades without protrusions, which improves the applicability of the grasping device and can be compatible with the production of products of different specifications.

[0054] like Figure 4 and Figure 5 As shown, the adsorption mechanism 20 also includes an annular adsorption layer 22, which is arranged on the end face of the suction cup 21. The annular adsorption layer 22 has a plurality of adsorption grooves 221 and a plurality of matching grooves 222. The plurality of adsorption grooves 221 correspond to the plurality of adsorption sections one by one. The adsorption grooves 221 surround the negative pressure holes of the adsorption sections. The plurality of matching grooves 222 are connected to the plurality of avoidance grooves 211 one by one. The matching grooves 222 and the avoidance grooves 211 jointly avoid the protrusions on the end face of the hub. The annular adsorption layer 22 is made of elastic or soft material, which prevents the suction cup 21 from directly colliding with the hub of the fan blade and plays a buffering role. In addition, the area of ​​the adsorption grooves 221 forms a negative pressure area to adsorb the fan blade.

[0055] Specifically, the annular adsorption layer 22 is a sponge, which is elastic and can play a buffering role, and has a porous structure, which is conducive to forming a negative pressure area to adsorb the wind blades.

[0056] In this solution, the adsorption mechanism 20 further includes an elastic telescopic structure 23, which is mounted on the bracket 10, and the suction cup 21 is mounted on one end of the elastic telescopic structure 23 away from the bracket 10. Through the elastic expansion and contraction of the elastic telescopic structure 23, the position of the suction cup 21 can be adaptively adjusted during the adsorption process of the suction cup 21 and the fan blade, so as to avoid the collision between the suction cup 21 and the fan blade and damage to the fan blade or the suction cup 21.

[0057] Specifically, Figure 1 As shown, the elastic telescopic structure 23 includes a guide sleeve 231, a movable rod 232, a limit piece 233 and an elastic piece 234. The guide sleeve 231 is fixed to the bracket 10, the movable rod 232 passes through the guide sleeve 231, the movable rod 232 and the guide sleeve 231 are slidably matched, the lower end of the movable rod 232 is fixedly connected to the suction cup 21, the limit piece 233 is fixed to the movable rod 232, the elastic piece 234 is sleeved on the movable rod 232, the lower end of the elastic piece 234 is matched with the limit piece 233, and the upper end of the elastic piece 234 is matched with the guide sleeve 231 or the bracket 10.

[0058] Through the above arrangement, when the suction cup 21 is subjected to the force of the wind blade, the force is transmitted to the movable rod 232, and the movable rod 232 slides relative to the guide sleeve 231. Through the elastic force of the movable rod 232 and the elastic member 234, the suction cup 21 automatically realizes adaptive position adjustment to avoid impact.

[0059] Optionally, in a specific embodiment, the upper end of the movable rod 232 has a limiting structure, which cooperates with the upper end of the guide sleeve 231 to prevent the movable rod 232 from falling, and the elastic member 234 is a spring in a compressed state. The limiting member 233 is an annular structure, and the height position on the movable rod 232 is adjustable to adjust the elastic force of the elastic member 234.

[0060] Furthermore, if Figure 1 As shown, the grasping device further includes a visual recognition mechanism 40, which is mounted on the bracket 10 or the clamping mechanism 30, and is used to obtain the position of the wind blade to be grasped by vision. In this way, the position of the wind blade to be grasped can be obtained by the visual recognition mechanism 40, so as to adjust the position of the grasping device according to the position of the wind blade for grasping, which is conducive to realizing automated operation. Specifically, the visual recognition mechanism 40 includes a camera and a light source, and the camera is used to take pictures, and the position of the wind blade is identified according to the picture-taking results.

[0061] like Figure 2 As shown, the grabbing device also includes a photoelectric detection mechanism 50, which is installed on the adsorption mechanism 20. The photoelectric detection mechanism 50 is used to detect whether the fan blade is grabbed. When the fan blade is grabbed, the grabbing device and the fan blade are moved to the required position by the mechanical arm. The photoelectric detection mechanism 50 can specifically adopt a photoelectric sensor.

[0062] The present invention also provides an air conditioner outdoor unit production line, which includes a hanging basket 60 and the above-mentioned grabbing device, wherein the hanging basket 60 is used to carry a plurality of stacked fan blades, and the grabbing device is used to grab the fan blades on the hanging basket 60 in sequence. By adopting the above-mentioned scheme, the position of the fan blade can be limited by the clamping of the clamping mechanism 30, thereby avoiding the difficulty of the adsorption mechanism 20 to adsorb the fan blade due to the tilt of the fan blade or the small adsorption surface. With the cooperation of the clamping mechanism 30, the adsorption effectiveness of the adsorption mechanism 20 is guaranteed. The grabbing device realizes the grabbing of the fan blade through the combined action of clamping and adsorption, and can be applied to fan blades of different specifications, thereby improving the success rate and versatility of grabbing different fan blades. In addition, the scheme improves the versatility of the air conditioner outdoor unit production line, can produce products of different specifications, and reduces production costs.

[0063] like Figure 7As shown, the hanging basket 60 includes a chassis 61, a suspension rod 62 and a plurality of limiting rods 63, the suspension rod 62 and the plurality of limiting rods 63 are fixed to the chassis 61, the chassis 61 is used to carry a plurality of stacked fan blades, the plurality of limiting rods 63 are used to limit the fan blades, and a protective sleeve 64 is sleeved on the limiting rod 63, and the hardness of the protective sleeve 64 is less than the hardness of the limiting rod 63. The protective sleeve 64 can protect the fan blades and prevent the fan blades from contacting with the limiting rod 63 with greater hardness and damaging the fan blades.

[0064] The present invention also provides a grasping method, which is used for the grasping device mentioned above, and the grasping method comprises:

[0065] The calibrated fan blade is placed at the grabbing station, the position of the calibrated fan blade is obtained as the preset standard position, and the standard grabbing position of the calibrated fan blade is grabbed by the grabbing device according to the preset standard position;

[0066] Move the fan blade to be grasped to the grasping station, obtain the actual position of the fan blade to be grasped, calculate the position deviation between the actual position and the preset standard position, and determine the actual grasping position of the fan blade to be grasped by the grasping device based on the position deviation and the standard grasping position.

[0067] That is, first place one or more stacked blades neatly as the preset standard position, and adjust and determine the standard grasping position of the grasping device to grasp the calibrated blade according to the position. During the production process, the position of the blade delivered to the grasping station will change. By detecting and obtaining the position deviation from the preset standard position, the position of the grasping device is adjusted to ensure accurate grasping of the blade.

[0068] Furthermore, the position of the fan blade is obtained by visual recognition, so that the position obtained is accurate. Multiple fan blades to be grasped are stacked in the hanging basket 60 and moved to the grasping station by the hanging basket 60. After the previous fan blade is grasped, the next fan blade is visually recognized to adjust the actual grasping position of the grasping device to grasp the next fan blade. The position of the fan blades stacked up and down may change. By visually recognizing the position before grasping the next fan blade each time, and adjusting the position of the grasping device according to the actual position of the fan blade, it is ensured that each fan blade is grasped accurately.

[0069] In a specific embodiment of the above-mentioned grabbing station, before executing the grabbing, it is necessary to calibrate the grabbing point and the photographing point of the grabbing device and the axial flow fan blade, and calibrate the photographing point XYZ and the grabbing point xyz respectively. At this time, the axial flow fan blades in the hanging basket need to be placed neatly and centered before calibration. After calibration, the photo is triggered, and the acquired plane position of the axial flow fan blade is set, and its position offset Dx=0, Dy=0 is set;

[0070] After the accumulation chain hanging basket is in place, the grabbing device receives the in-place signal, and then performs the grabbing action; after the grabbing device receives the accumulation chain in-place signal, the grabbing device moves to the photo position XYZ above the three limit rods of the hanging basket. At this time, the clamping mechanism will not extend into the inside of the three limit rods to prevent the clamping mechanism from colliding with the three limit rods;

[0071] Then the gripping device triggers the camera and light source to take pictures, obtain the position coordinates of the center of the axial flow fan blade, and calculate with the standard position to identify the relative values ​​of the offsets Dx and Dy;

[0072] Through the network communication between the grabbing device and the visual industrial computer, the industrial computer sends the identified and calculated offsets Dx and Dy to the grabbing device. The grabbing device calculates the grabbing position of the first axial flow fan blade at the top of the hanging basket through the offset: x1=x+Dx1, y1=y+Dy1, where the z-term coordinate is z1=z-Nh (where N is the number of fan blades to be taken, and h is the height of the axial flow fan blade); when taking the second axial flow fan blade, the grabbing device's camera position coordinates are: X2=X+Dx, Y2=Y+Dy, Z2=Zh, and the grabbing position coordinates are: x2=x+Dx2, y1=y+Dy2; when taking the third axial flow fan blade, the grabbing device's camera position coordinates are: X3=X+Dx2, Y2=Y+Dy2, Z2=Z-2h; and so on, until the bottom axial flow fan blade is taken;

[0073] Optionally, after the grasping device has adjusted its position, the clamping mechanism is triggered, so that the clamping claws of the clamping mechanism clamp the axial flow fan blade, correct the position of the fan blade, release after clamping, and then start the suction cup to adsorb the fan blade, and after adsorption is completed, the clamping mechanism is triggered again to clamp. In this way, the position of the fan blade is first corrected by the clamping mechanism to avoid the fan blade from being skewed, and then adsorbed and clamped, thereby ensuring the success rate of grabbing the fan blade.

[0074] Then, the grabbing device moves up in a straight line and disengages from the three limit rods of the accumulation chain basket. After moving up a certain distance, the photoelectric detection mechanism is triggered to detect whether there are axial flow fan blades on the grabbing device. If so, subsequent actions are performed to prevent the device from running empty without grabbing the fan blades.

[0075] The above is only an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may be modified and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0076] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0077] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of this solution. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0078] In the description of this scheme, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing this scheme and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the scope of protection of this scheme; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0079] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0080] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this scheme.

Claims

1. A grabbing device for grabbing a fan blade, wherein the fan blade comprises a hub and a plurality of blades arranged on the outer peripheral surface of the hub, characterized in that: The gripping device comprises a bracket (10), an adsorption mechanism (20) and a clamping mechanism (30), wherein the adsorption mechanism (20) and the clamping mechanism (30) are both mounted on the bracket (10), the adsorption mechanism (20) is used to adsorb the end surface of the wheel hub through negative pressure, and the clamping mechanism (30) is used to clamp the outer peripheral surface of the wheel hub; The adsorption mechanism (20) comprises an annular suction cup (21), the suction cup (21) being used to adsorb the end surface of the hub by negative pressure, and the hollow cavity of the suction cup (21) avoiding the groove or protrusion structure at the end of the hub; The suction cup (21) is provided with a plurality of adsorption sections and a plurality of avoidance sections along the circumferential direction, the avoidance sections having avoidance grooves (211), and the plurality of adsorption sections and the plurality of avoidance sections are alternately arranged, wherein the avoidance grooves (211) are used to avoid protrusions on the end face of the hub, and the adsorption sections are used to adsorb the end face of the hub.

2. The gripping device according to claim 1, characterized in that: The clamping mechanism (30) comprises a plurality of clamping assemblies, the plurality of clamping assemblies being arranged in sequence along the circumference of the adsorption mechanism (20), and the plurality of clamping assemblies jointly clamping the outer peripheral surface of the hub.

3. The gripping device according to claim 2, characterized in that: The clamping assembly comprises a support member (31), a cylinder (32) and a clamping claw (33); the support member (31) is mounted on the bracket (10); one end of the cylinder (32) is hinged to the support member (31); the other end of the cylinder (32) is hinged to one end of the clamping claw (33); the other end of the clamping claw (33) is used to clamp the outer peripheral surface of the wheel hub; a connection position is provided between the two ends of the clamping claw (33); the connection position is hinged to the support member (31).

4. The gripping device according to claim 2, characterized in that: The clamping assembly comprises a clamping jaw (33), the clamping jaw (33) being used to clamp the outer peripheral surface of the wheel hub, the clamping jaw (33) having an arcuate surface, a protective layer (34) being provided on the arcuate surface, and the protective layer (34) being in contact with the outer peripheral surface of the wheel hub for clamping.

5. The gripping device according to claim 3, characterized in that: The adsorption mechanism (20) is telescopically arranged, and comprises a suction cup (21), wherein the suction cup (21) is used to adsorb the end surface of the wheel hub, and the support member (31) has a stop plate (311), wherein the stop plate (311) is located on a side of the suction cup (21) facing away from the wheel hub, and the stop plate (311) and the suction cup (21) are stop-matched to limit the telescopic position of the suction cup (21).

6. The gripping device according to claim 1, characterized in that: The adsorption mechanism (20) further comprises an annular adsorption layer (22), the annular adsorption layer (22) being arranged on the end surface of the suction cup (21), the annular adsorption layer (22) having a plurality of adsorption grooves (221) and a plurality of matching grooves (222), the plurality of adsorption grooves (221) corresponding to the plurality of adsorption sections one-to-one, the adsorption grooves (221) surrounding the negative pressure holes of the adsorption sections, the plurality of matching grooves (222) communicating with the plurality of avoidance grooves (211) in a one-to-one correspondence, the matching grooves (222) and the avoidance grooves (211) jointly avoiding the protrusions on the end surface of the hub.

7. The gripping device according to claim 1, characterized in that: The adsorption mechanism (20) further comprises an elastic telescopic structure (23), wherein the elastic telescopic structure (23) is mounted on the bracket (10), and the suction cup (21) is mounted on an end of the elastic telescopic structure (23) away from the bracket (10).

8. The gripping device according to claim 7, characterized in that: The elastic telescopic structure (23) comprises a guide sleeve (231), a movable rod (232), a stopper (233) and an elastic member (234); the guide sleeve (231) is fixed to the bracket (10); the movable rod (232) passes through the guide sleeve (231); the movable rod (232) and the guide sleeve (231) are slidably matched; the lower end of the movable rod (232) is fixedly connected to the suction cup (21); the stopper (233) is fixed to the movable rod (232); the elastic member (234) is sleeved on the movable rod (232); the lower end of the elastic member (234) is matched with the stopper (233); and the upper end of the elastic member (234) is matched with the guide sleeve (231) or the bracket (10).

9. The gripping device according to claim 1, characterized in that: The grasping device further comprises a visual recognition mechanism (40), wherein the visual recognition mechanism (40) is mounted on the bracket (10) or the clamping mechanism (30), and the visual recognition mechanism (40) is used to obtain the position of the wind blade to be grasped by vision.

10. The gripping device according to claim 1, characterized in that: The grasping device further comprises a photoelectric detection mechanism (50), wherein the photoelectric detection mechanism (50) is installed on the adsorption mechanism (20), and the photoelectric detection mechanism (50) is used to detect whether the wind blade is grasped.

11. An air conditioner outdoor unit production line, characterized in that: The air conditioner outdoor unit production line comprises a hanging basket (60) and a grabbing device according to any one of claims 1 to 10, the hanging basket (60) being used to carry a plurality of stacked fan blades, and the grabbing device being used to grab the fan blades on the hanging basket (60) in sequence.

12. The air conditioner outdoor unit production line according to claim 11, characterized in that: The hanging basket (60) comprises a chassis (61), a hanging rod (62) and a plurality of limiting rods (63); the hanging rod (62) and the plurality of limiting rods (63) are both fixed to the chassis (61); the chassis (61) is used to carry a plurality of stacked wind blades; the plurality of limiting rods (63) are used to limit the positions of the wind blades; the limiting rods (63) are provided with protective sleeves (64); the hardness of the protective sleeves (64) is less than the hardness of the limiting rods (63).

13. A grasping method, characterized in that: A gripping device for use in any one of claims 1 to 10, wherein the gripping method comprises: Placing the calibrated fan blade at a grabbing station, obtaining the position of the calibrated fan blade as a preset standard position, and calibrating the standard grabbing position of the grabbing device grabbing the calibrated fan blade according to the preset standard position; Move the fan blade to be grasped to the grasping station, obtain the actual position of the fan blade to be grasped, calculate the position deviation between the actual position and the preset standard position, and determine the actual grasping position of the fan blade to be grasped by the grasping device according to the position deviation and the standard grasping position.

14. The grasping method according to claim 13, characterized in that: The position of the fan blade is obtained through visual recognition, and a plurality of the fan blades to be grasped are stacked in a hanging basket (60) and moved to the grasping station through the hanging basket (60). After the previous fan blade is grasped, the next fan blade is visually recognized to adjust the actual grasping position of the grasping device to grasp the next fan blade.

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