Chassis feeding equipment and control method thereof

Abstract

The invention provides chassis feeding equipment and a control method thereof.The chassis feeding equipment comprises a material taking device, a process plate positioning device and a disc pressing device, and the material taking device is rotatably located on one side of an assembly line body and used for clamping a chassis to a process plate; the process plate positioning device is telescopically arranged on the assembly line body and is used for limiting the process plate; and the pressure plate device is adjacent to the process plate positioning device, can do telescopic motion in the up-down direction, and is used for downwards pressing the chassis so as to fix the chassis on the process plate. By arranging the material taking device, the disc pressing device and the process plate positioning device, the process plate positioning device limits the process plate at a designated position, the material taking device places the chassis on the process plate, and the disc pressing device presses downwards to press the chassis on the process plate, so that the chassis is automatically fed, and the chassis and the process plate are assembled; automatic assembly of the chassis and the process plate is achieved, the production efficiency of the air conditioner outdoor unit is improved, and potential safety hazards during production are reduced.

Description

Technical Field

[0001] The present invention relates to the field of industrial production, and in particular to a chassis feeding device and a control method thereof. Background Art

[0002] With the improvement of living standards, people have a higher and higher demand for air conditioners. The air conditioner outdoor unit is one of the important structural parts of the air conditioner, and the chassis is the basic part of the entire outdoor unit. The compressor, gas separator, liquid storage tank, oil separator and other key components are all installed on the chassis.

[0003] With the development of production technology, the manufacturing industry is vigorously promoting intelligence. However, in the process of manufacturing air-conditioning outdoor units, the chassis on the outdoor unit production line is generally loaded manually. The materials are transported from the incoming tooling vehicle to the line process board. The chassis is manually positioned through the positioning pins on the process board to complete the loading of the chassis. However, manual loading is highly repetitive and labor-intensive. Employees are easily tired and irritable, which leads to reduced production efficiency and certain safety hazards. Summary of the invention

[0004] The embodiment of the present invention provides a chassis loading device and a control method thereof, so as to realize automatic loading and assembly of the chassis onto a process board, so as to improve production efficiency and reduce safety hazards.

[0005] The present invention provides a chassis loading device, which comprises:

[0006] A material taking device, which is rotatably located on one side of the assembly line body and is used to clamp the chassis to the process board;

[0007] A process plate positioning device, the process plate positioning device is telescopically arranged on the assembly line body and is used to limit the process plate;

[0008] A pressure plate device is arranged adjacent to the process plate positioning device, and the pressure plate device can perform telescopic movement in the up and down directions, and is used to press down the chassis to fix the chassis on the process plate.

[0009] In the chassis loading equipment provided by the present invention, the material picking device includes a robot and a clamp assembly, the robot is rotatably located on one side of the assembly line body, the clamp assembly is rotatably connected to the robot, and the clamp assembly is used to clamp the chassis.

[0010] In the chassis loading equipment provided by the present invention, the clamp assembly includes a main frame, a first moving assembly, a second moving assembly and a claw, the first moving assembly and the second moving assembly are respectively connected to two sides of the main frame, one side of the first moving assembly is connected to the robot, and one side of the second moving assembly is connected to the claw, wherein the first moving assembly is used to drive the main frame to move, and the second moving assembly is used to drive the claw to move.

[0011] In the chassis loading equipment provided by the present invention, the first moving component includes a connecting plate, a first connecting block, a first cylinder and a first guide rail, the first guide rail is extended along the two side edges of the main frame and is arranged on one side of the main frame, the first cylinder is arranged in the middle of the main frame, the connecting plate connects the first cylinder and the first connecting block, and the first connecting block is slidably connected to the first guide rail.

[0012] In the chassis loading equipment provided by the present invention, the second moving component includes a second guide rail, a second cylinder, a second connecting block and a cylinder foot seat, the second guide rail is extended along the two side edges of the main frame and is arranged on the other side of the main frame, the second cylinder is arranged in the middle of the main frame, and one side of the second cylinder is connected to the cylinder foot seat, the claw is connected to the cylinder foot seat and the second connecting block, and the second connecting block is slidably connected to the second guide rail.

[0013] In the chassis loading equipment provided by the present invention, the chassis loading equipment also includes a visual device, which is located on the other side of the assembly line body and directly above the process board positioning device, for identifying the relative positions of the chassis and the process board.

[0014] In the chassis loading equipment provided by the present invention, the process plate positioning device includes a side-push cylinder assembly, a blocking cylinder assembly and a blocking limit block. The side-push cylinder assembly and the blocking limit block are respectively fixed on the two side edges of the assembly line body. The side-push cylinder assembly can perform horizontal telescopic movement. The blocking cylinder assembly is arranged in the middle of the assembly line body and can perform up and down telescopic movement.

[0015] In the chassis loading equipment provided by the present invention, the pressure plate device includes a pressure plate bracket and a three-axis cylinder, the pressure plate bracket is located on one side of the assembly line, the top end of the pressure plate bracket is located above the assembly line body and extends toward the other side of the assembly line, the three-axis cylinder is connected to the top end of the pressure plate bracket, and the three-axis cylinder can perform up and down telescopic movements.

[0016] In the chassis loading equipment provided by the present invention, the chassis loading equipment also includes a tool vehicle positioning device, which is arranged adjacent to the material picking device. The tool vehicle positioning device includes a positioning frame and a plurality of clamping cylinders, and the plurality of clamping cylinders are arranged at circumferential intervals along the positioning frame. The clamping cylinders can rotate and telescopically move to position the tool vehicle.

[0017] The present invention also provides a control method for chassis loading equipment, which is applied to any of the above-mentioned chassis loading equipment, and comprises:

[0018] Acquire material picking position information, and obtain motion coordinates according to the material picking position information and preset initial coordinates, wherein the preset initial position is a three-dimensional coordinate;

[0019] The material taking device is controlled to move to the position of the motion coordinate to clamp the chassis.

[0020] The present application provides the material taking device and the pressure plate device on one side of the assembly line body, and the process board positioning device is also provided on the assembly line body, the process board positioning device limits the process board at a specified position, the material taking device places the chassis on the process board, and the pressure plate device presses down to press the chassis onto the process board, thereby realizing automatic loading of the chassis and assembling the chassis and the process board to improve the assembly efficiency of the chassis and the process board, thereby improving the production efficiency of the air conditioner outdoor unit; at the same time, the assembly of the chassis and the process board is automated, reducing safety hazards during production. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0022] Figure 1a-Figure 1c It is a structural diagram of various angles of the chassis loading equipment in the embodiment of the present invention;

[0023] Figure 2 is a structural diagram of a clamp assembly in an embodiment of the present invention;

[0024] Figure 3 It is a structural diagram of the clamp assembly in an embodiment of the present invention when it is not extended;

[0025] Figure 4 A structural diagram of a clamp assembly extending in an embodiment of the present invention;

[0026] Figure 5It is a structural diagram of a process plate positioning device in an embodiment of the present invention;

[0027] Figure 6 It is a structural diagram of a platen device in an embodiment of the present invention;

[0028] Figure 7 is a structural diagram of a visual device in an embodiment of the present invention;

[0029] Figure 8 It is a structural diagram of a tooling vehicle positioning device in an embodiment of the present invention;

[0030] Fig. 9 It is a flow chart of a control method of a chassis loading device in an embodiment of the present invention;

[0031] The reference numerals in the figures are:

[0032] 10. Material taking device; 11. Robot; 12. Fixture assembly; 121. Main frame; 122. First moving assembly; 1221. Connecting plate; 1222. First connecting block; 1223. First cylinder; 1224. First guide rail; 1225. Flange; 123. Second moving assembly; 1231. Second guide rail; 1232. Second cylinder; 1233. Second connecting block; 1234. Cylinder foot seat; 124. Claw; 1241. Mobile claw; 1242. Fixed claw; 125. Solenoid valve assembly; 126. Position limit protection seat; 20. Work Art board positioning device; 21. Side push cylinder assembly; 22. Blocking cylinder assembly; 23. Blocking limit block; 24. Opposing photoelectric assembly; 25. Proximity switch assembly; 30. Pressure plate device; 31. Pressure plate bracket; 32. Three-axis cylinder; 40. Visual device; 41. Sunshade; 42. Camera; 43. Strip light source; 44. Bracket assembly; 45. Visual frame; 50. Tool vehicle positioning device; 51. Positioning frame; 52. Clamping cylinder; 521. Swing arm; 522. Piston rod; 60. Tool vehicle; 70. Assembly line body; 81. Process board; 82. Chassis. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. Now, in conjunction with the accompanying drawings, the preferred embodiments of the present invention are described in detail.

[0034] Reference Figures 1a to 8As shown, it shows an embodiment of the chassis 82 loading device of the present invention. The chassis 82 loading device includes a material taking device 10, a process plate positioning device 20 and a pressure plate device 30. The material taking device 10 is rotatably located on one side of the assembly line body 70, and is used to clamp the chassis 82 to the process plate 81; the process plate positioning device 20 is telescopically arranged on the assembly line body 70, and is used to limit the process plate 81; the pressure plate device 30 is arranged adjacent to the process plate positioning device 20, and the pressure plate device 30 can perform telescopic movement in the up and down directions, and is used to press down the chassis 82 to fix the chassis 82 on the process plate 81.

[0035] Specifically, the chassis 82 loading equipment is used in the air-conditioning production system. The chassis 82 is one of the important structural parts of the air conditioner. It is the basic structural part in the production of the air-conditioner outdoor unit. Other structural parts inside the air-conditioner outdoor unit are fixed on the chassis 82. Therefore, when producing the air-conditioner outdoor unit, the loading of the chassis 82 is one of the key steps.

[0036] The chassis 82 loading equipment includes a material picking device 10, a process plate positioning device 20 and a pressure plate device 30. The material picking device 10 is used to clamp the chassis 82 located on the tooling vehicle 60 and place the chassis 82 on the process plate 81 on the assembly line body 70. The material picking device 10 is located on one side of the assembly line body 70, and the material picking device 10 can rotate relative to the assembly line body 70, so that the chassis 82 can be moved to the process plate 81; the process plate positioning device 20 is arranged on the assembly line body 70, and the process plate positioning device 20 can perform telescopic movement relative to the assembly line body 70. The process plate positioning device 20 is arranged close to the material picking device 10, and the process plate positioning device 20 can fix the process plate 81 that moves with the assembly line body 70, thereby limiting the process plate 81 at a specified position to wait for the material picking device 10 to place the chassis 82 on the process plate 81, and then the process plate 81 equipped with the chassis 82 will flow to the next production stage along with the assembly line body 70; the pressure plate device 30 is arranged adjacent to the process plate positioning device 20, and the pressure plate device 30 is located on one side of the assembly line body 70, and the pressure plate device 30 can perform upward and downward telescopic movements relative to the assembly line body 70. When the pressure plate device 30 is pressed down, the chassis 82 can be pressed down on the process plate 81, thereby achieving the fixation of the chassis 82 and the process plate 81.

[0037] When the chassis 82 loading device is running, a plurality of process plates 81 are placed at intervals on the assembly line body 70, and the assembly line body 70 drives the process plates 81 to move; when the process plates 81 move to a specified position, the process plate positioning device 20 stretches to limit the process plates 81 at the specified position; at the same time, the material taking device 10 clamps the chassis 82 from the tooling vehicle 60 to the process plates 81 at the specified position, so that the chassis 82 is initially fixed on the process plates 81; after the chassis 82 is placed on the process plates 81, the process plate positioning device 20 moves to the specified position, and the process plates 81 are moved to the specified position. The device 20 retracts so that the process plate 81 equipped with the chassis 82 continues to move with the assembly line body 70 and enters the next production stage; when the process plate 81 moves to the bottom of the pressure plate device 30, the process plate 81 is limited at the pressure plate position, and at the same time, the pressure plate device 30 extends downward to press the chassis 82 onto the process plate 81, thereby achieving the fixation of the chassis 82 and the process plate 81. After the crimping is completed, the pressure plate device 30 retracts upward, and the process plate 81 continues to move with the assembly line body 70 to enter the next production step.

[0038] The present application arranges the material taking device 10 and the pressure plate device 30 on one side of the assembly line body 70, and the process board positioning device 20 is also arranged on the assembly line body 70, the process board positioning device 20 limits the process board 81 at a specified position, the material taking device 10 places the chassis 82 on the process board 81, and the pressure plate device 30 presses down to press the chassis 82 onto the process board 81, thereby realizing automatic loading of the chassis 82 and assembling the chassis 82 and the process board 81 to improve the assembly efficiency of the chassis 82 and the process board 81, thereby improving the production efficiency of the air conditioner outdoor unit; at the same time, the assembly of the chassis 82 and the process board 81 is automated, reducing safety hazards during production.

[0039] In one embodiment, referring to Figures 1a to 4As shown, the material picking device 10 includes a robot 11 and a clamp assembly 12. The robot 11 is rotatably located on one side of the assembly line body 70. The clamp assembly 12 is rotatably connected to the robot 11. The clamp assembly 12 is used to clamp the chassis 82. Specifically, the material taking device 10 includes a robot 11 and a fixture assembly 12. The robot 11 is located at one side of the assembly line body 70 and can rotate. The fixture assembly 12 is rotatably connected to the robot 11. The robot 11 can drive the fixture assembly 12 to rotate. At the same time, the fixture assembly 12 can also rotate and move relative to the fixture assembly 12. The fixture assembly 12 is used to clamp the chassis 82. When clamping the chassis 82, the robot 11 drives the fixture assembly 12 to move to the corresponding grasping position of the tooling vehicle 60, and then controls the fixture assembly 12 to clamp the corresponding chassis 82. The robot 11 then drives the fixture assembly 12 to rotate onto the process board 81, and controls the fixture assembly 12 to release the chassis 82 to place the chassis 82 on the process board 81. The material taking device 10 has a simple structure and high flexibility.

[0040] In a specific embodiment, refer to Figures 2 to 4As shown, the clamp assembly 12 includes a main frame 121, a first moving assembly 122, a second moving assembly 123 and a claw 124, wherein the first moving assembly 122 and the second moving assembly 123 are respectively connected to two sides of the main frame 121, one side of the first moving assembly 122 is connected to the robot 11, and one side of the second moving assembly 123 is connected to the claw 124, wherein the first moving assembly 122 is used to drive the main frame 121 to move, and the second moving assembly 123 is used to drive the claw 124 to move. Specifically, the clamp assembly 12 is used to clamp the chassis 82 located on the tooling vehicle 60; the clamp assembly 12 includes a main frame 121, a first movable assembly 122, a second movable assembly 123 and a gripper 124, one side of the first movable assembly 122 is rotatably connected to the robot 11, so that the robot 11 can rotate the clamp assembly 12 to make the clamp assembly 12 more flexible; the first movable assembly 122 and the second movable assembly 123 are respectively located on both sides of the main frame 121, and the main frame 121 is movably connected to the other side of the first movable assembly 122. The second movable component 123 is movably connected to the side of the main frame 121 away from the first movable component 122, and the main frame 121 is used to connect the first movable component 122 and the second movable component 123, and the main frame 121 can better bear the load of structural parts such as the first movable component 122, the second movable component 123 and the claw 124, and the claw 124 is fixed on one side of the second movable component 123; wherein, the first movable component 122 is used to drive the main frame 121 to move, and the second movable component 123 is used to drive the claw 124 to move.

[0041] Therefore, in this embodiment, the first moving component 122 is started to drive the main frame 121 to move, and the second moving component 123 is started to drive the claw 124 to move, so that the clamp assembly 12 has a two-stage power source, so that the clamp assembly 12 can adapt to various sizes of tooling vehicles 60, thereby improving the applicability of the material picking device 10; through the driving of the first moving component 122 and the second moving component 123, the arm span of the robot 11 is lengthened, so that the clamp assembly 12 can extend to the narrow and long internal space of the tooling vehicle 60, better clamp the chassis 82 located in the internal space, and improve the flexibility of the material picking device 10.

[0042] In one embodiment, referring to Figures 2 to 4As shown, the first moving component 122 includes a connecting plate 1221, a first connecting block 1222, a first cylinder 1223 and a first guide rail 1224, the first guide rail 1224 is extended along the two side edges of the main frame 121 and is arranged on one side of the main frame 121, the first cylinder 1223 is arranged in the middle of the main frame 121, the connecting plate 1221 connects the first cylinder 1223 and the first connecting block 1222, and the first connecting block 1222 is slidably connected to the first guide rail 1224. Specifically, the first moving component 122 is used to drive the main frame 121 to move. The first moving component 122 includes a connecting plate 1221, a first connecting block 1222, a first cylinder 1223 and a first guide rail 1224. The first guide rail 1224 is fixed at the two side edges of the top of the main frame 121, and the first guide rail 1224 is extended along the length direction of the main frame 121. The first guide rail 1224 is used to improve the smoothness of the movement of the main frame 121; the first cylinder 1223 is a primary power source of the clamp assembly 12, the first cylinder 1223 is movably connected to the main frame 121, and the first cylinder 1223 is located in the middle of the main frame 121, that is, the first cylinder 1223 is located between the first guide rails 1224 on both sides of the main frame 121, wherein, when the first cylinder 1223 is driven, one end of the first cylinder 1223 drives the main frame 121 to extend and retract Movement; the connecting plate 1221 is used to connect the first cylinder 1223 and the first connecting block 1222, the first connecting block 1222 is fixedly arranged on the two side edges of the bottom end of the connecting plate 1221, the first cylinder 1223 is located between the first connecting blocks 1222 on both sides of the connecting plate 1221, and the first connecting block 1222 is slidably connected with the first guide rail 1224; therefore, the first cylinder 1223 is started, the first cylinder 1223 drives the main frame 121 to move, and the first guide rail 1224 moves with the main frame 121, so that the main frame 121 is extended or retracted relative to the first cylinder 1223, the first connecting block 1222 and the connecting plate 1221 along the extension direction of the first guide rail 1224, thereby lengthening the arm span of the robot 11, and the material picking device 10 can extend into the narrower and longer interior of the tooling vehicle 60 to better clamp the chassis 82.

[0043] More specifically, the first moving assembly 122 further includes a flange 1225 , which is fixed to the top of the connecting plate 1221 , and the top of the flange 1225 is rotatably connected to the robot 11 , thereby achieving connection between the fixture assembly 12 and the robot 11 .

[0044] In a specific embodiment, refer to Figures 2 to 4As shown, the second moving assembly 123 includes a second guide rail 1231, a second cylinder 1232, a second connecting block 1233 and a cylinder foot seat 1234, the second guide rail 1231 is extended along the two side edges of the main frame 121 and is arranged on the other side of the main frame 121, the second cylinder 1232 is arranged in the middle of the main frame 121, and one side of the second cylinder 1232 is connected to the cylinder foot seat 1234, the claw 124 is connected to the cylinder foot seat 1234 and the second connecting block 1233, and the second connecting block 1233 is slidably connected to the second guide rail 1231. Specifically, the second moving assembly 123 is used to drive the claw 124 to move, and the second moving assembly 123 includes a second guide rail 1231, a second cylinder 1232, a second connecting block 1233 and a cylinder foot seat 1234, the second guide rail 1231 is fixedly arranged at the two side edges of the bottom end of the main frame 121, and the second guide rail 1231 is extended along the length direction of the main frame 121, and the second guide rail 1231 is used to improve the smoothness of the movement of the claw 124; the second cylinder 1232 is a secondary power source of the clamp assembly 12, the second cylinder 1232 is arranged at the bottom end of the main frame 121, and one end of the second cylinder 1232 is fixedly connected to the cylinder foot seat 1234, wherein, when the second cylinder 1232 is driven, one end of the second cylinder 1232 drives the cylinder foot seat 1234 to perform telescopic movement , the cylinder foot 1234 is fixedly connected to the claw 124, so that the cylinder foot 1234 drives the claw 124 to perform telescopic movement, and at the same time, the claw 124 is also fixedly connected to the second connecting block 1233, and the second connecting block 1233 is slidably connected to the second guide rail 1231; therefore, when the second cylinder 1232 is started, the second cylinder 1232 drives the cylinder foot 1234 to perform telescopic movement, the cylinder foot 1234 drives the claw 124 to perform telescopic movement, and the claw 124 also drives the second connecting block 1233 to perform telescopic movement along the extension direction of the second guide rail 1231, thereby realizing the movement of the claw 124, further lengthening the arm span of the robot 11, so that the material picking device 10 can extend into the narrower and longer interior of the tooling vehicle 60 to better clamp the chassis 82.

[0045] More specifically, the claw 124 includes a mobile claw 1241 and a fixed claw 1242, the fixed claw 1242 is fixed at the bottom end of the main frame 121 and is located on one side of the main frame 121, the mobile claw 1241 is fixed on the cylinder foot 1234 and the second connecting block 1233, the second cylinder 1232 is arranged adjacent to the fixed claw 1242, when the second cylinder 1232 is started, the cylinder foot 1234 drives the mobile claw 1241 to move closer to or away from the fixed claw 1242, the fixed claw 1242 and the mobile claw 1241 cooperate to clamp the chassis 82 between the fixed claw 1242 and the mobile claw 1241. The claw 124 in this embodiment has a simple structure and is easy to operate.

[0046] More specifically, the clamp assembly 12 also includes a solenoid valve assembly 125, which is fixed on the main frame 121, and the solenoid valve assembly 125 includes a solenoid valve and a solenoid valve base, the solenoid valve base is fixedly connected to the main frame 121, the solenoid valve is fixedly connected to the solenoid valve base, and the solenoid valve is electrically connected to the first cylinder 1223 and the second cylinder 1232, so that the first cylinder 1223 and the second cylinder 1232 are controlled by controlling the solenoid valve to control the on and off of compressed air.

[0047] More specifically, the clamp assembly 12 further includes a plurality of position limiting protection seats 126, which are fixedly mounted at the ends of the first guide rail 1224 and the second guide rail 1231, and are used to limit the first connection block 1222 and the second connection block 1233, so as to prevent the first connection block 1222 and the second connection block 1233 from falling off under abnormal circumstances, thereby causing safety problems. In this embodiment, two first guide rails 1224 and two second guide rails 1231 are provided, and the end portions of both ends of each of the first guide rail 1224 and the second guide rail 1231 are fixedly mounted with the position limiting protection seats 126, so eight position limiting protection seats 126 are provided in this embodiment.

[0048] Exemplarily, when the material picking device 10 is picking up materials, after the robot 11 moves to the coordinate position, the first cylinder 1223 is actuated to drive the main frame 121, the second moving assembly 123, and the claw 124 to move together, so that the main frame 121, the second moving assembly 123, and the claw 124 extend into the interior of the tooling vehicle 60, and at the same time, the second cylinder 1232 extends to drive the mobile claw 1241 to extend; when the chassis 82 is within the clamping range of the mobile claw 1241 and the fixed claw 1242, the second cylinder 1232 retracts. At this time, the mobile claw 1241 and the fixed claw 1242 clamp the chassis 82 and move it out of the tooling vehicle 60. At the same time, the first cylinder 1223 also retracts to drive the main frame 121, the second mobile assembly 123 and the claw 124 to return to the initial position, thereby completing the material picking step of the material picking device 10 on the tooling vehicle 60; finally, the robot 11 moves to drive the clamp assembly 12 to clamp the chassis 82 to the process board 81, thereby realizing the automated picking of the chassis 82 located on the tooling vehicle 60 to the process board 81 on the assembly line body 70.

[0049] In one embodiment, referring to Figure 7 As shown, the chassis 82 loading device further includes a visual device 40, which is located on the other side of the assembly line body 70, and is located directly above the process board positioning device 20, for identifying the relative position of the chassis 82 and the process board 81. Specifically, the chassis 82 loading device further includes a visual device 40, which is located on the other side of the assembly line body 70 relative to the material picking device 10, so as to avoid the material picking device 10 from placing the chassis 82 on the process board 81; and the visual device 40 is located directly above the process board positioning device 20, so that the visual device 40 can identify the relative position of the chassis 82 and the process board 81, and send the position data information to the robot 11, so that the robot 11 can place the chassis 82 on the process board 81 more accurately.

[0050] More specifically, the visual device 40 includes a shading plate 41, a camera 42, a strip light source 43, a bracket assembly 44 and a visual frame 45. The visual frame 45 is located on the other side of the assembly line body 70, and the visual frame 45 is used to support other structural parts of the visual device 40; the shading plate 41 is fixedly arranged on the top of the visual frame 45, and the shading plate 41 is horizontally extended from the top of the visual frame 45 toward the direction of the robot 11. The shading plate 41 is located directly above the process board positioning device 20 and is used to shade the process board positioning device 20. Block external light to reduce the impact of external light on the camera 42; the visual frame 45 is also provided with a fixed portion, which is located below the shading plate 41 and above the process board positioning device 20, and extends toward the direction of the robot 11. The camera 42 is fixed on the fixed portion, and the lens of the camera 42 is facing the direction of the assembly line body 70, so that the camera 42 can overlook the chassis 82 and the process board 81 from top to bottom to better obtain the relative positions of the chassis 82 and the process board 81.

[0051] The bracket assembly 44 is fixed on the visual frame 45, and the bracket assembly 44 is located between the process board positioning device 20 and the fixed part. One end of the bracket assembly 44 extends toward the direction of the robot 11, and the bracket assembly 44 is located in the middle of the visual frame 45. The bracket assembly 44 is composed of a pillar and a fixing clamp. The pillar can be raised and lowered, and the fixing clamp is rotatably connected to the pillar so that the fixing clamp can be adjusted in angle. The strip light source 43 is fixed on the fixing clamp, and the strip light source 43 faces the direction of the process board 81. The strip light source 43 is used to increase the brightness to illuminate the chassis 82 and the process board 81, overcome the interference of ambient light, and ensure the image stability of the visual device 40 when taking pictures.

[0052] In a specific embodiment, refer to Figure 5As shown, the process plate positioning device 20 includes a side-pushing cylinder assembly 21, a blocking cylinder assembly 22 and a blocking limit block 23. The side-pushing cylinder assembly 21 and the blocking limit block 23 are respectively fixed on the two side edges of the assembly line body 70. The side-pushing cylinder assembly 21 can perform horizontal telescopic movements. The blocking cylinder assembly 22 is arranged in the middle of the assembly line body 70 and can perform vertical telescopic movements. Specifically, the process plate positioning device 20 is used to position the process plate 81 and fix the process plate 81 at a designated position of the assembly line body 70 so that the material picking device 10 places the chassis 82 on the process plate 81. The process plate positioning device 20 includes a side-pushing cylinder assembly 21, a blocking cylinder assembly 22 and a blocking limit block 23. The side-pushing cylinder assembly 21 and the blocking limit block 23 are respectively fixed on the two side edges of the assembly line body 70. The side-pushing cylinder assembly 21 can perform horizontal telescopic movements. The blocking cylinder assembly 22 is arranged in the middle of the assembly line body 70 and can perform vertical telescopic movements. The side-pushing cylinder assembly 21 and the blocking limit block 23 together fix the process board 81 when the side-pushing cylinder assembly 21 makes a horizontal telescopic movement toward or away from the blocking limit block 23; the side-pushing cylinder assembly 21 includes a cylinder and a mounting seat, which is used to push the process board 81 sideways. When the side-pushing cylinder assembly 21 makes a stretching movement toward the blocking limit block 23, the side-pushing cylinder assembly 21 pushes the process board 81 sideways onto the blocking limit block 23, thereby limiting the process board 81; the side-pushing cylinder assembly 21 When the process plate 81 is retracted away from the blocking limit block 23, the process plate 81 is released; the blocking cylinder assembly 22 is arranged in the middle of the assembly line body 70, the blocking cylinder assembly 22 is located on the side of the assembly line body 70 close to the pressure plate device 30, and the blocking cylinder assembly 22 can do up and down telescopic movement, the blocking cylinder assembly 22 includes a blocking cylinder and a mounting seat, which is used to block and position the process plate 81, and when the blocking cylinder assembly 22 stretches upward, the blocking cylinder One end of the component 22 protrudes outward from the upper surface of the assembly line body 70, and the process plate 81 is blocked by the blocking cylinder component 22 to limit the process plate 81 from continuing to move toward the direction of the pressure plate device 30; when the blocking cylinder component 22 retracts downward, the blocking cylinder component 22 is located below the upper surface of the assembly line body 70 or flush with the upper surface of the assembly line body 70, thereby avoiding the process plate 81 so that the process plate 81 continues to move toward the direction of the pressure plate device 30.

[0053] The process plate positioning device 20 has a simple structure, and the side push cylinder assembly 21 and the blocking limit block 23 limit the two sides of the process plate 81. At the same time, the blocking cylinder assembly 22 blocks the front side of the process plate 81. The process plate positioning device 20 accurately limits the process plate 81 and has high stability.

[0054] More specifically, the process plate positioning device 20 also includes two opposing photoelectric components 24, and the two opposing photoelectric components 24 are respectively fixed at the two side edges of the assembly line body 70, and the two opposing photoelectric components 24 are respectively arranged adjacent to the side push cylinder assembly 21 and the blocking limit block 23. The opposing photoelectric components 24 are used to detect whether the chassis 82 is installed on the process plate 81 to avoid missing the chassis 82, so as to improve the loading accuracy of the chassis 82 loading equipment.

[0055] More specifically, the process plate positioning device 20 further includes a proximity switch assembly 25, which is fixed on the assembly line body 70, and is disposed adjacent to the side push cylinder assembly 21 and close to the pressure plate device 30, and is used to detect whether the process plate 81 is incoming. The proximity switch assembly 25 includes a switch and a mounting seat.

[0056] Exemplarily, when the process plate 81 is fed with the assembly line body 70, the proximity switch assembly 25 is triggered, and then the blocking cylinder assembly 22 extends upward to block the process plate 81 to prevent the process plate 81 from moving toward the pressure plate device 30; then the side push cylinder assembly 21 extends toward the blocking limit block 23 to push the process plate 81 laterally, and the process plate 81 is blocked and limited by the blocking limit block 23, thereby finally completing the positioning of the process plate 81.

[0057] In a specific embodiment, refer to Figure 6As shown, the pressure plate device 30 includes a pressure plate bracket 31 and a three-axis cylinder 32. The pressure plate bracket 31 is located on one side of the assembly line. The top end of the pressure plate bracket 31 is located above the assembly line body 70 and extends toward the other side of the assembly line. The three-axis cylinder 32 is connected to the top end of the pressure plate bracket 31, and the three-axis cylinder 32 can perform up and down telescopic movements. Specifically, the pressure plate device 30 is used to press down the chassis 82 to assemble the chassis 82 on the process board 81, and press the unstable and warped chassis 82 to a horizontal position. The pressure plate device 30 includes a pressure plate bracket 31 and a three-axis cylinder 32. The pressure plate bracket 31 is fixed on one side of the assembly line body 70. The pressure plate bracket 31 is used to fix other structural parts of the pressure plate device 30. The top of the pressure plate bracket 31 is located above the assembly line body 70 and extends toward the other side of the assembly line body 70. The three-axis cylinder 32 is connected to the top of the pressure plate bracket 31, and the three-axis cylinder 32 can make a telescopic movement close to and away from the process board 81, that is, the three-axis cylinder 32 can make an up and down telescopic movement. When the three-axis cylinder 32 stretches downward, the chassis 82 positioned below it can be pressed down onto the process board 81. The platen pressing device 30 has a simple structure and accurate pressing, thereby ensuring that the base plate 82 and the process plate 81 are firmly fixed.

[0058] More specifically, the assembly line body 70 is further provided with a proximity switch assembly 25 and a blocking cylinder assembly 22 at the position where the chassis 82 and the process board 81 are pressed down by the pressure plate device 30. The proximity switch assembly 25 is fixed on one side of the assembly line body 70, and the blocking cylinder assembly 22 is arranged in the middle of the assembly line body 70 and on a side away from the process board positioning device 20. The proximity switch assembly 25 is used to detect whether the process board 81 and the chassis 82 are incoming, and the blocking cylinder assembly 22 is used to block and position the process board 81 and the chassis 82, so as to position the chassis 82 and the process board 81 directly below the three-axis cylinder 32, so that the three-axis cylinder 32 can press down on the chassis 82 to assemble the chassis 82 on the process board 81.

[0059] Exemplarily, when the process board 81 equipped with the chassis 82 flows to the pressure plate station, the proximity switch assembly 25 is triggered, and the blocking cylinder assembly 22 extends upward to complete the blocking of the movement of the process board 81 equipped with the chassis 82. At the same time, the three-axis cylinder 32 is actuated, extends downward and exerts force to make the chassis 82 fit with the table surface of the process board 81, so as to prevent the unstable and warped chassis 82 from affecting subsequent production stations.

[0060] In one embodiment, referring to Figure 8As shown, the chassis 82 loading equipment also includes a tool vehicle positioning device 50, which is arranged adjacent to the material taking device 10, and includes a positioning frame 51 and a plurality of clamping cylinders 52, which are arranged at intervals along the circumference of the positioning frame 51, and the clamping cylinders 52 are used to position the tool vehicle 60. Specifically, the chassis 82 loading equipment also includes a tool vehicle positioning device 50, which is used to position the tool vehicle 60, and there are two tool vehicle positioning devices 50, and the two tool vehicle positioning devices 50 are respectively located on both sides of the material taking device 10, and the tool vehicle positioning device 50 is arranged adjacent to the material taking device 10, wherein the two tool vehicles 60 are respectively positioned on the two tool vehicle positioning devices 50, so that the tool vehicles 60 are used in a one-for-one mode, and the product is switched without stopping.

[0061] The tooling vehicle positioning device 50 includes a positioning frame 51 and a plurality of clamping cylinders 52. The positioning frame 51 encloses a positioning space so that the peripheral side of the tooling vehicle 60 is surrounded by the positioning frame 51. The plurality of clamping cylinders 52 are arranged at intervals along the circumference of the positioning frame 51. The clamping cylinders 52 clamp the tooling vehicle 60 to position the tooling vehicle 60, thereby positioning the tooling vehicle 60 at a specified position, preventing the tooling vehicle 60 from moving, and improving the accuracy of loading.

[0062] More specifically, the clamping cylinder 52 includes a swing arm 521 and a piston rod 522. One end of the piston rod 522 is connected to the positioning frame 51, and the swing arm 521 is connected to the other end of the piston rod 522. The piston rod 522 can perform telescopic movement and rotational movement relative to the positioning frame 51. The swing arm 521 is used to limit the tooling vehicle 60. At this time, the clamping cylinder 52 is in a clamping state. When the tooling vehicle 60 is to be locked on the positioning frame 51, the piston rod 522 is The piston rod 522 is controlled to rotate to drive the swing arm 521 to rotate, and then the piston rod 522 is controlled to retract, so that the swing arm 521 is close to the tooling vehicle 60, so that one side of the tooling vehicle 60 is positioned between the swing arm 521 and the positioning frame 51; when the tooling vehicle 60 is to be released, the piston rod 522 is extended, and then the piston rod 522 is selected to drive the swing arm 521 to rotate, so as to avoid the tooling vehicle 60, and the clamping cylinder 52 is in a released state. In particular, the swing arm 521 is set to rotate at an angle of 90°.

[0063] Exemplarily, when there is no tooling vehicle 60 in the positioning frame 51, the clamping cylinder 52 is in a loosened state. When the tooling vehicle 60 is pushed in and the tooling vehicle 60 touches the travel switches on both sides of the positioning frame 51, the clamping cylinder 52 is in a clamping state so that the clamping cylinder 52 locks the two cross bars of the tooling vehicle 60.

[0064] Exemplarily, there are two tooling vehicles 60, one for backup and one for use. The tooling vehicle positioning device 50 completes positioning, the material taking device 10 takes materials from the tooling vehicle 60 in columns, and the process board 81 completes positioning through the process board positioning device 20. When the material taking device 10 brings the chassis 82 to the specified position below the visual device 40, the visual device 40 takes pictures to identify and obtain the current position data of the chassis 82. The robot 11 determines the relative position of the chassis 82 through the position data. It is placed on the process board 81. There are two positioning holes on the chassis 82, and the positioning can be completed by the positioning pins of the process board 81. At the same time, after the corresponding photoelectric component 24 detects that the process board 81 has the chassis 82, the blocking cylinder component 22 is released, and the process board 81 flows to the working position of the pressure plate device 30. Similarly, it is detected by the proximity switch component 25. After the blocking cylinder component 22 completes the blocking, the pressure plate device 30 presses the chassis 82, and finally completes the loading of the chassis 82.

[0065] The embodiment of the present invention also provides a method for controlling a feeding device of a chassis 82. Fig. 9 This is a flow chart of the control method of the chassis 82 feeding device, and the steps of the control method of the air conditioner include S110-S120:

[0066] S110, obtaining material picking position information, and obtaining motion coordinates according to the material picking position information and preset initial coordinates, wherein the preset initial position is a three-dimensional coordinate;

[0067] Specifically, exemplarily, the tooling vehicle 60 of chassis 82 has 4 columns, each column has 13 chassis 82, a total of 4 columns and 13 rows, that is, each tooling vehicle 60 has 52 chassis 82. The traditional way of picking up materials is: the robot 11 first comes to the top of each column of the tooling vehicle 60, remembers the starting point (P1) above this column, and then calculates the actual offset from top to bottom of this time of picking up materials based on the internal calculation, that is, which chassis 82 of this column is currently to be picked up, and then moves downward according to the offset, and opens the clamp to grab after moving to the accurate position. When picking up materials for the first time, the default number of rows for this column of robots 11 to pick up materials is 1 (it can be manually set before the robot 11 picks up materials for the first time). When the number of rows for picking up materials reaches 13, it is defaulted that this single column has been picked up, and the robot 11 automatically goes to the first one in the next column to start grabbing next time it moves. When the normal operation system is fault-free as a whole, this way of picking up materials meets production needs. However, when the tooling vehicle 60 is not full (i.e., one vehicle contains less than 52 chassis 82), the robot 11 needs to be manually input with the number of chassis 82 (starting from the 5th row of the 1st column), and manual input is prone to errors. For example, if you need to go to the 5th layer of the first column to pick up materials, the 5th to 13th layers of the first column of the tooling vehicle 60 are all chassis 82. If a human mistake is made, 5 is written as 8, which will cause the robot 11 to first come to the top of the first column and move directly to the 8th row. The materials in the 5th, 6th, 7th, and 8th rows will be damaged, the tooling vehicle 60 will be scrapped, the fixture assembly 12 will be severely deformed, the motor of the robot 11 will alarm for overload, and even the robot 11 will have a fault that is difficult to repair.

[0068] Therefore, in this embodiment, a control method for a chassis 82 loading device is provided, wherein the controller first obtains material picking position information, wherein the material picking position information is manually input position information, i.e., the position where the material picking device 10 needs to pick up materials from the work vehicle 60; the controller obtains motion coordinates based on the material picking position information and preset initial coordinates, wherein the preset initial coordinates refer to pre-set initial coordinates, and the material picking device 10 is offset based on the coordinates of the preset initial coordinates, wherein the preset initial position is a three-dimensional coordinate, and the controller calculates the motion coordinates based on the material picking position information and the preset initial coordinates, wherein the motion coordinates are the material picking position coordinates of the material picking device 10, i.e., the material picking device 10 grabs the chassis 82 at the motion coordinates.

[0069] This embodiment sets the preset initial coordinates as coordinates in a three-dimensional coordinate system so that the material picking device 10 is offset in the three-dimensional coordinate system, thereby allowing the material picking device 10 to move on the side of the work vehicle 60, thereby avoiding direct collision between the material picking device 10 and the chassis 82 to reduce accidents.

[0070] S120, controlling the material taking device 10 to move to the position of the motion coordinate to clamp the chassis 82;

[0071] Specifically, after the motion coordinates are acquired, the material taking device 10 is controlled to move to the position of the motion coordinates so as to clamp the chassis 82 .

[0072] Exemplarily, first, an object coordinate system is established according to the tooling vehicle 60. Based on this coordinate system, the robot 11 will move in the XYZ coordinates of the object coordinate system when it arrives at the tooling vehicle 60: the first point in the first row is taught first, and the name is defined as P2. The position coordinates of P2 are the preset initial coordinates, and then this coordinate is locked. Each time the coordinates of the robot 11 to pick up materials are offset based on this coordinate. For example, the spacing between each column of robot 11 is 400mm, the spacing between each row is 90mm, and the XYZ coordinates in the P2 Cartesian coordinate system are (1000, 1000, 1200). If it is necessary to set the position where robot 11 goes to pick up materials this time to the second position in the second row (the material picking position is the material picking position information), under the internal program calculation of robot 11, robot 11 will obtain the coordinates of this movement as (1000-(2-1)*400, 1000, 1200-(2-1)*90), and then robot 11 moves to the side of tooling vehicle 60, without entering the tooling vehicle 60, and only needs to extend the clamp to pick up materials. The improvement of this material picking method over the traditional method is that robot 11 does not need to enter the interior of the work vehicle, and the robot 11 picks up materials no longer from top to bottom, but from the side. Even if a collision occurs, the clamp assembly 12 collides with the tooling vehicle 60, thereby reducing the loss of the chassis 82 and reducing the occurrence of accidents.

[0073] More specifically, when the control material taking device 10 moves to the position of the motion coordinate to clamp the chassis 82, if it is detected that the clamp assembly 12 collides with the tooling vehicle 60, the alarm mode is activated. Since the clamp assembly 12 collides with the tooling vehicle 60, the clamp assembly 12 cannot be extended after the collision, and the magnetic switch signal is not given to the PLC in time, an alarm will be generated, and the robot 11 body is extremely safe, which greatly reduces the adverse consequences caused by human errors when the robot 11 collides with the tooling.

[0074] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A chassis loading device, characterized in that: include: A material taking device, which is rotatably located on one side of the assembly line body and is used to clamp the chassis to the process board; A process plate positioning device, the process plate positioning device is telescopically arranged on the assembly line body and is used to limit the process plate; A pressure plate device is arranged adjacent to the process plate positioning device, and the pressure plate device can perform telescopic movement in the up and down directions, and is used to press down the chassis to fix the chassis on the process plate.

2. The chassis loading equipment according to claim 1, characterized in that: The material picking device comprises a robot and a clamp assembly. The robot is rotatably located on one side of the assembly line body. The clamp assembly is rotatably connected to the robot. The clamp assembly is used to clamp the chassis.

3. The chassis loading equipment according to claim 2, characterized in that: The clamp assembly includes a main frame, a first moving assembly, a second moving assembly and a claw, wherein the first moving assembly and the second moving assembly are respectively connected to two sides of the main frame, one side of the first moving assembly is connected to the robot, and one side of the second moving assembly is connected to the claw, wherein the first moving assembly is used to drive the main frame to move, and the second moving assembly is used to drive the claw to move.

4. The chassis loading equipment according to claim 3, characterized in that: The first moving component includes a connecting plate, a first connecting block, a first cylinder and a first guide rail. The first guide rail is extended along the two side edges of the main frame and is arranged on one side of the main frame. The first cylinder is arranged in the middle of the main frame. The connecting plate connects the first cylinder and the first connecting block. The first connecting block is slidably connected to the first guide rail.

5. The chassis loading equipment according to claim 3, characterized in that: The second moving assembly includes a second guide rail, a second cylinder, a second connecting block and a cylinder foot seat. The second guide rail is extended along the two side edges of the main frame and is arranged on the other side of the main frame. The second cylinder is arranged in the middle of the main frame, and one side of the second cylinder is connected to the cylinder foot seat. The claw is connected to the cylinder foot seat and the second connecting block, and the second connecting block is slidably connected to the second guide rail.

6. The chassis loading equipment according to claim 1, characterized in that: The chassis loading equipment also includes a visual device, which is located on the other side of the assembly line body and directly above the process board positioning device, and is used to identify the relative positions of the chassis and the process board.

7. The chassis loading equipment according to claim 1, characterized in that: The process plate positioning device includes a side-pushing cylinder assembly, a blocking cylinder assembly and a blocking limit block. The side-pushing cylinder assembly and the blocking limit block are respectively fixed on the two side edges of the assembly line body. The side-pushing cylinder assembly can perform horizontal telescopic movement. The blocking cylinder assembly is arranged in the middle of the assembly line body and can perform vertical telescopic movement.

8. The chassis loading equipment according to claim 1, characterized in that: The pressure plate device includes a pressure plate bracket and a three-axis cylinder. The pressure plate bracket is located on one side of the assembly line. The top end of the pressure plate bracket is located above the assembly line body and extends toward the other side of the assembly line. The three-axis cylinder is connected to the top end of the pressure plate bracket, and the three-axis cylinder can perform up and down telescopic movements.

9. The chassis loading equipment according to claim 1, characterized in that: The chassis loading equipment also includes a tool vehicle positioning device, which is arranged adjacent to the material picking device. The tool vehicle positioning device includes a positioning frame and a plurality of clamping cylinders. The plurality of clamping cylinders are arranged at circumferential intervals along the positioning frame. The clamping cylinders can rotate and telescopically move to position the tool vehicle.

10. A chassis loading equipment control method, characterized in that: Applied to the chassis loading equipment according to any one of claims 1 to 9, the method comprises: Acquire material picking position information, and obtain motion coordinates according to the material picking position information and preset initial coordinates, wherein the preset initial position is a three-dimensional coordinate; The material taking device is controlled to move to the position of the motion coordinate to clamp the chassis.

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