Air conditioner assembly process

Abstract

The invention provides an air conditioner assembly process. The air conditioner assembly technology comprises the steps that a reference assembly part is transferred to conveying equipment; assembling information of the reference assembling part is obtained, and the posture and / or position of the reference assembling part are / is adjusted based on the assembling information of the reference assembling part; the middle assembly part is transferred to the conveying equipment, in the transfer process of the middle assembly part, assembly information of the middle assembly part and assembly information of a part to be assembled located on the conveying equipment are obtained, and the middle assembly part and the part to be assembled are assembled based on the assembly information of the middle assembly part and the assembly information of the part to be assembled; the assembling process of the middle assembling parts is repeated so that the multiple middle assembling parts can be assembled on the part to be assembled in sequence; wherein the assembly information comprises spatial position information and structural feature information. The problem that in the prior art, the automation degree of the assembly process of the air conditioner outdoor unit is low is effectively solved.

Description

Technical Field

[0001] The invention relates to the technical field of air conditioner processing, and in particular to an air conditioner assembly process. Background Art

[0002] At present, under the background of rapid development of processing automation and intelligence, the production mode of air-conditioning production lines is in urgent need of transformation. The preliminary assembly process of the air-conditioning outdoor unit production line in the prior art mainly includes the assembly between the base, chassis, foot pads, compressor, compressor nut and condenser. The above assembly process still adopts a manual or semi-automatic (still requires manual operation) production mode, which has problems such as intensive personnel operation, high labor intensity of employees, uncontrollable quality, and unsatisfactory assembly efficiency. Summary of the invention

[0003] The main purpose of the present invention is to provide an air conditioner assembly process to solve the problem of low automation level of the assembly process of the air conditioner outdoor unit in the prior art.

[0004] In order to achieve the above-mentioned purpose, the present invention provides an air conditioner assembly process for realizing automatic assembly between a reference assembly part and multiple intermediate assembly parts of the air conditioner, and the air conditioner assembly process comprises: transferring the reference assembly part to a conveying device; obtaining assembly information of the reference assembly part, and adjusting the posture and / or position of the reference assembly part based on the assembly information of the reference assembly part; transferring the intermediate assembly part to the conveying device, and during the transfer of the intermediate assembly part, obtaining the assembly information of the intermediate assembly part and the assembly information of the part to be assembled on the conveying device, and assembling the intermediate assembly part and the part to be assembled based on the assembly information of the intermediate assembly part and the assembly information of the part to be assembled; repeating the assembly process of the intermediate assembly part to assemble multiple intermediate assemblies on the part to be assembled in sequence; wherein the assembly information comprises spatial position information and structural feature information.

[0005] Furthermore, the reference assembly part is a base tray, and the method for transferring the base tray to the conveying equipment includes: transferring the base tray to a first flipping device located on the conveying equipment by negative pressure adsorption; the first flipping device flips the base tray, and places the flipped base tray on the conveying surface of the conveying equipment.

[0006] Furthermore, the reference assembly part is a base tray, and before adjusting the posture and / or position of the base tray, it is judged whether the base tray is qualified based on the assembly information of the base tray; wherein, if the base tray is qualified, the posture and / or position of the base tray is adjusted based on the assembly information of the base tray; if the base tray is unqualified, the base tray is transferred to the rework conveying equipment, and the transfer and qualification judgment process of the base tray is repeated until the base tray is qualified.

[0007] Furthermore, after the base tray is qualified, the method for adjusting the posture and / or position of the base tray includes: judging the placement posture of the base tray based on the assembly information of the base tray; if the bottom surface of the base tray is facing upward, the second flipping device flips the base tray, and places the flipped base tray on the conveying equipment, so that the bottom surface of the base tray is arranged opposite to the conveying surface of the conveying equipment; if the bottom surface of the base tray is arranged opposite to the conveying surface, the adjustment process of the posture and / or position of the base tray ends.

[0008] Furthermore, the intermediate assembly part also includes a chassis, and the assembly method between the chassis and the base includes: during the transportation of the chassis, obtaining assembly information of the chassis and the assembly information of the base; correcting the assembly action of the first robot based on the assembly information of the chassis and the assembly information of the base; the first robot assembles the chassis at a first preset position of the base to obtain a first part to be assembled.

[0009] Furthermore, the multiple intermediate assembly parts also include a shock absorber, and the assembly method of the first part to be assembled and the shock absorber includes: during the transportation of the shock absorber, obtaining assembly information of the first part to be assembled and the assembly information of the shock absorber; correcting the assembly action of the second robot based on the assembly information of the first part to be assembled and the assembly information of the shock absorber; the second robot assembles the shock absorber to the stud of the chassis of the first part to be assembled to obtain the second part to be assembled.

[0010] Furthermore, the multiple intermediate assembly parts also include a compressor, and the assembly method between the compressor and the second part to be assembled includes: during the transportation of the compressor, obtaining assembly information of the second part to be assembled and the assembly information of the compressor; based on the assembly information of the second part to be assembled and the assembly information of the compressor, correcting the assembly action of the third robot; the third robot assembles the compressor to the stud of the second part to be assembled to obtain the third part to be assembled.

[0011] Furthermore, the multiple intermediate assembly parts also include nuts. Before transporting the nuts, the fourth robot detects the processing quality of the nuts through a magnetic sleeve to select nuts with qualified processing quality for transport; the assembly method between the nuts and the third parts to be assembled includes: in the process of transporting the nuts, obtaining the assembly information of the third parts to be assembled and the assembly information of the nuts; based on the assembly information of the third parts to be assembled and the assembly information of the compressor, correcting the assembly action of the fourth robot; the fourth robot assembles the nuts to the studs of the third parts to be assembled to obtain the fourth parts to be assembled; wherein, during the assembly process of the fourth robot, the tightening torque value of the nut is obtained, and if the tightening torque value of the nut is less than the preset torque value, the fourth part to be assembled is transported to the rework conveying equipment.

[0012] Furthermore, the multiple intermediate assembly parts also include a condenser. During the process of transporting the condenser, assembly information of the fourth part to be assembled and the assembly information of the condenser are obtained; based on the assembly information of the fourth part to be assembled and the assembly information of the condenser, the assembly action of the fifth robot is corrected; the fifth robot assembles the condenser to the second preset position of the fourth part to be assembled to obtain an air conditioner.

[0013] Furthermore, the method for obtaining assembly information includes: an image acquisition device takes a photo of a reference assembly part and / or an intermediate assembly part and / or an assembly part to be assembled; the air conditioner assembly process also includes: before at least one intermediate assembly part is transported, obtaining assembly information of the intermediate assembly part, and based on the assembly information of the intermediate assembly part, selecting an intermediate assembly part with qualified processing quality for transport; after at least one intermediate assembly part and the assembly part to be assembled are assembled, obtaining assembly information of the assembled assembly part to be assembled, and judging whether the assembled assembly part to be assembled is qualified based on the assembly information of the assembled assembly part to be assembled; if the assembled assembly part to be assembled is unqualified, transporting the assembled assembly part to be assembled to a repair conveying device; if the assembled assembly part to be assembled is qualified, continuing the assembly process.

[0014] By applying the technical solution of the present invention, the air conditioner assembly process is used to realize the automated assembly between the reference assembly part and multiple intermediate assembly parts of the air conditioner, which includes: transferring the reference assembly part to the conveying equipment. Obtaining the assembly information of the reference assembly part, and adjusting the posture and / or position of the reference assembly part based on the assembly information of the reference assembly part. Transferring the intermediate assembly part to the conveying equipment, during the transfer of the intermediate assembly part, obtaining the assembly information of the intermediate assembly part and the assembly information of the part to be assembled on the conveying equipment, and assembling the intermediate assembly part and the part to be assembled based on the assembly information of the intermediate assembly part and the assembly information of the part to be assembled. Repeating the assembly process of the intermediate assembly part, so as to assemble multiple intermediate assemblies on the part to be assembled in sequence. Among them, the assembly information includes spatial position information and structural feature information. In this way, the corresponding equipment of the air conditioner assembly process in the present application can first transfer the reference assembly part to the conveying equipment, and preliminarily adjust its posture and position according to the spatial position information and structural feature information of the reference assembly part to ensure that the reference assembly part has a high assembly accuracy, and then re-acquire the spatial position information and structural feature information of the intermediate assembly part and the part to be assembled (which may be the reference assembly part or it may be a semi-finished part after the reference assembly part and the intermediate assembly part are assembled), and assemble the intermediate assembly part on the part to be assembled, so as to repeatedly assemble multiple intermediate assemblies in sequence, realize a fully closed-loop and fully automated production mode of the air conditioner, and thus solve the problem of low degree of automation of the assembly process of the air conditioner outdoor unit in the prior art, reduce the labor intensity of the staff, and improve the assembly efficiency and assembly quality of the air conditioner. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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:

[0016] Figure 1 A schematic diagram showing a flow chart of an embodiment of an air conditioner assembly process according to the present invention;

[0017] Figure 2 Shows Figure 1 The first part of the specific flow diagram of the flow chart of the air conditioner assembly process;

[0018] Figure 3 Shows Figure 1 The second part of the specific process diagram of the flow chart of the air conditioner assembly process;

[0019] Figure 4 The invention is shown to be applicable Figure 1 A top view of the assembly system of the air conditioner assembly process.

[0020] The above drawings include the following reference numerals:

[0021] 10. Air conditioner assembly system; 11. Base assembly equipment; 12. Chassis assembly equipment; 13. Shock absorber assembly equipment; 14. Compressor assembly equipment; 15. Nut assembly equipment; 16. Condenser assembly equipment. DETAILED DESCRIPTION

[0022] 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. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0024] In order to solve the problem of low automation level in the assembly process of the air conditioner outdoor unit in the prior art, the present application provides an air conditioner assembly process.

[0025] like Figures 1 to 4 As shown, the air conditioner assembly process is used to realize the automatic assembly between the base assembly parts and multiple intermediate assembly parts of the air conditioner. The air conditioner assembly process includes:

[0026] Transfer the reference assembly to the conveying equipment;

[0027] Acquiring assembly information of the reference assembly, and adjusting the posture and / or position of the reference assembly based on the assembly information of the reference assembly;

[0028] Transferring the intermediate assembly to the conveying device, obtaining assembly information of the intermediate assembly and assembly information of the parts to be assembled on the conveying device during the transfer of the intermediate assembly, and assembling the intermediate assembly and the parts to be assembled based on the assembly information of the intermediate assembly and the assembly information of the parts to be assembled;

[0029] Repeat the assembly process of the intermediate assembly parts to assemble the multiple intermediate assembly parts on the parts to be assembled in sequence. The assembly information includes spatial position information and structural feature information.

[0030] By applying the technical solution of this embodiment, the air conditioner assembly process is used to realize the automated assembly between the reference assembly part and multiple intermediate assembly parts of the air conditioner, which includes: transferring the reference assembly part to the conveying equipment. Obtaining the assembly information of the reference assembly part, and adjusting the posture and / or position of the reference assembly part based on the assembly information of the reference assembly part. Transferring the intermediate assembly part to the conveying equipment, during the transfer of the intermediate assembly part, obtaining the assembly information of the intermediate assembly part and the assembly information of the part to be assembled on the conveying equipment, and assembling the intermediate assembly part and the part to be assembled based on the assembly information of the intermediate assembly part and the assembly information of the part to be assembled. Repeating the assembly process of the intermediate assembly part, so as to assemble multiple intermediate assemblies on the part to be assembled in sequence. Among them, the assembly information includes spatial position information and structural feature information. In this way, the corresponding equipment of the air conditioner assembly process in this embodiment can first transfer the reference assembly part to the conveying equipment, and preliminarily adjust its posture and position according to the spatial position information and structural feature information of the reference assembly part to ensure that the reference assembly part has a high assembly accuracy, and then re-acquire the spatial position information and structural feature information of the intermediate assembly part and the part to be assembled (which may be the reference assembly part or the semi-finished part after the reference assembly part and the intermediate assembly part are assembled), and assemble the intermediate assembly part on the part to be assembled, so as to repeatedly assemble multiple intermediate assemblies in sequence, realize a fully closed-loop and fully automated production mode of the air conditioner, and thus solve the problem of low degree of automation of the assembly process of the air conditioner outdoor unit in the prior art, reduce the labor intensity of the staff, and improve the assembly efficiency and assembly quality of the air conditioner.

[0031] Specifically, the structural feature information includes the overall structural features (such as shape, size, etc.) and local structural features (such as protrusions and depressions on the surface), of the assemblies (reference assemblies, intermediate assemblies and assemblies to be assembled on the conveying equipment), and the spatial position information includes the edge point coordinates of the overall structure and the edge point coordinates of the local structural features, which are automatically analyzed and processed by the processing module.

[0032] In this embodiment, the method for acquiring assembly information includes: an image acquisition device takes a picture of a reference assembly part and / or an intermediate assembly part and / or a part to be assembled.

[0033] Optionally, the image acquisition device can be an industrial camera. After the industrial camera takes a picture of the assembly, the processing module can model, analyze, and extract the structural feature information and spatial position information of the assembly based on the pictures taken. The specific principles are not described here.

[0034] like Figure 4 As shown, an air conditioner assembly system 10 is provided that can automatically assemble the air conditioner outdoor unit using the air conditioner assembly process in this embodiment. It should be noted that the overall structure and layout of the air conditioner assembly system 10 are not limited to this, and the corresponding devices for implementing each assembly action can be adaptively adjusted to the structure.

[0035] Specifically, the conveying equipment is a belt conveying equipment or a roller conveying equipment, and a base assembly equipment 11, a chassis assembly equipment 12, a shock absorber assembly equipment 13, a compressor assembly equipment 14, a nut assembly equipment 15, and a condenser assembly equipment 16 are sequentially arranged along its conveying direction.

[0036] In this embodiment, the reference assembly part is a base, and the method for transferring the base to the conveying device includes: transferring the base to the first flipping device located on the conveying device by negative pressure adsorption; the first flipping device flips the base and places the flipped base on the conveying surface of the conveying device. In this way, the base is transferred by negative pressure adsorption, which can adapt to bases of different specifications and sizes, thereby improving the versatility of the air conditioner assembly process, and the base is flipped and put on line by the first flipping device, so that the placement posture of the base can be preliminarily adjusted during the base's on-line process, so as to facilitate the subsequent assembly process.

[0037] Specifically, during the actual storage process, the bottom trays are usually placed inverted and stacked to facilitate stacking and subsequent negative pressure adsorption. That is, the bottom tray at the bottom can extend into the recessed portion of the top tray, so as to ensure a high stacking stability between the multiple bottom trays while allowing the subsequent adsorption structure to directly adsorb the relatively flat bottom surface of the bottom tray, thereby improving the transportation stability of the bottom tray.

[0038] Specifically, a transfer robot is provided in the bottom bracket assembly device 11, and a suction cup clamp for negative pressure adsorption is provided on the mechanical arm of the transfer robot.

[0039] Optionally, the first flipping device as a whole includes a bottom support structure and a bottom support clamp arranged on the bottom support structure, and the bottom support clamp is located above the conveying equipment. After the transfer robot places the bottom support on the first flipping device, the bottom support clamp clamps the bottom support and drives it to flip 180° and then releases it. The bottom support falls onto the conveying equipment under the action of gravity to complete the online work of the bottom support.

[0040] Optionally, the transfer robot absorbs the bottom tray from the bottom tray tooling vehicle, that is, the bottom tray is fed in the form of a tooling vehicle, and the tooling vehicle is in the form of one backup and one use, that is, two tooling vehicles are provided. When the bottom tray on one tooling vehicle is adsorbed, the tooling vehicle automatically withdraws from the bottom tray feeding position and moves to the replenishing position to replenish the bottom tray. The other tooling vehicle automatically moves to the bottom tray feeding position to feed, so as to realize non-stop feeding of the bottom tray part.

[0041] Specifically, the tooling vehicle may be an AGV vehicle to realize the automated operation of the tooling vehicle.

[0042] Specifically, after the base is put on line, the conveying equipment conveys the base to the first assembly station, where the chassis assembly equipment 12 is arranged.

[0043] In this embodiment, the reference assembly part is a base, and before adjusting the posture and / or position of the base, it is determined whether the base is qualified based on the assembly information of the base. If the base is qualified, the posture and / or position of the base is adjusted based on the assembly information of the base. If the base is unqualified, the base is transported to the rework conveying equipment, and the transportation and qualification judgment process of the base is repeated until the base is qualified. In this way, the above-mentioned setting actually performs a preliminary inspection on the specifications and processing quality of the base before assembling the base with the intermediate assembly part, so as to ensure that the base used for assembly is a qualified base, thereby improving the assembly quality of the air conditioner.

[0044] Specifically, the criteria for judging whether the pallet is qualified include the specifications of the pallet (i.e. whether there is material mixing in the pallet, whether other pallets that are not of assembly specifications are mixed on the pallet tooling vehicle) and the processing quality of the pallet, that is, judging whether there are processing defects in the pallet through the photos obtained by the image acquisition device. If the pallet is unqualified, the control module will record it accordingly and control the transfer robot to re-transport a new pallet, and the current pallet will be transported by the rejection mechanism at the chassis assembly equipment 12 to the rework conveying equipment for recycling and reuse.

[0045] In this embodiment, after the base is qualified, the method for adjusting the posture and / or position of the base includes:

[0046] Based on the assembly information of the base, determine the placement posture of the base;

[0047] If the bottom surface of the base is facing upward, the second flipping device flips the base and places the flipped base on the conveying device so that the bottom surface of the base is arranged opposite to the conveying surface of the conveying device;

[0048] If the bottom surface of the base is arranged opposite to the conveying surface, the adjustment process of the posture and / or position of the base is completed.

[0049] In this way, considering that during the actual feeding process of the bottom bracket, the bottom bracket on the bottom bracket tooling vehicle may be in an upright position or its flipping and feeding action may fail, after the bottom bracket is judged to be qualified, the posture of the bottom bracket needs to be further confirmed to further ensure that the bottom bracket used for subsequent assembly is in an assembly posture, to ensure that the air conditioner assembly system using the air conditioner assembly process in this embodiment can operate stably and efficiently.

[0050] Specifically, after the base arrives at the first assembly station, the blocking structure provided on the conveying device will rise to block the base, the lifting and rotating clamping mechanism of the second flipping device clamps and lifts the base, the image acquisition device takes a picture of the base and identifies the front and back of the base. If the base is in the forward position, the lifting and rotating clamping mechanism and the blocking mechanism are simultaneously lowered and released, the base is released, and is conveyed to the second assembly station by the conveying device. If the base is in the reverse position, the lifting and rotating clamping mechanism rotates the base 180°, and then the lifting and rotating clamping mechanism and the blocking mechanism are simultaneously lowered and released, the base is released, and is conveyed to the second assembly station by the conveying device.

[0051] In this embodiment, the intermediate assembly also includes a chassis, and the assembly method between the chassis and the bottom bracket includes:

[0052] During the transfer of the chassis, the assembly information of the chassis and the bottom bracket is obtained;

[0053] Correcting the assembly action of the first robot based on the assembly information of the chassis and the assembly information of the base;

[0054] The first robot assembles the chassis at a first preset position of the base to obtain a first component to be assembled.

[0055] In this way, taking into account that in the actual transportation process, there are certain conveying position errors in the base tray and the chassis, when the first robot transports the chassis, the assembly information of the base tray at the second assembly position and the chassis during transportation is re-acquired, so as to correct and guide the preset assembly action (final assembly position) of the first robot through the above assembly information, so as to ensure a higher assembly accuracy between the base tray and the chassis.

[0056] Optionally, when acquiring the assembly information of the chassis during the transfer process, the first robot may suspend the transfer action, and continue the action after the acquisition is completed.

[0057] Specifically, the first robot is part of the chassis assembly equipment 12, which adopts a two-stage pneumatic clamp to be compatible with chassis of different specifications. Two sets of image acquisition devices are arranged in the chassis assembly equipment 12, one set is used to detect the positive and negative postures of the incoming base tray, and the other set is used to obtain the assembly information of the base tray at the second assembly position and the chassis during transportation.

[0058] Optionally, the first robot clamps the chassis from the chassis tooling vehicle, that is, the chassis is fed in the form of a tooling vehicle, and the tooling vehicle is in the form of one backup and one use, that is, two tooling vehicles are provided. When the chassis on one tooling vehicle is clamped, the tooling vehicle automatically withdraws from the chassis feeding position and moves to the replenishing position to replenish the chassis. The other tooling vehicle automatically moves to the chassis feeding position to feed, so as to realize non-stop feeding of the chassis part.

[0059] Specifically, after the assembly of the base and the chassis is completed, the conveying device conveys the first workpiece to be processed to the third assembly station (the shock absorbing component assembly device 13).

[0060] In this embodiment, the shock absorbing member is a foot pad, which is arranged between the compressor and the chassis to reduce shock and cushion the compressor.

[0061] In this embodiment, the foot pads are fed from a silo, that is, the foot pads in the silo are transported to the shock-absorbing member feeding position by a screening belt.

[0062] Specifically, before transporting the foot pads, the image acquisition device at the shock-absorbing component assembly device 13 will obtain the assembly information of the foot pads on the screening belt, and select the foot pads with qualified processing quality based on the assembly information of the foot pads on the screening belt. The foot pads with unqualified processing quality will be recycled and reused through the repair conveying device. The specific principle will not be elaborated here.

[0063] In this embodiment, the plurality of intermediate assembly parts further include a shock absorbing part, and the assembly method of the first assembly part and the shock absorbing part includes:

[0064] During the transportation of the shock absorbing component, obtaining assembly information of the first component to be assembled and assembly information of the shock absorbing component;

[0065] Correcting an assembly action of the second robot based on assembly information of the first to-be-assembled component and assembly information of the shock-absorbing component;

[0066] The second robot assembles the shock absorbing component to the stud of the chassis of the first component to be assembled to obtain the second component to be assembled.

[0067] In this way, taking into account that in the actual transportation process, there are certain conveying position errors in the first part to be assembled and the foot pad, when the second robot transports the foot pad, the assembly information of the first part to be processed at the third assembly position and the foot pad during transportation is re-obtained, so as to correct and guide the preset assembly action (final assembly position) of the second robot through the above assembly information, so as to ensure a higher assembly accuracy between the first part to be assembled and the foot pad.

[0068] Specifically, the second robot is a horizontal multi-joint robot having three robotic arms, and each robotic arm is provided with a foot pad clamp. It first grabs the foot pad with qualified processing quality and places it on the conveying equipment, which then conveys the foot pad and the first workpiece to be processed to the third assembly station. The three-axis module of the second robot then drives the three automatically adjustable foot pad clamps to synchronously clamp the three foot pads. Then, according to the assembly information of the first workpiece to be processed at the third assembly position and the foot pad during transportation, the foot pad is put on the stud position of the chassis.

[0069] Specifically, after the foot pad is assembled to the stud of the chassis of the first part to be assembled to obtain the second part to be assembled, the image acquisition device of the shock absorber assembly device 13 will obtain the assembly information of the second part to be assembled, and based on the assembly information of the second part to be assembled, determine whether the second part to be assembled is qualified (whether the foot pad is assembled in place, such as whether the foot pad is offset, missing, etc.), if the second part to be assembled is unqualified, the second robot will transport the second part to be assembled to the repair conveying equipment for recycling and reuse. If the second part to be assembled is qualified, the assembly process continues.

[0070] Specifically, after the first workpiece to be processed and the foot pad are assembled, the conveying equipment conveys the second workpiece to be processed to the fourth assembly station (the compressor assembly equipment 14).

[0071] Optionally, the compressor is fed in the form of a work vehicle, and the work vehicle is in the form of one backup and one use, that is, two work vehicles are provided. When the compressor on one work vehicle is clamped, the work vehicle automatically withdraws from the compressor feeding position and moves to the replenishing position to replenish the compressor. The other work vehicle automatically moves to the compressor feeding position to feed, so as to realize non-stop feeding of the compressor part.

[0072] Specifically, before transporting the compressor, the image acquisition device at the compressor assembly equipment 14 will obtain the assembly information of the compressor on the work vehicle, and select the compressor with qualified processing quality based on the assembly information of the compressor on the work vehicle, and skip the compressor with unqualified processing quality. The compressor with unqualified processing quality will be transported to the repair conveying equipment by the work vehicle for recycling and reuse. The specific principle will not be elaborated here.

[0073] Specifically, the number of compressors on the work vehicle is fixed. In the process of selecting compressors with qualified processing quality based on the assembly information of the compressors on the work vehicle, the positions of the compressors with qualified processing quality will be recorded for subsequent clamping. When the compressors with qualified processing quality are clamped, the control module will control the work vehicle to first move to the repair conveying equipment to convey the compressors with unqualified quality, and then go to the compressor refilling position for refilling.

[0074] In this embodiment, the plurality of intermediate assembly parts further include a compressor, and the assembly method between the compressor and the second assembly part includes:

[0075] During the transportation of the compressor, obtaining assembly information of the second to-be-assembled component and assembly information of the compressor;

[0076] Correcting an assembly action of the third robot based on assembly information of the second to-be-assembled component and assembly information of the compressor;

[0077] The third robot assembles the compressor to the stud of the second component to be assembled to obtain the third component to be assembled.

[0078] In this way, taking into account that in the actual transportation process, there are certain transportation position errors in the second part to be assembled and the compressor, when the third robot transports the foot pad, the assembly information of the second part to be processed at the fourth assembly position and the compressor during the transportation process is re-obtained, so as to correct and guide the preset assembly action (final assembly position) of the third robot through the above assembly information, so as to ensure a higher assembly accuracy between the second part to be assembled and the compressor.

[0079] Specifically, a pneumatic three-jaw chuck is provided on the third robot arm to grasp the compressor.

[0080] Specifically, after the compressor is assembled to the stud of the chassis of the second part to be assembled (the corresponding screw hole of the compressor is set on the stud) to obtain the third part to be assembled, the image acquisition device at the compressor assembly device 14 will obtain the assembly information of the third part to be assembled, and based on the assembly information of the third part to be assembled, it is judged whether the third part to be assembled is qualified (whether the compressor is assembled in place, whether the overall posture is skewed, whether the stud is inserted from the corresponding screw hole, etc.), if the third part to be assembled is unqualified, the third robot will transport the third part to be assembled to the repair conveying equipment for recycling and reuse. If the third part to be assembled is qualified, the assembly process continues.

[0081] Specifically, after the second workpiece to be processed and the compressor are assembled, the conveying device conveys the third workpiece to be processed to the fifth assembly station (the nut assembly device 15).

[0082] In this embodiment, the plurality of intermediate assembly parts also include nuts. Before transporting the nuts, the fourth robot detects the processing quality of the nuts through the magnetic sleeve to select nuts with qualified processing quality for transport. In this way, the above arrangement can exclude nuts with unqualified processing quality (mainly unqualified shapes that cannot be adsorbed by the magnetic sleeve into its receiving recess) to improve the assembly quality of the air conditioner.

[0083] Specifically, the nuts are fed through a vibrating plate.

[0084] Specifically, a corresponding sensor is provided on the magnetic sleeve to detect whether a nut is adsorbed on the magnetic sleeve.

[0085] Specifically, a magnetic sleeve is provided on the mechanical arm of the fourth robot, so that the magnetic sleeve and the nut on the magnetic sleeve are driven to rotate through the mechanical arm, thereby realizing the assembly of the nut.

[0086] In this embodiment, the plurality of intermediate assembly parts further include a nut, and the assembly method between the nut and the third assembly part includes:

[0087] In the process of transferring the nut, obtaining assembly information of the third to-be-assembled component and assembly information of the nut;

[0088] Correcting an assembly action of the fourth robot based on assembly information of the third to-be-assembled component and assembly information of the compressor;

[0089] The fourth robot assembles the nut to the stud of the third part to be assembled to obtain a fourth part to be assembled;

[0090] During the assembly process of the fourth robot, the tightening torque value of the nut is obtained. If the tightening torque value of the nut is less than the preset torque value, the fourth component to be assembled is transferred to the repair conveying equipment.

[0091] In this way, considering that there are certain conveying position errors in the third assembly part and the nut during the actual transportation process, when the fourth robot transports the nut, it will re-acquire the assembly information of the third assembly part located at the fifth assembly position and the nut during the transportation process, so as to correct and guide the preset assembly action (final assembly position) of the fourth robot through the above assembly information, so as to ensure that the third assembly part and the nut have high assembly accuracy. At the same time, by obtaining the tightening torque value of the nut and making corresponding judgments, the assembly stability of the nut can be improved, and the assembly quality of the air conditioner can be further improved.

[0092] Specifically, after the nut is assembled to the stud of the chassis of the third part to be assembled (i.e., the compressor is fastened to the chassis) to obtain the fourth part to be assembled, the image acquisition device at the nut assembly device 15 will obtain the assembly information of the fourth part to be assembled, and based on the assembly information of the fourth part to be assembled, it is determined whether the fourth part to be assembled is qualified (whether the nut has problems such as missing assembly and disengagement). If the fourth part to be assembled is unqualified, the fourth robot will transport the fourth part to be assembled to the repair conveying equipment for recycling and reuse. If the fourth part to be assembled is qualified, the assembly process continues.

[0093] Specifically, after the third workpiece to be processed and the compressor are assembled, the conveying equipment conveys the fourth workpiece to be processed to the sixth assembly station (the condenser assembly equipment 15).

[0094] Specifically, the condenser is fed by means of an overhead roller conveyor line.

[0095] In this embodiment, the plurality of intermediate assemblies further include a condenser,

[0096] In the process of transporting the condenser, obtaining assembly information of the fourth to-be-assembled component and assembly information of the condenser;

[0097] Correcting an assembly action of the fifth robot based on assembly information of the fourth to-be-assembled component and assembly information of the condenser;

[0098] The fifth robot assembles the condenser to the second preset position of the fourth component to be assembled to obtain an air conditioner.

[0099] In this way, considering that in the actual transportation process, there are certain transportation position errors in the fourth part to be assembled and the condenser, when the fifth robot transports the condenser, it will re-acquire the assembly information of the fourth part to be processed at the sixth assembly position and the compressor during the transportation process, so as to correct and guide the preset assembly action (final assembly position) of the fifth robot through the above assembly information, so as to ensure a higher assembly accuracy between the fourth part to be assembled and the compressor.

[0100] In this embodiment, the second preset position is the second preset position of the chassis.

[0101] In this embodiment, the air conditioner assembly process further includes:

[0102] Before at least one intermediate assembly is transferred, assembly information of the intermediate assembly is obtained, and based on the assembly information of the intermediate assembly, an intermediate assembly with qualified processing quality is selected for transfer;

[0103] After the intermediate assembly parts and the parts to be assembled are assembled at least once, the assembly information of the parts to be assembled after the assembly is completed is obtained, and based on the assembly information of the parts to be assembled after the assembly is completed, it is determined whether the parts to be assembled after the assembly is qualified. If the parts to be assembled after the assembly is unqualified, the parts to be assembled after the assembly is transferred to the repair conveying equipment; if the parts to be assembled after the assembly are qualified, the assembly process is continued.

[0104] Specifically, as described above, the foot pads and compressors in this embodiment are subjected to processing quality judgment before transportation, so as to select foot pads and compressors with qualified processing quality for transportation, ensuring that the foot pads and compressors used for assembly are qualified products, thereby improving the assembly quality of the air conditioner.

[0105] Specifically, as described above, after assembling the second, third and fourth accessories to be assembled, this embodiment will obtain assembly information of the second, third and fourth accessories to be assembled to determine whether the second, third and fourth accessories to be assembled are qualified, thereby ensuring that the second, third and fourth accessories to be assembled used for assembly are all qualified products, thereby improving the assembly quality of the air conditioner.

[0106] Specifically, the air conditioner assembly process in this embodiment realizes a fully closed-loop production mode of automatic feeding, automatic online loading, automatic assembly and automatic detection of assembly quality of the base, chassis, foot pads, compressor, nuts and condenser. No manual intervention is required during the assembly process and it has a fool-proof function. It greatly optimizes the production mode of the first six workstations of the air conditioner outdoor unit in the prior art, reduces labor costs, and improves the assembly quality and production efficiency of the air conditioner.

[0107] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0108] The air conditioner assembly process is used to realize the automated assembly between the reference assembly part and multiple intermediate assembly parts of the air conditioner, which includes: transferring the reference assembly part to the conveying equipment. Obtaining the assembly information of the reference assembly part, and adjusting the posture and / or position of the reference assembly part based on the assembly information of the reference assembly part. Transferring the intermediate assembly part to the conveying equipment, during the transfer of the intermediate assembly part, obtaining the assembly information of the intermediate assembly part and the assembly information of the part to be assembled on the conveying equipment, and assembling the intermediate assembly part and the part to be assembled based on the assembly information of the intermediate assembly part and the assembly information of the part to be assembled. Repeating the assembly process of the intermediate assembly part to assemble multiple intermediate assemblies on the part to be assembled in sequence. Among them, the assembly information includes spatial position information and structural feature information. In this way, the corresponding equipment of the air conditioner assembly process in the present application can first transfer the reference assembly part to the conveying equipment, and preliminarily adjust its posture and position according to the spatial position information and structural feature information of the reference assembly part to ensure that the reference assembly part has a high assembly accuracy, and then re-acquire the spatial position information and structural feature information of the intermediate assembly part and the part to be assembled (which may be the reference assembly part or it may be a semi-finished part after the reference assembly part and the intermediate assembly part are assembled), and assemble the intermediate assembly part on the part to be assembled, so as to repeatedly assemble multiple intermediate assemblies in sequence, realize a fully closed-loop and fully automated production mode of the air conditioner, and thus solve the problem of low degree of automation of the assembly process of the air conditioner outdoor unit in the prior art, reduce the labor intensity of the staff, and improve the assembly efficiency and assembly quality of the air conditioner.

[0109] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0110] 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.

[0111] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. 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.

Claims

1. An air conditioner assembly process for realizing automatic assembly between a base assembly part and a plurality of intermediate assembly parts of an air conditioner, characterized in that: The air conditioner assembly process comprises: transferring the reference assembly to a conveying device; Acquiring assembly information of the reference assembly, and adjusting the posture and / or position of the reference assembly based on the assembly information of the reference assembly; Transferring the intermediate assembly to the conveying device, obtaining assembly information of the intermediate assembly and assembly information of the parts to be assembled on the conveying device during the transfer of the intermediate assembly, and assembling the intermediate assembly and the parts to be assembled based on the assembly information of the intermediate assembly and the assembly information of the parts to be assembled; Repeat the assembly process of the intermediate assembly parts to assemble the plurality of intermediate assembly parts on the to-be-assembled parts in sequence; wherein the assembly information includes spatial position information and structural feature information.

2. The air conditioner assembly process according to claim 1, characterized in that: The reference assembly is a base, and the method for transferring the base to the conveying device includes: The base is transferred to the first turning device located on the conveying equipment by negative pressure adsorption; The first flipping device flips the base and places the flipped base on the conveying surface of the conveying equipment.

3. The air conditioner assembly process according to claim 1, characterized in that: The reference assembly part is a bottom bracket. Before adjusting the posture and / or position of the base, judging whether the base is qualified based on the assembly information of the base; Among them, if the base tray is qualified, the posture and / or position of the base tray is adjusted based on the assembly information of the base tray; if the base tray is unqualified, the base tray is transferred to the rework conveying equipment, and the transfer and qualification judgment process of the base tray is repeated until the base tray is qualified.

4. The air conditioner assembly process according to claim 3, characterized in that: After the base is qualified, the method for adjusting the posture and / or position of the base includes: Based on the assembly information of the base bracket, determining the placement posture of the base bracket; If the bottom surface of the base is facing upward, the second flipping device flips the base and places the flipped base on the conveying device so that the bottom surface of the base is arranged opposite to the conveying surface of the conveying device; If the bottom surface of the base is arranged opposite to the conveying surface, the adjustment process of the posture and / or position of the base is completed.

5. The air conditioner assembly process according to any one of claims 2 to 4, characterized in that: The intermediate assembly also includes a chassis, and the assembly method between the chassis and the base includes: During the transportation of the chassis, obtaining assembly information of the chassis and assembly information of the base; Correcting an assembly action of the first robot based on the assembly information of the chassis and the assembly information of the base; The first robot assembles the chassis at a first preset position of the base to obtain a first component to be assembled.

6. The air conditioner assembly process according to claim 5, characterized in that: The plurality of intermediate assembly parts further include a shock absorbing part, and the assembly method of the first to-be-assembled part and the shock absorbing part includes: During the transportation of the shock absorbing component, obtaining assembly information of the first component to be assembled and assembly information of the shock absorbing component; Correcting an assembly action of the second robot based on the assembly information of the first to-be-assembled component and the assembly information of the shock-absorbing component; The second robot assembles the shock absorbing component to the stud of the chassis of the first component to be assembled to obtain a second component to be assembled.

7. The air conditioner assembly process according to claim 6, characterized in that: The plurality of intermediate assembly parts further include a compressor, and the assembly method between the compressor and the second assembly part includes: During the transportation of the compressor, obtaining assembly information of the second to-be-assembled component and assembly information of the compressor; Based on the assembly information of the second to-be-assembled component and the assembly information of the compressor, correcting the assembly action of the third robot; The third robot assembles the compressor to the stud of the second component to be assembled to obtain a third component to be assembled.

8. The air conditioner assembly process according to claim 7, characterized in that: The plurality of intermediate assemblies further include nuts. Before transporting the nuts, the fourth robot detects the processing quality of the nuts through a magnetic sleeve to select nuts with qualified processing quality for transport; The assembly method between the nut and the third to-be-assembled part comprises: In the process of transporting the nut, obtaining assembly information of the third to-be-assembled component and assembly information of the nut; Based on the assembly information of the third to-be-assembled component and the assembly information of the compressor, correcting the assembly action of the fourth robot; The fourth robot assembles the nut to the stud of the third part to be assembled to obtain a fourth part to be assembled; During the assembly process of the fourth robot, the tightening torque value of the nut is obtained. If the tightening torque value of the nut is less than a preset torque value, the fourth to-be-assembled component is transferred to a rework conveying device.

9. The air conditioner assembly process according to claim 8, characterized in that: A plurality of said intermediate assemblies further comprises a condenser, In the process of transporting the condenser, obtaining assembly information of the fourth to-be-assembled component and assembly information of the condenser; Based on the assembly information of the fourth to-be-assembled component and the assembly information of the condenser, correcting the assembly action of the fifth robot; The fifth robot assembles the condenser to the second preset position of the fourth component to be assembled to obtain the air conditioner.

10. The air conditioner assembly process according to claim 1, characterized in that: The method for acquiring the assembly information comprises: an image acquisition device takes a picture of the reference assembly part and / or the intermediate assembly part and / or the part to be assembled; The air conditioner assembly process also includes: before at least one of the intermediate assembly parts is transported, obtaining assembly information of the intermediate assembly parts, and selecting intermediate assembly parts with qualified processing quality for transportation based on the assembly information of the intermediate assembly parts; after the intermediate assembly parts are assembled with the parts to be assembled at least once, obtaining assembly information of the parts to be assembled after the assembly is completed, and judging whether the parts to be assembled after the assembly are qualified based on the assembly information of the parts to be assembled after the assembly is completed; if the parts to be assembled after the assembly are unqualified, transporting the parts to be assembled after the assembly is completed to a rework conveying device; if the parts to be assembled after the assembly are qualified, continuing the assembly process.

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