Air conditioner assembly process

Abstract

This invention provides an air conditioner assembly process. The air conditioner assembly process includes: transferring a 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; transferring intermediate assemblies to the conveying device, acquiring assembly information of the intermediate assemblies and assembly information of the assemblies to be assembled on the conveying device during the transfer of the intermediate assemblies, and assembling the intermediate assemblies and the assemblies to be assembled based on the assembly information of the intermediate assemblies and the assemblies to be assembled; repeating the assembly process of the intermediate assemblies to sequentially assemble multiple intermediate assemblies onto the assemblies to be assembled; wherein the assembly information includes spatial position information and structural feature information. This invention effectively solves the problem of low automation in the assembly process of air conditioner outdoor units in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air conditioner processing, in particular to an air conditioner assembly process. BACKGROUND

[0002] At present, under the background of the rapid development of automation and intelligence, the production mode of the air conditioner production line also needs to be changed. The preliminary assembly process of the air conditioner outdoor unit production line in the prior art mainly includes the assembly between the bottom support, the bottom plate, the foot pad, the compressor, the compressor nut and the condenser. The above assembly process still adopts a manual or semi-automatic (still needs manual operation) production mode, and there are problems such as intensive personnel operation, high labor intensity of employees, uncontrollable quality, and unsatisfactory assembly efficiency. SUMMARY

[0003] The main purpose of the present application is to provide an air conditioner assembly process to solve the problem of low automation degree 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 application provides an air conditioner assembly process for realizing the automatic assembly between a reference assembly part and a plurality of intermediate assembly parts of an air conditioner. 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, obtaining assembly information of the intermediate assembly part and assembly information of a to-be-assembled part located on the conveying device in the transfer process of the intermediate assembly part, and assembling the intermediate assembly part and the to-be-assembled part based on the assembly information of the intermediate assembly part and the assembly information of the to-be-assembled part; repeating the assembly process of the intermediate assembly part to sequentially assemble a plurality of intermediate assembly parts on the to-be-assembled part; wherein the assembly information comprises spatial position information and structural feature information.

[0005] Further, the reference assembly part is a bottom support, and the method for transferring the bottom support to the conveying device comprises: transferring the bottom support to a first turnover device located on the conveying device by a negative pressure adsorption method; the first turnover device turns over the bottom support and places the turned-over bottom support on the conveying surface of the conveying device.

[0006] Further, the reference assembly part is a bottom support, and before adjusting the posture and / or position of the bottom support, it is judged whether the bottom support is qualified based on the assembly information of the bottom support; wherein if the bottom support is qualified, the posture and / or position of the bottom support is adjusted based on the assembly information of the bottom support; if the bottom support is not qualified, the bottom support is transferred to a repair conveying device, and the transfer and qualification judgment process of the bottom support is repeated until the bottom support is qualified.

[0007] Further, the method for adjusting the posture and / or position of the bottom support after the bottom support is qualified includes: judging the placement posture of the bottom support based on the assembly information of the bottom support; if the bottom surface of the bottom support faces upward, the second overturning device overturns the bottom support and places the overturned bottom support on the conveying device, so that the bottom surface of the bottom support is arranged opposite to the conveying surface of the conveying device; if the bottom surface of the bottom support is arranged opposite to the conveying surface, the adjusting process of the posture and / or position of the bottom support is ended.

[0008] Further, the intermediate assembly further includes a bottom plate, and the assembly method between the bottom plate and the bottom support includes: obtaining the assembly information of the bottom plate and the assembly information of the bottom support during the transfer of the bottom plate; correcting the assembly action of the first robot based on the assembly information of the bottom plate and the assembly information of the bottom support; and assembling the bottom plate at the first preset position of the bottom support by the first robot to obtain a first assembly-to-be-assembled part.

[0009] Further, the plurality of intermediate assemblies further include a damping part, and the assembly method between the first assembly-to-be-assembled part and the damping part includes: obtaining the assembly information of the first assembly-to-be-assembled part and the assembly information of the damping part during the transfer of the damping part; correcting the assembly action of the second robot based on the assembly information of the first assembly-to-be-assembled part and the assembly information of the damping part; and assembling the damping part to the stud of the bottom plate of the first assembly-to-be-assembled part by the second robot to obtain a second assembly-to-be-assembled part.

[0010] Further, the plurality of intermediate assemblies further include a compressor, and the assembly method between the compressor and the second assembly-to-be-assembled part includes: obtaining the assembly information of the second assembly-to-be-assembled part and the assembly information of the compressor during the transfer of the compressor; correcting the assembly action of the third robot based on the assembly information of the second assembly-to-be-assembled part and the assembly information of the compressor; and assembling the compressor to the stud of the second assembly-to-be-assembled part by the third robot to obtain a third assembly-to-be-assembled part.

[0011] Further, the plurality of intermediate assemblies further include a nut, and before the transfer of the nut, the fourth robot detects the machining quality of the nut through a magnetic sleeve to select the nut with qualified machining quality for transfer; the assembly method between the nut and the third assembly-to-be-assembled part includes: obtaining the assembly information of the third assembly-to-be-assembled part and the assembly information of the nut during the transfer of the nut; correcting the assembly action of the fourth robot based on the assembly information of the third assembly-to-be-assembled part and the assembly information of the compressor; and assembling the nut to the stud of the third assembly-to-be-assembled part by the fourth robot to obtain a fourth assembly-to-be-assembled part; 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 a preset torque value, the fourth assembly-to-be-assembled part is transferred to a repair conveying device.

[0012] Further, the plurality of intermediate assemblies further comprises a condenser, during the transferring of the condenser, the assembly information of the fourth to-be-assembled component and the assembly information of the condenser are acquired; based on the assembly information of the fourth to-be-assembled component 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 to-be-assembled component to obtain the air conditioner.

[0013] Further, the method for acquiring the assembly information comprises: an image acquisition device taking pictures of the reference assembly, the intermediate assembly and / or the to-be-assembled component; the air conditioner assembly process further comprises: before the at least one intermediate assembly is transferred, the assembly information of the intermediate assembly is acquired, and based on the assembly information of the intermediate assembly, the intermediate assembly with qualified processing quality is selected for transfer; after the assembly of the at least one intermediate assembly and the to-be-assembled component, the assembly information of the to-be-assembled component after assembly is acquired, and based on the assembly information of the to-be-assembled component after assembly, it is judged whether the to-be-assembled component after assembly is qualified, if the to-be-assembled component after assembly is not qualified, the to-be-assembled component after assembly is transferred to the repair conveying device; if the to-be-assembled component after assembly is qualified, the assembly process is continued.

[0014] By applying the technical solution of the present application, the air conditioner assembly process is used to realize the automatic assembly between the reference assembly and the plurality of intermediate assemblies of the air conditioner, which comprises: transferring the reference assembly to the conveying device. The assembly information of the reference assembly is acquired, and the posture and / or position of the reference assembly are adjusted based on the assembly information of the reference assembly. The intermediate assembly is transferred to the conveying device, and during the transferring of the intermediate assembly, the assembly information of the intermediate assembly and the assembly information of the to-be-assembled component located on the conveying device are acquired, and the intermediate assembly and the to-be-assembled component are assembled based on the assembly information of the intermediate assembly and the assembly information of the to-be-assembled component. The assembly process of the intermediate assembly is repeated to sequentially assemble the plurality of intermediate assemblies on the to-be-assembled component. The assembly information comprises spatial position information and structural feature information. In this way, by applying the corresponding device of the air conditioner assembly process in the present application, the reference assembly can be transferred to the conveying device first, and the posture and position thereof are preliminarily adjusted according to the spatial position information and the structural feature information of the reference assembly, so as to ensure that the reference assembly has high assembly accuracy. Then, the spatial position information and the structural feature information of the intermediate assembly and the to-be-assembled component (which can be the reference assembly or the semi-finished product after the assembly of the reference assembly and the intermediate assembly) are re-acquired, and the intermediate assembly is assembled on the to-be-assembled component, so as to repeatedly assemble the plurality of intermediate assemblies sequentially, realize the full closed loop and fully automatic production mode of the air conditioner, and further solve the problem of low automation degree of the assembly process of the air conditioner outdoor unit in the prior art, reduce the labor intensity of the workers, and improve the assembly efficiency and assembly quality of the air conditioner. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated into and constitute a part of this specification. The embodiments of the application, and their

[0016] Figure 1 A flowchart of an embodiment of an air conditioner assembly process according to the application is shown;

[0017] Figure 2 A detailed flowchart of a first part of a flowchart of an air conditioner assembly process in Figure 1

[0018] Figure 3 A detailed flowchart of a second part of a flowchart of an air conditioner assembly process in Figure 1

[0019] A top view of an assembly system applicable to an air conditioner assembly process according to the application is shown. Figure 4 Figure 1

[0020] Wherein, the above-mentioned drawings include the following reference signs:

[0021] 10, air conditioner assembly system; 11, bottom support assembly device; 12, chassis assembly device; 13, damping member assembly device; 14, compressor assembly device; 15, nut assembly device; 16, condenser assembly device. DETAILED DESCRIPTION

[0022] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application 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 the technical and scientific terms used in the present application have the same meaning as that generally understood by the ordinary skilled in the art to which the present application belongs.

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

[0025] As shown in Figures 1 to 4 The air conditioner assembly process is used to realize the automatic assembly between the reference assembly part and the plurality of intermediate assembly parts of the air conditioner, and the air conditioner assembly process comprises:

[0026] transporting the reference assembly part to the conveying device;

[0027] ​​​acquire assembly information of the reference assembly part, and adjust the posture and / or position of the reference assembly part based on the assembly information of the reference assembly part;

[0028] transport the intermediate assembly part to the conveying device, acquire assembly information of the intermediate assembly part and assembly information of the to-be-assembled part located on the conveying device in the process of transporting the intermediate assembly part, and assemble the intermediate assembly part and the to-be-assembled part based on the assembly information of the intermediate assembly part and the assembly information of the to-be-assembled part;

[0029] repeat the assembly process of the intermediate assembly part to sequentially assemble multiple intermediate assembly parts on the to-be-assembled part. The assembly information includes spatial position information and structural feature information.

[0030] The air conditioner assembly process of the embodiment is used to realize automatic assembly between the reference assembly part and the multiple intermediate assembly parts of the air conditioner, which includes: transporting the reference assembly part to the conveying device. The assembly information of the reference assembly part is acquired, and the posture and / or position of the reference assembly part are adjusted based on the assembly information of the reference assembly part. The intermediate assembly part is transported to the conveying device, the assembly information of the intermediate assembly part and the assembly information of the to-be-assembled part located on the conveying device are acquired in the process of transporting the intermediate assembly part, and the intermediate assembly part and the to-be-assembled part are assembled based on the assembly information of the intermediate assembly part and the assembly information of the to-be-assembled part. The assembly process of the intermediate assembly part is repeated to sequentially assemble multiple intermediate assembly parts on the to-be-assembled part. The assembly information includes spatial position information and structural feature information. In this way, the corresponding device applying the air conditioner assembly process of the embodiment can first transport the reference assembly part to the conveying device, and preliminarily adjust the posture and position of the reference assembly part according to the spatial position information and the structural feature information of the reference assembly part, to ensure that the reference assembly part has high assembly accuracy. Then, the spatial position information and the structural feature information of the intermediate assembly part and the to-be-assembled part (which can be the reference assembly part or the semi-finished product after the assembly of the reference assembly part and the intermediate assembly part) are re-acquired, and the intermediate assembly part is assembled on the to-be-assembled part, so as to repeatedly assemble multiple intermediate assembly parts in sequence, realize a full-closed-loop and fully-automated production mode of the air conditioner, and thus solve the problem of low automation degree of the assembly process of the air conditioner outdoor unit in the prior art, reduce the labor intensity of workers, and improve the assembly efficiency and assembly quality of the air conditioner.

[0031] Specifically, the structural feature information is the overall structural feature (such as shape, size, etc.) and the local structural feature (such as the protrusion and recess of the surface, etc.) of the assembly part (the reference assembly part, the intermediate assembly part, and the to-be-assembled part located on the conveying device), and the spatial position information is the edge point coordinates of the overall structure and the edge point coordinates of the local structural feature analyzed and processed by the processing module.

[0032] In the embodiment, the method for acquiring assembly information comprises: an image acquisition device photographs the reference assembly part and / or the intermediate assembly part and / or the to-be-assembled part.

[0033] Optionally, the image acquisition device can be an industrial camera. After the industrial camera photographs the assembly part, the processing module can model, analyze and extract the structural feature information and the spatial position information of the assembly part according to the photograph acquired by photographing, and the specific principle is not described herein.

[0034] As shown in Figure 4 An air conditioner assembly system 10 that can adopt the air conditioner assembly process in the embodiment to automatically assemble an air conditioner outdoor unit is provided. It should be noted that the overall structure and layout of the air conditioner assembly system 10 are not limited thereto, and the corresponding devices for implementing various assembly actions can adaptively adjust the structure.

[0035] Specifically, the conveying device is a belt conveying device or a roller conveying device, and the bottom support assembly device 11, the chassis assembly device 12, the damping part assembly device 13, the compressor assembly device 14, the nut assembly device 15 and the condenser assembly device 16 are arranged in sequence along the conveying direction of the conveying device.

[0036] In the embodiment, the reference assembly part is a bottom support, and the method for transferring the bottom support to the conveying device comprises: transferring the bottom support to the first turnover device on the conveying device by a negative pressure adsorption method; the first turnover device turns over the bottom support and places the turned-over bottom support on the conveying surface of the conveying device. In this way, the bottom support is transferred by the negative pressure adsorption method, which can adapt to bottom supports of different specifications and sizes, thereby improving the universality of the air conditioner assembly process, and the first turnover device is used to turn over the bottom support and place it on the line, which can preliminarily adjust the placement posture of the bottom support during the placement process, so as to facilitate the subsequent assembly process.

[0037] Specifically, in order to facilitate stacking and subsequent negative pressure adsorption, the bottom support is usually placed in an inverted and stacked manner during actual storage, that is, the bottom support located below can extend into the recess of the bottom support located above, so as to ensure high stacking stability between the plurality of bottom supports, and enable the subsequent adsorption structure to directly adsorb the relatively flat bottom surface of the bottom support, thereby improving the transfer stability of the bottom support.

[0038] Specifically, the bottom support assembly device 11 is provided with a transfer robot, and a suction disc clamp for negative pressure adsorption is arranged on the mechanical arm of the transfer robot.

[0039] Optionally, the first overturning device integrally comprises a base support structure and a base clamp arranged on the base support structure and located above the conveying device; after the transfer robot places the base on the first overturning device, the base clamp clamps the base and drives it to overturn by 180° and then releases the base, and the base falls to the conveying device under the action of gravity to complete the feeding of the base.

[0040] Optionally, the transfer robot adsorbs the base from the base tooling vehicle, i.e., the base is fed in the form of a tooling vehicle, and the tooling vehicle is in the form of one spare one, i.e., two tooling vehicles are arranged; when the base on one tooling vehicle is adsorbed, the tooling vehicle automatically exits the base feeding position and moves to the replenishment position to replenish the base, and the other tooling vehicle automatically moves to the base feeding position to feed the base, so as to realize non-stop feeding of the base part.

[0041] Specifically, the tooling vehicle can be an AGV trolley to realize automatic operation of the tooling vehicle.

[0042] Specifically, after the feeding of the base is completed, the conveying device conveys the base to the first assembly station, and the first assembly station is arranged with a base pan assembly device 12.

[0043] In this embodiment, the reference assembly part is the base, and before the attitude and / or position of the base are adjusted, whether the base is qualified is determined based on the assembly information of the base. If the base is qualified, the attitude and / or position of the base are adjusted based on the assembly information of the base. If the base is not qualified, the base is transferred to the repair conveying device, and the transfer and qualification determination process of the base are repeated until the base is qualified. In this way, the above-mentioned arrangement actually detects the specifications and processing quality of the base before the base is assembled 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 determining whether the base is qualified include the specifications of the base (i.e., whether the base has a mixing phenomenon, and whether the base tooling vehicle is mixed with other bases of non-assembly specifications) and the processing quality of the base, i.e., whether the base has a processing defect is determined by the image acquisition device; if the base is not qualified, the control module will record and control the transfer robot to transfer a new base, and the current base will be transferred to the repair conveying device by the rejection mechanism at the base pan assembly device 12 for recycling and reuse.

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

[0046] determining the placement attitude of the base based on the assembly information of the base;

[0047] If the bottom surface of the bottom support faces upward, the second overturning device overturns the bottom support and places the overturned bottom support on the conveying device, so that the bottom surface of the bottom support is arranged opposite to the conveying surface of the conveying device.

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

[0049] In this way, considering that the bottom support on the bottom support tool vehicle may be in a normal posture or the overturning and loading action fails in the actual loading process, after judging that the bottom support is qualified, the posture of the bottom support needs to be further confirmed to further ensure that the bottom support for subsequent assembly is in an assembly posture, and ensure that the air conditioner assembly system applying the air conditioner assembly process in the embodiment can stably and efficiently operate.

[0050] Specifically, after the bottom support reaches the first assembly station, the blocking structure arranged on the conveying device is raised to block the bottom support, the jacking and rotating clamping mechanism of the second overturning device clamps and jacks up the bottom support, the image acquisition device photographs the bottom support and identifies the normal and reverse of the bottom support, if the bottom support is in a normal posture, the jacking and rotating clamping mechanism and the blocking mechanism are lowered and released at the same time, the bottom support is released and conveyed to the second assembly station by the conveying device. If the bottom support is in a reverse posture, the jacking and rotating clamping mechanism rotates the bottom support by 180°, and then the jacking and rotating clamping mechanism and the blocking mechanism are lowered and released at the same time, the bottom support is released and conveyed to the second assembly station by the conveying device.

[0051] In the embodiment, the intermediate assembly part further includes a bottom plate, and the assembly method between the bottom plate and the bottom support includes:

[0052] In the transfer process of the bottom plate, the assembly information of the bottom plate and the assembly information of the bottom support are acquired;

[0053] The assembly action of the first robot is corrected based on the assembly information of the bottom plate and the assembly information of the bottom support;

[0054] The first robot assembles the bottom plate at the first preset position of the bottom support to obtain a first to-be-assembled part.

[0055] In this way, considering that there is a certain conveying position error of the bottom support and the bottom plate in the actual transfer process, when the first robot transfers the bottom plate, the assembly information of the bottom support at the second assembly position and the bottom plate in the transfer process 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 that the bottom support and the bottom plate have high assembly accuracy.

[0056] Optionally, when the assembly information of the bottom plate in the transfer process is acquired, the first robot can pause the transfer action, and continue the action after the acquisition is completed.

[0057] Specifically, the first robot is part of the chassis assembly device 12, which adopts a two-stage pneumatic clamp to be compatible with different specifications of chassis. Two sets of image acquisition devices are arranged in the chassis assembly device 12, one set is used to detect the front and back posture of the incoming chassis, and the other set is used to acquire the assembly information of the chassis in the second assembly position and during the transfer process.

[0058] Optionally, the first robot clamps the chassis from the chassis tooling trolley, that is, the chassis is supplied in the form of a tooling trolley, and the tooling trolley adopts a one-backup-one-use form, that is, two tooling trolleys are arranged, when the chassis on one tooling trolley is clamped, the tooling trolley automatically exits the chassis supply position and moves to the replenishment position to replenish the chassis, and the other tooling trolley automatically moves to the chassis supply position to realize non-stop feeding of the chassis part.

[0059] Specifically, after the chassis and the bottom support are assembled, the conveying device conveys the first workpiece to be processed to the third assembly station (the shock absorbing part assembly device 13).

[0060] In this embodiment, the shock absorbing part is a foot pad, which is arranged between the compressor and the chassis to absorb and buffer the compressor.

[0061] In this embodiment, the foot pad is supplied by a stock bin, that is, the foot pad in the stock bin is conveyed to the shock absorbing part supply position by a screening belt.

[0062] Specifically, before the foot pad is transferred, the image acquisition device at the shock absorbing part assembly device 13 acquires the assembly information of the foot pad on the screening belt, and selects the foot pad with qualified processing quality based on the assembly information of the foot pad on the screening belt. The foot pad with unqualified processing quality is recycled and reused by the repair conveying device, and the specific principle is not described 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 comprises:

[0064] During the transfer of the shock absorbing part, the assembly information of the first assembly part and the assembly information of the shock absorbing part are acquired;

[0065] The assembly action of the second robot is corrected based on the assembly information of the first assembly part and the assembly information of the shock absorbing part;

[0066] The second robot assembles the shock absorbing part to the stud of the chassis of the first assembly part to obtain a second assembly part.

[0067] Therefore, considering that there are certain conveying position errors of the first workpiece and the foot pad in the actual transfer process, the assembly information of the first workpiece and the foot pad in the third assembly position and in the transfer process is reacquired to correct and guide the preset assembly action (the final assembly position) of the second robot through the assembly information, so as to ensure that the first workpiece and the foot pad have high assembly accuracy.

[0068] Specifically, the second robot is a horizontal multi-joint robot, which has three mechanical arms, and each mechanical arm is provided with a foot pad clamp. The second robot first grasps the foot pad with qualified processing quality and places it on the conveying device. The conveying device conveys the foot pad and the first workpiece to the third assembly station. Then, the three-axis module of the second robot drives the three automatically adjustable foot pad clamps to synchronously clamp three foot pads. Then, according to the assembly information of the first workpiece in the third assembly position and the foot pad in the transfer process, the foot pad is sleeved on the stud position of the chassis.

[0069] Specifically, after the foot pad is assembled to the stud of the chassis of the first workpiece to obtain the second workpiece, the image acquisition device of the damping part assembly device 13 acquires the assembly information of the second workpiece, and judges whether the second workpiece is qualified (whether the foot pad is assembled in place, such as whether the foot pad is offset, missing, etc.) based on the assembly information of the second workpiece. If the second workpiece is not qualified, the second robot will transfer the second workpiece to the repair conveying device for recycling. If the second workpiece is qualified, the assembly process continues.

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

[0071] Optionally, the compressor is supplied in the form of a tooling vehicle, and the tooling vehicle adopts a one-backup-one-use form, that is, two tooling vehicles are provided. When the compressor clamping on one tooling vehicle is completed, the tooling vehicle automatically exits the compressor supply position and moves to the replenishment position to replenish the compressor. The other tooling vehicle automatically moves to the compressor supply position to supply the compressor, so as to realize non-stop supply of the compressor part.

[0072] Specifically, before the compressor is transferred, the image acquisition device at the compressor assembly device 14 acquires the assembly information of the compressor on the tooling vehicle, and selects a compressor with qualified processing quality based on the assembly information of the compressor on the tooling vehicle. The compressor with unqualified processing quality is skipped. The compressor with unqualified processing quality is transported to the repair conveying device by the tooling vehicle for recycling and reuse. The specific principle is not described here.

[0073] Specifically, the number of compressors on the tooling trolley is fixed, and in the process of selecting a compressor with qualified processing quality based on the assembly information of the compressor on the tooling trolley, the position of the compressor with qualified processing quality is recorded to facilitate subsequent clamping. After the compressor with qualified processing quality is clamped, the control module controls the tooling trolley to move to the repair conveying device first to convey the compressor with unqualified quality, and then to the compressor replenishment position to replenish.

[0074] In the embodiment, the plurality of intermediate assemblies further include a compressor, and the assembly method between the compressor and the second assembly-to-be-assembled includes:

[0075] In the transfer process of the compressor, the assembly information of the second assembly-to-be-assembled and the assembly information of the compressor are acquired;

[0076] Based on the assembly information of the second assembly-to-be-assembled and the assembly information of the compressor, the assembly action of the third robot is corrected;

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

[0078] In this way, considering that there is a certain conveying position error of the second assembly-to-be-assembled and the compressor in the actual transfer process, when the third robot transfers the foot pad, the assembly information of the second assembly-to-be-assembled located at the fourth assembly position and the compressor in the transfer process is re-acquired to correct and guide the preset assembly action (final assembly position) of the third robot through the above assembly information, so as to ensure high assembly accuracy between the second assembly-to-be-assembled and the compressor.

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

[0080] Specifically, after the compressor is assembled to the stud of the bottom plate of the second assembly-to-be-assembled (the corresponding screw hole of the compressor is sleeved on the stud) to obtain the third assembly-to-be-assembled, the image acquisition device at the compressor assembly device 14 acquires the assembly information of the third assembly-to-be-assembled, and based on the assembly information of the third assembly-to-be-assembled, it is judged whether the third assembly-to-be-assembled is qualified (whether the compressor is assembled in place, whether the overall posture is inclined, whether the stud is pierced out of the corresponding screw hole, etc.). If the third assembly-to-be-assembled is not qualified, the third robot will transfer the third assembly-to-be-assembled to the repair conveying device for recycling. If the third assembly-to-be-assembled is qualified, the assembly process continues.

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

[0082] In the embodiment, the plurality of intermediate assembly parts further include nuts, and before the nuts are transported, the fourth robot detects the machining quality of the nuts by the magnetic sleeve to select nuts with qualified machining quality for transportation. In this way, the above arrangement can exclude nuts with unqualified machining quality (mainly unqualified shape, which cannot be adsorbed by the magnetic sleeve into the accommodating recess) to improve the assembly quality of the air conditioner.

[0083] Specifically, the nuts are supplied by the vibration disc.

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

[0085] Specifically, the magnetic sleeve is arranged on the mechanical arm of the fourth robot to rotate the magnetic sleeve and the nut on the magnetic sleeve by the mechanical arm, thereby realizing the assembly of the nut.

[0086] In the embodiment, the plurality of intermediate assembly parts further include nuts, and the assembly method between the nuts and the third assembly part to be assembled includes:

[0087] In the process of transporting the nuts, the assembly information of the third assembly part to be assembled and the assembly information of the nut are acquired;

[0088] Based on the assembly information of the third assembly part to be assembled and the assembly information of the compressor, the assembly action of the fourth robot is corrected;

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

[0090] In the assembly process of the fourth robot, the tightening torque value of the nut is acquired, and if the tightening torque value of the nut is less than a preset torque value, the fourth assembly part to be assembled is transported to the repair conveying device.

[0091] In this way, considering that in the actual transportation process, the third assembly part to be assembled and the nut both have certain conveying position errors, when the fourth robot transports the nut, the assembly information of the third assembly part to be assembled at the fifth assembly position and the nut in the transportation process is re-acquired to correct and guide the preset assembly action (final assembly position) of the fourth robot by the assembly information, so as to ensure high assembly accuracy between the third assembly part and the nut. At the same time, by acquiring the tightening torque value of the nut and making a corresponding judgment, the assembly stability of the nut can be improved, and the assembly quality of the air conditioner is further improved.

[0092] Specifically, after the nut is assembled to the stud of the bottom plate of the third to-be-assembled part (i.e., the compressor is fastened to the bottom plate) to obtain the fourth to-be-assembled part, the image acquisition device at the nut assembling device 15 acquires the assembly information of the fourth to-be-assembled part, and determines whether the fourth to-be-assembled part is qualified (whether the nut is missing, buckling, or the like) based on the assembly information of the fourth to-be-assembled part. If the fourth to-be-assembled part is not qualified, the fourth robot transfers the fourth to-be-assembled part to the repair conveying device for recycling. If the fourth to-be-assembled part is qualified, the assembly process continues.

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

[0094] Specifically, the condenser is fed in the manner of an air roller conveying line.

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

[0096] In the process of transferring the condenser, the assembly information of the fourth to-be-assembled part and the assembly information of the condenser are acquired.

[0097] Based on the assembly information of the fourth to-be-assembled part and the assembly information of the condenser, the assembly action of the fifth robot is corrected.

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

[0099] In this way, considering that there is a certain conveying position error of the fourth to-be-assembled part and the condenser in the actual transfer process, when the fifth robot transfers the condenser, the assembly information of the fourth to-be-processed part located at the sixth assembly position and the compressor in the transfer process is reacquired to correct and guide the preset assembly action (the final assembly position) of the fifth robot through the above assembly information, so as to ensure that the fourth to-be-assembled part and the compressor have high assembly accuracy.

[0100] In this embodiment, the second preset position is a second preset position of the bottom plate.

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

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

[0103] After the intermediate assembly part is assembled with the to-be-assembled part at least once, the assembly information of the to-be-assembled part after assembly is obtained, whether the to-be-assembled part after assembly is qualified is judged based on the assembly information of the to-be-assembled part after assembly, if the to-be-assembled part after assembly is unqualified, the to-be-assembled part after assembly is transferred to the repair conveying device, and if the to-be-assembled part after assembly is qualified, the assembly process is continued.

[0104] Specifically, as described above, the foot pad and the compressor in the embodiment are subjected to quality judgment before transfer, so that the foot pad and the compressor with qualified quality are selected for transfer, so as to ensure that the foot pad and the compressor for assembly are qualified products, thereby improving the assembly quality of the air conditioner.

[0105] Specifically, as described above, the embodiment obtains the assembly information of the second to-be-assembled part, the third to-be-assembled part and the fourth to-be-assembled part after the second to-be-assembled part, the third to-be-assembled part and the fourth to-be-assembled part are assembled, so as to judge whether the second to-be-assembled part, the third to-be-assembled part and the fourth to-be-assembled part are qualified, so as to ensure that the second to-be-assembled part, the third to-be-assembled part and the fourth to-be-assembled part for assembly are qualified products, thereby improving the assembly quality of the air conditioner.

[0106] Specifically, the air conditioner assembly process in the embodiment realizes a full-closed loop production mode of automatic feeding, automatic online, automatic assembly and automatic detection of assembly quality of the bottom support, the bottom plate, the foot pad, the compressor, the nut and the condenser, and no manual intervention is required in the assembly process and the anti-fool function is provided, so that the production mode of the existing six stations of the outdoor unit of the air conditioner is greatly optimized, the labor cost is reduced, and the assembly quality and the production efficiency of the air conditioner are improved.

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

[0108] The air conditioner assembly process is used for realizing automatic assembly between a reference assembly part and a plurality of intermediate assembly parts of an air conditioner, and comprises: transferring the reference assembly part to a conveying device. Assembly information of the reference assembly part is acquired, and a posture and / or position of the reference assembly part is adjusted based on the assembly information of the reference assembly part. An intermediate assembly part is transferred to the conveying device, and in the process of transferring the intermediate assembly part, assembly information of the intermediate assembly part and assembly information of a to-be-assembled part located on the conveying device are acquired, and the intermediate assembly part and the to-be-assembled part are assembled based on the assembly information of the intermediate assembly part and the assembly information of the to-be-assembled part. The assembly process of the intermediate assembly part is repeated to sequentially assemble the plurality of intermediate assembly parts on the to-be-assembled part. The assembly information comprises spatial position information and structural feature information. In this way, by using the corresponding device of the air conditioner assembly process in the present application, the reference assembly part can be transferred to the conveying device first, and the posture and position thereof are preliminarily adjusted according to the spatial position information and the structural feature information of the reference assembly part, so as to ensure that the reference assembly part has high assembly accuracy. Then, the spatial position information and the structural feature information of the intermediate assembly part and the to-be-assembled part (which can be the reference assembly part or a semi-finished product after the reference assembly part and the intermediate assembly part are assembled) are re-acquired, and the intermediate assembly part is assembled on the to-be-assembled part, so as to repeatedly assemble the plurality of intermediate assembly parts sequentially, realize a full-closed-loop and fully-automated production mode of the air conditioner, and thus solve the problem of low automation degree of the assembly process of the air conditioner outdoor unit in the prior art, reduce the labor intensity of workers, 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 application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0110] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that the terms "comprise" and / or "include" as used in the specification indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0111] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, 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 the preferred embodiment of the present application, and is not intended to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An air conditioner assembly process for realizing automatic assembly between a reference assembly part and a plurality of intermediate assembly parts of an air conditioner, characterized by, The air conditioner assembly process comprises: Transporting 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; Transporting the intermediate assembly part to the conveying device, and obtaining assembly information of the intermediate assembly part and assembly information of a to-be-assembled part located on the conveying device during the transportation of the intermediate assembly part, and assembling the intermediate assembly part and the to-be-assembled part based on the assembly information of the intermediate assembly part and the assembly information of the to-be-assembled part; Repeating the assembly process of the intermediate assembly part to sequentially assemble a plurality of intermediate assembly parts on the to-be-assembled part; wherein the assembly information comprises spatial position information and structural feature information; The reference assembly part is a bottom support, and before adjusting the posture and / or position of the bottom support, it is determined whether the bottom support is qualified based on the assembly information of the bottom support; if the bottom support is qualified, the posture and / or position of the bottom support is adjusted based on the assembly information of the bottom support; if the bottom support is not qualified, the bottom support is transported to a repair conveying device, and the transportation and qualification determination process of the bottom support is repeated until the bottom support is qualified; After the bottom support is qualified, the method for adjusting the posture and / or position of the bottom support comprises: determining the placement posture of the bottom support based on the assembly information of the bottom support; if the bottom surface of the bottom support faces upwards, a second turnover device turns over the bottom support, and places the turned-over bottom support on the conveying device, so that the bottom surface of the bottom support is arranged opposite to the conveying surface of the conveying device; if the bottom surface of the bottom support is arranged opposite to the conveying surface, the adjustment process of the posture and / or position of the bottom support is ended; The intermediate assembly part further comprises a bottom plate, and the assembly method between the bottom plate and the bottom support comprises: obtaining assembly information of the bottom plate and assembly information of the bottom support during the transportation of the bottom plate; correcting the assembly action of a first robot based on the assembly information of the bottom plate and the assembly information of the bottom support; and the first robot assembles the bottom plate at a first preset position of the bottom support to obtain a first to-be-assembled part; A plurality of intermediate assembly parts further comprise a shock-absorbing part, and the assembly method of the first to-be-assembled part and the shock-absorbing part comprises: obtaining assembly information of the first to-be-assembled part and assembly information of the shock-absorbing part during the transportation of the shock-absorbing part; correcting the assembly action of a second robot based on the assembly information of the first to-be-assembled part and the assembly information of the shock-absorbing part; and the second robot assembles the shock-absorbing part to a stud of the bottom plate of the first to-be-assembled part to obtain a second to-be-assembled part.

2. The air conditioner assembly process of claim 1, wherein, The reference assembly part is a bottom support, and the method for transporting the bottom support to the conveying device comprises: Transporting the bottom support to a first turnover device located on the conveying device by a negative pressure adsorption method; The first turnover device turns over the bottom support, and places the turned-over bottom support on the conveying surface of the conveying device.

3. The air conditioner assembly process of claim 1, wherein, The plurality of intermediate assembly parts further comprise a compressor, and an assembly method between the compressor and the second assembly part to be assembled comprises: During the transfer of the compressor, assembly information of the second assembly part to be assembled and assembly information of the compressor are acquired; Based on the assembly information of the second assembly part to be assembled and the assembly information of the compressor, an assembly action of a third robot is corrected; The third robot assembles the compressor to a stud of the second assembly part to be assembled to obtain a third assembly part to be assembled.

4. The air conditioner assembly process of claim 3, wherein, The plurality of intermediate assembly parts further comprise a nut, and before the transfer of the nut, a fourth robot detects a machining quality of the nut through a magnetic sleeve to select a nut with a qualified machining quality for transfer; An assembly method between the nut and the third assembly part to be assembled comprises: During the transfer of the nut, assembly information of the third assembly part to be assembled and assembly information of the nut are acquired; Based on the assembly information of the third assembly part to be assembled and the assembly information of the compressor, an assembly action of a fourth robot is corrected; The fourth robot assembles the nut to a stud of the third assembly part to be assembled to obtain a fourth assembly part to be assembled; During the assembly of the fourth robot, a fastening torque value of the nut is acquired, and if the fastening torque value of the nut is less than a preset torque value, the fourth assembly part to be assembled is transferred to a repair conveying device.

5. The air conditioner assembly process of claim 4, wherein, The plurality of intermediate assembly parts further comprise a condenser, During the transfer of the condenser, assembly information of the fourth assembly part to be assembled and assembly information of the condenser are acquired; Based on the assembly information of the fourth assembly part to be assembled and the assembly information of the condenser, an assembly action of a fifth robot is corrected; The fifth robot assembles the condenser to a second preset position of the fourth assembly part to be assembled to obtain the air conditioner.

6. The air conditioner assembly process according to claim 1, wherein The method for acquiring the assembly information comprises: an image acquisition device photographs the reference assembly part and / or the intermediate assembly part and / or the assembly part to be assembled; The air conditioner assembly process further comprises: before the transfer of at least one intermediate assembly part, assembly information of the intermediate assembly part is acquired, and based on the assembly information of the intermediate assembly part, an intermediate assembly part with a qualified machining quality is selected for transfer; after the assembly of at least one intermediate assembly part and the assembly part to be assembled, assembly information of the assembly part to be assembled after assembly is acquired, and based on the assembly information of the assembly part to be assembled after assembly, whether the assembly part to be assembled after assembly is qualified is determined, if the assembly part to be assembled after assembly is unqualified, the assembly part to be assembled after assembly is transferred to a repair conveying device; and if the assembly part to be assembled after assembly is qualified, the assembly process is continued.

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