Assembly line and assembly method for air conditioner

Abstract

The invention particularly relates to an assembly line for an air conditioner, and the assembly line comprises a fan blade conveying line which is used for conveying cross-flow fan blades; the air conditioner shell conveying line is used for conveying air conditioner shells, and the air conditioner shell conveying line and the fan blade conveying line are distributed in a T shape; the robot is arranged at the position close to the fan blade conveying line and the air conditioner shell conveying line and used for grabbing the cross-flow fan blade and assembling the cross-flow fan blade to the air conditioner shell, and the robot confirms whether the cross-flow fan blade is assembled in place or not according to the assembling torque current. According to the assembly line for the air conditioner, the purposes of automatic feeding, automatic grabbing and automatic assembly of the cross-flow fan blades can be achieved, and therefore the assembly efficiency and the assembly precision of the cross-flow fan blades are improved.

Description

Technical Field

[0001] The present application relates to the technical field of production line equipment, and in particular to an assembly line and an assembly method for air conditioners. Background Art

[0002] In the production process of the indoor unit of the air conditioner, there is an assembly process of the crossflow fan blades. The traditional assembly process of the crossflow fan blades relies on manual operation. The manual operation method has low efficiency and cannot adapt to the integrated mass production process, let alone the current development of unmanned factories. In addition, the manual operation method also has the problem of high labor costs. Summary of the invention

[0003] In view of this, the present application provides an assembly line for air conditioners to solve the technical problem that the cross-flow fan blades of air conditioners in the prior art are difficult to assemble.

[0004] In the first aspect, the present application provides an assembly line for air conditioners, the assembly line comprising: a fan blade conveyor line, the fan blade conveyor line is used to convey crossflow fan blades; an air conditioning shell conveyor line, the air conditioning shell conveyor line is used to convey the air conditioning shell, and the air conditioning shell conveyor line and the fan blade conveyor line are T-shaped; a robot, the robot is arranged at a position close to the fan blade conveyor line and the air conditioning shell conveyor line, and is used to grab the crossflow fan blades and assemble the crossflow fan blades to the air conditioning shell, and the robot confirms whether the crossflow fan blades are assembled in place based on the assembly torque current.

[0005] Beneficial effects: The assembly line for air conditioners proposed in the present application can achieve the purpose of automatic material feeding, automatic grasping and automatic assembly of crossflow fan blades, thereby improving the assembly efficiency and assembly accuracy of the crossflow fan blades.

[0006] Specifically, the assembly line for air conditioners proposed in this application can accurately identify the crossflow blades and the air conditioner casing, and assemble the crossflow blades to the exact position of the air conditioner casing, thereby solving the problem of damaging the bearings when the robot assembles the crossflow blades when the bearings of the air conditioner casing are not assembled in place.

[0007] In an optional embodiment, a first photoelectric detection sensor for detecting whether the crossflow blades are in place is provided at the end point of the fan conveyor line, and the robot grabs the crossflow blades according to a first detection signal of the crossflow blades detected by the first photoelectric detection sensor.

[0008] Beneficial effects: The fan blade conveyor line is used to convey the crossflow fan blades. The end point of the fan blade conveyor line is provided with a first photoelectric detection sensor for detecting whether the crossflow fan blades are in place. When the first photoelectric detection sensor does not detect the arrival signal of the crossflow fan blades and the robot gives the material picking completion signal of the previous process, the fan blade conveyor line operates to convey the crossflow fan blades; when the first photoelectric detection sensor detects the arrival signal of the crossflow fan blades, the fan blade conveyor line stops running and gives the robot a signal to allow material picking, thereby achieving the purpose of automatic material delivery and automatic material picking of the crossflow fan blades.

[0009] In an optional embodiment, a rubber plug pulling telescopic cylinder and a rubber plug pulling clamping cylinder are provided at the end of the fan blade conveying line. The rubber plug pulling telescopic cylinder is used to extend and retract to the position of the rubber plug of the crossflow fan blade, and the rubber plug pulling clamping cylinder is used to pull the rubber plug out of the crossflow fan blade.

[0010] Beneficial effect: A rubber plug pulling telescopic cylinder and a rubber plug pulling clamping cylinder are also provided at the end of the fan blade conveying line. The rubber plug pulling telescopic cylinder is used to stretch to the position of pulling out the rubber plug of the crossflow fan blade; the rubber plug pulling clamping cylinder is used to pull out the rubber plug from the crossflow fan blade. Through the cooperation of the rubber plug pulling telescopic cylinder and the rubber plug pulling clamping cylinder, the automatic assembly of the crossflow fan blade can be prepared in advance, and the robot can assemble the crossflow fan blade with the rubber plug pulled out to the air conditioner housing.

[0011] In an optional embodiment, the air-conditioning shell includes a front bottom shell and a rear bottom shell, and the air-conditioning shell conveyor line is provided with a second photoelectric detection sensor for detecting whether the front bottom shell and the rear bottom shell are in place, and the second photoelectric detection sensor is used to detect a second detection signal whether the front bottom shell and the rear bottom shell are in place.

[0012] Beneficial effect: The second photoelectric detection sensor includes a front photoelectric detection sensor and a rear photoelectric detection sensor. The air-conditioning shell conveyor line is used to convey the air-conditioning shell. The air-conditioning shell includes a front bottom shell and a rear bottom shell. The air-conditioning shell conveyor line is provided with a front photoelectric detection sensor and a rear photoelectric detection sensor for detecting whether the front bottom shell and the rear bottom shell of the air-conditioning shell are conveyed to the designated position of the air-conditioning shell conveyor line.

[0013] In an optional embodiment, the air-conditioning shell conveyor line is provided with a front pressing cylinder and a rear pressing cylinder, the front pressing cylinder is used to separate the front bottom shell from the rear bottom shell, and the rear pressing cylinder is used to fix the rear bottom shell.

[0014] Beneficial effects: The air-conditioning shell conveyor line is provided with a front pressing cylinder and a rear pressing cylinder: the front pressing cylinder is used to separate the front bottom shell from the rear bottom shell of the air-conditioning shell. When the current photoelectric detection sensor and the rear photoelectric detection sensor detect the signals of the front bottom shell and the rear bottom shell respectively, the front pressing cylinder will extend to press the front bottom shell, and the rear pressing cylinder will extend to fix the rear bottom shell, thereby ensuring the consistency of the assembly position of the robot.

[0015] In an optional embodiment, the robot is provided with a clamp and a clamp sensing cylinder, the clamp is used to grab the crossflow fan blades, and the clamp sensing cylinder is used to detect whether the robot drops materials during the assembly and material taking process.

[0016] Beneficial effects: The robot is used to grab and assemble the crossflow fan blades; the robot is equipped with a fixture induction cylinder to detect whether the robot has dropped materials or other abnormal phenomena during the assembly and material collection process. Through the cooperation of the fixture and the fixture induction cylinder, the purpose of automatically grabbing and assembling the crossflow fan blades can be achieved, the assembly efficiency of the crossflow fan blades is improved, and the phenomenon of the crossflow fan blades dropping during the process is reduced.

[0017] In a second aspect, the present application provides a control method for an air-conditioning assembly line, and the control method is implemented through the assembly line for air-conditioning of the first aspect of the present application, and the control method includes: obtaining a first detection signal at a fan blade conveyor line and a second detection signal at an air-conditioning shell conveyor line; based on the first detection signal and the second detection signal being normal, controlling a robot to grab the crossflow fan blade and assemble the crossflow fan blade to the air-conditioning shell; obtaining the assembly torque current of the robot, and confirming whether the crossflow fan blade is assembled in place based on the assembly torque current.

[0018] Beneficial effects: The assembly line and assembly method for air conditioners proposed in the present application use PLC and robots, and through the cooperation of the two, complete the automatic material input, automatic material removal, automatic assembly and torque translation of the crossflow fan blades.

[0019] Specifically, the assembly line for air conditioners proposed in this application uses a network cable to connect the PLC and the robot, and uses a new socket communication protocol to transmit the data of the two at high speed. The PLC is used as the master station, the robot is used as the slave station, and the IP of both is changed to the same frequency band. Among them, the transmission data between the robot and the PLC needs to be converted into digital data for data processing. In this way, the automatic material feeding, automatic material removal, automatic assembly and torque translation of the crossflow fan blades are completed.

[0020] In an optional embodiment, the assembly torque current of the robot is obtained, and confirming whether the crossflow fan blades are assembled in place based on the assembly torque current specifically includes: analyzing the waveform change of the assembly torque current, and determining that the crossflow fan blades are assembled in place based on the waveform change being consistent with a preset change value.

[0021] Beneficial effect: The robot's servo system is a three-loop control system, which is a current loop, a speed loop, and a position loop from the inside to the outside. Among them, the current loop controls the motor torque, so when the robot is assembling the crossflow fan blade, in order not to damage the beads in the bearing, it is necessary to detect the torque of the robot's servo motor at this moment, and the final detection value is still the parameter change of the current loop.

[0022] In an optional embodiment, after determining whether the drain joint is assembled in place according to the fifth detection signal, it also includes: analyzing the waveform change of the assembly torque current, and determining that the crossflow fan blade is not assembled in place or is misaligned based on the inconsistency between the waveform change and the preset change value.

[0023] Beneficial effect: When the actual value of the assembly torque current is less than the preset value of the assembly torque current, it means that the crossflow fan blades are not assembled in place. At this time, the robot will continue to assemble the crossflow fan blades until the crossflow fan blades are assembled in place. When the actual value of the assembly torque current is greater than the preset value of the assembly torque current, it means that the crossflow fan blades are misassembled. At this time, the robot stops assembling the crossflow fan blades, reducing the crossflow fan blade assembly misalignment and damaging the bearings or inserting the bearings.

[0024] In an optional implementation, after determining that the crossflow fan blades are not assembled in place, the method further includes: triggering an alarm message indicating that the crossflow fan blades are not assembled in place or are assembled in a wrong position, and controlling the robot to standby.

[0025] Beneficial effect: Prompts alarm information of incomplete assembly instead of direct shutdown, reduces the frequency of robot reset and start operation, and increases the production efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of the structure of an assembly line for an air conditioner from a first perspective according to an embodiment of the present application;

[0028] Figure 2 for Figure 1 A schematic diagram of the structure of the assembly line from a second perspective;

[0029] Figure 3 for Figure 1 A third perspective structural diagram of the assembly line shown;

[0030] Figure 4 A flow chart of a control method for an air conditioning assembly line according to an embodiment of the present application;

[0031] Figure 5 This is a flow chart of a control method for an air conditioning assembly line according to another embodiment of the present application.

[0032] Description of reference numerals:

[0033] 100. Assembly line;

[0034] 10. Fan blade conveyor line; 11. First photoelectric detection sensor; 12. Guide servo axis; 13. Clamp servo axis; 14. Rubber plug pulling telescopic cylinder; 15. Rubber plug pulling clamping cylinder;

[0035] 20. Air conditioner shell conveyor line; 21. Front photoelectric detection sensor; 22. Rear photoelectric detection sensor; 23. Front pressing cylinder; 24. Rear pressing cylinder;

[0036] 30. Robots;

[0037] 40. Crossflow fan blades;

[0038] 50. Air conditioning casing. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0040] In the description of the present application, it should be noted that the terms "inside", "upper", "outer", "lower", "bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integrated connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can also be the connection between two components, it can be wireless connection or wired connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] like Figures 1 to 3As shown, according to an embodiment of the present application, on the one hand, the present application provides an assembly line 100 for an air conditioner, and the assembly line 100 includes: a fan blade conveyor line 10, the fan blade conveyor line 10 is used to convey a crossflow fan blade 40; an air conditioning shell conveyor line 20, the air conditioning shell conveyor line 20 is used to convey an air conditioning shell 50, and the air conditioning shell conveyor line 20 and the fan blade conveyor line 10 are T-shaped; a robot 30, the robot 30 is arranged at a position close to the fan blade conveyor line 10 and the air conditioning shell conveyor line 20, and is used to grab the crossflow fan blade 40 and assemble the crossflow fan blade 40 to the air conditioning shell 50, and the robot 30 confirms whether the crossflow fan blade 40 is assembled in place according to the assembly torque current.

[0043] In this embodiment, the assembly line 100 for air conditioners proposed in this application can achieve the purpose of automatic material feeding, automatic grasping and automatic assembly of the crossflow fan blades 40, thereby improving the assembly efficiency and assembly accuracy of the crossflow fan blades 40.

[0044] Specifically, the assembly line 100 for air conditioners proposed in the present application can accurately identify the crossflow blades 40 and the air conditioning shell 50, and assemble the crossflow blades 40 to the exact position of the air conditioning shell 50, thereby solving the problem that when the bearings of the air conditioning shell 50 are not assembled in place, the robot 30 damages the bearings when assembling the crossflow blades 40.

[0045] like Figures 1 to 3 As shown, in some embodiments, a first photoelectric detection sensor 11 for detecting whether the crossflow blade 40 is in place is provided at the end point of the fan conveying line 10, and the robot 30 grabs the crossflow blade 40 according to the first detection signal of the crossflow blade 40 detected by the first photoelectric detection sensor 11.

[0046] In the above embodiment, the fan blade conveyor line 10 is used to convey the crossflow fan blades 40. The end point of the fan blade conveyor line 10 is provided with a first photoelectric detection sensor 11 for detecting whether the crossflow fan blades 40 are in place. When the first photoelectric detection sensor 11 does not detect the arrival signal of the crossflow fan blades 40 and the robot 30 gives a material picking completion signal of the previous process, the fan blade conveyor line 10 operates to convey the crossflow fan blades 40; when the first photoelectric detection sensor 11 detects the arrival signal of the crossflow fan blades 40, the fan blade conveyor line 10 stops running and gives a material picking permission signal to the robot 30, thereby achieving the purpose of automatic material delivery and automatic material picking of the crossflow fan blades 40.

[0047] Furthermore, the fan blade conveyor line 10 is also provided with a guide servo shaft 12 and a clamp servo shaft 13. The guide servo shaft 12 can be switched to a suitable distance according to the size of the cross-flow fan blade 40 to guide the cross-flow fan blade 40; the clamp servo shaft 13 can be switched to a suitable distance according to the size of the cross-flow fan blade 40 to clamp the cross-flow fan blade 40 and cooperate with the robot 30 to pick up the cross-flow fan blade 40. The cooperation of the guide servo shaft 12 and the clamp servo shaft 13 can improve the working efficiency of the fan blade conveyor line 10.

[0048] like Figures 1 to 3 As shown, in some embodiments, a rubber plug pulling telescopic cylinder 14 and a rubber plug pulling clamping cylinder 15 are provided at the end point of the fan blade conveying line 10. The rubber plug pulling telescopic cylinder 14 is used to extend and retract to the position of the rubber plug of the crossflow fan blade 40, and the rubber plug pulling clamping cylinder 15 is used to pull the rubber plug out of the crossflow fan blade 40.

[0049] In this embodiment, a rubber plug pulling telescopic cylinder 14 and a rubber plug pulling clamping cylinder 15 are also provided at the end point of the fan blade conveying line 10. The rubber plug pulling telescopic cylinder 14 is used to extend and retract to the position of pulling out the rubber plug of the crossflow fan blade 40; the rubber plug pulling clamping cylinder 15 is used to pull the rubber plug out of the crossflow fan blade 40.

[0050] Through the cooperation of the rubber plug pulling telescopic cylinder 14 and the rubber plug pulling clamping cylinder 15 , preparations can be made in advance for the automatic assembly of the crossflow fan blades 40 , and the robot 30 can assemble the crossflow fan blades 40 with the rubber plugs pulled out to the air conditioning housing 50 .

[0051] like Figures 1 to 3 As shown, in some embodiments, the air-conditioning housing 50 includes a front bottom shell and a rear bottom shell, and the air-conditioning housing conveyor line 20 is provided with a second photoelectric detection sensor for detecting whether the front bottom shell and the rear bottom shell are in place, and the second photoelectric detection sensor is used to detect a second detection signal whether the front bottom shell and the rear bottom shell are in place.

[0052] In the above embodiment, the second photoelectric detection sensor includes a front photoelectric detection sensor 21 and a rear photoelectric detection sensor 22. The air-conditioning housing conveyor line 20 is used to convey the air-conditioning housing 50. The air-conditioning housing 50 includes a front bottom shell and a rear bottom shell. The air-conditioning housing conveyor line 20 is provided with a front photoelectric detection sensor 21 and a rear photoelectric detection sensor 22 for detecting whether the front bottom shell and the rear bottom shell of the air-conditioning housing 50 are conveyed to the designated position of the air-conditioning housing conveyor line 20.

[0053] like Figures 1 to 3 As shown, in an optional embodiment, the air conditioning shell conveyor line 20 is provided with a front pressing cylinder 23 and a rear pressing cylinder 24, the front pressing cylinder 23 is used to separate the front bottom shell from the rear bottom shell, and the rear pressing cylinder 24 is used to fix the rear bottom shell.

[0054] In this embodiment, the air-conditioning shell conveyor line 20 is provided with a front pressing cylinder 23 and a rear pressing cylinder 24: the front pressing cylinder 23 is used to separate the front bottom shell from the rear bottom shell of the air-conditioning shell 50. When the current photoelectric detection sensor 21 and the rear photoelectric detection sensor 22 detect the signal of the front bottom shell and the signal of the rear bottom shell respectively, the front pressing cylinder 23 will extend to press the front bottom shell, and the rear pressing cylinder 24 will extend to fix the rear bottom shell, thereby ensuring the consistency of the assembly position of the robot 30.

[0055] The cooperation between the front pressing cylinder 23 and the rear pressing cylinder 24 can improve the assembly accuracy of the crossflow fan blades 40 and reduce the phenomenon of the crossflow fan blades 40 not being properly assembled or damaging the materials due to misaligned assembly.

[0056] like Figures 1 to 3 As shown, in an optional embodiment, the robot 30 is provided with a clamp and a clamp sensing cylinder, the clamp is used to grasp the crossflow fan blade 40, and the clamp sensing cylinder is used to detect whether the robot 30 drops material during the assembly and material picking process.

[0057] In this embodiment, the robot 30 is used to grasp and assemble the crossflow fan blades 40; the robot 30 is provided with a clamp sensing cylinder for detecting whether the robot 30 has any abnormal phenomenon such as material dropping during the assembly and material taking process.

[0058] Through the cooperation of the clamp and the clamp sensing cylinder, the purpose of automatically grabbing and assembling the crossflow blades 40 can be achieved, thereby improving the assembly efficiency of the crossflow blades 40 and reducing the phenomenon of the crossflow blades 40 falling during the assembly process.

[0059] like Figure 4 and Figure 5 As shown, in the second aspect, a control method for an air-conditioning assembly line 100 is implemented by the assembly line 100 for air-conditioning of the first aspect of the present application, and the control method includes: obtaining a first detection signal at the fan blade conveyor line 10 and a second detection signal at the air-conditioning shell conveyor line 20; according to the first detection signal and the second detection signal being normal, controlling the robot 30 to grab the crossflow fan blade 40 and assemble the crossflow fan blade 40 to the air-conditioning shell 50; obtaining the assembly torque current of the robot 30, and confirming whether the crossflow fan blade 40 is assembled in place according to the assembly torque current.

[0060] In the above embodiment, the assembly line 100 and assembly method for air conditioners proposed in the present application use a PLC and a robot 30, and through the cooperation of the two, the automatic material input, automatic material removal, automatic assembly and torque translation of the crossflow fan blades 40 are completed.

[0061] Specifically, the assembly line 100 for air conditioners proposed in this application uses a network cable to connect the PLC and the robot 30, and uses a new socket communication protocol to transmit data between the two at high speed. The PLC is used as the master station, the robot 30 is used as the slave station, and the IP addresses of the two are changed to the same frequency band. Among them, the transmission data between the robot 30 and the PLC needs to be converted into digital data for easy data processing.

[0062] Specifically, when the crossflow fan blade 40 reaches the material-picking position, the PLC sends data 1 to the robot 30 as a signal that the robot 30 is not allowed to pick up the material; after receiving data 1, the robot 30 starts to move to the material-picking position to pick up the material, and after the robot 30 finishes picking up the material and returns to the safe position; the robot 30 sends data 2 to the PLC as a signal that the material-picking is completed; when the air-conditioning housing 50 is in place, the robot 30 sends data 3 to the PLC as a signal that the material is allowed to be discharged. After the robot 30 assembles the crossflow fan blade 40, it sends data 4 to the PLC as a signal that the material discharge is completed.

[0063] like Figure 4 and Figure 5 As shown, in some embodiments, obtaining the assembly torque current of the robot 30 and confirming whether the crossflow fan blade 40 is assembled in place based on the assembly torque current specifically includes: analyzing the waveform change of the assembly torque current, and determining that the crossflow fan blade 40 is assembled in place based on the consistency of the waveform change with the preset change value.

[0064] In this embodiment, the servo system of the robot 30 is a three-loop control system, which is a current loop, a speed loop, and a position loop from the inside to the outside. Among them, the current loop controls the motor torque, so when the robot 30 assembles the crossflow fan blade 40, in order not to damage the beads in the bearing, it is necessary to detect the torque of the servo motor of the robot 30 at this moment, and the final detection value is still the parameter change of the current loop.

[0065] According to the current loop feedback during assembly, the waveform changes of the current loop feedback are analyzed. As long as the waveform is different from the preset value, it is determined that the assembly is in place. The robot 30 directly discharges the material and feeds back a discharge completion signal. However, it will prompt an alarm message that the assembly is not in place instead of shutting down directly. This reduces the frequency of resetting and starting the robot 30 and increases the production efficiency of the robot 30.

[0066] like Figure 4 and Figure 5 As shown, in some embodiments, the assembly torque current of the robot 30 is obtained, and whether the crossflow fan blade 40 is assembled in place is confirmed based on the assembly torque current, specifically including: analyzing the waveform change of the assembly torque current, and determining that the crossflow fan blade 40 is not assembled in place or is misassembled based on the inconsistency between the waveform change and the preset change value.

[0067] In the present embodiment, when the actual value of the assembly torque current is less than the preset value of the assembly torque current, it means that the crossflow fan blades 40 are not assembled in place. At this time, the robot 30 will continue to assemble the crossflow fan blades 40 until the crossflow fan blades 40 are assembled in place. When the actual value of the assembly torque current is greater than the preset value of the assembly torque current, it means that the crossflow fan blades 40 are misassembled. At this time, the robot 30 stops assembling the crossflow fan blades 40 to reduce the crossflow fan blades 40 from being misassembled and damaging the bearings or inserting the bearings.

[0068] like Figure 4 and Figure 5 As shown, in some embodiments, after determining that the crossflow fan blades 40 are not assembled in place, the method further includes: triggering an alarm message indicating that the crossflow fan blades 40 are not assembled in place, and controlling the robot 30 to standby.

[0069] In this embodiment, an alarm message indicating that the robot 30 is not assembled in place is displayed instead of shutting down the robot 30 directly, thereby reducing the frequency of resetting and starting the robot 30 and increasing the production efficiency of the robot 30.

[0070] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the present application.

Claims

1. An assembly line for air conditioners, characterized in that: The assembly line (100) comprises: A fan blade conveying line (10), wherein the fan blade conveying line (10) is used to convey crossflow fan blades (40); An air-conditioning casing conveying line (20), the air-conditioning casing conveying line (20) being used to convey air-conditioning casings (50), and the air-conditioning casing conveying line (20) and the fan blade conveying line (10) being arranged in a T-shape; A robot (30), wherein the robot (30) is arranged at a position close to the fan blade conveying line (10) and the air conditioning shell conveying line (20), and is used to grab the crossflow fan blade (40) and assemble the crossflow fan blade (40) to the air conditioning shell (50), and the robot (30) confirms whether the crossflow fan blade (40) is assembled in place according to the assembly torque current.

2. The assembly line for air conditioners according to claim 1, characterized in that: A first photoelectric detection sensor (11) for detecting whether the crossflow blade (40) is in place is provided at the end point of the blade conveying line (10), and the robot (30) grabs the crossflow blade (40) according to a first detection signal of the crossflow blade (40) detected by the first photoelectric detection sensor (11).

3. The assembly line for air conditioners according to claim 1, characterized in that: The end point of the fan blade conveying line (10) is provided with a rubber plug pulling telescopic cylinder (14) and a rubber plug pulling clamping cylinder (15), wherein the rubber plug pulling telescopic cylinder (14) is used to be extended and retracted to the position of the rubber plug of the crossflow fan blade (40), and the rubber plug pulling clamping cylinder (15) is used to pull the rubber plug out of the crossflow fan blade (40).

4. The assembly line for air conditioners according to claim 1, characterized in that: The air conditioning casing (50) comprises a front bottom casing and a rear bottom casing, and the air conditioning casing conveying line (20) is provided with a second photoelectric detection sensor for detecting whether the front bottom casing and the rear bottom casing are in place, and the second photoelectric detection sensor is used to detect a second detection signal for detecting whether the front bottom casing and the rear bottom casing are in place.

5. The assembly line for air conditioners according to claim 4, characterized in that: The air-conditioning shell conveying line (20) is provided with a front pressing cylinder (23) and a rear pressing cylinder (24), wherein the front pressing cylinder (23) is used to separate the front bottom shell from the rear bottom shell, and the rear pressing cylinder (24) is used to fix the rear bottom shell.

6. The assembly line for air conditioners according to claim 1, characterized in that: The robot (30) is provided with a clamp and a clamp sensing cylinder, the clamp is used to grasp the crossflow fan blade (40), and the clamp sensing cylinder is used to detect whether the robot (30) has a material drop phenomenon during the assembly and material taking process.

7. A control method for an air conditioning assembly line, characterized in that: The control method is implemented by the assembly line (100) for air conditioners according to any one of claims 1 to 6, and the control method comprises: Acquiring a first detection signal at the fan blade conveying line (10) and a second detection signal at the air conditioner casing conveying line (20); According to the first detection signal and the second detection signal being normal, controlling the robot (30) to grab the crossflow blade (40) and assemble the crossflow blade (40) to the air conditioner casing (50); The assembly torque current of the robot (30) is obtained, and whether the crossflow blade (40) is assembled in place is confirmed based on the assembly torque current.

8. The control method of the air conditioner assembly line according to claim 7, characterized in that: The step of obtaining the assembly torque current of the robot (30) and confirming whether the crossflow fan blade (40) is assembled in place according to the assembly torque current specifically includes: The waveform change of the assembly torque current is analyzed, and according to whether the waveform change is consistent with a preset change value, it is determined that the crossflow fan blade (40) is assembled in place.

9. The control method of the air conditioner assembly line according to claim 7, characterized in that: The step of obtaining the assembly torque current of the robot (30) and confirming whether the crossflow fan blade (40) is assembled in place according to the assembly torque current specifically includes: The waveform change of the assembly torque current is analyzed, and based on the inconsistency between the waveform change and a preset change value, it is determined that the crossflow fan blade (40) is not assembled in place or is misassembled.

10. The control method of the air conditioner assembly line according to claim 9, characterized in that: After determining that the crossflow fan blade (40) is not assembled in place, the method further includes: An alarm message indicating that the crossflow fan blade (40) is not assembled in place or is assembled in a wrong position is triggered, and the robot (30) is controlled to standby.

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