Installation equipment and control method

Abstract

The invention provides mounting equipment and a control method, and the mounting equipment comprises a feeding mechanism which is used for conveying a plurality of mounting parts; the visual component is arranged corresponding to the feeding mechanism, and the visual component is used for shooting the mounting components in conveying one by one so as to identify whether each mounting component is qualified or not; the positioning structure is used for fixing the position of a component to be mounted; and the mounting robot is used for grabbing the mounting part and mounting the qualified mounting part on the to-be-mounted part, and the mounting equipment solves the technical problem that in the prior art, the mounting efficiency of the bearing rubber ring is low.

Description

Technical Field

[0001] The present invention relates to the technical field of air conditioner production, and in particular to an installation device and a control method. Background Art

[0002] In the manufacturing process of the bottom shell components of the air conditioner inner unit, the bearing rubber ring is the core component on the bottom shell, and a large number of bearing rubber rings need to be installed on the bottom shell.

[0003] However, the existing production operation mode relies on manual bending over to pick up materials, inspecting incoming materials, pressing and assembling, etc. Workers are prone to occupational diseases such as visual fatigue from inspection and pain in finger joints from pressing during long-term operation. In addition, the manual operation mode results in a low degree of production automation.

[0004] Therefore, the prior art needs to be further developed. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide an installation device and a control method to solve the technical problem of low installation efficiency of bearing rubber rings in the related art.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: Provided is a mounting device, comprising: A feeding mechanism, the feeding mechanism is used to convey a plurality of installation components; A visual component is provided corresponding to the feeding mechanism, and is used to photograph the installation components being transported one by one to identify whether each installation component is qualified; A positioning structure, the positioning structure is used to fix the position of the component to be installed; An installation robot is used to grab the installation component and install the qualified installation component on the component to be installed.

[0007] Furthermore, the feeding mechanism comprises: A vibration plate, the vibration plate is used to transport the installation component; A transport rail is connected to the vibration plate so that the installation component transported by the vibration plate moves on the transport rail; and the visual component is arranged on the transport rail.

[0008] Furthermore, the positioning structure includes a positioning assembly and a first positioning bracket; the positioning assembly includes a pushing component, and the pushing component is movably arranged to fix the component to be installed between the pushing component and the first positioning bracket by moving the pushing component.

[0009] Furthermore, the positioning component comprises: The pushing component is connected to the piston rod of the positioning cylinder; the piston rod is driven to move, thereby pushing the pushing component to abut against the component to be installed.

[0010] Furthermore, the installation device also includes a workbench, and the first positioning bracket is arranged on the workbench; the positioning assembly includes a mounting seat, and the mounting seat is located between the workbench and the transport guide rail, and the positioning cylinder is arranged on the mounting seat.

[0011] Furthermore, the component to be installed is movably arranged on the workbench; and the installation equipment further comprises: A blocking component, which is movably arranged on the workbench to block the movement of the component to be installed; A position sensor is arranged on the workbench and is connected to the blocking component by signal.

[0012] Furthermore, the installation device also includes: A second positioning bracket, wherein the second positioning bracket is arranged opposite to the first positioning bracket; the second positioning bracket is arranged at a distance from the positioning assembly.

[0013] Furthermore, the installation device also includes: A material placement rack is arranged between the vibration plate of the feeding mechanism and the base of the installation robot; the material placement rack is used to place unqualified installation components.

[0014] Furthermore, the installation robot comprises: Robotic arm; A clamping cylinder body is arranged on the mechanical arm, and a first clamping jaw and a second clamping jaw are arranged on the piston rod of the clamping cylinder body; the first clamping jaw and the second clamping jaw are driven to move relative to each other, thereby clamping or releasing the component to be installed.

[0015] Furthermore, the first clamping jaw comprises: a first connecting rod connected to a movable portion of the clamping cylinder; A first clamping portion, the first clamping portion is connected to an end of the first connecting rod away from the clamping cylinder body; the first clamping portion protrudes toward the direction of the first connecting rod close to the second clamping jaw; a first positioning protrusion and a second positioning protrusion are arranged at intervals on one side of the first clamping portion close to the second clamping jaw; the first positioning protrusion and the second positioning protrusion are arranged to protrude from the outer surface of the first clamping portion.

[0016] Furthermore, the first clamping jaw has a first clamping surface on one side close to the second clamping jaw, and the first positioning protrusion is arranged to protrude from the first clamping surface; the first positioning protrusion includes a first fixing portion and a second fixing portion connected to each other; the first fixing portion is connected to the first clamping surface; the first fixing portion is a cylindrical structure; the second fixing portion is connected to an end of the first fixing portion away from the first clamping surface; the second fixing portion is a partial conical structure; and the cross-sectional area of ​​the second fixing portion gradually decreases in the direction away from the first fixing portion.

[0017] Furthermore, the second positioning protrusion is a rectangular parallelepiped structure, and the second positioning protrusion is located on a side of the first positioning protrusion close to the clamping cylinder.

[0018] Furthermore, the second clamping jaw comprises: a second connecting rod, the second connecting rod being connected to the piston rod of the clamping cylinder; The second clamping portion is connected to an end of the second connecting rod away from the clamping cylinder body; the second clamping portion protrudes toward the direction of the second connecting rod close to the second clamping claw.

[0019] Furthermore, the second clamping portion is a partial cylindrical structure.

[0020] A control method is applicable to the above-mentioned installation device, and the control method comprises: Setting the transmission speed of the component to be installed; Setting the transmission speed of the installation component; Setting the frequency at which the installation robot grabs the installation component; Setting a shooting frequency of the visual component; enabling the visual component to shoot the installation component in transmission; Judging whether the installed component is qualified according to the installed component photographed by the visual component; The installation robot is controlled to grab qualified installation components and install them on the components to be installed; and unqualified installation components are grabbed and placed on a material placement rack.

[0021] Furthermore, the control method further includes: When it is determined that the installation component photographed by the visual component is unqualified, controlling the component to be installed to stop moving; The installation robot is controlled to grab unqualified installation components and place them on the material placement rack, and then continue to move the components to be installed.

[0022] Beneficial effects: 1. The installation equipment of the present invention uses an orderly feeding mechanism for irregular materials, thereby eliminating the manual bending over to pick up materials.

[0023] 2. The installation equipment of the present invention uses the bearing rubber ring positioning and clamping and bottom shell component positioning technology, eliminating manual positioning and pressing assembly actions, and solving the problem of occupational diseases in the workplace.

[0024] 3. The installation equipment of the present invention uses the incoming material visual inspection technology to eliminate the uncontrollability of product quality inspection caused by manual visual fatigue and ensure the consistency of product quality.

[0025] 4. The installation equipment of the present invention uses a gripping and assembling fixture for irregular-part bearing rubber rings, thereby realizing automatic material collection and assembly of bearing rubber rings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a top view of a mounting device used in an embodiment of the present invention; Figure 2 is a side view of a mounting device used in an embodiment of the present invention; Figure 3 is a structural schematic diagram of a mounting device used in an embodiment of the present invention from one viewing angle; Figure 4 yes Figure 3 A partial enlarged view of part I of the installation device used in the embodiment of the present invention; Figure 5 is a schematic structural diagram of the installation device used in the embodiment of the present invention from another perspective; Figure 6 It is a working schematic diagram of the installation equipment used in the embodiment of the present invention to inspect the rubber ring.

[0027] The above drawings include the following reference numerals: 1. Feeding mechanism; 11. Vibrating plate; 12. Transport guide rail; 2. Visual components; 3. Material placement rack; 4. Installation robot; 41. Robotic arm; 42. Clamping cylinder; 43. First clamping claw; 431. First connecting rod; 433. First clamping portion; 434. First positioning protrusion; 4341. First fixing portion; 4342. Second fixing portion; 435. Second positioning protrusion; 436. First clamping surface; 44. Second clamping claw; 441. Second connecting rod; 442. Second clamping portion; 5. Positioning assembly; 51. Pushing member; 52. Positioning cylinder; 54. Mounting seat; 6. First positioning bracket; 9. Second positioning bracket; 7. Workbench; 81. Blocking component; 82. Position sensor; 10. Installing parts; 20. Parts to be installed. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, 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 only 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] See also Figures 1 to 5 According to an embodiment of the present invention, there is provided an installation device, comprising: a feeding mechanism 1, the feeding mechanism 1 being used to convey a plurality of installation components 10; a visual component 2, arranged corresponding to the feeding mechanism 1, the visual component 2 being used to photograph the installation components 10 being conveyed one by one to identify whether each of the installation components 10 is qualified; a positioning structure, the positioning structure being used to fix the position of a component 20 to be installed; and an installation robot 4, the installation robot 4 being used to grab the installation component 10 and install the qualified installation component 10 onto the component 20 to be installed.

[0030] With the above arrangement, the storage and orderly feeding of bearing rubber rings (i.e., the installation component 10 of this embodiment) are realized through the feeding mechanism; the installation robot 4 realizes the automatic grasping and assembly of irregular bearing rubber rings by positioning the bearing rubber rings and the bottom shell component (i.e., the component to be installed 20 of this embodiment); the visual component 2 is integrated with the visual inspection technology to eliminate the uncontrollability of artificial visual fatigue on product quality inspection, ensure product quality consistency, and solve the technical problem of low installation efficiency of bearing rubber rings in the prior art.

[0031] In the installation device of this embodiment, see Figures 1 to 5 The feeding mechanism 1 includes: a vibration plate 11, which is used to transport the installation component 10; a transport rail 12, which is connected to the vibration plate 11 so that the installation component 10 transported by the vibration plate 11 moves on the transport rail 12; the visual component 2 is arranged on the transport rail 12.

[0032] With the above arrangement, when the installation component 10 moves on the transport rail 12, the visual component 2 can photograph the installation component 10 one by one during the movement of the installation component 10, thereby facilitating the staff to observe whether the installation component 10 is qualified and improving the inspection efficiency.

[0033] In the installation device of this embodiment, see Figures 1 to 5The positioning structure includes a positioning assembly 5 and a first positioning bracket 6; the positioning assembly 5 includes a pushing component 51, and the pushing component 51 is movably arranged to fix the component to be installed 20 between the pushing component 51 and the first positioning bracket 6 by moving the pushing component 51. In this way, the component to be installed 20 can be pushed by the pushing component 51, so as to fix the component to be installed 20 in a corresponding position.

[0034] See also Figures 1 to 5 In the installation device of this embodiment, the positioning assembly 5 includes: a positioning cylinder 52; the pushing component 51 is connected to the piston rod of the positioning cylinder 52; by driving the piston rod to move, the pushing component 51 is pushed to abut against the component 20 to be installed.

[0035] In the installation device of this embodiment, see Figure 1 The installation device further comprises a workbench 7, the first positioning bracket 6 is arranged on the workbench 7; the positioning assembly 5 comprises a mounting seat 54, the mounting seat 54 is located between the workbench 7 and the transport guide rail 12, and the positioning cylinder 52 is arranged on the mounting seat 54. In this way, the structure of the equipment can be simplified, and the positioning assembly will not occupy too much space.

[0036] See also Figure 1 In the installation device of this embodiment, the component 20 to be installed is movably arranged on the workbench 7; the installation device further includes: a blocking component 81, which is movably arranged on the workbench 7 to block the movement of the component 20 to be installed; a position sensor 82, which is arranged on the workbench 7, and the position sensor 82 is connected to the blocking component 81 by signal. In this way, when a component 20 to be installed is moved into position, the component 20 to be installed is positioned at the installation position by setting the blocking component 81, which facilitates the installation of the installation robot 4 and improves the installation accuracy.

[0037] In the installation device of this embodiment, see Figure 1 The installation device further includes: a second positioning bracket 9, which is arranged opposite to the first positioning bracket 6; and the second positioning bracket 9 is arranged at a distance from the positioning assembly 5.

[0038] Specifically, the first positioning bracket 6 and the second positioning bracket 9 both include a guiding section and a positioning section; along the moving direction of the component 20 to be installed, the guiding sections of the first positioning bracket 6 and the second positioning bracket 9 are close to each other, thereby guiding the component 20 to be installed that deviates from the running direction; along the moving direction of the component 20 to be installed, the positioning sections of the first positioning bracket 6 and the second positioning bracket 9 are parallel to each other, thereby limiting the component 20 to be installed on a predetermined line.

[0039] In the installation device of this embodiment, see Figure 1 The installation device further includes: a material placement rack 3, which is arranged between the vibration plate 11 of the feeding mechanism 1 and the base of the installation robot 4; the material placement rack 3 is used to place the unqualified installation components 10. In this way, the moving stroke of the installation robot 4 can be reduced and the work efficiency can be improved.

[0040] In the installation device of this embodiment, see Figure 3 , Figure 4 The installation robot 4 includes: a mechanical arm 41; a clamping cylinder 42, wherein the clamping cylinder 42 is arranged on the mechanical arm 41, and a first clamping jaw 43 and a second clamping jaw 44 are arranged on the piston rod of the clamping cylinder 42; by driving the first clamping jaw 43 and the second clamping jaw 44 to move relative to each other, the component 20 to be installed is clamped or released.

[0041] With the above arrangement, the first clamping jaw 43 and the second clamping jaw 44 are used to clamp the component 20 to be installed, so that components with smaller sizes can be accurately clamped, thereby improving the installation accuracy.

[0042] In the installation device of this embodiment, see Figure 4 The first clamping jaw 43 includes: a first connecting rod 431, which is connected to the movable part of the clamping cylinder body 42; a first clamping part 433, which is connected to an end of the first connecting rod 431 away from the clamping cylinder body 42; the first clamping part 433 protrudes toward the direction of the first connecting rod 431 close to the second clamping jaw 44; a first positioning protrusion 434 and a second positioning protrusion 435 are spaced apart on one side of the first clamping part 433 close to the second clamping jaw 44; the first positioning protrusion 434 and the second positioning protrusion 435 are protruding from the outer surface of the first clamping part 433.

[0043] By adopting the above arrangement, the contact area between the clamping jaws and the mounting component 10 can be reduced, so that the mounting component 10 can be easily brought into contact with the component to be mounted 20, thereby accurately completing the mounting operation.

[0044] In the installation device of this embodiment, see Figure 4The first clamping jaw 43 has a first clamping surface 436 on one side close to the second clamping jaw 44, and the first positioning protrusion 434 is arranged to protrude from the first clamping surface 436; the first positioning protrusion 434 includes a first fixing portion 4341 and a second fixing portion 4342 connected to each other; the first fixing portion 4341 is connected to the first clamping surface 436; the first fixing portion 4341 is a cylindrical structure; the second fixing portion 4342 is connected to an end of the first fixing portion 4341 away from the first clamping surface 436; the second fixing portion 4342 is a partial conical structure; along the direction away from the first fixing portion 4341, the cross-sectional area of ​​the second fixing portion 4342 gradually decreases.

[0045] The above arrangement can facilitate the first positioning protrusion 434 to cooperate with the hole-shaped structure on the mounting component 10, thereby making the clamping of the clamping claw stable.

[0046] In the installation device of this embodiment, see Figure 4 The second positioning protrusion 435 is a rectangular parallelepiped structure, and the second positioning protrusion 435 is located on a side of the first positioning protrusion 434 close to the clamping cylinder body 42 .

[0047] With the above arrangement, the second positioning protrusion 435 can cooperate with the first positioning protrusion 434 to clamp the mounting component 10 .

[0048] In the installation device of this embodiment, see Figure 4 The second clamping jaw 44 includes: a second connecting rod 441, which is connected to the piston rod of the clamping cylinder 42; a second clamping portion 442, which is connected to an end of the second connecting rod 441 away from the clamping cylinder 42; and the second clamping portion 442 protrudes in the direction of the second connecting rod 441 approaching the second clamping jaw 44.

[0049] With the above arrangement, the second clamping portion 442 can cooperate with the first clamping portion 433 to clamp the mounting component 10 .

[0050] In the installation device of this embodiment, see Figure 4 The second clamping portion 442 is a partial cylindrical structure. The shape of the second clamping portion 442 is set in this way, so that when the installation component 10 is assembled, the component to be installed 20 can be avoided.

[0051] The control method of this embodiment is applicable to the above-mentioned installation equipment, and the control method includes: setting the transmission speed of the component 20 to be installed; setting the transmission speed of the installation component 10; setting the frequency of the installation robot 4 grabbing the installation component 10; setting the shooting frequency of the visual component 2; making the visual component 2 shoot the installation component 10 in transmission; judging whether the installation component 10 is qualified based on the installation component 10 photographed by the visual component 2; controlling the installation robot 4 to grab the qualified installation component 10 and install it on the component 20 to be installed; grabbing the unqualified installation component 10 and placing it on the material placement rack 3.

[0052] By adopting the above-mentioned arrangement, by setting the transmission speed of the component 20 to be installed, the transmission speed of the installation component 10, the frequency of the installation robot 4 grabbing the installation component 10 and the shooting frequency of the visual component 2, the various parts of the equipment can work together, and the transportation, inspection, screening and installation actions are streamlined, thereby improving the efficiency of the rubber ring installation operation.

[0053] In the control method of this embodiment, the control method also includes: when it is determined that the installation component 10 photographed by the visual component 2 is unqualified, controlling the component to be installed 20 to stop moving; controlling the installation robot 4 to grab the unqualified installation component 10 and place it on the material placement rack 3, and then continuing to move the component to be installed 20.

[0054] With the above arrangement, when it is determined that the installation component 10 photographed by the visual component 2 is unqualified, the component to be installed 20 is controlled to stop moving; thereby ensuring that the movements of various components are synchronized, thereby ensuring installation efficiency.

[0055] Bearing rubber ring incoming process: The bearing rubber ring is arranged in order on the bearing rubber ring material channel through the vibration plate 11, and the smart camera (i.e., the visual component 2) takes a photo to determine whether the bearing rubber ring at the end of the material channel (i.e., the installation component 10 of this embodiment) is qualified. The judgment method is to take a photo and compare it with the sample stored in the camera to see whether there is a yellow bearing ring. If not, it is an NG product. See Figure 6 , the robot grabs and places it on the NG product placement rack, if there is one, it is an OK product, and the installation robot 4 grabs the bearing rubber ring to the assembly position.

[0056] The bottom shell material incoming process: in the initial state, the blocking mechanism extends, and when the photoelectric detection reaches the bottom shell, the pushing cylinder extends to position the bottom shell. After the positioning is completed, a signal to allow assembly is given. At this time, the robot arm 41 in the assembly area assembles the bearing rubber ring to the bottom shell component. After the assembly is completed, the pushing component 51 and the blocking component 81 retract, and when the interval judgment position sensor 82 detects that there is material, the blocking component 81 extends again to wait for the next piece of material to arrive.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0059] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0060] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0061] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A mounting device, characterized in that: include: A feeding mechanism (1), the feeding mechanism (1) being used to convey a plurality of installation components (10); A visual component (2) is arranged corresponding to the feeding mechanism (1), and is used to photograph the installation components (10) being transported one by one to identify whether each installation component (10) is qualified; A positioning structure, the positioning structure being used to fix the position of a component (20) to be installed; An installation robot (4), the installation robot (4) being used to grasp the installation component (10) and install the qualified installation component (10) onto the component to be installed (20).

2. The installation device according to claim 1, characterized in that The feeding mechanism (1) comprises: A vibration plate (11), the vibration plate (11) being used to transport the installation component (10); A transport rail (12), the transport rail (12) being connected to the vibration plate (11) so that the installation component (10) transported by the vibration plate (11) moves on the transport rail (12); the visual component (2) is arranged on the transport rail (12).

3. The installation device according to claim 2, characterized in that The positioning structure comprises a positioning component (5) and a first positioning bracket (6); the positioning component (5) comprises a pushing component (51), and the pushing component (51) is movably arranged so as to fix the component to be installed (20) between the pushing component (51) and the first positioning bracket (6) by moving the pushing component (51).

4. The installation device according to claim 3, characterized in that The positioning component (5) comprises: The positioning cylinder (52) is provided with a pushing component (51) connected to a piston rod of the positioning cylinder (52); the pushing component (51) is pushed to abut against the component to be installed (20) by driving the piston rod to move.

5. The installation device according to claim 4, characterized in that The mounting device further comprises a workbench (7), the first positioning bracket (6) being arranged on the workbench (7); the positioning assembly (5) comprises a mounting seat (54), the mounting seat (54) being located between the workbench (7) and the transport guide rail (12), and the positioning cylinder (52) being arranged on the mounting seat (54).

6. The installation device according to claim 5, characterized in that The component to be installed (20) is movably arranged on the workbench (7); the installation device further comprises: a blocking component (81), the blocking component (81) being movably arranged on the workbench (7) to block movement of the component to be installed (20); A position sensor (82), wherein the position sensor (82) is arranged on the workbench (7), and the position sensor (82) is connected to the blocking component (81) by signal.

7. The installation device according to claim 3, characterized in that The installation device also includes: A second positioning bracket (9), the second positioning bracket (9) being arranged opposite to the first positioning bracket (6); the second positioning bracket (9) being arranged at a distance from the positioning assembly (5).

8. The installation device according to claim 2, characterized in that The installation device also includes: A material placement rack (3), the material placement rack (3) being arranged between the vibration plate (11) of the feeding mechanism (1) and the base of the installation robot (4); the material placement rack (3) being used for placing unqualified installation components (10).

9. The installation device according to claim 1, characterized in that The installation robot (4) comprises: Robotic Arm (41); A clamping cylinder (42) is arranged on the mechanical arm (41), and a first clamping jaw (43) and a second clamping jaw (44) are arranged on a piston rod of the clamping cylinder (42); the first clamping jaw (43) and the second clamping jaw (44) are driven to move relative to each other, thereby clamping or releasing the component (20) to be installed.

10. The mounting device according to claim 9, characterized in that The first clamping jaw (43) comprises: a first connecting rod (431), the first connecting rod (431) being connected to a movable portion of the clamping cylinder (42); A first clamping portion (433), the first clamping portion (433) is connected to an end of the first connecting rod (431) away from the clamping cylinder (42); the first clamping portion (433) protrudes in a direction toward the first connecting rod (431) close to the second clamping claw (44); a first positioning protrusion (434) and a second positioning protrusion (435) are arranged at intervals on one side of the first clamping portion (433) close to the second clamping claw (44); the first positioning protrusion (434) and the second positioning protrusion (435) are arranged protruding from the outer surface of the first clamping portion (433).

11. The mounting device according to claim 10, characterized in that The first clamping jaw (43) has a first clamping surface (436) on one side close to the second clamping jaw (44), and the first positioning protrusion (434) is arranged to protrude from the first clamping surface (436); the first positioning protrusion (434) includes a first fixing portion (4341) and a second fixing portion (4342) connected to each other; the first fixing portion (4341) is connected to the first clamping surface (436); the first fixing portion (4341) is a cylindrical structure; the second fixing portion (4342) is connected to an end of the first fixing portion (4341) away from the first clamping surface (436); the second fixing portion (4342) is a partial conical structure; along the direction away from the first fixing portion (4341), the cross-sectional area of ​​the second fixing portion (4342) gradually decreases.

12. The mounting device according to claim 10, characterized in that The second positioning protrusion (435) is a rectangular parallelepiped structure, and the second positioning protrusion (435) is located on a side of the first positioning protrusion (434) close to the clamping cylinder (42).

13. The mounting device according to claim 9, characterized in that The second clamping jaw (44) comprises: A second connecting rod (441), the second connecting rod (441) being connected to a piston rod of the clamping cylinder (42); A second clamping portion (442), the second clamping portion (442) is connected to an end of the second connecting rod (441) away from the clamping cylinder body (42); the second clamping portion (442) protrudes in a direction toward the second connecting rod (441) close to the second clamping claw (44).

14. The mounting device according to claim 13, characterized in that The second clamping portion (442) is a partial cylindrical structure.

15. A control method, applicable to the installation device according to any one of claims 1 to 14, characterized in that: The control method comprises: Setting a transmission speed of the component to be installed (20); Setting a transmission speed of the mounting component (10); Setting a frequency at which the installation robot (4) grabs the installation component (10); Setting a shooting frequency of the visual component (2); causing the visual component (2) to shoot the installation component (10) in transmission; Judging whether the installation component (10) is qualified according to the installation component (10) photographed by the visual component (2); The installation robot (4) is controlled to grab qualified installation components (10) and install them on the component to be installed (20); and to grab unqualified installation components (10) and place them on the material placement rack (3).

16. The control method according to claim 15, characterized in that: The control method further comprises: When it is determined that the installation component (10) photographed by the visual component (2) is unqualified, controlling the component to be installed (20) to stop moving; After controlling the installation robot (4) to grab the unqualified installation component (10) and place it on the material placement rack (3), the component to be installed (20) continues to be moved.

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