Automatic assembling equipment for axial flow fan blade

Abstract

The invention relates to the technical field of air conditioner outdoor unit assembling, in particular to automatic axial flow fan blade assembling equipment. Comprising a first positioning clamp, a second positioning clamp, a first moving assembly, a second moving assembly, a third positioning clamp, a fourth positioning clamp, a fifth moving assembly, a sixth positioning assembly and a fifth moving assembly, wherein the to-be-mounted axial-flow fan blade is positioned on the first positioning clamp, and the outdoor unit of the to-be-mounted axial-flow fan blade is positioned on the second positioning clamp; the first moving assembly clamps the axial flow fan blade on the first positioning clamp and is pre-assembled on the outdoor unit on the second positioning clamp. And the second moving assembly clamps a nut and enables the nut to fixedly assemble the axial-flow fan blade and the fan blade motor mounting shaft of the outdoor unit, and the axial-flow fan blade can be accurately mounted on the fan blade motor mounting shaft of the outdoor unit through the automatic assembling equipment for the axial-flow fan blade.

Description

Technical Field

[0001] The invention relates to the technical field of air conditioner outdoor unit assembly, and in particular to an axial flow fan blade automatic assembly device. Background Art

[0002] At present, due to the irregular structure of axial flow fan blades, under this limitation, when assembling the axial flow fan blades of the air conditioner outdoor unit, it is necessary to take the axial flow fan blades from the tooling rack where the axial flow fan blades are placed and assemble them on the fan motor mounting shaft on the motor bracket, and then use a fan screw to drive nuts to fix the assembled axial flow fan blades to the fan motor shaft, and repeat the cycle.

[0003] The above-mentioned axial flow fan blade installation method has shortcomings: First, manual operation is single-action, long-term operation is easy to fatigue, and nuts may be missed or not in place. Second, the manual assembly and fixation has a low degree of automation, which is not conducive to the development of the company in the current era of sharply increasing labor costs and labor shortages. Summary of the invention

[0004] The object of the present invention is to avoid the deficiencies in the prior art and to provide an axial flow fan blade automatic assembly device, which can accurately install the axial flow fan blade on the fan blade motor mounting shaft of an external unit.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] Provided is an axial flow fan blade automatic assembly device, comprising:

[0007] A first positioning fixture is used to position the axial flow fan blade to be installed.

[0008] The second positioning fixture is used to position the external unit to be installed with the axial flow fan blades.

[0009] a first moving assembly, which clamps the axial flow fan blades on the first positioning fixture and pre-assembles them on the external unit on the second positioning fixture;

[0010] The second moving component clamps the nut and fixes the nut to assemble the axial flow fan blade and the fan motor mounting shaft of the external unit.

[0011] In some embodiments, the first positioning fixture includes a positioning chuck, the positioning chuck includes a plurality of limiting blocks, one end of the plurality of limiting blocks is surrounded by a cavity for placing the shaft core of the axial flow fan blade,

[0012] The other end of the limiting block extends outwards and a groove for placing a single blade of the axial flow fan blade is formed between adjacent limiting blocks.

[0013] A first sensor is disposed on the top surface of the limiting block body, which is used to detect whether the blade of the axial flow fan blade to be positioned falls into the groove.

[0014] In some embodiments, a push cylinder is further included, which is disposed in the groove and points to the cavity. The push cylinder pushes the side wall of the shaft core so that the shaft core is tightly attached to the cavity.

[0015] In some embodiments, a conveyor belt and a first manipulator are further included, wherein the conveyor belt is close to the first positioning fixture, and a second sensor is provided at the outlet end of the conveyor belt, and the second sensor is connected to the first manipulator.

[0016] When the axial flow fan blade to be installed is transmitted to the outlet end, the first manipulator grabs and transfers the axial flow fan blade on the conveyor belt to the positioning chuck.

[0017] In some embodiments, brackets are provided on both sides of the conveyor belt, and guide strips are installed on the brackets. The guide strips are located above the belt surface of the conveyor belt and extend along the length direction of the conveyor belt.

[0018] The outlet end of the guide plate strip is close to the first positioning fixture, and the inlet end of the guide plate strip is far away from the first positioning fixture, and the inlet end is configured as an expansion opening.

[0019] In some embodiments, a workbench is further included, wherein the workbench is spliced ​​with the conveyor belt, a slide plate is slidably connected to the workbench, the positioning chuck is arranged on the slide plate, and the slide plate transmits the positioned axial flow fan blades.

[0020] In some embodiments, the first manipulator comprises:

[0021] A mobile bracket, wherein the mobile bracket is provided with a first motor, and a rotating shaft of the first motor is connected to a first gripper cylinder.

[0022] The first motor is connected to the first sensor. When the blades of the axial flow fan blade do not fall into the groove, the first motor rotates the first gripper cylinder, and the first gripper cylinder drives the axial flow fan blade to rotate around the axis core and makes the blades of the axial flow fan blade fall into the groove.

[0023] In some embodiments, the mobile bracket includes a first guide rail, a second guide rail is slidably connected to the first guide rail, the first guide rail extends along the X-axis and is the same as the transmission direction of the conveyor belt, and the second guide rail extends along the Y-axis.

[0024] The first motor is slidably connected to the second guide rail, and the rotating shaft of the first motor points to the belt surface of the transmission belt.

[0025] In some embodiments, the second positioning fixture includes a roller line for transmitting an external unit of the axial flow fan blade to be installed.

[0026] The roller line is divided into a first station and a second station.

[0027] The drum line where the first station is located is correspondingly provided with a first fixed component, the first fixed component supports the external unit, and the first movable component is opposite to the first fixed component and pre-assembled with axial flow fan blades;

[0028] A second fixing assembly is correspondingly provided on the drum line where the second station is located. The second fixing assembly clamps and fixes the external unit. The second moving assembly enables a nut to fix the axial flow fan blade and the fan blade motor mounting shaft of the external unit.

[0029] In some embodiments, the first fixing component includes:

[0030] a first guide rod, the first guide rod extending along the roller line close to the side edge of the roller line, the first guide rod being opposite to the first moving assembly,

[0031] a first cylinder, wherein the first cylinder is located above the first guide rod, and an extended end of the first cylinder is opposite to the first moving assembly;

[0032] A first stopper is located at an output port of the first station.

[0033] In some embodiments, the second fixing assembly includes:

[0034] a second guide rod, the second guide rod being close to the side of the roller line,

[0035] A second cylinder, wherein a clamping plate is connected to the telescopic end of the second cylinder, a slide rail is slidably connected to the bottom of the clamping plate, the clamping plate is opposite to the second guide rod, and the second cylinder drives the clamping plate to move closer to the second guide rod or away from the second guide rod along the slide rail to clamp the external unit;

[0036] A third cylinder and a fourth cylinder, both of which are located above the drum line and on both sides of the drum line, respectively, and the telescopic end of the third cylinder and the telescopic end of the fourth cylinder clamp the upper part of the external machine;

[0037] A second stopper is located at an output port of the second station.

[0038] In some embodiments, the first moving assembly includes: a first robot, a second gripper cylinder, a first camera, and a second motor are disposed at the end of the first robot, and the first camera and the second gripper cylinder are disposed side by side.

[0039] The first camera acquires a positioning image of the axial flow fan blade on the first positioning fixture, the rotating shaft of the second motor is connected to the second gripper cylinder, and the second motor corrects the direction in which the second gripper cylinder grabs the axial flow fan blade according to the positioning image.

[0040] The first robot drives the second gripper cylinder to transfer the axial flow fan blade to the first station and completes pre-assembly.

[0041] In some embodiments, the second moving component includes:

[0042] A second robot, wherein a nut electric screwdriver assembly and a second camera are disposed at the end of the second robot, and the second camera and the nut electric screwdriver assembly are disposed side by side.

[0043] The nut electric screwdriver assembly includes a mounting seat, a base plate and a fifth cylinder are provided on the mounting seat, a slider is slidably connected to the base plate, a servo intelligent electric screwdriver is fixed on the slider, a nut electric screwdriver head is connected to the outer end of the servo intelligent electric screwdriver, and the fifth cylinder is connected to the slider and drives the slider to move.

[0044] The slider drives the servo intelligent electric screwdriver and the nut electric screwdriver head to move to the axial flow fan blade, and the servo intelligent electric screwdriver drives the nut on the nut electric screwdriver head to fix the axial flow fan blade and the fan blade motor mounting shaft of the external unit.

[0045] In some embodiments, a light source is disposed at the front end of each of the first camera and the second camera.

[0046] Beneficial effects of the automatic axial flow fan blade assembly device of the present invention:

[0047] The automatic assembly equipment for axial flow fan blades of the present invention positions the axial flow fan blades to be installed by a first positioning fixture, so as to facilitate the subsequent accurate transfer of the axial flow fan blades, and positions the external unit on which the axial flow fan blades are to be installed by a second positioning fixture, so as to facilitate the subsequent pre-assembly of the axial flow fan blades and the fan motor mounting shaft on the external unit; the axial flow fan blades on the first positioning fixture are clamped by a first moving component and pre-assembled on the external unit on the second positioning fixture, and then the nuts are clamped by a second moving component and fixedly assembled with the nuts, so as to realize the automatic assembly of the axial flow fan blades on the fan motor mounting shaft of the external unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic structural diagram of an axial flow fan blade automatic assembly device according to an embodiment of the present invention.

[0049] Figure 2 It is a schematic structural diagram of a first positioning fixture according to an embodiment of the present invention.

[0050] Figure 3 It is a partial structural schematic diagram of the first positioning fixture of the embodiment of the present invention.

[0051] Figure 4 It is a schematic structural diagram of a first manipulator according to an embodiment of the present invention.

[0052] Figure 5 It is a partial structural schematic diagram of the first manipulator of an embodiment of the present invention.

[0053] Figure 6 It is a schematic structural diagram of the first moving component of an embodiment of the present invention.

[0054] Figure 7 It is a partial structural schematic diagram of the first moving component of an embodiment of the present invention.

[0055] Figure 8 It is a schematic diagram of the structure of the second moving component of the embodiment of the present invention.

[0056] Fig. 9 It is a partial structural schematic diagram of the second moving component of the embodiment of the present invention.

[0057] Fig.10 It is a schematic structural diagram of a second positioning fixture according to an embodiment of the present invention.

[0058] Fig.11 It is a partial structural schematic diagram of a second positioning fixture according to an embodiment of the present invention.

[0059] Reference numerals

[0060] 1. Axial flow fan blade; 21. External unit;

[0061] 3. The first positioning fixture;

[0062] 35. Positioning chuck; 36. Limiting block; 6. Cavity; 7. Slot; 8. First sensor; 9. Cylinder; 10. Block; 11. Conveyor belt; 12. Second sensor; 13. Guide strip; 14. Expansion port; 15. Workbench; 16. Slide plate; 17. First motor; 18. First gripper cylinder; 19. First guide rail; 20. Second guide rail; 52. Electric cylinder;

[0063] 2. The second positioning fixture;

[0064] 22. Roller line; 23. First station; 24. Second station; 25. First guide rod; 26. First cylinder; 27. First stopper;

[0065] 28. second guide rod; 29. ​​second cylinder; 30. clamping plate; 31. slide rail; 32. third cylinder; 33. fourth cylinder; 34. second stopper; 51. first manipulator;

[0066] 4. A first moving component;

[0067] 37. first robot; 38. second gripper cylinder; 39. first camera; 40. second motor;

[0068] 5. The second mobile component;

[0069] 41. Second robot; 42. Second camera; 43. Mounting seat; 44. Bottom plate; 45. Fifth cylinder; 46. Slider; 47. L-shaped connecting plate; 48. Nut vibration plate; 49. Nut feeder; 50. Light source; 53. Servo intelligent electric screwdriver; 54. Nut electric screwdriver head. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0071] The terms used in the present invention are only for the purpose of describing specific implementation regulations, and are not intended to limit the present invention. The singular forms "a", "the" used in the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0072] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0073] Example 1

[0074] At present, due to the irregular structure of the axial flow fan blades 1, under this limitation, when assembling the axial flow fan blades 1 of the air conditioner outdoor unit 21, it is necessary to take the axial flow fan blades 1 from the tooling rack where the axial flow fan blades 1 are placed and assemble them on the fan motor mounting shaft on the motor bracket, and then use a fan screw to tighten the nuts to fix the assembled axial flow fan blades 1 to the fan motor shaft, and repeat the operation in this cycle.

[0075] The above-mentioned installation method of the axial flow fan blade 1 has the following disadvantages: First, the manual operation is single-action, and long-term operation is easy to fatigue, which may cause the nut to be missed or not in place. Second, the manual assembly and fixation has a low degree of automation, which is not conducive to the development of the company in the current era of sharply increasing labor costs and labor shortages.

[0076] For technical questions, see Figure 1 This embodiment discloses an automatic assembly device for an axial flow fan blade 1, comprising:

[0077] A first positioning fixture 3 is provided on which the axial flow fan blade 1 to be installed is positioned.

[0078] The second positioning fixture 2 is used to position the external unit 21 to be installed with the axial flow fan blade 1.

[0079] A first moving assembly 4, which clamps the axial flow fan blade 1 on the first positioning fixture 3 and pre-assembles it to the external unit 21 on the second positioning fixture 2;

[0080] The second moving component 5 clamps the nut and fixes the nut to assemble the axial flow fan blade 1 and the fan blade motor installation shaft of the external unit 21.

[0081] The above-mentioned automatic assembly equipment of axial flow fan blades 1 positions the axial flow fan blades 1 to be installed through the first positioning fixture 3, so as to facilitate the subsequent accurate transfer of the axial flow fan blades 1, and positions the external unit 21 to be installed with the axial flow fan blades 1 through the second positioning fixture 2, so as to facilitate the subsequent pre-assembly of the axial flow fan blades 1 and the fan motor mounting shaft on the external unit 21; the axial flow fan blades 1 on the first positioning fixture 3 are clamped by the first moving component 4 and pre-assembled on the external unit 21 on the second positioning fixture 2, and then the nut is clamped by the second moving component 5 and the nut is fixedly assembled with the axial flow fan blades 1 and the fan motor mounting shaft of the external unit 21, so as to realize the automatic assembly of the axial flow fan blades 1 on the fan motor mounting shaft of the external unit 21.

[0082] Example 2

[0083] To further explain how the first positioning fixture 3 can accurately position the axial flow fan blade 1, based on Example 1, refer to Figures 2 to 5This embodiment discloses that: the first positioning fixture 3 includes a positioning chuck 35, the positioning chuck 35 includes a plurality of limit blocks 36, one end of the plurality of limit blocks 36 is surrounded by a cavity 6 for placing the axial core of the axial flow fan blade 1,

[0084] The other end of the limiting block 36 extends outwards and a groove 7 for placing a single blade of the axial flow fan blade 1 is formed between adjacent limiting blocks 36.

[0085] The positioning block 36 is placed in a position to form a positioning chuck 35 that is adapted to the appearance of the axial flow fan blade 1, so that the axial flow fan blade 1 can be inserted into the positioning chuck 35 to be positioned.

[0086] A first sensor 8 is disposed on the top surface of the limiting block 36 for detecting whether the blade of the axial flow fan blade 1 to be positioned falls into the groove 7 .

[0087] Since the top surface of the limiting block 36 is provided with the first sensor 8, when the blade of the axial flow fan blade 1 does not fall into the groove 7, the blade will touch the first sensor 8. At this time, the position of the axial flow fan blade 1 is adjusted by the signal transmitted by the first sensor 8, so that the axial flow fan blade 1 is correctly placed in the groove 7, and the axial flow fan blade 1 is accurately positioned. Exemplarily, three limiting blocks 36 are provided, and the three limiting blocks 36 can be set to surround three grooves 7. Among them, the limiting block 36 is provided with a mounting hole for placing the first sensor 8 to prevent the first sensor 8 from scratching the axial flow fan blade 1 when it is raised.

[0088] In this embodiment, a push cylinder 9 is also included. The push cylinder 9 is arranged in the groove 7 and points to the cavity 6. The push cylinder 9 pushes the side wall of the shaft core so that the shaft core is tightly attached to the cavity.

[0089] The push-up cylinder 9 is located in the profile groove 7, wherein the size of the profile groove 7 can be constructed to be larger, so even if the push-up cylinder 9 is located in the profile groove 7, it will not hinder the placement of the blades of the axial flow fan 1, and the push-up cylinder 9 is arranged as close to the bottom of the profile groove 7 as possible, and the blades are generally located above the bottom of the profile groove 7. At this time, the push-up cylinder 9 will not hinder the blades from being placed in the profile groove 7. When the push-up cylinder 9 pushes against the shaft core, the shaft core is tightly attached to the wall of the cavity 6 under the pushing action of the telescopic end of the push-up cylinder 9, thereby achieving the function of fixing the axial flow fan 1.

[0090] Furthermore, a baffle 10 is provided at the telescopic end of the abutting cylinder 9, and the baffle 10 is adapted to the outer peripheral wall of the shaft core, so as to prevent the axial flow fan blade 1 from rotating when the positioning chuck 35 is conveying the fan blade, thereby affecting the subsequent clamping of the axial flow fan blade 1.

[0091] In this embodiment, a conveyor belt 11 and a first manipulator 51 are also included. The conveyor belt 11 is close to the first positioning fixture 3. A second sensor 12 is provided at the outlet end of the conveyor belt 11. The second sensor is connected to the first manipulator 51.

[0092] When the axial flow fan blade 1 to be installed is transmitted to the outlet end, the first manipulator 51 grabs and transfers the axial flow fan blade 1 on the conveyor belt 11 to the positioning chuck 35 .

[0093] The conveyor belt 11 is used to convey the axial flow fan blade 1 to be installed, wherein, when the axial flow fan blade 1 to be installed is conveyed to the outlet end, the second sensor 12 obtains the signal that the axial flow fan blade 1 is in place, and the first manipulator 51 grabs and transfers the axial flow fan blade 1 on the conveyor belt 11 to the positioning chuck 35, thus realizing the process from conveying to positioning the axial flow fan blade 1. The second sensor is a detection photoelectric sensor.

[0094] In this embodiment, brackets are respectively provided on both sides of the conveyor belt 11, and guide strips 13 are installed on the brackets. The guide strips 13 are located above the belt surface of the conveyor belt 11 and extend along the length direction of the conveyor belt 11.

[0095] The outlet end of the guide strip 13 is close to the first positioning fixture 3 , and the inlet end of the guide strip 13 is far away from the first positioning fixture 3 , and the inlet end is configured as an expansion opening 14 .

[0096] The guide strip 13 with the expansion opening 14 enables the axial flow fan blade 1 to ensure that the position of the axial flow fan blade 1 remains unchanged when being grabbed. Here, the axial flow fan blade 1 is always in the middle of the conveyor belt 11, ensuring that after the conveyor belt 11 stops, the position of the axial flow fan blade 1 remains unchanged when taking materials, and at the same time accurately guides the flow to the first positioning fixture 3.

[0097] In this embodiment, a workbench 15 is further included. The workbench 15 is spliced ​​with the conveyor belt 11. A slide plate 16 is slidably connected to the workbench 15. The positioning chuck 35 is arranged on the slide plate 16. The slide plate 16 transmits the positioned axial flow fan blade 1.

[0098] The positioning chuck 35 is set on the workbench 15, and the positioning chuck 35 is moved by the slide plate 16 on the workbench 15, so that the axial flow fan blade 1 of the positioning chuck 35 can be processed at different spatial positions. Specifically, an electric cylinder 52 is set on the workbench 15, and the electric cylinder 52 drives the slide plate 16 to move.

[0099] In this embodiment, the first manipulator 51 includes:

[0100] A mobile bracket is provided with a first motor 17, and a rotating shaft of the first motor 17 is connected to a first gripper cylinder 18.

[0101] The mobile bracket moves the first gripper cylinder 18 to move the axial flow fan blade 1. The first gripper cylinder 18 is an existing gripper cylinder. The first gripper cylinder 18 has three grippers, which can grip the shaft core of the axial flow fan blade 1.

[0102] The first motor 17 is connected to the first sensor. When the blades of the axial flow fan blade 1 do not fall into the groove 7, the first motor 17 rotates the first gripper cylinder 18. The first gripper cylinder 18 drives the axial flow fan blade 1 to rotate around the axis core and makes the blades of the axial flow fan blade 1 fall into the groove 7.

[0103] Since the first sensor is arranged on the limit block 36, when the axial flow fan blade 1 is placed on the limit block 36, the first sensor will send a signal, and the signal will be fed back to the controller. The controller controls the first motor 17 to rotate so that the first gripper rotates, thereby adjusting the position of the axial flow fan blade 1 so that the blades on the axial flow fan blade 1 fall into the groove 7.

[0104] The first motor 17 rotates to correct the position of the axial flow fan blade 1. If the first sensor detects a signal, it means that the blade of the axial flow fan blade 1 is not aligned with the groove 7 of the positioning chuck 35, and the motor needs to rotate to correct the blade position of the axial flow fan blade 1 so that the blade can be placed in the groove 7 of the positioning chuck 35. If the first sensor does not detect a signal, it means that the blade is aligned with the groove 7, and the rotation can be stopped at this time. After a delay of one second, the axial flow fan blade 1 is loosened and placed in the positioning chuck 35 for positioning.

[0105] In this embodiment, the mobile bracket includes a first guide rail 19, and a second guide rail 20 is slidably connected to the first guide rail 19. The first guide rail 19 extends along the X-axis and is the same as the transmission direction of the transmission belt 11. The second guide rail extends along the Y-axis.

[0106] The first motor 17 is slidably connected to the second guide rail 20 , and the rotating shaft of the first motor 17 points to the belt surface of the conveyor belt 11 .

[0107] Therefore, the first motor 17 is arranged on the second guide rail 20, and the second guide rail 20 can drive the first motor 17 to move, thereby driving the first gripper cylinder 18 arranged on the first motor 17 to move, wherein the first motor 17 is slidably connected to the second guide rail 20 through a mounting plate, and the first motor 17 slides along the Y-axis direction of the second guide rail 20, and then the second guide rail 20 slides along the X-axis direction of the first guide rail 19, so that the first gripper cylinder 18 can move in a two-dimensional space, and the movement along the X-axis direction can transfer the axial flow fan blade 1 on the conveyor belt 11 to the top of the positioning chuck 35 on the workbench 15, and then move along the Y-axis direction so that the axial flow fan blade 1 is placed on the positioning chuck 35.

[0108] Example 3

[0109] To further explain how the second positioning fixture 2 can accurately position the external unit 21, based on Example 2, refer to Figures 10-11 , this embodiment discloses:

[0110] The second positioning fixture 2 includes an outer unit 21 and a roller line 22 for transmitting the axial flow fan blade 1 to be installed.

[0111] The roller line 22 is divided into a first station 23 and a second station 24.

[0112] The drum line 22 where the first station 23 is located is provided with a first fixed component correspondingly, the first fixed component supports the external unit 21, and the first movable component 4 is opposite to the first fixed component and pre-assembled with the axial flow fan blade 1;

[0113] The drum line 22 where the second station 24 is located is correspondingly provided with a second fixing component, the second fixing component clamps and fixes the external machine 21, and the second moving component 5 enables a nut to fix the axial flow fan blade 1 and the fan blade motor mounting shaft of the external machine 21.

[0114] Since the action of pre-assembling the axial flow fan blade 1 to the fan motor mounting shaft of the external unit 21 is different from the method of fixing the nut to connect the axial flow fan blade 1 and the fan motor mounting shaft of the external unit 21, it is necessary to divide the drum line 22 for positioning the external unit 21 into a first station 23 and a second station 24, wherein, when the axial flow fan blade 1 is pre-assembled at the first station 23, the axial flow fan blade 1 needs to be sleeved on the fan motor mounting shaft, therefore, when the first moving component 4 is sleeved into the axial flow fan blade 1, a thrust is generated on the entire external unit 21, and at this time, the first fixed component is located on the opposite side of the first moving component 4, and can support the entire external unit 21;

[0115] When the nut is assembled at the second station 24, the nut installation generates a large thrust. At this time, the second fixing assembly needs to be used to clamp the entire external machine 21 to prevent the external machine 21 from shaking and affecting the work.

[0116] In this embodiment, the first fixing component includes:

[0117] A first guide rod 25, the first guide rod 25 is close to the side of the roller line 22 and extends along the roller line 22, and the first guide rod 25 is opposite to the first moving component 4,

[0118] a first cylinder 26, wherein the first cylinder 26 is located above the first guide rod 25, and an extended end of the first cylinder 26 is opposite to the first moving assembly 4;

[0119] A first stopper 27 , wherein the first stopper 27 is located at an output port of the first station 23 .

[0120] The first guide rod 25 serves to fix the external unit 21 on the drum line 22, and the first cylinder 26 and the first guide rod 25 form a supporting role. The first cylinder 26 supports the top of the external unit 21. A condenser is arranged at the top of the external unit 21, so the first cylinder 26 is mainly used to support the condenser part, and the first guide rod 25 supports the bottom of the external unit 21; wherein, the first guide rod 25 and the first cylinder 26 are both opposite to the first moving assembly 4, and can better offset the force generated by the first moving assembly 4;

[0121] In addition, the first blocker 27 is located at the output port of the first station 23 to prevent the external machine 21 from outputting backwards before completing the processing of the first station 23 and affecting the processing at the first station 23 .

[0122] In this embodiment, the second fixing component includes:

[0123] A second guide rod 28, the second guide rod 28 is close to the side of the roller line 22,

[0124] A second cylinder 29, wherein a clamping plate 30 is connected to the telescopic end of the second cylinder 29, and a slide rail 31 is slidably connected to the bottom of the clamping plate 30, wherein the clamping plate 30 is opposite to the second guide rod 28, and the second cylinder 29 drives the clamping plate 30 to move closer to the second guide rod 28 or away from the second guide rod 28 along the slide rail 31 to clamp the external unit 21;

[0125] During use, after the first blocker 27 is lowered, the external machine 21 is transported to the second station 24 along the roller line 22, and the second guide rod 28 is opposite to the clamping plate 30. At this time, the second cylinder 29 drives the clamping plate 30 to approach the second guide rod 28, and the second guide rod 28 and the clamping plate 30 jointly clamp the bottom of the external machine 21. When the processing of the second station 24 is completed, the clamping plate 30 moves away from the second guide rod 28, releasing the clamping of the external machine 21.

[0126] Regarding the arrangement of the clamping plate 30 , more specifically, the two sides of the clamping plate 30 are respectively connected with the slide plates 16 , and the slide plates 16 move along the guide rails respectively. The slide plates 16 can move the clamping plate 30 more stably.

[0127] The third cylinder 32 and the fourth cylinder 33 are both located above the drum line 22 and are respectively located on both sides of the drum line 22. The telescopic end of the third cylinder 32 and the telescopic end of the fourth cylinder 33 clamp the upper part of the external unit 21. A condenser is provided at the upper position of the external unit 21. Therefore, the third cylinder 32 and the fourth cylinder 33 are mainly used to support the condenser part to prevent the condenser from shaking back and forth when tightening nuts.

[0128] The third cylinder 32 and the fourth cylinder 33 are respectively located above the drum line 22 and are arranged opposite to each other, so they can clamp the upper end of the external machine 21 together, further ensuring the stability of the external machine 21.

[0129] The second stopper 34 is located at the output port of the second station 24 .

[0130] The second blocker 34 can prevent the external unit 21 from moving on the drum line 22. When the processing of the second station 24 is completed, the second blocker 34 is lowered to complete the output of the external unit 21 assembled with the axial flow fan blades 1.

[0131] The first blocker 27 and the second blocker 34 are both provided with a cylinder under the roller line 22, and a baffle is connected at the telescopic end of the cylinder. The baffle is driven to rise or fall by the telescopic action of the cylinder to achieve a blocking state and a non-blocking state.

[0132] Example 4

[0133] To further explain how the first moving assembly 4 can accurately grasp the axial flow fan blade 1 on the first positioning fixture 3, based on Example 2, please refer to Figure 6 , 7 , this embodiment discloses:

[0134] The first moving assembly 4 includes: a first robot 37, a second gripper cylinder 38, a first camera 39 and a second motor 40 are disposed at the end of the first robot 37, and the first camera 39 and the second gripper cylinder 38 are disposed side by side.

[0135] The first camera 39 and the second gripper cylinder 38 are arranged side by side through the mounting plate, and the mounting plate is mounted on the end of the first robot 37 through a flange plate, so that the working end of the second gripper cylinder 38 can be consistent with the photographing end of the first camera 39, and the first camera 39 can always obtain the current position of the axial flow fan blade 1, so that the second gripper cylinder 38 can accurately grasp the axial flow fan blade 1.

[0136] The first camera 39 obtains a positioning image of the axial flow fan blade 1 on the first positioning fixture 3, and the rotating shaft of the second motor 40 is connected to the second gripper cylinder 38. The second motor 40 corrects the direction in which the second gripper cylinder 38 grabs the axial flow fan blade 1 through the positioning image.

[0137] The first robot 37 drives the second gripper cylinder 38 to transfer the axial flow fan blade 1 to the first station 23 and complete the pre-assembly.

[0138] Example 5

[0139] To further explain how the second moving assembly 5 can accurately grasp the nut and install the nut on the external machine 21, based on Example 2, refer to Figure 8 , 9 , this embodiment discloses:

[0140] The second moving component 5 comprises:

[0141] A second robot 41, wherein a nut electric screwdriver assembly and a second camera 42 are disposed at the end of the second robot 41, and the second camera 42 and the nut electric screwdriver assembly are disposed side by side.

[0142] The second camera 42 and the nut screwdriver assembly are arranged side by side through the mounting plate, and the mounting is installed at the end of the second robot 41 through a flange, so that the working end of the nut screwdriver assembly can be consistent with the photographing end of the second camera 42, and the second camera 42 can always obtain the current position of the axial flow fan blade 1, so that the nut screwdriver assembly can accurately grasp the nut and install the nut on the axial flow fan blade 1 and the motor shaft.

[0143] The nut electric screwdriver assembly includes a mounting seat 43, a base plate 44 and a fifth cylinder 45 are provided on the mounting seat 43, a slider 46 is slidably connected to the base plate 44, a servo intelligent electric screwdriver 53 is fixed to the slider 46, a nut electric screwdriver head is connected to the outer end of the servo intelligent electric screwdriver 53, and the fifth cylinder 45 is connected to the slider 46 through an L-shaped connecting plate 47, thereby driving the slider 46 to move.

[0144] The slider 46 drives the servo intelligent electric screwdriver 53 and the nut electric screwdriver head to move to the axial flow fan blade 1, and the servo intelligent electric screwdriver 53 drives the nut on the nut electric screwdriver head to fix the axial flow fan blade 1 and the fan blade motor mounting shaft of the external unit 21.

[0145] The nut electric screwdriver head is connected to the servo intelligent electric screwdriver 53, which can drive the nut electric screwdriver head to rotate so that the nut on the nut electric screwdriver head is installed on the motor shaft. The fifth cylinder 45 telescopically moves to drive the base plate 44 to move relative to the mounting seat 43, so that the servo intelligent electric screwdriver 53 drives the nut electric screwdriver head to move and align it with the motor shaft for installation.

[0146] Furthermore, a nut vibration plate 48 and a nut feeder 49 are installed on one side of the second robot 41. The nut vibration plate 48 feeds the nuts from the funnel into the nut feeder 49 by vibration, and the second robot 41 drives the nut electric screwdriver assembly to pick up nuts from the nut slot of the nut feeder 49.

[0147] In this embodiment, a light source 50 is disposed at the front end of each of the first camera 39 and the second camera 42 .

[0148] Advantageously, the light source 50 is designed to be annular, and the camera is located in the middle of the annular light source 50, which can further obtain a clearer image.

[0149] Example 6

[0150] To illustrate the implementation process of the present invention, the following process is exemplarily described:

[0151] Before starting the equipment, the employee presses the reset button on the human-machine interface, and then presses the start button. The conveyor belt 11 and the roller line 22 start to run.

[0152] The axial flow fan blades 1 are transported through the guide strips 13 on the conveyor belt 11. After the second sensor detects the axial flow fan blades 1, the conveyor belt 11 stops running.

[0153] After the axial-flow fan blade 1 is in place, the first gripper cylinder 18 moves above the axial-flow fan blade 1. After the first gripper cylinder 18 reaches the position of the axial-flow fan blade 1, the first gripper cylinder 18 is inserted into the positioning T-slot of the axial-flow fan blade 1, and the first gripper cylinder 18 moves to grab the axial-flow fan blade 1. After the grabbing is completed, the first gripper cylinder 18 is reset to just above the positioning chuck 35, and then the first gripper cylinder 18 moves downward again, driving the axial-flow fan blade 1 to move downward. If the second sensor detects a signal, the first motor 17 starts to move, and the first motor 17 drives the first gripper cylinder 18 to rotate until the second sensor detects no signal, and the first motor 17 stops rotating. After a delay of 1 second, the three-claw cylinder A 30 releases and places the axial-flow fan blade 1 into the groove 7 of the positioning chuck 35.

[0154] After the axial flow fan blade 1 is placed in the groove 7, the abutting cylinder 9 is actuated to clamp the axis core position of the axial flow fan blade 1, so that the axial flow fan blade 1 is fixed and cannot rotate. After the axial flow fan blade 1 is fixed, the electric cylinder 52 starts to move, driving the positioning chuck 35 to move to the position for grabbing the axial flow fan blade 1. After the axial flow fan blade 1 is in place, the first robot 37 starts to move and drives the second gripper cylinder 38 to move to the top of the already positioned axial flow fan blade 1. After moving into place, the first camera 39 takes a photo of the T-shaped positioning groove of the axial flow fan blade 1 for positioning. After the photo is taken for positioning, the position of the clamping jaw of the second gripper cylinder 38 can be corrected according to the position information by rotating the second motor 40 to ensure that the clamping jaw of the second gripper cylinder 38 can grab the T-shaped slot of the axial flow fan blade 1.

[0155] After the camera positioning is completed, the first robot 37 drives the second gripper cylinder 38 to the T-shaped positioning groove of the axial flow fan blade 1. After it is in place, the second gripper cylinder 38 starts to move and grabs the axial flow fan blade 1. After the grabbing is completed, the abutting cylinder 9 resets and releases. After the abutting cylinder 9 is released, the first robot 37 drives the second gripper cylinder 38 and the first camera 39 to move to the pre-assembly position of the axial flow fan blade 1, waiting for the outdoor unit 21 on the drum line 22 to arrive at the first station 23. The air conditioner outdoor unit 21 is transported to the first blocker 27 through the drum line 22 and stops. After the outdoor unit 21 arrives and stops,

[0156] The first cylinder 26 is actuated to press against the back of the condenser of the external unit 21. The first cylinder 26 is used here to push the condenser to prevent the condenser from shaking due to the force when assembling the axial flow fan blades 1, thereby ensuring that the axial flow fan blades 1 are smoothly assembled on the fan blade mounting shaft. At the same time, the first robot 37 drives the first camera 39 to take photos and locate the position of the axial flow fan blade 1 mounting shaft on the external unit 21. After the photo positioning is completed, the first robot 37 drives the second gripper cylinder 38 and the first camera 39 to pre-assemble the axial flow fan blade 1 on the fan blade mounting shaft of the external unit 21.

[0157] The air conditioner outdoor unit 21 continues to be transported to the second blocker 34 through the drum line 22 and stops. Then the second cylinder 29 acts to drive the clamping plate 30 to move, thereby pushing the air conditioner outdoor unit 21 to move to the second guide rod 28, completing the positioning of the outdoor unit 21 bottom bracket, and the third cylinder 32 and the fourth cylinder 33 act simultaneously to clamp the air conditioner condenser to prevent the condenser from shaking when the axial flow fan blade 1 is nutted. After the condenser is clamped, the second robot 41 drives the nut electric screwdriver assembly to the nut feeder 49 to pick up the nut. After picking up the nut, the second robot 41 drives the second camera 42 to move to the front of the fan blade installation shaft of the outdoor unit 21 to take pictures and position the fan blade installation shaft. After the photo positioning is completed, the second robot 41 drives the nut electric screwdriver head to move to the front of the fan blade installation shaft. After moving to the position, the fifth cylinder 45 extends. After the extension is completed, the servo intelligent electric screwdriver 53 acts to fix the nut on the nut electric screwdriver head to the installation shaft installed with the axial flow fan blade 1, so that the axial flow fan blade 1 is locked and fixed to the installation shaft.

[0158] The above method: the picking, assembly, and locking of the axial fan blade 1 all use the robot and machine vision guidance function, which can achieve rapid picking, assembly, and locking while ensuring the accuracy and stability of the nut locking. The two-time visual photography automatic alignment function design records the position of the T-shaped positioning slot of the center hole of the axial fan blade 1 when grabbing, and takes a second photo to identify the D-shaped position of the assembly axis during assembly, and the robot arm automatically rotates for alignment. Online real-time scanning records the locking torque of the nut, and records the locking torque of the corresponding workpiece in the production process to achieve quality data traceability.

[0159] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0160] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0161] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0162] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0163] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic assembly device for axial flow fan blades, characterized in that: include: A first positioning fixture is used to position the axial flow fan blade to be installed. The second positioning fixture is used to position the external unit to be installed with the axial flow fan blades. a first moving assembly, which clamps the axial flow fan blades on the first positioning fixture and pre-assembles them on the external unit on the second positioning fixture; The second moving component clamps the nut and fixes the nut to assemble the axial flow fan blade and the fan motor mounting shaft of the external unit.

2. The automatic axial flow fan blade assembly equipment according to claim 1, characterized in that: The first positioning fixture comprises a positioning chuck, and the positioning chuck comprises a plurality of limiting blocks, one end of each of the plurality of limiting blocks is surrounded by a cavity for placing the shaft core of the axial flow fan blade. The other end of the limiting block extends outwards and a groove for placing a single blade of the axial flow fan blade is formed between adjacent limiting blocks. A first sensor is disposed on the top surface of the limiting block body, which is used to detect whether the blade of the axial flow fan blade to be positioned falls into the groove.

3. The automatic axial flow fan blade assembly equipment according to claim 2 is characterized in that: It also includes a push-up cylinder, which is arranged in the groove and points to the cavity. The push-up cylinder pushes the side wall of the shaft core so that the shaft core is closely attached to the cavity.

4. The automatic axial flow fan blade assembly equipment according to claim 2, characterized in that: It also includes a conveyor belt and a first manipulator, wherein the conveyor belt is close to the first positioning fixture, and a second sensor is provided at the outlet end of the conveyor belt, and the second sensor is connected to the first manipulator. When the axial flow fan blade to be installed is transmitted to the outlet end, the first manipulator grabs and transfers the axial flow fan blade on the conveyor belt to the positioning chuck.

5. The automatic axial flow fan blade assembly equipment according to claim 4, characterized in that: Brackets are respectively provided on both sides of the conveyor belt, and guide strips are installed on the brackets. The guide strips are located above the belt surface of the conveyor belt and extend along the length direction of the conveyor belt. The outlet end of the guide plate strip is close to the first positioning fixture, and the inlet end of the guide plate strip is far away from the first positioning fixture, and the inlet end is configured as an expansion opening.

6. The automatic axial flow fan blade assembly equipment according to claim 4, characterized in that: It also includes a workbench, which is spliced ​​with the conveyor belt. A slide plate is slidably connected to the workbench. The positioning chuck is arranged on the slide plate, and the slide plate transmits the positioned axial flow fan blades.

7. The automatic axial flow fan blade assembly equipment according to claim 4, characterized in that: The first manipulator comprises: A mobile bracket, wherein the mobile bracket is provided with a first motor, and a rotating shaft of the first motor is connected to a first gripper cylinder. The first motor is connected to the first sensor. When the blades of the axial flow fan blade do not fall into the groove, the first motor rotates the first gripper cylinder, and the first gripper cylinder drives the axial flow fan blade to rotate around the axis core and makes the blades of the axial flow fan blade fall into the groove.

8. The automatic axial flow fan blade assembly equipment according to claim 7, characterized in that: The mobile bracket includes a first guide rail, a second guide rail is slidably connected to the first guide rail, the first guide rail extends along the X-axis and is the same as the transmission direction of the transmission belt, and the second guide rail extends along the Y-axis. The first motor is slidably connected to the second guide rail, and the rotating shaft of the first motor points to the belt surface of the transmission belt.

9. The automatic axial flow fan blade assembly equipment according to claim 1, characterized in that: The second positioning fixture includes a roller line for transmitting an external unit of the axial flow fan blade to be installed, The roller line is divided into a first station and a second station. The drum line where the first station is located is provided with a first fixed assembly corresponding to the first fixed assembly, the first fixed assembly supports the external unit, and the first movable assembly is opposite to the first fixed assembly and pre-assembled with axial flow fan blades; A second fixing assembly is correspondingly provided on the drum line where the second station is located. The second fixing assembly clamps and fixes the external unit. The second moving assembly enables a nut to fix the axial flow fan blade and the fan blade motor mounting shaft of the external unit.

10. The automatic axial flow fan blade assembly equipment according to claim 9, characterized in that: The first fixing assembly comprises: a first guide rod, the first guide rod extending along the roller line close to the side edge of the roller line, the first guide rod being opposite to the first moving assembly, a first cylinder, wherein the first cylinder is located above the first guide rod, and an extended end of the first cylinder is opposite to the first moving assembly; A first stopper is located at an output port of the first station.

11. The automatic axial flow fan blade assembly equipment according to claim 9, characterized in that: The second fixing assembly comprises: a second guide rod, the second guide rod being close to the side of the roller line, A second cylinder, wherein a clamping plate is connected to the telescopic end of the second cylinder, a slide rail is slidably connected to the bottom of the clamping plate, the clamping plate is opposite to the second guide rod, and the second cylinder drives the clamping plate to move closer to the second guide rod or away from the second guide rod along the slide rail to clamp the external unit; A third cylinder and a fourth cylinder, both of which are located above the drum line and on both sides of the drum line, respectively, and the telescopic end of the third cylinder and the telescopic end of the fourth cylinder clamp the upper part of the external machine; A second stopper is located at an output port of the second station.

12. The automatic axial flow fan blade assembly equipment according to claim 9, characterized in that: The first moving assembly includes: a first robot, a second gripper cylinder, a first camera and a second motor are arranged at the end of the first robot, and the first camera and the second gripper cylinder are arranged side by side. The first camera acquires a positioning image of the axial flow fan blade on the first positioning fixture, the rotating shaft of the second motor is connected to the second gripper cylinder, and the second motor corrects the direction in which the second gripper cylinder grabs the axial flow fan blade according to the positioning image. The first robot drives the second gripper cylinder to transfer the axial flow fan blade to the first station and completes pre-assembly.

13. The automatic axial flow fan blade assembly equipment according to claim 11, characterized in that: The second moving component comprises: A second robot, wherein a nut electric screwdriver assembly and a second camera are disposed at the end of the second robot, and the second camera and the nut electric screwdriver assembly are disposed side by side. The nut electric screwdriver assembly includes a mounting seat, a base plate and a fifth cylinder are provided on the mounting seat, a slider is slidably connected to the base plate, a servo intelligent electric screwdriver is fixed on the slider, a nut electric screwdriver head is connected to the outer end of the servo intelligent electric screwdriver, and the fifth cylinder is connected to the slider and drives the slider to move. The slider drives the servo intelligent electric screwdriver and the nut electric screwdriver head to move to the axial flow fan blade, and the servo intelligent electric screwdriver drives the nut on the nut electric screwdriver head to fix the axial flow fan blade and the fan blade motor mounting shaft of the external unit.

14. The automatic axial flow fan blade assembly equipment according to claim 12, characterized in that: A light source is disposed at the front end of the first camera and the second camera.

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