An intelligent assembling robot for industrial air conditioner processing

Abstract

This invention relates to the field of assembly and processing technology, and discloses an intelligent assembly robot for industrial air conditioner processing. The robot includes a machine tool platform, a lifting mechanism fixedly connected to the bottom of the machine tool platform, a base fixing mechanism fixedly connected to the top of the lifting mechanism, an air conditioner base placed on the top of the base fixing mechanism, a first moving mechanism at the top of the machine tool platform, a second moving mechanism fixedly connected to the bottom of the first moving mechanism, and an assembly robot arm fixedly connected to the bottom of the second moving mechanism. A suction cup is movably connected to the bottom of the assembly robot arm. The invention uses the suction cup to place the air conditioner base above the base fixing mechanism. Electromagnets generate magnetic attraction between the air conditioner base and the base, causing the air conditioner base to move downwards and driving the sealing plate downwards. Gas from the gas storage chamber is then introduced into the gas tank through a gas channel, pushing the moving plate and the push rod towards the air conditioner base, automatically fixing the air conditioner base and preventing horizontal movement.

Description

Technical Field

[0001] This invention relates to the field of assembly and processing technology, and more specifically to an intelligent assembly robot for industrial air conditioning processing. Background Technology

[0002] Industrial air conditioning refers to air conditioning equipment that provides environmental temperature, humidity, and cleanliness guarantees for the reliable operation of industrial product production processes or industrial process equipment. Examples include constant temperature and humidity air conditioners used to ensure the normal operation of equipment in electrical control rooms, special high-temperature environment air conditioners used in mobile bridge cranes in steelmaking workshops, and low-temperature unit air conditioners used in meat processing workshops. Industrial air conditioning generally consumes a large amount of power, ranging from tens of kW to thousands of kW.

[0003] As a large-scale electromechanical equipment, the assembly process of industrial air conditioners involves the precise coordination of dozens of irregularly shaped components such as compressors, condensers, evaporators, and piping systems. During assembly, the base is first positioned and fixed. Then, the outer shell is connected to the base. After the connection, the internal components are placed inside the outer shell and connected to it. Finally, the top cover is fixed to the outer shell to complete the assembly.

[0004] When assembling industrial air conditioners, the base needs to be fixed first, usually by magnetic attraction. When magnetically fixed, the air conditioner base should not be separated from the fixed platform. However, when subjected to horizontal force, it is easy to move. Once the air conditioner base moves, subsequent operations will result in incorrect assembly positions, thus affecting the assembly quality.

[0005] During assembly, after the air conditioner casing is assembled, placing parts inside requires the robot to move a considerable distance, reducing work efficiency. When the robot performs assembly work, it needs to pick up parts using suction cups. Nowadays, robots are generally fixed in one place to work, so they cannot move over a wide range, making their work process inflexible and inconvenient. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide an intelligent assembly robot for industrial air conditioning processing to solve the technical problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intelligent assembly robot for industrial air conditioning processing, comprising a machine tool platform, a lifting mechanism fixedly connected to the bottom of the machine tool platform, a base fixing mechanism fixedly connected to the top of the lifting mechanism, an air conditioner base placed on the top of the base fixing mechanism, a first moving mechanism provided at the top of the machine tool platform, a second moving mechanism fixedly connected to the bottom of the first moving mechanism, an assembly robot fixedly connected to the bottom of the second moving mechanism, and a suction cup movably connected to the bottom of the assembly robot; the base fixing mechanism includes a support mounting plate, an electromagnet fixedly connected to the center of the top of the mounting plate, gas storage cavities opened on all four sides of the top of the electromagnet, a sealing plate movably connected inside the gas storage cavity, a connecting plate fixedly connected to the top of the sealing plate, a gas channel connected to the side of the gas storage cavity away from the electromagnet, a gas groove connected to the top of the gas channel, and a push rod movably connected inside the gas groove.

[0008] In a preferred embodiment, a parts conveyor belt is provided on the side of the base fixing mechanism, and a smart camera is fixedly connected to the bottom end of the side of the assembly robot. The smart camera moves synchronously with the suction cup, and the first moving mechanism is located directly above the working machine tool platform.

[0009] In a preferred embodiment, the sealing plate is internally movably connected to a fixing rod, the top of the fixing rod is fixedly connected to a fixing plate, the side of the fixing plate is fixedly connected to a mounting plate, a spring is sleeved on the side of the fixing rod, the spring is located at the bottom of the sealing plate, and the sealing plate and the gas storage chamber are in a sealed state.

[0010] In a preferred embodiment, a movable plate is movably connected inside the gas tank. The side of the movable plate near the electromagnet is fixedly connected to the side of the push rod. The movable plate and the gas tank are in a sealed state. A separator block is fixedly connected to the side of the movable plate away from the push rod.

[0011] In a preferred embodiment, the lifting mechanism includes a servo hydraulic cylinder that can provide power. A hydraulic rod is fixedly connected to the top of the servo hydraulic cylinder. The top of the hydraulic rod is fixedly connected to the bottom of the base fixing mechanism. Limit rods are fixedly connected to the four corners of the bottom of the base fixing mechanism. Limit cylinders are movably connected to the bottom of the side of the limit rods.

[0012] In a preferred embodiment, the first moving mechanism includes a supportable mounting frame, a first motor is fixedly connected to the side of the mounting frame, a first screw is fixedly connected to the side of the first motor, the first screw is located inside the mounting frame, a moving block is threadedly connected to the side of the first screw, and a support rod is movably connected to the inner side of the moving block away from the first screw, and the two sides of the support rod are fixedly connected to the interior of the mounting frame.

[0013] In a preferred embodiment, the second moving mechanism includes a connecting frame fixedly connected to the moving block. A second motor is fixedly connected to the side of the connecting frame, and a second screw is fixedly connected to the side of the second motor. The second screw is located inside the connecting frame, and a slider is threadedly connected to the side of the second screw. A limit plate is fixedly connected inside the connecting frame. A groove adapted to the slider is provided on the side of the slider, and the bottom end of the slider is fixedly connected to the top end of the assembly robot.

[0014] The technical effects and advantages of this invention are as follows:

[0015] 1. The assembly robot of the present invention places the air conditioner base above the base fixing mechanism by means of a suction cup. When the electromagnet is energized, a magnetic attraction force is generated between it and the air conditioner base. Therefore, the air conditioner base moves downward and drives the connecting plate and the sealing plate to move downward. When the sealing plate moves downward, the gas in the gas storage chamber is introduced into the gas tank through the gas channel. The gas pushes the moving plate and the push rod to move towards the air conditioner base, thereby automatically fixing the air conditioner base and preventing the air conditioner base from moving horizontally.

[0016] 2. After the base fixing mechanism of the present invention fixes the air conditioner base, during subsequent assembly, the servo hydraulic cylinder controls the hydraulic rod to move up and down. After fixing the air conditioner base, the hydraulic rod drives the air conditioner base to descend. At this time, when installing the outer shell, there is no need to rise a higher distance. After installing the outer shell, when installing its internal parts, the base fixing mechanism is located below when the parts are placed inside the outer shell. After placement, the hydraulic rod drives the base fixing mechanism to rise, which facilitates subsequent assembly.

[0017] 3. During assembly, the first motor starts and drives the first screw to rotate. When the first screw rotates, it drives the moving block to move. When the moving block moves, it drives the connecting frame to move. The second motor starts and drives the second screw to rotate. When the second screw rotates, it drives the slider to move within the connecting frame. The slider can drive the assembly robot to move in any direction on the horizontal plane, which is convenient for clamping different parts. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2This is a schematic diagram of the internal structure of the machine tool platform of the present invention.

[0020] Figure 3 This is a schematic diagram of the overall structure of the lifting mechanism of the present invention.

[0021] Figure 4 This is a schematic diagram of the overall structure of the base fixing mechanism of the present invention.

[0022] Figure 5 This is a schematic diagram of the internal structure of the base fixing mechanism of the present invention.

[0023] Figure 6 This is an exploded structural diagram of the base fixing mechanism of the present invention.

[0024] Figure 7 This is a schematic diagram of the internal structure of the gas tank of the present invention.

[0025] Figure 8 This is a schematic diagram of the first and second moving mechanisms of the present invention.

[0026] Figure 9 This is an exploded view of the first and second moving mechanisms of the present invention.

[0027] The attached figures are labeled as follows: 1. Machine tool platform; 2. Lifting mechanism; 201. Servo hydraulic cylinder; 202. Hydraulic rod; 203. Limiting cylinder; 204. Limiting rod; 3. Base fixing mechanism; 301. Mounting plate; 302. Electromagnet; 303. Connecting plate; 304. Sealing plate; 305. Fixing plate; 306. Fixing rod; 307. Spring; 308. Gas storage chamber; 309. Gas passage; 310. Gas tank; 311. Moving element. 312. Plate; 313. Top rod; 314. Separator block; 4. Parts conveyor belt; 5. First moving mechanism; 501. Mounting frame; 502. Moving block; 503. First screw; 504. First motor; 505. Support rod; 6. Second moving mechanism; 601. Connecting frame; 602. Limiting plate; 603. Slider; 604. Second screw; 605. Second motor; 7. Assembly robot; 8. Suction cup; 9. Smart camera; 10. Air conditioner base. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The intelligent assembly robot for industrial air conditioning processing involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Reference Figure 1 and Figure 2 This invention provides an intelligent assembly robot for industrial air conditioning processing, including a machine tool platform 1. A lifting mechanism 2 is fixedly connected to the bottom of the machine tool platform 1. A base fixing mechanism 3 is fixedly connected to the top of the lifting mechanism 2. An air conditioner base 10 is placed on the top of the base fixing mechanism 3. A first moving mechanism 5 is provided at the top of the machine tool platform 1. A second moving mechanism 6 is fixedly connected to the bottom of the first moving mechanism 5. An assembly robot arm 7 is fixedly connected to the bottom of the second moving mechanism 6. A suction cup 8 is movably connected to the bottom of the assembly robot arm 7. A parts conveyor belt 4 is provided on the side of the base fixing mechanism 3. An intelligent camera 9 is fixedly connected to the bottom of the side of the assembly robot arm 7. The intelligent camera 9 moves synchronously with the suction cup 8. The first moving mechanism 5 is located directly above the machine tool platform 1.

[0030] In this embodiment, the parts to be assembled can be delivered to the machine tool platform 1 via the parts conveyor belt 4. At this time, the assembly robot 7 can control the movement of the suction cup 8 to pick up and assemble various parts. The smart camera 9 moves synchronously with the suction cup 8 and can perform image recognition, making the assembly of this application more accurate.

[0031] Reference Figure 3 The lifting mechanism 2 includes a servo hydraulic cylinder 201 that can provide power. A hydraulic rod 202 is fixedly connected to the top of the servo hydraulic cylinder 201. The top of the hydraulic rod 202 is fixedly connected to the bottom of the base fixing mechanism 3. Limiting rods 204 are fixedly connected to the four corners of the bottom of the base fixing mechanism 3. Limiting cylinders 203 are movably connected to the bottom of the side of the limiting rods 204.

[0032] In this embodiment, when the servo hydraulic cylinder 201 is started, it can drive the hydraulic rod 202 to move. Therefore, the hydraulic rod 202 can move vertically, thereby driving the base fixing mechanism 3 to move. After the industrial air conditioner is assembled, its height is relatively high. Therefore, it is controlled to move downwards as a whole, so that the suction cup 8 can deliver the subsequent parts to the assembly point. When the base fixing mechanism 3 moves, the limiting rods 204 at the four corners of the bottom end of the base fixing mechanism 3 move within the limiting cylinder 203, thereby ensuring the stability of the base fixing mechanism 3 when it moves.

[0033] Reference Figure 4 , Figure 5 , Figure 6 as well as Figure 7The base fixing mechanism 3 includes a support mounting plate 301. An electromagnet 302 is fixedly connected to the center of the top of the mounting plate 301. Gas storage chambers 308 are provided on all four sides of the top of the electromagnet 302. A sealing plate 304 is movably connected inside the gas storage chamber 308. A connecting plate 303 is fixedly connected to the top of the sealing plate 304. A gas channel 309 is connected to the side of the gas storage chamber 308 away from the electromagnet 302. A gas groove 310 is connected to the top of the gas channel 309. A top rod 312 is movably connected inside the gas groove 310. A fixing rod is movably connected inside the sealing plate 304. 306, a fixing plate 305 is fixedly connected to the top of the fixing rod 306, the side of the fixing plate 305 is fixedly connected to the mounting plate 301, a spring 307 is sleeved on the side of the fixing rod 306, the spring 307 is located at the bottom of the sealing plate 304, the sealing plate 304 and the gas storage chamber 308 are in a sealed state, a movable plate 311 is movably connected inside the gas tank 310, the side of the movable plate 311 near the electromagnet 302 is fixedly connected to the side of the top rod 312, the movable plate 311 and the gas tank 310 are in a sealed state, a partition block 313 is fixedly connected to the side of the movable plate 311 away from the top rod 312.

[0034] In this embodiment, when the electromagnet 302 is energized, the air conditioner base 10, being a sheet metal part, will be attracted downwards. After the air conditioner base 10 is attracted downwards, its downward movement will cause the connecting plate 303 and the sealing plate 304 to move. The sealing plate 304 and the gas storage chamber 308 are in a sealed state, thus pushing the gas in the gas storage chamber 308 into the gas channel 309 and into the gas groove 310. This causes the moving plate 311 to move the push rod 312 towards the air conditioner base 10, thereby fixing the air conditioner base 10. The sealing plate 304 has a fixing rod 306 inside, making its movement more stable. A spring 307 is located below the sealing plate 304. Therefore, when the sealing plate 304 moves downwards, it compresses the spring 307. When the assembled industrial air conditioner is removed after assembly, the spring 307 will reset, causing the sealing plate 304 to reset. At this time, the sealing plate 304 moves downwards, causing... The gas in the gas tank 310 flows back into the gas storage chamber 308, causing the push rod 312 to move closer to the gas tank 310, making it easier to place the air conditioner base 10 on top of the base fixing mechanism 3 again. The side of the moving plate 311 away from 12 is provided with a partition block 313. Therefore, when the moving plate 311 moves away from 12, the partition block 313 leaves a certain distance between the side of the moving plate 311 and the gas tank 310, so that the gas in the gas channel 309 can enter the side of the partition block 313 away from the push rod 312, thereby allowing the moving plate 311 to move. In addition, it should be noted that when the partition block 313 contacts the gas tank 310, the side of the moving plate 311 away from the partition block 313 will not contact the top of the gas channel 309, preventing the gas in the gas channel 309 from entering the side of the moving plate 311 away from the partition block 313. When the sealing plate 304 moves to the bottom, the top of the sealing plate 304 will not connect with the gas channel 309, preventing gas leakage.

[0035] Reference Figure 8 and Figure 9The first moving mechanism 5 includes a supportable mounting frame 501. A first motor 504 is fixedly connected to the side of the mounting frame 501. A first screw 503 is fixedly connected to the side of the first motor 504. The first screw 503 is located inside the mounting frame 501. A moving block 502 is threadedly connected to the side of the first screw 503. A support rod 505 is movably connected to the inner side of the moving block 502 away from the first screw 503. Both sides of the support rod 505 are fixedly connected to the interior of the mounting frame 501. The second moving mechanism 6 includes a moving block 502... The connecting frame 601 is fixedly connected to the moving block 502. A second motor 605 is fixedly connected to the side of the connecting frame 601. A second screw 604 is fixedly connected to the side of the second motor 605. The second screw 604 is located inside the connecting frame 601. A slider 603 is threadedly connected to the side of the second screw 604. A limit plate 602 is fixedly connected inside the connecting frame 601. A sliding groove adapted to the slider 603 is opened on the side of the slider 603. The bottom end of the slider 603 is fixedly connected to the top end of the assembly robot 7.

[0036] In this embodiment, when the first screw 503 rotates, it causes the moving block 502 to move. When the moving block 502 moves, it drives the connecting frame 601 to move as a whole. When the second motor 605 starts, it drives the second screw 604 to rotate. When the second screw 604 rotates, it causes the slider 603 to move. Therefore, the slider 603 can move within the connecting frame 601, and the moving block 502 can drive the connecting frame 601 to move, thereby realizing arbitrary movement of the slider 603 in the horizontal direction. When the slider 603 moves arbitrarily, it drives the assembly robot 7 to move arbitrarily, increasing the movable position of the assembly robot 7. The support rod 505 can support the moving block 502 to ensure the stability of the moving block 502 when it moves. The limiting plate 602 supports the slider 603 to ensure the stability of the slider 603 when it moves. In addition, it should be noted that when the mounting frame 501 of this application is used, it will be connected to the wall or top of the assembly workshop to ensure that the mounting frame 501 is in a fixed state, thereby enabling the mounting frame 501 to perform stable support work.

[0037] The working principle of this invention is as follows: During assembly, the first motor 504 starts and drives the first screw 503 to rotate. When the first screw 503 rotates, the moving block 502 moves. When the moving block 502 moves, it drives the connecting frame 601 to move as a whole. When the connecting frame 601 moves, the second motor 605 on the side of the connecting frame 601 starts. When the second motor 605 starts, it drives the second screw 604 to rotate. When the second screw 604 rotates, it drives the slider 603 to move. Therefore, the slider 603 can move within the connecting frame 601, and the moving block 502 can drive the connecting frame 601 to move, thereby realizing the arbitrary movement of the slider 603 in the horizontal direction. When the slider 603 moves arbitrarily, it drives the assembly robot 7 to move arbitrarily, increasing the movable position of the assembly robot 7. After the assembly robot 7 moves to the location of the air conditioner base 10, the assembly robot 7 controls the suction cup 8 to pick up the air conditioner base 10, thereby placing the air conditioner base 10 above the base fixing mechanism 3. The smart camera 9 can observe and ensure that the air conditioner base 10 is placed above the base fixing mechanism 3.

[0038] When the air conditioner base 10 is placed above the base fixing mechanism 3, the air conditioner base 10 is located above the gas tank 310. The electromagnet 302 is activated and energized, generating a magnetic attraction between the electromagnet 302 and the air conditioner base 10, which causes the air conditioner base 10 to move downward and contact the mounting plate 301. When the air conditioner base 10 moves downward, it drives the connecting plate 303 to move downward. When the connecting plate 303 moves downward, it drives the sealing plate 304 to move. When the sealing plate 304 moves downward, it pushes the gas in the gas storage chamber 308 into the gas channel 309, and the gas enters the gas tank 310 through the gas channel 309. The gas entering the gas tank 310 causes the moving plate 311 to move towards the air conditioner base 10. When the moving plate 311 moves, it drives the top rod 312 to move and contact the side of the air conditioner base 10, thereby fixing the air conditioner base 10.

[0039] After the air conditioner base 10 is fixed, the suction cup 8 picks up the outer shell and brings it into contact with the air conditioner base 10. When the two are assembled, and new parts are installed into the outer shell again, the servo hydraulic cylinder 201 is activated and drives the hydraulic rod 202 to move. When the hydraulic rod 202 moves, it drives the base fixing mechanism 3 to move downward as a whole, thereby moving the air conditioner base 10 and the outer shell above it downward into the machine tool platform 1. At this time, it is convenient for the suction cup 8 to pick up the remaining parts and move them into the outer shell, avoiding the situation where the outer shell is too high and the suction cup 8 cannot move quickly. When the suction cup 8 delivers the parts into the outer shell, the servo hydraulic cylinder 201 controls the hydraulic rod 202 to move upward, thereby moving the base fixing mechanism 3 upward, so that the air conditioner base 10 can contact the parts picked up by the suction cup 8. When installing the next part, the base fixing mechanism 3 is controlled to descend again to facilitate the movement of the suction cup 8.

[0040] In conclusion, the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent assembly robot for industrial air conditioning processing, comprising a machine tool platform (1), characterized in that: The bottom of the machine tool platform (1) is fixedly connected to a lifting mechanism (2), and the top of the lifting mechanism (2) is fixedly connected to a base fixing mechanism (3). An air conditioner base (10) is placed on the top of the base fixing mechanism (3). The top of the machine tool platform (1) is provided with a first moving mechanism (5). The bottom of the first moving mechanism (5) is fixedly connected to a second moving mechanism (6). The bottom of the second moving mechanism (6) is fixedly connected to an assembly robot (7). The bottom of the assembly robot (7) is movably connected to a suction cup (8). The base fixing mechanism (3) includes a support mounting plate. (301) An electromagnet (302) is fixedly connected to the center of the top of the mounting plate (301). Gas storage cavities (308) are provided on all four sides of the top of the electromagnet (302). A sealing plate (304) is movably connected inside the gas storage cavity (308). A connecting plate (303) is fixedly connected to the top of the sealing plate (304). A gas channel (309) is connected to the side of the gas storage cavity (308) away from the electromagnet (302). A gas groove (310) is connected to the top of the gas channel (309). A top rod (312) is movably connected inside the gas groove (310). The base fixing mechanism (3) has a parts conveyor belt (4) on its side. The bottom of the side of the assembly robot (7) is fixedly connected to a smart camera (9). The smart camera (9) moves synchronously with the suction cup (8). The first moving mechanism (5) is located directly above the working machine tool platform (1). The sealing plate (304) is internally movably connected to the fixing rod (306). The top of the fixing rod (306) is fixedly connected to the fixing plate (305). The side of the fixing plate (305) is fixedly connected to the mounting plate (301). A spring (307) is sleeved on the side of the fixing rod (306). The spring (307) is located at the bottom of the sealing plate (304). The sealing plate (304) and the gas storage chamber (308) are in a sealed state. The gas tank (310) is movably connected to a movable plate (311). The side of the movable plate (311) near the electromagnet (302) is fixedly connected to the side of the push rod (312). The movable plate (311) and the gas tank (310) are in a sealed state. The side of the movable plate (311) away from the push rod (312) is fixedly connected to a separating pad (313).

2. The intelligent assembly robot for industrial air conditioning processing according to claim 1, characterized in that: The lifting mechanism (2) includes a servo hydraulic cylinder (201) that can provide power. A hydraulic rod (202) is fixedly connected to the top of the servo hydraulic cylinder (201). The top of the hydraulic rod (202) is fixedly connected to the bottom of the base fixing mechanism (3). Limiting rods (204) are fixedly connected to the four corners of the bottom of the base fixing mechanism (3). Limiting cylinders (203) are movably connected to the bottom of the side of the limiting rods (204).

3. The intelligent assembly robot for industrial air conditioning processing according to claim 1, characterized in that: The first moving mechanism (5) includes a supportable mounting frame (501). A first motor (504) is fixedly connected to the side of the mounting frame (501). A first screw (503) is fixedly connected to the side of the first motor (504). The first screw (503) is located inside the mounting frame (501). A moving block (502) is threadedly connected to the side of the first screw (503). A support rod (505) is movably connected to the inner side of the moving block (502) away from the first screw (503). Both sides of the support rod (505) are fixedly connected to the inside of the mounting frame (501).

4. The intelligent assembly robot for industrial air conditioning processing according to claim 3, characterized in that: The second moving mechanism (6) includes a connecting frame (601) fixedly connected to the moving block (502). A second motor (605) is fixedly connected to the side of the connecting frame (601). A second screw (604) is fixedly connected to the side of the second motor (605). The second screw (604) is located inside the connecting frame (601). A slider (603) is threadedly connected to the side of the second screw (604). A limit plate (602) is fixedly connected inside the connecting frame (601). A sliding groove adapted to the slider (603) is opened on the side of the slider (603). The bottom end of the slider (603) is fixedly connected to the top end of the assembly robot (7).

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