Processing method and device for automatic accessory placement of air conditioner outdoor unit

Abstract

The invention discloses a processing method and device for automatic accessory placement of an air conditioner outdoor unit. The method comprises the steps that a drainage connector is grabbed from a drainage connector vibration disc through a first robot, and meanwhile a bandage is grabbed from a bandage vibration disc through a second robot; hole sites in the air conditioner outdoor unit packaging material are positioned; the first robot is controlled to place the drainage connector at the first set position, and meanwhile the second robot is controlled to place the bandage at the second set position; after it is determined that the drainage connector and the bandage are placed at the set positions, the positions of the air conditioner outdoor unit, the drainage connector and the bandage are detected; and when the detection result shows that the position relation between the air conditioner outdoor unit and the drainage connector and the binding belt meets the target position relation, it is determined that the drainage connector and the binding belt are correctly placed on the air conditioner outdoor unit packaging material. The technical problem that in the prior art, in the production process of the air conditioner outdoor unit, a drainage connector and a binding belt are not installed in place, and follow-up assembly is affected is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation production, in particular, relates to a kind of air conditioner outdoor unit automatic accessory processing method and device. BACKGROUND

[0002] In the production process of air conditioner outdoor unit, in order to ensure the normal operation of equipment and the convenience of subsequent maintenance, drainage connector and bandaging tape need to be accurately installed at specific positions. If these two small volume, high precision parts are not installed properly, not only the performance of air conditioner outdoor unit will be affected, but also damage will be caused during transportation and storage, increasing the cost of rework.

[0003] At present, in most air conditioner outdoor unit production lines, the process of placing drainage connector and bandaging tape still relies on manual operation. This manual operation method has the following problems:

[0004] 1) Repetitive labor: manual placement of drainage connector and bandaging tape is a highly repetitive and labor-intensive task, which can easily lead to operator fatigue and reduce work efficiency.

[0005] 2) Precision problem: due to the small size of drainage connector and bandaging tape, and the need for high precision of installation hole position, manual operation cannot guarantee that each installation can reach the ideal position, thereby affecting the assembly quality of subsequent stations.

[0006] 3) Cost increase: manual operation requires continuous human input, especially in large-scale production, which significantly increases production costs.

[0007] 4) Safety: when manually transporting material frames and parts, there are certain safety hazards, such as parts falling, operator injury, etc.

[0008] Although, the prior art proposes an assembly line and assembly control method for drainage connector of air conditioner outdoor unit, which realizes automatic installation of drainage connector through robot operation, to a certain extent, solves the above-mentioned manual operation problem. However, this method still has certain limitations in actual application:

[0009] 1) Installation precision: the positioning precision of robot installation of drainage connector is still limited, especially in the hole position that needs high precision installation, there may be the case of installation not in place.

[0010] 2) Compatibility problem: for different types of drainage connector and bandaging tape, the robot clamp of this assembly line may need to be frequently replaced, which not only increases the complexity of equipment, but also reduces the flexibility and efficiency of production line.

[0011] 3) Site constraints: In the production line with limited site size, how to reasonably layout, avoid mutual interference, and realize efficient automatic assembly is a challenge.

[0012] Currently, there is no effective solution to the above problems. SUMMARY

[0013] Embodiments of the present application provide a kind of air conditioner outer machine automatic accessory processing method and device, to at least solve the technical problems of subsequent assembly in air conditioner outer machine production process caused by drainage connector and bandaging tape installation not in place.

[0014] According to an aspect of embodiments of the present application, an air conditioner outer machine automatic accessory processing method is provided, comprising: grabbing a drainage connector from a drainage connector vibration disc by a first robot, and simultaneously grabbing a bandaging tape from a bandaging tape vibration disc by a second robot; positioning a hole site on the packaging material of the air conditioner outer machine using a vision device to identify the position information of the hole site; controlling a first cylinder of the first robot to place the drainage connector to a first set position according to the position information, and simultaneously controlling a second cylinder of the second robot to place the bandaging tape to a second set position according to the position information; after determining that the drainage connector is placed to the first set position and determining that the bandaging tape is placed to the second set position, performing position detection on the air conditioner outer machine, the drainage connector and the bandaging tape to obtain a position detection result; when the position detection result indicates that the position relationship between the air conditioner outer machine and the drainage connector and the bandaging tape meets a target position relationship, it is determined that the drainage connector and the bandaging tape are correctly placed on the packaging material of the air conditioner outer machine.

[0015] Optionally, before grabbing the drainage connector from the drainage connector vibration disc by the first robot and simultaneously grabbing the bandaging tape from the bandaging tape vibration disc by the second robot, the processing method further comprises: controlling the drainage connector vibration disc and the bandaging tape vibration disc to vibrate to position the drainage connector and the bandaging tape; after determining that the drainage connector and the bandaging tape are positioned, conveying the positioned drainage connector to a first outlet end of the drainage connector vibration disc, and simultaneously conveying the positioned bandaging tape to a second outlet end of the bandaging tape vibration disc.

[0016] Optionally, the process involves a first robot picking up a drain connector from a drain connector vibratory feeder, and a second robot picking up a bandage from a bandage vibratory feeder. This includes: using a first photoelectric sensor located at the first outlet to monitor the material at the first outlet and obtain a first monitoring result; using a second photoelectric sensor located at the second outlet and obtain a second monitoring result; when the first monitoring result indicates that the drain connector is in place at the first outlet, controlling the first robot to pick up the drain connector from the drain connector vibratory feeder; and when the second monitoring result indicates that the bandage is in place at the second outlet, controlling the second robot to pick up the bandage from the bandage vibratory feeder.

[0017] Optionally, the process involves a first robot gripping a drain connector from a drain connector vibratory feeder, while a second robot grips a bandage from a bandage vibratory feeder. This includes: controlling the gripper cylinder of the first robot to actuate via a first solenoid valve, causing the first robot to grip the drain connector from the drain connector vibratory feeder; and controlling the three-axis cylinder of the second robot to actuate via a second solenoid valve, causing the second robot to grip the bandage from the bandage vibratory feeder.

[0018] Optionally, the positioning of holes on the packaging material of the air conditioner outdoor unit is achieved using a vision device to identify the position information of the holes. This includes: monitoring the position of the material placement area of ​​the roller line using a third photoelectric sensor installed on the roller line to obtain a third monitoring result; after the third monitoring result indicates that the air conditioner outdoor unit to be placed has flowed into the material placement area, controlling the roller blocking component at the material placement area to extend, and simultaneously controlling the side clamp at the material placement area to move to position the air conditioner outdoor unit; after confirming that the air conditioner outdoor unit has been successfully positioned, triggering the vision device to position the holes to identify the position information.

[0019] Optionally, after using a vision device to locate the holes on the air conditioner outdoor unit packaging material to identify the position information of the holes, the processing method further includes: comparing the position information with reference hole information to obtain a comparison result, wherein the reference hole information includes the following information of a normal hole: size, shape, and position information; when the position information indicates that the hole is not a normal hole, generating a prompt message, wherein the prompt message is used to indicate that the hole is an abnormal hole; when the position information indicates that the hole is a normal hole, generating an installation command, wherein the installation command is used to instruct the installation operation of the drain connector and the wrapping tape.

[0020] Optionally, the processing method further includes: when the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner and the drain connector and the wrapping tape does not meet the target positional relationship, generating an alarm message, wherein the alarm message is used to indicate that the drain connector and / or the wrapping tape are not installed in place.

[0021] According to another aspect of the present invention, an automatic accessory placement device for an air conditioner outdoor unit is also provided, comprising: a gripping unit for gripping a drain connector from a drain connector vibratory feeder by a first robot, and simultaneously gripping a packing strap from a packing strap vibratory feeder by a second robot; a positioning unit for positioning holes on the air conditioner outdoor unit packaging material using a vision device to identify the position information of the holes; a first control unit for controlling the first cylinder of the first robot to move the drain connector to a first preset position according to the position information, and simultaneously controlling the second cylinder of the second robot to move the packing strap to a second preset position according to the position information; a detection unit for performing position detection on the air conditioner outdoor unit, the drain connector, and the packing strap after determining that the drain connector is placed in the first preset position and the packing strap is placed in the second preset position, and obtaining a position detection result; and a determination unit for determining that the drain connector and the packing strap are correctly placed on the air conditioner outdoor unit packaging material when the position detection result indicates that the positional relationship between the air conditioner outdoor unit, the drain connector, and the packing strap satisfies a target positional relationship.

[0022] Optionally, the processing device further includes: a second control unit, configured to control the vibration of the drainage connector vibratory plate and the wrapping tape vibratory plate before the first robot picks up the drainage connector from the drainage connector vibratory plate and the second robot picks up the wrapping tape from the wrapping tape vibratory plate, so as to position the drainage connector and the wrapping tape; and a conveying unit, configured to, after determining that the drainage connector and the wrapping tape have been positioned, convey the positioned drainage connector to the first outlet end of the drainage connector vibratory plate and the positioned wrapping tape to the second outlet end of the wrapping tape vibratory plate.

[0023] Optionally, the second control unit includes: a first monitoring module, configured to monitor the material at the first outlet end using a first photoelectric sensor located at the first outlet end to obtain a first monitoring result, and to monitor the material at the second outlet end using a second photoelectric sensor located at the second outlet end to obtain a second monitoring result; a first determining module, configured to control the first robot to pick up the drain connector from the drain connector vibrating plate when the first monitoring result determines that the drain connector is in place at the first outlet end; and a second determining module, configured to control the second robot to pick up the wrapping tape from the wrapping tape vibrating plate when the second monitoring result determines that the wrapping tape is in place at the second outlet end.

[0024] Optionally, the gripping unit includes: a first control module for controlling the gripper cylinder of the first robot to actuate via a first solenoid valve, so that the first robot grips the drain connector from the drain connector vibrating plate; and a second control module for controlling the three-axis cylinder of the second robot to actuate via a second solenoid valve, so that the second robot grips the bandage from the bandage vibrating plate.

[0025] Optionally, the positioning unit includes: a second monitoring module, used to monitor the position of the material placement area of ​​the roller line using a third photoelectric sensor installed on the roller line, and obtain a third monitoring result; a third control module, used to control the roller blocking component at the material placement area to extend and simultaneously control the side clamp at the material placement area to move to position the air conditioner outdoor unit after the third monitoring result indicates that the air conditioner outdoor unit to be placed has flowed to the material placement area; and a triggering module, used to trigger the vision device to position the hole after determining that the air conditioner outdoor unit has been successfully positioned, so as to identify the position information.

[0026] Optionally, the processing device further includes: a comparison unit, configured to, after using a vision device to locate the holes on the air conditioner outdoor unit packaging material to identify the position information of the holes, compare the position information with reference hole information to obtain a comparison result, wherein the reference hole information includes the following information of a normal hole: size, shape, and position information; a prompting unit, configured to generate prompting information when the position information indicates that the hole is not a normal hole, wherein the prompting information is used to indicate that the hole is an abnormal hole; and an installation unit, configured to generate an installation command when the position information indicates that the hole is a normal hole, wherein the installation command is used to instruct the installation operation of the drain connector and the wrapping tape.

[0027] Optionally, the processing device further includes: an alarm unit, configured to generate an alarm message when the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner and the drain connector and the wrapping tape does not meet the target positional relationship, wherein the alarm message is used to indicate that the drain connector and / or the wrapping tape is not installed in place.

[0028] According to one aspect of the present invention, an air conditioner outdoor unit processing system is provided, wherein the air conditioner outdoor unit processing system uses the automatic attachment placement method for the air conditioner outdoor unit described in any one of the above-described embodiments.

[0029] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the processing method for automatically placing accessories on an air conditioner outdoor unit as described in any of the above embodiments.

[0030] According to one aspect of the present invention, a processor is provided, the processor being configured to run a program, wherein the program, when running, executes the processing method for automatically placing accessories on an air conditioner outdoor unit as described in any of the above embodiments.

[0031] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform the processing method for automatically placing accessories on an air conditioner outdoor unit as described above.

[0032] In this embodiment of the invention, a first robot picks up a drain connector from a drain connector vibrating plate, while a second robot picks up a wrapping tape from a wrapping tape vibrating plate. A vision device is used to locate the holes on the air conditioner outdoor unit packaging material to identify their position information. The first cylinder of the first robot is controlled to place the drain connector to a first predetermined position according to the position information, while the second cylinder of the second robot is controlled to place the wrapping tape to a second predetermined position according to the position information. After determining that the drain connector is placed in the first predetermined position and the wrapping tape is placed in the second predetermined position, position detection is performed on the air conditioner outdoor unit, the drain connector, and the wrapping tape to obtain position detection results. When the position detection results indicate that the positional relationship between the air conditioner outdoor unit, the drain connector, and the wrapping tape meets the target positional relationship, it is determined that the drain connector and the wrapping tape have been correctly placed on the air conditioner outdoor unit packaging material. The above technical solution achieves the goal of using vision equipment to accurately identify the hole position information on the packaging material of the air conditioner outdoor unit during the production process, and guides the robot to perform high-precision installation. The robot automatically grasps and places the drain connector and wrapping tape, replacing manual operation, reducing labor costs and error rate. This improves the installation accuracy of drain connectors and wrapping tape, reduces manual operation, lowers production costs, increases the flexibility and efficiency of the production line, and also enhances production safety and product quality. In addition, it solves the technical problem in related technologies where improper installation of drain connectors and wrapping tape affects subsequent assembly during the production of air conditioner outdoor units. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0034] Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of automatically placing accessories on an air conditioner outdoor unit according to an embodiment of the present invention.

[0035] Figure 2 This is a flowchart of a method for automatically placing accessories on an air conditioner outdoor unit according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of an automatic accessory dispensing unit for an air conditioner outdoor unit according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of a drain connector clamp according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of a bandage clamp according to an embodiment of the present invention;

[0039] Figure 6This is a schematic diagram of side clamp positioning according to an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of a roller block according to an embodiment of the present invention;

[0041] Figure 8 This is a flowchart of an optional method for automatically placing accessories on an air conditioner outdoor unit according to an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of an automatic accessory placement processing device for an air conditioner outdoor unit according to an embodiment of the present invention.

[0043] The above figures include the following reference numerals:

[0044] 102. Processor; 104. Memory; 106. Transmission equipment; 108. Input / output device; 301. Drainage connector robot; 302. Roller conveyor; 303. Bandaging strapping robot; 304. Bandaging strapping vibratory feeder; 305. Feeding conveyor belt; 306. Drainage connector vibratory feeder; 401. Solenoid valve; 402. Fixture vision; 403. Gripper cylinder; 501. Solenoid valve; 502. Three-axis cylinder; 601. Fixed mounting plate; 602. Solenoid valve; 603. Positioning cylinder; 604. Cylinder connecting plate; 605. Positioning square barrel; 701. Solenoid valve; 702. Single-axis cylinder; 703. Roller. Detailed Implementation

[0045] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] As described in the background section, related technologies suffer from defects in the production process of air conditioner outdoor units, such as improper installation of drain joints and wrapping tapes, which affect subsequent assembly. Embodiments of this invention provide a method and apparatus for automatically placing accessories on an air conditioner outdoor unit, an air conditioner outdoor unit, a computer-readable storage medium, a processor, and a computer program product.

[0048] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0049] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of automatically placing accessories on an air conditioner outdoor unit, according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0050] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the automatic attachment placement method of the air conditioner outdoor unit in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0051] Example 1

[0052] According to an embodiment of the present invention, a method embodiment of an automatic attachment placement process for an air conditioner outdoor unit is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0053] Figure 2 This is a flowchart of a method for automatically placing accessories on an air conditioner outdoor unit according to an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes the following steps:

[0054] In step S202, the first robot picks up the drain connector from the drain connector vibratory plate, while the second robot picks up the bandage from the bandage vibratory plate.

[0055] Figure 3 This is a schematic diagram of an automatic accessory placement unit for an air conditioner outdoor unit according to an embodiment of the present invention, as shown below. Figure 3As shown, the automatic accessory dispensing unit for the outdoor unit of the air conditioner includes: a drain connector dispensing robot 301 (i.e., the first robot), a roller conveyor 302, a strapping tape dispensing robot 303 (i.e., the second robot), a strapping tape vibrating plate 304, a feeding conveyor belt 305, and a drain connector vibrating plate 306.

[0056] In this embodiment, a drain connector can be picked up from a drain connector vibratory plate 306 by a drain connector robot 301, while a bandage-holding robot 303 picks up bandages from a bandage-holding vibratory plate 304.

[0057] Figure 4 This is a schematic diagram of a drain connector clamp according to an embodiment of the present invention, as shown below. Figure 4 As shown, the drain connector clamp may include: a solenoid valve 401, a clamp vision device 402, and a gripper cylinder 403.

[0058] Figure 5 This is a schematic diagram of a bandage clamp according to an embodiment of the present invention, as shown below. Figure 5 As shown, the bandage clamp may include: a solenoid valve 501 and a three-axis cylinder 502.

[0059] In this embodiment, the vibratory feeder discharge mechanism completes the discharge positioning before the clamp picks up the material.

[0060] This method primarily relies on the coordinated action of a sophisticated robot control system and a vibratory feeder. The vibratory feeder is an automatic feeding device that, by adjusting the vibration frequency and amplitude, can arrange randomly placed parts neatly and feed them out one by one. During this process, the first and second photoelectric sensors monitor the first and second outlet ends of the drain connector vibratory feeder and the wrapping tape vibratory feeder, respectively. When they detect a part in place, they send a signal to the robot control system. The robot control system then commands the first and second robots to activate the corresponding gripper cylinders and three-axis cylinders, controlled by the first and second solenoid valves, to precisely grasp the drain connector and wrapping tape, preparing for the next step of installation.

[0061] By implementing this control method, the assembly line speed of the air conditioner outdoor unit assembly line was significantly accelerated. The accuracy and speed of the robot's gripping effectively avoided common problems in manual operation, such as inaccurate positioning and slow picking, ensuring that each drain connector and wrapping tape could be gripped and prepared for installation in a timely and accurate manner. This avoided downtime caused by waiting for spare parts to arrive and reduced the overall production cycle.

[0062] Step S204: Use a vision device to locate the holes on the packaging material of the air conditioner outdoor unit in order to identify the position information of the holes.

[0063] Figure 6This is a schematic diagram of the side clamp positioning according to an embodiment of the present invention, as shown below. Figure 6 As shown, the side clamp may include: a fixed mounting plate 601, a solenoid valve 602, a positioning cylinder 603, a cylinder connecting plate 604, and a positioning square barrel 605.

[0064] Figure 7 This is a schematic diagram of a roller block according to an embodiment of the present invention, as shown below. Figure 7 As shown, the blocking roller may include: a solenoid valve 701, a single-shaft cylinder 702, and a roller 703.

[0065] In this embodiment, if the photoelectric sensor on the roller conveyor detects that the product has arrived, Figure 7 The roller block extends as shown. Figure 6 After the side clamp positioning positions the outdoor unit of the air conditioner, the clamp visually positions and photographs the white foam holes.

[0066] Vision devices are typically equipped with high-resolution cameras and specialized image processing software, enabling them to capture and analyze image data of the holes. When the outdoor unit of the air conditioner reaches the preset detection area, a third photoelectric sensor on the roller conveyor detects its presence and notifies the control system to stop its movement, while simultaneously activating the side clamps to stabilize the unit. Subsequently, the vision device is triggered, aligns with the holes on the surface of the outdoor unit's packaging material, and, by capturing images and applying image recognition algorithms, accurately measures the size, shape, and relative positional coordinates of the holes to the outdoor unit. This data is transmitted in real-time to the control unit to guide subsequent assembly operations.

[0067] By implementing this control method, the accuracy and efficiency of the air conditioner outdoor unit assembly process have been significantly improved. The high-precision image acquisition capabilities and intelligent analysis algorithms of the vision equipment effectively avoid assembly errors caused by unclear hole identification or inaccurate positioning, greatly reducing product quality problems and subsequent maintenance costs caused by improper assembly. By providing real-time specific hole position information, the robot can quickly adjust its posture and angle to achieve one-step assembly, reducing unnecessary repetitive operations and saving valuable production time.

[0068] Step S206: Control the first cylinder of the first robot to place the drain connector to the first set position according to the position information, and at the same time control the second cylinder of the second robot to place the bandage to the second set position according to the position information.

[0069] In this embodiment, the results of the photo will be retrieved from the database. Abnormal foam holes will trigger an alarm and require manual handling. For normal foam holes, the drain connector robot will execute the command to insert the drain connector into the foam hole.

[0070] This method uses hole position information acquired from a vision device to precisely guide the first and second robots in performing assembly operations. The first cylinder of the first robot and the second cylinder of the second robot are responsible for positioning and placing the drain connector and the wrapping strap, respectively. Upon receiving instructions from the control unit, the cylinders of the first and second robots adjust their positions and postures according to the position information, ensuring that the gripper or three-axis cylinder is aligned with the target hole. Then, by controlling the cylinder movement through a solenoid valve, the first robot smoothly inserts or places the drain connector into or onto the air conditioner outdoor unit packaging material at a first predetermined position, while the second robot simultaneously secures the wrapping strap at a second predetermined position.

[0071] By implementing this control method, the automation and intelligence levels of the air conditioner outdoor unit assembly line have been significantly enhanced. The high-precision positioning capability of the robotic arm ensures that every drain connector and wrapping tape is accurately installed in the predetermined hole positions, greatly reducing the defect rate caused by inaccurate assembly and improving the quality and reliability of the finished product. At the same time, the smooth operation of the automated assembly process reduces delays caused by human factors, shortens the overall production cycle, and improves production efficiency.

[0072] Step S208: After determining that the drain connector is placed in the first set position and the wrapping tape is placed in the second set position, the positions of the air conditioner outdoor unit, the drain connector and the wrapping tape are detected to obtain the position detection results.

[0073] In this embodiment, after insertion is completed, a photoelectric sensor is used to detect whether the drain connector has been inserted.

[0074] This process is typically accomplished using advanced sensors and inspection equipment integrated into robots or production lines. These devices can be optical sensors, lidar, mechanical contact sensors, or more advanced non-contact measuring equipment. They determine whether the placed drain connectors and strapping are in the correct position according to preset standards, and simultaneously check whether their relative positions to the outdoor air conditioning unit meet design requirements. This inspection is usually completed in a very short time to ensure the continuity and efficiency of the production process. If the position is incorrect, the system immediately generates an alarm signal, prompting the operator or automatic correction mechanism to intervene; otherwise, it confirms that the assembly process is correct and allows the production line to continue to the next step.

[0075] By implementing this control method, the accuracy and reliability of assembly are effectively guaranteed, avoiding potential problems in subsequent processes. It can immediately detect assembly errors, such as drainage connectors or wrapping tapes deviating from their target positions, or improper installation, thus preventing defective products from flowing into the next stage and reducing unnecessary rework and scrap. This instant feedback mechanism improves production quality and efficiency while reducing production costs. Simultaneously, it enhances the production line's self-inspection capabilities, reduces reliance on external quality control, and makes the entire production process more autonomous and controllable.

[0076] Step S210: When the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner and the drain connector and the wrapping tape meets the target positional relationship, it is determined that the drain connector and the wrapping tape are correctly placed on the packaging material of the outdoor unit of the air conditioner.

[0077] In this embodiment, after the photoelectric detection installation drainage connector is installed in place, Figure 6 The side clamp positioning mechanism has loosened. Figure 7 The roller blocking mechanism descends and releases the package into the strapping station.

[0078] This judgment process is usually executed automatically by the control system, which compares the detected actual position data with the preset target position relationship. The target position relationship includes the precise position, orientation, and fixation status of the drain connector and wrapping tape relative to the outdoor unit, as required by the design. If the control system analyzes and confirms that the detected position data perfectly matches the target position relationship, meaning that the actual position of the drain connector and wrapping tape on the outdoor unit conforms to the design standards and there has been no displacement or placement error, then the system will output a confirmation signal, indicating that the assembly operation has been successfully completed.

[0079] By implementing this control method, the correct installation of drain connectors and wrapping tape during the assembly of air conditioner outdoor units was effectively ensured, greatly improving product quality and user satisfaction. By verifying the positional relationship immediately after each air conditioner outdoor unit is assembled, assembly errors can be detected and eliminated in real time, preventing defective products from entering subsequent stages, reducing the defect rate and rework frequency in the production process, thereby saving time and costs. Furthermore, this automated verification process improves production efficiency, reduces reliance on manual inspection, and makes the production line more automated and intelligent.

[0080] As described above, in this embodiment, a first robot picks up a drain connector from a drain connector vibratory feeder, while a second robot picks up a wrapping tape from a wrapping tape vibratory feeder. A vision device is used to locate the holes in the air conditioner outdoor unit's packaging material to identify their positions. The first cylinder of the first robot is controlled to place the drain connector to a first predetermined position according to the position information, while the second cylinder of the second robot is controlled to place the wrapping tape to a second predetermined position according to the position information. After confirming that the drain connector is placed in the first predetermined position and the wrapping tape is placed in the second predetermined position, position detection is performed on the air conditioner outdoor unit, the drain connector, and the wrapping tape to obtain the position detection results. When the position detection results indicate that the positional relationship between the air conditioner outdoor unit, the drain connector, and the wrapping tape meets the target positional relationship, it is determined that the drain connector and the wrapping tape have been correctly placed on the air conditioner outdoor unit packaging material. This achieves the goal of using vision equipment to accurately identify the hole position information on the air conditioner outdoor unit packaging material during the air conditioner outdoor unit production process, and guiding the robot to perform high-precision installation. The robot automates the picking and placing of the drain connector and wrapping tape, replacing manual operation, reducing labor costs and error rates. This achieves the technical effect of improving the installation accuracy of the drain connector and wrapping tape, reducing manual operation, lowering production costs, improving the flexibility and efficiency of the production line, and also improving production safety and product quality.

[0081] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art where improper installation of drainage joints and wrapping tape affects subsequent assembly during the production of air conditioner outdoor units.

[0082] According to the above embodiments of the present invention, before the first robot picks up the drain connector from the drain connector vibratory plate and the second robot picks up the wrapping tape from the wrapping tape vibratory plate, the processing method further includes: controlling the vibration of the drain connector vibratory plate and the wrapping tape vibratory plate to position the drain connector and the wrapping tape; after determining that the drain connector and the wrapping tape are positioned, the positioned drain connector is transported to the first outlet end of the drain connector vibratory plate, and the positioned wrapping tape is transported to the second outlet end of the wrapping tape vibratory plate.

[0083] In this embodiment, the wrapping tape vibratory feeder's feeding mechanism completes the feeding and positioning before the clamp picks up the material. Unlike the drainage connector vibratory feeder, the wrapping tape feeding is accomplished through two feeding belts. Since the wrapping tape feeding side is a viewing passage, the feeding belts can minimize the footprint of the wrapping tape side, making the overall appearance of the wrapping tape side aesthetically pleasing. The wrapping tape feeding robot picks up the material at the waiting point. After the solenoid valve is energized, the three-axis cylinder clamps the wrapping tape, driving... Figure 5 The bandage clamp has arrived at the position where the bandage is to be installed.

[0084] This method utilizes the vibration of a vibratory feeder, an automatic feeding device that uses vibration to arrange parts in a specific direction and continuously transport them to the final outlet. The vibration frequency and amplitude of the drainage connector vibratory feeder and the wrapping tape vibratory feeder are precisely adjusted to adapt to the shape and size of the drainage connector and wrapping tape, enabling them to be arranged orderly along a preset track and ultimately reach their respective outlets. At the end of the vibratory feeder, photoelectric sensors are installed to monitor in real time whether any parts have arrived at the outlet. Once a part is detected at the outlet, these sensors send a signal to the control system, confirming that the part has been positioned and is ready for the robot to grasp. Then, the control system directs the conveying mechanism to transport the drainage connector to the first outlet and the wrapping tape to the second outlet, ensuring the robot can smoothly perform the grasping operation and laying the foundation for subsequent precise installation.

[0085] By implementing this control method, the automation level and assembly efficiency of the entire assembly process were significantly improved. The use of a vibratory feeder eliminated the difficulty of grasping parts caused by their disorganization, ensuring that each component was delivered to the robot's grasping position in a uniform, preset state. This reduced the uncertainty during robot grasping and improved the success rate. This automated positioning process not only reduced human intervention and errors caused by human factors but also accelerated the production cycle, enabling the production line to operate at a higher speed.

[0086] According to the above embodiments of the present invention, the method of using a first robot to pick up a drain connector from a drain connector vibrating plate and a second robot to pick up a bandage from a bandage vibrating plate includes: using a first photoelectric sensor installed at the first outlet end to monitor the material at the first outlet end and obtain a first monitoring result; using a second photoelectric sensor installed at the second outlet end to monitor the material at the second outlet end and obtain a second monitoring result; when it is determined from the first monitoring result that a drain connector is in place at the first outlet end, controlling the first robot to pick up the drain connector from the drain connector vibrating plate; and when it is determined from the second monitoring result that a bandage is in place at the second outlet end, controlling the second robot to pick up the bandage from the bandage vibrating plate.

[0087] In this embodiment, when the photoelectric sensor detects a properly inserted drain connector, the drain connector robot returns to its initial safety point to await material pickup. If the photoelectric sensor fails to detect that the drain connector is inserted correctly, an alarm will sound and the machine will stop for manual handling to prevent leaks or misplaced drain connectors. Otherwise, the conveyor belt continues to transport the air conditioner outdoor unit to the assembly station for final assembly. Figure 7 The roller block extends. Figure 6 The side clamp positioning system positions the outdoor unit of the air conditioner.

[0088] This method achieves real-time monitoring and precise grasping of materials by installing a first photoelectric sensor and a second photoelectric sensor at the outlet ends of the drain connector vibratory feeder and the wrapping tape vibratory feeder, respectively. The photoelectric sensors can detect the presence and position of objects. When the drain connector or wrapping tape is conveyed to the outlet end by the vibratory feeder, it triggers the corresponding photoelectric sensor. The sensor converts this event into electrical signals, namely the first monitoring result and the second monitoring result, which are transmitted to the central processing unit of the control system. When the first photoelectric sensor detects that the drain connector has reached the first outlet end, the control system immediately starts the grasping program of the first robot based on the first monitoring result; similarly, when the second photoelectric sensor detects that the wrapping tape is located at the second outlet end, the grasping operation of the second robot is also triggered instantly.

[0089] By implementing this control method, the efficiency and accuracy of the automated assembly line for air conditioner outdoor units have been greatly improved. The high sensitivity and instantaneous response of the photoelectric sensors ensure accurate monitoring of the drain connectors and wrapping tape at the outlet, reducing robot grasping failures caused by misaligned material positions. Simultaneously, the robot immediately executes grasping instructions based on sensor signals, avoiding waiting time, accelerating the production cycle, and increasing the overall throughput of the production line.

[0090] According to the above embodiments of the present invention, the method of using a first robot to grab a drain connector from a drain connector vibratory feeder and a second robot to grab a bandage from a bandage vibratory feeder includes: controlling the gripper cylinder of the first robot to actuate via a first solenoid valve, so that the first robot grabs the drain connector from the drain connector vibratory feeder; and controlling the three-axis cylinder of the second robot to actuate via a second solenoid valve, so that the second robot grabs the bandage from the bandage vibratory feeder.

[0091] In this embodiment, the drain connector robot waits at the material pick-up point to pick up the material. After the solenoid valve is energized, the gripper cylinder clamps the drain connector, driving the robot to pick up the material. Figure 4 Once the drain connector clamp arrives at the position where the drain connector is to be installed, the photoelectric sensor on the roller conveyor will detect whether the product is in place.

[0092] This method involves using pneumatic technology and solenoid valves to precisely control an automated robot. Gripper cylinders and three-axis cylinders are important components of the robot's end effector. Driven by compressed air, they perform actions such as extension, retraction, and rotation, thereby completing the grasping and placement functions. The first and second robots are respectively equipped with gripper cylinders and three-axis cylinders. When the control system receives a signal from a photoelectric sensor indicating that the drain connector and bandage have reached the grasping position, the control system sends commands to the first and second solenoid valves. The solenoid valves, as pneumatic control elements, respond to the control signal, instantaneously changing the pneumatic circuit state, causing the cylinders to act according to the command. Specifically, the gripper cylinder controlled by the first solenoid valve is precisely positioned above the drain connector. Opening the solenoid valve generates negative pressure inside the cylinder, causing the gripper to close and firmly grasp the drain connector. The second solenoid valve controls the three-axis cylinder to stably fix and grasp the bandage.

[0093] By implementing this control method, the automation level and reliability of the air conditioner outdoor unit assembly line have been significantly enhanced. The rapid response of the solenoid valves ensures the immediacy and accuracy of the robot's grasping actions, while the stability and precise control of the cylinders ensure that the drain connectors and wrapping tapes can be safely and undamagedly grasped and transported. The application of this technology not only reduces the manpower required in the assembly process and minimizes errors that may be caused by manual operation, but also greatly improves production efficiency and product quality while reducing production costs.

[0094] According to the above embodiments of the present invention, the positioning of holes on the packaging material of an air conditioner outdoor unit using a vision device to identify the position information of the holes includes: monitoring the position of the material placement area of ​​the roller line using a third photoelectric sensor installed on the roller line to obtain a third monitoring result; after the third monitoring result indicates that the air conditioner outdoor unit to be placed has flowed to the material placement area, controlling the roller blocking component at the material placement area to extend, and simultaneously controlling the side clamp at the material placement area to move to position the air conditioner outdoor unit; after confirming that the air conditioner outdoor unit has been successfully positioned, triggering the vision device to position the holes to identify the position information.

[0095] In this embodiment, since there are typically two orientations during the installation of the outdoor unit's cable ties: one where the cable ties are parallel to the outdoor unit, and the other where the cable ties are perpendicular to the outdoor unit, Figure 5 The bandage clamp is compatible with two postures; the robot simply needs to place the bandage and rotate the six-axis flange to achieve the above actions. Photoelectric sensors on the roller conveyor detect whether the product is in position; if so,... Figure 7 The roller block extends. Figure 6 After the side clamp positioning system positions the outdoor unit of the air conditioner, the wrapping robot will move... Figure 5 The bandage clamp inserts the bandage into the designated foam hole.

[0096] This method monitors the position of the air conditioner outdoor unit using a third photoelectric sensor on the roller conveyor. The sensor detects whether materials have entered the material placement area, i.e., the preset assembly position. When the sensor detects that the air conditioner outdoor unit is in this area, the control system receives this position information, i.e., the third monitoring result. Subsequently, the control system sends instructions to the roller blocking components and side clamps, causing them to move and precisely fix the air conditioner outdoor unit, preventing it from moving during subsequent positioning and assembly processes and ensuring the stability of the hole positions. After the air conditioner outdoor unit is firmly positioned, the vision device is triggered to perform high-precision scanning and identification of the hole positions, obtaining the precise position information of the hole positions.

[0097] By implementing this control method, the positioning of the air conditioner outdoor unit becomes faster and more accurate, reducing waiting time and accelerating the production pace. Precise control of the roller blocking components and side clamps ensures the stability of the air conditioner outdoor unit during hole identification, avoiding inaccurate positioning due to movement. The high-precision hole identification by the vision equipment not only confirms the existence of the holes but also accurately measures their positions, thereby guiding the robot to precisely install the drain connectors and wrapping tape, significantly improving assembly accuracy and consistency.

[0098] According to the above embodiments of the present invention, after using a vision device to locate the holes on the packaging material of the air conditioner outdoor unit to identify the position information of the holes, the processing method further includes: comparing the position information with reference hole position information to obtain a comparison result, wherein the reference hole position information includes the following information of a normal hole position: size, shape, and position information; when the position information indicates that the hole position is not a normal hole position, generating a prompt message, wherein the prompt message is used to indicate that the hole position is an abnormal hole position; when the position information indicates that the hole position is a normal hole position, generating an installation instruction, wherein the installation instruction is used to instruct the installation operation of the drain connector and the wrapping tape.

[0099] In this embodiment, after the bandage is placed into the designated foam hole, a photoelectric sensor will detect whether the bandage is inserted. Once the bandage is detected, the bandage placement robot will return to the initial safety point to wait for material retrieval.

[0100] The reference hole position information includes key parameters such as the size, shape, and relative position of normal holes. This information is pre-stored in the control system as a benchmark. The comparison process is executed by the control system, which compares the hole position information obtained from the vision device with the reference hole position information in detail to determine whether the actual characteristics of the hole position are consistent with the design requirements. If the control system finds that the actual hole position's size, shape, or position does not match the reference information, i.e., the hole position is considered abnormal, the system will immediately generate a prompt message, usually displayed on the operating interface or notified to the operator or automatic control system via audible and visual alarms, so that appropriate handling measures can be taken, such as stopping the machine for inspection or automatically eliminating the abnormal hole position. Conversely, if the hole position is confirmed as a normal hole position after comparison, the control system will generate installation instructions to guide the first and second robots to perform the installation operations of the drainage connector and wrapping tape, ensuring that the installation process meets the design specifications and achieves high-precision assembly.

[0101] By implementing this control method, abnormal hole positions can be effectively identified and handled, ensuring the smooth progress of the assembly process. This mechanism greatly enhances the intelligence level of the assembly line, reduces assembly failures caused by abnormal hole positions, avoids subsequent rework and quality control issues, thereby improving production efficiency and product consistency. Simultaneously, by eliminating abnormal hole positions in advance, potential installation errors are reduced, the defect rate is lowered, and the overall quality level of the production line is improved.

[0102] According to the above embodiments of the present invention, the processing method further includes: generating an alarm message when the position detection result indicates that the positional relationship between the air conditioner outdoor unit and the drain connector and the wrapping tape does not meet the target positional relationship, wherein the alarm message is used to indicate that the drain connector and / or the wrapping tape are not installed in place.

[0103] In this embodiment, if the photoelectric sensor fails to detect that the packaging tape is in place, an alarm will sound and the machine will stop for manual handling to prevent missing packaging tape. If the photoelectric sensor detects that the product is not in place, the roller conveyor will continue to transport the air conditioner outdoor unit to the assembly station. Figure 7 The roller block extends. Figure 6 The side clamp positioning system positions the outdoor unit of the air conditioner.

[0104] After the vision device or other position sensors complete the detection of the installation position of the drain connector and wrapping tape, the system compares the detected actual position with the preset target position relationship. This target position relationship includes detailed information about the ideal installation position of the drain connector and wrapping tape relative to the air conditioner outdoor unit, such as precise coordinates, tilt, and spacing. If the position detection results show that the actual installation position of any one or more components deviates from the target position relationship, the control system will determine that the assembly result does not meet the requirements, and the system will automatically generate an alarm message. The alarm mechanism will immediately warn the operator or production line management system through audible and visual signals, information prompts, or automatic shutdown, indicating that the drain connector and / or wrapping tape are not installed in the specified position and may require manual intervention for adjustment or reassembly, ensuring that the quality of each assembly step meets the standards.

[0105] By implementing this control method and introducing position detection and alarm mechanisms, the quality control level and efficiency of the air conditioner outdoor unit assembly line have been greatly improved. Through real-time monitoring of the assembly process, the system can immediately detect and report positional deviations, avoiding subsequent assembly errors or equipment failures caused by improper component installation, thus reducing the scrap rate and rework costs of the production line. The immediacy of alarm messages ensures that problems are resolved promptly, reducing production downtime and improving production efficiency.

[0106] Figure 8 This is a flowchart of an optional automatic accessory placement method for an air conditioner outdoor unit according to an embodiment of the present invention, such as... Figure 8 The diagram illustrates the complete automated process of assembling an air conditioner outdoor unit, from accessory picking, outdoor unit positioning, visual positioning, to installation verification. Through the combined action of a drain connector robot, a strapping robot, and photoelectric detection, assembly accuracy is improved, manual intervention is reduced, production efficiency is increased, and costs are lowered. First, the outdoor unit moves along a roller conveyor. Then, photoelectric detection checks if the product is in place. If so, the roller conveyor continues to transport the unit until it reaches its designated position; otherwise, the roller blocking mechanism extends, and the side clamping positioning mechanism clamps and positions the unit. Simultaneously, the vision system photographs and positions the foam holes to confirm the product's position.

[0107] Next, the database is compared to check if the hole positions are normal. If so, the drainage connector robot performs the installation operation; otherwise, an alarm is triggered and the robot stops for manual intervention. The robot continues to use photoelectric detection to check if the drainage connector is installed correctly. If not, it remains stopped awaiting manual intervention; otherwise, the side clamp positioning is released, the roller block descends, and the drainage connector robot returns to a safe position.

[0108] After the air conditioner outdoor unit flows into the bandage station, a photoelectric sensor detects whether the drain connector is installed correctly. If not, the roller conveyor continues to transport the cable until it is in place; otherwise, the roller blocking mechanism extends, and the side clamping positioning mechanism clamps and positions the cable. The bandage robot (i.e., the bandage-releasing robot) then performs the installation operation. Next, the photoelectric sensor detects whether the bandage is installed correctly; if not, an alarm sounds and the machine stops for manual intervention; otherwise, the side clamping positioning mechanism releases, the roller blocking mechanism descends, and the bandage robot returns to a safe position. Finally, it prepares to enter the next cycle.

[0109] As described above, the technical solution provided by the embodiments of the present invention solves the problem of improper installation of drainage connectors and wrapping tapes in practical applications. It enables the above actions to be performed within a limited space, resulting in a more rational use of space. It achieves compatibility with various outdoor unit wrapping tapes and drainage connector products, and eliminates the need for manual replacement of the robot flange clamps; compatibility is achieved solely through electrical control of the mechanical structure. This significantly increases work efficiency and reduces costs. Furthermore, it ensures that different models of wrapping tapes and drainage connectors can be automatically placed onto the outdoor unit's cardboard foam, guaranteeing consistent positioning accuracy and significantly improving the pass rate of this workstation.

[0110] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0111] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0112] Example 2

[0113] According to embodiments of the present invention, an automatic accessory placement processing apparatus for air conditioner outdoor units is also provided for implementing the above-described automatic accessory placement processing method for air conditioner outdoor units. Figure 9This is a schematic diagram of an automatic accessory placement processing device for an air conditioner outdoor unit according to an embodiment of the present invention, as shown below. Figure 9 As shown, the device includes: a gripping unit 901, a positioning unit 903, a first control unit 905, a detection unit 907, and a determination unit 909. The device will now be described in detail.

[0114] The gripping unit 901 is used to grip the drain connector from the drain connector vibratory plate by the first robot, and at the same time, to grip the bandage from the bandage vibratory plate by the second robot.

[0115] The positioning unit 903 is used to locate the holes on the packaging material of the air conditioner outdoor unit using a vision device, so as to identify the position information of the holes.

[0116] The first control unit 905 is used to control the first cylinder of the first robot to place the drain connector to a first set position according to the position information, and at the same time control the second cylinder of the second robot to place the bandage to a second set position according to the position information.

[0117] The detection unit 907 is used to detect the position of the air conditioner outdoor unit, the drain connector, and the wrapping tape after determining that the drain connector is placed in the first set position and the wrapping tape is placed in the second set position, and to obtain the position detection result.

[0118] The determining unit 909 is used to determine that the drain connector and the wrapping tape are correctly placed on the air conditioner outdoor unit packaging material when the position detection result indicates that the positional relationship between the air conditioner outdoor unit and the drain connector and the wrapping tape meets the target positional relationship.

[0119] It should be noted that the grasping unit 901, positioning unit 903, first control unit 905, detection unit 907 and determination unit 909 mentioned above correspond to steps S202 to S210 in the above embodiments. The five units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0120] As can be seen from the above, in the solution described in the above embodiments of the present invention, a gripping unit is used to grip the drain connector from the drain connector vibrating plate by a first robot, and simultaneously grip the wrapping tape from the wrapping tape vibrating plate by a second robot; a positioning unit is used to locate the holes on the air conditioner outdoor unit packaging material using a vision device to identify the position information of the holes; a first control unit is used to control the first cylinder of the first robot to place the drain connector to a first set position according to the position information, and simultaneously control the second cylinder of the second robot to place the wrapping tape to a second set position according to the position information; a detection unit is used to perform position detection on the air conditioner outdoor unit, the drain connector, and the wrapping tape after determining that the drain connector is placed to the first set position and the wrapping tape is placed to the second set position, and obtain the position detection result; a determination unit is used to determine that the drain connector and the wrapping tape are correctly placed on the air conditioner outdoor unit packaging material when the position detection result indicates that the positional relationship between the air conditioner outdoor unit, the drain connector, and the wrapping tape meets the target positional relationship. The above solution achieves the goal of using vision equipment to accurately identify the hole information on the packaging material of the air conditioner outdoor unit during the production process, and guides the robot to perform high-precision installation. The robot automates the picking and placing of drain connectors and wrapping tape, replacing manual operation, reducing labor costs and error rates. This improves the installation accuracy of drain connectors and wrapping tape, reduces manual operation, lowers production costs, increases the flexibility and efficiency of the production line, and also enhances production safety and product quality. In turn, it solves the technical problem in related technologies where improper installation of drain connectors and wrapping tape during the production of air conditioner outdoor units affects subsequent assembly.

[0121] Optionally, the processing device further includes: a second control unit, used to control the vibration of the drainage connector vibratory plate and the wrapping tape vibratory plate before the first robot picks up the drainage connector from the drainage connector vibratory plate and the second robot picks up the wrapping tape from the wrapping tape vibratory plate, so as to position the drainage connector and the wrapping tape; and a conveying unit, used to convey the positioned drainage connector to the first outlet end of the drainage connector vibratory plate and the positioned wrapping tape to the second outlet end of the wrapping tape vibratory plate after determining that the drainage connector and the wrapping tape have been positioned.

[0122] Optionally, the second control unit includes: a first monitoring module, used to monitor the material at the first outlet end using a first photoelectric sensor installed at the first outlet end to obtain a first monitoring result, and to monitor the material at the second outlet end using a second photoelectric sensor installed at the second outlet end to obtain a second monitoring result; a first determining module, used to control the first robot to pick up the drain connector from the drain connector vibrating plate when it is determined from the first monitoring result that a drain connector is in place at the first outlet end; and a second determining module, used to control the second robot to pick up the wrapping tape from the wrapping tape vibrating plate when it is determined from the second monitoring result that a wrapping tape is in place at the second outlet end.

[0123] Optionally, the gripping unit includes: a first control module for controlling the gripper cylinder of the first robot to actuate via a first solenoid valve, so that the first robot grips the drain connector from the drain connector vibrating plate; and a second control module for controlling the three-axis cylinder of the second robot to actuate via a second solenoid valve, so that the second robot grips the bandage from the bandage vibrating plate.

[0124] Optionally, the positioning unit includes: a second monitoring module, used to monitor the position of the material placement area of ​​the roller line using a third photoelectric sensor installed on the roller line, and obtain a third monitoring result; a third control module, used to control the roller blocking component at the material placement area to extend after the third monitoring result indicates that the air conditioner outdoor unit to be placed has flowed to the material placement area, and simultaneously control the side clamp at the material placement area to move to position the air conditioner outdoor unit; and a triggering module, used to trigger the vision device to position the hole after confirming that the air conditioner outdoor unit has been successfully positioned, so as to identify the position information.

[0125] Optionally, the processing device further includes: a comparison unit, used to compare the location information of the holes on the air conditioner outdoor unit packaging material with reference hole information after using a vision device to locate the hole positions and identify the hole position information, and obtain a comparison result, wherein the reference hole position information includes the following information of a normal hole position: size, shape and position information; a prompting unit, used to generate a prompting message when the location information indicates that the hole position is not a normal hole position, wherein the prompting message is used to indicate that the hole position is an abnormal hole position; and an installation unit, used to generate an installation instruction when the location information indicates that the hole position is a normal hole position, wherein the installation instruction is used to instruct the installation operation of the drain connector and the wrapping tape.

[0126] Optionally, the processing device further includes: an alarm unit, used to generate an alarm message when the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner and the drain connector and the wrapping tape does not meet the target positional relationship, wherein the alarm message is used to indicate that the drain connector and / or the wrapping tape is not installed in place.

[0127] According to one aspect of the present invention, an air conditioner outdoor unit processing system is provided, which uses the processing method for automatically placing accessories on the air conditioner outdoor unit as described above.

[0128] According to one aspect of the present invention, a processor is provided, the processor being configured to run a program, wherein the program, when running, executes the processing method for automatically placing accessories on an air conditioner outdoor unit as described above.

[0129] According to one aspect of the present invention, a computer program product is provided, including computer instructions, wherein when the computer instructions are executed by a processor, a processing method for automatically placing accessories on an air conditioner outdoor unit as described above is performed.

[0130] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the processing method for automatically placing accessories of an air conditioner outdoor unit as described above.

[0131] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0132] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a first robot picks up a drain connector from a drain connector vibratory feeder, and a second robot picks up a wrapping tape from a wrapping tape vibratory feeder; a vision device is used to locate the holes on the air conditioner outdoor unit packaging material to identify the position information of the holes; the first cylinder of the first robot is controlled to move to place the drain connector to a first set position according to the position information, and the second cylinder of the second robot is controlled to place the wrapping tape to a second set position according to the position information; after determining that the drain connector is placed to the first set position and the wrapping tape is placed to the second set position, the positions of the air conditioner outdoor unit, the drain connector, and the wrapping tape are detected to obtain the position detection results; when the position detection results indicate that the positional relationship between the air conditioner outdoor unit and the drain connector and the wrapping tape meets the target positional relationship, it is determined that the drain connector and the wrapping tape are correctly placed on the air conditioner outdoor unit packaging material.

[0133] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: controlling the vibration of the drain connector vibrating plate and the wrapping tape vibrating plate to position the drain connector and the wrapping tape; after determining that the drain connector and the wrapping tape are positioned, conveying the positioned drain connector to the first outlet end of the drain connector vibrating plate, and simultaneously conveying the positioned wrapping tape to the second outlet end of the wrapping tape vibrating plate.

[0134] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining a first monitoring result by monitoring the material at the first outlet end using a first photoelectric sensor provided at the first outlet end; obtaining a second monitoring result by monitoring the material at the second outlet end using a second photoelectric sensor provided at the second outlet end; when it is determined, based on the first monitoring result, that a drain connector is in place at the first outlet end, controlling the first robot to grab the drain connector from the drain connector vibrating plate; and when it is determined, based on the second monitoring result, that a wrapping tape is in place at the second outlet end, controlling the second robot to grab the wrapping tape from the wrapping tape vibrating plate.

[0135] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: controlling the gripper cylinder of the first robot to actuate via a first solenoid valve, so that the first robot grips the drain connector from the drain connector vibrating plate; controlling the three-axis cylinder of the second robot to actuate via a second solenoid valve, so that the second robot grips the bandage from the bandage vibrating plate.

[0136] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: monitoring the position of the material placement area of ​​the roller line using a third photoelectric sensor installed on the roller line, and obtaining a third monitoring result; after the third monitoring result indicates that the air conditioner outdoor unit to be placed has flowed to the material placement area, controlling the roller blocking component at the material placement area to extend, and simultaneously controlling the side clamp at the material placement area to move to position the air conditioner outdoor unit; after confirming that the air conditioner outdoor unit has been successfully positioned, triggering the vision device to position the hole to identify the position information.

[0137] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: comparing the location information with reference hole location information to obtain a comparison result, wherein the reference hole location information includes the following information of a normal hole location: size, shape, and location information; generating a prompt message when the location information indicates that the hole location is not a normal hole location, wherein the prompt message is used to indicate that the hole location is an abnormal hole location; and generating an installation instruction when the location information indicates that the hole location is a normal hole location, wherein the installation instruction is used to instruct the installation operation of the drain connector and the wrapping tape.

[0138] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner and the drain connector and the wrapping tape does not meet the target positional relationship, an alarm message is generated, wherein the alarm message is used to indicate that the drain connector and / or the wrapping tape are not installed in place.

[0139] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0141] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0144] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0145] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for automatically placing accessories on an air conditioner outdoor unit, characterized in that, include: The first robot picks up the drain connector from the drain connector vibratory feeder, while the second robot picks up the bandage from the bandage vibratory feeder. The holes on the packaging material of the air conditioner outdoor unit are located using vision equipment to identify their position information; The first cylinder of the first robot is controlled to move the drain connector to a first predetermined position according to the position information, while the second cylinder of the second robot is controlled to move the bandage to a second predetermined position according to the position information. After determining that the drain connector is placed in the first set position and the wrapping tape is placed in the second set position, the positions of the air conditioner outdoor unit, the drain connector and the wrapping tape are detected to obtain the position detection results; When the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner, the drain connector, and the wrapping tape meets the target positional relationship, it is determined that the drain connector and the wrapping tape are correctly placed on the packaging material of the outdoor unit of the air conditioner.

2. The method for automatically placing accessories on an air conditioner outdoor unit according to claim 1, characterized in that, Before the first robot picks up the drain connector from the drain connector vibratory feeder, and the second robot picks up the bandage from the bandage vibratory feeder, the processing method further includes: The vibration of the drain connector vibrating plate and the wrapping tape vibrating plate is controlled to position the drain connector and the wrapping tape. After determining the positioning of the drain connector and the bandage, the positioned drain connector is transported to the first outlet end of the drain connector vibratory feeder, and the positioned bandage is transported to the second outlet end of the bandage vibratory feeder.

3. The method for automatically placing accessories on the outdoor unit of an air conditioner according to claim 2, characterized in that, The process includes: a first robot picking up a drain connector from a vibratory feeder, and a second robot picking up a bandage from a vibratory feeder; the process includes: A first monitoring result is obtained by using a first photoelectric sensor installed at the first outlet end to monitor the material at the first outlet end, and a second monitoring result is obtained by using a second photoelectric sensor installed at the second outlet end to monitor the material at the second outlet end. When it is determined from the first monitoring result that the drainage connector is in place at the first outlet end, the first robot is controlled to grab the drainage connector from the drainage connector vibratory plate. When it is determined from the second monitoring result that the bandage is in place at the second outlet end, the second robot is controlled to grab the bandage from the bandage vibrating plate.

4. The method for automatically placing accessories in an air conditioner outdoor unit according to claim 1, characterized in that, The process includes: a first robot picking up a drain connector from a vibratory feeder, and a second robot picking up a bandage from a vibratory feeder; the process includes: The gripper cylinder of the first robot is controlled to actuate through the first solenoid valve, so that the first robot can grab the drain connector from the drain connector vibratory plate. The three-axis cylinder controlling the second robot actuates via the second solenoid valve, causing the second robot to grab the bandage from the bandage vibratory plate.

5. The method for automatically placing accessories in an air conditioner outdoor unit according to claim 1, characterized in that, Using vision equipment to locate the holes in the packaging material of the air conditioner outdoor unit, in order to identify the positional information of the holes, including: The third photoelectric sensor installed on the roller line monitors the position of the material placement area of ​​the roller line and obtains a third monitoring result. After the third monitoring result indicates that the outdoor unit of the air conditioner, which is to be placed, has flowed to the material placement area, the roller blocking component at the material placement area is extended, and the side clamp at the material placement area is moved to position the outdoor unit of the air conditioner. After confirming that the outdoor unit of the air conditioner has been successfully located, the vision device is triggered to locate the hole to identify the position information.

6. The method for automatically placing accessories in an air conditioner outdoor unit according to claim 1, characterized in that, After using vision equipment to locate the holes in the packaging material of the air conditioner outdoor unit and identify the position information of the holes, the processing method further includes: The location information is compared with the reference hole position information to obtain the comparison result. The reference hole position information includes the following information of a normal hole position: size, shape and position information. When the location information indicates that the hole position is not a normal hole position, a prompt message is generated, wherein the prompt message is used to indicate that the hole position is an abnormal hole position; When the location information indicates that the hole position is the normal hole position, an installation instruction is generated, wherein the installation instruction is used to instruct the installation operation to be performed on the drain connector and the wrapping tape.

7. The method for automatically placing accessories in an air conditioner outdoor unit according to any one of claims 1 to 6, characterized in that, The processing method further includes: When the position detection result indicates that the positional relationship between the outdoor unit of the air conditioner, the drain connector, and the wrapping tape does not meet the target positional relationship, an alarm message is generated, wherein the alarm message is used to indicate that the drain connector and / or the wrapping tape are not installed in place.

8. A device for automatically placing accessories on an air conditioner outdoor unit, characterized in that, include: The gripping unit is used to grip the drain connector from the drain connector vibratory feeder via a first robot, and simultaneously grip the bandage from the bandage vibratory feeder via a second robot; The positioning unit is used to locate the holes on the packaging material of the air conditioner outdoor unit using a vision device, so as to identify the position information of the holes; A first control unit is configured to control the first cylinder of the first robot to move the drain connector to a first predetermined position according to the position information, and simultaneously control the second cylinder of the second robot to move the bandage to a second predetermined position according to the position information; The detection unit is used to detect the position of the air conditioner outdoor unit, the drain connector, and the wrapping tape after determining that the drain connector is placed in the first set position and the wrapping tape is placed in the second set position, and to obtain the position detection result. The determining unit is configured to determine that the drain connector and the wrapping tape are correctly placed on the air conditioner outdoor unit packaging material when the position detection result indicates that the positional relationship between the air conditioner outdoor unit, the drain connector, and the wrapping tape meets the target positional relationship.

9. An air conditioner outdoor unit processing system, characterized in that, The air conditioner outdoor unit processing system uses the automatic attachment placement method for the air conditioner outdoor unit as described in any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, the automatic attachment placement method for the outdoor unit of the air conditioner as described in any one of claims 1 to 7 is executed.

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