Industrial robot for assembling air conditioner

Abstract

The invention discloses an industrial robot for air conditioner assembling, and belongs to the technical field of air conditioner assembling, the industrial robot for air conditioner assembling comprises a fixing frame body and a taking mechanism used for taking a to-be-assembled air conditioner, and the taking mechanism is provided with an adjusting mechanism used for clamping the air conditioner and adjusting the machining position of the air conditioner; an assembling mechanism used for assembling the air conditioner is arranged on the fixing frame body. Multiple adjustment of an air conditioner workpiece in the space is achieved, the overall inclination angle of the workpiece can be changed through rotation of the outer side frame body relative to the fixed vertical frame, the vertical height of the workpiece can be adjusted through sliding of the lifting block, and horizontal rotation of the workpiece can be achieved through rotation of the taking frame body relative to the inner threaded ring; the axial angle of the workpiece can be finely adjusted through rotation of the driven rotary disc relative to the main clamping base, in addition, the transverse moving block drives the machining tail end to transversely move, so that the to-be-assembled part of the air conditioner can be accurately aligned with the assembling mechanism from any angle, and the adaptability of equipment to the assembling angle of the complex space is improved.

Description

Technical Field

[0001] This invention relates to the field of air conditioner assembly technology, and in particular to an industrial robot for air conditioner assembly. Background Technology

[0002] In the manufacturing process of air conditioning products, the assembly stage is a key process that determines product quality and production efficiency. Currently, on automated assembly lines for air conditioners, conveyor belts are typically used to transport semi-finished products or components such as casings to designated workstations. Subsequently, industrial robots or specialized robotic arms pick up the components to be assembled and move them to their designated assembly positions. Finally, the final assembly is completed by rear-end devices that use screw fastening, welding, or riveting.

[0003] However, existing gripping or handling equipment for air conditioner assembly has the following shortcomings in practical applications: First, the gripping mechanism has limited freedom and limited adjustment capabilities. Most existing robotic arms can only achieve vertical lifting or horizontal movement. Once the air conditioner component is gripped, its posture is relatively fixed. During assembly, if there is an angular deviation or misalignment between the part of the air conditioner to be processed and the processing end of the assembly mechanism, it is often necessary to readjust the gripping point or rely on a complex conveyor belt positioning system for multiple calibrations, resulting in reduced assembly efficiency and difficulty in adapting to the precision assembly requirements of multiple angles and multiple workstations. Second, the accuracy and adaptability of gripping and positioning are poor. Traditional gripping mechanisms are difficult to achieve automatic centering calibration in multiple directions simultaneously when gripping, which easily leads to gripping deviation. Third, the functional integration is low, and the assembly process is fragmented. In many existing solutions, the gripping and handling mechanism and the back-end assembly execution mechanism are relatively independent systems. After the air conditioner is placed at the assembly station, another independent processing equipment is often required to perform screw fastening or welding actions. This not only increases the equipment footprint but also prolongs the workpiece transfer time between different workstations, which is not conducive to achieving efficient assembly line operations. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention discloses an industrial robot capable of high-degree-of-freedom posture adjustment, multi-directional precise positioning, and efficient integration of grasping and assembly actions. The technical solution adopted by this invention is as follows: an industrial robot for air conditioner assembly, comprising a fixed frame and a grasping mechanism for grasping air conditioners to be assembled. The grasping mechanism is provided with an adjustment mechanism for clamping the air conditioner and adjusting its processing position. The fixed frame is provided with an assembly mechanism for assembling the air conditioner.

[0005] Furthermore, the picking mechanism includes a fixed upright frame fixedly installed on a fixed frame body, an unfolding frame and an unfolding frame body rotatably installed on the fixed upright frame, an outer frame body fixedly installed on the unfolding frame body, a lifting motor fixedly installed on the outer frame body, a lifting screw rotatably installed on the outer frame body, the lifting screw body being fixedly installed with the motor shaft of the lifting motor, a lifting guide column fixedly installed on the outer frame body, a lifting block slidably installed on the lifting guide column, the lifting block being slidably installed with the outer frame body, and the lifting block and the lifting screw body forming a threaded transmission.

[0006] Furthermore, the picking mechanism also includes a unfolding motor fixedly installed on the unfolding frame, an unfolding screw rotatably installed on the unfolding frame, the unfolding screw being fixedly installed with the motor shaft of the unfolding motor, an unfolding column fixedly installed on the unfolding frame, and a lifting slider slidably installed on the unfolding column, the lifting slider and the unfolding screw forming a threaded transmission.

[0007] Furthermore, the picking mechanism also includes a limiting block fixedly installed on the unfolding lead screw, and an outer connecting rod and an inner connecting rod rotatably installed on the lifting slider. The outer connecting rod is rotatably installed with the fixed upright frame, and the inner connecting rod is rotatably installed with the unfolding frame.

[0008] The fixed frame is erected above the conveyor belt that transports the air conditioners to be assembled. When the air conditioner is transported by the external conveyor belt to the bottom of the fixed frame, the unfolding motor drives the unfolding screw to rotate. The unfolding screw drives the lifting slider to slide along the unfolding column through the threaded transmission. When the lifting slider slides along the unfolding column, it causes the unfolding frame to rotate relative to the fixed frame through the outer connecting rod. At the same time, the lifting slider drives the unfolding frame and the outer frame to rotate downward relative to the fixed frame through the inner connecting rod. When the lifting slider moves along the unfolding screw to contact the limit block, the unfolding frame and the outer frame reach the limit position. At this time, the outer frame is perpendicular to the fixed frame and is in a horizontal state. Then, the air conditioner to be assembled is clamped by the adjustment mechanism.

[0009] The lifting motor drives the lifting screw to rotate, and the lifting screw drives the lifting block to slide along the lifting guide column through the threaded transmission, thereby changing the position of the adjustment mechanism relative to the outer frame. The rotation of the unfolding motor can adjust the angle between the outer frame and the fixed frame, thereby changing the angle between the adjustment mechanism and the horizontal plane.

[0010] Furthermore, the adjustment mechanism includes an internal threaded ring fixedly mounted on the lifting block, a retrieval frame rotatably mounted on the internal threaded ring, a rotating box motor fixedly mounted inside the retrieval frame, and a motor gear fixedly mounted on the motor shaft of the rotating box motor, the motor gear meshing with the internal threaded ring.

[0011] Furthermore, the adjustment mechanism also includes two side clamping electric cylinders that are fixedly installed on both sides of the retrieval frame in the first direction. A side clamping plate is fixedly installed on the output end of the side clamping electric cylinder. Side clamping guide posts are fixedly installed on both sides of the retrieval frame in the first direction, and the side clamping plate slides along the side clamping guide posts.

[0012] Furthermore, the adjustment mechanism also includes two clamping motors respectively fixedly installed on both sides of the retrieval frame in a second direction perpendicular to the first direction. A side bevel gear is fixedly installed on the motor shaft of the clamping motor. A clamping cam is rotatably installed inside the retrieval frame. A bevel gear is fixedly installed on the clamping cam and meshes with the side bevel gear. An inner push clamping block is slidably installed inside the retrieval frame. A clamping guide post is fixedly installed on the inner push clamping block. The clamping guide post is slidably installed with the retrieval frame. A main clamping seat is fixedly installed on the clamping guide post. A return spring is provided between the main clamping seat and the retrieval frame. The clamping cam abuts against the inner push clamping block.

[0013] Furthermore, the adjustment mechanism also includes a rotary motor fixedly mounted on a main clamping seat, an active turntable fixedly mounted on the motor shaft of the rotary motor, the active turntable being rotatably mounted to the main clamping seat, and a passive turntable being rotatably mounted on another main clamping seat.

[0014] When the adjusting mechanism reaches the air conditioner above the conveyor belt, the two side clamping cylinders retract, causing the two side clamping plates to move inward along the side clamping guide post. The air conditioner contacts the air conditioner through the inner side of the side clamping plates, making the air conditioner centered in the lateral direction. Then, the two clamping motors rotate, driving the side bevel gear to rotate. The side bevel gear drives the bevel gear and clamping cam to rotate. The clamping cam pushes the inner pusher block and clamping guide post to move inward along the pick-up frame. The return spring is compressed, and finally, the passive turntable and the active turntable clamp the two ends of the air conditioner, making the air conditioner centered in the front-back direction. Then, the unfolding motor drives the outer frame to rotate relative to the fixed frame, thereby picking up the air conditioner from the conveyor belt. The position of the air conditioner relative to the outer frame can be adjusted by the sliding of the lifting block along the lifting guide post.

[0015] The rotating box motor drives the motor gear to rotate, which in turn causes the pick-up frame to rotate relative to the internal threaded ring. The side clamping plate moves outward a short distance to make way. Then, the rotating motor rotates, causing the active turntable to rotate, which in turn causes the air conditioner and the passive turntable to rotate together relative to the main clamping seat. In other words, through the sliding of the lifting block relative to the outer frame, the rotation of the outer frame relative to the fixed frame, the rotation of the pick-up frame relative to the internal threaded ring, the rotation of the passive turntable relative to the main clamping seat, and the sliding of the lateral moving block relative to the fixed frame, the position of the air conditioner can be adjusted in multiple ways, so that the air conditioner part to be assembled is aligned with the assembly mechanism.

[0016] Furthermore, the assembly mechanism includes a transverse motor fixedly mounted on a fixed frame, a transverse block slidably mounted on the fixed frame, a transverse lead screw rotatably mounted on the fixed frame, the transverse lead screw being fixedly mounted to the motor shaft of the transverse motor, the transverse block and the transverse lead screw forming a threaded transmission, a processing bracket fixedly mounted on the transverse block, a forward motor fixedly mounted on the processing bracket, a forward lead screw rotatably mounted on the processing bracket, the forward lead screw being fixedly mounted to the motor shaft of the forward motor, a forward moving block slidably mounted inside the processing bracket, the forward moving block and the forward lead screw forming a threaded transmission, and a processing end fixedly mounted on the forward moving block.

[0017] Furthermore, the processing end is one of an electric screwdriver, a welding torch, a grinder, or a cutter.

[0018] The transverse motor drives the transverse lead screw to rotate, which in turn drives the transverse moving block and the processing bracket to slide along the transverse lead screw through threaded transmission. This adjusts the left and right position of the processing bracket relative to the fixed frame, allowing the processing end to move to the part to be assembled. The forward motor drives the forward lead screw to rotate, which in turn drives the forward moving block and the processing end to move back and forth along the processing bracket, so that the end of the processing end contacts the assembly part. When assembling screws, the processing end is an electric screwdriver, which is used to tighten all the screws on the air conditioner. When assembling by welding, the processing end is a welding gun, which is used to weld the air conditioner assembly part.

[0019] The beneficial effects of this invention compared with the prior art are: (1) This invention achieves multiple adjustments of the air conditioner workpiece in space by setting up an unfolding motor, a lifting motor, a rotating box motor, a rotating motor and a transverse moving motor. Specifically, the rotation of the outer frame relative to the fixed frame can change the overall tilt angle of the workpiece, the sliding of the lifting block can adjust the vertical height of the workpiece, the rotation of the pick-up frame relative to the internal thread ring can realize the horizontal rotation of the workpiece, the rotation of the passive turntable relative to the main clamping seat can finely adjust the axial angle of the workpiece, and the transverse moving block drives the transverse movement of the processing end, so that the air conditioner to be assembled can be accurately aligned with the assembly mechanism from any angle, improving the equipment's adaptability to complex spatial assembly angles, without repeatedly adjusting the clamping point or relying on the conveyor belt for repeated positioning; (2) This invention adopts a dual automatic centering positioning mechanism of lateral and axial directions. First, the side clamping electric cylinders on both sides drive the side clamping plates to retract inward, so that the air conditioner is automatically centered in the width direction. Then, the clamping motor drives the clamping cam to rotate through the bevel gear transmission, pushing the main clamping seats at both ends to move inward synchronously, so that the air conditioner is also automatically centered in the length direction. This sequential clamping method, first lateral and then axial, can effectively eliminate the placement deviation caused by the conveyor belt, ensuring that the workpiece is in the center of the pick-up frame after being clamped, laying the foundation for subsequent precise assembly. At the same time, the end clamping by the turntable has a large and stable contact area, which can avoid causing indentation or damage to the air conditioner shell; (3) The present invention integrates the pick-up mechanism and the assembly mechanism on the same fixed frame. After the pick-up mechanism picks up the air conditioner from the conveyor belt and adjusts it to the predetermined posture through multi-axis linkage, the assembly mechanism located on the same frame responds and moves to the assembly position to perform screw fastening, welding and other operations. This integrated design saves the transfer time of the workpiece between different special equipment, simplifies the production line layout, and makes the pick-up, handling, alignment and assembly actions complete in a continuous manner, improving the production rhythm and efficiency of air conditioner assembly; (4) The processing end in the assembly mechanism set in the present invention is not a fixed single function, but can be quickly replaced or set to different tool heads according to the actual assembly process requirements, such as electric screwdrivers, welding guns, grinders or cutting machines, so that the same robot can adapt to a variety of different operating scenarios on the air conditioner production line. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention (in the collapsed state).

[0021] Figure 2 This is a schematic diagram of the overall structure of the present invention (in unfolded state).

[0022] Figure 3 This is a schematic diagram of the picking mechanism structure of the present invention. Figure 1 .

[0023] Figure 4 This is a schematic diagram of the picking mechanism structure of the present invention. Figure 2 .

[0024] Figure 5 This is a schematic diagram of the adjusting mechanism structure of the present invention. Figure 1 .

[0025] Figure 6 This is a schematic diagram of the adjusting mechanism structure of the present invention. Figure 2 .

[0026] Figure 7 This is a schematic diagram of the adjusting mechanism structure of the present invention. Figure 3 .

[0027] Figure 8 This is a schematic diagram of the assembly mechanism of the present invention.

[0028] Reference numerals: 101-Fixed frame; 102-Fixed upright; 103-Expanding frame; 104-Expanding motor; 105-Expanding frame; 106-Outer frame; 107-Expanding lead screw; 108-Expanding column; 109-Limit block; 110-Lifting slider; 111-Outer connecting rod; 112-Inner connecting rod; 113-Lifting motor; 114-Lifting lead screw; 115-Lifting guide column; 116-Lifting block; 201-Internal threaded ring; 202-Retrieval frame; 203-Side clamping electric cylinder; 204-Side clamping plate; 205-Side clamping guide... Column; 206-Clamping motor; 207-Side bevel gear; 208-Clamping cam; 209-Bevel gear; 210-Inner push clamping block; 211-Clamping guide column; 212-Reset spring; 213-Main clamping seat; 214-Rotating motor; 215-Active turntable; 216-Passive turntable; 217-Turnbox motor; 218-Motor gear; 301-Transverse movement motor; 302-Transverse movement screw; 303-Transverse movement block; 304-Machining bracket; 305-Forward motor; 306-Forward screw; 307-Forward moving block; 308-Machining end. Detailed Implementation

[0029] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0030] Example: Reference Figures 1-8 An industrial robot for assembling air conditioners includes a fixed frame 101 and a picking mechanism for picking up air conditioners to be assembled. The picking mechanism is provided with an adjustment mechanism for clamping the air conditioner and adjusting the processing position of the air conditioner. The fixed frame 101 is provided with an assembly mechanism for assembling the air conditioner.

[0031] like Figure 3 , Figure 4As shown, the retrieval mechanism includes a fixed upright frame 102 fixedly installed on a fixed frame 101. An unfolding frame 103 and an unfolding frame 105 are rotatably installed on the fixed upright frame 102. An outer frame 106 is fixedly installed on the unfolding frame 105. A lifting motor 113 is fixedly installed on the outer frame 106. A lifting screw 114 is rotatably installed on the outer frame 106. The lifting screw 114 is fixedly installed with the motor shaft of the lifting motor 113. A lifting guide column 115 is fixedly installed on the outer frame 106. A lifting block 116 is slidably installed on the lifting guide column 115. The lifting block 116 is slidably installed with the outer frame 106. The lifting block 116 and the lifting screw 114 form a threaded transmission.

[0032] like Figure 3 , Figure 4 As shown, the picking mechanism also includes a picking motor 104 fixedly installed on the picking frame 103, a picking screw 107 rotatably installed on the picking frame 103, the picking screw 107 being fixedly installed with the motor shaft of the picking motor 104, a picking column 108 fixedly installed on the picking frame 103, a lifting slider 110 slidably installed on the picking column 108, and the lifting slider 110 forming a threaded transmission with the picking screw 107.

[0033] like Figure 3 , Figure 4 As shown, the picking mechanism also includes a limiting block 109 fixedly installed on the unfolding screw 107, and an outer connecting rod 111 and an inner connecting rod 112 rotatably installed on the lifting slider 110. The outer connecting rod 111 is rotatably installed with the fixed frame 102, and the inner connecting rod 112 is rotatably installed with the unfolding frame 105.

[0034] The fixed frame 101 is erected above the conveyor belt that transports the air conditioner to be assembled. When the air conditioner is transported by the external conveyor belt to the bottom of the fixed frame 101, the unfolding motor 104 drives the unfolding screw 107 to rotate. The unfolding screw 107 drives the lifting slider 110 to slide along the unfolding column 108 through the threaded transmission. When the lifting slider 110 slides along the unfolding column 108, the unfolding frame 103 rotates relative to the fixed frame 102 through the outer connecting rod 111. At the same time, the lifting slider 110 drives the unfolding frame 105 and the outer frame 106 to rotate downward relative to the fixed frame 102 through the inner connecting rod 112. When the lifting slider 110 moves along the unfolding screw 107 to contact the limit block 109, the unfolding frame 105 and the outer frame 106 reach the limit position. At this time, the outer frame 106 is perpendicular to the fixed frame 102 and is in a horizontal state. Then, the air conditioner to be assembled is clamped by the adjustment mechanism.

[0035] The lifting motor 113 drives the lifting screw 114 to rotate. The lifting screw 114 drives the lifting block 116 to slide along the lifting guide column 115 through the thread transmission, thereby changing the position of the adjustment mechanism relative to the outer frame 106. The rotation of the unfolding motor 104 can adjust the angle between the outer frame 106 and the fixed upright frame 102, thereby changing the angle between the adjustment mechanism and the horizontal plane.

[0036] like Figures 5-7 As shown, the adjustment mechanism includes an internal threaded ring 201 fixedly mounted on the lifting block 116, a retrieval frame 202 rotatably mounted on the internal threaded ring 201, a full-circle sliding groove provided on the outer side of the internal threaded ring 201, a boss provided inside the retrieval frame 202, the boss sliding in the full-circle sliding groove on the outer side of the internal threaded ring 201, a rotating box motor 217 fixedly mounted inside the retrieval frame 202, a motor gear 218 fixedly mounted on the motor shaft of the rotating box motor 217, and the motor gear 218 meshing with the internal threaded ring 201.

[0037] like Figures 5-7 As shown, the adjustment mechanism also includes two side clamping electric cylinders 203 that are fixedly installed on both sides of the first direction of the retrieval frame 202. A side clamping plate 204 is fixedly installed on the output end of the side clamping electric cylinder 203. A side clamping guide post 205 is fixedly installed on both sides of the retrieval frame 202 in the first direction. The side clamping plate 204 slides along the side clamping guide post 205.

[0038] like Figures 5-7 As shown, the adjustment mechanism also includes two clamping motors 206 respectively fixedly installed on both sides of the second direction perpendicular to the first direction of the pick-up frame 202. A side bevel gear 207 is fixedly installed on the motor shaft of the clamping motor 206. A clamping cam 208 is rotatably installed inside the pick-up frame 202. A bevel gear 209 is fixedly installed on the clamping cam 208. The bevel gear 209 meshes with the side bevel gear 207. An inner push clamping block 210 is slidably installed inside the pick-up frame 202. A clamping guide post 211 is fixedly installed on the inner push clamping block 210. The clamping guide post 211 is slidably installed with the pick-up frame 202. A main clamping seat 213 is fixedly installed on the clamping guide post 211. A return spring 212 is provided between the main clamping seat 213 and the pick-up frame 202. The clamping cam 208 abuts against the inner push clamping block 210.

[0039] like Figures 5-7 As shown, the adjustment mechanism also includes a rotary motor 214 fixedly mounted on a main clamping seat 213. An active turntable 215 is fixedly mounted on the motor shaft of the rotary motor 214. The active turntable 215 is rotatably mounted on the main clamping seat 213. A passive turntable 216 is rotatably mounted on another main clamping seat 213.

[0040] When the adjusting mechanism reaches the air conditioner above the conveyor belt, the two side clamping cylinders 203 first retract, driving the two side clamping plates 204 to move inward along the side clamping guide post 205. The side clamping plates 204 contact the air conditioner through their inner sides, centering the air conditioner in the lateral direction. The initial extension and retraction of the two side clamping cylinders 203 are the same, and the two side clamping plates 204 move inward synchronously. When one side clamping plate 204 contacts the side of the air conditioner, it pushes the air conditioner inward. Then, the air conditioner contacts the other side clamping plate 204. Since the inward movement distance of the two side clamping plates 204 is the same, when both side clamping plates 204 are in contact with the side of the air conditioner, the air conditioner is in a lateral centered position. Then, the two clamping motors 206 rotate, driving the side bevel gear 207 to rotate. The side bevel gear 207 drives the bevel gear 209 and the clamping cam 208 to rotate. The clamping cam 208 pushes the inner pusher block 210 and the clamping guide post 211. As the air conditioner moves inward along the pick-up frame 202, the return spring 212 is compressed, ultimately causing the passive turntable 216 and the active turntable 215 to clamp both ends of the air conditioner and center it in the front-to-back direction. Similarly, the two main clamping seats 213 move inward synchronously. When the passive turntable 216 or the active turntable 215 first contacts both ends of the air conditioner, it will push the air conditioner to move in the front-to-back direction. Finally, the air conditioner is clamped by the passive turntable 216 and the active turntable 215. At this time, the two main clamping seats 213 move inward a distance of equal distance. At this time, the air conditioner is centered in the front-to-back direction, so that the central axis of the air conditioner coincides with the central axis of the pick-up frame 202. Then, the unfolding motor 104 drives the outer frame 106 to rotate relative to the fixed upright frame 102, thereby picking up the air conditioner from the conveyor belt. The position of the air conditioner relative to the outer frame 106 can be adjusted by the sliding of the lifting block 116 along the lifting guide column 115.

[0041] The rotating box motor 217 drives the motor gear 218 to rotate, which can drive the pick-up frame 202 to rotate relative to the internal thread ring 201. The side clamping piece 204 moves outward a short distance to make way, so that the side clamping piece 204 temporarily disengages from the side of the air conditioner, allowing the air conditioner to rotate. Then, the rotating motor 214 rotates, driving the active turntable 215 to rotate, which can drive the air conditioner and the passive turntable 216 to rotate together relative to the main clamping seat 213. That is, through the sliding of the lifting block 116 relative to the outer frame 106, the rotation of the outer frame 106 relative to the fixed upright frame 102, the rotation of the pick-up frame 202 relative to the internal thread ring 201, the rotation of the passive turntable 216 relative to the main clamping seat 213, and the sliding of the transverse moving block 303 relative to the fixed frame 101, the position of the air conditioner can be adjusted in multiple ways, so that the part of the air conditioner to be assembled is aligned with the assembly mechanism.

[0042] like Figure 8As shown, the assembly mechanism includes a transverse motor 301 fixedly mounted on a fixed frame 101, a transverse moving block 303 slidably mounted on the fixed frame 101, a transverse lead screw 302 rotatably mounted on the fixed frame 101, the transverse lead screw 302 being fixedly mounted to the motor shaft of the transverse motor 301, the transverse moving block 303 and the transverse lead screw 302 forming a threaded transmission, a processing bracket 304 fixedly mounted on the transverse moving block 303, a forward motor 305 fixedly mounted on the processing bracket 304, a forward lead screw 306 rotatably mounted on the processing bracket 304, the forward lead screw 306 being fixedly mounted to the motor shaft of the forward motor 305, a forward moving block 307 slidably mounted inside the processing bracket 304, the forward moving block 307 and the forward lead screw 306 forming a threaded transmission, and a processing end 308 fixedly mounted on the forward moving block 307.

[0043] like Figure 8 As shown, the processing end 308 is one of the following: electric screwdriver, welding gun, grinder, or cutter.

[0044] The transverse motor 301 drives the transverse lead screw 302 to rotate, which in turn drives the transverse moving block 303 and the processing bracket 304 to slide along the transverse lead screw 302 through threaded transmission. This adjusts the left and right position of the processing bracket 304 relative to the fixed frame 101, allowing the processing end 308 to move to the part to be assembled. The forward motor 305 drives the forward lead screw 306 to rotate, which in turn drives the forward moving block 307 and the processing end 308 to move back and forth along the processing bracket 304, so that the end of the processing end 308 contacts the assembly part. When assembling screws, the processing end 308 is an electric screwdriver, which is used to tighten all the screws on the air conditioner. When assembling by welding, the processing end 308 is a welding torch, which is used to weld the air conditioner assembly part.

[0045] Working principle: The fixed frame 101 is erected above the conveyor belt that transports the air conditioner to be assembled. When the air conditioner is transported by the external conveyor belt to the bottom of the fixed frame 101, the unfolding motor 104 drives the unfolding screw 107 to rotate. The unfolding screw 107 drives the lifting slider 110 to slide along the unfolding column 108 through the threaded transmission. When the lifting slider 110 slides along the unfolding column 108, the unfolding frame 103 rotates relative to the fixed frame 102 through the outer connecting rod 111. At the same time, the lifting slider 110 drives the unfolding frame 105 and the outer frame 106 to rotate downward relative to the fixed frame 102 through the inner connecting rod 112. When the lifting slider 110 moves along the unfolding screw 107 to contact the limit block 109, the unfolding frame 105 and the outer frame 106 reach the limit position. At this time, the outer frame 106 is perpendicular to the fixed frame 102 and is in a horizontal state. Then, the air conditioner to be assembled is clamped by the adjustment mechanism.

[0046] The lifting motor 113 drives the lifting screw 114 to rotate. The lifting screw 114 drives the lifting block 116 to slide along the lifting guide column 115 through the thread transmission, thereby changing the position of the adjustment mechanism relative to the outer frame 106. The rotation of the unfolding motor 104 can adjust the angle between the outer frame 106 and the fixed upright frame 102, thereby changing the angle between the adjustment mechanism and the horizontal plane.

[0047] When the adjusting mechanism reaches the air conditioner above the conveyor belt, the two side clamping cylinders 203 first retract, driving the two side clamping plates 204 to move inward along the side clamping guide post 205. The side clamping plates 204 contact the air conditioner through their inner sides, centering the air conditioner in the lateral direction. The initial extension and retraction of the two side clamping cylinders 203 are the same, and the two side clamping plates 204 move inward synchronously. When one side clamping plate 204 contacts the side of the air conditioner, it pushes the air conditioner inward. Then, the air conditioner contacts the other side clamping plate 204. Since the inward movement distance of the two side clamping plates 204 is the same, when both side clamping plates 204 are in contact with the side of the air conditioner, the air conditioner is in a lateral centered position. Then, the two clamping motors 206 rotate, driving the side bevel gear 207 to rotate. The side bevel gear 207 drives the bevel gear 209 and the clamping cam 208 to rotate. The clamping cam 208 pushes the inner pusher block 210 and the clamping guide post 211. As the air conditioner moves inward along the pick-up frame 202, the return spring 212 is compressed, ultimately causing the passive turntable 216 and the active turntable 215 to clamp both ends of the air conditioner and center it in the front-to-back direction. Similarly, the two main clamping seats 213 move inward synchronously. When the passive turntable 216 or the active turntable 215 first contacts both ends of the air conditioner, it will push the air conditioner to move in the front-to-back direction. Finally, the air conditioner is clamped by the passive turntable 216 and the active turntable 215. At this time, the two main clamping seats 213 move inward a distance of equal distance. At this time, the air conditioner is centered in the front-to-back direction, so that the central axis of the air conditioner coincides with the central axis of the pick-up frame 202. Then, the unfolding motor 104 drives the outer frame 106 to rotate relative to the fixed upright frame 102, thereby picking up the air conditioner from the conveyor belt. The position of the air conditioner relative to the outer frame 106 can be adjusted by the sliding of the lifting block 116 along the lifting guide column 115.

[0048] The rotating box motor 217 drives the motor gear 218 to rotate, which can drive the pick-up frame 202 to rotate relative to the internal thread ring 201. The side clamping piece 204 moves outward a short distance to make way, so that the side clamping piece 204 temporarily disengages from the side of the air conditioner, allowing the air conditioner to rotate. Then, the rotating motor 214 rotates, driving the active turntable 215 to rotate, which can drive the air conditioner and the passive turntable 216 to rotate together relative to the main clamping seat 213. That is, through the sliding of the lifting block 116 relative to the outer frame 106, the rotation of the outer frame 106 relative to the fixed upright frame 102, the rotation of the pick-up frame 202 relative to the internal thread ring 201, the rotation of the passive turntable 216 relative to the main clamping seat 213, and the sliding of the transverse moving block 303 relative to the fixed frame 101, the position of the air conditioner can be adjusted in multiple ways, so that the part of the air conditioner to be assembled is aligned with the assembly mechanism.

[0049] The transverse motor 301 drives the transverse lead screw 302 to rotate, which in turn drives the transverse moving block 303 and the processing bracket 304 to slide along the transverse lead screw 302 through threaded transmission. This adjusts the left and right position of the processing bracket 304 relative to the fixed frame 101, allowing the processing end 308 to move to the part to be assembled. The forward motor 305 drives the forward lead screw 306 to rotate, which in turn drives the forward moving block 307 and the processing end 308 to move back and forth along the processing bracket 304, so that the end of the processing end 308 contacts the assembly part. When assembling screws, the processing end 308 is an electric screwdriver, which is used to tighten all the screws on the air conditioner. When assembling by welding, the processing end 308 is a welding torch, which is used to weld the air conditioner assembly part.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the present invention based on the technical solution and inventive concept of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An industrial robot for air conditioner assembly, comprising a fixed frame (101) and a picking mechanism, characterized in that: The picking mechanism is provided with an adjustment mechanism for clamping and adjusting the processing position, and the fixed frame (101) is provided with an assembly mechanism.

2. The industrial robot for air conditioner assembly according to claim 1, characterized in that: The picking mechanism includes a fixed frame (102) fixedly installed on the fixed frame (101), an unfolding frame (103) and an unfolding frame (105) rotatably installed on the fixed frame (102), an outer frame (106) fixedly installed on the unfolding frame (105), a lifting motor (113) fixedly installed on the outer frame (106), a lifting screw (114) rotatably installed on the outer frame (106), the lifting screw (114) fixedly installed with the motor shaft of the lifting motor (113), a lifting guide column (115) fixedly installed on the outer frame (106), a lifting block (116) slidably installed on the lifting guide column (115), the lifting block (116) slidably installed with the outer frame (106), and the lifting block (116) and the lifting screw (114) form a threaded transmission.

3. The industrial robot for air conditioner assembly according to claim 2, characterized in that: The picking mechanism also includes a picking motor (104) fixedly installed on the picking frame (103), a picking screw (107) rotatably installed on the picking frame (103), the picking screw (107) being fixedly installed with the motor shaft of the picking motor (104), a picking column (108) fixedly installed on the picking frame (103), a lifting slider (110) slidably installed on the picking column (108), and the lifting slider (110) forming a threaded transmission with the picking screw (107).

4. The industrial robot for air conditioner assembly according to claim 3, characterized in that: The picking mechanism also includes a limiting block (109) fixedly installed on the unfolding screw (107). An outer connecting rod (111) and an inner connecting rod (112) are rotatably installed on the lifting slider (110). The outer connecting rod (111) is rotatably installed with the fixed frame (102), and the inner connecting rod (112) is rotatably installed with the unfolding frame (105).

5. An industrial robot for air conditioner assembly according to claim 2, characterized in that: The adjustment mechanism includes an internal threaded ring (201) fixedly installed on the lifting block (116), a retrieval frame (202) rotatably installed on the internal threaded ring (201), a rotating box motor (217) fixedly installed inside the retrieval frame (202), and a motor gear (218) fixedly installed on the motor shaft of the rotating box motor (217), the motor gear (218) meshing with the internal threaded ring (201).

6. An industrial robot for air conditioner assembly according to claim 5, characterized in that: The adjustment mechanism also includes two side clamping electric cylinders (203) that are fixedly installed on both sides of the first direction of the retrieval frame (202). A side clamping plate (204) is fixedly installed on the output end of the side clamping electric cylinder (203). A side clamping guide post (205) is fixedly installed on both sides of the retrieval frame (202) in the first direction. The side clamping plate (204) slides along the side clamping guide post (205).

7. An industrial robot for air conditioner assembly according to claim 6, characterized in that: The adjustment mechanism further includes two clamping motors (206) respectively fixedly installed on both sides of the retrieval frame (202) in a second direction perpendicular to the first direction. A side bevel gear (207) is fixedly installed on the motor shaft of each clamping motor (206). A clamping cam (208) is rotatably installed inside the retrieval frame (202). A bevel gear (209) is fixedly installed on the clamping cam (208), and the bevel gear (209) meshes with the side bevel gear (207). An inward push clamping block (210) is slidably installed inside the frame (202). A clamping guide post (211) is fixedly installed on the inward push clamping block (210). The clamping guide post (211) is slidably installed with the retrieval frame (202). A main clamping seat (213) is fixedly installed on the clamping guide post (211). A return spring (212) is provided between the main clamping seat (213) and the retrieval frame (202). The clamping cam (208) abuts against the inward push clamping block (210).

8. An industrial robot for air conditioner assembly according to claim 7, characterized in that: The adjustment mechanism also includes a rotary motor (214) fixedly installed on one of the main clamping seats (213), an active turntable (215) fixedly installed on the motor shaft of the rotary motor (214), the active turntable (215) being rotatably installed with the main clamping seat (213), and a passive turntable (216) being rotatably installed on the other main clamping seat (213).

9. An industrial robot for air conditioner assembly according to claim 1, characterized in that: The assembly mechanism includes a transverse motor (301) fixedly mounted on the fixed frame (101), a transverse moving block (303) slidably mounted on the fixed frame (101), a transverse lead screw (302) rotatably mounted on the fixed frame (101), the transverse lead screw (302) being fixedly mounted to the motor shaft of the transverse motor (301), the transverse moving block (303) and the transverse lead screw (302) forming a threaded transmission, and a processing bracket fixedly mounted on the transverse moving block (303). 304), a forward motor (305) is fixedly installed on the processing bracket (304), a forward lead screw (306) is rotatably installed on the processing bracket (304), the forward lead screw (306) is fixedly installed with the motor shaft of the forward motor (305), a forward moving block (307) is slidably installed inside the processing bracket (304), the forward moving block (307) and the forward lead screw (306) form a threaded transmission, and a processing end (308) is fixedly installed on the forward moving block (307).

10. An industrial robot for air conditioner assembly according to claim 9, characterized in that: The processing end (308) is one of an electric screwdriver, welding gun, grinder, or cutter.

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