Intelligent manufacturing production line and production method for refrigerator body

Abstract

This application relates to the field of home appliance manufacturing technology, and provides a smart manufacturing production line and method for refrigerator bodies. The smart manufacturing production line for refrigerator bodies includes an outer shell forming line, an inner liner assembly line, and an assembly station. The inner liner assembly line includes a first positioning device, a second positioning device, a vision inspection device, a pushing device, and an automatic screw-locking device. The first and second positioning mechanisms are used to position the first and second inner liners respectively, and drive the first and second inner liners to move towards each other in a horizontal direction, so that the first mating part of the first inner liner and the second mating part of the second inner liner are aligned and engaged. The vision inspection device is used to perform alignment detection on the first and second mating parts from the side. The pushing device is used to apply an upward pushing force to the aligned mating parts. The automatic screw-locking device is used to downwardly fasten screws to the aligned mating parts, so that the screws pass through the aligned mating parts and are locked into the threaded holes of the metal parts, realizing the automated assembly of the refrigerator inner liners.

Description

Technical Field

[0001] This application relates to the field of home appliance manufacturing technology, and in particular to a smart manufacturing production line and production method for refrigerator bodies. Background Technology

[0002] Refrigerators are an indispensable home appliance in modern families, bringing great convenience to people's lives. As people's demand for refrigerator capacity increases, double-door refrigerators with large storage capacity have emerged.

[0003] Double-door refrigerators typically consist of a refrigerator body and a refrigerator door. The refrigerator body includes an outer shell, an inner liner embedded within the outer shell, and a foam layer filling the space between the outer shell and the inner liner. Refrigerator body manufacturing lines usually involve multiple independent machines or semi-automated workstations, resulting in low automation levels and difficulties in matching production cycles. Taking the inner liner as an example, due to the large size of the refrigerator body, some refrigerator bodies use two independent inner liners (such as a left and right inner liner) joined together by a connecting beam. The assembly of the inner liner usually requires manual assembly by workers on the refrigerator manufacturing line, resulting in low automation levels and severely limiting refrigerator production efficiency. Summary of the Invention

[0004] To address the aforementioned technical issues, this application provides an intelligent manufacturing production line and method for refrigerator bodies, which not only automates the assembly of the refrigerator liner, reducing manual intervention and improving the production efficiency of the refrigerator body, but also effectively ensures the reliability of the refrigerator liner assembly.

[0005] The first aspect of this application provides a smart manufacturing production line for refrigerator bodies, including an outer shell forming line and an inner liner assembly line, as well as an assembly station for assembling the outer shell formed by the outer shell forming line and the inner liner assembled by the inner liner assembly line. The inner liner assembly line includes a first automatic feeding device, a second automatic feeding device, a first positioning device, a second positioning device, a vision inspection device, a pushing device, and an automatic screw locking device.

[0006] The first automatic feeding device is used to pick up the first inner liner to be assembled and place it in the first positioning device; the second automatic feeding device is used to pick up the second inner liner to be assembled and place it in the second positioning device.

[0007] The first positioning device includes a first guide rail module and a first positioning mechanism disposed on the first guide rail module. The second positioning device includes a second guide rail module and a second positioning mechanism disposed on the second guide rail module. The first positioning mechanism and the second positioning mechanism are respectively used to position the first inner liner and the second inner liner, and drive the first inner liner and the second inner liner to move towards each other in the horizontal direction, so that the first mating part at the mouth edge of the first inner liner and the second mating part at the mouth edge of the second inner liner are aligned and engaged. The bottom of the lower one of the first mating part and the second mating part is provided with a metal part, and the metal part is provided with a threaded hole.

[0008] The visual inspection device is located on one side of the first positioning device and the second positioning device, and is used to perform alignment detection on the first mating part and the second mating part from the side.

[0009] The pushing device is located between the first positioning device and the second positioning device, and is used to apply an upward pushing force to the mating parts of the first inner liner and the second inner liner. The pushing device is equipped with a pressure sensor.

[0010] The automatic screw-locking device is located on one side of the first positioning device and the second positioning device, and is used to lock screws downward to the mating parts of the first inner liner and the second inner liner, so that the screws pass through the mating parts and are locked into the threaded holes.

[0011] The intelligent manufacturing production line for refrigerator bodies provided in this application includes an inner liner assembly line comprising a first automatic feeding device, a second automatic feeding device, a first positioning device, a second positioning device, a vision inspection device, a pushing device, and an automatic screw-locking device. The first and second automatic feeding devices automatically feed the first and second inner liners to be assembled. The first and second positioning devices automatically position the first and second inner liners to be assembled, and automatically align and engage the first mating portion at the rim of the first inner liner and the second mating portion at the rim of the second inner liner. Furthermore, during the process of the first and second inner liners feeding towards each other, the vision inspection device automatically... The first and second mating parts are aligned to ensure proper fit. Then, an upward pushing force is applied to the mating parts of the first and second inner liner using a pushing device. A pressure sensor collects and transmits the pushing force in real time to provide stable rigid support for subsequent screw fastening. An automatic screw fastening device then fastens the screws downward to the mating parts of the first and second inner liners, allowing the screws to pass through the mating parts and be fastened into the threaded holes on the metal parts. This achieves automated screw fastening assembly of the first and second inner liners, reducing manual intervention, increasing automation, and thus improving the production efficiency of the refrigerator body.

[0012] The intelligent manufacturing production line for refrigerator bodies provided in this application reconstructs the force path of traditional screw connections through the setting of the first and second mating parts and the cooperation of the bottom metal parts. This ensures that the clamping and pulling forces generated by the screw fastening are borne by the more rigid metal parts, and the thin-walled plastic inner liner only serves as an intermediate clamping part, completely not bearing the core fastening stress. This eliminates the problems of hole cracking and stress cracking caused by directly fastening screws to the thin-walled plastic inner liner. At the same time, the stable machine thread provided by the metal parts completely solves the inherent defects of plastic threads stripping and loosening after long-term hot and cold cycles, ensuring the long-term sealing and structural rigidity of the joint between the first and second inner liners. Furthermore, before using the automatic screw-locking device to fasten the screws to the first and second inner liners, not only are the first and second positioning devices and the visual inspection device used to achieve horizontal alignment of the first and second inner liners, but the pushing device is also used to effectively constrain the vertical freedom of the alignment parts of the first and second inner liners. This effectively avoids the transmission of high-frequency impact and vibration loads generated in the vertical direction to the alignment parts during the subsequent screw-locking process, which could cause vertical warping, shifting, or relative displacement of the precisely aligned alignment parts. This also avoids problems such as excessive clearance, stripped screw threads, and assembly accuracy exceeding the design tolerance range, ensuring the reliability of the subsequent screw-locking and thus effectively ensuring the reliability of the refrigerator inner liner assembly.

[0013] In some embodiments, at least one side of the first inner liner is provided with an outwardly extending first flange, the first mating part includes a first mating groove provided on the lower side of the first flange, and at least one side of the second inner liner is provided with an outwardly extending second flange, the second mating part includes a second mating groove provided on the upper side of the second flange.

[0014] The first positioning mechanism and the second positioning mechanism respectively drive the first inner liner and the second inner liner to move towards each other in the horizontal direction. Parts of the groove wall of the first mating groove and part of the groove wall of the second mating groove overlap each other in the vertical direction. One end of the first mating groove and the second mating groove is connected and limited to one side of the groove wall of the other in the horizontal direction.

[0015] This design ensures that when the first and second inner liner move towards each other to the appropriate position, the first and second mating grooves form an overlapping area in the vertical direction. This allows for the creation of through holes in the overlapping area for screws to pass through. Screws pass through these through holes and are then locked into the threaded holes of the metal parts, thus securing the first and second inner liners. When the first and second inner liners move towards each other to the appropriate position, one end of the first mating groove engages with one side wall of the second mating groove, or vice versa, limiting further horizontal movement of the first and second inner liners. This ensures that the first and second inner liners are aligned horizontally, aligning the through holes in the overlapping area for screws to pass through, facilitating subsequent automatic screw driving.

[0016] In some embodiments, after the first inner liner and the second inner liner are aligned and fitted, a receiving space is formed between the first inner liner and the second inner liner located below the alignment and fitting portion; the pushing device is located within the receiving space and applies an upward pushing force to the alignment and fitting portion through the receiving space, and the pushing device is provided with a pressure sensor for detecting the pushing force.

[0017] And / or, the number of the jacking devices is two, and the two jacking devices are spaced apart between the first guide rail module and the second guide rail module, and the spacing direction of the two jacking devices is perpendicular to the moving direction of the first positioning mechanism along the first guide rail module.

[0018] This design cleverly utilizes the space formed by the alignment and mating of the first and second inner liner to house the jacking device. Pressure sensors collect and transmit the jacking force in real time during the jacking process, thus constructing a closed-loop pressure control system. This allows the jacking device to apply a constant jacking force to the mating area, providing stable rigid support for the subsequent screw fastening process. By setting two jacking devices, with the spacing between them perpendicular to the movement direction of the first positioning mechanism along the first guide rail module (i.e., perpendicular to the direction of the two positioning mechanisms moving in opposite directions), a stable jacking force can be applied to the positioning and mating area of ​​the first and second inner liner using the two jacking devices.

[0019] In some embodiments, the automatic screw-locking device is provided with a vision detection unit, which is used to acquire images of the alignment and mating parts of the first inner liner and the second inner liner from above, so as to detect whether the through holes on the first mating part for screws to pass through and the through holes on the second mating part for screws to pass through are aligned.

[0020] This configuration utilizes the detection and feedback of the vision inspection unit to ensure that the through holes on the first mating part and the through holes on the second mating part are aligned, facilitating subsequent automated screw-driving operations. Furthermore, this vision inspection unit can be shared with the vision inspection unit itself installed on the automatic screw-locking device, enabling one vision inspection unit to have two detection functions. This simplifies the structure of the inner liner assembly line and facilitates the rational layout of multiple devices on the inner liner assembly line.

[0021] In some embodiments, both the first positioning mechanism and the second positioning mechanism include a positioning base and a positioning structure disposed on the positioning base. The positioning structure includes a first positioning block disposed opposite to each other along the X direction and a second positioning block disposed opposite to each other along the Y direction. At least a portion of the first positioning block is configured to move along the X direction under the drive of a first positioning cylinder, and at least a portion of the second positioning block is configured to move along the Y direction under the drive of a second positioning cylinder.

[0022] Both the first guide rail module and the second guide rail module include a linear guide rail and a driving mechanism. The linear guide rail extends along the X or Y direction, and the positioning base is disposed on the linear guide rail and configured to move along the linear guide rail under the drive of the driving mechanism.

[0023] This configuration utilizes the cooperation of the first and second positioning blocks to achieve positioning of the first and second inner liners in the X and Y directions. Simultaneously, the positioning base moves along the linear guide rail to achieve alignment and mating of the first and second inner liners. Furthermore, by adjusting the positions of the first and / or second positioning blocks, the positions of the first and / or second inner liners in the X and / or Y directions can be adjusted, thereby ensuring that after alignment and mating, the through holes on the first mating part and the through holes on the second mating part are aligned. In addition, by adjusting the positions of the first and / or second positioning blocks, the positioning requirements of different inner liner models can be accommodated, improving production flexibility.

[0024] In some embodiments, the bottom of the lower one of the first mating part and the second mating part is provided with a circumferential limiting rib, a central positioning boss and a plurality of hot melt riveting posts. The metal part is embedded in the inner perimeter area of ​​the circumferential limiting rib. The metal part is provided with a central positioning hole and a riveting hole. The central positioning boss is inserted into the central positioning hole for positioning. The hot melt riveting post passes through the riveting hole and is riveted and fixed to the metal part.

[0025] And / or, the screw is a countersunk screw, one of the first mating parts and the second mating part located above is provided with a countersunk hole, and the other is provided with a through hole corresponding to the countersunk hole. The threaded hole provided on the metal part is a blind hole. The automatic screw-locking device passes the countersunk screw through the countersunk hole and the through hole, and locks it into the threaded hole.

[0026] This design embeds the metal component within the inner perimeter of the circumferential limiting ribs, achieving full circumferential limiting of the metal component in the horizontal direction and preventing movement or displacement during assembly and screw fastening. Simultaneously, positioning and riveting securely fix the metal component to the first or second inner liner, ensuring high positioning accuracy, good impact resistance, high assembly efficiency, and long-term reliability. This adapts to all application scenarios requiring screw-connected inner liner structures without a connecting beam. By using countersunk screws and correspondingly providing countersunk holes in the first or second mating part, the screw head is ensured to be completely submerged below the part surface after fastening, flush with or even recessed into the inner liner surface. Furthermore, the threaded holes on the metal component are blind holes to precisely match the screw length, ensuring the screw tail is completely enclosed within the blind hole and does not protrude through the inner liner wall. This avoids screw tail exposure and prevents material leakage and clogging during the foaming process.

[0027] In some embodiments, the automatic screw fastening device includes a screw feeding mechanism and an automatic screw fastening robot;

[0028] The screw feeding mechanism includes a screw vibratory feeder, a linear feeder, and a turntable. The screw vibratory feeder has a channel for the screws to vibrate out. The channel is connected to the turntable through the linear feeder. The turntable has a screw positioning port.

[0029] The automatic screw fastening robot includes a screw fastening robot body and a screw fastening mechanism disposed at the end of the screw fastening robot body. The screw fastening mechanism includes a vision detection unit for positioning the threaded hole, a screw fastening electric screwdriver for performing the fastening action, and a screw fastening cylinder for blowing the screw at the screw positioning port to the screw fastening electric screwdriver.

[0030] This configuration allows the screw feeding mechanism to supply screws to the automatic screw-locking mechanism, and the automatic screw-locking robot to lock screws onto the mating parts of the first and second inner liner, thereby achieving the goal of automated screw-locking.

[0031] In some embodiments, the inner liner assembly line further includes an inner liner unloading robot;

[0032] The inner liner unloading robot includes an unloading robot body and an inner liner clamp. The inner liner clamp includes a clamp guide rail and two inner liner grippers disposed opposite each other on the clamp guide rail. Each of the two inner liner grippers has a vertically extending clamping portion and a limiting portion connected to the lower end of the clamping portion and extending towards each other. The two inner liner grippers move horizontally towards each other so that the clamping portions of the two inner liner grippers apply a clamping force to the assembled inner liner along a docking direction perpendicular to the first inner liner and the second inner liner.

[0033] This configuration allows for the use of two opposing inner liner grippers to clamp the assembled inner liner. The gripping portions of the two inner liner grippers apply a clamping force to the assembled inner liner along a direction perpendicular to the docking direction of the first and second inner liners. This ensures that the two inner liner grippers simultaneously apply clamping forces to both sides of the first and second inner liners, thereby achieving stable clamping of the assembled inner liner.

[0034] In some embodiments, the shell forming line includes, in sequence along its conveyor line, a gantry conveyor for feeding, a movable punching system for punching, a rolling mill for roll forming, a condenser tube installation robot for installing condenser tubes, a first automatic glue spraying robot for fixing condenser tubes, and a bending machine for bending the shell, and a shell unloading robot is provided at the end of the shell forming line.

[0035] With this setup, during the outer shell forming process, a gantry conveyor picks up the sheet material for forming the outer shell from the raw material warehouse and places it on the conveyor line. Then, a movable punching system punches holes in the sheet material, followed by a rolling mill rolling the sheet material into shape. A condenser tube installation robot then picks up the condenser tubes from the raw material warehouse and installs them onto the rolled sheet material. A first automatic glue spraying robot then sprays glue to fix the installed condenser tubes. Finally, a bending machine bends the sheet material to form a specific shape for the outer shell, completing the outer shell forming process. Finally, an outer shell unloading robot unloads the formed outer shell to the assembly station, awaiting assembly with the inner liner. This achieves full automation of the entire outer shell forming process from start to finish, reducing manual intervention and achieving a high degree of automation.

[0036] In some embodiments, the gantry transfer machine includes a three-axis guide rail and a suction device disposed on the three-axis guide rail. The suction device includes a buffer mechanism, a suction cup mechanism, and a guide rail structure. The buffer mechanism includes two buffer components that can move towards each other along the guide rail structure. Each buffer component includes a fixed seat that is slidably connected to the guide rail structure, a buffer plate disposed below the fixed seat, and a buffer spring that is elastically connected between the buffer plate and the fixed seat. The suction cup mechanism is connected to the guide rail structure through a fixed side plate.

[0037] And / or, the movable punching system includes a positionable conveyor line and linear guide rails disposed on both sides of the positionable conveyor line, a punching machine slidably mounted on the linear guide rails, and a punching machine drive mechanism for driving the punching machine to move along the linear guide rails; a pneumatic push plate for positioning the sheet metal is disposed next to the punching machine, a pneumatic baffle for limiting the sheet metal along the conveying direction is disposed on the conveyor line, and a photoelectric switch is installed on the punching machine.

[0038] This configuration, with a buffer mechanism on the suction cups of the gantry conveyor, allows for electric adjustment of the suction cup spacing according to the size of the sheet material, ensuring stable gripping of sheets of different specifications. The buffer mechanism also cushions the suction force to prevent sheet deformation. By sliding the punching machine onto a linear guide rail, it can move along the conveyor line, enabling punching at different locations on the sheet material and meeting the punching requirements of various product models.

[0039] In some embodiments, the condenser pipe installation robot includes an installation robot body and a condenser pipe clamp disposed at the end of the installation robot body. The condenser pipe clamp includes multiple sets of condenser pipe grippers connected in series by a connecting shaft. Each set of condenser pipe grippers includes two sub-grips disposed opposite to each other. The two sub-grips are controlled to open and close by a gripper controller. The condenser pipe clamp is driven to move by a gripper drive motor.

[0040] And / or, the first automatic glue spraying robot includes a first glue spraying robot body and a glue spraying assembly disposed at the end of the first glue spraying robot body. The glue spraying assembly includes a glue spraying drive mechanism and a glue spraying head that is pulsatorically connected to the glue spraying drive mechanism, as well as a glue spraying controller for controlling the action of the glue spraying drive mechanism.

[0041] This setup utilizes a condenser tube installation robot to automatically install multiple sets of condenser tubes onto the outer casing, and a first automatic glue-spraying robot to spray glue onto and fix the installed condenser tubes, thereby achieving automated glue-spraying and fixing of the condenser tubes to the outer casing, reducing manual intervention and achieving a high degree of automation.

[0042] In some embodiments, the assembly station includes a production line frame and a positioning and clamping device. The positioning and clamping device includes pneumatic push plates disposed on both sides of the production line frame and pneumatic baffles disposed in the conveying direction of the production line frame, so as to limit the position of the assembled housing in the X and Y directions.

[0043] And / or, a second automatic glue spraying robot is provided next to the assembly station. The second automatic glue spraying robot includes a second glue spraying robot body and a glue spraying assembly provided at the end of the second glue spraying robot body. The glue spraying assembly includes a glue spraying drive mechanism and a glue spraying head that is driven by the glue spraying drive mechanism, as well as a glue spraying controller for controlling the action of the glue spraying drive mechanism.

[0044] This setup utilizes a positioning and clamping device to position and clamp the outer shell as it moves from the production line to the assembly station, thereby locking the outer shell. This facilitates the subsequent nesting of the inner liner onto the locked outer shell, preventing the outer shell from shifting during the nesting process and affecting the nesting accuracy.

[0045] A second aspect of this application provides a production method for a smart manufacturing line for refrigerator cabinets, employing the smart manufacturing line for refrigerator cabinets as described in any of the preceding claims, comprising:

[0046] S1. The production processes of the outer shell forming line and the inner liner assembly line are executed in parallel.

[0047] S2. After the outer shell forming line completes the outer shell forming, the outer shell unloading robot unloads the formed outer shell to the assembly station and positions the outer shell using the positioning and clamping device at the assembly station. The inner liner unloading robot then nests the assembled inner liner into the positioned outer shell, completing the initial assembly of the outer shell and inner liner.

[0048] In step S1, the production process of the inner liner assembly line includes:

[0049] S11. Use the first automatic feeding device to pick up the first inner liner to be assembled and place it in the first positioning device; use the second automatic feeding device to pick up the second inner liner to be assembled and place it in the second positioning device.

[0050] S12. The first positioning mechanism and the second positioning mechanism are used to position the first inner liner and the second inner liner respectively, and drive the first inner liner and the second inner liner to move towards each other in the horizontal direction. During the entire process of the first inner liner and the second inner liner moving towards each other, the visual inspection device continuously performs dynamic image acquisition and visual algorithm calculation on the alignment and mating area of ​​the first inner liner and the second inner liner at a preset high frame rate to identify the docking contour, relative position deviation and alignment and mating gap of the first mating part and the second mating part. When the visual inspection device detects that the alignment and mating gap has dropped to within the preset tolerance range and the relative position deviation has dropped to within the preset deviation range, the main control system of the equipment sends a stop and lock command to the first guide rail module and the second guide rail module. The first guide rail module and the second guide rail module stop feeding and maintain the locked state.

[0051] S13. Apply an upward pushing force to the alignment and mating parts of the first inner liner and the second inner liner using the jacking device. During the jacking process, the pressure sensor collects the jacking force in real time and transmits the real-time pressure data to the main control system of the equipment simultaneously. When the main control system of the equipment detects that the real-time jacking force reaches the preset pressure value, it sends a stop and lock command to the jacking device. The jacking device locks and maintains the current jacking stroke and constant jacking force.

[0052] S14. Using an automatic screw-locking device, screws are fastened to the alignment and mating parts of the first inner liner and the second inner liner to complete the assembly of the first inner liner and the second inner liner.

[0053] The production method for the intelligent manufacturing line of the refrigerator body provided in this application achieves automated feeding, automated positioning and alignment, automated pushing, and automated screw fastening of the first and second inner liners to be assembled in the inner liner assembly line production process. This achieves full automation from start to finish in the assembly process of the first and second inner liners, reducing manual intervention and achieving a high degree of automation. Furthermore, before using the automatic screw fastening device to fasten the screws to the first and second inner liners, the method utilizes a first positioning device, a second positioning device, and a vision inspection device to ensure that the first and second inner liners are aligned horizontally. The alignment and fit of the directional components also utilizes a pushing device to effectively constrain the vertical degree of freedom of the alignment and fit parts of the first and second inner liners. This effectively prevents the transmission of high-frequency impact and vibration loads generated in the vertical direction to the alignment and fit parts during the subsequent screw fastening process, thus avoiding problems such as vertical warping, shifting, or relative displacement of the precisely aligned alignment and fit parts. This also avoids issues such as excessive fit clearance, stripped screw threads, and assembly accuracy exceeding the design tolerance range, ensuring the reliability of subsequent screw fastening and thus effectively ensuring the reliability of the refrigerator inner liner assembly.

[0054] In some embodiments, step S2, executing the dual-line coordinated interlock control method, specifically includes:

[0055] S21. The shell unloading robot unloads the molded shell to the assembly station, and after unloading, sends a signal to the control system indicating that the shell has been unloaded.

[0056] S22. After receiving the signal indicating that the outer shell has been taken off the production line, the positioning and clamping device at the assembly station positions the outer shell. After positioning, it sends a signal to the control system indicating that the outer shell is in place and locked.

[0057] S23: After receiving the signal indicating that the outer shell is in place and locked, the control system sends an instruction indicating that the inner liner unloading permission is unlocked to the inner liner unloading robot or the outer shell unloading robot, allowing them to perform the inner liner unloading action.

[0058] S24: During or after assembly, the nesting accuracy of the inner liner and outer shell is checked by a vision inspection system. If the inspection is qualified, a "nesting in place" signal is sent; if the inspection is unqualified, an alarm is triggered and the conveyor line is prohibited from moving downstream.

[0059] This setup ensures precise matching of the production cycle of the outer shell and inner liner during the assembly process by implementing a signal-based dual-line collaborative interlock control method. This avoids overall efficiency loss due to single-line blockage or malfunction, significantly improving the overall cycle time and resource utilization of the refrigerator body intelligent manufacturing production line.

[0060] In some embodiments, the assembly process of the inner liner and the outer shell in step S24 specifically includes:

[0061] S241. The inner liner unloading robot or outer shell unloading robot keeps the inner liner in a clamping state, and then fits the flange at the edge of the inner liner with the support surface of the outer shell. The second automatic glue spraying robot at the assembly station simultaneously starts the core glue spraying process. It uses its own vision device to locate the glue spraying path in real time, and completes the closed-loop glue spraying of the preset path by relying on the glue spraying drive mechanism, glue spraying head and glue spraying controller. The main path of the preset path is continuously sprayed in a closed loop along the fitting ring seam between the inner liner flange and the outer shell.

[0062] S242. After the glue spraying is completed, the final inspection and process flow stage begins. The inner liner robot or outer shell robot releases the inner liner and sends a signal to the control system indicating that the initial assembly is complete. The positioning and clamping device is released, and the assembled workpiece is transported to the next process.

[0063] This setup enables automated assembly and fixation of the outer shell and inner liner through clamping and positioning by the positioning clamping device and automatic glue spraying and fixing by the second automatic glue spraying robot. It achieves a high degree of automation and ensures the firmness and reliability of the fixation after the outer shell and inner liner are assembled. Attached Figure Description

[0064] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0065] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a top view of the intelligent manufacturing production line for refrigerator bodies provided in an embodiment of this application.

[0067] Figure 2 for Figure 1 The diagram shows an isometric view of the intelligent manufacturing production line for refrigerator cabinets.

[0068] Figure 3 This application provides a schematic diagram of the structure of the first inner liner and the second inner liner.

[0069] Figure 4 for Figure 3 A partially enlarged structural diagram of section A in the middle;

[0070] Figure 5This is an isometric structural schematic diagram of the inner liner assembly line provided in the embodiments of this application;

[0071] Figure 6 for Figure 5 The diagram shows the isometric structure of the inner liner assembly line after the first and second inner liners are placed.

[0072] Figure 7 for Figure 6 The diagram shows the forces acting on the first and second inner liner during assembly.

[0073] Figure 8 A schematic diagram of the robot body provided in an embodiment of this application (excluding the output end);

[0074] Figure 9 for Figure 5 A schematic diagram of the inner liner feeding fixture of the first automatic feeding device of the inner liner assembly line shown.

[0075] Figure 10 for Figure 5 A schematic diagram of the first positioning mechanism of the first positioning device in the inner liner assembly line shown.

[0076] Figure 11 for Figure 10 A schematic diagram of the first positioning mechanism from below;

[0077] Figure 12 for Figure 5 A schematic diagram of the visual inspection device for the inner liner assembly line shown.

[0078] Figure 13 for Figure 5 A schematic diagram of the pusher device in the inner liner assembly line shown.

[0079] Figure 14 for Figure 5 The diagram shows the structure of the screw feeding mechanism on the inner liner assembly line.

[0080] Figure 15 for Figure 5 A schematic diagram of the automatic screw-locking robot on the inner liner assembly line is shown.

[0081] Figure 16 for Figure 15 The diagram shows the screw-fastening mechanism of the automatic screw-fastening robot.

[0082] Figure 17 for Figure 5 The diagram shows the structure of the inner liner clamp of the inner liner assembly line robot.

[0083] Figure 18 for Figure 17The diagram shows a side view of the inner bladder clamp of the inner bladder unloading robot.

[0084] Figure 19 for Figure 2 The diagram shows the structure of the gantry conveyor in the shell forming line.

[0085] Figure 20 for Figure 19 A first-view structural diagram of the clamps of the gantry crane shown;

[0086] Figure 21 for Figure 19 A second-view structural diagram of the clamps of the gantry crane shown;

[0087] Figure 22 for Figure 20 A schematic diagram of the isometric structure of the suction device of the clamp of the gantry transfer machine shown;

[0088] Figure 23 for Figure 20 A schematic diagram of the isometric structure of the buffer mechanism of the gantry conveyor shown.

[0089] Figure 24 for Figure 2 A schematic diagram of the movable punching system of the shell forming line shown;

[0090] Figure 25 for Figure 24 A schematic diagram of the punching machine for the movable punching system shown.

[0091] Figure 26 for Figure 24 A schematic diagram of the positionable conveyor line of the movable punching system shown.

[0092] Figure 27 for Figure 2 The diagram shows the structure of the condenser tube installation robot and the first automatic glue spraying robot on the shell forming line.

[0093] Figure 28 for Figure 27 The diagram shows the structure of the condenser tube clamp for the condenser tube installation robot.

[0094] Figure 29 for Figure 28 The exploded structural diagram of the condenser tube clamp of the condenser tube installation robot is shown.

[0095] Figure 30 for Figure 27 The diagram shows the structure of the glue spraying mechanism of the first automatic glue spraying robot.

[0096] Figure 31 A process flow diagram of a smart manufacturing line for refrigerator bodies provided in this application embodiment;

[0097] Figure 32 A schematic diagram of the dual-line collaborative interlocking logic of the intelligent manufacturing production line for refrigerator cabinets provided in this application embodiment.

[0098] The components include: 1. Shell forming line; 11. Gantry conveyor; 111. Y-axis guide rail; 112. Z-axis guide rail; 113. X-axis guide rail; 114. Drive mechanism; 115. Suction cup; 1151. Buffer plate; 1152. Suction head; 1153. Fixed side plate; 1154. Guide rail structure; 1155. Suction cup drive motor; 1156. Suction cup connecting block; 1157. Connecting block; 1158. Suction cup connecting plate; 1159. Buffer spring; 11510. Spring. 11511 Spring fixing block; 11512 Buffer nut seat; 11512 First connecting flange; 12 Movable punching system; 121 Positionable conveyor line; 1211 Line frame; 1212 Pneumatic push plate; 1213 Pneumatic baffle; 122 Linear guide rail; 123 Punching machine; 1231 Lower die; 1232 Rectangular spring; 1233 Photoelectric switch; 1234 Upper die; 1235 Punching machine side plate; 1236 Hydraulic cylinder; 124 Punching machine drive mechanism ; 125. Heightening block; 13. Rolling mill; 14. Condenser pipe installation robot; 141. Gripper drive motor; 142. First connecting shaft; 143. Condenser pipe gripper connecting flange; 144. Condenser pipe gripper; 1441. Right gripper; 1442. Left gripper; 1443. Gripper side plate; 1444. Gripper controller; 1445. Gripper connecting block; 1446. Second connecting shaft; 15. First automatic glue spraying robot; 150. Connecting frame; 151. First glue spraying drive motor 152. Glue spraying head; 153. First glue spraying belt; 154. First glue spraying connecting block; 155. Second guide rod; 156. Second glue spraying drive motor; 157. Second glue spraying belt; 158. First gear shaft; 159. Second glue spraying connecting block; 1510. Third glue spraying drive motor; 1511. Third glue spraying belt; 1512. Second gear shaft; 1513. Third glue spraying connecting block; 1514. Glue spraying controller; 16. Bending machine; 17. Outer shell unloading robot;

[0099] 2. Inner liner assembly line; 21. First automatic feeding device; 211. Robot body; 2111. Robot base; 2112. Robot upper arm; 2113. Robot forearm; 2114. Robot drive motor; 2115. Second connecting flange; 212. Inner liner feeding fixture; 2121. Feeding fixture drive motor; 2122. Feeding gripper; 2123. Feeding fixture connecting plate; 2124. Feeding fixture guide rail; 212 5. Feeding clamp controller; 22. Second automatic feeding device; 23. First positioning device; 231. First guide rail module; 232. First positioning mechanism; 2321. Positioning base; 2322. First positioning block; 2323. Second positioning block; 2324. First positioning cylinder; 2325. Second positioning cylinder; 24. Second positioning device; 241. Second guide rail module; 242. Second positioning mechanism; 25. Vision inspection device; 251. Mounting bracket; 252. Vision camera; 26. Pushing device; 261. Electric push rod base; 262. Electric push rod component; 263. Servo drive motor; 264. Pressure sensor; 27. Automatic screw fastening robot; 271. Screw fastening robot body; 272. Screw fastening mechanism; 2721. Vision inspection unit; 2722. Screw fastening electric screwdriver; 2723. Screw fastening cylinder; 2724. Slide rail mounting plate; 272 5. First guide rod; 2726. Screw chuck mounting plate; 2727. Guide rail mounting base; 28. Screw feeding mechanism; 281. Screw vibratory feeder; 282. Linear feeder; 283. Turntable; 284. Screw positioning port; 285. Turntable extension frame; 286. Feeder extension frame; 29. ​​Inner liner unloading robot; 291. Inner liner clamp; 2911. Clamp guide rail; 2912. Inner liner gripper; 2913. Gripper drive mechanism;

[0100] 3. Assembly station; 31. Positioning and clamping device; 32. Second automatic glue spraying robot; 33. Backplate installation robot;

[0101] 4. Outer shell;

[0102] 5. Inner liner; 51. First inner liner; 511. First mating part; 512. First flange; 52. Second inner liner; 521. Second mating part; 522. Metal part; 523. Second flange. Detailed Implementation

[0103] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0104] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0105] In related technologies, refrigerator manufacturing lines typically include multiple independent machines or semi-automated workstations, resulting in low automation levels and difficulties in matching production cycles. Taking the refrigerator liner as an example, due to the large size of refrigerator bodies, some refrigerator liner systems use two independent liners (such as a left and right liner) joined together by a connecting beam. However, the assembly of the liner usually requires workers to manually complete the assembly on the refrigerator manufacturing line, resulting in low automation levels and severely restricting refrigerator production efficiency.

[0106] Based on this, the researchers of this application considered optimizing the intelligent manufacturing production line for refrigerator bodies to reduce manual intervention and improve automation. Among these, the assembly of the inner liner is a crucial factor restricting the automation level of refrigerator body production. The researchers considered using an automated screw-driving method to assemble the inner liner, replacing the traditional method of assembling two independent inner liners using a connecting beam. However, there are many problems with using an automated screw-driving method to assemble the refrigerator inner liner: 1) The refrigerator inner liner is a thin-walled thermoformed part, which is brittle and has weak tear and fatigue resistance. If the left and right inner liners are directly fastened with screws, the tightening and pulling forces will be concentrated at the plastic openings. During fastening, the openings are prone to cracking and splitting. After long-term hot and cold cycles, problems such as plastic stress fatigue cracking, thread stripping, and screw loosening may occur. Ultimately, this will lead to a series of reliability failures such as cold leakage at the inner liner joints, odor mixing between temperature zones, and door sagging, which cannot meet the requirements of mass production and long-term stable use. 2) The area for screwing the left and right inner liner is the thin wall edge at the edge of the inner liner opening. The screwing process can easily damage the thin wall edge at the edge of the inner liner opening. In addition, it is not easy to achieve positioning when screwing. The high-frequency impact and vibration load during the screwing process can easily cause problems such as excessive fit clearance, stripped screw threads, and assembly accuracy exceeding the design tolerance range.

[0107] To address the aforementioned technical problems, this application provides an intelligent manufacturing production line for refrigerator bodies, which not only automates the assembly of refrigerator liners, reducing manual intervention and improving the production efficiency of refrigerator bodies, but also effectively avoids the aforementioned problems in the automated screw-driving process of refrigerator liners, thereby effectively ensuring the reliability of refrigerator liner assembly.

[0108] The following is a detailed description of the intelligent manufacturing production line and production method for refrigerator bodies provided in the embodiments of this application, with reference to the figures.

[0109] Reference Figure 1 and Figure 2As shown, some embodiments of this application provide a smart manufacturing production line for refrigerator bodies, including an outer shell forming line 1 and an inner liner assembly line 2, as well as an assembly station 3 for assembling the outer shell 4 formed by the outer shell forming line 1 and the inner liner 5 assembled by the inner liner assembly line 2.

[0110] The outer shell forming line 1 is used to process and form the outer shell 4 of the refrigerator body. Specifically, the outer shell forming line 1 is used to form the sheet material used to make the outer shell into an outer shell with a specific shape through a series of processing steps (such as punching, rolling, condenser pipe installation and fixing, bending, etc.). For example, refer to... Figure 1 and Figure 2 As shown, the outer casing forming line 1 may include, sequentially arranged along its conveyor line, a gantry conveyor 11 for feeding materials, a movable punching system 12 for punching holes, a rolling mill 13 for roll forming, a condenser tube installation robot 14 for installing condenser tubes, a first automatic glue spraying robot 15 for fixing condenser tubes, and a bending machine 16 for bending the outer casing. Furthermore, an outer casing unloading robot 17 may be provided at the end of the outer casing forming line.

[0111] During the outer shell forming process, the gantry conveyor 11 can be used to pick up the sheet material for forming the outer shell from the raw material warehouse and place it on the conveyor line. Then, the movable punching system 12 is used to punch holes in the sheet material, and the rolling mill 13 is used to roll the sheet material into shape. Then, the condenser tube installation robot 14 is used to pick up the condenser tube from the raw material warehouse and install it onto the rolled sheet material. Then, the first automatic glue spraying robot 15 is used to spray glue to fix the installed condenser tube. Then, the bending machine 16 is used to bend the sheet material with the condenser tube installed and fixed to form an outer shell with a specific shape, thus completing the outer shell forming. Finally, the outer shell unloading robot 17 can be used to unload the formed outer shell to the assembly station 3, waiting for the outer shell 4 and inner liner 5 to be assembled. In this way, the outer shell forming line 1 achieves full automation from beginning to end, reducing manual intervention and achieving a high degree of automation.

[0112] Of course, the specific equipment included in the shell forming line 1 and the specific processing flow of the shell are not limited to the above limitations, and can be reasonably set and adjusted according to actual production needs.

[0113] The inner liner assembly line 2 is used to assemble two independent sub-inner liners to form a single integral inner liner. For example, the two independent sub-inner liners are a first inner liner 51 and a second inner liner 52. The inner liner assembly line 2 is used to assemble the first inner liner 51 and the second inner liner 52 using an automated screw-driving method to achieve automated assembly, thereby reducing manual intervention and improving the degree of automation.

[0114] To achieve automated screw-driving assembly of the first inner liner 51 and the second inner liner 52, the embodiments of this application employ a clever design to the structure of the first inner liner 51 and the second inner liner 52 to be assembled. (Refer to...) Figure 3 and Figure 4 As shown, a first mating part 511 for aligning and cooperating with the second inner liner 52 is provided on one side of the opening edge of the first inner liner 51, and a second mating part 521 for aligning and cooperating with the first inner liner 51 is provided on one side of the opening edge of the second inner liner 52. The first inner liner 51 and the second inner liner 52 are arranged side by side and aligned and cooperating along the side-by-side direction, so that the first mating part 511 and the second mating part 521 are aligned and cooperating to form an alignment and cooperating part with a certain overlap area in the vertical direction.

[0115] Since both the first inner liner 51 and the second inner liner 52 are thin-walled thermoformed inner liners, if threaded holes are directly made at the mating parts of the first mating part 511 and the second mating part 521, and automatic screw-driving is performed directly at the mating parts, the holes are prone to cracking and splitting during fastening. Long-term hot and cold cycles can also lead to problems such as plastic stress fatigue cracking, thread stripping, and screw loosening. Therefore, this application provides a metal part 522 at the bottom of the lower of the first mating part 511 and the second mating part 521. The metal part 522 is equipped with... The screw has a threaded hole, and the first mating part 511 and the second mating part 521 are respectively provided with through holes for the screw to pass through. The screw passes through the through holes of the first mating part 511 and the second mating part 521 and is locked into the threaded hole provided on the metal part 522. In this way, the clamping force and pulling force generated by the screw locking are borne by the more rigid metal part 522. The thin-walled plastic liner only acts as an intermediate clamping part and does not bear the core locking stress at all. This effectively prevents problems such as hole cracking and stress cracking caused by directly locking the screw into the thin-walled plastic liner.

[0116] In some embodiments, continue to refer to Figure 3 and Figure 4 As shown, the first inner liner 51 has a first flange 512 extending outward at at least one side of its opening, and a first mating part 511 includes a first mating groove located below the first flange 512. The second inner liner 52 has a second flange 523 extending outward at at least one side of its opening, and a second mating part 521 includes a second mating groove located above the second flange 523. Specifically, the first mating groove can be a horizontally arranged L-shaped mating groove, for example, a vertically arranged L-shaped groove rotated 90 degrees clockwise to form the first mating groove. The second mating groove can also be a horizontally arranged L-shaped mating groove, for example, a vertically arranged L-shaped groove rotated 90 degrees counterclockwise to form the second mating groove.

[0117] When the first inner liner 51 and the second inner liner 52 are horizontally aligned and fitted together, a portion of the groove wall of the first mating groove and a portion of the groove wall of the second mating groove overlap each other vertically. One end of the first mating groove and the second mating groove is positioned horizontally and connected to one side of the groove wall of the other. This ensures that the first and second mating grooves have a certain overlap area in the vertical direction, allowing for through holes for screws to pass through in the overlapping area. Furthermore, the horizontal alignment of the first and second mating grooves ensures that the through holes for screws in the overlapping area are vertically aligned, facilitating subsequent automatic screw driving operations.

[0118] Of course, the alignment and fit structure of the first inner liner 51 and the second inner liner 52 is not limited to the above limitations and can be reasonably set and adjusted according to the actual product structure.

[0119] Reference Figure 5 and Figure 6 As shown, the inner liner assembly line includes a first automatic feeding device 21, a second automatic feeding device 22, a first positioning device 23, a second positioning device 24, a vision inspection device 25, a pushing device 26, and an automatic screw locking device.

[0120] Among them, reference Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, the first automatic feeding device 21 is used to pick up the first inner liner 51 to be assembled and place it on the first positioning device 23, and the second automatic feeding device 22 is used to pick up the second inner liner 52 to be assembled and place it on the second positioning device 24. Specifically, the first positioning device 23 and the second positioning device 24 can be arranged opposite to each other, the first automatic feeding device 21 can be located on the side of the first positioning device 23 away from the second positioning device 24, and the second automatic feeding device 22 can be located on the side of the second positioning device 24 away from the first positioning device 23. Both the first automatic feeding device 21 and the second automatic feeding device 22 can be inner liner loading robots.

[0121] Reference Figure 5 , Figure 6 , Figure 10 and Figure 11As shown, the first positioning device 23 includes a first guide rail module and a first positioning mechanism 232 disposed on the first guide rail module 231. The second positioning device 24 includes a second guide rail module 241 and a second positioning mechanism 242 disposed on the second guide rail module 241. The first positioning mechanism 232 and the second positioning mechanism 242 are respectively used to position the first inner liner 51 and the second inner liner 52, and drive the first inner liner 51 and the second inner liner 52 to move towards each other in the horizontal direction, so that the first mating part 511 at the mouth edge of the first inner liner 51 and the second mating part 521 at the mouth edge of the second inner liner 52 are aligned and engaged. The bottom of the lower one of the first mating part 511 and the second mating part 521 is provided with a metal part 522, and the metal part 522 is provided with a threaded hole. Specifically, the first guide rail module 231 may include a first linear guide rail and a first drive mechanism disposed on the first linear guide rail. The first positioning mechanism 232 is slidably connected to the first linear guide rail and is drive-connected to the first drive mechanism. The second guide rail module 241 may include a second linear guide rail and a second drive mechanism disposed on the second linear guide rail. The second positioning mechanism 242 is slidably connected to the second linear guide rail and is drive-connected to the second drive mechanism. The first automatic feeding device 21 places the first inner liner 51 to be assembled on the first positioning mechanism 232 and completes the positioning through the first positioning mechanism 232. The second automatic feeding device 22 places the second inner liner 52 to be assembled on the second positioning mechanism 242 and completes the positioning through the second positioning mechanism 242. The first positioning mechanism 232 and the second positioning mechanism 242 move towards each other along the first linear guide rail and the second linear guide rail respectively under the drive of the first drive mechanism and the second drive mechanism, so that the first mating part 511 at the opening edge of the first inner liner 51 and the second mating part 521 at the opening edge of the second inner liner 52 are aligned and engaged.

[0122] Reference Figure 5 , Figure 6 and Figure 12As shown, the visual inspection device 25 is located on one side of the first positioning device 23 and the second positioning device 24, and is used to perform alignment detection on the first mating part 511 and the second mating part 521 from the side. Specifically, during the process of the first inner liner 51 and the second inner liner 52 moving towards each other, the visual inspection device 25 is used to perform alignment detection on the first mating part 511 and the second mating part 521 to ensure that the two are properly aligned and mated. The visual inspection device 25 may specifically include a visual camera to continuously perform dynamic image acquisition and visual algorithm calculation on the alignment and mating area of ​​the first inner liner 51 and the second inner liner 52, and identify the mating contour, relative position deviation and alignment and mating gap of the first mating part 511 and the second mating part 521. When the visual inspection device 25 detects that the alignment and mating gap has dropped to within the preset tolerance range and the relative position deviation has dropped to within the preset deviation range, it indicates that the first mating part 511 and the second mating part 521 are aligned and mated in place. At this time, the main control system of the equipment can send stop and lock commands to the first drive mechanism and the second drive mechanism. The first guide rail module and the second guide rail module stop feeding and remain locked, thus completing the deviation-free alignment and mating of the first inner liner 51 and the second inner liner 52.

[0123] Reference Figure 5 , Figure 6 , Figure 7 and Figure 13 As shown, the pushing device 26 is located between the first positioning device 23 and the second positioning device 24, and is used to apply an upward pushing force to the mating parts of the first inner liner 51 and the second inner liner 52. A pressure sensor 264 is provided on the pushing device 26. Specifically, after the first inner liner 51 and the second inner liner 52 are properly aligned, the pushing device 26 applies an upward pushing force to the mating parts of the first inner liner 51 and the second inner liner 52, referring to... Figure 7 The vertical upward arrow indicates the direction in which the jacking device 26 applies jacking force to the mating parts. The pressure sensor 264 collects and transmits the jacking force in real time during the jacking process. When the main control system detects that the real-time jacking force has reached the preset pressure value, it sends a stop and lock command to the jacking device 26. The jacking device 26 locks and maintains the current jacking stroke and constant jacking force to provide stable rigid support for subsequent screw fastening.

[0124] Reference Figure 5 , Figure 6 , Figures 14 to 16As shown, the automatic screw-locking device is located on one side of the first positioning device 23 and the second positioning device 24. It is used to downwardly lock the screws onto the mating parts of the first inner liner 51 and the second inner liner 52, so that the screws pass through the mating parts and are locked into the threaded holes. Specifically, after applying a stable pushing force to the already mated first inner liner 51 and the second inner liner 52 using the pushing device 26, the automatic screw-locking device downwardly locks the screws onto the mating parts of the first inner liner 51 and the second inner liner 52, as shown in the figure. Figure 7 The downward-pointing arrow indicates the direction in which the automatic screw-locking device locks the screw downwards, allowing the screw to pass through the mating part and be locked into the threaded hole on the metal part 522. This achieves automated screw-locking assembly of the first inner liner 51 and the second inner liner 52. Because the screw is locked into the threaded hole of the highly rigid metal part 522, the metal part 522 bears the clamping and pulling forces during screw locking, thus providing good protection for the first inner liner 51 and the second inner liner 52. Specifically, the automatic screw-locking device may include a screw feeding mechanism 28 and an automatic screw-locking robot 27.

[0125] The refrigerator body intelligent manufacturing production line provided in this application embodiment, in the inner liner assembly line, utilizes a first automatic feeding device 21 and a second automatic feeding device 22 to automatically feed the first inner liner 51 and the second inner liner 52 to be assembled, utilizes a first positioning device 23 and a second positioning device 24 to automatically position the first inner liner 51 and the second inner liner 52 to be assembled, and achieves automatic alignment and mating of the first mating part 511 at the edge of the first inner liner 51 and the second mating part 521 at the edge of the second inner liner 52, and during the process of the first inner liner 51 and the second inner liner 52 moving towards each other, uses a visual inspection device 25 to perform alignment detection on the first mating part 511 and the second mating part 521. To ensure proper alignment, the first inner liner 51 and the second inner liner 52 are aligned and fitted together. Then, the pushing device 26 applies an upward pushing force to the alignment and fitting parts of the first inner liner 51 and the second inner liner 52. The pressure sensor 264 collects and transmits the pushing force in real time during the pushing process to provide stable rigid support for subsequent screw fastening. Then, the automatic screw fastening device fastens the screws downward to the alignment and fitting parts of the first inner liner 51 and the second inner liner 52, so that the screws pass through the alignment and fitting parts and are fastened into the threaded holes provided on the metal parts 522. This realizes the automated screw fastening assembly of the first inner liner 51 and the second inner liner 52, reduces manual intervention, improves the degree of automation, and thus improves the production efficiency of the refrigerator body.

[0126] The intelligent manufacturing production line for refrigerator bodies provided in this application reconstructs the force path of traditional screw connections through the setting of the first mating part 511 and the second mating part 521, and the cooperation of the bottom metal part 522. The clamping force and pulling force generated by the screw fastening are both borne by the more rigid metal part 522. The thin-walled plastic liner only serves as an intermediate clamping part and does not bear the core fastening stress at all. This eliminates the problems of hole cracking and stress cracking caused by directly fastening screws to the thin-walled plastic liner. At the same time, the stable machine thread provided by the metal part 522 completely solves the inherent defects of plastic threads stripping and loosening after long-term hot and cold cycles, ensuring the long-term sealing and structural rigidity of the joint between the first inner liner 51 and the second inner liner 52.

[0127] Furthermore, the intelligent manufacturing production line for the refrigerator body provided in this application embodiment, before using the automatic screw-locking device to fasten screws to the first inner liner 51 and the second inner liner 52, not only uses the first positioning device 23, the second positioning device 24 and the vision inspection device 25 to achieve horizontal alignment of the first inner liner 51 and the second inner liner 52, but also uses the pushing device 26 to effectively constrain the vertical degree of freedom of the alignment parts of the first inner liner 51 and the second inner liner 52. In this way, during the subsequent screw-locking process, it effectively avoids the transmission of high-frequency impact and vibration loads generated in the vertical direction to the alignment parts, which could cause vertical warping, shifting or relative displacement of the already precisely aligned alignment parts. This avoids problems such as excessive fit clearance, stripped screw threads, and assembly accuracy exceeding the design tolerance range, ensuring the reliability of subsequent screw-locking and thus effectively ensuring the reliability of the refrigerator inner liner assembly.

[0128] In some embodiments, refer to Figure 5 , Figure 6 and Figure 7 As shown, the first inner liner 51 has a first flange 512 extending outward at at least one side of its opening edge, and a first mating part 511 includes a first mating groove located on the lower side of the first flange 512. The second inner liner 52 has a second flange 523 extending outward at at least one side of its opening edge, and a second mating part 521 includes a second mating groove located on the upper side of the second flange 523. The first positioning mechanism and the second positioning mechanism respectively drive the first inner liner 51 and the second inner liner 52 to move towards each other in the horizontal direction. Parts of the groove wall of the first mating groove and part of the groove wall of the second mating groove overlap each other in the vertical direction. One end of the first mating groove and the second mating groove is connected and limited to one side of the groove wall of the other in the horizontal direction.

[0129] This configuration ensures that when the first inner liner 51 and the second inner liner 52 move towards each other to a suitable position, the first mating groove and the second mating groove form an overlapping area in the vertical direction. This allows for the opening of through holes in the overlapping area for screws to pass through. The screws pass through the through holes and are locked into the threaded holes of the metal part 522, thus fixing the first inner liner 51 and the second inner liner 52 with screws. When the first inner liner 51 and the second inner liner 52 move towards each other to a suitable position, one end of the first mating groove is engaged with and limited by one side of the groove wall of the second mating groove, or one end of the second mating groove is engaged with and limited by one side of the groove wall of the first mating groove. This restricts the first inner liner 51 and the second inner liner 52 from continuing to move towards each other in the horizontal direction, ensuring that the first inner liner 51 and the second inner liner 52 are aligned and engaged in the horizontal direction. This aligns the through holes in the overlapping area for screws to pass through vertically, facilitating subsequent automatic screw driving operations.

[0130] In some embodiments, refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, after the first inner liner 51 and the second inner liner 52 are aligned and fitted together, a receiving space is formed between the first inner liner 51 and the second inner liner 52 located below the aligned and fitted part; the pushing device 26 is located in the receiving space and applies an upward pushing force to the aligned and fitted part through the receiving space. This arrangement cleverly utilizes the receiving space formed after the first inner liner 51 and the second inner liner 52 are aligned and fitted together to arrange the pushing device, and uses the pressure sensor 264 to collect and transmit the pushing force in real time during the pushing process, thereby constructing a pressure closed-loop control system, so as to use the pushing device 26 to apply a constant pushing force to the aligned and fitted part, providing stable rigid support for the subsequent screw fastening process.

[0131] In some embodiments, refer to Figure 5 and Figure 6 As shown, there are two pushing devices 26, which are spaced apart between the first guide rail module 231 and the second guide rail module 241. The spacing between the two pushing devices 26 is perpendicular to the moving direction of the first positioning mechanism 232 along the first guide rail module 231. For example, if the moving direction of the first positioning mechanism 232 along the first guide rail module 231 is Y-axis, the spacing between the two pushing devices 26 is X-axis. This arrangement ensures that the spacing between the two pushing devices 26 is perpendicular to the moving direction of the two positioning mechanisms, facilitating the application of a stable pushing force to the positioning and mating parts of the first inner liner 51 and the second inner liner 52 using the two pushing devices 26.

[0132] In some embodiments, refer to Figure 5 , Figure 6 and Figure 15As shown, the automatic screw-locking device is equipped with a vision inspection unit 2721, which can be a vision camera. The vision inspection unit 2721 is used to acquire images of the alignment and mating parts of the first inner liner 51 and the second inner liner 52 from above, to detect whether the through holes on the first mating part 511 and the second mating part 521 for screw passage are aligned. This configuration utilizes the detection and feedback of the vision inspection unit 2721 to ensure that the through holes on the first mating part 511 and the second mating part 521 are aligned, facilitating subsequent automated screw-locking operations. Furthermore, this vision inspection unit 2721 can be shared with the vision inspection unit itself on the automatic screw-locking device, enabling one vision inspection unit to perform two detection functions. This simplifies the structure of the inner liner assembly line and facilitates the rational layout of multiple devices on the inner liner assembly line.

[0133] In some embodiments, refer to Figure 10 and Figure 11 As shown, both the first positioning mechanism 232 and the second positioning mechanism 242 include a positioning base 2321 and a positioning structure disposed on the positioning base 2321. The positioning structure includes a first positioning block 2322 disposed opposite to each other along the X direction and a second positioning block 2323 disposed opposite to each other along the Y direction. At least a portion of the first positioning block 2322 is configured to move along the X direction under the drive of the first positioning cylinder 2324, and at least a portion of the second positioning block 2323 is configured to move along the Y direction under the drive of the second positioning cylinder 2325. Both the first guide rail module 231 and the second guide rail module 241 include a linear guide rail and a driving mechanism. The linear guide rail extends along the X or Y direction, and the positioning base 2321 is disposed on the linear guide rail and is configured to move along the linear guide rail under the drive of the driving mechanism.

[0134] It should be noted that, in order to achieve precise positioning of the first inner liner 51 and the second inner liner 52, a portion of the first positioning blocks 2322 can be configured as first fixed blocks fixed to the positioning base 2321, while another portion of the first positioning blocks 2322 can be configured as first movable blocks movably mounted on the positioning base. The height by which the first fixed blocks protrude from the positioning base can be greater than the height by which the first movable blocks protrude from the positioning base. Correspondingly, a portion of the second positioning blocks 2323 can be configured as second fixed blocks fixed to the positioning base 2321, while another portion of the second positioning blocks 2323 can be configured as second movable blocks movably mounted on the positioning base. The height by which the second fixed blocks protrude from the positioning base can be greater than the height by which the second movable blocks protrude from the positioning base. Thus, when positioning the first inner liner 51 and the second inner liner 52, at least one of the first fixed blocks and the second fixed blocks can be used as a reference for positioning, thereby ensuring the accuracy of the relative positions of the first inner liner 51 and the second inner liner 52.

[0135] This configuration utilizes the cooperation of the first positioning block 2322 and the second positioning block 2323 to achieve positioning of the first inner liner 51 and the second inner liner 52 in the X and Y directions. Simultaneously, the positioning base moves along the linear guide rail to achieve alignment and engagement of the first inner liner 51 and the second inner liner 52. Furthermore, by adjusting the positions of the first positioning block 2322 and / or the second positioning block 2323, the positions of the first inner liner 51 and / or the second inner liner 52 in the X and / or Y directions can be adjusted, thereby ensuring that after alignment and engagement, the through holes on the first mating part 511 and the second mating part 521 are aligned. In addition, by adjusting the positions of the first positioning block 2322 and / or the second positioning block 2323, the positioning requirements of different inner liner models can be accommodated, improving production flexibility.

[0136] In order to install and fix the metal part 522 on the first inner liner 51 or the second inner liner 52, in some embodiments, the bottom of the lower one of the first mating part 511 and the second mating part 521 is provided with a circumferential limiting rib, a central positioning boss and multiple sets of hot melt riveting posts. The metal part 522 is embedded in the inner area of ​​the circumferential limiting rib. The metal part 522 is provided with a central positioning hole and a riveting hole. The central positioning boss is inserted into the central positioning hole for positioning. The hot melt riveting posts pass through the riveting holes and are riveted and fixed to the metal part 522. This design embeds the metal part 522 within the inner perimeter of the circumferential limiting rib, achieving full circumferential limiting of the metal part 522 in the horizontal direction and preventing movement or displacement of the metal part 522 during assembly and screw fastening. Simultaneously, through positioning and riveting, the metal part 522 is securely fixed to the first inner liner 51 or the second inner liner 52. This ensures that the fixation of the metal part 522 to the first inner liner 51 (or the second inner liner 52) offers advantages such as high positioning accuracy, good impact resistance, high assembly efficiency, and long-term reliability, adapting to the full-scenario application requirements of inner liner screw connection structures in scenarios without a connecting beam. Of course, the installation and fixing structure of the metal part 522 on the first inner liner 51 or the second inner liner 52 is not limited to the above limitations and can be reasonably set and adjusted according to the actual product structure.

[0137] It should be noted that after the inner liner and outer shell are assembled, a foaming cavity for filling with foaming material is formed between them. The metal component 522 is precisely embedded in the area below the second mating groove of the second inner liner 52 of the refrigerator. The entire structure is completely within the foaming cavity formed by the inner liner and outer shell. By filling the foaming cavity with foaming material, the metal component 522 can be completely embedded in the foaming material, rather than being exposed on the outer surface of the inner liner. This achieves a fully concealed design for the metal component 522, avoiding appearance defects and process redundancy issues caused by exposed designs. On the other hand, the fully concealed embedded layout also completely avoids the risks of surface bumps, scratches, oxidation, and corrosion caused by exposed metal component 522, eliminating product rework and scrap due to appearance damage to the metal component 522, and further ensuring the appearance yield and consistency of mass production.

[0138] Furthermore, in the refrigerator manufacturing process, polyurethane foaming is a core process that determines the product's insulation performance and structural strength. After the foaming material is injected under high pressure into the interlayer between the inner liner and the outer shell, it undergoes a rapid chemical reaction and expands violently within a short period of time, generating huge and unevenly distributed lateral and forward impact forces. The irregularly shaped structural areas such as the mating grooves on the inner liner are inherently weak points in the inner liner's structure, making them highly susceptible to irreversible deformation such as localized bulging, dents, and warping under the impact of foaming. This ultimately leads to a series of quality problems, including out-of-tolerance dimensional tolerances of the inner liner, poor door sealing, drawer jamming, and decreased cooling performance. This is a long-standing common pain point in the refrigerator inner liner manufacturing industry. The pre-embedded position of the metal component 522 is located on the inner side of the refrigerator inner liner, perfectly matching the core process of subsequent polyurethane foam filling. It provides immediate rigid support to the inner liner during the foaming process, resisting the impact of foaming, and after foaming, it forms an integrated reinforced structure with the insulation layer, ensuring the long-term dimensional accuracy and structural reliability of the inner liner.

[0139] In some embodiments, the screw is a countersunk screw. One of the upper mating portions 511 and 521 has a countersunk hole, and the other has a corresponding through hole. The threaded hole on the metal part 522 is a blind hole. The automatic screw-locking device inserts the countersunk screw through the countersunk hole and the through hole, and locks it into the threaded hole. This configuration, by using a countersunk screw and correspondingly providing a countersunk hole on the first mating portion 511 or the second mating portion 521, ensures that after locking, the screw head is completely sunk below the surface of the part, flush with or even recessed into the inner liner surface. Simultaneously, the threaded hole on the metal part 522 is a blind hole to precisely match the screw length, ensuring that the screw tail is completely enclosed within the blind hole and does not protrude from the inner liner wall. This avoids the screw tail being exposed and also eliminates the problem of material leakage and clogging during the foaming process.

[0140] In some embodiments, refer to Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, both the first automatic feeding device 21 and the second automatic feeding device 22 employ inner liner loading robots. Specifically, the inner liner loading robot may include a loading robot body and an inner liner loading clamp disposed at the end of the loading robot body. The loading robot body can be a general-purpose robot body. For example, refer to... Figure 8 As shown, the robot body 211 includes a robot base 2111, a robot upper arm 2112 movably connected to the robot base 2111, a robot lower arm 2113 connected to the robot upper arm 2112, a robot drive motor 2114 for driving the rotation of the robot upper arm 2112 and the robot lower arm 2113, and a second connecting flange 2115 disposed at the end of the robot lower arm 2113 for connecting a gripper. It should be noted that the robot bodies used in this application have essentially the same structural principles; the difference lies in the gripper structure at the end of each robot, which varies depending on its operational nature.

[0141] Reference Figure 9 As shown, the inner liner loading clamp 212 includes a loading clamp drive motor 2121, loading clamps 2122, a loading clamp connecting plate 2123, a loading clamp guide rail 2124, and a loading clamp controller 2125. The loading clamp guide rail 2124 is mounted on the loading clamp connecting plate 2123. There are two loading clamps 2122, which are arranged opposite to each other and slidably connected to the loading clamp guide rail 2124. The loading clamp controller 2125 is electrically connected to the loading clamp drive motor 2121, and the loading clamp drive motor 2121 is drively connected to the loading clamps 2122 to drive the two loading clamps 2122 to open and close along the loading clamp guide rail 2124, thereby achieving the purpose of clamping the first inner liner 51 or the second inner liner 52, or releasing the first inner liner 51 or the second inner liner 52.

[0142] In some embodiments, refer to Figure 12 As shown, the visual inspection device 25 includes a mounting bracket 251 and a visual camera 252 mounted on the mounting bracket 251. The mounting bracket 251 is used to position the visual camera 252 at a suitable height so that the visual camera 252 can capture images of the alignment and mating areas of the first inner liner 51 and the second inner liner 52, thereby realizing the alignment detection of the alignment and mating parts of the first inner liner 51 and the second inner liner 52.

[0143] In some embodiments, refer to Figure 13As shown, the pushing device 26 includes an electric push rod base 261, an electric push rod 262 mounted on the electric push rod base 261, and a servo drive motor 263 connected to the electric push rod 262. The top of the electric push rod 262 is provided with a pressure sensor 264, so that the electric push rod 262 can be driven to extend and retract by the servo drive motor 263, thereby applying an upward pushing force to the alignment and mating parts from below the alignment and mating parts of the first inner liner 51 and the second inner liner 52.

[0144] In some embodiments, refer to Figures 14 to 16 As shown, the automatic screw fastening device includes a screw feeding mechanism 28 and an automatic screw fastening robot 27. (Referring to...) Figure 14 As shown, the screw feeding mechanism 28 includes a screw vibratory feeder 281, a linear feeder 282, and a turntable 283. The screw vibratory feeder 281 has a channel for screws to be vibrated out, and the channel is connected to the turntable 283 through the linear feeder 282. The turntable 283 has a screw positioning port 284. In addition, in order to adjust the relative height of the screw vibratory feeder 281, the linear feeder 282, and the turntable on the frame, a turntable extension frame 285 can be installed below the turntable, and a feeder extension frame 286 can be installed below the linear feeder 282.

[0145] Reference Figure 15 and Figure 16 As shown, the automatic screw-fastening robot 27 includes a screw-fastening robot body 271 and a screw-fastening mechanism 272 disposed at the end of the screw-fastening robot body 271. The screw-fastening mechanism 272 includes a vision inspection unit 2721 for locating threaded holes, a screw-fastening electric screwdriver 2722 for performing the screw-fastening action, and a screw-fastening cylinder 2723 for blowing screws from the screw positioning port 284 to the screw-fastening electric screwdriver. Furthermore, to facilitate the installation of the vision inspection unit 2721, the screw-fastening electric screwdriver 2722, and the screw-fastening cylinder 2723, the screw-fastening mechanism 272 may also include a slide rail mounting plate 2724, a first guide rod 2725, a screw chuck mounting plate 2726, and a guide rail mounting base 2727. This configuration allows the screw feeding mechanism 28 to supply screws to the automatic screw-fastening robot 27, and the automatic screw-fastening robot 27 to fasten screws to the mating parts of the first inner liner 51 and the second inner liner 52, thereby achieving the purpose of automated screw fastening.

[0146] Of course, the structure of the automatic screw fastening device is not limited to the above limitations, and existing automatic screw fastening devices can also be used to achieve the purpose of automated screw fastening.

[0147] In some embodiments, refer to Figure 17 and Figure 18As shown, the inner liner assembly line also includes an inner liner unloading robot 29; the inner liner unloading robot 29 includes an unloading robot body and an inner liner clamp 291. The inner liner clamp 291 includes a clamp guide rail 2911 and two inner liner grippers 2912 disposed opposite to each other on the clamp guide rail 2911, and a gripper drive mechanism 2913 for driving the two inner liner grippers 2912 to move towards or away from each other along the clamp guide rail. Each of the two inner liner grippers 2912 has a vertically extending clamping part and a limiting part connected to the lower end of the clamping part and extending towards each other. The two inner liner grippers 2912 move horizontally towards each other so that the clamping parts of the two inner liner grippers 2912 apply a clamping force to the assembled inner liner along the docking direction perpendicular to the first inner liner 51 and the second inner liner 52. This configuration allows the two opposing inner liner grippers 2912 to grip the assembled inner liner. The gripping portions of the two inner liner grippers 2912 apply a clamping force to the assembled inner liner along a direction perpendicular to the docking direction of the first inner liner 51 and the second inner liner 52. This ensures that the two inner liner grippers 2912 simultaneously apply clamping forces to both sides of the first inner liner 51 and the second inner liner 52, thereby achieving stable gripping of the assembled inner liner.

[0148] Specifically, after the first inner liner 51 and the second inner liner 52 are assembled, when the inner liner unloading operation is required, the clamping ends of the two inner liner grippers 2912 are adapted to the connecting edge of the inner liner 5 to be unloaded, so that the two inner liner grippers 2912 can simultaneously clamp the connecting area of ​​the first inner liner 51 and the second inner liner 52. In the actual operation, firstly, the two inner liner grippers 2912 are controlled to move to the sides in opposite directions by the clamping guide rail 2911. The moving distance depends on the size of the inner liner. The inner liner unloading robot controls the inner liner clamp 291 to move downward, so that the paired inner liner grippers 2912 are respectively aligned with the clamping positions on both sides of the connecting part of the first inner liner 51 and the second inner liner 52, completing the precise alignment before gripping; then, the gripper drive mechanism 2913 of the inner liner unloading robot drives the inner liner grippers 2912 on both sides to perform opposite feeding movements, so that the clamping surfaces of the two inner liner grippers 2912 gradually come together and press against the edge of the inner liner. Once the clamping force of 2912 reaches the preset process threshold, it locks, achieving stable clamping of the connecting edge of the inner liner 5. This effectively prevents the thin-walled inner liner from deforming, slipping, or falling off during the off-line transfer process. Finally, with the inner liner clamp 2912 locked in place, the inner liner fixture and the clamped inner liner are moved synchronously by the lifting and lateral movement of the inner liner off-line robot, transferring the inner liner from the work station to the off-line station, completing the off-line operation. After the inner liner is placed in place at the off-line station, the two inner liner clamps 2912 are released and reset to their initial positions to prepare for the next inner liner off-line operation cycle.

[0149] In some embodiments, refer to Figure 1 and Figure 2As shown, the outer shell forming line 1 includes a gantry conveyor 11 for feeding, a movable punching system 12 for punching, a rolling mill 13 for roll forming, a condenser tube installation robot 14 for installing condenser tubes, a first automatic glue spraying robot 15 for fixing condenser tubes, and a bending machine 16 for bending the outer shell, arranged sequentially along its conveyor line. An outer shell unloading robot 17 is provided at the end of the outer shell forming line. During the outer shell forming process, a gantry conveyor 11 picks up the sheet material for forming the outer shell from the raw material warehouse and places it on the conveyor line. Then, a movable punching system 12 punches holes in the sheet material, and a rolling mill 13 rolls the sheet material into shape. A condenser tube installation robot 14 then picks up the condenser tube from the raw material warehouse and installs it onto the rolled sheet material. A first automatic glue spraying robot 15 then sprays glue to fix the installed condenser tube. Finally, a bending machine 16 bends the sheet material to form a specific shape, completing the outer shell forming process. Finally, an outer shell unloading robot 17 unloads the formed outer shell to the assembly station, where it awaits assembly with the inner liner. This achieves full automation of the entire outer shell forming process from start to finish, reducing manual intervention and achieving a high degree of automation.

[0150] In some embodiments, refer to Figures 19 to 23 As shown, the gantry transfer machine 11 includes a three-axis guide rail and a suction cup 115 mounted on the three-axis guide rail. The suction cup 115 includes a buffer mechanism, a suction cup mechanism, and a guide rail structure. The buffer mechanism includes two buffer components that can move towards each other along the guide rail structure. Each buffer component includes a fixed seat slidably connected to the guide rail structure, a buffer plate 1151 located below the fixed seat, and a buffer spring 1159 connected between the buffer plate 1151 and the fixed seat. The suction cup mechanism is connected to the guide rail structure via a fixed side plate 1153. With this configuration, by providing a buffer mechanism on the suction cup 115 of the gantry transfer machine 11, the suction cup spacing can be electrically adjusted according to the size of the sheet material, achieving stable gripping of sheets of different specifications, and using the buffer mechanism to buffer the suction force to avoid deformation of the sheet material.

[0151] In one specific embodiment, refer to Figures 19 to 21 As shown, the gantry transfer machine 11 includes a Y-axis guide rail 111, a Z-axis guide rail 112, an X-axis guide rail 113, a drive mechanism 114, and a suction device 115. The Y-axis guide rail 111, Z-axis guide rail 112, and X-axis guide rail 113 are bolted to the gantry frame. Each guide rail has a dedicated motor to control its movement in that direction. The suction device 115 is fixed to the Z-axis guide rail 112, and the two are connected by a first connecting flange 11512. The suction device 115 includes a buffer mechanism, a suction cup mechanism, and a guide rail structure. The suction cup mechanism is bolted to both sides of the guide rail structure 1154, and the buffer mechanism is slidably connected to the guide rail structure 1154 via a slider. One buffer mechanism is fixed to each of the left and right sides. Specifically, refer to... Figure 22As shown, the suction cup mechanism includes a suction head 1152, a fixed side plate 1153, a suction cup connecting block 1156, a connecting block 1157, and a suction cup connecting plate 1158; the buffer mechanism includes a buffer plate 1151, a buffer spring 1159, a spring fixing block 11510, and a buffer nut seat 11511.

[0152] like Figure 23 As shown, the buffer mechanism is slidably connected to the guide rail structure 1154 via the buffer nut seat 11511, the spring fixing block 11510 is fixed to the buffer nut seat 11511 by bolts, the buffer spring 1159 is sleeved on the spring fixing block 11510, and the buffer plate 1151 is welded to the spring fixing block 11510; the suction cup 115 is connected to both sides of the guide rail structure 1154 via the fixed side plate 1153, the connecting block 1157 is welded to the fixed side plate 1153, and the suction head 1152 is fixed to the suction cup connecting plate 1158 via the suction cup connecting block 1156.

[0153] Specifically, the gantry transfer machine 11 first starts its X, Y, and Z axis motors according to pre-set parameters, positioning the suction cup 115 above the refrigerator outer shell panel. At this point, the suction cup 115 begins operation. The suction cup drive motor 1155 adjusts the distance between the two buffer plates 1151. This distance is determined by the length of the panel to be suctioned; the longer the panel, the greater the distance between the two buffer plates 1151. After the suction cup 115 reaches the designated position, the suction head 1152 generates suction, vacuum-adhering the refrigerator outer shell panel onto the suction cup 115. During the suction process, the buffer plates 1151 and buffer springs 1159 on the suction cup 115 buffer the suction force, preventing deformation of the refrigerator outer shell panel due to excessive suction force. After the suction cup 115 picks up the refrigerator outer shell panel, it is transported to the top of the conveyor line by the X, Y, and Z axis motors and their slide rails. At this point, the suction cup 115 releases its force, placing the refrigerator outer shell panel onto the conveyor line.

[0154] A suction cup is a component that directly lifts and holds objects. The design and selection of a suction cup requires consideration of its suction force, materials, and structure, which in turn determines its dimensions and manufacturing process. The theoretical suction force of a suction cup is the product of the vacuum level *p* within the cup and its effective suction area *A*. The actual suction force should consider the weight of the workpiece being lifted and its acceleration during transport, while also allowing sufficient margin to ensure safe lifting. Acceleration during transport should include starting acceleration, stopping acceleration, translational acceleration, and rotational acceleration.

[0155] In some embodiments, refer to Figure 24 and Figure 25As shown, the movable punching system 12 includes a positionable conveyor line, linear guide rails 122 disposed on both sides of the positionable conveyor line 121, a punching machine 123 slidably mounted on the linear guide rails 122, and a punching machine drive mechanism 124 for driving the punching machine 123 to move along the linear guide rails 122. This configuration allows the punching machine 123 to move along the conveyor line direction by sliding it on the linear guide rails 122, enabling punching processing at different positions on the sheet metal and meeting the punching requirements of different product models. Furthermore, the movable punching system 12 also includes a lifting block 125 for raising the position of the punching machine 123. Specifically, the punching machine 123 includes punching machine side plates 1235 arranged opposite each other, a hydraulic cylinder 1236 installed between the two punching machine side plates 1235, an upper die 1234 driven by the hydraulic cylinder 1236, and a lower die 1231 corresponding to the upper die 1234. A buffer element for buffering the punching force is provided around the lower die 1231. The buffer element can be a rectangular spring 1232. A photoelectric switch 1233 is installed on the punching machine. Furthermore, in order to position the sheet metal on the positionable conveyor line 121, a pneumatic pusher plate 1212 for positioning the sheet metal is provided next to the punching machine 123, and a pneumatic baffle 1213 for limiting the sheet metal along the conveying direction is provided on the positionable conveyor line 121.

[0156] Reference Figure 26 As shown, the positionable conveyor line 121 includes a line frame 1211, pneumatic push plates 1212 disposed on both sides of the line frame 1211, and pneumatic baffles 1213 disposed in the conveying direction of the line frame 1211 to limit the position of the sheet metal or shell on the line frame 1211 in the X and Y directions. It should be noted that this positionable conveyor line 121 is not only suitable for movable punching systems, but also for other conveyor lines that require positioning of materials such as sheet metal or shells.

[0157] Specifically, after the sheet metal is transferred to the conveyor line of the shell forming line by the gantry conveyor 11, it is transported to the movable punching system 12 for punching. A punching machine 123 is installed on each side of the conveyor line, and each punching machine 123 is controlled by an independent linear guide rail 122. When the sheet metal is transported to the movable punching system, the pneumatic baffle 1213 on the positioning conveyor line 121 is raised, and the pneumatic push plate 1212 next to the punching machine 123 operates, positioning the sheet metal on the conveyor line. For the sheet metal, this positioning method restricts the movement and rotation of the X and Y axes, and restricts the movement of the Z axis. The rotation of the Z axis is limited by… Due to the gravity of the sheet metal, after the sheet metal is positioned, the linear guide rail 122 controls the punching machine 123 to move to the designated position. The hydraulic cylinder 1236 on the punching machine 123 works to provide a cutting force to the upper die 1234, causing the upper die 1234 to move downward. After the upper die 1234 punches, it contacts the lower die 1231. The lower die 1231 is equipped with a rectangular spring 1232, the purpose of which is to buffer the punching force of the upper die 1234. After the punching force is relieved, the upper die 1234, the pneumatic push plate 1212 and the pneumatic baffle 1213 are reset, ready to repeat the next positioning and punching operation. The function of the heightening block 125 is to make the height of the punching machine 123 consistent with the conveyor line.

[0158] After the punching process is completed, the conveyor line transports the sheet metal to the rolling mill for rolling. This process is existing technology and is part of the entire intelligent production line, so it will not be described in detail here.

[0159] After the rolling process is completed, the sheet metal is transported to the next process—the condenser tube installation process—by the conveyor line. On this conveyor line, pneumatic push plates are installed on both sides. The positioning principle is the same as that of the punching process, which will not be described in detail here.

[0160] In some embodiments, refer to Figure 27 , Figure 28 and Figure 29 As shown, the condenser pipe installation robot 14 includes an installation robot body and a condenser pipe clamp disposed at the end of the installation robot body. The condenser pipe clamp includes multiple sets of condenser pipe grippers 144 connected in series via connecting shafts. Each set of condenser pipe grippers 144 includes two opposing sub-grippers. The two sub-grippers are controlled to open and close by a gripper controller 1444. The condenser pipe clamp is driven to move by a gripper drive motor 141. This configuration allows the condenser pipe installation robot 14 to automatically install multiple sets of condenser pipes onto the housing.

[0161] In one specific embodiment, refer to Figure 28As shown, the condenser pipe installation robot 14's condenser pipe clamp includes a clamp drive motor 141, a first connecting shaft 142, a condenser pipe gripper connecting flange 143, and multiple sets of condenser pipe grippers 144. One end of the condenser pipe gripper connecting flange 143 is connected to the robot body, and the other end is connected to a guide rail. The clamp drive motor 141 is bolted to the guide rail. The multiple sets of condenser pipe grippers 144 are connected in series on the first connecting shaft 142 and the second connecting shaft 1446, and are clamped on both sides by gripper side plates 1443. (Refer to...) Figure 29 As shown, the condenser clamp 144 includes two sub-clamps (left clamp 1442 and right clamp 1441), a clamp controller 1444, and a clamp connecting block 1445. The left clamp 1442 and right clamp 1441 are connected to the clamp controller 1444 by bolts, and the clamp controller 1444 is fixed to the clamp connecting block 1445 by bolts.

[0162] In some embodiments, refer to Figure 27 and Figure 30 As shown, the first automatic glue-spraying robot 15 includes a first glue-spraying robot body and a glue-spraying assembly disposed at the end of the first glue-spraying robot body. The glue-spraying assembly includes a glue-spraying drive mechanism, a glue-spraying head 152 that is drive-connected to the glue-spraying drive mechanism, and a glue-spraying controller 1514 for controlling the action of the glue-spraying drive mechanism. This configuration allows the first automatic glue-spraying robot to perform glue-spraying fixation on the installed condenser tube, thereby achieving automated glue-spraying fixation between the condenser tube and the outer casing, reducing manual intervention, and achieving a high degree of automation.

[0163] In one specific embodiment, refer to Figure 30 As shown, the glue-spraying assembly of the first automatic glue-spraying robot 15 includes a connecting frame 150, a first glue-spraying drive motor 151, a first glue-spraying belt 153, and a glue-spraying module. The connecting frame 150 is fixed to the end of the first glue-spraying robot body. The first glue-spraying drive motor 151 is fixed on the connecting frame 150, specifically located at the lower part of the connecting frame 150. A connecting shaft is provided at the upper part of the connecting frame 150. The first glue-spraying belt 153 is sleeved on the connecting shaft and the output shaft of the first glue-spraying drive motor 151, and can rotate up and down under the drive of the first glue-spraying drive motor 151. The glue-spraying module is fixed on the first glue-spraying belt 153, so as to move up and down under the drive of the first glue-spraying belt 153. Specifically, the glue-spraying module may include a first glue-spraying connecting block 154. The first glue-spraying connecting block 154 is provided with a clamping member, so as to clamp the first glue-spraying belt 153 along the thickness direction of the first glue-spraying belt 153 through the clamping member, thereby fixing the glue-spraying module on the first glue-spraying belt 153. To ensure the smooth up-and-down movement of the glue spraying module, a vertically arranged second guide rod 155 is provided on the connecting frame 150. The glue spraying module is slidably connected to the second guide rod 155 so that the glue spraying module can move up and down along the second guide rod 155.

[0164] Furthermore, the glue spraying module includes a first glue spraying connecting block 154, a second glue spraying drive motor 156, a second glue spraying belt 157, a first gear shaft 158, a second glue spraying connecting block 159, a third glue spraying drive motor 1510, a third glue spraying belt 1511, a second gear shaft 1512, a third glue spraying connecting block 1513, and a glue spraying head 152. The second glue spraying drive motor 156 is fixed on the first glue spraying connecting block 154, the first gear shaft 158 ​​is rotatably mounted on the first glue spraying connecting block 154, and the second glue spraying belt 157 is sleeved on the output shaft of the first gear shaft 158 ​​and the second glue spraying drive motor 156, and can rotate horizontally under the drive of the second glue spraying drive motor 156. The second glue-spraying connecting block 159 is fixedly connected to the first gear shaft 158 ​​and can rotate horizontally with the first gear shaft 158. The third glue-spraying drive motor 1510 is fixed on the second glue-spraying connecting block 159. The second gear shaft 1512 is rotatably mounted on the second glue-spraying connecting block 159. The third glue-spraying belt 1511 is sleeved on the output shaft of the second gear shaft 1512 and the third glue-spraying drive motor 1510 and can rotate horizontally under the drive of the third glue-spraying drive motor 1510. The third glue-spraying connecting block 1513 is fixed on the second gear shaft 1512 and can rotate horizontally under the drive of the second gear shaft 1512. The glue-spraying head 152 is fixed on the third glue-spraying connecting block 1513. In addition, the connecting frame 150 is also provided with a glue-spraying controller 1514 to control the glue-spraying head 152 to spray glue.

[0165] Specifically, the condenser tube installation robot picks up condenser tube materials from the rear material warehouse. The gripper drive motor operates, controlling the opening and closing of the left gripper 1442 and right gripper 1441 of multiple sets of condenser tube grippers. After picking up the material, the condenser tube installation robot moves the condenser tube above the plate by rotating its upper and lower arms. At this time, the condenser tube controller controls the opening and closing of the left gripper 1442 and right gripper 1441 of multiple sets of condenser tube grippers, placing the condenser tube on the plate; the pneumatic pusher 1212 on the positionable conveyor line 121 and The pneumatic baffle 1213 resets, and the conveyor line transports the plate with the condenser tube to the next process. After being transported to the position, the pneumatic pusher 1212 and the pneumatic baffle 1213 enter the positioning mode. The first glue spraying drive motor 151 of the first automatic glue spraying robot 15 controls the up and down movement of the entire glue spraying module, and the second glue spraying drive motor 156 and the third glue spraying drive motor 1510 control the left and right movement of the glue spraying head 152. When it moves to the position where glue spraying is required, the glue spraying controller 1514 controls the glue spraying head 152 to spray glue.

[0166] Of course, the structure of the condenser pipe installation robot 14 and the first automatic glue spraying robot 15 is not limited to the above limitations. Existing condenser pipe installation robots can also be used for condenser pipe installation, and existing automatic glue spraying robots can be used for automated glue spraying.

[0167] After the glue spraying process is completed, the pneumatic push plate 1212 and pneumatic baffle 1213 are reset, the conveyor line runs, and the sheet metal is transported to the next process for bending. The bending machine 16 is an existing mechanism, and its bending process is a necessary process for the production line of this application, so it will not be described in detail here.

[0168] After the bending process is completed, the bent outer shell needs to be removed from the production line to facilitate the subsequent assembly of the outer shell and inner liner. The structure of the outer shell removal robot can be roughly the same as that of the inner liner removal robot (or inner liner loading robot). Specifically, the outer shell removal robot uses a removal robot gripper drive motor to control the removal gripper guide rail. The removal gripper guide rail drives the removal gripper jaws to clamp the formed outer shell. The clamping force is controlled by the outer shell removal robot controller. After the formed outer shell is clamped, the outer shell removal robot rotates 90° to place the outer shell on the next conveyor line. After placement, the outer shell removal robot controller controls the removal gripper to release the force, completing the removal operation of the formed outer shell.

[0169] After the outer shell comes off the production line, the molded outer shell 4 and the assembled inner liner 5 need to be assembled together. Specifically, the assembly of the outer shell and the inner liner can be completed at the assembly station.

[0170] In some embodiments, refer to Figure 1 , Figure 2 and Figure 26 As shown, the assembly station 3 includes a positionable conveyor line, which includes a frame and a positioning clamping device 31. The positioning clamping device 31 includes pneumatic push plates on both sides of the frame and pneumatic baffles on the conveying direction of the frame, to limit the position of the assembled housing 4 in the X and Y directions. Specifically, the structure of the positionable conveyor line can be referred to... Figure 26 The positionable conveyor line shown includes a frame 1211 and a positioning and clamping device. The positioning and clamping device includes pneumatic push plates 1212 disposed on both sides of the frame 1211 and pneumatic baffles 1213 disposed in the conveying direction of the frame 1211. This configuration allows the positioning and clamping device to position and clamp the outer shell as it moves from the line to the assembly station, locking the outer shell in place. This facilitates the subsequent nesting of the inner liner onto the locked outer shell, preventing displacement of the outer shell during the nesting process and ensuring nesting accuracy.

[0171] In some embodiments, refer to Figure 1 and Figure 2As shown, a second automatic glue-spraying robot 32 is installed next to the assembly station 3. The second automatic glue-spraying robot 32 includes a second glue-spraying robot body and a glue-spraying assembly located at the end of the second glue-spraying robot body. The glue-spraying assembly includes a glue-spraying drive mechanism, a glue-spraying head that is connected to the glue-spraying drive mechanism, and a glue-spraying controller for controlling the action of the glue-spraying drive mechanism. The structure of the second automatic glue-spraying robot 32 can be referred to Figure 27 and Figure 30 As shown, its structure is roughly the same as that of the first automatic glue-spraying robot 15, and will not be described in detail here. This arrangement allows the second automatic glue-spraying robot 32 to apply glue to fix the nested inner liner 5 and outer shell 4.

[0172] In some embodiments, refer to Figure 1 and Figure 2 As shown, a back panel installation robot 33 is also set up next to the conveyor line of the assembly station 3. After the formed outer shell and the assembled inner liner are nested together, the refrigerator back panel needs to be installed. The installation of the back panel is also done by the robot and the corresponding suction device. Due to the shape of the back panel, the suction device used can be the same as the suction device of the gantry transfer machine 11. The back panel installation robot 33 first rotates 180° to pick up the raw material from the raw material warehouse, and then places it in the designated position by the suction device. The suction principle of the suction device has been explained in detail before, and will not be repeated here.

[0173] After the refrigerator body's outer shell, inner liner, and back panel are all assembled together, they need to be secured with screws. As the refrigerator is transported to the final screw-fastening process via the conveyor line, the screw-fastening principle is the same as described above, and will not be repeated here.

[0174] Reference Figure 31 and Figure 32 As shown, other embodiments of this application provide a production method for a smart manufacturing line for refrigerator cabinets, employing a smart manufacturing line for refrigerator cabinets as described above, including:

[0175] S1. The production processes of outer shell forming line 1 and inner liner assembly line 2 are executed in parallel.

[0176] S2. After the outer shell forming line completes the outer shell forming, the outer shell unloading robot 17 unloads the formed outer shell 4 to the assembly station 3, and positions the outer shell through the positioning and clamping device at the assembly station 3. The inner liner unloading robot 29 (or the outer shell unloading robot 17) nests the assembled inner liner 5 into the positioned outer shell 4, completing the initial assembly of the outer shell 4 and the inner liner 5.

[0177] In step S1, the production process of the inner liner assembly line 2 includes:

[0178] S11. Use the first automatic feeding device 21 to clamp the first inner liner 51 to be assembled and place it in the first positioning device 23. Use the second automatic feeding device 22 to clamp the second inner liner 52 to be assembled and place it in the second positioning device 24.

[0179] S12. The first positioning mechanism 232 and the second positioning mechanism 242 are used to position the first inner liner 51 and the second inner liner 52 respectively, and drive the first inner liner 51 and the second inner liner 52 to move towards each other in the horizontal direction. During the entire process of the first inner liner 51 and the second inner liner 52 moving towards each other, the visual inspection device 25 continuously performs dynamic image acquisition and visual algorithm calculation on the alignment and mating area of ​​the first inner liner 51 and the second inner liner 52 at a preset high frame rate to identify the docking contour, relative position deviation and alignment and mating gap of the first mating part 511 and the second mating part 521. When the visual inspection device 25 detects that the alignment and mating gap has dropped to within the preset tolerance range and the relative position deviation has dropped to within the preset deviation range, the main control system of the equipment sends a stop and lock command to the first guide rail module 231 and the second guide rail module 241. The first guide rail module 231 and the second guide rail module 241 stop feeding and maintain the locked state.

[0180] S13. The jacking device 26 applies an upward jacking force to the alignment and mating parts of the first inner liner 51 and the second inner liner 52. During the jacking process, the pressure sensor 264 collects the jacking force in real time and transmits the real-time pressure data to the main control system of the equipment. When the main control system of the equipment detects that the real-time jacking force reaches the preset pressure value, it sends a stop and lock command to the jacking device. The jacking device 26 locks and maintains the current jacking stroke and constant jacking force.

[0181] S14. Using an automatic screw-locking device, screws are fastened to the alignment and mating parts of the first inner liner 51 and the second inner liner 52 to complete the assembly of the first inner liner 51 and the second inner liner 52.

[0182] The production method of the intelligent manufacturing production line for refrigerator bodies provided in this application embodiment achieves automated feeding, automated positioning and alignment, automated pushing, and automated screw fixing of the first inner liner 51 and the second inner liner 52 to be assembled in the production process of the inner liner assembly line. This achieves full automation from start to finish in the assembly process of the first inner liner 51 and the second inner liner 52, reducing manual intervention and achieving a high degree of automation. Furthermore, before using the automatic screw-locking device to fasten the screws to the first inner liner 51 and the second inner liner 52, the first positioning device 23, the second positioning device 24, and the vision inspection device 25 are used to ensure that the first inner liner 51 and the second inner liner 52 are properly aligned. The second inner liner 52 is aligned horizontally, and the pushing device 26 effectively constrains the vertical freedom of the alignment parts of the first inner liner 51 and the second inner liner 52. This effectively prevents the transmission of high-frequency impact and vibration loads generated in the vertical direction to the alignment parts during the subsequent screw fastening process, thus avoiding problems such as vertical warping, shifting, or relative displacement of the precisely aligned alignment parts. This also avoids problems such as excessive clearance, stripped screw threads, and assembly accuracy exceeding the design tolerance range, ensuring the reliability of subsequent screw fastening and thus effectively ensuring the reliability of the refrigerator inner liner assembly.

[0183] In some embodiments, the production process of the outer shell forming line 1 in step S1 includes:

[0184] The gantry transfer machine 11 picks up the outer shell sheet and places it on the conveyor line → the movable punching system 12 punches the sheet → the rolling mill 13 rolls the sheet → the condenser tube installation robot 14 picks up the condenser tube from the raw material warehouse and installs it onto the rolled sheet → the first automatic glue spraying robot 15 sprays glue to fix the installed condenser tube → the bending machine 16 bends the sheet.

[0185] The above production process forms a shell of a specific shape, completing the shell molding. Then, the shell-off-line robot 17 removes the molded shell from the line to the assembly station, awaiting assembly with the inner liner. This achieves full automation of the shell molding line from start to finish, reducing manual intervention and achieving a high degree of automation.

[0186] It should be noted that the outer shell forming line 1 (line one) and the inner liner assembly line 2 (line two) are produced in parallel. After the formed outer shell is off the line and positioned at the assembly station 3, the inner liner off-line robot 29 or the outer shell off-line robot 17 (collectively referred to as the off-line robot) will nest the assembled inner liner 5 into the positioned outer shell 4, completing the initial assembly of the outer shell 4 and the inner liner 5. Then, the assembled outer shell and inner liner are transported to the next process, where the backplate installation robot 33 picks up the backplate and installs it onto the assembled outer shell and inner liner. Finally, the automatic screw-locking robot completes the overall locking of the backplate, outer shell, and inner liner.

[0187] In some embodiments, refer to Figure 32 As shown, in step S2, the dual-line coordinated interlock control method is executed, specifically including:

[0188] S21. The shell unloading robot 17 unloads the molded shell 4 to the assembly station 3. After unloading, it sends a signal to the control system indicating that the shell has been unloaded.

[0189] S22. After receiving the signal indicating that the shell has been taken off the production line, the positioning and clamping device 31 at the assembly station 3 positions the shell and sends a signal indicating that the shell is in place and locked after positioning.

[0190] S23: After receiving the signal indicating that the outer shell is in place and locked, the control system sends an instruction indicating that the inner liner unloading permission is unlocked to the inner liner unloading robot 29 (or the outer shell unloading robot 17), allowing it to perform the inner liner unloading action.

[0191] S24: During or after assembly, the nesting accuracy of the inner liner and outer shell is checked by a vision inspection system. If the inspection is qualified, a "nesting in place" signal is sent; if the inspection is unqualified, an alarm is triggered and the conveyor line is prohibited from moving downstream.

[0192] This setup ensures precise matching of the production cycle of the outer shell and inner liner during the assembly process by implementing a signal-based dual-line collaborative interlock control method. This avoids overall efficiency loss due to single-line blockage or malfunction, significantly improving the overall cycle time and resource utilization of the refrigerator body intelligent manufacturing production line.

[0193] In some embodiments, the assembly process of the inner liner and the outer shell in step S24 specifically includes:

[0194] S241, the inner liner unloading robot 29 (or outer shell unloading robot 17) keeps the inner liner 5 in a clamping state, and then the flange at the edge of the inner liner 5 is attached to the supporting surface of the outer shell 4. The second automatic glue spraying robot 32 at the assembly station 3 simultaneously starts the core glue spraying process. The glue spraying path is located in real time through its own vision device. The glue spraying drive mechanism, glue spraying head and glue spraying controller complete the closed-loop glue spraying of the preset path. The main path of the preset path is continuously sprayed in a closed loop along the bonding seam between the inner liner flange and the outer shell.

[0195] S242. After the glue spraying is completed, the final inspection and process flow stage begins. The inner liner unloading robot 29 or the outer shell unloading robot 17 releases the inner liner and sends a signal to the control system indicating that the initial assembly is complete. The positioning and clamping device is released, and the assembled workpiece is transported to the next process.

[0196] This configuration allows for the automated assembly and fixation of the outer shell 4 and the inner liner 5 through clamping and positioning by the positioning clamping device and automatic glue spraying and fixing by the second automatic glue spraying robot 32. The degree of automation is high, and the firmness and reliability of the fixation of the outer shell 4 and the inner liner 5 after assembly are ensured.

[0197] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0198] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A smart manufacturing production line for refrigerator bodies, characterized in that, It includes an outer shell forming line and an inner liner assembly line, as well as an assembly station for assembling the outer shell formed by the outer shell forming line and the inner liner assembled by the inner liner assembly line. The inner liner assembly line includes a first automatic feeding device, a second automatic feeding device, a first positioning device, a second positioning device, a vision inspection device, a pushing device, and an automatic screw fastening device. The first automatic feeding device is used to pick up the first inner liner to be assembled and place it in the first positioning device; the second automatic feeding device is used to pick up the second inner liner to be assembled and place it in the second positioning device. The first positioning device includes a first guide rail module and a first positioning mechanism disposed on the first guide rail module. The second positioning device includes a second guide rail module and a second positioning mechanism disposed on the second guide rail module. The first positioning mechanism and the second positioning mechanism are respectively used to position the first inner liner and the second inner liner, and drive the first inner liner and the second inner liner to move towards each other in the horizontal direction, so that the first mating part at the mouth edge of the first inner liner and the second mating part at the mouth edge of the second inner liner are aligned and engaged. The bottom of the lower one of the first mating part and the second mating part is provided with a metal part, and the metal part is provided with a threaded hole. The visual inspection device is located on one side of the first positioning device and the second positioning device, and is used to perform alignment detection on the first mating part and the second mating part from the side. The pushing device is located between the first positioning device and the second positioning device, and is used to apply an upward pushing force to the mating parts of the first inner liner and the second inner liner. The pushing device is equipped with a pressure sensor for detecting the pushing force. The automatic screw-locking device is located on one side of the first positioning device and the second positioning device, and is used to lock screws downward to the mating parts of the first inner liner and the second inner liner, so that the screws pass through the mating parts and are locked into the threaded holes. The automatic screw fastening device includes a screw feeding mechanism and an automatic screw fastening robot; The screw feeding mechanism includes a screw vibratory feeder, a linear feeder, and a turntable. The screw vibratory feeder has a channel for the screws to vibrate out. The channel is connected to the turntable through the linear feeder. The turntable has a screw positioning port. The automatic screw fastening robot includes a screw fastening robot body and a screw fastening mechanism disposed at the end of the screw fastening robot body. The screw fastening mechanism includes a vision detection unit for positioning the threaded hole, a screw fastening electric screwdriver for performing the fastening action, and a screw fastening cylinder for blowing the screw at the screw positioning port to the screw fastening electric screwdriver.

2. The intelligent manufacturing production line for refrigerator bodies according to claim 1, characterized in that, The first inner liner has a first flange extending outward at at least one side of its opening edge, and the first mating part includes a first mating groove provided on the lower side of the first flange. The second inner liner has a second flange extending outward at at least one side of its opening edge, and the second mating part includes a second mating groove provided on the upper side of the second flange. The first positioning mechanism and the second positioning mechanism respectively drive the first inner liner and the second inner liner to move towards each other in the horizontal direction. Parts of the groove wall of the first mating groove and part of the groove wall of the second mating groove overlap each other in the vertical direction. One end of the first mating groove and the second mating groove is connected and limited to one side of the groove wall of the other in the horizontal direction.

3. The intelligent manufacturing production line for refrigerator bodies according to claim 1, characterized in that, After the first inner liner and the second inner liner are aligned and fitted, a receiving space is formed between the first inner liner and the second inner liner below the aligned and fitted part; the pushing device is located in the receiving space and applies an upward pushing force to the aligned and fitted part through the receiving space; And / or, the number of the jacking devices is two, and the two jacking devices are spaced apart between the first guide rail module and the second guide rail module, and the spacing direction of the two jacking devices is perpendicular to the moving direction of the first positioning mechanism along the first guide rail module.

4. The intelligent manufacturing production line for refrigerator bodies according to claim 1, characterized in that, The automatic screw-locking device is equipped with a vision detection unit, which is used to acquire images of the alignment and mating parts of the first inner liner and the second inner liner from above, so as to detect whether the through holes on the first mating part for screws to pass through and the through holes on the second mating part for screws to pass through are aligned.

5. The intelligent manufacturing production line for refrigerator bodies according to claim 1, characterized in that, Both the first positioning mechanism and the second positioning mechanism include a positioning base and a positioning structure disposed on the positioning base. The positioning structure includes a first positioning block disposed opposite to each other along the X direction and a second positioning block disposed opposite to each other along the Y direction. At least a portion of the first positioning block is configured to move along the X direction under the drive of the first positioning cylinder, and at least a portion of the second positioning block is configured to move along the Y direction under the drive of the second positioning cylinder. Both the first guide rail module and the second guide rail module include a linear guide rail and a driving mechanism. The linear guide rail extends along the X or Y direction, and the positioning base is disposed on the linear guide rail and configured to move along the linear guide rail under the drive of the driving mechanism.

6. The intelligent manufacturing production line for refrigerator bodies according to claim 1, characterized in that, The bottom of the lower of the first mating part and the second mating part is provided with a circumferential limiting rib, a central positioning boss and multiple sets of hot melt riveting posts. The metal part is embedded in the inner area of ​​the circumferential limiting rib. The metal part is provided with a central positioning hole and a riveting hole. The central positioning boss is inserted into the central positioning hole for positioning. The hot melt riveting post passes through the riveting hole and is riveted and fixed to the metal part. And / or, the screw is a countersunk screw, one of the first mating parts and the second mating part located above is provided with a countersunk hole, and the other is provided with a through hole corresponding to the countersunk hole. The threaded hole provided on the metal part is a blind hole. The automatic screw-locking device passes the countersunk screw through the countersunk hole and the through hole, and locks it into the threaded hole.

7. The intelligent manufacturing production line for refrigerator bodies according to claim 1, characterized in that, The inner liner assembly line also includes an inner liner unloading robot; The inner liner unloading robot includes an unloading robot body and an inner liner clamp. The inner liner clamp includes a clamp guide rail and two inner liner grippers disposed opposite each other on the clamp guide rail. Each of the two inner liner grippers has a vertically extending clamping portion and a limiting portion connected to the lower end of the clamping portion and extending towards each other. The two inner liner grippers move horizontally towards each other so that the clamping portions of the two inner liner grippers apply a clamping force to the assembled inner liner along a docking direction perpendicular to the first inner liner and the second inner liner.

8. The intelligent manufacturing production line for refrigerator bodies according to any one of claims 1 to 7, characterized in that, The shell forming line includes, in sequence along its conveyor line, a gantry conveyor for feeding, a movable punching system for punching, a rolling mill for roll forming, a condenser tube installation robot for installing condenser tubes, a first automatic glue spraying robot for fixing condenser tubes, and a bending machine for bending the shell. At the end of the shell forming line is a shell unloading robot.

9. The intelligent manufacturing production line for refrigerator bodies according to claim 8, characterized in that, The gantry transfer machine includes a three-axis guide rail and a suction device mounted on the three-axis guide rail. The suction device includes a buffer mechanism, a suction cup mechanism, and a guide rail structure. The buffer mechanism includes two buffer components that can move towards each other along the guide rail structure. Each buffer component includes a fixed seat that is slidably connected to the guide rail structure, a buffer plate located below the fixed seat, and a buffer spring connected between the buffer plate and the fixed seat. The suction cup mechanism is connected to the guide rail structure through a fixed side plate. And / or, the movable punching system includes a positionable conveyor line and linear guide rails disposed on both sides of the positionable conveyor line, a punching machine slidably mounted on the linear guide rails, and a punching machine drive mechanism for driving the punching machine to move along the linear guide rails; a pneumatic push plate for positioning the sheet metal is disposed next to the punching machine, a pneumatic baffle for limiting the sheet metal along the conveying direction is disposed on the conveyor line, and a photoelectric switch is installed on the punching machine.

10. The intelligent manufacturing production line for refrigerator bodies according to claim 8, characterized in that, The condenser pipe installation robot includes an installation robot body and a condenser pipe clamp set at the end of the installation robot body. The condenser pipe clamp includes multiple sets of condenser pipe grippers connected in series by a connecting shaft. Each set of condenser pipe grippers includes two sub-grips arranged opposite each other. The two sub-grips are controlled to open and close by a gripper controller. The condenser pipe clamp is driven to move by a gripper drive motor. And / or, the first automatic glue spraying robot includes a first glue spraying robot body and a glue spraying assembly disposed at the end of the first glue spraying robot body. The glue spraying assembly includes a glue spraying drive mechanism and a glue spraying head that is pulsatorically connected to the glue spraying drive mechanism, as well as a glue spraying controller for controlling the action of the glue spraying drive mechanism.

11. The intelligent manufacturing production line for refrigerator bodies according to any one of claims 1 to 7, characterized in that, The assembly station includes a production line frame and a positioning and clamping device. The positioning and clamping device includes pneumatic push plates on both sides of the production line frame and pneumatic baffles on the conveying direction of the production line frame, so as to limit the position of the assembled shell in the X and Y directions. And / or, a second automatic glue spraying robot is provided next to the assembly station. The second automatic glue spraying robot includes a second glue spraying robot body and a glue spraying assembly provided at the end of the second glue spraying robot body. The glue spraying assembly includes a glue spraying drive mechanism and a glue spraying head that is driven by the glue spraying drive mechanism, as well as a glue spraying controller for controlling the action of the glue spraying drive mechanism.

12. A production method for a smart manufacturing production line for refrigerator bodies, characterized in that, The refrigerator cabinet intelligent manufacturing production line as described in any one of claims 1 to 11 includes: S1. The production processes of the outer shell forming line and the inner liner assembly line are executed in parallel. S2. After the outer shell forming line completes the outer shell forming, the outer shell unloading robot unloads the formed outer shell to the assembly station and positions the outer shell using the positioning and clamping device at the assembly station. The inner liner unloading robot then nests the assembled inner liner into the positioned outer shell, completing the initial assembly of the outer shell and inner liner. In step S1, the production process of the inner liner assembly line includes: S11. Use the first automatic feeding device to pick up the first inner liner to be assembled and place it in the first positioning device; use the second automatic feeding device to pick up the second inner liner to be assembled and place it in the second positioning device. S12. The first positioning mechanism and the second positioning mechanism are used to position the first inner liner and the second inner liner respectively, and drive the first inner liner and the second inner liner to move towards each other in the horizontal direction. During the entire process of the first inner liner and the second inner liner moving towards each other, the visual inspection device continuously performs dynamic image acquisition and visual algorithm calculation on the alignment and mating area of ​​the first inner liner and the second inner liner at a preset high frame rate to identify the docking contour, relative position deviation and alignment and mating gap of the first mating part and the second mating part. When the visual inspection device detects that the alignment and mating gap has dropped to within the preset tolerance range and the relative position deviation has dropped to within the preset deviation range, the main control system of the equipment sends a stop and lock command to the first guide rail module and the second guide rail module. The first guide rail module and the second guide rail module stop feeding and maintain the locked state. S13. Apply an upward pushing force to the alignment and mating parts of the first inner liner and the second inner liner using the jacking device. During the jacking process, the pressure sensor collects the jacking force in real time and transmits the real-time pressure data to the main control system of the equipment simultaneously. When the main control system of the equipment detects that the real-time jacking force reaches the preset pressure value, it sends a stop and lock command to the jacking device. The jacking device locks and maintains the current jacking stroke and constant jacking force. S14. Using an automatic screw-locking device, screws are fastened to the alignment and mating parts of the first inner liner and the second inner liner to complete the assembly of the first inner liner and the second inner liner.

13. The production method of the intelligent manufacturing production line for refrigerator bodies according to claim 12, characterized in that, In step S2, the dual-line coordinated interlock control method is executed, specifically including: S21. The shell unloading robot unloads the molded shell to the assembly station, and after unloading, sends a signal to the control system indicating that the shell has been unloaded. S22. After receiving the signal indicating that the outer shell has been taken off the production line, the positioning and clamping device at the assembly station positions the outer shell. After positioning, it sends a signal to the control system indicating that the outer shell is in place and locked. S23: After receiving the signal indicating that the outer shell is in place and locked, the control system sends an instruction indicating that the inner liner unloading permission is unlocked to the inner liner unloading robot or the outer shell unloading robot, allowing them to perform the inner liner unloading action. S24: During or after assembly, the nesting accuracy of the inner liner and outer shell is checked by a vision inspection system. If the inspection is qualified, a "nesting in place" signal is sent; if the inspection is unqualified, an alarm is triggered and the conveyor line is prohibited from moving downstream.

14. The production method of the intelligent manufacturing production line for refrigerator bodies according to claim 13, characterized in that, In step S24, the assembly process of the inner liner and the outer shell specifically includes: S241. The inner liner unloading robot or outer shell unloading robot keeps the inner liner in a clamping state, and then fits the flange at the edge of the inner liner with the support surface of the outer shell. The second automatic glue spraying robot at the assembly station simultaneously starts the core glue spraying process. It uses its own vision device to locate the glue spraying path in real time, and completes the closed-loop glue spraying of the preset path by relying on the glue spraying drive mechanism, glue spraying head and glue spraying controller. The main path of the preset path is continuously sprayed in a closed loop along the fitting ring seam between the inner liner flange and the outer shell. S242. After the glue spraying is completed, the final inspection and process flow stage begins. The inner liner robot or outer shell robot releases the inner liner and sends a signal to the control system indicating that the initial assembly is complete. The positioning and clamping device is released, and the assembled workpiece is transported to the next process.

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