Air conditioner outdoor unit robot assembly production line

Abstract

This invention relates to the field of air conditioner manufacturing technology, specifically to a robotic assembly production line for air conditioner outdoor units. It includes a main roller conveyor, along which are sequentially arranged an automatic chassis placement mechanism, an automatic shock-absorbing pad installation mechanism, an automatic nut tightening mechanism, an automatic nut loosening mechanism, and a safety inspection workbench. The automatic chassis placement mechanism automatically feeds the chassis using a robotic arm and a clamping and positioning device; the automatic shock-absorbing pad installation mechanism uses a feeding hopper and a handling robotic arm to pick up and assemble the shock-absorbing pads; the automatic nut tightening mechanism uses vibration feeding, visual guidance, and a tightening unit to lock the nuts; the automatic nut loosening mechanism includes a chassis angle switching mechanism, which adjusts the chassis posture through a linear push and lifting / rotating reversing device to facilitate the robotic arm loosening the nuts; finally, the assembly is manually inspected at the safety inspection workbench. This invention automates the entire process of air conditioner outdoor unit chassis assembly, featuring a compact structure, high production efficiency, reliable operation, and reduced manufacturing costs.

Description

Technical Field

[0001] This invention relates to the technical field of air conditioner outdoor unit production line, and in particular to an air conditioner outdoor unit robot assembly production line. Background Technology

[0002] Air conditioners are widely used electrical appliances in modern homes and commercial spaces, and their manufacturing efficiency and automation level directly affect a company's market competitiveness and production costs. The assembly of air conditioner outdoor units (hereinafter referred to as "air conditioner outdoor units") typically involves a series of processes such as chassis placement, shock-absorbing pad installation, nut tightening and loosening, and safety testing. Traditional production methods mainly rely on manual operation or semi-automated equipment, which suffers from problems such as high labor intensity, slow assembly pace, poor consistency, and susceptibility to errors, making it difficult to meet the demands of large-scale, high-efficiency, and high-quality modern manufacturing.

[0003] With the development of industrial automation technology, the use of robots or specialized automated equipment for air conditioner assembly has become an important direction for industry upgrading. Some automated solutions for air conditioner production lines have emerged in the existing technology. For example, Chinese patent document CN106624831A discloses an air conditioner production line layout that reduces the floor space through a double-layer conveyor track and a zigzag layout, and attempts to optimize process flow. However, this type of solution still has the following limitations: 1. Limited level of automation: Most production lines are only automated at some workstations. Key processes such as chassis loading, shock absorber assembly, and nut fastening still rely on manual operation, which limits the overall pace to manual speed and makes the quality fluctuate easily due to fatigue or differences in operation.

[0004] Second, robot systems are complex and costly: Some solutions that use multi-joint robots for workpiece handling and assembly are highly flexible, but the system integration is complex, the cost is high, the maintenance is difficult, and the robot's motion trajectory is long and the cycle time is fixed, making it difficult to achieve the optimal rhythm in high-speed continuous production.

[0005] 3. Insufficient adaptability of special machines: Existing automated special machines often have limited functions and poor connections between workstations. They lack efficient and precise transfer and angle switching mechanisms for plate-shaped workpieces such as air conditioner chassis, resulting in a loose production line layout, low space utilization, and difficulty in achieving seamless connection between processes.

[0006] IV. Positioning and Stability Issues: In processes requiring high precision, such as nut tightening and chassis positioning, existing equipment often relies on multi-sensor feedback and complex control systems. This not only increases system complexity but also leads to problems such as decreased stability and insufficient repeatability during continuous operation.

[0007] Therefore, the industry urgently needs a fully automated assembly line for air conditioner outdoor units that is highly integrated, fast-paced, stable in operation, and cost-controllable. This line should be able to automate the entire process from chassis loading, shock-absorbing pad installation, automatic nut locking and loosening to safety testing, while ensuring assembly accuracy and significantly improving production efficiency and product consistency. Summary of the Invention

[0008] The technical problem to be solved by this invention is to provide an integrated, efficient, high-precision and cost-optimized robotic assembly production line for air conditioner outdoor units, addressing the problems of existing technologies such as reliance on manual labor in air conditioner outdoor unit assembly, low degree of automation, system complexity and high cost due to the use of multi-joint robots, limited production line rhythm, large layout space occupation, and insufficient assembly positioning accuracy.

[0009] An air conditioner outdoor unit robot assembly production line includes a main roller conveyor, and along the conveying direction of the main roller conveyor, there are also an automatic chassis placement mechanism, an automatic shock-absorbing pad installation mechanism, an automatic nut loosening mechanism, a safety inspection workbench, and an automatic nut tightening mechanism. The automatic chassis placement mechanism includes a second auxiliary roller conveyor, a third robotic arm, a chassis positioning mechanism, and a chassis clamping mechanism. The third robotic arm is connected to the chassis clamping mechanism. The output end of the chassis positioning mechanism is located on the side of the second auxiliary roller conveyor. The third robotic arm is located at the angle between the chassis positioning mechanism and the second auxiliary roller conveyor. The third robotic arm is used to clamp the chassis from the chassis positioning mechanism to the second auxiliary roller conveyor via the chassis clamping mechanism. The second auxiliary roller conveyor is connected to the main roller conveyor. The automatic installation mechanism for shock-absorbing pads includes a shock-absorbing pad feeding hopper, a handling component, and a first auxiliary roller conveyor. The shock-absorbing pad feeding hopper is used to transport the shock-absorbing pads, and the handling component is used to install the shock-absorbing pads onto the chassis transported by the first auxiliary roller conveyor. The first auxiliary roller conveyor is connected to the main roller conveyor. The automatic nut loosening mechanism includes a chassis angle switching mechanism, a sixth robot arm, and a seventh robot arm. The chassis angle switching mechanism is used to transfer the chassis of the semi-finished product from the main roller conveyor to the sixth and seventh robot arms respectively for the nut loosening process, and then send it back to the main roller conveyor. The security inspection workbench is used for manual security inspection of the semi-finished product chassis. After security inspection, the semi-finished product chassis is then transported by the main roller conveyor. The automatic nut tightening mechanism includes a first robotic arm assembly and a fifth robotic arm assembly. The first robotic arm assembly and the fifth robotic arm assembly are respectively used to tighten nuts on the semi-finished chassis. After completion, the semi-finished chassis returns to the main roller conveyor.

[0010] Specifically, the chassis clamping mechanism is further equipped with a third vision sensor, a left clamping plate, a right clamping plate, a fourth vision sensor, a chassis placement cylinder, a first connecting rod, a movable connecting block, and a second connecting rod. The third and fourth vision sensors are respectively fixed to the upper surface of the chassis clamping mechanism. The left and right clamping plates are respectively slidably connected to the bottom surface of the chassis clamping mechanism. The chassis placement cylinder is fixed to the lower surface of the chassis clamping mechanism. The driving end of the chassis placement cylinder is connected to the left or right clamping plate. The left and right clamping plates are connected by the first connecting rod, the movable connecting block, and the second connecting rod. The first connecting rod, the movable connecting block, and the second connecting rod are sequentially hinged to each other. The movable connecting block is hinged to the chassis clamping mechanism.

[0011] Specifically, the chassis positioning mechanism is provided with a chassis positioning block and a plate positioning cylinder, and the plate positioning cylinder and the plate guide block are connected.

[0012] Specifically, the feeding end of the chassis positioning mechanism is further provided with a receiving chassis mechanism. The receiving chassis mechanism includes a receiving lifting cylinder, a pallet, a lever, a lever, a lever bearing seat, a lever block, a lever cylinder, a slide block, a chassis sliding plate, a chassis guide rail, a limiting component, and a lever slide rod. The receiving lifting cylinder is connected to the pallet and is fixed to the side surface of the receiving chassis mechanism. The lever slide rod and the chassis guide rail are respectively fixed side-by-side on the receiving chassis mechanism. The lever slide rod passes through the slide block. The bottom surface of the chassis sliding plate is slidably connected to the chassis guide rail. The lever cylinder and the lever bearing seat are respectively fixed to the upper surface of the chassis sliding plate. The lever passes through the lever bearing seat. One end of the lever is connected to the driving end of the lever cylinder through the lever block. The other end of the lever is connected to the lever plate. The limiting component is fixed to the receiving chassis mechanism.

[0013] Furthermore, a transport gantry is provided above the receiving chassis mechanism.

[0014] Specifically, the handling assembly includes a first robotic arm, a second robotic arm, a first pneumatic clamp mechanism, a second pneumatic clamp mechanism, a first cylinder bracket, a cover cylinder, a cover cylinder pushing cylinder, a turntable, a first vision sensor, and a second vision sensor. The first robotic arm is used to clamp and place the shock-absorbing pads from the shock-absorbing pad feeding hopper onto the turntable. The second robotic arm is used to clamp and install the shock-absorbing pads on the turntable onto the chassis. The first vision sensor is located at the output end of the shock-absorbing pad feeding hopper and is used to detect the working status of the first robotic arm. The second vision sensor is located on the side of the first auxiliary roller conveyor and is used to detect the working status of the second robotic arm. The turntable side is provided with the first cylinder bracket. The cover cylinder pushing cylinder is mounted on the first cylinder bracket and connected to the cover cylinder. The cover cylinder corresponds to the upper surface of the turntable. The cover cylinder is provided with an oil nozzle for spraying oil onto the shock-absorbing pads.

[0015] Specifically, the first air clamp mechanism includes a first air clamp mounting frame, a first swing motor, a first swing mounting base, and a first air clamp. The first air clamp mounting frame is mounted on the first robotic arm, the first swing motor is mounted on the first air clamp mounting frame, the first swing motor is connected to the first swing mounting base, the first swing mounting base is connected to the first air clamp, and the first air clamp is used to clamp the shock-absorbing pad. The second air clamp mechanism includes a second air clamp base plate and a second air clamp, which are connected to each other.

[0016] Specifically, the sixth robotic arm is connected to a first nut loosening mechanism, which includes a first nut loosening base plate, a first vision sensor bracket, a seventh vision sensor, a first nut loosening push motor, a first nut loosening push cylinder, a first nut moving frame, a first claw cylinder, a first claw, a first nut loosening sleeve, a first nut loosening slide rail, and a first nut loosening slide block. The first nut loosening base plate and the seventh vision sensor are connected through the first vision sensor bracket. The first nut loosening push cylinder is fixed to the upper surface of the first nut loosening base plate. The drive end of the first nut loosening push cylinder is connected to the rear surface of the first nut moving frame. The bottom surface of the first nut moving frame is slidably connected to the upper surface of the first nut loosening base plate through the first nut loosening slide rail and the first nut loosening slide block. The first nut moving frame is also connected to the first nut loosening push motor. The first nut loosening push motor is connected to the first nut loosening sleeve. The first claw cylinder is located below the first nut loosening sleeve. The first claw cylinder is connected to the first claw and is fixed to the front end of the first nut moving frame.

[0017] Specifically, the seventh robotic arm is connected to a second nut loosening mechanism, which includes a second nut loosening base plate, a second nut loosening push cylinder, a second nut loosening motor, a second nut moving frame, a sixth vision sensor, a second nut loosening sleeve, a second vision sensor bracket, a second claw cylinder, a second claw, a second claw guide rail, and a second claw slide. The upper surface of the second nut loosening base plate is fixedly connected to the second nut loosening push cylinder. The drive end of the second nut loosening push cylinder is connected to the rear end of the second nut moving frame. The second nut moving frame is also fixedly connected to the second nut loosening motor. The drive end of the second nut loosening motor is connected to the second nut loosening sleeve. The second claw cylinder is located above the second nut loosening sleeve and is fixed at the front end of the second nut moving frame. The second claw cylinder and the second claw are connected.

[0018] Specifically, the chassis angle switching mechanism includes a first conveying mechanism, a second conveying mechanism, and a reversing mechanism. The inlet end of the reversing mechanism is located on the side of the first conveying mechanism, and the outlet end of the reversing mechanism is located at the inlet end of the second conveying mechanism. The tail end of the first conveying mechanism is provided with a pushing mechanism for pushing the chassis onto the reversing mechanism. The pushing mechanism includes a telescopic cylinder, a push arm, a guide rod, a slide, a guide rail, a pneumatic slide, and a connecting plate. The slide and the pneumatic slide are respectively fixed to the bottom surface of the connecting plate. The slide is mounted on the guide rail. The guide rod passes through the slide. The telescopic cylinder is fixed to the top surface of the connecting plate. The telescopic end of the telescopic cylinder is connected to the push arm.

[0019] Furthermore, the first conveying mechanism is also provided with a push positioning frame, the guide rod and the guide rail are respectively fixed on the top surface of the push positioning frame, the push positioning frame is also provided with a baffle, the first conveying mechanism is provided with a guide plate, and the front end of the guide plate is provided with an inclined surface.

[0020] Furthermore, an angle bracket is installed at the corner position of the push arm.

[0021] Specifically, the reversing mechanism includes a turntable base frame, a motor, a conveyor belt, an upper plate, a middle plate, a bottom plate, a reversing lifting cylinder, a rotating shaft, a cylinder seat, a torsion cylinder, a hinge seat, a connecting component, a bearing, and a flange seat. Two conveyor belts are arranged on both sides of the top surface of the turntable base frame. The bottom plate is installed inside the turntable base frame. The reversing lifting cylinder is fixed to the top surface of the bottom plate. The telescopic end of the reversing lifting cylinder is connected to the bottom surface of the middle plate. The flange seat is installed on the middle plate. The bearing is installed on the flange seat. The rotating shaft is installed on the bearing. The top end of the rotating shaft is connected to the bottom surface of the upper plate. The connecting component is installed on the rotating shaft and is movably hinged to the hinge seat. The hinge seat is connected to the telescopic end of the torsion cylinder. The torsion cylinder is connected to the cylinder seat. The cylinder seat is connected to the top surface of the middle plate.

[0022] Furthermore, the bottom surface of the middle plate is provided with a lifting rod, and the bottom plate is also provided with a guide flange seat, the lower end of the lifting rod passing through the opening of the guide flange seat.

[0023] Specifically, an outer cover is installed on the outside of the turntable base frame, a crossbar is installed on the turntable base frame, the edge of the bottom plate is fixed to the crossbar, and a first platform and a second platform are respectively provided on the top surface of the turntable base frame, the first platform and the second platform are located on the left and right sides of the upper plate.

[0024] Specifically, the first robotic arm assembly includes a fourth robotic arm, a tightening base plate, a fifth vision sensor, a tightening nut motor, a speed sensor, a transmission bearing seat, a nut sleeve and a tightening bracket, a tightening slide, and a tightening cylinder. The tightening base plate is mounted on the fourth robotic arm. The tightening base plate is fixed with the tightening bracket and the tightening cylinder. The tightening slide is slidably connected to the tightening base plate. One end of the tightening cylinder is connected to the tightening slide. One end of the tightening slide is connected to the tightening nut motor. The drive end of the tightening nut motor is connected to the nut sleeve. The speed sensor is fixed with the tightening slide. The automatic nut tightening mechanism is also equipped with an auxiliary feeding hopper and a vibrating feeding machine. The material dropping end of the auxiliary feeding hopper is positioned above the vibrating feeding machine. The output end of the vibrating feeding machine is connected to a conveying guide groove. The groove opening of the conveying guide groove is respectively equipped with a pusher block and a stationary block. The pusher block is located on the side of the stationary block. The stationary block corresponds to the groove opening of the conveying guide groove. The pusher block is connected to a pusher cylinder, and the stationary block is connected to a stationary cylinder. The automatic nut tightening mechanism is also provided with an auxiliary transport mechanism for conveying the semi-finished product chassis. The auxiliary transport mechanism is also provided with an auxiliary cylinder, an auxiliary pressure plate, a roller lifting and blocking mechanism, a switching transport mechanism and a positioning lifting mechanism. The auxiliary cylinder and the auxiliary pressure plate are connected, and the auxiliary cylinder is fixed to the upper surface of the auxiliary transport mechanism. The roller lifting and blocking mechanism includes a roller, a roller lifting frame, a roller mounting base, a side plate, and a vertical plate. Both ends of the roller are movably connected to the roller lifting frame. A roller lifting cylinder is fixed to the roller mounting base. The drive end of the roller lifting cylinder is connected to the bottom surface of the roller lifting frame. The vertical plate is fixed to the roller mounting base. The side plate is fixed to the vertical plate. One end of the side plate extends to the bottom of the roller lifting frame. The switching conveyor mechanism includes a chain belt, a chain belt lifting plate, a chain belt base frame, a chain belt cylinder, a chain belt motor, a chain belt main gear, a chain belt lifting column, and a chain belt driven gear. The chain belt driven gear is connected to a chain shaft, which is connected to the chain belt via a connecting chain belt gear. The chain belt motor is connected to the chain belt main gear, and the chain belt main gear is connected to the chain belt driven gear via a chain. The chain belt motor is fixed to the chain belt lifting plate, the chain belt base frame is located below the chain belt lifting plate, the chain belt cylinder is fixed to the chain belt base frame, and the drive end of the chain belt cylinder is connected to the bottom surface of the chain belt lifting plate. The bottom surface of the chain belt lifting plate is fixed to the chain belt lifting column, and the chain belt lifting column passes through the surface of the chain belt base frame. The positioning and lifting mechanism includes a positioning and lifting plate, a positioning top plate, a positioning base plate, a base plate opening, a positioning and lifting column, and a positioning and lifting cylinder. The positioning and lifting plate is located above the positioning base plate, the positioning base plate is fixed to the positioning and lifting cylinder, the driving end of the positioning and lifting cylinder is connected to the bottom surface of the positioning base plate, and the positioning top plate is fixed to the upper surface of the positioning and lifting plate.

[0025] The beneficial effects of this invention are as follows: 1. Simplified structure and significantly reduced cost: A dedicated linear drive mechanism composed of cylinders and guide components replaces the expensive multi-joint robot, and an integrated reversing mechanism is designed, significantly reducing equipment manufacturing costs and maintenance complexity. 2. Improved operating efficiency and rhythm: The drive mechanism has a short and direct motion path, and the reversing mechanism's lifting and rotating movements are continuous, resulting in a short overall cycle time. This meets the rhythm requirements of high-speed production lines and overcomes the bottleneck of long robot motion trajectories and fixed cycle times. 3. High positioning accuracy and stable and reliable operation: The drive mechanism achieves precise linear motion based on rigid guide rails and guide rods, while the reversing mechanism achieves precise lifting and rotation through cylinder drive and mechanical guidance. The system has good rigidity, high repeatability, and stability far exceeding that of robot systems relying on multi-sensor feedback. 4. Compact layout and high space utilization: Both the drive mechanism and the reversing mechanism can be tightly integrated into the conveyor line, resulting in a compact structure that greatly saves production line space and facilitates production line planning and modular deployment. V. Specialized Functions and Strong Adaptability: The entire system is designed specifically for the transfer and angle switching of plate-shaped workpieces (such as air conditioner chassis) between conveyor lines. The pushing, positioning, and reversing functions are interconnected and highly compatible with continuous conveying production processes, making it highly practical. Attached Figure Description

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings.

[0027] Figure 1 This is a schematic diagram of the air conditioner outdoor unit robot assembly production line of the present invention.

[0028] Figure 2 This is a schematic diagram of the automatic installation mechanism for shock-absorbing pads.

[0029] Figure 3 This is a schematic diagram of the transport component structure.

[0030] Figure 4 for Figure 3 Another structural diagram from another angle.

[0031] Figure 5 This is a schematic diagram of the first air clamp mechanism.

[0032] Figure 6 This is a schematic diagram of the second air clamp mechanism.

[0033] Figure 7 This is a schematic diagram of the automatic chassis lowering mechanism.

[0034] Figure 8 This is a schematic diagram of the connection structure between the chassis clamping mechanism and the third robotic arm.

[0035] Figure 9 for Figure 8 Another structural diagram from another angle.

[0036] Figure 10 This is a schematic diagram of the first angle structure of the chassis clamping mechanism.

[0037] Figure 11 for Figure 10 The second angular structural diagram.

[0038] Figure 12 for Figure 10 The third angle structure diagram.

[0039] Figure 13 This is a schematic diagram of the chassis positioning mechanism.

[0040] Figure 14 A schematic diagram of the receiving chassis mechanism.

[0041] Figure 15 for Figure 14 Another structural diagram from another angle.

[0042] Figure 16 This is a schematic diagram of an automatic nut tightening mechanism.

[0043] Figure 17 This is a schematic diagram of the first robotic arm component.

[0044] Figure 18 A schematic diagram showing the connection structure of the auxiliary feeding hopper, vibrating feeder, conveying guide trough, pushing cylinder, pushing block, stationary block, and stationary cylinder.

[0045] Figure 19 This is a schematic diagram of the connection structure between the pusher cylinder, the pusher block, the stationary block, and the stationary cylinder.

[0046] Figure 20 This is a schematic diagram showing the connection structure of the fourth robotic arm, the tightening base plate, the fifth vision sensor, the tightening nut motor, the speed sensor, the transmission bearing seat, the nut sleeve, and the tightening bracket.

[0047] Figure 21 This is a schematic diagram of the fourth robotic arm.

[0048] Figure 22 This is a schematic diagram showing the connection structure of the tightening base plate, the fifth vision sensor, the tightening nut motor, the speed sensor, the transmission bearing seat, the nut sleeve, and the tightening bracket.

[0049] Figure 23 for Figure 22 Another structural diagram from another angle.

[0050] Figure 24A schematic diagram showing the connection between the auxiliary transport mechanism, the roller lifting and blocking mechanism, the switching conveying mechanism, the auxiliary cylinder, and the auxiliary pressure plate.

[0051] Figure 25 This is a schematic diagram of the roller lifting and blocking mechanism.

[0052] Figure 26 for Figure 25 Another structural diagram from another angle.

[0053] Figure 27 This is a schematic diagram of the positioning and lifting mechanism.

[0054] Figure 28 for Figure 27 Another structural diagram from another angle.

[0055] Figure 29 This is a schematic diagram of the switching conveyor mechanism.

[0056] Figure 30 for Figure 29 Another structural diagram from another angle.

[0057] Figure 31 This is a schematic diagram of an automatic nut loosening mechanism.

[0058] Figure 32 This is a schematic diagram of the connection structure between the sixth robotic arm and the first nut loosening mechanism.

[0059] Figure 33 This is a schematic diagram of the connection structure between the seventh robotic arm and the second nut loosening mechanism.

[0060] Figure 34 This is an exploded structural diagram of the second nut loosening mechanism.

[0061] Figure 35 This is a schematic diagram of the first angle structure of the second nut loosening mechanism.

[0062] Figure 36 for Figure 35 A schematic diagram of the second angle structure.

[0063] Figure 37 for Figure 35 A schematic diagram of the third-angle structure.

[0064] Figure 38 This is a schematic diagram of the connection structure between the sixth robotic arm and the first nut loosening mechanism.

[0065] Figure 39 This is a schematic diagram of the first angle structure of the first nut loosening mechanism.

[0066] Figure 40 This is a schematic diagram of the second angle structure of the first nut loosening mechanism.

[0067] Figure 41 This is a schematic diagram of the third angle structure of the first nut loosening mechanism.

[0068] Figure 42 This is a schematic diagram of the chassis angle switching mechanism of the present invention.

[0069] Figure 43 for Figure 42 Another structural diagram from another angle.

[0070] Figure 44 for Figure 43 A magnified schematic diagram of the structure at point A.

[0071] Figure 45 To promote the structural diagram.

[0072] Figure 46 This is a schematic diagram of the reversing mechanism.

[0073] Figure 47 for Figure 46 Another structural diagram from another angle.

[0074] Figure 48 This is a schematic diagram of the connection structure between the upper plate, middle plate, bottom plate, reversing lifting cylinder, lifting rod, rotating shaft, guide flange seat, cylinder seat, torsion cylinder, hinge seat, connecting parts, bearings and flange seat.

[0075] Figure 49 for Figure 42 A magnified schematic diagram of the structure at point B.

[0076] Explanation of reference numerals in the attached figures: Automatic installation shock-absorbing pad mechanism 1, shock-absorbing pad feeding hopper 101, handling component 102, first robotic arm 1021, second robotic arm 1022, first pneumatic clamp mechanism 1023, first pneumatic clamp mounting bracket 10231, first swing motor 10232, first swing mounting seat 10233, first pneumatic clamp 10234, second pneumatic clamp mechanism 1024, second pneumatic clamp base plate 10241, second pneumatic clamp 10242, first cylinder bracket 1025, cover cylinder 10251, cover cylinder pushing cylinder 10252, turntable 1026, first auxiliary roller conveyor 103, first vision sensor 104, second vision sensor 105; Automatic chassis placement mechanism 2, second auxiliary roller conveyor 201, chassis clamping mechanism 2021, third vision sensor 20211, left clamping plate 20212, right clamping plate 20213, fourth vision sensor 20214, chassis placement cylinder 20215, first connecting rod 20216, movable connecting block 20217, second connecting rod 20218, third robotic arm 202, chassis positioning mechanism 203, chassis positioning Block 2031, fixed plate positioning cylinder 2032, fixed plate guide block 2033, receiving chassis mechanism 204, receiving lifting cylinder 2041, support plate 2042, toggle plate 2043, toggle rod 2044, toggle bearing seat 2045, toggle block 2046, toggle cylinder 2047, slide block 2048, chassis sliding plate 2049, chassis guide rail 20410, limiting component 20411, toggle slide rod 20412; Automatic nut tightening mechanism 3, first robotic arm assembly 301, auxiliary feeding hopper 3011, vibrating feeder 3012, fourth robotic arm 3013, tightening base plate 30131, fifth vision sensor 30132, nut tightening motor 30133, speed sensor 30134, transmission bearing seat 30135, nut sleeve 30136, tightening bracket 30137; Conveying guide trough 3014, pushing cylinder 3015, pushing block 3016, stationary block 3017, stationary cylinder 3018, fifth robotic arm assembly 302; Auxiliary transport mechanism 4, roller lifting blocking mechanism 401, roller 4011, roller lifting frame 4012, roller mounting base 4013, side plate 4014, vertical plate 4015, roller lifting cylinder 4016; The following components are included: conveyor mechanism 402, chain belt 4021, chain belt lifting plate 4022, chain belt base frame 4023, chain belt cylinder 4024, chain belt motor 4025, chain belt main gear 4026, chain belt lifting column 4027, and chain belt driven gear 4028. Auxiliary cylinder 403, auxiliary pressure plate 404, positioning and lifting mechanism 405, positioning and lifting plate 4051, positioning top plate 4052, positioning base plate 4053, base plate through port 4054, positioning and lifting column 4055, positioning and lifting air 4056. Automatic nut loosening mechanism 5, chassis angle switching mechanism 501, first conveying mechanism 5011, second conveying mechanism 5012, reversing mechanism 5013, turntable base frame 501301, motor 501302, crossbar 501303, first platform 501304, second platform 501305, conveyor belt 501306, outer cover 501307, upper plate 501308, middle plate 501309, bottom plate 501310, reversing lifting cylinder 501311, lifting rod 501312, rotating shaft 501313, guide flange seat 50 1314, Cylinder seat 501315, Torsional cylinder 501316, Hinge seat 5013161, Connector 501317, Bearing 501318, Flange seat 501319, Chassis 5014, Pushing mechanism 5015, Telescopic cylinder 501501, Angle bracket 501502, Push arm 501503, Guide rod 501504, Slide table 501505, Guide rail 501506, Pneumatic slide 501507, Push positioning frame 501508, Connecting plate 501509, Baffle 501510, Guide plate 5016; The system comprises: a sixth robotic arm 502, a first nut loosening mechanism 5021, a first nut loosening base plate 50211, a first vision sensor bracket 50212, a seventh vision sensor 50213, a first nut loosening push motor 50214, a first nut loosening push cylinder 50215, a first nut moving frame 50216, a first gripper cylinder 50217, a first gripper 50218, a first nut loosening sleeve 50219, a first nut loosening slide rail 50220, and a first nut loosening slide block 50221. The seventh robotic arm 503, the second nut loosening mechanism 5031, the second nut loosening base plate 50311, the second nut loosening push cylinder 50312, the second nut loosening motor 50313, the second nut moving frame 50314, the sixth vision sensor 50315, the second nut loosening sleeve 50316, the second vision sensor bracket 50317, the second gripper cylinder 50318, the second gripper 50319, the second gripper guide rail 50320, and the second gripper slide 50321; 6. Security inspection workbench; 7. Main roller conveyor; 8. Transport crane. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this invention clearer, the specific embodiments of this invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and do not constitute a limitation thereof. Any equivalent substitutions or modifications made by those skilled in the art based on the spirit of this invention without departing from its conceptual framework should be covered within the scope of protection of this invention.

[0078] like Figures 1 to 49As shown, this invention provides a robotic assembly production line for air conditioner outdoor units, the core of which lies in constructing a highly integrated, fully automated assembly system. This system uses a continuously operating main roller conveyor 7 as the central transport line, with all automated assembly stations linearly arranged along its transport path. The assembly process follows a strict sequence: first, empty chassis are automatically loaded and placed on the main line; second, shock-absorbing pad components are installed; next, the first round of nut tightening is performed automatically; then, specific nuts are automatically loosened according to process requirements for subsequent processes or inspections; finally, manual safety inspection is conducted. The entire process is connected in series by the main roller conveyor 7, realizing the automatic flow and precise stopping of workpieces between stations.

[0079] The overall structure is as follows: It includes a main roller conveyor 7, and along the conveying direction of the main roller conveyor 7, it is also provided with an automatic chassis placement mechanism 2, an automatic shock absorption pad installation mechanism 1, an automatic nut loosening mechanism 5, a safety inspection workbench 6, and an automatic nut tightening mechanism 3. The automatic chassis placement mechanism 2 includes a second auxiliary roller conveyor 201, a third robotic arm 202, a chassis positioning mechanism 203, and a chassis clamping mechanism 2021. The third robotic arm 202 is connected to the chassis clamping mechanism 2021. The output end of the chassis positioning mechanism 203 is located on the side of the second auxiliary roller conveyor 201. The third robotic arm 202 is located at the angle between the chassis positioning mechanism 203 and the second auxiliary roller conveyor 201. The third robotic arm 202 is used to clamp the chassis from the chassis positioning mechanism 203 to the second auxiliary roller conveyor 201 through the chassis clamping mechanism 2021. The second auxiliary roller conveyor 201 is connected to the main roller conveyor 7. The automatic installation mechanism 1 for shock-absorbing pads includes a shock-absorbing pad feeding hopper 101, a handling component 102, and a first auxiliary roller conveyor 103. The shock-absorbing pad feeding hopper 101 is used to transport the shock-absorbing pads, and the handling component 102 is used to install the shock-absorbing pads onto the chassis transported by the first auxiliary roller conveyor 103. The first auxiliary roller conveyor 103 is connected to the main roller conveyor 7. The automatic nut loosening mechanism 5 includes a chassis angle switching mechanism 501, a sixth robot arm 502, and a seventh robot arm 503. The chassis angle switching mechanism 501 is used to transfer the chassis of the semi-finished product from the main roller conveyor 7 to the sixth robot arm 502 and the seventh robot arm 503 respectively to perform the nut loosening process, and then send it back to the main roller conveyor 7. The security inspection workbench 6 is used for manual security inspection of the chassis of the semi-finished products. After security inspection, the semi-finished chassis is then transported by the main roller conveyor 7. The automatic nut tightening mechanism 3 includes a first robotic arm assembly 301 and a fifth robotic arm assembly 302. The first robotic arm assembly 301 and the fifth robotic arm assembly 302 are respectively used to tighten nuts on the chassis of the semi-finished product. After completion, the semi-finished product chassis returns to the main roller conveyor 7.

[0080] The chassis clamping mechanism 2021 is further equipped with a third vision sensor 20211, a left clamping plate 20212, a right clamping plate 20213, a fourth vision sensor 20214, a chassis-releasing cylinder 20215, a first connecting rod 20216, a movable connecting block 20217, and a second connecting rod 20218. The third vision sensor 20211 and the fourth vision sensor 20214 are respectively fixed to the upper surface of the chassis clamping mechanism 2021, and the left clamping plate 20212 and the right clamping plate 20213 are respectively slidably connected to the bottom surface of the chassis clamping mechanism 2021. The chassis placement cylinder 20215 is fixed to the lower surface of the chassis clamping mechanism 2021. The driving end of the chassis placement cylinder 20215 is connected to the left clamping plate 20212 or the right clamping plate 20213. The left clamping plate 20212 and the right clamping plate 20213 are connected by a first connecting rod 20216, a movable connecting block 20217 and a second connecting rod 20218. The first connecting rod 20216, the movable connecting block 20217 and the second connecting rod 20218 are sequentially hinged to each other. The movable connecting block 20217 is hinged to the chassis clamping mechanism 2021.

[0081] The chassis positioning mechanism 203 is provided with a chassis positioning block 2031 and a plate positioning cylinder 2032, and the plate positioning cylinder 2032 is connected to the plate guide block 2033.

[0082] The chassis positioning mechanism 203 also includes a receiving chassis mechanism 204 at its feeding end. The receiving chassis mechanism 204 comprises a receiving lifting cylinder 2041, a support plate 2042, a lever 2043, a lever 2044, a lever bearing seat 2045, a lever block 2046, a lever cylinder 2047, a slide block 2048, a chassis sliding plate 2049, a chassis guide rail 20410, a limiting member 20411, and a lever slide rod 20412. The receiving lifting cylinder 2041 is connected to the support plate 2042, and the receiving lifting cylinder 2041 is fixed to the side surface of the receiving chassis mechanism 204. The lever slide rod 20412 and the chassis guide rail 2041... The components 20412 and 2044 are respectively fixed side-by-side on the receiving chassis mechanism 204. The actuating slide rod 20412 passes through the slide block 2048. The bottom surface of the chassis sliding plate 2049 is slidably connected to the chassis guide rail 20410. The actuating cylinder 2047 and the actuating bearing seat 2045 are respectively fixed to the upper surface of the chassis sliding plate 2049. The actuating rod 2044 passes through the actuating bearing seat 2045. One end of the actuating rod 2044 is connected to the driving end of the actuating cylinder 2047 through the actuating block 2046. The other end of the actuating rod 2044 is connected to the actuating plate 2043. The limiting member 20411 is fixed to the receiving chassis mechanism 204. A transport hanger 8 is provided above the receiving chassis mechanism 204.

[0083] The handling assembly 102 includes a first robotic arm 1021, a second robotic arm 1022, a first pneumatic clamp mechanism 1023, a second pneumatic clamp mechanism 1024, a first cylinder bracket 1025, a cover cylinder 10251, a cover cylinder pushing cylinder 10252, a turntable 1026, a first vision sensor 104, and a second vision sensor 105. The first robotic arm 1021 is used to clamp and place the shock-absorbing pads from the shock-absorbing pad feed hopper 101 onto the turntable 1026. The second robotic arm 1022 is used to clamp and install the shock-absorbing pads on the turntable 1026 onto the chassis. The first vision sensor 104 is located at the shock-absorbing pad feed hopper 105. The output end of the hopper 101 is used to detect the working status of the first robot arm 1021. The second vision sensor 105 is located on the side of the first auxiliary roller conveyor 103 and is used to detect the working status of the second robot arm 1022. The turntable 1026 is provided with the first cylinder bracket 1025. The cover cylinder push cylinder 10252 is mounted on the first cylinder bracket 1025. The cover cylinder push cylinder 10252 is connected to the cover cylinder 10251. The cover cylinder 10251 corresponds to the upper surface of the turntable 1026. The cover cylinder 10251 is provided with an oil nozzle for spraying oil onto the shock-absorbing pad.

[0084] The first air clamp mechanism 1023 includes a first air clamp mounting frame 10231, a first swing motor 10232, a first swing mounting base 10233, and a first air clamp 10234. The first air clamp mounting frame 10231 is mounted on the first robotic arm 1021. The first swing motor 10232 is mounted on the first air clamp mounting frame 10231. The first swing motor 10232 is connected to the first swing mounting base 10233. The first swing mounting base 10233 is connected to the first air clamp 10234. The first air clamp 10234 is used to clamp the shock-absorbing pad. The second air clamp mechanism 1024 includes a second air clamp base plate 10241 and a second air clamp 10242, which are connected to each other.

[0085] The sixth robotic arm 502 is connected to a first nut loosening mechanism 5021. The first nut loosening mechanism 5021 includes a first nut loosening base plate 50211, a first vision sensor bracket 50212, a seventh vision sensor 50213, a first nut loosening push motor 50214, a first nut loosening push cylinder 50215, a first nut moving frame 50216, a first gripper cylinder 50217, a first gripper 50218, a first nut loosening sleeve 50219, a first nut loosening slide rail 50220, and a first nut loosening slide block 50221. The first nut loosening base plate 50211 and the seventh vision sensor 50213 are connected via the first vision sensor bracket 50212. The first nut loosening push cylinder 50215 is fixed to the upper surface of the first nut loosening base plate 50211. The driving end of a nut-loosening push cylinder 50215 is connected to the rear surface of the first nut-moving frame 50216. The bottom surface of the first nut-moving frame 50216 and the upper surface of the first nut-loosening base plate 50211 are slidably connected through a first nut-loosening slide rail 50220 and a first nut-loosening slide block 50221. The first nut-moving frame 50216 is also connected to a first nut-loosening push motor 50214. The first nut-loosening push motor 50214 is connected to a first nut-loosening sleeve 50219. A first claw cylinder 50217 is provided below the first nut-loosening sleeve 50219. The first claw cylinder 50217 is connected to a first claw 50218. The first claw cylinder 50217 is fixed at the front end of the first nut-moving frame 50216.

[0086] The seventh robotic arm 503 is connected to a second nut loosening mechanism 5031. The second nut loosening mechanism 5031 includes a second nut loosening base plate 50311, a second nut loosening push cylinder 50312, a second nut loosening motor 50313, a second nut moving frame 50314, a sixth vision sensor 50315, a second nut loosening sleeve 50316, a second vision sensor bracket 50317, a second gripper cylinder 50318, a second gripper 50319, a second gripper guide rail 50320, and a second gripper slide 50321. The upper surface of the second nut loosening base plate 50311 is adjacent to the second nut loosening push cylinder 50312. The second nut-loosening push cylinder 50312 is fixedly connected to the rear end of the second nut-moving frame 50314. The second nut-moving frame 50314 is also fixedly connected to the second nut-loosening motor 50313. The drive end of the second nut-loosening motor 50313 is connected to the second nut-loosening sleeve 50316. The second claw cylinder 50318 is located above the second nut-loosening sleeve 50316 and is fixed to the front end of the second nut-moving frame 50314. The second claw cylinder 50318 is connected to the second claw 50319.

[0087] The chassis angle switching mechanism 501 includes a first conveying mechanism 5011, a second conveying mechanism 5012, and a reversing mechanism 5013. The inlet end of the reversing mechanism 5013 is located on the side of the first conveying mechanism 5011, and the outlet end of the reversing mechanism 5013 is located at the inlet end of the second conveying mechanism 5012. The tail end of the first conveying mechanism 5011 is provided with a pushing mechanism 5015 for pushing the chassis 5014 onto the reversing mechanism 5013. The pushing mechanism 5015 includes a telescopic cylinder 501501, a push arm 501503, a guide rod 501504, a slide table 501505, a guide rail 501506, a pneumatic slide block 501507, and a connecting plate 501509. The slide table 501505 and the pneumatic slide block 501507 are respectively fixed to the bottom surface of the connecting plate 501509. The slide table 501505 is mounted on the guide rail 501506. The guide rod 501504 passes through the slide table 501505. The telescopic cylinder 501501 is fixed to the top surface of the connecting plate 501509. The telescopic end of the telescopic cylinder 501501 is connected to the push arm 501503. The first conveying mechanism 5011 is also provided with a push positioning frame 501508. The guide rod 501504 and the guide rail 501506 are respectively fixed to the top surface of the push positioning frame 501508. The push positioning frame 501508 is also provided with a baffle 501510. The first conveying mechanism 5011 is provided with a guide plate 5016. The front end of the guide plate 5016 is provided with an inclined surface 501601. An angle bracket 501502 is installed at the corner position of the push arm 501503.

[0088] The reversing mechanism 5013 includes a turntable base frame 501301, a motor 501302, a conveyor belt 501306, an upper plate 501308, a middle plate 501309, a bottom plate 501310, a reversing lifting cylinder 501311, a rotating shaft 501313, a cylinder seat 501315, a torsion cylinder 501316, a hinge seat 5013161, a connecting piece 501317, a bearing 501318, and a flange seat 501319. Two conveyor belts 501306 are arranged on both sides of the top surface of the turntable base frame 501301. The bottom plate 501310 is installed inside the turntable base frame 501301. The reversing lifting cylinder 501311 is fixed to the top surface of the bottom plate 501310. The telescopic end of the reversing lifting cylinder 501311 is connected to... The flange seat 501319 is mounted on the bottom surface of the middle plate 501309, the bearing 501318 is mounted on the flange seat 501319, the rotating shaft 501313 is mounted on the bearing 501318, the top end of the rotating shaft 501313 is connected to the bottom surface of the upper plate 501308, the connecting piece 501317 is mounted on the rotating shaft 501313, the connecting piece 501317 is movably hinged to the hinge seat 5013161, the hinge seat 5013161 is connected to the telescopic end of the torsion cylinder 501316, the torsion cylinder 501316 is connected to the cylinder seat 501315, and the cylinder seat 501315 is connected to the top surface of the middle plate 501309.

[0089] The bottom surface of the middle plate 501309 is provided with a lifting rod 501312, and the bottom plate 501310 is also provided with a guide flange seat 501314. The lower end of the lifting rod 501312 passes through the opening of the guide flange seat 501314.

[0090] An outer cover 501307 is installed on the outside of the turntable base frame 501301. A crossbar 501303 is installed on the turntable base frame 501301. The edge of the bottom plate 501310 is fixed to the crossbar 501303. A first platform 501304 and a second platform 501305 are respectively provided on the top surface of the turntable base frame 501301. The first platform 501304 and the second platform 501305 are located on the left and right sides of the upper plate 501308.

[0091] The first robotic arm assembly 301 includes a fourth robotic arm 3013, a tightening base plate 30131, a fifth vision sensor 30132, a nut tightening motor 30133, a speed sensor 30134, a transmission bearing seat 30135, a nut sleeve 30136, a tightening bracket 30137, a tightening slide 30138, and a tightening cylinder 30139. The tightening base plate 30131 is mounted on the fourth robotic arm 3013, and the tightening bracket 30131 is respectively fixed with the tightening motor. The system includes a bracket 30137 and a tightening cylinder 30139. The tightening slide 30138 is slidably connected to the tightening base plate 30131. One end of the tightening cylinder 30139 is connected to the tightening slide 30138. One end of the tightening slide 30138 is connected to the tightening nut motor 30133. The drive end of the tightening nut motor 30133 is connected to the nut sleeve 30136. The speed sensor 30134 is fixedly fixed to the tightening slide 30138. The automatic nut tightening mechanism 3 is also provided with an auxiliary feeding hopper 3011 and a vibrating feeder 3012. The material dropping end of the auxiliary feeding hopper 3011 is positioned above the vibrating feeder 3012. The output end of the vibrating feeder 3012 is connected to a conveying guide groove 3014. The groove opening of the conveying guide groove 3014 is respectively provided with a pusher block 3016 and a stationary block 3017. The pusher block 3016 is located on the side of the stationary block 3017. The stationary block 3017 corresponds to the groove opening of the conveying guide groove 3014. The pusher block 3016 is connected to a pusher cylinder 3015, and the stationary block 3017 is connected to a stationary cylinder 3018. The automatic nut tightening mechanism 3 is also provided with an auxiliary transport mechanism 4 for conveying the semi-finished product chassis. The auxiliary transport mechanism 4 is also provided with an auxiliary cylinder 403, an auxiliary pressure plate 404, a roller lifting and blocking mechanism 401, a switching transport mechanism 402 and a positioning lifting mechanism 405. The auxiliary cylinder 403 and the auxiliary pressure plate 404 are connected, and the auxiliary cylinder 403 is fixed to the upper surface of the auxiliary transport mechanism 4. The roller lifting and blocking mechanism 401 includes a roller 4011, a roller lifting frame 4012, a roller mounting base 4013, a side plate 4014, and a vertical plate 4015. The two ends of the roller 4011 are movably connected to the roller lifting frame 4012. The roller mounting base 4013 is fixed with a roller lifting cylinder 4016. The driving end of the roller lifting cylinder 4016 is connected to the bottom surface of the roller lifting frame 4012. The roller mounting base 4013 is fixed with the vertical plate 4015. The vertical plate 4015 is fixed with the side plate 4014. One end of the side plate 4014 extends to the bottom of the roller lifting frame 4012. The switching conveyor mechanism 402 includes a chain belt 4021, a chain belt lifting plate 4022, a chain belt base frame 4023, a chain belt cylinder 4024, a chain belt motor 4025, a chain belt main gear 4026, a chain belt lifting column 4027, and a chain belt driven gear 4028. The chain belt driven gear 4028 is connected to a chain shaft, which is connected to the chain belt 4021 via a connecting chain belt gear. The chain belt motor 4025 is connected to the chain belt main gear 4026, and the chain belt main gear 4026 is connected to the chain belt driven gear 4028. 28 are connected by a chain. The chain motor 4025 is fixed to the chain lifting plate 4022. The chain base frame 4023 is located below the chain lifting plate 4022. The chain cylinder 4024 is fixed on the chain base frame 4023. The driving end of the chain cylinder 4024 is connected to the bottom surface of the chain lifting plate 4022. The bottom surface of the chain lifting plate 4022 is fixed to the chain lifting column 4027. The chain lifting column 4027 passes through the surface of the chain base frame 4023. The positioning and lifting mechanism 405 includes a positioning and lifting plate 4051, a positioning top plate 4052, a positioning base plate 4053, a base plate opening 4054, a positioning and lifting column 4055, and a positioning and lifting cylinder 4056. The positioning and lifting plate 4051 is located above the positioning base plate 4053. The positioning base plate 4053 is fixed to the positioning and lifting cylinder 4056. The driving end of the positioning and lifting cylinder 4056 is connected to the bottom surface of the positioning base plate 4053. The positioning top plate 4052 is fixed to the upper surface of the positioning and lifting plate 4051.

[0092] The working principle will be explained in further detail regarding the overall structure described above.

[0093] I. Detailed implementation of the automatic chassis placement mechanism 2: This mechanism is the starting point for realizing full automation of the production line. It is responsible for accurately and reliably placing the air conditioner outdoor unit chassis from the upstream material system onto the main roller conveyor 7.

[0094] like Figures 7 to 15 As shown, the automatic chassis placement mechanism 2 is a multi-component collaborative system, mainly including a second auxiliary roller conveyor 201, a third robotic arm 202, a chassis positioning mechanism 203, a chassis clamping mechanism 2021, and a chassis receiving mechanism 204.

[0095] Receiving and Temporary Storage: Receiving chassis mechanism 204 ( Figure 7 , Figure 14 and Figure 15 This serves as an interface with an external material supply system (such as the transport crane 8). Its working process is as follows: The receiving lifting cylinder 2041 drives the pallet 2042 to rise, receiving the single chassis transferred from the transport crane 8. The single chassis detaches from the transport crane 8, and the transport crane 8 moves backward, allowing the single chassis to move downward along with the pallet 2042 until the single chassis lands on one end of the conveyor belt of the receiving chassis mechanism 204. The conveyor belt then starts, transporting the single chassis to the other end of the conveyor belt of the receiving chassis mechanism 204. The chassis guide rail 20410 is a linear guide rail, and the initial position of the chassis sliding plate 2049 is at the single chassis... At the rear end, the lever 2043 rests against the rear end of the chassis. The slide of the chassis guide rail 20410 pushes the chassis sliding plate 2049 to move, and also moves the lever 2043, thereby pushing the chassis onto the chassis positioning mechanism 203. The chassis sliding plate 2049 reaches the other end of the chassis guide rail 20410. At this time, the actuating cylinder 2047 is activated, driving the lever 2044 to rotate through the actuating block 2046. The lever 2043 at the end of the lever 2044 swings accordingly, completely moving the chassis laterally from the receiving chassis mechanism 204 to the chassis positioning mechanism 203. In addition, the limiting member 20411 is used to limit the position of the chassis, so that the chassis accurately reaches the preset position during transportation.

[0096] Precise positioning: After the chassis is moved to the designated position, the chassis positioning mechanism 203 ( Figure 13 The machine begins operation. The positioning cylinder 2032 drives the positioning guide block 2033 to clamp the chassis, eliminating any positional deviations that may occur during the receiving process.

[0097] Visual guidance and clamping: such as Figures 8 to 12As shown, the chassis clamping mechanism 2021 is the terminal for performing the gripping action. The third vision sensor 20211 and the fourth vision sensor 20214, fixed to the upper surface of the mechanism, perform final image acquisition and position confirmation of the positioned chassis. After confirmation, the chassis-releasing cylinder 20215 actuates. The piston rod of the chassis-releasing cylinder 20215 directly or indirectly drives the left clamping plate 20212 or the right clamping plate 20213. Since the left clamping plate 20212 and the right clamping plate 20213 are connected by a planar linkage mechanism consisting of the first connecting rod 20216, the movable connecting block 20217, and the second connecting rod 20218, the action of one cylinder can achieve synchronous opposite movement of the left and right clamping plates, thereby reliably clamping the chassis from both sides. The movable connecting block 20217 is hinged to the body of the chassis clamping mechanism 2021, ensuring smooth movement and uniform force distribution.

[0098] Transfer and Placement: After receiving the signal that gripping is complete, the third robotic arm 202 (usually a multi-joint robot or a Cartesian coordinate robot) moves the entire chassis gripping mechanism 2021 and the gripped chassis above the second auxiliary roller conveyor 201. With the assistance of a vision sensor, the robotic arm performs precise alignment, and then the chassis release cylinder 20215 reverses its movement, releasing the clamping plates and smoothly placing the chassis onto the second auxiliary roller conveyor 201. The second auxiliary roller conveyor 201 then starts, transporting the chassis to the connection point with the main roller conveyor 7, completing the automatic loading.

[0099] II. Detailed implementation of the automatic installation mechanism 1 for shock-absorbing pads: This mechanism is used to automatically and accurately assemble the shock-absorbing pads onto the four mounting feet of the chassis, which is a key process to ensure the stability and low noise of the outdoor unit of the air conditioner.

[0100] like Figures 2 to 6 As shown, the mechanism consists of a shock-absorbing pad feed hopper 101, a handling assembly 102, and a first auxiliary roller conveyor 103.

[0101] Feeding and primary gripping: The shock-absorbing pad feed hopper 101 arranges the shock-absorbing pads in an orderly manner using vibration or a stepped method and outputs them to the designated pickup position. The first vision sensor 104 monitors the feed hopper outlet in real time to ensure that there is material and the position is correct. The first robotic arm 1021 in the handling assembly 102 is equipped with a first pneumatic clamp mechanism 1023 at its end. Figure 5 As shown, the first pneumatic clamp mechanism 1023 is fixed to the robotic arm via the first pneumatic clamp mounting bracket 10231. The first swing motor 10232 can drive the first swing mounting base 10233 and the first pneumatic clamp 10234 connected thereto to swing within a certain angle to adapt to the grasping posture. The first robotic arm 1021 moves to the picking position under the guidance of the first vision sensor 104, and the first pneumatic clamp 10234 grasps a shock-absorbing pad.

[0102] Intermediate processing and posture conversion: The first robotic arm 1021 transfers the gripped shock-absorbing pad and places it at a specific station on the turntable 1026. At this time, the cover cylinder 1025 on the side of the turntable pushes the cylinder 10252 to move, pushing the cover cylinder 10251 downward to cover the shock-absorbing pad on the turntable. The oil spray nozzle integrated inside the cover cylinder 10251 can evenly spray lubricating oil or rust inhibitor onto the mounting surface of the shock-absorbing pad to facilitate subsequent pressing. After the oil spraying is completed, the cover cylinder retracts.

[0103] Precision installation: The second robotic arm 1022 is equipped with a second pneumatic clamp mechanism 1024 at its end (e.g., Figure 6 Its structure is relatively simple, and its main function is reliable clamping. The second robot arm 1022 moves to the turntable 1026 and uses the second pneumatic clamp 10242 to pick up the oil-sprayed shock-absorbing pads. At the same time, the first auxiliary roller conveyor 103, equipped with the chassis, transports the chassis to the installation station and positions it precisely. The second vision sensor 105 identifies and positions the mounting holes on the chassis. Guided by the second vision sensor 105, the second robot arm 1022 precisely aligns the shock-absorbing pads with the mounting holes on the chassis and then performs a pressing action to embed the shock-absorbing pads into the holes. Typically, the installation of four shock-absorbing pads is completed sequentially by a program-controlled robot arm, or simultaneously using multiple sets of parallel handling components.

[0104] Flow: The chassis with shock-absorbing pads installed is sent out by the first auxiliary roller conveyor 103, and rejoins the main roller conveyor 7, flowing to the next work station.

[0105] III. Detailed implementation of the automatic nut tightening mechanism 3: This mechanism is responsible for automatically tightening the nuts onto the chassis bolts that are equipped with shock-absorbing pads, which is a key step in forming a reliable connection.

[0106] like Figures 16 to 30 As shown, this mechanism is a complex system that integrates functions such as automatic nut feeding, precise chassis positioning, and multi-axis coordinated tightening.

[0107] Automatic nut sorting and feeding Figure 18 and Figure 19 Nuts are poured in batches into the auxiliary feeding hopper 3011 and fall into the vibrating feeder 3012. The vibrating feeder 3012 automatically arranges the nuts neatly through vibration and conveys them along the spiral track to the outlet, entering the conveying guide trough 3014. The end of the conveying guide trough 3014 is equipped with a single nut separation and positioning mechanism, which mainly includes a pushing cylinder 3015, a pushing block 3016, a fixing cylinder 3018, and a fixing block 3017.

[0108] The specific working process is as follows: First, the nut moves along the conveying guide groove 3014 to its end outlet. At this time, the pushing cylinder 3015 is activated, driving the pushing block 3016 to move horizontally, pushing the single nut located at the end of the guide groove laterally to the positioning position, which is in front of the fixing block 3017 (i.e., in the direction of the extension of the fixing block 3017). The front end of the fixing block 3017 has a recess that matches the shape of the nut. The fixing cylinder 3018 is activated, driving the fixing block 3017 to extend forward (i.e., move in the direction toward the nut). During the pushing process, the nut is precisely embedded in the recess, achieving stable single-nut separation and initial positioning. At this time, the nut is located directly below the nut sleeve 30136 of the fourth robot arm 3013. Subsequently, guided by the fifth vision sensor 30132, the fourth robot arm 3013 aligns its nut sleeve 30136 with the nut and slides it downwards, so that the nut is embedded in the nut sleeve 30136 (see...). Figures 17 to 20 At this point, the pusher block 3016 and the stationary block 3017 are driven back to their original positions by the pusher cylinder 3015 and the stationary cylinder 3018 respectively, thus completing the automatic nut picking and subsequent tightening operations.

[0109] Chassis positioning and clamping ( Figures 24 to 26 When the chassis requiring nut tightening is fed into the auxiliary transport mechanism 4 by the main roller conveyor 7, the roller lifting cylinder 4016 of the roller lifting blocking mechanism 401 activates, driving the roller lifting frame 4012 to rise, causing the roller 4011 to rise above the conveying surface. One side of the chassis then presses against the roller lifting frame 4012, preventing further transport. Subsequently, the positioning lifting mechanism 405 (such as...) Figure 27 and Figure 28 The positioning lifting cylinder 4056 drives the positioning lifting plate 4051 to rise, and the positioning top plate 4052 lifts it from the bottom of the chassis to achieve Z-axis positioning and stable support. At the same time, the auxiliary cylinder 403 drives the auxiliary pressure plate 404 to press against the side of the chassis to fix the chassis position, waiting for the first robotic arm assembly 301 to perform the tightening process. Visual guidance and tightening execution (e.g.) Figure 16 , Figure 17 , Figures 20 to 23The first robotic arm assembly 301's fourth robotic arm 3013, carrying a tightening actuator, moves to the nut supply position. A fifth vision sensor 30132 identifies the positioned nut. The fourth robotic arm 3013 adjusts its posture so that its end-end nut sleeve 30136 aligns with the nut. The tightening cylinder 30139 actuates, pushing the tightening slide 30138 and the nut-tightening motor 30133 mounted thereon forward in a straight line, allowing the nut sleeve 30136 to smoothly fit into the nut. Subsequently, the nut-tightening motor 30133 starts, rotating at the set torque and speed to screw the nut into the corresponding bolt on the chassis. A speed sensor 30134 monitors the speed curve of the tightening process, combining with torque control to ensure tightening quality. After tightening, the tightening cylinder 30139 retracts, and the fourth robotic arm moves away. The fifth robotic arm assembly 302, operating on a similar principle, is responsible for tightening nuts on the other side or for nuts of different sizes.

[0110] Flow and Switching: After all nuts are tightened, the positioning lifting mechanism 405 and auxiliary pressure plate 404 reset, the roller lifting blocking mechanism 401 descends, and the chassis returns to the conveying surface. Switching conveying mechanism 402 (e.g.) Figure 29 and Figure 30 The conveyor can be operated as needed, for example, by lifting the chain belt lifting plate 4022 through the chain belt cylinder 4024, so that the chain belt 4021 is raised and started, and the chassis is sent out in different ways (such as changing direction and changing speed), or the chassis is sent back to the main roller conveyor 7 directly from the original conveying surface.

[0111] IV. Detailed Implementation of the Automatic Nut Loosening Mechanism 5: This mechanism is a key innovation of this invention, used to automatically loosen certain tightened nuts during specific process stages (such as vacuuming, sealing checks before refrigerant filling, or modular packaging). Figures 31 to 49 As shown, the mechanism consists of a chassis angle switching mechanism 501 responsible for adjusting the workpiece posture and a sixth manipulator 502 and a seventh manipulator 503 that perform the detachment action.

[0112] Chassis angle switching (core innovation) Figure 42 and Figure 43 (Receive and Position): The semi-finished chassis requiring loosened nuts enters the first conveying mechanism 5011 of the chassis angle switching mechanism 501 from the main roller conveyor 7. The inclined surface 501601 at the front end of the guide plate 5016 guides the chassis. When the chassis reaches the end, it is blocked and positioned by the baffle 501510 on the push positioning frame 501508.

[0113] Horizontal push ( Figures 43 to 45The working process of the pushing mechanism 5015 is divided into two stages: longitudinal alignment and lateral extension. First, in the longitudinal alignment stage, the pneumatic slide 501507 drives the entire pushing mechanism 5015 to move longitudinally. During this process, the slide table 501505 is mounted on the guide rail 501506, and the guide rod 501504 passes through the slide table 501505, together forming a precision linear guide system. This ensures that the entire pushing mechanism moves smoothly and accurately in the longitudinal direction, thereby aligning the telescopic cylinder 501501 mounted on the top surface of the connecting plate 501509 and its front-end push arm 501503 to the appropriate position on the side of the chassis. Then, in the lateral extension stage, the telescopic end of the telescopic cylinder 501501 is directly connected to the push arm 501503. When the telescopic cylinder 501501 extends, the linear motion of its piston rod drives the push arm 501503 to move. It should be noted that this lateral pushing action mainly relies on the guiding accuracy of the telescopic cylinder 501501 itself and the rigid connection between the push arm 501503 and the connecting plate 501509, and does not depend on the aforementioned guide rail 501506 or guide rod 501504 for guidance. Driven by the telescopic cylinder 501501, the push arm 501503 smoothly and accurately pushes the chassis 5014, located at the end of the first conveying mechanism 5011, laterally into the reversing mechanism 5013. Through the coordination of these two stages, the pushing mechanism 5015 achieves a reliable transfer of the chassis 5014 from the first conveying mechanism 5011 to the reversing mechanism 5013.

[0114] Lifting and Rotation ( Figures 46 to 49 The ejected chassis falls onto the conveyor belt 501306 of the reversing mechanism 5013, directly above the upper plate 501308. The reversing lifting cylinder 501311 activates, pushing the middle plate 501309 smoothly upward along the lifting rod 501312 and guide flange seat 501314, causing the upper plate 501308 to lift the chassis and detach it from the conveyor belt. Then, the torsion cylinder 501316 actuates, its linear motion being converted into rotation of the shaft 501313 via the hinge seat 5013161 and connecting piece 501317, thereby driving the upper plate 501308 and chassis to rotate 90 degrees (or other desired angle). During rotation, the bearing 501318 and flange seat 501319 provide smooth support.

[0115] Delivery: After rotation to the correct position, the reversing lifting cylinder 501311 descends, and the chassis falls back onto the conveyor belt 501306. The motor 501302 drives the conveyor belt to deliver the rotated chassis via the second conveyor mechanism 5012, into the nut loosening work area. Figure 31 (As shown), in addition, the outer cover 501307 provides safety protection. The nut loosening work area utilizes an existing roller conveyor mechanism. Furthermore, the conversion structure on the roller conveyor mechanism employs... Figure 29 and Figure 30 The switching conveyor mechanism 402 shown implements the switching between roller conveyor mechanisms; the working process of the switching conveyor mechanism 402 can be divided into four stages: standby, lifting, conveying, and lowering reset.

[0116] Standby state: When no switching command is triggered, the chain belt 4021 is located below the conveyor plane, and the movement of the chassis is controlled by the main roller conveyor 7 or the auxiliary roller conveyor line. At this time, the chain belt motor 4025 is not working, and the mechanism does not interfere with the main conveying path.

[0117] Lifting Start: When the system needs to switch the chassis to another conveying direction, such as from longitudinal to transverse conveying, the control unit issues a command, activating the chain cylinder 4024. Its piston rod pushes the chain lifting plate 4022 upward. The chain lifting column 4027 slides in the guide hole of the chain base 4023, ensuring the linearity and stability of the lifting action. The chain 4021 then rises above the surface of the main conveying roller, lifting the chassis off the roller.

[0118] Lateral conveying: After the chassis is lifted by the chain belt, the chain belt motor 4025 starts, driving the chain belt main gear 4026 to rotate. This rotation, via the chain, drives the chain belt driven gear 4028, thereby driving the chain belt 4021 in cyclical motion. The friction of the chain belt 4021 causes the chassis to move in a direction perpendicular to the original conveying direction, achieving path switching. This process enables precise transfer of the chassis to adjacent workstations, auxiliary platforms, or back to the main line.

[0119] Lowering and Resetting: When the chassis has completely left the chain belt area or has been moved to the target position, the chain belt motor 4025 stops, the chain belt cylinder 4024 reverses its action, pulling the chain belt lifting plate 4022 down, and the chain belt 4021 sinks back below the conveying plane. The chassis is then transported by the subsequent conveying mechanism or waits for the next process.

[0120] Loosening nut work area ( Figures 31 to 41 The sixth robotic arm 502 carries the first nut loosening mechanism 5021, and the seventh robotic arm 503 carries the second nut loosening mechanism 5031. Both have similar structural principles. Taking the first nut loosening mechanism 5021 as an example: the seventh vision sensor 50213 first identifies the position of the nut to be loosened. The first nut loosening push cylinder 50215 drives the first nut moving frame 50216 to move along the first nut loosening slide rail 50220. The first gripper cylinder 50217, installed at the front end of the moving frame, drives the first gripper 50218 to first clamp the bolt rod below the nut, providing stability. Subsequently, the first nut loosening push motor 50214 starts, driving the first nut loosening sleeve 50219 to rotate, loosening the nut. After loosening, all components reset. The sixth and seventh robotic arms can handle nuts in different positions or of different specifications. By switching the chassis angle mechanism 501, the chassis orientation can be adjusted so that all nuts to be loosened are at the optimal working angle of the robotic arm.

[0121] Return: The chassis that has completed the nut loosening operation is sent back to the main roller conveyor 7 and flows to the subsequent safety inspection station.

[0122] Security check station 6: such as Figure 1 As shown, inspection station 6 is located at the end of the automated process. All semi-finished chassis that have undergone automatic assembly, tightening, and loosening are temporarily stored here. At this station, experienced operators conduct a final manual visual inspection and confirmation of items such as the completeness of component assembly (e.g., whether the shock-absorbing pads are in place), the condition of fasteners (e.g., torque markings on tightened nuts, and the location of loosened nuts), and whether the chassis has scratches or deformation. This is a crucial part of quality control, ensuring that only qualified products can enter the final assembly line.

[0123] Summary of the advantages of this invention: As can be seen from the detailed embodiments described above, this invention modularly and sequentially integrates the automatic chassis placement mechanism 2, the automatic shock-absorbing pad installation mechanism 1, the automatic nut tightening mechanism 3, the automatic nut loosening mechanism 5, and the safety inspection workbench 6 along the main roller conveyor 7, constructing a truly fully automated assembly line for the air conditioner outdoor unit chassis section. In particular, the innovative chassis angle switching mechanism 501 in the automatic nut loosening mechanism 5 employs a high-rigidity linear push and integrated lifting and rotating design. With a simple, reliable, and low-cost pneumatic mechanical combination, it efficiently replaces the expensive multi-joint robots used for workpiece reversal in traditional solutions, solving the cost and rhythm bottlenecks of workpiece posture adjustment in automated production lines.

[0124] The entire system achieves closed-loop feedback and high-precision operation through the built-in vision sensors (first to seventh vision sensors) in each mechanism and precise mechanical positioning mechanisms (such as positioning blocks, guide plates, and lifting mechanisms), ensuring consistent assembly quality. Meanwhile, the modular design allows for a compact production line layout, facilitating maintenance and rhythm adjustments, significantly improving production efficiency and reducing labor intensity and production costs.

[0125] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic assembly line for air conditioner outdoor units, comprising a main roller conveyor (7), characterized in that: Along the conveying direction of the main roller conveyor (7), there are also an automatic chassis placement mechanism (2), an automatic shock absorption pad installation mechanism (1), an automatic nut loosening mechanism (5), a safety inspection workbench (6), and an automatic nut tightening mechanism (3). The automatic chassis placement mechanism (2) includes a second auxiliary roller conveyor (201), a third manipulator (202), a chassis positioning mechanism (203), and a chassis clamping mechanism (2021). The third manipulator (202) and the chassis clamping mechanism (2021) are connected. The output end of the chassis positioning mechanism (203) is located on the side of the second auxiliary roller conveyor (201). The third manipulator (202) is located at the angle between the chassis positioning mechanism (203) and the second auxiliary roller conveyor (201). The third manipulator (202) is used to clamp the chassis from the chassis positioning mechanism (203) to the second auxiliary roller conveyor (201) through the chassis clamping mechanism (2021). The second auxiliary roller conveyor (201) is connected to the main roller conveyor (7). The automatic installation mechanism (1) for installing shock-absorbing pads includes a shock-absorbing pad feeding hopper (101), a handling component (102), and a first auxiliary roller conveyor (103). The shock-absorbing pad feeding hopper (101) is used to transport the shock-absorbing pads, and the handling component (102) is used to install the shock-absorbing pads onto the chassis transported by the first auxiliary roller conveyor (103). The first auxiliary roller conveyor (103) is connected to the main roller conveyor (7). The automatic nut loosening mechanism (5) includes a chassis angle switching mechanism (501), a sixth robot (502) and a seventh robot (503). The chassis angle switching mechanism (501) is used to transfer the chassis of the semi-finished product from the main roller conveyor (7) to the sixth robot (502) and the seventh robot (503) respectively to perform the nut loosening process, and then send it back to the main roller conveyor (7). The security inspection workbench (6) is used for manual security inspection of the chassis of the semi-finished products. The semi-finished chassis after security inspection is then transported by the main roller conveyor (7). The automatic nut tightening mechanism (3) includes a first manipulator assembly (301) and a fifth manipulator assembly (302). The first manipulator assembly (301) and the fifth manipulator assembly (302) are respectively used to tighten nuts on the chassis of the semi-finished product. After completion, the semi-finished product chassis returns to the main roller conveyor (7).

2. The air conditioner outdoor unit robot assembly production line according to claim 1, characterized in that: The chassis clamping mechanism (2021) is also equipped with a third vision sensor (20211), a left clamping plate (20212), a right clamping plate (20213), a fourth vision sensor (20214), a chassis release cylinder (20215), a first connecting rod (20216), a movable connecting block (20217), and a second connecting rod (20218). The third vision sensor (20211) and the fourth vision sensor (20214) are respectively fixed to the upper surface of the chassis clamping mechanism (2021), and the left clamping plate (20212) and the right clamping plate (20213) are respectively slidably connected to the bottom surface of the chassis clamping mechanism (2021). The chassis-releasing cylinder (20215) is fixed to the lower surface of the chassis clamping mechanism (2021). The driving end of the chassis-releasing cylinder (20215) is connected to the left clamping plate (20212) or the right clamping plate (20213). The left clamping plate (20212) and the right clamping plate (20213) are connected by a first connecting rod (20216), a movable connecting block (20217), and a second connecting rod (20218). The first connecting rod (20216), the movable connecting block (20217), and the second connecting rod (20218) are sequentially hinged to each other. The movable connecting block (20217) is hinged to the chassis clamping mechanism (2021).

3. The air conditioner outdoor unit robot assembly production line according to claim 2, characterized in that: The chassis positioning mechanism (203) is provided with a chassis positioning block (2031) and a plate positioning cylinder (2032), and the plate positioning cylinder (2032) and the plate guide block (2033) are connected to each other.

4. The air conditioner outdoor unit robot assembly production line according to claim 2, characterized in that: The chassis positioning mechanism (203) is further provided with a receiving chassis mechanism (204) at the feeding end. The receiving chassis mechanism (204) includes a receiving lifting cylinder (2041), a pallet (2042), a lever (2043), a lever (2044), a lever bearing seat (2045), a lever block (2046), a lever cylinder (2047), a slide block (2048), a chassis sliding plate (2049), a chassis guide rail (20410), a limiting member (20411), and a lever slide rod (20412). The receiving lifting cylinder (2041) is connected to the pallet (2042), and the receiving lifting cylinder (2041) is fixed to the side surface of the receiving chassis mechanism (204). The lever slide rod (20412) and the chassis guide rail (2041) are connected to each other. 0410) are respectively fixed in parallel on the receiving chassis mechanism (204), the actuating slide rod (20412) passes through the slide block (2048), the bottom surface of the chassis sliding plate (2049) is slidably connected to the chassis guide rail (20410), the actuating cylinder (2047) and the actuating bearing seat (2045) are respectively fixed on the upper surface of the chassis sliding plate (2049), the lever (2044) passes through the actuating bearing seat (2045), one end of the lever (2044) is connected to the driving end of the actuating cylinder (2047) through the actuating block (2046), the other end of the lever (2044) is connected to the actuating plate (2043), and the limiting member (20411) is fixed to the receiving chassis mechanism (204).

5. The air conditioner outdoor unit robot assembly production line according to claim 4, characterized in that: A transport gantry (8) is provided above the receiving chassis mechanism (204).

6. The air conditioner outdoor unit robot assembly production line according to claim 1, characterized in that: The conveying assembly (102) includes a first robotic arm (1021), a second robotic arm (1022), a first pneumatic clamp mechanism (1023), a second pneumatic clamp mechanism (1024), a first cylinder bracket (1025), a cover cylinder (10251), a cover cylinder push cylinder (10252), a turntable (1026), a first vision sensor (104), and a second vision sensor (105). The first robotic arm (1021) is used to clamp and place the shock-absorbing pads from the shock-absorbing pad feed hopper (101) onto the turntable (1026). The second robotic arm (1022) is used to clamp and install the shock-absorbing pads on the turntable (1026) onto the chassis. The first vision sensor (104) is located on the turntable. The output end of the vibration damping hopper (101) is used to detect the working status of the first robot (1021). The second vision sensor (105) is located on the side of the first auxiliary roller conveyor (103) and is used to detect the working status of the second robot (1022). The first cylinder bracket (1025) is provided on the side of the turntable (1026). The cover cylinder push cylinder (10252) is installed on the first cylinder bracket (1025). The cover cylinder push cylinder (10252) is connected to the cover cylinder (10251). The cover cylinder (10251) corresponds to the upper surface of the turntable (1026). The cover cylinder (10251) is provided with an oil nozzle for spraying oil onto the vibration damping pad.

7. The air conditioner outdoor unit robot assembly production line according to claim 6, characterized in that: The first air clamp mechanism (1023) includes a first air clamp mounting frame (10231), a first swing motor (10232), a first swing mounting base (10233), and a first air clamp (10234). The first air clamp mounting frame (10231) is mounted on the first robot arm (1021). The first swing motor (10232) is mounted on the first air clamp mounting frame (10231). The first swing motor (10232) is connected to the first swing mounting base (10233). The first swing mounting base (10233) is connected to the first air clamp (10234). The first air clamp (10234) is used to clamp the shock-absorbing pad. The second air clamp mechanism (1024) includes a second air clamp base plate (10241) and a second air clamp (10242), and the second air clamp base plate (10241) and the second air clamp (10242) are connected together.

8. The air conditioner outdoor unit robot assembly production line according to claim 1, characterized in that: The sixth robotic arm (502) is connected to a first nut loosening mechanism (5021). The first nut loosening mechanism (5021) includes a first nut loosening base plate (50211), a first vision sensor bracket (50212), a seventh vision sensor (50213), a first nut loosening push motor (50214), a first nut loosening push cylinder (50215), a first nut moving frame (50216), a first gripper cylinder (50217), a first gripper (50218), a first nut loosening sleeve (50219), a first nut loosening slide rail (50220), and a first nut loosening slide block (50221). The first nut loosening base plate (50211) and the seventh vision sensor (50213) are connected through the first vision sensor bracket (50212). The first nut loosening push cylinder (50215) is fixed to the upper surface of the first nut loosening base plate (50211). The drive end of the first loosening nut push cylinder (50215) is connected to the rear surface of the first nut moving frame (50216). The bottom surface of the first nut moving frame (50216) and the upper surface of the first loosening nut base plate (50211) are slidably connected by the first loosening nut slide rail (50220) and the first loosening nut slide block (50221). The first nut moving frame (50216) is also connected to the first loosening nut push motor (50214). The first loosening nut push motor (50214) is connected to the first loosening nut sleeve (50219). The first nut sleeve (50219) is provided with the first claw cylinder (50217) below it. The first claw cylinder (50217) is connected to the first claw (50218). The first claw cylinder (50217) is fixed at the front end of the first nut moving frame (50216).

9. The air conditioner outdoor unit robot assembly production line according to claim 1, characterized in that: The seventh robotic arm (503) is connected to a second nut loosening mechanism (5031). The second nut loosening mechanism (5031) includes a second nut loosening base plate (50311), a second nut loosening push cylinder (50312), a second nut loosening motor (50313), a second nut moving frame (50314), a sixth vision sensor (50315), a second nut loosening sleeve (50316), a second vision sensor bracket (50317), a second gripper cylinder (50318), a second gripper (50319), a second gripper guide rail (50320), and a second gripper slide (50321). The upper surface of the second nut loosening base plate (50311) is connected to the second nut loosening push cylinder (50312). 12) The second nut easing push cylinder (50312) is fixedly connected to the rear end of the second nut moving frame (50314). The second nut moving frame (50314) is also fixedly connected to the second nut easing motor (50313). The drive end of the second nut easing motor (50313) is connected to the second nut easing sleeve (50316). The second claw cylinder (50318) is located above the second nut easing sleeve (50316) and is fixed to the front end of the second nut moving frame (50314). The second claw cylinder (50318) is connected to the second claw (50319).

10. The air conditioner outdoor unit robot assembly production line according to claim 1, characterized in that: The chassis angle switching mechanism (501) includes a first conveying mechanism (5011), a second conveying mechanism (5012), and a reversing mechanism (5013). The inlet end of the reversing mechanism (5013) is located on the side of the first conveying mechanism (5011), and the outlet end of the reversing mechanism (5013) is located at the inlet end of the second conveying mechanism (5012). The tail end of the first conveying mechanism (5011) is provided with a pushing mechanism (5015) for pushing the chassis (5014) onto the reversing mechanism (5013). The pushing mechanism (5015) includes a telescopic cylinder (501501), a push arm (501503), a guide rod (501504), a slide (501505), a guide rail (501506), a pneumatic slide (501507), and a connecting plate (501509). The slide (501505) and the pneumatic slide (501507) are respectively fixed to the bottom surface of the connecting plate (501509). The slide (501505) is mounted on the guide rail (501506). The guide rod (501504) passes through the slide (501505). The telescopic cylinder (501501) is fixed to the top surface of the connecting plate (501509). The telescopic end of the telescopic cylinder (501501) is connected to the push arm (501503).

11. The air conditioner outdoor unit robot assembly production line according to claim 10, characterized in that: The first conveying mechanism (5011) is also provided with a push positioning frame (501508), the guide rod (501504) and the guide rail (501506) are respectively fixed on the top surface of the push positioning frame (501508), the push positioning frame (501508) is also provided with a baffle (501510), the first conveying mechanism (5011) is provided with a guide plate (5016), and the front end of the guide plate (5016) is provided with an inclined surface (501601).

12. The air conditioner outdoor unit robot assembly production line according to claim 10, characterized in that: An angle bracket (501502) is installed at the corner position of the push arm (501503).

13. The air conditioner outdoor unit robot assembly production line according to claim 10, characterized in that: The reversing mechanism (5013) includes a turntable base (501301), a motor (501302), a conveyor belt (501306), an upper plate (501308), a middle plate (501309), a bottom plate (501310), a reversing lifting cylinder (501311), a rotating shaft (501313), a cylinder seat (501315), a torsion cylinder (501316), a hinge seat (5013161), and a connecting piece (501...). 317), bearings (501318) and flange seats (501319), the conveyor belts (501306) are two in number and arranged on both sides of the top surface of the turntable base (501301), the base plate (501310) is installed inside the turntable base (501301), the reversing lifting cylinder (501311) is fixed on the top surface of the base plate (501310), and the extension of the reversing lifting cylinder (501311) The constricted end is connected to the bottom surface of the middle plate (501309), the flange seat (501319) is installed on the middle plate (501309), the bearing (501318) is installed on the flange seat (501319), the rotating shaft (501313) is installed on the bearing (501318), the top end of the rotating shaft (501313) is connected to the bottom surface of the upper plate (501308), and the connecting piece (501... 317) Installed on the rotating shaft (501313), the connector (501317) is movably hinged to the hinge seat (5013161), the hinge seat (5013161) is connected to the telescopic end of the torsion cylinder (501316), the torsion cylinder (501316) is connected to the cylinder seat (501315), and the cylinder seat (501315) is connected to the top surface of the middle plate (501309).

14. The air conditioner outdoor unit robot assembly production line according to claim 13, characterized in that: The bottom surface of the middle plate (501309) is provided with a lifting rod (501312), and the bottom plate (501310) is also provided with a guide flange seat (501314). The lower end of the lifting rod (501312) passes through the opening of the guide flange seat (501314).

15. The air conditioner outdoor unit robot assembly production line according to claim 13, characterized in that: An outer cover (501307) is installed on the outside of the turntable base frame (501301). A crossbar (501303) is installed on the turntable base frame (501301). The edge of the bottom plate (501310) is fixed to the crossbar (501303). A first platform (501304) and a second platform (501305) are respectively provided on the top surface of the turntable base frame (501301). The first platform (501304) and the second platform (501305) are located on the left and right sides of the upper plate (501308).

16. The air conditioner outdoor unit robot assembly production line according to claim 1, characterized in that: The first robotic arm assembly (301) includes a fourth robotic arm (3013), a tightening base plate (30131), a fifth vision sensor (30132), a nut tightening motor (30133), a speed sensor (30134), a transmission bearing seat (30135), a nut sleeve (30136), a tightening bracket (30137), a tightening slide (30138), and a tightening cylinder (30139). The tightening base plate (30131) is mounted on the fourth robotic arm (3013), and the tightening base plate (30131) is respectively fixed with the fourth robotic arm (30133). The system includes a torque bracket (30137) and a torque cylinder (30139). The torque slide (30138) is slidably connected to the torque base plate (30131). One end of the torque cylinder (30139) is connected to the torque slide (30138). One end of the torque slide (30138) is connected to the nut tightening motor (30133). The drive end of the nut tightening motor (30133) is connected to the nut sleeve (30136). The torque slide (30138) is fixed with the speed sensor (30134). The automatic nut tightening mechanism (3) is also provided with an auxiliary feeding hopper (3011) and a vibrating feeder (3012). The material dropping end of the auxiliary feeding hopper (3011) is placed above the vibrating feeder (3012). The output end of the vibrating feeder (3012) is connected to a conveying guide groove (3014). The groove opening of the conveying guide groove (3014) is respectively provided with a pusher block (3016) and a stationary block (3017). The pusher block (3016) is located on the side of the stationary block (3017). The stationary block (3017) corresponds to the groove opening of the conveying guide groove (3014). The pusher block (3016) is connected to a pusher cylinder (3015), and the stationary block (3017) is connected to a stationary cylinder (3018). The automatic nut tightening mechanism (3) is also provided with an auxiliary transport mechanism (4) for conveying the semi-finished product chassis. The auxiliary transport mechanism (4) is also provided with an auxiliary cylinder (403), an auxiliary pressure plate (404), a roller lifting blocking mechanism (401), a switching transport mechanism (402), and a positioning lifting mechanism (405). The auxiliary cylinder (403) and the auxiliary pressure plate (404) are connected to each other. The auxiliary cylinder (403) is fixed on the upper surface of the auxiliary transport mechanism (4). The roller lifting blocking mechanism (401) includes a roller (4011), a roller lifting frame (4012), a roller mounting base (4013), a side plate (4014), and a vertical plate (4015). The two ends of the roller (4011) are movably connected to the roller lifting frame (4012). The roller mounting base (4013) is fixed with a roller lifting cylinder (4016). The driving end of the roller lifting cylinder (4016) is connected to the bottom surface of the roller lifting frame (4012). The roller mounting base (4013) is fixed with the vertical plate (4015). The vertical plate (4015) is fixed with the side plate (4014). One end of the side plate (4014) extends to the bottom of the roller lifting frame (4012). The switching conveyor mechanism (402) includes a chain belt (4021), a chain belt lifting plate (4022), a chain belt base frame (4023), a chain belt cylinder (4024), a chain belt motor (4025), a chain belt main gear (4026), a chain belt lifting column (4027), and a chain belt driven gear (4028). The chain belt driven gear (4028) is connected to a chain shaft, which is connected to the chain belt (4021) via a connecting chain belt gear. The chain belt motor (4025) is connected to the chain belt main gear (4026), and the chain belt main gear (4026) is connected to the chain belt driven gear (4028). 4028) Connected by a chain, the chain motor (4025) is fixed to the chain lifting plate (4022), the chain base frame (4023) is located below the chain lifting plate (4022), the chain cylinder (4024) is fixed on the chain base frame (4023), the driving end of the chain cylinder (4024) is connected to the bottom surface of the chain lifting plate (4022), the bottom surface of the chain lifting plate (4022) is fixed to the chain lifting column (4027), and the chain lifting column (4027) passes through the surface of the chain base frame (4023); The positioning lifting mechanism (405) includes a positioning lifting plate (4051), a positioning top plate (4052), a positioning base plate (4053), a base plate opening (4054), a positioning lifting column (4055), and a positioning lifting cylinder (4056). The positioning lifting plate (4051) is located above the positioning base plate (4053). The positioning base plate (4053) is fixed to the positioning lifting cylinder (4056). The driving end of the positioning lifting cylinder (4056) is connected to the bottom surface of the positioning base plate (4053). The positioning top plate (4052) is fixed to the upper surface of the positioning lifting plate (4051).

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