Mounting equipment

Abstract

The utility model provides an installation device which comprises a feeding mechanism, a conveying mechanism, a conveying mechanism, a conveying mechanism and a control mechanism, and the feeding mechanism is used for conveying a plurality of installation parts; the visual component is arranged corresponding to the feeding mechanism, and the visual component is used for shooting the mounting components in conveying one by one so as to identify whether each mounting component is qualified or not; the positioning structure is used for fixing the position of a component to be mounted; the installation robot is used for grabbing the installation component and installing the qualified installation component on the component to be installed, and the installation equipment solves the technical problem that in the prior art, the installation efficiency of the bearing rubber ring is low.

Description

Technical Field

[0001] This utility model relates to the field of air conditioner manufacturing technology, specifically to an installation device. Background Technology

[0002] In the manufacturing process of the air conditioner indoor unit bottom shell, the bearing rubber ring is a core component of the bottom shell, and a large number of bearing rubber rings need to be installed on the bottom shell.

[0003] However, existing production operations rely on manual methods such as bending over to pick up materials, inspecting incoming materials, and pressing to assemble them. Workers are prone to occupational diseases such as visual fatigue from inspection and pain in their finger joints from pressing during long periods of work. Furthermore, the manual operation mode results in a low level of production automation.

[0004] Therefore, existing technologies need further development. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide an installation device to solve the technical problem of low installation efficiency of bearing rubber rings in related technologies.

[0006] To achieve the above technical objectives, the present invention adopts the following technical solution: providing an installation device, comprising:

[0007] A feeding mechanism is used to transport multiple installation components;

[0008] A vision component is provided corresponding to the feeding mechanism. The vision component is used to photograph each of the installation components being conveyed to identify whether each installation component is qualified.

[0009] A positioning structure, wherein the positioning structure is used to fix the position of the component to be installed;

[0010] An installation robot is used to grasp the installation component and install the qualified installation component onto the component to be installed.

[0011] Furthermore, the feeding mechanism includes:

[0012] A vibratory feeder, used for transporting the mounting components;

[0013] A transport guide rail is connected to the vibratory feeder to allow the installation component conveyed by the vibratory feeder to move on the transport guide rail; the vision component is disposed on the transport guide rail.

[0014] Furthermore, the positioning structure includes a positioning component and a first positioning bracket; the positioning component includes a pushing component, which is movably disposed so as to fix the component to be installed between the pushing component and the first positioning bracket by moving the pushing component.

[0015] Furthermore, the positioning component includes:

[0016] A positioning cylinder; the pushing component is connected to the piston rod of the positioning cylinder; by driving the piston rod to move, the pushing component is pushed to abut against the component to be installed.

[0017] Furthermore, the installation equipment also includes a workbench, on which the first positioning bracket is disposed; the positioning component includes a mounting base, which is located between the workbench and the transport guide rail, and the positioning cylinder is disposed on the mounting base.

[0018] Furthermore, the component to be installed is movably disposed on the worktable; the installation device further includes:

[0019] A blocking component, which is movably disposed on the worktable to prevent the component to be installed from moving;

[0020] A position sensor is disposed on the worktable and is signal-connected to the blocking component.

[0021] Furthermore, the installation device also includes:

[0022] The second positioning bracket is disposed opposite to the first positioning bracket; the second positioning bracket is disposed at an interval from the positioning component.

[0023] Furthermore, the installation device also includes:

[0024] A material placement rack is disposed between the vibratory feeder of the feeding mechanism and the base of the installation robot; the material placement rack is used to place unqualified installation components.

[0025] Furthermore, the installation robot includes:

[0026] robotic arm;

[0027] A clamping cylinder is mounted on the robotic arm, and a first gripper and a second gripper are mounted on the piston rod of the clamping cylinder. The first gripper and the second gripper are driven to move relative to each other, thereby clamping or releasing the component to be installed.

[0028] Further, the first gripper includes:

[0029] The first connecting rod is connected to the movable part of the clamping cylinder;

[0030] A first gripping part is connected to the end of the first connecting rod away from the gripping cylinder body; the first gripping part protrudes towards the first connecting rod and closer to the second gripper; a first positioning protrusion and a second positioning protrusion are provided at intervals on the side of the first gripping part closer to the second gripper; the first positioning protrusion and the second positioning protrusion protrude from the outer surface of the first gripping part.

[0031] Furthermore, the first gripper has a first gripping surface on the side near the second gripper, and the first positioning protrusion protrudes from the first gripping surface; the first positioning protrusion includes a first fixing part and a second fixing part connected to each other; the first fixing part is connected to the first gripping surface; the first fixing part is a cylindrical structure; the second fixing part is connected to the end of the first fixing part away from the first gripping surface; the second fixing part is a partially conical structure; along the direction away from the first fixing part, the cross-sectional area of ​​the second fixing part gradually decreases.

[0032] Furthermore, the second positioning protrusion has a cuboid structure and is located on the side of the first positioning protrusion closest to the clamping cylinder.

[0033] Furthermore, the second gripper includes:

[0034] The second connecting rod is connected to the piston rod of the clamping cylinder.

[0035] The second gripping part is connected to the end of the second connecting rod away from the gripping cylinder; the second gripping part protrudes towards the second connecting rod in the direction of the second jaw.

[0036] Furthermore, the second clamping part is a partially cylindrical structure.

[0037] Beneficial effects:

[0038] 1. The installation equipment of this utility model eliminates the need for manual bending over to pick up materials because it uses an orderly feeding mechanism for irregular materials.

[0039] 2. The installation equipment of this utility model uses bearing rubber ring positioning and clamping technology and bottom shell component positioning technology to eliminate manual positioning and pressing assembly actions, thus solving the occupational disease problem.

[0040] 3. The installation equipment of this utility model uses incoming material visual inspection technology, which eliminates the uncontrollability of product quality inspection caused by human visual fatigue and ensures product quality consistency.

[0041] 4. The installation equipment of this utility model uses an irregular part bearing rubber ring gripping and assembly fixture, which realizes automatic material picking and assembly of bearing rubber rings. Attached Figure Description

[0042] Figure 1 This is a top view of the installation equipment used in this embodiment of the utility model;

[0043] Figure 2 This is a side view of the installation equipment used in this embodiment of the utility model;

[0044] Figure 3 This is a structural schematic diagram of the installation equipment used in an embodiment of this utility model from one perspective;

[0045] Figure 4 yes Figure 3 A partial enlarged view of part I of the installation equipment used in the embodiment of this utility model;

[0046] Figure 5 This is a structural schematic diagram of the installation equipment used in an embodiment of this utility model from another perspective;

[0047] Figure 6 This is a schematic diagram of the installation equipment used in this embodiment of the utility model to inspect the rubber ring.

[0048] The above figures include the following reference numerals:

[0049] 1. Feeding mechanism; 11. Vibratory feeder; 12. Transport guide rail;

[0050] 2. Vision components; 3. Material placement racks;

[0051] 4. Install robot; 41. Robotic arm; 42. Gripping cylinder; 43. First gripper; 431. First link; 433. First gripping part; 434. First positioning protrusion; 4341. First fixing part; 4342. Second fixing part; 435. Second positioning protrusion; 436. First gripping surface; 44. Second gripper; 441. Second link; 442. Second gripping part;

[0052] 5. Positioning assembly; 51. Pushing component; 52. Positioning cylinder; 54. Mounting base; 6. First positioning bracket; 9. Second positioning bracket;

[0053] 7. Worktable; 81. Blocking component; 82. Position sensor;

[0054] 10. Installed components; 20. Components to be installed. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0056] See Figures 1 to 5 According to an embodiment of the present invention, an installation device is provided, comprising: a feeding mechanism 1 for conveying a plurality of installation components 10; a vision component 2, correspondingly disposed to the feeding mechanism 1, for photographing each of the conveyed installation components 10 to identify whether each installation component 10 is qualified; a positioning structure for fixing the position of a component 20 to be installed; and an installation robot 4 for grasping the installation components 10 and installing the qualified installation components 10 onto the component 20 to be installed.

[0057] With the above setup, the feeding mechanism enables the storage and orderly feeding of bearing rings (i.e., the mounting component 10 in this embodiment); by positioning the bearing rings and the bottom shell component (i.e., the component to be installed 20 in this embodiment), the installation robot 4 automatically grasps and assembles irregular bearing rings; by integrating visual inspection technology with the vision component 2, the uncontrollability of product quality inspection due to human visual fatigue is eliminated, ensuring product quality consistency and solving the technical problem of low installation efficiency of bearing rings in the prior art.

[0058] In the installation device of this embodiment, see Figures 1 to 5 The feeding mechanism 1 includes: a vibratory feeder 11 for transporting the installation component 10; a transport guide rail 12 connected to the vibratory feeder 11 so that the installation component 10 delivered by the vibratory feeder 11 can move on the transport guide rail 12; and a vision component 2 disposed on the transport guide rail 12.

[0059] With the above setup, when the mounting component 10 moves on the transport guide rail 12, the vision component 2 can take pictures of the mounting component 10 one by one during the movement of the mounting component 10, which makes it convenient for the staff to observe whether the mounting component 10 is qualified and improves the inspection efficiency.

[0060] In the installation device of this embodiment, see Figures 1 to 5The positioning structure includes a positioning component 5 and a first positioning bracket 6. The positioning component 5 includes a pushing component 51, which is movably disposed to fix the component to be installed 20 between the pushing component 51 and the first positioning bracket 6 by moving the pushing component 51. In this way, the component to be installed 20 can be fixed in the corresponding position by pushing the pushing component 51.

[0061] See Figures 1 to 5 In the installation device of this embodiment, the positioning component 5 includes: a positioning cylinder 52; the pushing component 51 is connected to the piston rod of the positioning cylinder 52; by driving the piston rod to move, the pushing component 51 is pushed to abut against the component 20 to be installed.

[0062] In the installation device of this embodiment, see Figure 1 The installation equipment also includes a workbench 7, on which the first positioning bracket 6 is disposed; the positioning component 5 includes a mounting base 54, which is located between the workbench 7 and the transport guide rail 12, and the positioning cylinder 52 is disposed on the mounting base 54. This simplifies the equipment structure and avoids excessive space occupation by the positioning components.

[0063] See Figure 1 In the installation device of this embodiment, the component to be installed 20 is movably disposed on the worktable 7. The installation device further includes: a blocking component 81, which is movably disposed on the worktable 7 to prevent the component to be installed 20 from moving; and a position sensor 82, which is disposed on the worktable 7 and is signal-connected to the blocking component 81. Thus, when a component to be installed 20 moves into place, the blocking component 81 positions the component to be installed 20 in the installation position, facilitating installation by the installation robot 4 and improving installation accuracy.

[0064] In the installation device of this embodiment, see Figure 1 The installation device further includes: a second positioning bracket 9, which is disposed opposite to the first positioning bracket 6; the second positioning bracket 9 is disposed at an interval from the positioning component 5.

[0065] Specifically, both the first positioning bracket 6 and the second positioning bracket 9 include a guide section and a positioning section; along the moving direction of the component 20 to be installed, the guide sections of the first positioning bracket 6 and the second positioning bracket 9 approach each other, thereby guiding the component 20 to be installed that deviates from the running direction; along the moving direction of the component 20 to be installed, the positioning sections of the first positioning bracket 6 and the second positioning bracket 9 are parallel to each other, thereby limiting the component 20 to be installed on the predetermined line.

[0066] In the installation device of this embodiment, see Figure 1 The installation equipment further includes a material placement rack 3, which is disposed between the vibratory feeder 11 of the feeding mechanism 1 and the base of the installation robot 4; the material placement rack 3 is used to place unqualified installation components 10. This reduces the travel distance of the installation robot 4 and improves work efficiency.

[0067] In the installation device of this embodiment, see Figure 3 , Figure 4 The installation robot 4 includes: a robotic arm 41; a gripping cylinder 42, the gripping cylinder 42 being mounted on the robotic arm 41, and a first gripper 43 and a second gripper 44 being mounted on the piston rod of the gripping cylinder 42; by driving the first gripper 43 and the second gripper 44 to move relative to each other, the robot can grip or release the component 20 to be installed.

[0068] With the above configuration, the component 20 to be installed is gripped by the first gripper 43 and the second gripper 44, which can accurately grip smaller components, thereby improving installation accuracy.

[0069] In the installation device of this embodiment, see Figure 4 The first gripper 43 includes: a first connecting rod 431, which is connected to the movable part of the gripping cylinder 42; a first gripping part 433, which is connected to the end of the first connecting rod 431 away from the gripping cylinder 42; the first gripping part 433 protrudes towards the first connecting rod 431 and closer to the second gripper 44; a first positioning protrusion 434 and a second positioning protrusion 435 are provided at intervals on the side of the first gripping part 433 near the second gripper 44; the first positioning protrusion 434 and the second positioning protrusion 435 protrude from the outer surface of the first gripping part 433.

[0070] By adopting the above configuration, the contact area between the gripper and the mounting component 10 can be reduced, thereby facilitating contact between the mounting component 10 and the component 20 to be installed, and thus accurately completing the installation operation.

[0071] In the installation device of this embodiment, see Figure 4The first gripper 43 has a first gripping surface 436 on the side near the second gripper 44, and the first positioning protrusion 434 protrudes from the first gripping surface 436. The first positioning protrusion 434 includes a first fixing part 4341 and a second fixing part 4342 connected to each other. The first fixing part 4341 is connected to the first gripping surface 436. The first fixing part 4341 has a cylindrical structure. The second fixing part 4342 is connected to the end of the first fixing part 4341 away from the first gripping surface 436. The second fixing part 4342 has a partially conical structure. Along the direction away from the first fixing part 4341, the cross-sectional area of ​​the second fixing part 4342 gradually decreases.

[0072] With the above configuration, the first positioning protrusion 434 can easily engage with the hole-like structure on the mounting component 10, thereby ensuring stable gripping by the gripper.

[0073] In the installation device of this embodiment, see Figure 4 The second positioning protrusion 435 has a cuboid structure and is located on the side of the first positioning protrusion 434 near the clamping cylinder 42.

[0074] With the above configuration, the second positioning protrusion 435 can cooperate with the first positioning protrusion 434 to clamp the mounting component 10.

[0075] In the installation device of this embodiment, see Figure 4 The second gripper 44 includes: a second connecting rod 441, which is connected to the piston rod of the gripping cylinder 42; a second gripping part 442, which is connected to one end of the second connecting rod 441 away from the gripping cylinder 42; the second gripping part 442 protrudes towards the second connecting rod 441 in the direction of approaching the second gripper 44.

[0076] With the above configuration, the second gripping part 442 can cooperate with the first gripping part 433 to grip the mounting component 10.

[0077] In the installation device of this embodiment, see Figure 4 The second gripping part 442 has a partially cylindrical structure. This shape of the second gripping part 442 allows it to avoid the component 20 to be installed when assembling the mounting component 10.

[0078] The bearing ring receiving process: The bearing rings are arranged in an orderly manner in the bearing ring feeder 11. A smart camera (i.e., vision component 2) takes pictures to determine whether the bearing rings at the end of the feeder (i.e., the mounting component 10 in this embodiment) are qualified. The determination method is to take a picture and compare it with a sample stored in the camera to see if there is a yellow bearing ring. If not, it is a defective product. See [link to relevant documentation]. Figure 6The robot picks up and places the NG (Not Good) product on the shelf; if it is present, it is considered OK. The robot then picks up the bearing rubber ring and places it in the assembly position.

[0079] Bottom shell material receiving process: In the initial state, the blocking mechanism extends. When the photoelectric sensor detects the bottom shell, the pushing cylinder extends to position the bottom shell. After positioning, an assembly permission signal is given. At this time, the robotic arm 41 in the assembly area assembles the bearing ring onto the bottom shell component. After assembly, the pushing component 51 and the blocking component 81 retract. When the interval judgment position sensor 82 detects the presence of material, the blocking component 81 extends again, waiting for the next material to arrive.

[0080] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0081] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0082] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0083] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0084] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An installation device, characterized in that, include: A feeding mechanism (1) is used to transport multiple installation components (10). A vision component (2) is provided in correspondence with the feeding mechanism (1). The vision component (2) is used to photograph each of the installation components (10) being transported to identify whether each installation component (10) is qualified. A positioning structure for fixing the position of the component (20) to be installed; The installation robot (4) is used to grab the installation component (10) and install the qualified installation component (10) onto the component to be installed (20).

2. The installation equipment according to claim 1, characterized in that, The feeding mechanism (1) includes: Vibratory feeder (11), the vibratory feeder (11) is used to transport the mounting component (10); The transport guide (12) is connected to the vibratory feeder (11) so that the installation component (10) delivered by the vibratory feeder (11) can move on the transport guide (12); the vision component (2) is disposed on the transport guide (12).

3. The installation equipment according to claim 2, characterized in that, The positioning structure includes a positioning component (5) and a first positioning bracket (6); the positioning component (5) includes a pushing component (51), which is movably arranged so as to fix the component to be installed (20) between the pushing component (51) and the first positioning bracket (6) by moving the pushing component (51).

4. The installation equipment according to claim 3, characterized in that, The positioning component (5) includes: Positioning cylinder (52); the pushing component (51) is connected to the piston rod of the positioning cylinder (52); by driving the piston rod to move, the pushing component (51) is pushed to abut against the component to be installed (20).

5. The installation equipment according to claim 4, characterized in that, The installation equipment also includes a workbench (7), on which the first positioning bracket (6) is disposed; the positioning component (5) includes a mounting base (54), which is located between the workbench (7) and the transport guide rail (12), and the positioning cylinder (52) is disposed on the mounting base (54).

6. The installation equipment according to claim 5, characterized in that, The component to be installed (20) is movably mounted on the workbench (7); the installation equipment further includes: A blocking component (81) is movably disposed on the worktable (7) to block the movement of the component to be installed (20); A position sensor (82) is disposed on the worktable (7) and is signal-connected to the blocking component (81).

7. The installation equipment according to claim 3, characterized in that, The installation equipment also includes: The second positioning bracket (9) is arranged opposite to the first positioning bracket (6); the second positioning bracket (9) is spaced apart from the positioning component (5).

8. The installation equipment according to claim 2, characterized in that, The installation equipment also includes: Material placement rack (3) is disposed between the vibratory plate (11) of the feeding mechanism (1) and the base of the installation robot (4); the material placement rack (3) is used to place unqualified installation components (10).

9. The installation equipment according to claim 1, characterized in that, The installation robot (4) includes: robotic arm (41); The clamping cylinder (42) is mounted on the robotic arm (41). The piston rod of the clamping cylinder (42) is provided with a first gripper (43) and a second gripper (44). By driving the first gripper (43) and the second gripper (44) to move relative to each other, the component to be installed (20) is clamped or released.

10. The installation equipment according to claim 9, characterized in that, The first gripper (43) includes: The first connecting rod (431) is connected to the movable part of the clamping cylinder (42); The first gripping part (433) is connected to the end of the first connecting rod (431) away from the gripping cylinder (42); the first gripping part (433) protrudes towards the first connecting rod (431) and closer to the second gripper (44); the first gripping part (433) is provided with a first positioning protrusion (434) and a second positioning protrusion (435) at intervals on the side of the first gripping part (433) closer to the second gripper (44); the first positioning protrusion (434) and the second positioning protrusion (435) protrude from the outer surface of the first gripping part (433).

11. The installation equipment according to claim 10, characterized in that, The first gripper (43) has a first gripping surface (436) on the side near the second gripper (44), and the first positioning protrusion (434) protrudes from the first gripping surface (436); the first positioning protrusion (434) includes a first fixing part (4341) and a second fixing part (4342) connected to each other; the first fixing part (4341) is connected to the first gripping surface (436); the first fixing part (4341) is a cylindrical structure; the second fixing part (4342) is connected to the end of the first fixing part (4341) away from the first gripping surface (436); the second fixing part (4342) is a partially conical structure; along the direction away from the first fixing part (4341), the cross-sectional area of ​​the second fixing part (4342) gradually decreases.

12. The installation equipment according to claim 10, characterized in that, The second positioning protrusion (435) is a cuboid structure and is located on the side of the first positioning protrusion (434) near the clamping cylinder (42).

13. The installation equipment according to claim 9, characterized in that, The second gripper (44) includes: The second connecting rod (441) is connected to the piston rod of the clamping cylinder (42); The second gripping part (442) is connected to the end of the second connecting rod (441) away from the gripping cylinder (42); the second gripping part (442) protrudes towards the second connecting rod (441) and closer to the second jaw (44).

14. The installation equipment according to claim 13, characterized in that, The second clamping part (442) is a partially cylindrical structure.

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