Device for simultaneously inserting multiple heads of small elbow in parallel in two-device industry

Abstract

The invention discloses a small elbow multi-head simultaneous parallel insertion device in the two-device industry, which comprises a visual identification system and an insertion device, and is characterized in that the insertion device comprises a multi-rotor linear motor module and a plurality of small elbow insertion units; the small elbow insertion unit comprises a rotary clamping jaw and a displacement module, the displacement module is arranged on a rotor of the multi-rotor linear motor module, and the rotary clamping jaw is fixed to the displacement module; the rotor is used for driving the displacement module to move in the first horizontal direction, the displacement module is used for driving the rotary clamping jaw to move in the second horizontal direction and the vertical direction, and the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to one another. The controller is connected with the visual recognition system and the insertion device and used for controlling the motion state of rotors of the multi-rotor linear motor module and the movement state of the displacement module and the grabbing state of the rotary clamping jaw according to the recognition result of the visual recognition system. And the small elbow grabbed by the rotary clamping jaw is inserted into the pipe orifice of the heat exchanger. And the defects of the existing elbow inserting equipment are overcome.

Description

Technical Field

[0001] The invention relates to the technical field of heat exchanger assembly, in particular to a device for simultaneously inserting multiple small elbows in parallel in the heat exchanger industry. Background Art

[0002] In the production of two devices (i.e., condenser and evaporator), a small elbow needs to be inserted into the two heat exchanger tubes to be connected in the condenser or evaporator. After the small elbow is inserted into the heat exchanger tube of the condenser or evaporator, the welding rings at both ends of the small elbow are melted at the welding station to achieve welding of the small elbow and the heat exchange tube.

[0003] Existing elbow plug equipment usually uses teaching and reproduction technology for operation. However, due to the accuracy of the two devices themselves and the positioning accuracy on the assembly line, there is an error between the teaching point and the actual positioning point, which makes it difficult to insert the small elbow. In addition, given the wide variety of evaporator and condenser products, the existing elbow plug equipment is limited in the size range that it can be compatible with, so it is less compatible with the two devices of the air conditioner. Summary of the invention

[0004] The invention provides a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, so as to overcome the shortcomings of the existing elbow insertion equipment.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] A device for simultaneously inserting multiple small elbows in parallel in the two-device industry, comprising: a visual recognition system and an insertion device, wherein the insertion device comprises a multi-motor linear motor module and multiple small elbow insertion units;

[0007] The small elbow insertion unit comprises a rotating clamp and a displacement module, wherein the displacement module is arranged on the mover of the multi-motor linear motor module, and the rotating clamp is fixed on the displacement module;

[0008] The mover is used to drive the displacement module to displace along a first horizontal direction, and the displacement module is used to drive the rotating clamp to displace along a second horizontal direction and a vertical direction, and the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other;

[0009] The controller is connected to the visual recognition system and the insertion device, and is used to control the motion state of the mover of the multi-motor linear motor module and the displacement module and the grasping state of the rotating clamp according to the recognition results of the visual recognition system, so that the rotating clamp can insert the grasped small elbow into the pipe mouth of the heat exchanger.

[0010] Furthermore, the displacement module includes a vertical cylinder and a horizontal cylinder, the horizontal cylinder is arranged on the mover of the multi-motor linear motor module, the horizontal cylinder is used to drive the vertical cylinder to displace along the second horizontal direction, and the vertical cylinder is used to drive the rotating clamp to displace along the vertical direction.

[0011] Furthermore, it also includes a fixed seat and a sliding seat slidably connected to the fixed seat, the horizontal cylinder is a sliding table cylinder, and the fixed seat is fixed on the sliding table of the horizontal cylinder;

[0012] The two ends of the vertical cylinder are respectively fixed on a sliding seat and a fixed seat, and the rotating clamp is fixed on the sliding seat.

[0013] Furthermore, the fixing seat is provided with a guide rod extending in a vertical direction, the sliding seat is provided with a through hole which is clearance-matched with the guide rod, and the guide rod is placed in the through hole.

[0014] Furthermore, it also includes a displacement mechanism, which is used to drive the insertion device to move so that the insertion device can be moved above the feeding mechanism, so that the rotating clamp can grab the small elbow from the feeding mechanism.

[0015] Furthermore, the displacement mechanism includes a frame and a movable beam, the frame is slidably connected to the movable beam, a motor is provided on the frame, and the motor drives the movable beam to displace along the second horizontal direction through a screw nut pair;

[0016] A vertical cylinder is provided on the moving beam, and the vertical cylinder is used to drive the insertion device to move in a vertical direction.

[0017] Furthermore, it also includes a camera linear motor module. The visual recognition system includes an industrial camera, and the industrial camera is arranged on a mover of the camera linear motor module. The mover of the camera linear motor module is used to drive the industrial camera to move along a first horizontal direction.

[0018] Furthermore, the visual recognition system includes an industrial camera, which is fixed on the base of the multi-motor linear motor module.

[0019] Furthermore, it also includes a horizontal cylinder mounting seat, which is arranged on the mover of the multi-motor linear motor module, and the horizontal cylinder is detachably fixed on the horizontal cylinder mounting seat.

[0020] Furthermore, the displacement mechanism also includes a movable beam slide, the movable beam slide is slidably connected to the movable beam, the vertical cylinder is used to drive the movable beam slide to displace in the vertical direction, and the insertion device is detachably fixed to the movable beam slide.

[0021] Beneficial effects:

[0022] The present invention discloses a device for inserting multiple small elbows in parallel in the two-device industry. The device performs image recognition on the heat exchanger nozzle of the condenser or evaporator through a visual recognition system, thereby determining the position information of the condenser or evaporator where the small elbow needs to be inserted. The controller controls the insertion device to perform actions based on the image recognition result of the visual recognition system, thereby ensuring that the small elbow can be accurately inserted into the heat exchanger nozzle of the condenser or evaporator.

[0023] By setting the small elbow insertion unit on the mover of the multi-motor linear motor module, the spacing between each small elbow insertion unit can be adjusted. This design can not only independently compensate with the position information given by the visual recognition system to achieve accurate insertion of the small elbow, but also expand the size compatibility range of the elbow insertion equipment, significantly improving its compatibility with the two-device products;

[0024] Through the coordinated action of the displacement module and the multi-motor linear motor module, the rotating jaw can adjust the linear displacement in three directions to change its spatial position. Combined with the rotating function of the rotating jaw itself, it can grab small elbows and insert them into the heat exchanger pipe openings at different positions and angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 The present invention discloses a structure diagram of a device for simultaneously inserting multiple small elbows in parallel in the two-device industry. Figure 1 ;

[0027] Figure 2 The present invention discloses a structure diagram of a device for simultaneously inserting multiple small elbows in parallel in the two-device industry. Figure 2 ;

[0028] Figure 3 It is a side view of a device for simultaneously inserting multiple small elbows in parallel in the two-device industry disclosed by the present invention;

[0029] Figure 4 It is a structural schematic diagram of an insertion device for a small elbow multi-head simultaneous parallel insertion device in the two-device industry disclosed by the present invention;

[0030] Figure 5 It is a front view of an insertion device for a small elbow multi-head simultaneous parallel insertion device in the two-device industry disclosed by the present invention;

[0031] Figure 6 for Figure 5 AA section view;

[0032] Figure 7 It is a side view of an insertion device for a small elbow multi-head simultaneous parallel insertion device in the two-device industry disclosed by the present invention;

[0033] Figure 8 for Figure 7 BB cross-sectional view;

[0034] Fig. 9 It is a structural schematic diagram of a device for simultaneously inserting multiple small elbows in parallel in the two-device industry disclosed by the present invention and arranged on a cabinet;

[0035] Fig.10 The present invention is a schematic structural diagram of a small elbow disclosed in the present invention.

[0036] In the figure:

[0037] 1. Multi-motor linear motor module;

[0038] 2. Rotating jaws;

[0039] 3. Fixed seat;

[0040] 4. Sliding seat;

[0041] 5. Guide rod;

[0042] 6. Horizontal cylinder mounting seat;

[0043] 7. Framework;

[0044] 8. Moving beam;

[0045] 9. Vertical cylinder;

[0046] 10. Camera linear motor module;

[0047] 11. Motor;

[0048] 12. Industrial cameras;

[0049] 13. Moving beam slide;

[0050] 14. Vertical cylinder;

[0051] 15. Horizontal cylinder;

[0052] 16. Screw nut pair;

[0053] 17. Cabinet;

[0054] 18. Movers;

[0055] C. Small elbow. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Example 1

[0058] This embodiment provides a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, such as Figure 1 As shown, it includes: a visual recognition system and an insertion device, wherein the insertion device includes a multi-motor linear motor module 1 and a plurality of small elbow insertion units;

[0059] In this embodiment, the multi-motor linear motor module 1 includes a base, a stator, four movers 18 and four slides, the base is fixed with a stator and a guide rail arranged along the extension direction of the base, the guide rail is slidably connected with a slider, the slide is fixed with a mover and a slider, the mover is arranged opposite to the stator, when the mover is energized, the mover drives the slide to move along the guide rail, and the small elbow insertion unit is fixed on the slide of the multi-motor linear motor module 1;

[0060] The small elbow insertion unit includes a rotating clamp 2 and a displacement module. The rotating clamp 2 adopts an electric servo clamp, which can set the opening size and clamping force, and can rotate 360 ​​degrees without dead angles. The clamping component of the rotating clamp 2 is a profiling part of the small elbow to ensure that Fig.10 The small elbow C shown can be stably clamped, the displacement module is arranged on the mover of the multi-motor linear motor module 1, and the rotating clamp 2 is fixed on the displacement module;

[0061] The mover is used to drive the displacement module to move along the first horizontal direction, and the displacement module is used to drive the rotating clamp 2 to move along the second horizontal direction and the vertical direction, and the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other;

[0062] The controller is connected to the visual recognition system and the insertion device (it can be connected by cable or wirelessly), and is used to control the motion state of the mover of the multi-motor linear motor module 1 and the displacement module and the grasping state of the rotating clamp 2 according to the recognition result of the visual recognition system, so that the rotating clamp 2 inserts the grasped small elbow C into the pipe mouth of the heat exchanger;

[0063] A small elbow multi-head simultaneous parallel insertion device provided in this embodiment, through the visual recognition system to perform image recognition on the heat exchanger nozzles of the condenser or evaporator, thereby determining the position information of the heat exchanger nozzles where small elbows need to be inserted on the condenser or evaporator. The controller controls the insertion device to perform actions according to the image recognition results of the visual recognition system, ensuring that the small elbows can be accurately inserted into the heat exchanger nozzles of the condenser or evaporator;

[0064] By arranging the small elbow insertion units on the movers of the multi-mover linear motor module 1, the spacing between the small elbow insertion units can be adjusted, which can not only perform independent compensation according to the position information given by the visual recognition system to achieve the accurate insertion of the small elbows, but also expand the size compatibility range of the elbow insertion equipment, significantly improving its compatibility with two-device products;

[0065] Through the coordinated action of the displacement module and the multi-mover linear motor module 1, the rotary gripper 2 can be linearly displaced and adjusted in three directions to change its spatial position. Combining with the rotation function of the rotary gripper 2 itself, it can grab the small elbows and insert them into the heat exchanger nozzles at different positions and different angles.

[0066] In a specific embodiment, as Figures 4 to 8 shown, the displacement module includes a vertical cylinder 14 and a horizontal cylinder 15. The cylinder body of the horizontal cylinder 15 is fixed on the slide of the multi-mover linear motor module 1. The horizontal cylinder 15 is used to drive the vertical cylinder 14 to displace along the second horizontal direction, and the vertical cylinder 14 is used to drive the rotary gripper 2 to displace along the vertical direction;

[0067] In this embodiment, the vertical cylinder 14 is preferably a pen-shaped cylinder, which is small in volume and light in weight, and can reduce the load of the horizontal cylinder 15.

[0068] In a specific embodiment, as Figures 4 to 8 shown, it further includes a fixed seat 3 and a sliding seat 4 slidably connected to the fixed seat 3 (in this embodiment, the fixed seat 3 is provided with a guide rail, and the sliding seat 4 is provided with a corresponding slider). The horizontal cylinder 15 is a slide table cylinder, and the fixed seat 3 is fixed on the telescopic rod of the horizontal cylinder 15;

[0069] Both ends of the vertical cylinder 14 are respectively fixed on the sliding seat 4 and the fixed seat 3. In this embodiment, the cylinder body of the vertical cylinder 14 is fixed on the sliding seat 4, the telescopic rod of the vertical cylinder 14 is fixed on the fixed seat 3, and the rotary gripper 2 is fixed on the sliding seat 4 by bolts;

[0070] The slide table cylinder has high precision and high stiffness, can carry the vertical cylinder 14 and the rotary gripper 2, and ensures the action precision.

[0071] In a specific embodiment, as Figure 4 and Figure 8 As shown, the fixing seat 3 is provided with a guide rod 5 extending in the vertical direction, the sliding seat 4 is provided with a through hole which is clearance-matched with the guide rod 5, and the guide rod 5 is placed in the through hole;

[0072] The vertical cylinder 14 drives the slide seat 4 to move relative to the fixed seat 3. At this time, the guide rod 5 slides along the through hole to play a guiding role and improve the movement accuracy.

[0073] In a specific embodiment, a displacement mechanism is further included, and the displacement mechanism is used to drive the insertion device to move so that the insertion device can be moved above the feeding mechanism, so that the rotating clamp 2 can grab the small elbow from the feeding mechanism;

[0074] By configuring the displacement mechanism, the range of motion of the rotating clamp 2 is expanded, so that the area where the feeding mechanism can be arranged on the production line can be correspondingly expanded, which is convenient for optimizing the overall layout of the production line. At the same time, this design makes it unnecessary to consider moving the drive components of the insertion device itself above the feeding mechanism, so it is possible to select drive components with shorter stroke and higher precision (multi-motor linear motor module 1, vertical cylinder 14 and horizontal cylinder 15), thereby improving the insertion accuracy of the small elbow.

[0075] In a specific embodiment, Figures 1 to 3 As shown, the displacement mechanism includes a frame 7 and a movable beam 8, the frame 7 is slidably connected with the movable beam 8 (in this embodiment, a guide rail is provided on the frame 7, and a corresponding slider is provided on the movable beam 8), and a motor 11 is fixed on the frame 7, and the motor 11 drives the movable beam 8 to displace along the second horizontal direction through a screw nut pair 16;

[0076] In this embodiment, the screw of the screw nut pair 16 is rotatably arranged on the frame 7 through a bearing seat, and the screw nut of the screw nut pair 16 is fixed on the moving beam 8;

[0077] A vertical cylinder 9 is fixedly provided on the movable beam 8 (the cylinder body is fixed on the movable beam 8 ), and the vertical cylinder 9 is used to drive the insertion device to move in the vertical direction.

[0078] In a specific embodiment, Figure 2 As shown, it also includes a camera linear motor module 10, the industrial camera 12 is arranged on the mover of the camera linear motor module 10, and the mover of the camera linear motor module 10 is used to drive the industrial camera 12 to move along the first horizontal direction. In this embodiment, the base of the camera linear motor module 10 is fixed on the frame 7;

[0079] The structure of the camera linear motor module 10 is similar to that of the multi-motor linear motor module 1, except that it is a single-motor linear motor module, and the industrial camera 12 is fixed on the slide of the camera linear motor module 10;

[0080] The industrial camera 12 adopts flying shooting technology. The camera linear motor module 10 drives the industrial camera 12 to move without stopping along the first horizontal direction, take pictures of the condenser or evaporator, obtain the image of the condenser or evaporator, analyze the image, and obtain the coordinate value of the heat exchanger pipe mouth of the condenser or evaporator. The controller controls the insertion device to perform the small elbow insertion operation based on the coordinate value. The four small elbow insertion units clamp the small elbow at the same time, and rotate (realized by rotating the clamp 2) and change the pitch (realized by the multi-motor linear motor module 1) under the control of the controller, so as to realize the accurate insertion of the heat exchanger pipe mouths with different spacing and angles on the condenser or evaporator.

[0081] In a specific embodiment, Figure 4 As shown, it also includes a horizontal cylinder mounting seat 6, which is fixed on the slide table of the multi-motor linear motor module 1 by bolts, and the horizontal cylinder 15 is detachably fixed on the horizontal cylinder mounting seat 6 by bolts;

[0082] The small elbow insertion unit installed on the horizontal cylinder mounting seat 6 can be disassembled and assembled as a whole, which is convenient for maintenance personnel to perform maintenance and replacement.

[0083] In a specific embodiment, Figure 3 As shown, the displacement mechanism also includes a movable beam slide 13, and the movable beam slide 13 is slidably connected with the movable beam 8 (in this embodiment, the movable beam 8 is provided with a guide rail, and the movable beam slide 13 is provided with a corresponding slider), the telescopic rod of the vertical cylinder 9 is fixedly connected with the movable beam slide 13, and is used to drive the movable beam slide 13 to move in the vertical direction, and the insertion device is detachably fixed to the movable beam slide 13 by bolts. In this embodiment, the base of the multi-motor linear motor module 1 is fixedly arranged on the movable beam slide 13;

[0084] The insertion device installed on the movable beam slide 13 can be disassembled and assembled as a whole, which is convenient for maintenance personnel to perform maintenance and replacement.

[0085] In a specific embodiment, Fig. 9 As shown, a cabinet 17 is also included, and the frame 7 is fixed on the top of the cabinet 17. The cabinet 17 is used to accommodate the controller and electrical components.

[0086] Example 2

[0087] This embodiment provides a device for simultaneously inserting multiple small elbows in parallel in the two-device industry. The main structure of this embodiment is the same as that of embodiment 1. The difference between this embodiment and embodiment 1 is as follows:

[0088] In Example 1, a camera linear motor module 10 is also included, and the visual recognition system includes an industrial camera 12. The industrial camera 12 is set on the mover of the camera linear motor module 10, and the mover of the camera linear motor module 10 is used to drive the industrial camera 12 to move along the first horizontal direction.

[0089] In this embodiment, the visual recognition system includes an industrial camera 12, and the industrial camera 12 is fixed on the base of the multi-motor linear motor module 1;

[0090] Compared with Example 1, this embodiment provides a device for simultaneous parallel insertion of multiple small elbows in the two-device industry, which saves a set of camera linear motor modules 10 and reduces the installation space accordingly, has lower costs, and occupies less space. The disadvantage is that the industrial camera 12 is arranged together with the insertion device, and both taking pictures and inserting small elbows rely on the displacement mechanism. The load of the displacement mechanism becomes larger, the service life is shortened, and the movement accuracy is more likely to decrease after a period of use.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for inserting multiple small elbows in parallel in the two-device industry, characterized in that: include: A visual recognition system and an insertion device, wherein the insertion device comprises a multi-motor linear motor module (1) and a plurality of small elbow insertion units; The small elbow insertion unit comprises a rotating clamp (2) and a displacement module, wherein the displacement module is arranged on the mover of the multi-motor linear motor module (1), and the rotating clamp (2) is fixed on the displacement module; The mover is used to drive the displacement module to move along a first horizontal direction, and the displacement module is used to drive the rotating clamp (2) to move along a second horizontal direction and a vertical direction, and the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other; The controller is connected to the visual recognition system and the insertion device, and is used to control the motion state of the mover of the multi-motor linear motor module (1) and the displacement module and the grasping state of the rotating clamp (2) according to the recognition result of the visual recognition system, so that the rotating clamp (2) can insert the grasped small elbow into the pipe mouth of the heat exchanger.

2. According to claim 1, a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, characterized in that: The displacement module comprises a vertical cylinder (14) and a horizontal cylinder (15); the horizontal cylinder (15) is arranged on a mover of the multi-motor linear motor module (1); the horizontal cylinder (15) is used to drive the vertical cylinder (14) to displace along a second horizontal direction; and the vertical cylinder (14) is used to drive the rotating clamp (2) to displace along a vertical direction.

3. According to claim 2, a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, characterized in that: It also includes a fixed seat (3) and a sliding seat (4) slidably connected to the fixed seat (3); the horizontal cylinder (15) is a sliding table cylinder, and the fixed seat (3) is fixed on the sliding table of the horizontal cylinder (15); The two ends of the vertical cylinder (14) are respectively fixed on a sliding seat (4) and a fixed seat (3), and the rotating clamp (2) is fixed on the sliding seat (4).

4. According to claim 2, a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, characterized in that: The fixing seat (3) is provided with a guide rod (5) extending in a vertical direction, the sliding seat (4) is provided with a through hole which is clearance-matched with the guide rod (5), and the guide rod (5) is placed in the through hole.

5. According to claim 1, a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, characterized in that: It also comprises a displacement mechanism, which is used to drive the insertion device to move so that the insertion device can be moved above the feeding mechanism, so that the rotating clamp (2) can grab the small elbow from the feeding mechanism.

6. The device for simultaneously inserting multiple small elbows in parallel in the two-device industry according to claim 5 is characterized in that: The displacement mechanism comprises a frame (7) and a movable beam (8), wherein the frame (7) is slidably connected to the movable beam (8), and a motor (11) is provided on the frame (7), and the motor (11) drives the movable beam (8) to move along a second horizontal direction through a screw nut pair (16); The movable beam (8) is provided with a vertical cylinder (9), and the vertical cylinder (9) is used to drive the insertion device to move in a vertical direction.

7. According to claim 1, a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, characterized in that: It also includes a camera linear motor module (10), the visual recognition system includes an industrial camera (12), the industrial camera (12) is arranged on a mover of the camera linear motor module (10), and the mover of the camera linear motor module (10) is used to drive the industrial camera (12) to move along a first horizontal direction.

8. According to claim 1, a device for simultaneously inserting multiple small elbows in parallel in the two-device industry, characterized in that: The visual recognition system comprises an industrial camera (12), and the industrial camera (12) is fixed on the base of the multi-motor linear motor module (1).

9. The device for simultaneously inserting multiple small elbows in parallel in the two-device industry according to claim 2 is characterized in that: It also comprises a horizontal cylinder mounting seat (6), wherein the horizontal cylinder mounting seat (6) is arranged on the mover of the multi-motor linear motor module (1), and the horizontal cylinder (15) is detachably fixed on the horizontal cylinder mounting seat (6).

10. The device for simultaneously inserting multiple small elbows in parallel in the two-device industry according to claim 6, characterized in that: The displacement mechanism also includes a movable beam slide (13), the movable beam slide (13) is slidably connected to the movable beam (8), the vertical cylinder (9) is used to drive the movable beam slide (13) to move in the vertical direction, and the insertion device is detachably fixed on the movable beam slide (13).

Images