Intelligent steel needle leading-in device in refrigeration field
Through the intelligent introduction device of steel needles in the refrigeration field, the mechanical arm and pneumatic jaws are used to automatically align the fin positioning holes, and the automatic insertion and handling of fin steel needles is achieved, which solves the problems of high labor intensity and low efficiency in traditional production, and improves production efficiency and finished product quality.
Patent Information
- Application Number
- CN202422275312.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-07-18
- Estimated Expiration
- 2034-09-18
AI Technical Summary
In the production of traditional heat exchangers, workers have high labor intensity, low efficiency, and inconvenient fin handling, resulting in inconsistent operation results and affecting the quality of finished products.
The intelligent introduction device of steel needles in the refrigeration field is adopted, including the end effector and the six-degree of freedom robotic arm. The fin positioning holes are aligned by the compression module and the pin module, and the steel needle is clamped with pneumatic jaws to achieve automatic insertion and handling.
It reduces the labor intensity of workers, improves production efficiency, ensures consistency of operation results, avoids fin damage, and ensures the quality of finished products.
Smart Images
Figure CN223117484U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of production and processing of air conditioner heat exchangers, in particular to an intelligent steel needle guiding device in the refrigeration field. Background Art
[0002] As a key component of an air conditioner system, the heat exchanger generally includes heat exchange pipes and fins arranged on the heat exchange pipes. In the production of traditional heat exchangers, the stamping-molded fins are placed on a rack and sorted into stacks. After inserting auxiliary steel needles into the whole stack of fins, workers carry the whole stack of fins to the storage area. Then, the whole stack of fins is transported to a tube-piercing machine for tube-piercing operation. During the manual handling process, the labor intensity of workers is relatively high, and the efficiency is relatively low. The uneven levels of on-site workers will lead to uncontrollable consistency of operation results, and the fins may be damaged in appearance, affecting the quality of the finished heat exchanger. Summary of the Invention
[0003] The utility model provides an intelligent steel needle guiding device in the refrigeration field to reduce the labor intensity of workers, improve production efficiency, and ensure controllable operation results.
[0004] To achieve the above object, the technical solution of the utility model is as follows:
[0005] An intelligent steel needle guiding device in the refrigeration field includes: an end effector and a robotic arm. The end effector includes a bracket, a pressing module, and a needle inserting module. The bracket is connected to the end of the robotic arm. The pressing module and the needle inserting module are arranged on the bracket. The pressing module is used to press the whole stack of fins.
[0006] The needle inserting module includes a vertical displacement device of the needle inserting module and relatively arranged upper and lower clamping mechanisms. The vertical displacement device of the needle inserting module and the lower clamping mechanism are arranged on the bracket. The upper clamping mechanism is installed on the vertical displacement device of the needle inserting module. The vertical displacement device of the needle inserting module can drive the upper clamping mechanism to approach or move away from the lower clamping mechanism. The maximum distance between the upper and lower clamping mechanisms when they move away from each other is not less than the height of the whole stack of fins.
[0007] Further, the pressing module includes a pressing head and a vertical displacement device of the pressing module. The vertical displacement device of the pressing module is arranged on the bracket. The pressing head is installed on the vertical displacement device of the pressing module. The stroke direction of the vertical displacement device of the pressing module is parallel to the stroke direction of the vertical displacement device of the needle inserting module.
[0008] Further, the robotic arm is a six-degree-of-freedom robotic arm.
[0009] Further, it further includes an industrial camera, and the industrial camera is arranged on the bracket.
[0010] Further, it further includes a drag chain, one end of the drag chain is arranged on the bracket, and the other end of the drag chain is arranged on the vertical displacement device of the pin module.
[0011] Further, both the upper clamping mechanism and the lower clamping mechanism are pneumatic grippers.
[0012] Beneficial effects:
[0013] A steel needle intelligent insertion device in the refrigeration field provided by the present utility model drives the end effector to move through a robotic arm, and drives the upper clamping mechanism to vertically displace through the vertical displacement device of the pin module, so that the upper clamping mechanism clamping the steel needle can insert the auxiliary steel needle into the stack of fins. The surfaces of the fins are uneven, and after multiple fins are stacked into a stack, the positioning holes on the fins are not easy to align. By pressing the entire stack of fins with the pressing module, the positioning holes of the entire stack of fins are aligned, ensuring that the process of inserting the auxiliary steel needle into the fins by the pin module can proceed smoothly;
[0014] After the auxiliary steel needle is successfully inserted into the fins, the upper clamping mechanism and the lower clamping mechanism respectively clamp both ends of the auxiliary steel needle inserted into the fins, and carry the entire stack of fins under the drive of the robotic arm. This reduces the labor intensity of workers, improves the efficiency of production operations, changes the handling operation from manual to automated, ensures the consistency of operation results, and when transporting the entire stack of fins, supports the entire stack of fins by clamping the auxiliary steel needle, without direct contact with the fins, effectively avoiding damage to the fins, thereby ensuring the quality of the finished heat exchanger. Description of the drawings
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0016] Figure 1 It is a schematic structural diagram of a steel needle intelligent insertion device in the refrigeration field disclosed by the present utility model;
[0017] Figure 2 It is a side view of a steel needle intelligent insertion device in the refrigeration field disclosed by the present utility model;
[0018] Figure 3 It is a schematic structural diagram of the end effector of a steel needle intelligent insertion device in the refrigeration field disclosed by the present utility model Figure 1 ;
[0019] Figure 4 It is a schematic structural diagram of the end effector of a steel needle intelligent insertion device in the refrigeration field disclosed by the present utility model Figure 2;
[0020] Figure 5 This is a side view of the end effector of an intelligent steel needle insertion device in the refrigeration field disclosed by the present utility model;
[0021] Figure 6 This is a schematic diagram after the auxiliary steel needle is inserted into the whole stack of fins disclosed by the present utility model.
[0022] In the figure:
[0023] 1. Manipulator; 2. Bracket; 3. Pressing head; 4. Vertical displacement device of the pressing module; 5. Upper clamping mechanism; 6. Vertical displacement device of the needle insertion module; 7. Lower clamping mechanism; 8. Industrial camera; 9. Drag chain; 10. Flange; 11. Protection sleeve; A. Auxiliary steel needle; B. Whole stack of fins. Specific implementation manners
[0024] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0025] This embodiment provides an intelligent steel needle insertion device in the refrigeration field. As shown in Figure 1 and Figure 2 , it includes an end effector and a robotic arm 1. The end effector includes a bracket 2, a pressing module and a needle insertion module. The bracket 2 is connected to the end of the robotic arm 1. In this embodiment, as shown in Figure 4 , a flange 10 is fixed on the bracket 2, and the flange 10 is connected to the end of the robotic arm 1 by bolts. The pressing module and the needle insertion module are arranged on the bracket 2, and the pressing module is used to press the whole stack of fins B;
[0026] As shown in Figure 3 and Figure 5 , the needle insertion module includes a vertical displacement device 6 of the needle insertion module and an upper clamping mechanism 5 and a lower clamping mechanism 7 arranged oppositely. The vertical displacement device 6 of the needle insertion module and the lower clamping mechanism 7 are fixed on the bracket 2. The upper clamping mechanism 5 is installed on the vertical displacement device 6 of the needle insertion module. The vertical displacement device 6 of the needle insertion module can drive the upper clamping mechanism 5 to approach or move away from the lower clamping mechanism 7. The maximum distance between the upper clamping mechanism 5 and the lower clamping mechanism 7 when they move away from each other is not less than the height of the whole stack of fins B;
[0027] In this embodiment, the vertical displacement device 6 of the pin module is a rodless cylinder. The cylinder body of the rodless cylinder is fixed on the bracket 2, and the upper clamping mechanism 5 is fixed on the slider of the rodless cylinder. The height of the stack of fins B is determined by the number of fins included and the thickness of the fins used (depending on the specifications of the heat exchanger). A rodless cylinder with an appropriate stroke can be selected according to the height of the stack of fins B. Both the upper clamping mechanism 5 and the lower clamping mechanism 7 are pneumatic grippers;
[0028] A steel needle intelligent insertion device in the refrigeration field provided by this embodiment drives the end effector to move through the robotic arm 1, and drives the upper clamping mechanism 5 to move vertically through the vertical displacement device 6 of the pin module, so that the upper clamping mechanism 5 holding the steel needle can insert the auxiliary steel needle A into the stack of fins B. The surface of the fins is uneven. After multiple fins are stacked into a stack, the positioning holes on the fins are not easy to align. By pressing the stack of fins B with the pressing module, the positioning holes of the stack of fins B are aligned, ensuring that the process of inserting the auxiliary steel needle A into the stack of fins B by the pin module can proceed smoothly;
[0029] After the auxiliary steel needle A is successfully inserted into the stack of fins B, the upper clamping mechanism 5 and the lower clamping mechanism 7 respectively hold both ends of the auxiliary steel needle A inserted into the stack of fins B, and carry the stack of fins B under the drive of the robotic arm 1. This reduces the labor intensity of workers, improves the efficiency of production operations, changes the handling operation from manual to automated, ensures the consistency of operation results, and realizes the support of the stack of fins B by clamping the auxiliary steel needle A during the transfer of the stack of fins B, without direct contact with the fins, effectively avoiding damage to the fins, thus ensuring the quality of the finished heat exchanger.
[0030] In a specific embodiment, the pressing module includes a pressing head 3 and a vertical displacement device 4 of the pressing module. The vertical displacement device 4 of the pressing module is fixed on the bracket 2, the pressing head 3 is installed on the vertical displacement device 4 of the pressing module, and the stroke direction of the vertical displacement device 4 of the pressing module is parallel to the stroke direction of the vertical displacement device 6 of the pin module;
[0031] In this embodiment, the vertical displacement device 4 of the pressing module is a rod cylinder. The cylinder body of the rod cylinder is fixed on the bracket 2, and the pressing head 3 is fixed on the piston rod of the rod cylinder.
[0032] In a specific embodiment, the robotic arm 1 is a six-degree-of-freedom robotic arm. The six-degree-of-freedom robotic arm has higher flexibility, can move and position quickly and accurately, has a wider working range, and can easily cover a larger working space.
[0033] In a specific embodiment, an industrial camera 8 is further included. The industrial camera 8 is fixed on the bracket 2. The industrial camera can adapt to complex industrial environments, work stably for a long time, has high resolution and fast transmission speed, and can accurately identify and locate objects, ensuring that the pin insertion module can accurately insert the auxiliary steel pins A into the stack of fins B.
[0034] In a specific embodiment, a drag chain 9 is further included. One end of the drag chain 9 is fixed on the bracket 2, and the other end of the drag chain 9 is fixed on the slider of the vertical displacement device 6 of the pin insertion module. The drag chain 9 can move reciprocally with the slider. The drag chain 9 is used to protect the air pipes and cables connecting the pin insertion module.
[0035] In this embodiment, a protective sleeve 11 provided on the robotic arm 1 is further included. The protective sleeve 11 is provided on the robotic arm 1. The air pipes connecting the pin insertion module and the pressing module and the cables connecting the pin insertion module, the pressing module and the industrial camera 8 are all placed inside the protective sleeve 11, and the air pipes and cables are protected by the protective sleeve 11.
[0036] In actual production, after the upper clamping mechanism 5 and the lower clamping mechanism 7 clamp the auxiliary steel pins A, the robotic arm 1 drives the bracket 2 to move, aligning the auxiliary steel pins A with the positioning holes of the fin at the top of the stack of fins. The vertical displacement device 4 of the pressing module drives the pressing head 3 to press the stack of fins B, aligning the positioning holes on each fin. The lower clamping mechanism 7 releases the auxiliary steel pins A. The vertical displacement device 6 of the pin insertion module drives the upper clamping mechanism 5 to move downward, inserting the auxiliary steel pins A into the positioning holes of the fins. After the auxiliary steel pins A penetrate through the stack of fins B, the upper clamping mechanism 5 releases the auxiliary steel pins A. The vertical displacement device 6 of the pin insertion module drives the upper clamping mechanism 5 to move away from the lower clamping mechanism 7. The robotic arm 1 drives the bracket 2 to move, aligning the upper clamping mechanism 5 and the lower clamping mechanism 7 with both ends of the auxiliary steel pins A and clamping them. At this time, the robotic arm 1 drives the bracket 2 to move to achieve the handling of the stack of fins B.
[0037] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and 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. An intelligent steel needle introduction device in the field of refrigeration, characterized in that, Comprising: An end effector and a robotic arm (1), the end effector comprising a bracket (2), a pressing module, and a pin module, the bracket (2) being connected to the end of the robotic arm (1), the pressing module and the pin module being disposed on the bracket (2), the pressing module being used for pressing a stack of fins; The pin module comprises a pin module vertical displacement device (6) and oppositely arranged upper clamping mechanism (5) and lower clamping mechanism (7), the pin module vertical displacement device (6) and the lower clamping mechanism (7) being disposed on the bracket (2), the upper clamping mechanism (5) being mounted on the pin module vertical displacement device (6), the pin module vertical displacement device (6) being capable of driving the upper clamping mechanism (5) to approach or move away from the lower clamping mechanism (7), the maximum distance between the upper clamping mechanism (5) and the lower clamping mechanism (7) when they move away from each other being not less than the height of a stack of fins.
2. The intelligent steel needle introduction device in the refrigeration field according to claim 1, characterized in that, The pressing module comprises a pressing head (3) and a pressing module vertical displacement device (4), the pressing module vertical displacement device (4) being disposed on the bracket (2), the pressing head (3) being mounted on the pressing module vertical displacement device (4), the stroke direction of the pressing module vertical displacement device (4) being parallel to the stroke direction of the pin module vertical displacement device (6).
3. The intelligent steel needle introduction device in the refrigeration field according to claim 1, wherein, The robotic arm (1) is a six-degree-of-freedom robotic arm.
4. The intelligent steel needle guiding device in the refrigeration field according to claim 1, characterized in that It further comprises an industrial camera (8), the industrial camera (8) being disposed on the bracket (2).
5. An intelligent steel needle introduction device in the refrigeration field according to claim 1, characterized in that, It further comprises a drag chain (9), one end of the drag chain (9) being disposed on the bracket (2), and the other end of the drag chain (9) being disposed on the pin module vertical displacement device (6).
6. The intelligent steel needle introduction device in the refrigeration field according to claim 1, characterized in that, Both the upper clamping mechanism (5) and the lower clamping mechanism (7) are pneumatic grippers.