Clamp device, robot, automatic pipe inserting equipment and air conditioner

Abstract

The utility model provides a clamp device, a robot, automatic pipe inserting equipment and an air conditioner. The clamping jaw assembly comprises a connecting piece and a clamping jaw, the connecting piece is connected with the base plate, and the clamping jaw is movably arranged on the connecting piece; the driving part is arranged on the substrate; the buffer assembly is arranged between the base plate and the clamping jaw, the first end of the buffer assembly is connected with the driving part, and the second end of the buffer assembly is connected with the clamping jaw, so that under the buffer effect, a connecting ring of a to-be-inserted pipe can be completely attached to a cup opening (to-be-inserted opening) after pipe insertion is completed, and the situations that the pipe is not inserted in place and the inserted pipe is inclined are avoided; the welding effect of the connecting ring is ensured, and the product quality and the market competitiveness are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamps, and in particular to a clamp device, a robot, automatic intubation equipment and an air conditioner. Background Art

[0002] At present, the semicircular tube insertion process of the two devices (evaporator and condenser) in the related technology mostly adopts the manual insertion method, that is, the U-tube and Y-tube need to be manually inserted separately. However, manual insertion is prone to the tube being skewed or not inserted into place, resulting in the welding ring of the U-tube or Y-tube not fitting with the cup mouth, causing quality problems in the subsequent welding and reducing product quality. Utility Model Content

[0003] The embodiments of the present utility model are intended to solve at least one of the technical problems existing in the prior art.

[0004] To this end, a first aspect of an embodiment of the present invention provides a clamp device.

[0005] A second aspect of the embodiments of the present invention provides a robot.

[0006] A third aspect of the embodiments of the present invention provides an automatic intubation device.

[0007] A fourth aspect of the embodiments of the present invention provides an air conditioner.

[0008] In view of this, according to the first aspect of an embodiment of the present utility model, a clamp device is provided, which includes: a base plate; a clamping jaw assembly, the clamping jaw assembly includes a connecting member and a clamping jaw, the connecting member is connected to the base plate, and the clamping jaw is movably provided on the connecting member; a driving member, provided on the base plate; a buffer assembly, provided between the base plate and the clamping jaw, the first end of the buffer assembly is connected to the driving member, and the second end of the buffer assembly is connected to the clamping jaw.

[0009] The clamp device provided by the embodiment of the present invention includes a base plate, a clamping jaw assembly, a driving member and a buffer assembly. Specifically, the connecting member is connected to the base plate, the clamping jaw is arranged on the connecting member, and the clamping jaw can move relative to the connecting member.

[0010] One end of the buffer assembly is connected to the driver, and the other end is connected to the clamping jaw. It is understood that the clamping jaw is used to grasp the tube to be inserted. Specifically, after the clamping jaw grasps the tube to be inserted, the driver drives the buffer assembly to move the clamping jaw away from the base relative to the connecting member, thereby inserting the grasped tube into the insertion port of the insertion device.

[0011] It is understandable that the relevant technology also adopts the method of automated insertion to install the two semicircular tubes, and generally sets up a 2D vision system to collect the coordinates of the position of the insertion port, that is, the depth coordinates cannot be collected, resulting in that after the insertion, the connecting ring of the tube to be inserted cannot be fully fitted with the cup mouth of the condenser, affecting the quality of subsequent welding.

[0012] Since the driving member and the clamping jaw are connected by a buffer assembly, that is, a buffer assembly is arranged between the driving member and the clamping jaw, so that the buffer assembly can play a buffering role during insertion, that is, automatic insertion is performed by using a flexible insertion tube. Therefore, under the buffering effect, even if the surface of the insertion port is uneven, the connecting ring to be inserted can be completely fitted with the cup mouth (to be inserted) after the insertion is completed, avoiding the situation where the tube is not inserted into place and is skewed, ensuring the welding effect of the connecting ring, and improving product quality and market competitiveness.

[0013] Optionally, the driving member includes a motor or a cylinder.

[0014] In addition, the clamp device provided by the above technical solution of the utility model also has the following additional technical features:

[0015] In some technical solutions, optionally, the buffer assembly includes a push-pull member and an elastic member, wherein one end of the push-pull member is connected to the driving member, and the other end of the push-pull member is connected to the clamping claw, and the elastic member is provided on the push-pull member, and the elastic member is deformed based on the movement of the push-pull member relative to the clamping claw.

[0016] In this technical solution, the buffer assembly is defined as including a push-pull member and an elastic member. Specifically, the two ends of the push-pull member are respectively connected to the driving member and the clamping claw, and the elastic member is arranged on the push-pull member. That is to say, after the clamping claw clamps the tube to be inserted, under the drive of the driving member, the push-pull member drives the clamping claw to move away from the base plate relative to the connecting member, so as to insert the clamped tube to be inserted into the socket to be inserted.

[0017] It can be understood that when the clamping jaws reach the surface where the socket is located, the driving member continues to drive the push-pull member to move away from the substrate, and the clamping jaws no longer continue to move, thereby generating relative movement between the push-pull member and the clamping jaws. In this process, due to the deformation of the elastic member, it can play a buffering role between the clamping jaws and the driving member, realizing flexible insertion. Even if the surface where the socket is to be inserted is uneven, the connecting ring to be inserted can be completely fitted with the cup mouth (to be inserted) after the insertion is completed, avoiding the situation where the pipe is not inserted into place and the insertion is skewed, ensuring the welding effect of the connecting ring and improving product quality.

[0018] Optionally, the elastic member includes a spring or a compression spring.

[0019] In some technical solutions, optionally, the push-pull member includes a push-pull shaft and a push-pull block, wherein the push-pull shaft is connected to the driving member, the elastic member is sleeved on the outside of the push-pull shaft, the push-pull block is movably connected to the push-pull shaft, and is located at the end of the elastic member facing away from the substrate, the push-pull block is connected to the clamping jaw, and based on the movement of the push-pull shaft relative to the clamping jaw, the push-pull block compresses the elastic member.

[0020] In this technical solution, the push-pull member is defined to include a push-pull shaft and a push-pull block. Specifically, one end of the push-pull shaft is connected to the driving member, the push-pull block is movably arranged on the push-pull shaft, and the push-pull block is connected to the clamping claw.

[0021] Specifically, after the clamping jaws clamp the tube to be inserted, under the drive of the driving member, the push-pull shaft drives the clamping jaw to move in the direction away from the substrate relative to the connecting member through the push-pull block. When the clamping jaw reaches the surface where the insertion port is located, the driving member continues to drive the push-pull shaft to move in the direction away from the substrate. At this time, since the clamping jaws no longer move, the push-pull block no longer moves forward, so that the end of the push-pull shaft away from the substrate extends out of the push-pull block, that is, the push-pull block and the push-pull shaft produce relative movement. In this process, the push-pull block compresses the elastic member, thereby playing a buffering role between the clamping jaw and the driving member, thereby realizing flexible insertion.

[0022] In some technical solutions, optionally, the buffer assembly further includes a limiting member, which is provided at an end of the push-pull shaft facing away from the base plate, and the push-pull block is located between the elastic member and the limiting member.

[0023] This technical solution specifies that the buffer assembly also includes a stopper. Specifically, the stopper is positioned at the end of the push-pull shaft away from the base plate, and the push-pull block is positioned between the elastic member and the stopper to prevent the push-pull shaft from separating from the push-pull block during movement. It is understood that when the push-pull shaft moves in the reverse direction, i.e., toward the base plate, the stopper cooperates with the push-pull block to limit the push-pull shaft.

[0024] Optionally, the limiting member includes a gasket.

[0025] In some technical solutions, optionally, the clamping claw includes a claw body and a push plate, wherein the claw body is movably provided on the connecting member, the push plate is provided on the claw body and forms an accommodating space with the claw body, the push-pull block is located in the accommodating space, and the push plate is connected to the push-pull block.

[0026] In this technical solution, the clamping jaw includes a jaw body and a push plate. Specifically, the jaw body is provided on a connecting member and is capable of moving relative to the connecting member. The push plate is provided on the jaw body, and the push-pull block is connected to the push plate. In other words, the push-pull block is connected to the jaw body via the push plate. Thus, after the clamping jaw grasps the tube to be inserted, the push-pull shaft, driven by the driving member, drives the jaw body to move away from the base plate relative to the connecting member via the push-pull block and the push plate. When the clamping jaw reaches the surface where the insertion port is located, the driving member continues to drive the push-pull shaft to move away from the base plate. At this time, since the jaw body no longer moves, the push-pull block and the push plate no longer move forward, thereby causing the end of the push-pull shaft away from the base plate to extend out of the push-pull block, that is, the push-pull block and the push-pull shaft generate relative movement. During this process, the push-pull block compresses the elastic member, thereby acting as a buffer between the clamping jaw and the driving member, thereby achieving flexible insertion.

[0027] The push plate and the claw body form a accommodating space, and the push-pull block is located in the accommodating space. That is, the push-pull block is connected to the inner wall of the push plate, which is conducive to reducing the space occupied by the buffer component, avoiding interference between adjacent clamping jaw components, ensuring the smooth progress of automated intubation, and improving the reliability of the automatic intubation equipment.

[0028] In some technical solutions, optionally, the clamping jaw assembly further includes a first sliding portion and a second sliding portion, wherein the first sliding portion is provided on the connecting member, the second sliding portion is provided on the clamping jaw, and the second sliding portion is slidably matched with the first sliding portion.

[0029] In this technical solution, it is defined that the clamping jaw assembly also includes a first sliding part and a second sliding part. Specifically, a first sliding part is provided on the connecting member, and a second sliding part is provided on the clamping jaw. The first sliding part and the second sliding part slide in cooperation. That is to say, when the driving member drives the clamping jaw to move relative to the connecting member through the buffer assembly, the second sliding part slides on the first sliding part, thereby limiting the movement trajectory of the clamping jaw, which is conducive to ensuring that the tube to be inserted can be accurately inserted into the socket to be inserted, thereby improving installation efficiency.

[0030] In some technical solutions, optionally, the first sliding part includes a first sliding rail, and the second sliding part includes a second sliding rail; or one of the first sliding part and the second sliding part is a sliding rail, and the other is a sliding block.

[0031] In this technical solution, specifically, the first sliding portion includes a first slide rail, the second sliding portion includes a second slide rail, and the first slide rail and the second slide rail are slidably engaged. Alternatively, the first sliding portion is a slide rail, and the second slide portion is a slider. Alternatively, the first sliding portion is a slider, and the second sliding portion is a slide rail. The slider and the slide rail are slidably engaged. Specific configurations can be made based on actual needs.

[0032] In some technical solutions, optionally, the clamping device further includes a limiting portion, which is provided at the end of the clamping jaw facing the substrate, and along the movement direction of the clamping jaw relative to the connecting member, at least a portion of the limiting portion is opposite to the first sliding portion.

[0033] In this technical solution, it is defined that the clamping device also includes a limiting portion. Specifically, the limiting portion is arranged at the end of the clamping jaw facing the substrate, and along the movement direction of the clamping jaw relative to the connecting member, at least part of the limiting portion is opposite to the first sliding portion, so that during the movement of the clamping jaw relative to the connecting member, the limiting portion can limit the clamping jaw, thereby preventing the clamping jaw from being separated from the connecting member due to excessive movement.

[0034] In some technical solutions, optionally, there are multiple jaw assemblies, and the multiple jaw assemblies are arranged at intervals; wherein the jaws of at least one jaw assembly are electric jaws; and / or the jaws of at least one jaw assembly are pneumatic jaws.

[0035] In this technical solution, the number of clamping jaw assemblies is limited to multiple. Specifically, multiple clamping jaw assemblies are arranged at intervals, so that the clamping device can clamp multiple tubes to be inserted at one time and insert multiple tubes to be inserted into the plug-in device at the same time, which is conducive to improving the efficiency of automated intubation and meeting the needs of automated production.

[0036] At least one of the jaws of the gripper assembly is an electric gripper. As will be understood, the electric gripper is used to grip a U-shaped tube. Because the gripper is electric, it can be deflected at three angles during insertion of the U-shaped tube: 0, 61.5, and 118.5 degrees. With a material deviation of approximately 0.2 degrees, the electric gripper can precisely control the angle, enabling insertion of the U-shaped tube at 0, 61.5, and 118.5 degrees.

[0037] At least one of the jaws of the gripper assembly is a pneumatic gripper. It is understood that the pneumatic gripper is used to grip a Y-shaped tube. Specifically, the Y-shaped tube is at a 0-degree angle and the incoming material deviation is 0.2 degrees. In other words, the clamping device can simultaneously grip both U-shaped and Y-shaped tubes for intubation, meeting the production needs of automatic intubation of two devices.

[0038] Optionally, the Y-tube is clamped by fixed pneumatic fingers (pneumatic grippers) and intubated, and the U-tube is clamped by rotatable electric fingers (electric grippers) and intubated.

[0039] Optionally, the electric gripper fingers (gripping fingers of electric gripper) and the air gripper fingers (gripping fingers of pneumatic gripper) are both designed with carbon steel contours, which can firmly clamp and protect the semicircular tube (to be intubated).

[0040] In some technical solutions, optionally, the clamping device further includes a vision system, and the vision system is disposed on the substrate.

[0041] In this technical solution, it is defined that the clamping device also includes a visual system. Specifically, the visual system is arranged on the substrate, which is used to collect the position coordinates of the port to be inserted and feed them back to the robot. After the clamping claws clamp the tube to be inserted, the robot compensates for the deviation according to the position coordinates of the port to be inserted, and controls the driving part to drive the clamping claws to move relative to the connecting part, so that the tube to be inserted can be accurately inserted into the port to avoid the situation of inserting in the wrong position, and is conducive to improving the efficiency of automated production and improving quality control effects.

[0042] Optionally, the vision system is a 2D vision system. Since a buffer component is set between the driving part and the clamping jaws, flexible intubation is achieved. Even if the vision system cannot collect the depth coordinates of the port to be inserted, the connecting ring to be inserted can be completely fitted with the cup mouth (port to be inserted) after the intubation is completed, thereby improving product quality while helping to reduce costs.

[0043] According to a second aspect of the present invention, a robot is provided, comprising a clamping device as provided by any of the above technical solutions, thereby possessing all the beneficial technical effects of the clamping device, which will not be described in detail here.

[0044] According to the third aspect of the present invention, an automatic intubation device is provided, comprising a clamp device or a robot as provided in any of the above technical solutions, and thus possessing all the beneficial technical effects of the clamp device or the robot, which will not be described in detail here.

[0045] According to the fourth aspect of the present invention, an air conditioner is provided, comprising: a plug-in unit to be inserted, the plug-in unit to be inserted is provided with a socket to be inserted; a pipe to be inserted, the pipe to be inserted is configured to be inserted into the socket to be inserted using an automatic pipe insertion device provided by any of the above technical solutions, thereby having all the beneficial technical effects of the automatic pipe insertion device, which will not be repeated here.

[0046] Additional aspects and advantages of the present invention will be given in the following description, and some will become obvious from the following description, or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 FIG1 shows one of the structural schematic diagrams of a clamp device according to an embodiment of the present utility model;

[0049] Figure 2 FIG2 shows a second structural schematic diagram of a clamp device according to an embodiment of the present utility model;

[0050] Figure 3FIG3 shows a third structural diagram of a clamp device according to an embodiment of the present utility model;

[0051] Figure 4 Shows one of the structural schematic diagrams of a clamping jaw assembly according to one embodiment of the present utility model;

[0052] Figure 5 FIG2 shows a second structural schematic diagram of a clamping jaw assembly according to an embodiment of the present utility model;

[0053] Figure 6 Shows one of the structural schematic diagrams of the positioning mechanism according to one embodiment of the utility model;

[0054] Figure 7 FIG2 shows a second structural diagram of a positioning mechanism according to an embodiment of the present utility model;

[0055] Figure 8 The third structural diagram of the positioning mechanism according to one embodiment of the present utility model is shown;

[0056] Figure 9 FIG1 shows one of the partial structural schematic diagrams of the automatic intubation device according to one embodiment of the present utility model;

[0057] Figure 10 FIG2 shows a second partial structural diagram of an automatic intubation device according to an embodiment of the present utility model;

[0058] Figure 11 FIG3 shows a third partial structural diagram of an automatic intubation device according to an embodiment of the present utility model;

[0059] Figure 12 A schematic structural diagram of a material guide assembly according to an embodiment of the present utility model is shown;

[0060] Figure 13 A structural schematic diagram of a material shifting member according to an embodiment of the present utility model is shown;

[0061] Figure 14 A schematic structural diagram of a material taking device according to an embodiment of the present utility model is shown;

[0062] Figure 15 A schematic structural diagram of a transfer assembly according to an embodiment of the present utility model is shown;

[0063] Figure 16 A schematic structural diagram of a cutting assembly according to an embodiment of the present utility model is shown;

[0064] Figure 17 A partial structural schematic diagram of a cutting assembly according to an embodiment of the present utility model is shown;

[0065] Figure 18 A schematic structural diagram of a storage bin according to an embodiment of the present invention is shown;

[0066] Figure 19 FIG4 shows a partial structural diagram of an automatic intubation device according to an embodiment of the present utility model;

[0067] Figure 20 A structural schematic diagram of an automatic intubation device according to an embodiment of the present utility model is shown.

[0068] in, Figures 1 to 20 The corresponding relationship between the reference numerals and component names is as follows:

[0069] 100 clamping device, 110 base plate, 120 clamping jaw assembly, 121 connecting member, 122 clamping jaw, 123 electric clamping jaw, 124 pneumatic clamping jaw, 130 driving member, 140 buffer assembly, 141 push-pull member, 142 elastic member, 143 push-pull shaft, 144 push-pull block, 145 limit member, 146 clamp body, 147 push plate, 148 accommodating space, 150 first sliding part, 160 second sliding part, 170 limit member, 180 visual system, 200 robot, 300 automatic intubation equipment, 310 positioning mechanism, 311 frame, 312 accommodating bin, 313 pressure plate, 314 mounting column, 315 spring, 316 machine base, 317 frame, 318 first driving part, 319 second driving part, 320 transfer assembly, 321 bottom plate, 322 moving shaft, 323 limiting column, 324 guide rail, 330 receiving tray, 340 storage bin, 350 cutting assembly, 351 slide, 352 cutting trough, 353 feeding channel, 360 material guide assembly, 361 material guide channel, 362 working position, 370 material picking device, 371 grabbing part, 380 material shifting part, 400 to be inserted, 410 to be inserted, 500 to be inserted into the tube, 510 tube body, 520 connecting ring. DETAILED DESCRIPTION

[0070] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0071] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0072] Refer to the following Figures 1 to 20hereinafter, a clamp device 100, a robot 200, an automatic intubation apparatus 300, and an air conditioner are described according to some embodiments of the present invention.

[0073] In one embodiment according to the present application, Figure 1 、 Figure 2 and Figure 3 As shown, a clamping device 100 is proposed, which includes: a base plate 110; a jaw assembly 120, the jaw assembly 120 includes a connecting member 121 and a jaw 122, the connecting member 121 is connected to the base plate 110, and the jaw 122 is movably provided on the connecting member 121; a driving member 130, which is provided on the base plate 110; a buffer assembly 140, which is provided between the base plate 110 and the jaw 122, the first end of the buffer assembly 140 is connected to the driving member 130, and the second end of the buffer assembly 140 is connected to the jaw 122.

[0074] The clamp device 100 provided in an embodiment of the present invention includes a base plate 110, a clamping jaw assembly 120, a driving member 130 and a buffer assembly 140. Specifically, the connecting member 121 is connected to the base plate 110, the clamping jaw 122 is arranged on the connecting member 121, and the clamping jaw 122 can move relative to the connecting member 121.

[0075] One end of the buffer assembly 140 is connected to the driver 130, and the other end of the buffer assembly 140 is connected to the clamping jaw 122. It is understood that the clamping jaw 122 is used to grasp the tube 500 to be inserted. Specifically, after the clamping jaw 122 grasps the tube 500 to be inserted, the driver 130 drives the buffer assembly 140 to move the clamping jaw 122 relative to the connecting member 121 away from the base plate 110, thereby inserting the grasped tube 500 to be inserted into the insertion opening 410 of the inserter 400.

[0076] It is understandable that the relevant technology also adopts the method of automated insertion to install the two semicircular tubes, and generally sets up a 2D vision system 180 to collect the position coordinates of the insertion port 410, that is, the depth coordinates cannot be collected, resulting in that after insertion, the connecting ring 520 of the tube 500 to be inserted cannot be completely fitted with the cup mouth of the condenser, affecting the quality of subsequent welding.

[0077] Since the driving member 130 and the clamping jaw 122 are connected by the buffer component 140, that is, the buffer component 140 is arranged between the driving member 130 and the clamping jaw 122, so that the buffer component 140 can play a buffering role during intubation, that is, automatic intubation is performed by adopting a flexible intubation method. Therefore, under the buffering effect, even if the surface of the insertion port 410 is uneven, the connecting ring 520 of the tube 500 to be inserted can be completely fitted with the cup mouth (the insertion port 410) after the intubation is completed, avoiding the situation of not being inserted into place and the tube being skewed, ensuring the welding effect of the connecting ring 520, and improving product quality and market competitiveness.

[0078] Optionally, the driving member 130 includes a motor or a cylinder.

[0079] like Figure 1 、 Figure 2 and Figure 3 As shown, in some embodiments, optionally, the buffer assembly 140 includes a push-pull member 141 and an elastic member 142, wherein one end of the push-pull member 141 is connected to the driving member 130, and the other end of the push-pull member 141 is connected to the clamping jaw 122, and the elastic member 142 is provided on the push-pull member 141. Based on the movement of the push-pull member 141 relative to the clamping jaw 122, the elastic member 142 is deformed.

[0080] In this embodiment, the buffer assembly 140 is defined to include a push-pull member 141 and an elastic member 142. Specifically, the two ends of the push-pull member 141 are respectively connected to the driving member 130 and the clamping jaw 122, and the elastic member 142 is arranged on the push-pull member 141. That is to say, after the clamping jaw 122 clamps the tube to be inserted 500, under the drive of the driving member 130, the push-pull member 141 drives the clamping jaw 122 to move relative to the connecting member 121 in a direction away from the substrate 110, so as to insert the clamped tube to be inserted 500 into the insertion port 410 of the plug 400.

[0081] It can be understood that when the clamping jaw 122 reaches the surface where the socket 410 is located, the driving member 130 continues to drive the push-pull member 141 to move away from the substrate 110, and the clamping jaw 122 no longer continues to move, thereby causing relative movement between the push-pull member 141 and the clamping jaw 122. During this process, due to the deformation of the elastic member 142, it can play a buffering role between the clamping jaw 122 and the driving member 130, thereby realizing flexible insertion. Even if the surface where the socket 410 is located is uneven, the connecting ring 520 of the tube 500 to be inserted can be completely fitted with the cup mouth (the socket 410 to be inserted) after the insertion is completed, thereby avoiding the situation where the tube is not inserted into place and the insertion is skewed, ensuring the welding effect of the connecting ring 520, and improving product quality.

[0082] Optionally, the elastic member 142 includes a spring 315 or a compression spring.

[0083] like Figure 1 As shown, in some embodiments, optionally, the push-pull member 141 includes a push-pull shaft 143 and a push-pull block 144, wherein the push-pull shaft 143 is connected to the driving member 130, the elastic member 142 is sleeved on the outside of the push-pull shaft 143, the push-pull block 144 is movably connected to the push-pull shaft 143, and is located at the end of the elastic member 142 away from the substrate 110, the push-pull block 144 is connected to the clamping jaw 122, and based on the movement of the push-pull shaft 143 relative to the clamping jaw 122, the push-pull block 144 compresses the elastic member 142.

[0084] In this embodiment, the push-pull member 141 is defined to include a push-pull shaft 143 and a push-pull block 144 . Specifically, one end of the push-pull shaft 143 is connected to the driving member 130 , the push-pull block 144 is movably arranged on the push-pull shaft 143 , and the push-pull block 144 is connected to the clamping claw 122 .

[0085] Specifically, after the clamping jaws 122 clamp the tube to be inserted 500, under the drive of the driving member 130, the push-pull shaft 143 drives the clamping jaws 122 to move in the direction away from the base plate 110 relative to the connecting member 121 through the push-pull block 144. When the clamping jaws 122 reach the surface where the insertion port 410 is located, the driving member 130 continues to drive the push-pull shaft 143 to move in the direction away from the base plate 110. At this time, since the clamping jaws 122 no longer move, the push-pull block 144 no longer moves forward, so that the end of the push-pull shaft 143 away from the base plate 110 extends out of the push-pull block 144, that is, the push-pull block 144 and the push-pull shaft 143 produce relative movement. In this process, the push-pull block 144 compresses the elastic member 142, thereby playing a buffering role between the clamping jaws 122 and the driving member 130, thereby realizing flexible intubation.

[0086] like Figure 1 As shown, in some embodiments, optionally, the buffer assembly 140 further includes a limiter 145 , which is disposed at one end of the push-pull shaft 143 facing away from the base plate 110 , and the push-pull block 144 is located between the elastic member 142 and the limiter 145 .

[0087] In this embodiment, the buffer assembly 140 is further defined as including a stopper 145. Specifically, the stopper 145 is disposed at the end of the push-pull shaft 143 away from the base plate 110, and the push-pull block 144 is located between the elastic member 142 and the stopper 145, thereby preventing the push-pull shaft 143 from separating from the push-pull block 144 during movement. It is understood that when the push-pull shaft 143 moves in the reverse direction, i.e., toward the base plate 110, the cooperation between the stopper 145 and the push-pull block 144 can limit the push-pull shaft 143.

[0088] Optionally, the limiting member 145 includes a gasket.

[0089] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, in some embodiments, optionally, the clamping jaw 122 includes a jaw body 146 and a push plate 147, wherein the jaw body 146 is movably provided on the connecting member 121, the push plate 147 is provided on the jaw body 146 and forms a receiving space 148 with the jaw body 146, the push-pull block 144 is located in the receiving space 148, and the push plate 147 is connected to the push-pull block 144.

[0090] In this embodiment, the clamping jaw 122 is defined to include a clamping jaw body 146 and a push plate 147. Specifically, the clamping jaw body 146 is provided on the connecting member 121, and the clamping jaw body 146 is movable relative to the connecting member 121. The push plate 147 is provided on the clamping jaw body 146, and the push-pull block 144 is connected to the push plate 147. In other words, the push-pull block 144 is connected to the clamping jaw body 146 via the push plate 147. Thus, after the clamping jaw 122 clamps the tube 500 to be inserted, the push-pull shaft 143 drives the clamping jaw body 146 to move relative to the connecting member 121 in a direction away from the base plate 110 through the push-pull block 144 and the push plate 147 under the drive of the driving member 130. When the clamping jaw 122 reaches the surface where the inlet 410 to be inserted is located, the driving member 130 0 continues to drive the push-pull shaft 143 to move in the direction away from the base plate 110. At this time, since the claw body 146 no longer moves, the push-pull block 144 and the push plate 147 no longer move forward, so that the end of the push-pull shaft 143 away from the base plate 110 extends out of the push-pull block 144, that is, the push-pull block 144 and the push-pull shaft 143 generate relative movement. During this process, the push-pull block 144 compresses the elastic member 142, thereby playing a buffering role between the clamping jaw 122 and the driving member 130, thereby realizing flexible intubation.

[0091] The push plate 147 and the claw body 146 form an accommodating space 148, and the push-pull block 144 is located in the accommodating space 148. That is, the push-pull block 144 is connected to the inner wall of the push plate 147, which is conducive to reducing the space occupied by the buffer assembly 140, avoiding interference between adjacent clamping jaw assemblies 120, ensuring the smooth progress of automated intubation, and improving the reliability of the automatic intubation equipment 300.

[0092] like Figure 4 and Figure 5 As shown, in some embodiments, optionally, the clamping jaw assembly 120 further includes a first sliding portion 150 and a second sliding portion 160, wherein the first sliding portion 150 is disposed on the connecting member 121, and the second sliding portion 160 is disposed on the clamping jaw 122, and the second sliding portion 160 is slidably matched with the first sliding portion 150.

[0093] In this embodiment, it is defined that the clamping jaw assembly 120 also includes a first sliding portion 150 and a second sliding portion 160. Specifically, a first sliding portion 150 is provided on the connecting member 121, and a second sliding portion 160 is provided on the clamping jaw 122. The first sliding portion 150 and the second sliding portion 160 slide in cooperation with each other. That is, when the driving member 130 drives the clamping jaw 122 to move relative to the connecting member 121 through the buffer assembly 140, the second sliding portion 160 slides on the first sliding portion 150, thereby limiting the movement trajectory of the clamping jaw 122, which is conducive to ensuring that the tube to be inserted 500 can be accurately inserted into the port 410 to improve installation efficiency.

[0094] In some embodiments, optionally, the first sliding portion 150 includes a first sliding rail, and the second sliding portion 160 includes a second sliding rail; or one of the first sliding portion 150 and the second sliding portion 160 is a sliding rail, and the other is a sliding block.

[0095] In this embodiment, specifically, the first sliding portion 150 includes a first slide rail, and the second sliding portion 160 includes a second slide rail, with the first slide rail and the second slide rail slidably engaged. Alternatively, the first sliding portion 150 is a slide rail, and the second sliding portion 160 is a slider. Alternatively, the first sliding portion 150 is a slider, and the second sliding portion 160 is a slide rail, with the slider and the slide rail slidably engaged. The specific configuration can be adjusted based on actual needs.

[0096] like Figure 4 and Figure 5 As shown, in some embodiments, optionally, the clamping device 100 also includes a limiting portion 170, which is provided at the end of the clamping jaw 122 toward the substrate 110, and along the movement direction of the clamping jaw 122 relative to the connecting member 121, at least a portion of the limiting portion 170 is opposite to the first sliding portion 150.

[0097] In this embodiment, it is defined that the clamping device 100 also includes a limiting portion 170. Specifically, the limiting portion 170 is arranged at the end of the clamping jaw 122 toward the substrate 110. Along the movement direction of the clamping jaw 122 relative to the connecting member 121, at least part of the limiting portion 170 is opposite to the first sliding portion 150, so that during the movement of the clamping jaw 122 relative to the connecting member 121, the limiting portion 170 can limit the clamping jaw 122, thereby preventing the clamping jaw 122 from separating from the connecting member 121 due to excessive movement.

[0098] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, in some embodiments, optionally, there are multiple jaw assemblies 120, and the multiple jaw assemblies 120 are arranged at intervals; wherein the jaw 122 of at least one jaw assembly 120 is an electric jaw 123; and / or the jaw 122 of at least one jaw assembly 120 is a pneumatic jaw 124.

[0099] In this embodiment, the number of the clamping jaw assemblies 120 is limited to multiple. Specifically, the multiple clamping jaw assemblies 120 are arranged at intervals, so that the clamping device 100 can clamp multiple tubes to be inserted 500 at one time and insert the multiple tubes to be inserted 500 into the plug-in unit 400 at the same time, which is beneficial to improving the efficiency of automated intubation and meeting the needs of automated production.

[0100] At least one of the jaws 122 of the jaw assembly 120 is an electric jaw 123. It will be appreciated that the electric jaw 123 is used to grip a U-shaped tube. Because the jaw 122 is an electric jaw 123, it can be deflected at three angles during insertion of the U-shaped tube. Specifically, three angles are available: 0 degrees, 61.5 degrees, and 118.5 degrees. With a material deviation of approximately 0.2 degrees, the electric jaw 123 can precisely control the angle, enabling insertion of the U-shaped tube at 0, 61.5, and 118.5 degrees.

[0101] At least one of the jaw assemblies 120 includes a pneumatic jaw 124. It is understood that the pneumatic jaw 124 is used to grip a Y-shaped tube. Specifically, the Y-shaped tube is 0 degrees and has a material deviation of 0.2 degrees. In other words, the clamping device 100 can simultaneously grip both a U-shaped tube and a Y-shaped tube for intubation, meeting the production requirements of automated intubation for both devices.

[0102] Optionally, the Y-tube is clamped and intubated using fixed pneumatic fingers (pneumatic clamping claws 124), and the U-tube is clamped and intubated using rotatable electric clamping fingers (electric clamping claws 123).

[0103] Optionally, the electric gripper fingers (the gripper fingers of the electric gripper 123 ) and the air gripper fingers (the gripper fingers of the pneumatic gripper 124 ) are both designed with carbon steel contours, which can firmly clamp and protect the semicircular tube (the tube to be inserted 500 ).

[0104] like Figure 1 As shown, in some embodiments, optionally, the clamping device 100 further includes a vision system 180 , which is disposed on the substrate 110 .

[0105] In this embodiment, it is defined that the clamping device 100 also includes a vision system 180. Specifically, the vision system 180 is arranged on the substrate 110, and is used to collect the position coordinates of the port to be inserted 410 and feed it back to the robot 200. After the clamping jaws 122 clamp the tube to be inserted 500, the robot 200 performs deviation compensation according to the position coordinates of the port to be inserted 410, and controls the driving member 130 to drive the clamping jaws 122 to move relative to the connecting member 121, so that the tube to be inserted 500 can be accurately inserted into the port to be inserted 410, avoiding the situation of inserting in the wrong position, and is conducive to improving the automated production efficiency and improving the quality control effect.

[0106] Optionally, the visual system 180 is a 2D visual system 180. Since a buffer assembly 140 is provided between the driving member 130 and the clamping jaw 122, flexible intubation is achieved. Even if the visual system 180 cannot collect the depth coordinates of the port 410 to be inserted, the connecting ring 520 of the tube 500 to be inserted can be completely fitted with the cup mouth (port 410 to be inserted) after the intubation is completed, thereby improving product quality while helping to reduce costs.

[0107] According to a second aspect of the present invention, a robot 200 is provided, comprising a clamping device 100 as provided in any of the above embodiments, and thus possessing all the beneficial technical effects of the clamping device 100, which will not be described in detail here.

[0108] According to the third aspect of the present invention, an automatic intubation device 300 is provided, which includes the clamp device 100 or the robot 200 provided in any of the above embodiments, and thus has all the beneficial technical effects of the clamp device 100 or the robot 200, which will not be repeated here.

[0109] Alternatively, as Figure 6 、 Figure 7 、 Figure 8 and Figure 20 As shown, the automatic intubation device 300 also includes a positioning mechanism 310. Specifically, the positioning mechanism 310 can position the plug-in unit 400. Optionally, the positioning mechanism 310 can position the condenser and / or evaporator, so that the visual system 180 can obtain the precise position coordinates of the socket 410 on the plug-in unit 400. When the clamp 122 drives the tube 500 to be inserted into the socket 410, displacement or product deformation during intubation can be avoided, thereby ensuring product quality.

[0110] Alternatively, as Figure 6 、 Figure 7 and Figure 8 As shown, the positioning mechanism 310 includes a frame 311 and a pressure plate assembly, wherein the frame 311 is provided with a storage chamber 312, the storage chamber 312 is used to accommodate the plug-in 400, and the pressure plate assembly is provided in the frame 311, and the pressure plate assembly includes a pressure plate 313, which is located in the storage chamber 312. The pressure plate 313 can move relative to the frame 311 to press the plug-in 400. It can be understood that the plug-in port 410 is exposed in the storage chamber 312 to facilitate insertion. Specifically, the pressure plate 313 moves in the storage chamber 312 and presses the plug-in 400, thereby fixing the position of the plug-in 400 so that the precise position coordinates of the plug-in port 410 on the plug-in 400 can be obtained. When the clamp 122 drives the plug-in 500 to be inserted into the plug-in port 410, displacement or product deformation during insertion can be avoided, thereby ensuring product quality and meeting the needs of automated production.

[0111] Optionally, the pressing plate assembly further includes a cylinder, which is connected to the pressing plate 313 , so that the pressing plate 313 can move in the accommodating chamber 312 and press the plug-in 400 under the drive of the cylinder.

[0112] Alternatively, as Figure 6As shown, the positioning mechanism 310 also includes a mounting post 314 and a spring 315, wherein the mounting post 314 is arranged on the outside of the accommodating chamber 312 and is connected to the pressure plate 313, and the spring 315 is sleeved on the outside of the mounting post 314. Based on the movement of the pressure plate 313 relative to the frame 311, the mounting post 314 can be driven to move so that the spring 315 is compressed. Therefore, under the action of the elastic force of the spring 315, the pressure plate 313 has a certain buffering effect when pressing the plug-in 400 to be plugged in, thereby avoiding damage to the plug-in 400 and improving the quality control effect.

[0113] Alternatively, as Figure 6 、 Figure 7 and Figure 8 As shown, the positioning mechanism 310 also includes a base 316, a frame 317, a first drive unit 318 and a second drive unit 319, wherein the frame 317 is arranged on the base 316, the frame body 311 is arranged on the frame 317, the first drive unit 318 is connected to the frame 317, and the first drive unit 318 can drive the frame 317 to move in a horizontal direction relative to the base 316, and the second drive unit 319 is connected to the frame 317, and the second drive unit 319 can drive the frame 317 to move in the height direction of the base 316.

[0114] Optionally, the first driving unit 318 includes a servo module, thereby preventing defects such as the condenser flipping due to large-scale friction movement.

[0115] Alternatively, as Figure 9 、 Figure 15 and Figure 19 As shown, the automatic intubation equipment 300 also includes a transfer component 320 and a receiving tray 330. Specifically, the receiving tray 330 can be movably set on the transfer component 320. Specifically, the receiving tray 330 moves on the transfer component 320 toward the side where the robot 200 is located, so that the clamping device 100 of the robot 200 can smoothly and quickly clamp the tube to be inserted 500 on the receiving tray 330, and under the drive of the driving member 130, the tube to be inserted 500 is inserted into the insertion port 410, thereby realizing the automated operation of inserting the tube to be inserted 500 into the insertion port 400, which is beneficial to significantly improve the efficiency of the insertion of the tube to be inserted 500 and meet the production needs of automated operations.

[0116] Alternatively, as Figure 15 As shown, a plurality of silos are provided on the receiving tray 330, and the plurality of silos are arranged at intervals, and each silo is used to accommodate a tube to be inserted 500, so that the clamping device 100 can clamp a plurality of tubes to be inserted 500 at one time, and insert the plurality of tubes to be inserted 500 into the inserter 400 at the same time, which is conducive to further improving the efficiency of the automated intubation operation.

[0117] Alternatively, as Figure 15As shown, the transfer assembly 320 includes a base plate 321, a movable shaft 322, and a limiting post 323. Specifically, the movable shaft 322 is disposed on the base plate 321 and is movable on the base plate 321. Since the receiving tray 330 is disposed on the movable shaft 322, the movable shaft 322 can drive the receiving tray 330 to move relative to the base plate 321, so that the clamping device 100 of the robot 200 can smoothly and quickly clamp the tube 500 to be intubated on the receiving tray 330. The limiting post 323 is disposed on the base plate 321 and is located on the moving path of the receiving tray 330, so that the receiving tray 330 can be limited and the range of movement of the receiving tray 330 can be limited. This prevents the receiving tray 330 from falling off the base plate 321 due to excessive movement, thereby affecting the process of automated intubation, and helps ensure the smooth progress of automated intubation.

[0118] Alternatively, as Figure 15 As shown, the transfer assembly 320 further includes a guide rail 324 . The guide rail 324 is disposed on the base plate 110 , and a portion of the receiving tray 330 is slidably engaged with the guide rail 324 .

[0119] Alternatively, as Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 16 、 Figure 17 、 Figure 18 、 Figure 19 and Figure 20As shown, the automatic intubation equipment 300 also includes a storage bin 340, a cutting assembly 350, a material guiding assembly 360 and a material picking device 370. Specifically, the storage bin 340 is used to store the tubes 500 to be intubated, the cutting assembly 350 includes a feeding channel 353 and a slide 351, the slide 351 is provided with a cutting trough 352, the feeding channel 353 is communicated with the storage bin 340, the material guiding assembly 360 includes a connected material guiding channel 361 and a working position 362, the slide 351 can move between a first position and a second position, based on the slide 351 being in the first position, the cutting trough 352 is communicated with the feeding channel 353, the tubes 500 to be intubated enter the cutting trough 352 from the feeding channel 353, the slide 351 moves to the second position, the cutting trough 352 is docked and communicated with the material guiding channel 361, and the tubes 500 to be intubated in the cutting trough 352 move into the material guiding channel The clamping device 370 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330, and the clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330. The clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330, and the clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330. The clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330, and the clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330. The clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330, and the clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330. The clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330, and the clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330. The clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330, and the clamping device 100 is a device that can be used to fix the pipe 500 to be inserted into the material receiving tray 330.

[0120] According to the fourth aspect of the present invention, an air conditioner is provided, comprising: an insert 400 to be inserted, the insert 400 to be inserted is provided with an insertion port 410; a pipe 500 to be inserted, the pipe 500 to be inserted is configured to be inserted into the insertion port 410 using an automatic insertion device 300 provided in any of the above embodiments, and thus has all the beneficial technical effects of the automatic insertion device 300, which will not be repeated here.

[0121] Optionally, the tube to be inserted 500 includes a tube body 510 and at least two connecting rings 520 . When the tube body 510 is inserted into the port to be inserted 410 , the at least two connecting rings 520 are connected to the plug-in port 400 .

[0122] Optionally, the plug-in unit 400 includes at least one of a condenser and an evaporator; and / or the tube 500 includes at least one of a U-shaped tube and a Y-shaped tube.

[0123] In this specification, the terms "connect," "install," and "fix" should be understood broadly. For example, "connect" can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0124] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0125] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A clamping device, characterized in that: include: substrate; A clamping jaw assembly, the clamping jaw assembly comprising a connecting member and a clamping jaw, the connecting member being connected to the base plate, the clamping jaw being movably disposed on the connecting member; A driving member, provided on the substrate; A buffer component is provided between the base plate and the clamping claw, wherein a first end of the buffer component is connected to the driving member, and a second end of the buffer component is connected to the clamping claw.

2. The clamping device according to claim 1, characterized in that The buffer assembly comprises: a push-pull member, one end of which is connected to the driving member, and the other end of which is connected to the clamping claw; An elastic member is provided on the push-pull member, and is deformed based on the movement of the push-pull member relative to the clamping claw.

3. The clamping device according to claim 2, characterized in that The push-pull member comprises: A push-pull shaft connected to the driving member, and the elastic member is sleeved on the outside of the push-pull shaft; A push-pull block is movably connected to the push-pull shaft and is located at one end of the elastic member away from the base plate. The push-pull block is connected to the clamping claw. Based on the movement of the push-pull shaft relative to the clamping claw, the push-pull block compresses the elastic member.

4. The clamping device according to claim 3, characterized in that The buffer assembly further includes: A limiting member is provided at one end of the push-pull shaft away from the base plate, and the push-pull block is located between the elastic member and the limiting member.

5. The clamping device according to claim 3, characterized in that The clamping jaws include: a claw body, movably disposed on the connecting member; The push plate is provided on the claw body and forms a receiving space with the claw body. The push-pull block is located in the receiving space, and the push plate is connected to the push-pull block.

6. The clamping device according to any one of claims 1 to 5, characterized in that The clamping jaw assembly further comprises: A first sliding portion, provided on the connecting member; The second sliding part is provided on the clamping claw, and the second sliding part is slidably matched with the first sliding part.

7. The clamping device according to claim 6, characterized in that The first sliding portion includes a first sliding rail, and the second sliding portion includes a second sliding rail; or One of the first sliding part and the second sliding part is a slide rail, and the other is a slider.

8. The clamping device according to claim 6, characterized in that Also includes: A limiting portion is provided at the end of the clamping jaw facing the substrate, and along the movement direction of the clamping jaw relative to the connecting member, at least a portion of the limiting portion is opposite to the first sliding portion.

9. The clamping device according to any one of claims 1 to 5, characterized in that There are multiple clamping jaw assemblies, and the multiple clamping jaw assemblies are arranged at intervals; Wherein, the clamping jaw of at least one of the clamping jaw assemblies is an electric clamping jaw; and / or the clamping jaw of at least one of the clamping jaw assemblies is a pneumatic clamping jaw.

10. The clamping device according to any one of claims 1 to 5, characterized in that Also includes: The visual system is arranged on the substrate.

11. A robot, characterized in that: Comprising the clamp device according to any one of claims 1 to 10.

12. An automatic intubation device, characterized in that: include: The clamp device according to any one of claims 1 to 10; or The robot according to claim 11.

13. An air conditioner, characterized in that: include: A waiting plug-in, wherein the waiting plug-in is provided with a waiting socket; The tube to be intubated is configured to be inserted into the port to be intubated using the automatic intubation device according to claim 12.

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