Flexible taking and placing device for heat exchanger in refrigeration field

Abstract

The utility model discloses a flexible taking and placing device for a heat exchanger in the refrigeration field. The flexible taking and placing device comprises a taking and placing device body, a mechanical arm and a base. The bottom of the pick-and-place device is connected with the top of the mechanical arm; the taking and placing device comprises a first clamping structure, a second clamping structure and a bottom plate. The first clamping structure and the second clamping structure are placed at the two ends of the long edge of the other face of the bottom plate correspondingly. The first clamping structure comprises a first moving unit, a first fixing device and a positioning rod; the first fixing device comprises a first fixing plate, a first baffle and a connecting plate; the first fixing plate is placed on the first moving unit; the first baffle is perpendicular to the first fixing plate; the multiple positioning rods are parallel to the first fixing plate and arranged at the end, away from the bottom plate, of the first baffle. The connecting plate is arranged on the side, facing the bottom plate, of the first fixing plate and penetrates through the bottom plate to be connected with the first moving unit. According to the heat exchanger taking and placing device, the heat exchanger can be automatically clamped, the distance between the two clamping structures of the taking and placing device is adjusted in real time, clamping of the heat exchanger is achieved, and the heat exchanger is prevented from colliding with other structures.

Description

Technical Field

[0001] This invention relates to the field of heat exchanger handling technology, and more particularly to a flexible handling device for heat exchangers in the refrigeration field. Background Technology

[0002] Heat exchangers are one of the important components of air conditioners. During the production process, air conditioner heat exchangers require the installation of multiple metal plates and metal pipes, resulting in a large weight. When transferring the heat exchanger pipes to the next work station after installation, the irregularly shaped structure and large weight make it difficult to move. Manual handling is inefficient, labor-intensive for workers, and difficult to control quality. Collisions are prone to occur during the assembly of heat exchangers, which can easily lead to quality problems. Summary of the Invention

[0003] This invention provides a flexible handling device for heat exchangers in the refrigeration field, which overcomes the technical problems of low efficiency, inconvenience, and easy collision caused by manual handling when transferring air conditioning heat exchangers to different work stations.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] A flexible pick-and-place device for heat exchangers in the refrigeration field includes: a pick-and-place device, a robotic arm, and a base; the robotic arm is placed on the base, and the bottom of the pick-and-place device is connected to the top of the robotic arm.

[0006] The pick-and-place device includes a first clamping structure, a second clamping structure, and a base plate; the pick-and-place device is connected to the top of the robotic arm through one side of the base plate; the first clamping structure and the second clamping structure are respectively placed at both ends of the long side of the other side of the base plate;

[0007] The first clamping structure includes a first moving unit, a first fixing device, and a positioning rod;

[0008] The first fixing device includes a first fixing plate, a first baffle, and a connecting plate; the first fixing plate is placed on the first moving unit and slides along the long side of the base plate; the first baffle is perpendicular to the first fixing plate; multiple positioning rods are parallel to the first fixing plate and are located at the end of the first baffle away from the base plate; the connecting plate is located on the side of the first fixing plate facing the base plate, between the two slide rails, and passes through the base plate to connect with the first moving unit.

[0009] Furthermore, the second clamping structure includes a positioning rod, a drive structure, a second fixing plate, a second moving unit, and a third fixing plate;

[0010] The driving structure is placed parallel to the base plate; the second fixing plate is placed on the driving structure and slides along the long side of the base plate via the driving structure.

[0011] The second moving unit is placed on the second fixed plate, and the third fixed plate is placed on the second moving unit. The second moving unit slides along the long side of the driving structure. Multiple positioning rods are arranged on the side of the third fixed plate perpendicular to the bottom plate, parallel to the third fixed plate, and are in the same position as the multiple positioning rods on the first baffle.

[0012] Furthermore, the first moving unit includes a first slider, a first slide rail, a cylinder, and a first limiting device; the first slide rail is respectively placed on both sides of the wide side of the base plate, the first slider is placed on the first slide rail, the cylinder is located on the side of the base plate connected to the robotic arm, and the top of the cylinder is connected to the connecting plate, driving the first fixing device to move along the first slide rail; the first limiting device is respectively located at both ends of the first slide rail, restricting the movement of the first slider.

[0013] Furthermore, the second moving unit includes a second slide rail and a second slider;

[0014] The second slide rails are respectively disposed on both sides of the second fixed plate parallel to the long side of the driving structure, the second sliders are respectively disposed on the second slide rails, and the third fixed plate slides along the second slide rails via the second sliders.

[0015] Furthermore, it also includes a vertical spring buffer device, disposed between the first clamping structure and the second clamping structure.

[0016] Furthermore, it also includes a transverse spring buffer device, one end of which is located on the side of the second fixed plate away from the third fixed plate, and the other end is located on the third fixed plate.

[0017] Furthermore, the second fixing plate is also provided with a second limiting device and a third limiting device, and the third fixing plate is also provided with a fourth limiting device;

[0018] The second limiting device is located at one end close to the third fixed plate, and the third limiting device is located at one end away from the third fixed plate; the fourth limiting device is located at one end of the third fixed plate away from the positioning rod.

[0019] Furthermore, it also includes a photoelectric sensor, which is disposed between the first clamping structure and the second clamping structure.

[0020] Beneficial effects: This invention provides a flexible heat exchanger pick-and-place device for the refrigeration field. By designing the pick-and-place device, the heat exchanger can be automatically clamped. The position of the heat exchanger can be transferred by a robotic arm. The pick-and-place device is designed with a first clamping structure and a second clamping structure, and a sliding unit is set in the clamping structure. The distance between the two clamping structures can be adjusted in real time to ensure that the distance between the clamping structures is consistent with the length or width of the heat exchanger, thereby clamping the heat exchanger and avoiding collisions between the heat exchanger and other structures. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a flexible heat exchanger loading and unloading device in the field of refrigeration according to the present invention;

[0023] Figure 2 This is an overall structural diagram of the pick-and-place device of the present invention;

[0024] Figure 3 This is a left view of the first clamping structure of the present invention;

[0025] Figure 4 This is a rear view of the first clamping structure of the present invention;

[0026] Figure 5 This is a left view of the second clamping structure of the present invention;

[0027] Figure 6 This is a bottom view of the second clamping structure of the present invention;

[0028] In the diagram, 1 is the pick-and-place device; 2 is the robotic arm; 3 is the base; 4 is the first moving unit; 5 is the first fixing device; 6 is the positioning rod; 7 is the drive structure; 8 is the second fixing plate; 9 is the second moving unit; 10 is the third fixing plate; 11 is the fourth limiting device; 101 is the base plate; 102 is the vertical spring buffer device; 103 is the photoelectric sensor; 401 is the first slider; 402 is the first slide rail; 403 is the cylinder; 404 is the first limiting device; 501 is the first fixing plate; 502 is the first baffle; 503 is the connecting plate; 801 is the horizontal spring buffer device; 802 is the second limiting device; 803 is the third limiting device; 901 is the second slide rail; 902 is the second slider. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] This embodiment provides a flexible pick-and-place device for heat exchangers in the refrigeration field, such as... Figure 1 Shown, including:

[0031] The device includes a pick-and-place device 1, a robotic arm 2, and a base 3; the robotic arm 2 is placed on the base 3, and the bottom of the pick-and-place device 1 is connected to the top of the robotic arm 2.

[0032] like Figure 2 As shown, the pick-and-place device 1 includes a first clamping structure, a second clamping structure, and a base plate 101; the pick-and-place device 1 is connected to the top of the robotic arm 2 through one side of the base plate 101; the first clamping structure and the second clamping structure are respectively placed at both ends of the long side of the other side of the base plate 101.

[0033] The first clamping structure includes a first moving unit 4, a first fixing device 5, and a positioning rod 6;

[0034] The first fixing device 5 includes a first fixing plate 501, a first baffle 502, and a connecting plate 503; the first fixing plate 501 is placed on the first moving unit 4 and slides along the long side of the base plate 101; the first baffle 502 is perpendicular to the first fixing plate 501; multiple positioning rods 6 are parallel to the first fixing plate 501 and are located at the end of the first baffle 502 away from the base plate 101; the connecting plate 503 is located on the side of the first fixing plate 501 facing the base plate 101, passes through the base plate 101, and is connected to the first moving unit 4.

[0035] Specifically, the pick-and-place device includes a base plate, a first clamping structure, and a second clamping structure. One side of the base plate is connected to a robotic arm. The first clamping structure and the second clamping structure are respectively placed at both ends of the long side of the other side of the base plate. The first clamping structure includes a first moving unit, a first fixing device, and multiple positioning rods. The first fixing device includes a first fixing plate, a first baffle, and a connecting plate. The first fixing plate has screw holes at the connection point with the moving unit. The first fixing plate is connected to the moving unit by nuts, allowing the moving unit to move along the long side of the base plate, increasing or decreasing the distance between the first clamping structure and the second clamping structure, thus completing the operation of placing the device on the heat exchanger and clamping it. The first baffle is perpendicular to the first fixing plate and is connected to the first fixing plate by screws and nuts. Multiple positioning rods parallel to the base plate are provided on the end of the first baffle away from the base plate. In this embodiment, as shown... Figure 3 and Figure 4 As shown, the shape of the baffle on one side of the positioning rod is designed based on the shape of a heat exchanger. The lengths at both ends are longer than the length in the middle, and there are a total of 4 positioning rods, located at the apex of both ends and the middle of both ends, and fixed with nuts. A support platform is also provided below the positioning rods of the first baffle, which can provide some support force when clamping the heat exchanger. There are multiple round holes below the support platform to reduce the weight of the device. On the side of the first fixed plate facing the base plate, there is a connecting plate. The base plate has a through hole at the corresponding position. The connecting plate passes through the through hole and connects to a part of the moving unit on the side of the base plate connected to the robotic arm. The first clamping structure can move to a length longer than the heat exchanger before clamping the heat exchanger to avoid collision with the heat exchanger when placed on it. After being placed on one side of the heat exchanger, it can be adjusted to the length of the heat exchanger and clamped by the positioning rods.

[0036] In a specific embodiment, the second clamping structure includes a positioning rod 6, a driving structure 7, a second fixing plate 8, a second moving unit 9, and a third fixing plate 10;

[0037] The driving structure 7 is placed parallel to the base plate 101; the second fixing plate 8 is placed on the driving structure 7 and slides along the long side of the base plate 101 via the driving structure 7.

[0038] The second moving unit 9 is placed on the second fixed plate 8, and the third fixed plate 10 is placed on the second moving unit 9. The second moving unit 9 slides along the long side of the driving structure 7. Multiple positioning rods 6 are arranged on the side of the third fixed plate 10 perpendicular to the bottom plate 101, parallel to the third fixed plate 10, and are in the same position as the multiple positioning rods 6 on the first baffle 502.

[0039] Specifically, such as Figure 2 and Figure 5As shown, the second fixed plate is placed on the drive structure. A limiting device is provided on one side of the drive structure to ensure that the movement of the second fixed plate does not exceed the specified length. Second moving units are provided on both sides of the second fixed plate parallel to the base plate. The side of the second and third fixed plates perpendicular to the base plate is the same size as the first baffle. The position of the positioning rod is the same as the position on the first baffle. The side of the third fixed plate away from the positioning plate is placed on the second moving unit. By adjusting the position of the third fixed plate through the second moving unit, the distance between the third fixed plate and the first fixed plate can be increased to be greater than the distance of the heat exchanger, ensuring that the heat exchanger is not damaged when placed on the heat exchanger. At the same time, the positioning rods on both sides can clamp the two ends of the heat exchanger simultaneously, playing a clamping role for the heat exchanger. The second fixed plate slides on the drive structure and can adaptively adjust the distance between the first clamping structure and the second clamping structure according to different heat exchanger models to match the length of different models of heat exchangers.

[0040] In a specific embodiment, the first moving unit 4 includes a first slider 401, a first slide rail 402, a cylinder 403, and a first limiting device 404; the first slide rail 402 is respectively placed on both sides of the wide side of the base plate 101, the first slider 401 is placed on the first slide rail 402, the cylinder 403 is located on the side of the base plate 101 connected to the robotic arm 2, and the top of the cylinder 403 is connected to the connecting plate 503, driving the first fixing device 5 to move along the first slide rail 402; the first limiting device 404 is respectively located at both ends of the first slide rail 402, restricting the movement of the first slider 401.

[0041] Mobile unit such as Figure 2 and Figure 3 As shown, the cylinder is placed on the side of the base plate connected to the robotic arm. The cylinder head is connected to the connecting plate. The cylinder pushes the connecting plate, thereby driving the first fixing device connected to the connecting plate and the first moving unit under the first fixing device. The first slide rails are respectively located on both sides of the long side of the base plate. The through hole of the base plate is located between the two slide rails, and the connecting plate passes through and is connected to the cylinder. The first fixing device is placed on the slider, allowing the first fixing device to move along the slide rail without causing damage. The first fixing device can adjust the distance between the two clamping devices, which is longer than the length of the heat exchanger. When the first clamping structure is placed at the other end of the heat exchanger, it will not damage the heat exchanger. When clamping is required, the slider is moved to the position where the positioning rod clamps the heat exchanger.

[0042] In a specific embodiment, the second moving unit 9 includes a second slide rail 901 and a second slider 902;

[0043] The second slide rail 901 is respectively disposed on both sides of the second fixed plate 8 parallel to the long side of the driving structure 7, and the second slider 902 is respectively disposed on the second slide rail 901. The third fixed plate 10 slides along the second slide rail 901 through the second slider 902.

[0044] The second moving unit is as follows Figure 5 As shown, the third fixed plate can slide along the second moving unit. The distance between the third fixed plate and the first fixed device can be adjusted. The slider and slide rail structure can make the third fixed plate slide smoothly without jamming, ensuring that the third fixed plate is not damaged and that the process of clamping the heat exchanger is not jammed.

[0045] In a specific embodiment, as shown in the figure, a vertical spring buffer device 102 is also included, which is disposed between the first clamping structure and the second clamping structure.

[0046] Specifically, such as Figure 2 As shown, in this embodiment, four vertical spring buffer devices are provided between the first clamping structure and the second clamping structure. They are placed on both sides of the long side of the base plate, with two springs on each side. The width of the springs on both sides is wider than the first clamping structure and the second clamping structure. The height of the vertical springs is higher than the position of the support platform on the first fixing device. After clamping the heat exchanger, they can buffer the heat exchanger and prevent it from violently colliding with the structure below when the heat exchanger changes direction and moves.

[0047] In a specific embodiment, a transverse spring buffer device 801 is also included. One end of the transverse spring buffer device 801 is located on the side of the second fixing plate 8 away from the third fixing plate 10, and the other end is located on the third fixing plate 10.

[0048] Specifically, such as Figure 5 and Figure 6 As shown, the transverse spring buffer device includes a spring and a hook. One end of the spring is located on one side of the second fixed plate, and the hook is located on the side of the third fixed plate opposite to the spring, with the same height as the spring. Hanging the other end of the spring on the hook can ensure that the speed of the third fixed plate is stable during the sliding process and can play a role in deceleration and buffering when the sliding is too fast.

[0049] In a specific embodiment, the second fixing plate 8 is further provided with a second limiting device 802 and a third limiting device 803, and the third fixing plate 10 is further provided with a fourth limiting device 12.

[0050] The second limiting device 802 is located at one end close to the third fixing plate 10, and the third limiting device 803 is located at one end away from the third fixing plate 10; the fourth limiting device 12 is located at one end of the third fixing plate 10 away from the positioning rod 6.

[0051] Limiting devices such as Figure 5 and Figure 6 As shown, the second limiting device is located on both sides away from the first clamping structure, and the third limiting device is located on the side close to the first clamping structure, at the center of the edge of the second fixed plate. In this embodiment, the third limiting device is triangular, and the side facing the third fixed plate is provided with a limiting head, which can limit the position of the third fixed plate from exceeding the position of the second fixed plate. The fourth limiting device is located at the end of the third fixed plate away from the positioning rod. The fourth limiting device is provided with a limiting head. When the third fixed plate slides away from the first clamping structure, the fourth limiting device can abut against the second limiting device to prevent the third fixed plate from sliding out of the specified distance.

[0052] In a specific embodiment, a photoelectric sensor 103 is also included, which is disposed between the first clamping structure and the second clamping structure.

[0053] Specifically, such as Figure 2 As shown, in this embodiment, the photoelectric sensor is located between the two vertical spring buffer devices, which can detect the distance between the heat exchanger and the bottom when the heat exchanger is clamped and moved, preventing the heat exchanger from getting too close to the first clamping structure and the second clamping structure, thus preventing damage to the surface of the heat exchanger.

[0054] The working process of this device is as follows:

[0055] The robotic arm adjusts the position of the pick-and-place device to be above the heat exchanger. The distance between the first and second clamping structures is adjusted to match the heat exchanger's model. The distance between the first fixing device and the third fixing plate is then adjusted to be longer than the length of the heat exchanger. The robotic arm lowers the pick-and-place device so that the first fixing device is placed on one side of the heat exchanger and the third fixing plate on the other side. The cylinder is driven to adjust the distance between the first fixing device and the third fixing plate, so that the positioning rods on both sides abut against the fin end plates on both sides of the heat exchanger, achieving clamping of the heat exchanger. At this point, the robotic arm picks up the heat exchanger and moves to the next workstation. After reaching the designated position, the heat exchanger is lowered, completing the workstation transfer of the heat exchanger.

[0056] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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 flexible loading and unloading device for heat exchangers in the refrigeration field, characterized in that, include: The device includes a pick-and-place device (1), a robotic arm (2), and a base (3); the robotic arm (2) is placed on the base (3), and the bottom of the pick-and-place device (1) is connected to the top of the robotic arm (2); The pick-and-place device (1) includes a first clamping structure, a second clamping structure, and a base plate (101); the pick-and-place device (1) is connected to the top of the robotic arm (2) through one side of the base plate (101); the first clamping structure and the second clamping structure are respectively placed at both ends of the long side of the other side of the base plate (101); The first clamping structure includes a first moving unit (4), a first fixing device (5), and a positioning rod (6); The first fixing device (5) includes a first fixing plate (501), a first baffle (502) and a connecting plate (503); the first fixing plate (501) is placed on the first moving unit (4) and slides along the long side of the base plate (101); the first baffle (502) is perpendicular to the first fixing plate (501); multiple positioning rods (6) are parallel to the first fixing plate (501) and are located at the end of the first baffle (502) away from the base plate (101); the connecting plate (503) is located on the side of the first fixing plate (501) facing the base plate (101) and passes through the base plate (101) to connect with the first moving unit (4).

2. The flexible pick-and-place device for heat exchangers in the refrigeration field according to claim 1, characterized in that, The second clamping structure includes a positioning rod (6), a driving structure (7), a second fixing plate (8), a second moving unit (9), and a third fixing plate (10); The driving structure (7) is placed parallel to the base plate (101); the second fixing plate (8) is placed on the driving structure (7) and slides along the long side of the base plate (101) through the driving structure (7); The second moving unit (9) is placed on the second fixed plate (8), and the third fixed plate (10) is placed on the second moving unit (9). The second moving unit (9) slides along the long side of the driving structure (7). Multiple positioning rods (6) are provided on the side of the third fixed plate (10) perpendicular to the bottom plate (101), parallel to the third fixed plate (10), and consistent with the position of multiple positioning rods (6) on the first baffle (502).

3. A flexible pick-and-place device for heat exchangers in the refrigeration field according to claim 1, characterized in that, The first moving unit (4) includes a first slider (401), a first slide rail (402), a cylinder (403), and a first limiting device (404); the first slide rail (402) is placed on both sides of the wide side of the base plate (101), the first slider (401) is placed on the first slide rail (402), the cylinder (403) is located on the side of the base plate (101) connected to the robotic arm (2), the top of the cylinder (403) is connected to the connecting plate (503), and drives the first fixing device (5) to move along the first slide rail (402); the first limiting device (404) is located at both ends of the first slide rail (402) to restrict the movement of the first slider (401).

4. A flexible pick-and-place device for heat exchangers in the refrigeration field according to claim 2, characterized in that, The second moving unit (9) includes a second slide rail (901) and a second slider (902); The second slide rail (901) is respectively disposed on both sides of the second fixed plate (8) parallel to the long side of the driving structure (7), the second slider (902) is respectively disposed on the second slide rail (901), and the third fixed plate (10) slides along the second slide rail (901) through the second slider (902).

5. A flexible heat exchanger placement and removal device for the refrigeration field according to claim 1, characterized in that, It also includes a vertical spring buffer device (102) disposed between the first clamping structure and the second clamping structure.

6. A flexible pick-and-place device for heat exchangers in the refrigeration field according to claim 2, characterized in that, It also includes a transverse spring buffer device (801), one end of which is located on the side of the second fixing plate (8) away from the third fixing plate (10), and the other end is located on the third fixing plate (10).

7. A flexible pick-and-place device for heat exchangers in the refrigeration field according to claim 2, characterized in that, The second fixing plate (8) is also provided with a second limiting device (802) and a third limiting device (803), and the third fixing plate (10) is also provided with a fourth limiting device (12); The second limiting device (802) is located at one end close to the third fixing plate (10), and the third limiting device (803) is located at one end away from the third fixing plate (10); the fourth limiting device (12) is located at one end of the third fixing plate (10) away from the positioning rod (6).

8. A flexible pick-and-place device for heat exchangers in the refrigeration field according to claim 1, characterized in that, It also includes a photoelectric sensor (103), which is disposed between the first clamping structure and the second clamping structure.

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