Stacking equipment
By coordinating the first and second gripping devices, the heat exchangers and isolation components are automatically stacked alternately, solving the problems of low efficiency and low pass rate in the heat exchanger stacking process, and improving the degree of automation and product output efficiency.
Patent Information
- Application Number
- CN202620015909.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-07
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2036-01-07
AI Technical Summary
In the existing technology, the stacking process of heat exchangers relies on manual operation, which has problems such as low efficiency, large error and low product qualification rate. In particular, since the heat exchanger fins are easily damaged, it is necessary to manually place isolation components to prevent damage.
By employing a first gripping device and a second gripping device in combination, heat exchangers and insulating components are alternately stacked on the placement device. The handling and stacking of heat exchangers are completed by automated equipment, avoiding manual operation.
It has improved the level of automation, reduced manual labor expenditure, reduced the risk of human-machine collaboration, and improved the palletizing qualification rate and production efficiency of products.
Smart Images
Figure CN223879027U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of air conditioning equipment production, and particularly relates to a stacking equipment. BACKGROUND
[0002] The air conditioning equipment comprises a heat exchanger, and the heat exchanger is used for heat exchange with a fluid such as air. In the related art, the heat exchanger needs to be manually carried and stacked on a designated tool car. Since the fins of the heat exchanger are easily damaged, a piece of paper needs to be placed between two heat exchangers during the stacking process. The entire stacking process of the heat exchanger is completed manually, and the work rhythm is slow, and the operation depends on manual operation. In addition, there are problems such as low efficiency, large error and / or low product qualification rate. CONTENT OF THE UTILITY MODEL
[0003] The embodiment of the present application provides a stacking equipment, a first grabbing device cooperates with a second grabbing device, heat exchangers and isolation pieces are alternately stacked on a placing device, and the degree of automation can be improved.
[0004] The technical scheme of the embodiment of the present application is implemented as follows:
[0005] The embodiment of the present application provides a stacking equipment, and the stacking equipment comprises:
[0006] a placing device;
[0007] a feeding device configured to provide isolation pieces;
[0008] a first grabbing device configured to grab heat exchangers and place the heat exchangers on the placing device;
[0009] a second grabbing device configured to grab isolation pieces from the feeding device and place the isolation pieces on the placing device, and the heat exchangers and the isolation pieces are alternately stacked on the placing device in an up-down direction.
[0010] In some embodiments, the first grabbing device comprises a first grabbing mechanism, and the first grabbing mechanism comprises:
[0011] a first clamping jaw module configured to clamp one end of the heat exchanger in a length direction;
[0012] a second clamping jaw module, the second clamping jaw module and the first clamping jaw module are distributed in a first direction, the second clamping jaw module is configured to clamp two end surfaces of the heat exchanger in a width direction, and the first direction is parallel to the length direction of the heat exchanger.
[0013] In some embodiments, the first gripper module comprises two first clamps, the two first clamps are arranged in a second direction, the two first clamps can be relatively close to clamp the heat exchanger or relatively far away to release the heat exchanger, the second direction is perpendicular to the first direction, and the second direction is parallel to the thickness direction of the heat exchanger.
[0014] In some embodiments, the first gripping mechanism comprises:
[0015] a seat body;
[0016] a support frame, the first gripper module is arranged in the support frame;
[0017] a telescopic structure, the telescopic structure connects the seat body and the support frame, and the telescopic structure can drive the support frame to drive the first gripper module to move close to or away from the seat body along the first direction.
[0018] In some embodiments, the second gripper module comprises two second clamps, the two second clamps are arranged in a third direction, the two second clamps can be relatively close to clamp the heat exchanger or relatively far away to release the heat exchanger, the third direction is perpendicular to the first direction, and the third direction is parallel to the width direction of the heat exchanger.
[0019] In some embodiments, the second gripper module comprises:
[0020] a plurality of first driving structures, each first driving structure is connected with one second clamp to drive the second clamp to make linear reciprocating motion in the second direction;
[0021] a second driving structure, the second driving structure drives the two second clamps to relatively close or relatively far away in the third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the second direction is consistent with the thickness direction of the heat exchanger.
[0022] In some embodiments, the first gripping mechanism comprises:
[0023] a seat body;
[0024] a limiting structure arranged in the seat body, an end face of the limiting structure away from the seat body in a second direction is a limiting face, the limiting face is used to abut against an end face of the heat exchanger facing the seat body, the second direction is perpendicular to the first direction, and the second direction is parallel to the thickness direction of the heat exchanger.
[0025] In some embodiments, a plurality of second gripper modules are arranged in the first direction; and / or,
[0026] The first grabbing device comprises a mechanical arm, and the first grabbing mechanism is connected with the mechanical arm, and the mechanical arm is used for driving the first grabbing mechanism to move.
[0027] In some embodiments, the second grabbing device comprises:
[0028] The gantry comprises a cross beam extending in a first direction, and the placing device and the feeding device are located below the cross beam, and the first direction is perpendicular to the up-down direction;
[0029] The sliding frame is slidably arranged on the cross beam in the first direction;
[0030] The second grabbing mechanism is slidably arranged on the sliding frame in the up-down direction, and the second grabbing mechanism grabs the isolating piece from the feeding device and places it to the placing device.
[0031] In some embodiments, the second grabbing mechanism comprises a suction cup, and a plurality of the isolating pieces of the feeding device are stacked in the up-down direction, and the suction cup is used for selectively sucking and releasing the isolating pieces.
[0032] In some embodiments, the feeding device forms a material cavity, an upper end of the feeding device forms a material taking port in communication with the material cavity, the material cavity is used for placing a plurality of the isolating pieces stacked in the up-down direction, and the second grabbing mechanism grabs the isolating piece from the material cavity through the material taking port.
[0033] The stacking equipment provided by the embodiments of the present application can provide the isolating pieces by the feeding device, grab the heat exchanger by the first grabbing device and place it to the placing device without manual carrying, grab the isolating piece from the feeding device by the second grabbing device and place it to the placing device without manual stacking, cooperate the first grabbing device with the second grabbing device to realize the alternating stacking of the heat exchanger and the isolating piece on the placing device, so as to improve the automation degree, no longer need manual carrying and stacking of the heat exchanger, reduce the manual physical expenditure and the risk of human-machine cooperation, and also improve the stacking qualification rate of the product and the product output efficiency. BRIEF DESCRIPTION OF DRAWINGS
[0034] Figure 1 is a structural schematic diagram of the stacking equipment provided by some embodiments of the present application;
[0035] Figure 2 is Figure 1 is an enlarged view of A in FIG. 4;
[0036] Figure 3 is a structural schematic diagram of the first grabbing device provided by some embodiments of the present application;
[0037] Figure 4is a structural schematic diagram of a first grabbing mechanism provided by some embodiments of the present application;
[0038] Figure 5 is Figure 4 is a schematic diagram of the structure from another perspective, and shows a heat exchanger;
[0039] Figure 6 is a structural schematic diagram of a placing device, a feeding device and a second grabbing device provided by some embodiments of the present application;
[0040] Figure 7 is Figure 6 is a local enlarged view at B in FIG. 8.
[0041] Legend of reference signs
[0042] 200, spacer; 300, heat exchanger; 1, placing device; 2, feeding device; 20, material cavity; 201, material taking port; 3, first grabbing device; 31, first grabbing mechanism; 311, first clamping jaw module; 3111, first clamp; 312, second clamping jaw module; 3121, second clamp; 3122, first driving structure; 3123, second driving structure; 313, seat body; 314, support frame; 315, telescopic structure; 316, limiting structure; 316a, limiting surface; 32, mechanical arm; 4, second grabbing device; 40, gantry; 401, cross beam; 41, sliding frame; 42, second grabbing mechanism; 420, suction cup. DETAILED DESCRIPTION
[0043] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, and therefore only serve as examples, but cannot be used to limit the protection scope of the present application.
[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs; the terms used herein are only for the purpose of describing specific embodiments of the present application, and are not intended to limit the present application.
[0045] In the description of the embodiments of the present application, the technical terms "first", "second" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the technical features indicated.
[0046] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that combinations can be made in any suitable manner without contradiction; for example, different combinations of specific technical features / embodiments can form different implementations. To avoid unnecessary repetition, the various possible combinations of specific technical features / embodiments in this application will not be described separately.
[0047] It should be noted that in this application, "multiple" includes two or more.
[0048] Please see Figures 1 to 7 This application provides a palletizing device, which includes a placement device 1, a feeding device 2, a first gripping device 3, and a second gripping device 4. The feeding device 2 is used to provide a separator 200; the first gripping device 3 is used to grip a heat exchanger 300 and place it into the placement device 1; the second gripping device 4 is used to grip the separator 200 from the feeding device 2 and place it into the placement device 1. The heat exchanger 300 and the separator 200 are alternately stacked in the vertical direction on the placement device 1.
[0049] Heat exchanger 300 is a device for circulating refrigerant. Exemplarily, heat exchanger 300 may include a side plate, a coil, and fins. The coil is used for circulating refrigerant and is generally a continuous, curved tube segment. Fins can connect to the tube segment of the coil to increase the heat exchange area. The side plate can connect to the coil to fix it in place. This type of heat exchanger 300 can also be referred to as a finned tube heat exchanger 300. This application describes a finned tube heat exchanger 300 as an example.
[0050] The application scenarios of heat exchanger 300 are not limited. For example, heat exchanger 300 can be used in various household appliances that require heat exchange, such as air conditioning equipment and dryers.
[0051] The alternating stacking of heat exchangers 300 and isolation elements 200 in the vertical direction means that both heat exchangers 300 and isolation elements 200 are approximately parallel to the horizontal plane, and an isolation element 200 is sandwiched between any two heat exchangers 300.
[0052] In the production process of the heat exchanger 300, since the fins of the heat exchanger 300 are prone to be damaged, when the heat exchanger 300 is placed, a spacer 200 needs to be placed between two heat exchangers 300. For example, in the stacking process, the heat exchangers 300 need to be stacked, and a spacer 200 is arranged between every two heat exchangers 300. For example, after placing a heat exchanger 300, the spacer 200 is placed first, and then the next heat exchanger 300 is placed, and the process is repeated. In the heat exchanger 300 and the heat exchanger 300, there is a spacer 200. In the related art, the worker needs to place the first heat exchanger 300, then take the spacer 200, and then place it on the heat exchanger 300, and then place the next heat exchanger 300. The worker needs to ensure that the heat exchanger 300 is carried and placed gently throughout the process. Therefore, the whole process of carrying and placing the spacer 200 is slow. The heat exchanger 300 is made of metal and has a certain mass. The worker carries and stacks it, which belongs to a heavy physical labor post.
[0053] In this application, the second grabbing device 4 cooperates with the first grabbing device 3. The first grabbing device 3 places the heat exchanger 300 on the placing device 1. The second grabbing device 4 takes the spacer 200 from the feeding device 2 and places it on the placing device 1. Then the first grabbing device 3 places the next heat exchanger 300 on the placing device 1. The process is repeated. In this way, the first grabbing device 3 and the second grabbing device 4 alternately place the heat exchanger 300 and the spacer 200 on the placing device 1, so as to realize the alternating stacking of the heat exchanger 300 and the spacer 200.
[0054] The spacer 200 is used to separate two heat exchangers 300 and reduce the mutual friction and collision between the two heat exchangers 300.
[0055] The shape of the spacer 200 is not limited. For example, the spacer 200 can be a flat sheet.
[0056] The material of the spacer 200 is not limited. For example, the material of the spacer 200 includes but is not limited to paper. In this way, the paper is used to separate two heat exchangers 300, and the paper is cheap and easy to manufacture.
[0057] The heat exchanger 300 and the spacer 200 are placed in the placing device 1 in the form of alternating stacking. Taking the horizontal plane as the projection plane, the projection area of the spacer 200 can be greater than or equal to the projection area of the heat exchanger 300.
[0058] The stacking equipment provided by the embodiment of the application can provide the spacer 200 by the feeding device 2, the first grabbing device 3 can grab the heat exchanger 300 and place it to the placing device 1, manual carrying is not needed, the second grabbing device 4 can grab the spacer 200 from the feeding device 2 and place it to the placing device 1, manual stacking is not needed, the first grabbing device 3 cooperates with the second grabbing device 4, and the heat exchanger 300 and the spacer 200 are alternately stacked on the placing device 1, so that the automation degree can be improved, manual carrying and stacking of the heat exchanger 300 are no longer needed, manual physical labor expenditure is reduced, the risk of man-machine cooperation is reduced, the stacking qualified rate of products can be improved, and product output efficiency is improved.
[0059] The number of the placing devices 1 can be one or more. In some embodiments, a plurality of placing devices 1 are arranged in sequence in the fourth direction.
[0060] The number of the feeding devices 2 can be one or more. In some embodiments, a plurality of feeding devices 2 are arranged in sequence in the fourth direction.
[0061] In some embodiments, referring to Figures 1 to 2 , the two placing devices 1 are arranged at intervals along the fourth direction, the two feeding devices 2 are located between the two placing devices 1, and the first grabbing device 3 and the feeding device 2 are arranged at intervals along the fifth direction, and the fifth direction is perpendicular to the fourth direction.
[0062] The distance between the first grabbing device 3 and the feeding device 2 is not limited, for example, the first grabbing device 3 can smoothly place the heat exchanger 300 on the placing device 1 after grabbing the heat exchanger 300.
[0063] In some embodiments, referring to Figures 1 to 5 , the first grabbing device 3 comprises a first grabbing mechanism 31, the first grabbing mechanism 31 comprises a first jaw module 311 and a second jaw module 312, the first jaw module 311 is used for clamping one end of the heat exchanger 300 in the length direction, the second jaw module 312 and the first jaw module 311 are arranged at intervals along the first direction, the second jaw module 312 is used for clamping two end faces of the heat exchanger 300 in the width direction, and the first direction is parallel to the length direction of the heat exchanger 300.
[0064] The heat exchanger 300 is conveyed to the stacking equipment in an initial state, in some cases, the initial state of the heat exchanger 300 is vertical placement, that is, the length direction of the heat exchanger 300 is perpendicular to the horizontal direction, so that the top end of the heat exchanger 300 in the length direction has space to be grabbed.
[0065] Exemplarily, the heat exchanger 300 is arranged in the tube expander in an initial state, that is, before the heat exchanger 300 is stacked, the top end of the heat exchanger 300 has space to be grabbed, and the two sides are blocked. Exemplarily, the heat exchanger 300 is in the tube expander, the top end of the heat exchanger 300 in the length direction is located outside the tube expander, and the two sides of the heat exchanger 300 are located inside the tube expander. In this way, the first jaw module 311 can first clamp the top end of the heat exchanger 300 in the length direction, the first jaw module 311 moves upward to pull out the heat exchanger 300 from the tube expander, and the second jaw module 312 can clamp the two end faces of the heat exchanger 300 in the width direction, for example, the second jaw module 312 can clamp the bottom end of the heat exchanger 300 in the length direction, and the heat exchanger 300 is clamped by the first jaw module 311 and the second jaw module 312.
[0066] In this embodiment, the heat exchanger 300 is arranged in the tube expander in an initial state, that is, before the heat exchanger 300 is stacked, the heat exchanger 300 is vertically placed and temporarily stored in the tube expander, the top end of the heat exchanger 300 in the length direction is exposed outside the tube expander, and the first jaw module 311 can clamp the top end of the heat exchanger 300 in the length direction. The second jaw module 312 and the first jaw module 311 are spaced apart along the first direction, and the second jaw module 312 is used to clamp the two end faces of the heat exchanger 300 in the width direction. Exemplarily, the first jaw module 311 clamps one end of the heat exchanger 300 in the length direction, and the second jaw module 312 clamps the two end faces of the heat exchanger 300 in the width direction. For example, the first jaw module 311 grabs one end of the heat exchanger 300 in the length direction, then lifts the heat exchanger 300 upward, and the heat exchanger 300 has space on both sides after being lifted. The second jaw module 312 is close to the heat exchanger 300 and contacts the two end faces of the heat exchanger 300 in the width direction. The first jaw module 311 limits the displacement of the heat exchanger 300 in the length direction, and the second jaw module 312 limits the displacement of the heat exchanger 300 in the width direction. The displacement of the heat exchanger 300 in the length direction and the displacement of the heat exchanger 300 in the width direction are both limited.
[0067] In some embodiments, referring to Figures 3 to 5 , the first jaw module 311 includes two first clamps 3111, the two first clamps 3111 are spaced apart along the second direction, the two first clamps 3111 can relatively close to clamp the heat exchanger 300 or relatively far away to release the heat exchanger 300, the second direction is perpendicular to the first direction, and the second direction is parallel to the thickness direction of the heat exchanger 300.
[0068] In this embodiment, the two first clamps 3111 clamp the two surfaces of the heat exchanger 300 in the thickness direction, and the heat exchanger 300 can be clamped more stably.
[0069] Exemplarily, the first clamping jaw module 311 comprises a first power source, which drives the two first clamps 3111 to relatively approach or move away from each other along the second direction. The first power source is configured to provide power so that the two first clamps 3111 relatively approach to clamp the heat exchanger 300, and the two first clamps 3111 move away from each other to release the heat exchanger 300. The type of the first power source is not limited, and exemplarily, the first power source comprises but is not limited to a pneumatic cylinder, an electric cylinder or the like, for example, a finger cylinder.
[0070] In some embodiments, referring to Figures 3 to 5 , the first grabbing mechanism 31 comprises a seat body 313, a support frame 314 and a telescopic structure 315, and the first clamping jaw module 311 is arranged on the support frame 314. The telescopic structure 315 is connected between the seat body 313 and the support frame 314, and the telescopic structure 315 is configured to drive the support frame 314 to move the first clamping jaw module 311 to approach or move away from the seat body 313 along the first direction.
[0071] In this embodiment, the telescopic structure 315 is configured to provide power, and the support frame 314 moves the first clamping jaw module 311 along the first direction, so as to adjust the position of the first clamping jaw module 311 in the first direction, so that the first clamping jaw module 311 can approach and grab the top end of the heat exchanger 300. In the case that the first clamping jaw module 311 grabs the heat exchanger 300, the telescopic structure 315 can drive the support frame 314 to move the first clamping jaw module 311 away from the seat body 313, so as to pull out the heat exchanger 300 from the pipe expander.
[0072] In some embodiments, the telescopic structure 315 can comprise a telescopic cylinder, the telescopic rod of the telescopic cylinder can be connected with the support frame 314, and the cylinder body of the telescopic cylinder can be fixed to the seat body 313.
[0073] In some embodiments, referring to Figures 3 to 5 , the second clamping jaw module 312 comprises two second clamps 3121, which are arranged at intervals along the third direction, and the two second clamps 3121 can relatively approach to clamp the heat exchanger 300 or move away from each other to release the heat exchanger 300. The third direction is perpendicular to the first direction, and the third direction is parallel to the width direction of the heat exchanger 300.
[0074] In this embodiment, in the case that the first clamping jaw module 311 grabs the top end of the heat exchanger 300 and pulls out the heat exchanger 300 from the pipe expander, the two sides of the heat exchanger 300 along the third direction are no longer blocked by the pipe expander, and the two second clamps 3121 can clamp the two ends of the heat exchanger 300 along the third direction.
[0075] In some embodiments, the opposite end faces of the two first clamps 3111 are both provided with flexible layers. The flexible layers can be in soft contact with the heat exchanger 300, so as to reduce the risk of scratching the heat exchanger 300.
[0076] In some embodiments, the opposite end faces of the two second clamps 3121 are provided with flexible layers.
[0077] The flexible layer can be made of a flexible material, which is not limited in material, for example, the flexible material can be rubber, silicone and / or super glue, etc.
[0078] In some embodiments, referring to Figures 3 to 5 The second clamp module 312 includes a plurality of first driving structures 3122 and a second driving structure 3123, each first driving structure 3122 is connected with a second clamp 3121 to drive the second clamp 3121 to move linearly along the second direction; the second driving structure 3123 drives the two second clamps 3121 to move closer to each other or away from each other along the third direction, the first direction, the second direction and the third direction are perpendicular to each other, and the second direction is consistent with the thickness direction of the heat exchanger 300.
[0079] Exemplarily, after the first clamp module 311 grasps one end of the heat exchanger 300 in the length direction, the first clamp module 311 lifts the heat exchanger 300 upwards, the first driving structure 3122 drives the second clamp 3121 to extend along the second direction to approach the heat exchanger 300, and the second driving structure 3123 drives the second clamp 3121 to clamp along the third direction, so that the second grasping device 4 can grasp the two end faces of the heat exchanger 300 in the width direction.
[0080] The first driving structure 3122 is used to provide power, and the first driving structure 3122 includes but is not limited to a cylinder, a motor or an electric cylinder, etc. Taking the first driving structure 3122 including a carrier and a cylinder as an example, the cylinder body of the cylinder can be connected with the carrier, and the piston rod of the cylinder can be connected with the second clamp 3121.
[0081] The second driving structure 3123 is used to provide power, and the second driving structure 3123 includes but is not limited to a cylinder, a motor or an electric cylinder, etc. Taking the second driving structure 3123 including a motor as an example, the driving shaft of the motor is connected with the carrier through a reversing assembly, and the reversing assembly is used to convert the rotation of the driving shaft of the motor into linear reciprocating motion.
[0082] In some embodiments, the reversing assembly protects the gear set and the rack, the driving shaft of the motor is connected with one gear of the gear set, the rack is engaged with the gears of the gear set, and the carrier can be fixedly connected with the rack. The driving shaft drives the gear set to rotate, the gear set drives the rack to move along the third direction, and the rack drives the carrier to move along the third direction.
[0083] In some embodiments, referring to Figures 3 to 5The first grabbing mechanism 31 comprises a seat body 313 and a limiting structure 316. The limiting structure 316 is arranged on the seat body 313. An end face of the limiting structure 316 away from the seat body 313 in a second direction is a limiting face 316a. The limiting face 316a is used to abut an end face of the heat exchanger 300 facing the seat body 313. The second direction is perpendicular to the first direction, and parallel to the thickness direction of the heat exchanger 300.
[0084] For example, the limiting structure 316 limits the heat exchanger 300. For example, in the process of carrying, the limiting face 316a of the limiting structure 316 abuts the end face of the heat exchanger 300 facing the seat body 313, so as to prevent the heat exchanger 300 from being impacted due to the inertia of motion.
[0085] The number of the limiting structure 316 can be one or more. In some embodiments, a plurality of limiting structures 316 are arranged at intervals along the first direction.
[0086] The limiting structure 316 can be detachably connected or non-detachably connected with the seat body 313.
[0087] Unless otherwise specified, the detachable connection includes but is not limited to screw connection, bolt connection and / or clamping, etc. The non-detachable connection includes but is not limited to welding, bonding and / or riveting, etc.
[0088] For example, the limiting face 316a can be provided with a flexible layer. The flexible layer is in soft contact with the heat exchanger 300.
[0089] The shape of the limiting structure 316 is not limited. For example, the limiting structure 316 can be substantially U-shaped, and the limiting face 316a is rectangular. For example, the length direction of the limiting face 316a is parallel to the third direction.
[0090] The number of the second jaw module 312 can be one or more.
[0091] In some embodiments, referring to Figures 3 to 5 a plurality of second jaw modules 312 are arranged at intervals along the first direction. The heat exchangers 300 with different lengths can be grabbed by the plurality of second jaw modules 312.
[0092] For example, referring to Figure 3 the second jaw module 312 can be two, and the two second jaw modules 312 can be arranged at intervals along the first direction.
[0093] In some embodiments, referring to Figures 1 to 7 the first grabbing device 3 comprises a mechanical arm 32. The first grabbing mechanism 31 is connected with the mechanical arm 32. The mechanical arm 32 is used to drive the first grabbing mechanism 31 to move.
[0094] Exemplarily, the mechanical arm 32 is used to drive the first grabbing mechanism 31 to move to change the position of the first grabbing mechanism 31 in the three-dimensional space. For example, the mechanical arm 32 is used to drive the first grabbing mechanism 31 to grab the heat exchanger 300 in the initial state, and the mechanical arm 32 is used to drive the first grabbing mechanism 31 having grabbed the heat exchanger 300 to the placing device 1.
[0095] The mechanical arm 32 can include multiple joints to realize movement in multiple directions, is an automated device designed to mimic a human arm, and can be programmed to perform tasks such as grabbing, carrying, and assembling in a three-dimensional space. The mechanical arm 32 can adopt an existing mechanical arm, and details are not described herein.
[0096] The mechanical arm 32 is not limited in type, and exemplarily, the mechanical arm 32 includes but is not limited to an industrial robot and the like.
[0097] In some embodiments, referring to Figure 1 , the second grabbing device 4 includes a gantry 40, a sliding frame 41, and a second grabbing mechanism 42. The gantry 40 includes a cross beam 401 extending in a fourth direction, and the placing device 1 and the feeding device 2 are located below the cross beam 401. The fourth direction is perpendicular to the up-down direction. The sliding frame 41 is slidably arranged on the cross beam 401 in the fourth direction. The second grabbing mechanism 42 is slidably arranged on the sliding frame 41 in the up-down direction. The second grabbing mechanism 42 grabs the spacer 200 from the feeding device 2 and places it on the placing device 1.
[0098] The second grabbing mechanism 42 can slide relative to the sliding frame 41, and the sliding frame 41 can slide relative to the cross beam 401 in the fourth direction. When it is necessary to grab the spacer 200, the sliding frame 41 drives the second grabbing mechanism 42 to slide in the fourth direction to the feeding device 2. The second grabbing mechanism 42 can be lowered and grab the spacer 200 on the feeding device 2. The second grabbing mechanism 42 is raised to a set height again. The sliding frame 41 drives the second grabbing mechanism 42 to slide in the fourth direction to the placing device 1. The second grabbing mechanism 42 is lowered again and places the spacer 200 on the placing device 1.
[0099] In some embodiments, referring to Figures 1 to 7 , the first grabbing device 3 can be located on one side of the gantry 40 in a fifth direction.
[0100] In some embodiments, referring to Figures 1 to 7The second grabbing mechanism 42 comprises a suction disc 420, and a plurality of the separators 200 of the feeding device 2 are stacked in the up-down direction, and the suction disc 420 is configured to selectively suck and release the separators 200. The suction disc 420 sucks the separators 200 by negative pressure, thereby completing the grabbing action. For example, the suction disc 420 abuts against the separators 200 and generates a pressure difference, thereby sucking the separators 200 and driving the separators 200 to move synchronously, and then the separators 200 are stacked behind the heat exchanger 300. The pressure difference is reduced to separate the suction disc 420 from the separators 200, thereby releasing the separators 200. The suction disc 420 can more stably grab the separators 200 in the form of a sheet, and can also reduce the risk of scratching the separators 200.
[0101] In some embodiments, the second grabbing mechanism 42 comprises an air pump and an air pipe, and the air pump is connected to the suction disc 420 through the air pipe, thereby changing the air pressure of the suction disc 420.
[0102] In some embodiments, referring to The feeding device 2 is formed with a material cavity 20, and the feeding device 2 is formed with a material taking port 201 at the upper end and in communication with the material cavity 20. The material cavity 20 is configured to place a plurality of separators 200 stacked in the up-down direction, and the second grabbing mechanism 42 grabs the separators 200 from the material cavity 20 through the material taking port 201. The feeding device 2 is simple in structure, and the second grabbing mechanism 42 can be easily lifted up and down to grab and release the separators 200.
[0103] The structure of the material cavity 20 is not limited, and for example, the material cavity 20 can be configured to place a plurality of separators 200 stacked in the up-down direction.
[0104] The shape of the material taking port 201 is not limited, and for example, the material taking port 201 can enable the suction disc 420 to grab the separators 200 from the material cavity 20.
[0105] The bottom of the feeding device 2 can be provided with first traveling wheels, and the first traveling wheels can drive the feeding device 2 to move.
[0106] The placing device 1 can comprise a tray and second traveling wheels, the second traveling wheels are connected to the tray, and the second traveling wheels can drive the tray to move. The tray is configured to stack the heat exchanger 300 and the separators 200.
[0107] The above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and in particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner.
Claims
1. A palletizing apparatus characterized by comprising: include: Placement device; Feeding device, used to provide isolation components; A first gripping device is used to grip the heat exchanger and place it into the placement device; The second gripping device is used to grip the separator from the feeding device and place it into the placement device, wherein the heat exchanger and the separator are alternately stacked in the placement device in the vertical direction.
2. The palletizing apparatus according to claim 1, characterized in that, The first gripping device includes a first gripping mechanism, the first gripping mechanism comprising: The first gripper module is used to grip one end of the heat exchanger along its length. The second gripper module and the first gripper module are distributed at intervals along a first direction. The second gripper module is used to clamp the two end faces of the heat exchanger in the width direction. The first direction is parallel to the length direction of the heat exchanger.
3. The palletizing apparatus according to claim 2, characterized in that, The first gripper module includes two first clamps, which are spaced apart along a second direction. The two first clamps can be brought close to each other to clamp the heat exchanger or moved away from each other to release the heat exchanger. The second direction is perpendicular to the first direction and parallel to the thickness direction of the heat exchanger.
4. The palletizing apparatus according to claim 2, characterized by The first grasping mechanism includes: seat body; A support frame, wherein the first gripper module is disposed on the support frame; A telescopic structure connects the base and the support frame, and the telescopic structure can drive the support frame to move the first gripper module closer to or further away from the base along a first direction.
5. The palletizing apparatus according to claim 2, characterized in that, The second gripper module includes two second clamps, which are spaced apart along a third direction. The two second clamps can be brought close to each other to clamp the heat exchanger or moved away from each other to release the heat exchanger. The third direction is perpendicular to the first direction and parallel to the width direction of the heat exchanger.
6. The palletizing apparatus according to claim 5, characterized in that, The second gripper module includes: Multiple first drive structures, each of which is connected to a second clamp to drive the second clamp to perform linear reciprocating motion along a second direction; The second driving structure drives the two second clamps to move closer or further apart in a third direction. The first direction, the second direction, and the third direction are perpendicular to each other, and the second direction is consistent with the thickness direction of the heat exchanger.
7. The palletizing apparatus according to claim 2, characterized by The first grasping mechanism includes: seat body; A limiting structure is provided on the base body. The end face of the limiting structure away from the base body in a second direction is a limiting surface. The limiting surface is used to abut against the end face of the heat exchanger facing the base body. The second direction is perpendicular to the first direction and parallel to the thickness direction of the heat exchanger.
8. The palletizing apparatus according to claim 2, characterized by Multiple second gripper modules are spaced apart along a first direction; and / or, The first gripping device includes a robotic arm, and the first gripping mechanism is connected to the robotic arm. The robotic arm is used to drive the first gripping mechanism to move.
9. The palletizing apparatus according to any one of claims 1 to 8, characterized by The second gripping device includes: A gantry frame includes a crossbeam extending along a first direction, wherein the placement device and the feeding device are both located below the crossbeam, and the first direction is perpendicular to the vertical direction; A sliding frame is slidably disposed on the crossbeam along a first direction; A second gripping mechanism is slidably arranged in the slide frame in the up-and-down direction, and is configured to grip the spacer from the feeding device and place the spacer to the placing device.
10. The palletizing apparatus according to claim 9, wherein The second gripping mechanism includes a suction cup configured to selectively suck and release the spacer, and the plurality of spacers of the feeding device are stacked in the up-and-down direction.
11. The palletizing apparatus according to claim 9, wherein The feeding device forms a material cavity, and an upper end of the feeding device forms a material taking port in communication with the material cavity, the material cavity is configured to place a plurality of spacers stacked in the up-and-down direction, and the second gripping mechanism grips the spacer from the material cavity through the material taking port.