Docking device
By designing an automated docking device, the problems of high labor intensity and low efficiency of manual docking of evaporator gas-liquid pipe joints were solved, and an efficient and safe automated docking process was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GREE ELECTRIC APPLIANCE INC OF ZHUHAI
- Filing Date
- 2025-05-13
- Publication Date
- 2026-04-24
AI Technical Summary
In the current air conditioning manufacturing industry, the connection process of gas-liquid pipe joints of evaporators relies on manual operation, which results in high labor intensity, low connection efficiency, and safety hazards.
Design a docking device, including a docking mechanism and a position adjustment mechanism, which can adjust the position in three directions: X-axis, Y-axis and Z-axis, automatically complete the alignment and docking of gas and liquid pipes, and realize automatic docking by using grippers and female head drive components.
It significantly reduces labor intensity, improves docking efficiency, reduces the volatility and safety risks of manual operation, and ensures the accuracy and stability of docking.
Smart Images
Figure CN224157996U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of heat exchanger docking technology, and specifically relates to a docking device. Background Technology
[0002] In the current air conditioning manufacturing industry, after the evaporator body and gas-liquid pipes are assembled to form the evaporator, the completed evaporator still needs to undergo a three-in-one process of air leak detection, helium leak detection, and refrigerant charging. However, the prerequisite for air leak detection, helium leak detection, and refrigerant charging is that the joints on the gas-liquid pipes must be properly connected and tightened with the joints of the external equipment. Currently, this connection is done manually. During connection, the person manually presses down the sliding groove around the joint on the gas-liquid pipe, and then the ball bearings inside the joint of the external equipment are locked into the groove at the joint on the gas-liquid pipe. This manual connection method suffers from high labor intensity and low connection efficiency. Utility Model Content
[0003] Therefore, this utility model provides a docking device that can solve the technical problems of high labor intensity and low docking efficiency in the manual docking work before the evaporator performs three-in-one air leak detection, helium leak detection and refrigerant filling.
[0004] To address the aforementioned problems, this utility model provides a docking device, including a docking mechanism and a position adjustment mechanism. The docking mechanism includes docking jaws, a jaw driving component, a docking female head, and a female head driving component. The position adjustment mechanism can adjust the position of the docking mechanism in three directions: X-axis, Y-axis, and Z-axis, so that the docking jaws are aligned with the gas-liquid pipe of the heat exchanger. The jaw driving component is configured to drive the docking jaws to clamp the gas-liquid pipe. The free end of the gas-liquid pipe is provided with a connector. After the docking jaws clamp the gas-liquid pipe, the female head driving component is configured to drive the docking female head to dock with the connector.
[0005] In some embodiments, the female head driving component has a first telescopic portion and a second telescopic portion, the docking female head is assembled on the first telescopic portion, the gripper driving component is assembled on the second telescopic portion, the gripper driving component is drivenly connected to the docking gripper, the docking gripper and the docking female head are spaced apart along the Z-axis direction, and the docking female head is located below the docking gripper.
[0006] In some embodiments, the mating head has a mating groove facing the mating jaws, and the mating groove gradually expands in the direction from the mating head to the mating jaws.
[0007] In some embodiments, the docking jaws have a guide area and a clamping area, the clamping area being in communication with the guide area and the clamping area being located at the tail of the guide area, the guide area gradually expanding in the direction from the tail of the guide area to the front of the guide area.
[0008] In some embodiments, the position adjustment mechanism includes a first telescopic component configured to extend and retract along the Z-axis, and the docking mechanism is assembled on the telescopic portion of the first telescopic component.
[0009] In some embodiments, there are two gas-liquid pipes, each with a connector at its free end; there are two first telescopic components; there are two docking mechanisms; and the two docking mechanisms are respectively assembled on the telescopic portions of the two first telescopic components.
[0010] In some embodiments, the position adjustment mechanism further includes a support frame and a second telescopic component, the first telescopic component being assembled on the support frame, the second telescopic component being configured to extend and retract along the Y-axis direction, and the support frame being assembled on the telescopic portion of the second telescopic component.
[0011] In some embodiments, the position adjustment mechanism further includes a first guide rail extending along the Y-axis, and the support frame is slidably assembled on the first guide rail.
[0012] In some embodiments, the position adjustment mechanism further includes a support plate and a third telescopic component, the first guide rail is mounted on the support plate, the third telescopic component is configured to extend and retract along the X-axis direction, and the support plate is mounted on the telescopic portion of the third telescopic component.
[0013] In some embodiments, the position adjustment mechanism further includes a second guide rail extending along the X-axis, and the support plate is slidably assembled on the second guide rail.
[0014] The docking device provided by this utility model has the following beneficial effects:
[0015] First, the position adjustment mechanism adjusts the docking mechanism in the X, Y, and Z axes to ensure accurate alignment of the docking jaws with the gas-liquid pipes of the heat exchanger. Then, the jaw drive component drives the docking jaws to clamp the gas-liquid pipes. Finally, the female head drive component drives the docking female head to align with the gas-liquid pipe joint, thus completing the entire docking process. Since the entire docking process is fully automated, it significantly reduces labor intensity and improves docking efficiency compared to existing manual docking methods. Attached Figure Description
[0016] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the docking device according to an embodiment of the present utility model;
[0018] Figure 2 This is a schematic diagram of the structure of the docking device according to an embodiment of the present invention, in which the docking jaws hold the gas-liquid pipe of the heat exchanger and are ready to dock the docking female head with the joint of the gas-liquid pipe.
[0019] Figure 3 for Figure 2 Enlarged diagram of point A in the diagram;
[0020] Figure 4 The side view of the docking device according to an embodiment of the present invention, showing the docking jaws holding the gas-liquid pipe of the heat exchanger and preparing to dock the docking female head with the gas-liquid pipe joint.
[0021] Figure 5 for Figure 4 Enlarged diagram of point B in the diagram;
[0022] Figure 6 The side view of the docking device according to an embodiment of the present invention, showing the docking jaws holding the gas-liquid pipe of the heat exchanger and docking the docking female head with the joint of the gas-liquid pipe.
[0023] Figure 7 for Figure 6 Enlarged diagram of point C in the diagram;
[0024] Figure 8 The top view of the docking device according to an embodiment of the present invention, after the docking jaws hold the gas-liquid pipe of the heat exchanger and dock the docking female head with the joint of the gas-liquid pipe.
[0025] Figure 9 This is a schematic diagram of the docking device of this utility model installed on the frame;
[0026] Figure 10 for Figure 9 Enlarged diagram of point D in the diagram.
[0027] The reference numerals in the attached figures are as follows:
[0028] 1. Docking mechanism; 11. Docking gripper; 12. Gripper drive component; 13. Docking female head; 14. Female head drive component; 2. Position adjustment mechanism; 21. First telescopic component; 22. Support frame; 23. Second telescopic component; 24. First guide rail; 25. Support plate; 26. Third telescopic component; 27. Second guide rail; 3. Heat exchanger; 31. Gas-liquid pipe; 32. Connector; 33. Main body; 4. Docking groove; 5. Guide area; 6. Clamping area; 7. Dustproof cover plate; 8. Dustproof cylinder; 9. Positioning mechanism; 10. Adjustment mechanism. Detailed Implementation
[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.
[0030] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.
[0031] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.
[0033] See also Figures 1 to 10 As shown, according to an embodiment of the present invention, a docking device is provided, including a docking mechanism 1 and a position adjustment mechanism 2. The docking mechanism 1 includes a docking jaw 11, a jaw driving component 12, a docking female head 13, and a female head driving component 14. The position adjustment mechanism 2 can adjust the position of the docking mechanism 1 in three directions: X-axis, Y-axis, and Z-axis, so that the docking jaw 11 is aligned with the gas-liquid pipe 31 of the heat exchanger 3. The jaw driving component 12 is configured to drive the docking jaw 11 to clamp the gas-liquid pipe 31. The free end of the gas-liquid pipe 31 is provided with a connector 32. After the docking jaw 11 clamps the gas-liquid pipe 31, the female head driving component 14 is configured to drive the docking female head 13 to dock with the connector 32.
[0034] In this technical solution, the position adjustment mechanism 2 first adjusts the position of the docking mechanism 1 in the X, Y, and Z axes to ensure accurate alignment of the docking jaws 11 with the gas-liquid pipe 31 of the heat exchanger 3. Then, the jaw drive component 12 drives the docking jaws 11 to clamp the gas-liquid pipe 31. Finally, the female head drive component 14 drives the docking female head 13 to dock with the connector 32 of the gas-liquid pipe 31, thus completing the entire docking process. Since the entire docking process is completed automatically by the docking device, it significantly reduces labor intensity and improves docking efficiency compared to existing manual docking methods. Furthermore, manual docking methods suffer from inconsistencies, with the accuracy of docking heavily dependent on the operator's skill level. The docking device of this application solves the inconsistency problem inherent in manual positioning methods. Moreover, manual docking methods are prone to pin damage, and unreliable docking can lead to high-pressure gas ejection, endangering personnel safety. The docking device of this application operates completely automatically without human intervention, thus improving personnel safety.
[0035] It should be noted that a positioning device is also present on the entire production line. The main body 33 of the heat exchanger 3 is fixed on the positioning mechanism 9 of the positioning device, and the gas-liquid pipe 31 of the heat exchanger 3 is fixed on the adjustment mechanism 10 of the positioning device. The position of the gas-liquid pipe 31 is adjusted in the X, Y, and Z axes by the adjustment mechanism 10, so that the gas-liquid pipe 31 is accurately aligned with the main body 33. Then, the gas-liquid pipe 31 and the main body 33 are assembled to form the heat exchanger 3. Next, the positioning device carries the heat exchanger 3 from the production line to the docking device for the docking process. On the production line, both the positioning device and the docking device are located on the frame.
[0036] See also Figure 1 , Figure 5 and Figure 7 As shown, the female head drive component 14 has a first telescopic part and a second telescopic part. The docking female head 13 is assembled on the first telescopic part, and the gripper drive component 12 is assembled on the second telescopic part. The gripper drive component 12 is drivenly connected to the docking gripper 11. The docking gripper 11 and the docking female head 13 are distributed at intervals along the Z-axis direction, and the docking female head 13 is located below the docking gripper 11.
[0037] In this embodiment, after the gripper drive component 12 drives the docking gripper 11 to clamp the gas-liquid pipe 31, the first and second telescopic parts of the female head drive component 14 simultaneously extend and retract. The first telescopic part drives the docking female head 13 to move upward, and the second telescopic part drives the docking gripper 11 to move downward along the gas-liquid pipe 31. After both the first and second telescopic parts have extended and retracted to their positions, the docking female head 13 and the connector 32 are docked and locked together. It should be noted that the process of the second telescopic part driving the docking gripper 11 to move downward along the gas-liquid pipe 31 helps to straighten the gas-liquid pipe 31, facilitating the accurate docking of the subsequent docking female head 13 and the connector 32. The female head drive component 14 can be a cylinder, an electric cylinder, a hydraulic cylinder, etc. Preferably, the female head drive component 14 is a cylinder, and both ends of the cylinder can extend and retract. Preferably, the gripper drive component 12 is a cylinder.
[0038] See also Figure 3 and Figure 10 As shown, a docking groove 4 is formed on the docking female head 13 facing the docking claw 11, and the docking groove 4 gradually expands in the direction from the docking female head 13 to the docking claw 11.
[0039] In this technical solution, the docking groove 4 gradually expands from the docking female head 13 to the docking jaws 11. This creates a guiding oblique arc surface on the groove wall of the docking groove 4, which guides the docking of the connector 32, improves docking accuracy, and reduces the probability of hard contact during docking. The connector 32 has a push pin; after the docking female head 13 is docked and tightened with the connector 32, the push pin on the connector 32 is lifted, thus opening the gas-liquid pipe 31. The docking female head 13 also has a channel communicating with the docking groove 4. After the docking female head 13 is docked and tightened with the connector 32, air and helium can be injected into the heat exchanger 3 through the docking female head 13 for air leak detection and helium leak detection. After the heat exchanger 3's sealing is confirmed to be satisfactory, refrigerant is injected for refrigerant filling. Furthermore, the connector 32 has a groove, and the mating head 13 has a ball bearing. After the connector 32 is inserted into the mating head 13, the ball bearing is engaged in the groove to lock the connector 32 and the mating head 13 together.
[0040] It should be noted that the docking female head 13 is assembled on the first telescopic part via a bracket, on which a dust cover plate 7 and a dust cylinder 8 are also assembled. When the docking device is idle, the dust cylinder 8 drives the dust cover plate 7 to cover the docking groove 4 to prevent dust from falling into the docking groove 4; when the docking device is working, the dust cylinder 8 drives the dust cover plate 7 to move away, exposing the docking groove 4 for subsequent docking work.
[0041] See also Figure 3 and Figure 10 As shown, the docking jaw 11 has a guide area 5 and a clamping area 6. The clamping area 6 is connected to the guide area 5 and is located at the tail of the guide area 5. The guide area 5 gradually expands in the direction from the tail of the guide area 5 to the front of the guide area 5.
[0042] In this embodiment, the guide area 5 gradually expands from its tail to its front, creating a flared structure. This provides better guidance, allowing the docking jaws 11 to adapt to gas-liquid pipes 31 of different diameters, expanding the clamping range, improving docking tolerance, and making it suitable for different types of heat exchangers 3. It should be noted that after the gas-liquid pipe 31 is guided by the guide area 5, it is ultimately clamped by the clamping area 6, which is a circular groove. During docking, the docking jaws 11 are adjusted to 50mm above the joint 32, and then the gas-liquid pipe 31 is accommodated in the circular groove of the docking jaws 11.
[0043] See also Figure 1 , Figure 8 and Figure 9 As shown, the position adjustment mechanism 2 includes a first telescopic component 21, which is configured to extend and retract along the Z-axis direction, and the docking mechanism 1 is assembled on the telescopic part of the first telescopic component 21.
[0044] In this technical solution, the docking mechanism 1 is positioned in the Z-axis direction by extending and retracting the first telescopic component 21 along the Z-axis, thereby adjusting the positions of the docking jaws 11 and the docking head 13 in the Z-axis direction. The first telescopic component 21 can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc., and preferably, it is an electric cylinder.
[0045] In one specific implementation, there are two gas-liquid pipes 31, and each of the free ends of the two gas-liquid pipes 31 is provided with a connector 32. There are two first telescopic components 21 and two docking mechanisms 1. The two docking mechanisms 1 are respectively assembled on the telescopic parts of the two first telescopic components 21.
[0046] In this embodiment, the two gas-liquid pipes 31 are respectively the gas-liquid inlet pipe and the gas-liquid outlet pipe. During air leak detection and helium leak detection, air and helium enter through the gas-liquid inlet pipe and then exit through the gas-liquid outlet pipe. During refrigerant filling, refrigerant is filled into the heat exchanger 3 through the gas-liquid inlet pipe. Each docking mechanism 1 includes a docking jaw 11, a jaw driving component 12, a docking female head 13, and a female head driving component 14. The two docking mechanisms 1 are respectively assembled on the telescopic parts of the two first telescopic components 21, which can realize that the two first telescopic components 21 can adjust the position of the two sets of docking mechanisms 1 in the Z-axis direction. The position adjustment of the two sets of docking mechanisms 1 is independent of each other and does not interfere with each other, so that the two docking mechanisms 1 can clamp and dock the two gas-liquid pipes 31 respectively.
[0047] See also Figure 1 , Figure 8 and Figure 9 As shown, the position adjustment mechanism 2 also includes a support frame 22 and a second telescopic component 23. The first telescopic component 21 is assembled on the support frame 22, and the second telescopic component 23 is configured to extend and retract along the Y-axis direction. The support frame 22 is assembled on the telescopic portion of the second telescopic component 23.
[0048] In this technical solution, since the support frame 22 is assembled on the telescopic part of the second telescopic component 23, when the second telescopic component 23 extends or retracts along the Y-axis, it can drive the support frame 22 to adjust its position along the Y-axis. Furthermore, since the docking mechanism 1 is assembled on the telescopic part of the first telescopic component 21, and the first telescopic component 21 is assembled on the support frame 22, when the second telescopic component 23 drives the support frame 22 to adjust its position along the Y-axis, the docking mechanism 1 can also adjust its position along the Y-axis. The second telescopic component 23 can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc., preferably an electric cylinder.
[0049] See also Figure 1 , Figure 8 and Figure 9 As shown, the position adjustment mechanism 2 also includes a first guide rail 24, which extends along the Y-axis, and the support frame 22 can be slidably assembled on the first guide rail 24.
[0050] In this embodiment, the first guide rail 24 can provide support and guidance for the support frame 22, so that when the second telescopic component 23 adjusts the position of the support frame 22 along the Y-axis, it ensures the stability and directional accuracy of the support frame 22 when it moves along the Y-axis, thereby ensuring the stability and accuracy of the position adjustment of the docking mechanism 1 in the Y-axis direction.
[0051] See also Figure 1 , Figure 2 and Figure 8As shown, the position adjustment mechanism 2 also includes a support plate 25 and a third telescopic component 26. The first guide rail 24 is assembled on the support plate 25, and the third telescopic component 26 is configured to extend and retract along the X-axis direction. The support plate 25 is assembled on the telescopic part of the third telescopic component 26.
[0052] In this technical solution, since the support plate 25 is assembled on the telescopic part of the third telescopic component 26, when the third telescopic component 26 extends or retracts along the X-axis, it can drive the support plate 25 to adjust its position along the X-axis, thereby realizing the position adjustment of the docking mechanism 1 along the X-axis. The third telescopic component 26 can be a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc., preferably an electric cylinder.
[0053] See also Figure 1 , Figure 2 , Figure 6 and Figure 8 As shown, the position adjustment mechanism 2 also includes a second guide rail 27, which extends along the X-axis direction, and the support plate 25 can be slidably assembled on the second guide rail 27.
[0054] In this embodiment, the second guide rail 27 can support and guide the support plate 25, so that when the third telescopic component 26 adjusts the position of the support plate 25 along the X-axis, it can ensure the stability and directional accuracy of the support plate 25 when it moves along the X-axis, thereby ensuring the stability and accuracy of the position adjustment of the docking mechanism 1 in the X-axis direction.
[0055] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.
[0056] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model. The above are only preferred embodiments of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.
Claims
1. A docking device, characterized in that, The assembly includes a docking mechanism (1) and a position adjustment mechanism (2). The docking mechanism (1) includes a docking jaw (11), a jaw driving component (12), a docking female head (13), and a female head driving component (14). The position adjustment mechanism (2) can adjust the position of the docking mechanism (1) in the X-axis, Y-axis, and Z-axis directions so that the docking jaw (11) is aligned with the gas-liquid pipe (31) of the heat exchanger (3). The jaw driving component (12) is configured to drive the docking jaw (11) to clamp the gas-liquid pipe (31). The free end of the gas-liquid pipe (31) is provided with a connector (32). After the docking jaw (11) clamps the gas-liquid pipe (31), the female head driving component (14) is configured to drive the docking female head (13) to dock with the connector (32).
2. The docking device according to claim 1, characterized in that, The female head drive component (14) has a first telescopic part and a second telescopic part. The docking female head (13) is assembled on the first telescopic part, and the gripper drive component (12) is assembled on the second telescopic part. The gripper drive component (12) is drivenly connected to the docking gripper (11). The docking gripper (11) and the docking female head (13) are spaced apart along the Z-axis direction, and the docking female head (13) is located below the docking gripper (11).
3. The docking device according to claim 2, characterized in that, The docking female head (13) has a docking groove (4) facing the docking jaws (11), and the docking groove (4) gradually expands in the direction from the docking female head (13) to the docking jaws (11).
4. The docking device according to claim 1, characterized in that, The docking jaw (11) has a guide area (5) and a clamping area (6). The clamping area (6) is connected to the guide area (5), and the clamping area (6) is located at the tail of the guide area (5). The guide area (5) gradually expands from the tail of the guide area (5) to the front of the guide area (5).
5. The docking device according to any one of claims 1 to 4, characterized in that, The position adjustment mechanism (2) includes a first telescopic component (21) configured to extend and retract along the Z-axis direction, and the docking mechanism (1) is assembled on the telescopic portion of the first telescopic component (21).
6. The docking device according to claim 5, characterized in that, There are two gas-liquid pipes (31), and each of the two gas-liquid pipes (31) is provided with a connector (32) at its free end. There are two first telescopic components (21), and there are two docking mechanisms (1). The two docking mechanisms (1) are respectively assembled on the telescopic parts of the two first telescopic components (21).
7. The docking device according to claim 5, characterized in that, The position adjustment mechanism (2) further includes a support frame (22) and a second telescopic component (23). The first telescopic component (21) is assembled on the support frame (22), and the second telescopic component (23) is configured to extend and retract along the Y-axis direction. The support frame (22) is assembled on the telescopic portion of the second telescopic component (23).
8. The docking device according to claim 7, characterized in that, The position adjustment mechanism (2) further includes a first guide rail (24) extending along the Y-axis, and the support frame (22) is slidably assembled on the first guide rail (24).
9. The docking device according to claim 8, characterized in that, The position adjustment mechanism (2) further includes a support plate (25) and a third telescopic component (26), the first guide rail (24) is assembled on the support plate (25), the third telescopic component (26) is configured to extend and retract along the X-axis direction, and the support plate (25) is assembled on the telescopic portion of the third telescopic component (26).
10. The docking device according to claim 9, characterized in that, The position adjustment mechanism (2) further includes a second guide rail (27) which extends along the X-axis direction, and the support plate (25) is slidably assembled on the second guide rail (27).