A jaw for clamping a small elbow

Abstract

The application discloses a clamping jaw for clamping a small elbow, comprising a base body, a clamping device fixedly connected to one end of the base body, two movable ends capable of moving towards each other or away from each other on the clamping device, clamping jaws fixedly connected to the two movable ends, a flexible layer fixedly connected to a contact surface of the clamping jaws on a side facing a U-shaped workpiece, and an auxiliary stabilizing mechanism arranged on the clamping jaws. The clamping jaw with the flexible layer is designed, the elastic deformation of the flexible layer increases the contact area and disperses the pressure, the damage of the U-shaped workpiece can be avoided to a certain extent, and the auxiliary stabilizing mechanism is designed, on one hand, the flexible layer is adapted to the micro-geometric shape of the surface of the U-shaped workpiece, stable friction is provided to maintain clamping, and on the other hand, the tightening action of the tightening rod on the inner wall limits the circumferential rotation freedom degree of the U-shaped workpiece, and the automatic insertion operation of the U-shaped elbow in the air conditioner heat exchanger production is particularly suitable.

Description

Technical Field

[0001] This application relates to the field of air conditioning heat exchanger manufacturing technology, and in particular to a gripper for holding small elbows. Background Technology

[0002] In the production process of air conditioner evaporators and condensers, aluminum fins are usually stacked and threaded through tubes first, and then small copper U-shaped elbows are connected one by one to the ends of adjacent copper tubes to form a refrigerant flow loop.

[0003] Currently, the industry mainly relies on two operating modes for the transfer and insertion of small-bend elbows.

[0004] One method involves completely manual operation, where the operator holds a small elbow and aligns it with the end of the copper tube, then forcefully inserts it. This method is not only labor-intensive and inefficient, but also suffers from inconsistent insertion due to the instability of manual operation, making it unsuitable for modern large-scale automated production.

[0005] Another approach is to use automated equipment for clamping. Existing automated grippers mostly use rigid gripping fingers to directly clamp the small elbows via pneumatic fingers. However, this rigid clamping method often requires a large clamping force to prevent slippage. Excessive clamping force can easily cause irreversible plastic deformation of thin-walled copper elbows, or even flatten the pipe opening, making it impossible to fit the copper pipe or causing poor soldering.

[0006] Meanwhile, in order to overcome the insertion resistance during the connection, the gripper needs to provide a large axial holding force. However, in actual working conditions, due to the cumulative tolerance of fin stacking or the deviation of the copper tube end chamfer, the small elbow often collides with the outer wall of the copper tube at the moment of insertion, generating a large lateral component force. Under the action of the lateral force, the rigid gripper is prone to workpiece loosening, displacement or even falling off.

[0007] In other words, existing technologies have the following technical problems: ordinary elbow workpiece clamping devices are prone to damaging the workpiece or causing it to deflect and fall off during clamping. Therefore, a gripper for clamping small elbows is proposed to address the above problems. Utility Model Content

[0008] This application provides a gripper for holding small elbows to solve the problem that ordinary elbow workpiece clamping equipment in the prior art is prone to damaging the workpiece or deflection and falling off during clamping.

[0009] According to one aspect of this application, a gripper for holding a small elbow is provided, comprising: The substrate has a clamping device fixedly connected to one end, and the clamping device has two moving ends that can move toward or away from each other. Both moving ends are fixedly connected with clamping jaws, which are used to apply clamping force to the U-shaped workpiece to be processed; A flexible layer is fixedly connected to the contact surface of the clamping claw facing the U-shaped workpiece; The gripper is also equipped with an auxiliary stabilizing mechanism, which includes two tensioning rods that can be moved closer or further apart.

[0010] Furthermore, a rectangular guide post is provided between the two gripping claws. One of the gripping claws is fixedly connected to one end of the rectangular guide post, and the other gripping claw has a guide groove that mates with the rectangular guide post. The rectangular guide post extends into the guide groove to form a sliding guide engagement.

[0011] Furthermore, one side of the rectangular guide post is a contact surface, used to contact one end face or inner wall of the U-shaped workpiece.

[0012] Furthermore, a flexible layer is fixedly connected to the contact surface of the rectangular guide post.

[0013] Furthermore, the auxiliary stabilization mechanism also includes a guide slider, a flexible outer casing, and a linkage structure; The gripper has symmetrically arranged guide grooves, and guide sliders are slidably connected in both guide grooves of the gripper.

[0014] Furthermore, tension rods are fixedly connected to one end of each of the two guide sliders.

[0015] Furthermore, the other end of the guide slider is connected to a linkage structure, which is connected to one end of the rectangular guide post.

[0016] Furthermore, a flexible outer casing is fixedly connected to the curved wall of the tensioning rod.

[0017] Furthermore, the linkage structure of the auxiliary stabilizing mechanism includes a movable base, a connecting frame, gears, and a drive rack; The bottom surface of the gripper is provided with a movable base, and the upper surface of the movable base is rotatably connected to both sides of the connecting frame. The upper ends of the two connecting frames are rotatably connected to the bottom surface of the guide slider through hinges.

[0018] Furthermore, a gear is rotatably connected to the bottom surface of the gripper, a linkage rack is fixedly connected to one side of the moving seat, the linkage rack and the gear mesh with each other, a drive rack meshes with one side of the gear, one end of a connecting bracket is fixedly connected to one side of the drive rack, and the other end of the connecting bracket is fixedly connected to the bottom surface of the rectangular guide post.

[0019] In order to solve the problem of deformation or surface scratches of U-shaped workpieces caused by improper clamping force control or contact stress concentration in the prior art due to ordinary rigid clamping measures, this application designs a clamping claw with a flexible layer. The elastic deformation of the flexible layer increases the contact area and disperses the pressure, which can avoid damage to the U-shaped workpiece to a certain extent. At the same time, this application also designs an auxiliary stabilizing mechanism. The overall technical solution formed by the clamping claw, the flexible layer and the auxiliary stabilizing mechanism, on the one hand, uses the flexible layer to adapt to the micro-geometry of the U-shaped workpiece surface and provide stable friction to maintain clamping. On the other hand, the tensioning effect of the tensioning rod on the inner wall restricts the circumferential rotational freedom of the U-shaped workpiece. It is particularly suitable for the automated insertion operation of U-shaped elbows in the production of air conditioning heat exchangers. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of one embodiment of this application; Figure 2 This is a side view of one embodiment of the present application; Figure 3 This is one embodiment of the present application. Figure 2 A magnified schematic diagram of the structure at point A; Figure 4 This is a schematic diagram of the bottom three-dimensional structure of one embodiment of this application; Figure 5 This is one embodiment of the present application. Figure 4 A magnified schematic diagram of the structure at point A; Figure 6 This is a schematic diagram of the structure of an auxiliary stabilizing mechanism according to an embodiment of this application.

[0022] In the picture: 1. Matrix; 2. Clamping device; 201. Actuating end; 3. Clamping claws; 301. Rectangular guide post; 4. Flexible layer; 5. U-shaped workpieces; 6. Auxiliary stabilizing mechanism; 601. Guide slider; 602. Tensioning rod; 603. Flexible outer casing; 604. Moving seat; 605. Connecting frame; 606. Hinge; 607. Linkage rack; 608. Gear; 609. Drive rack; 610. Connecting bracket. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] Please see Figure 1 and Figure 2 As shown, a gripper for holding a small elbow includes: The base 1 has a clamping device 2 fixedly connected to one end of the base 1. The clamping device 2 has two moving ends 201 that can move towards or away from each other. The moving ends 201 are used to output clamping driving force. Clamping claws 3 are fixedly connected to both actuating ends 201. The clamping claws 3 are used to apply clamping force to the U-shaped workpiece 5 to be processed. A flexible layer 4 is fixedly connected to the contact surface of the clamping claw 3 facing the U-shaped workpiece 5, which is used to buffer the clamping pressure and reduce the risk of plastic deformation of the U-shaped workpiece 5 during the clamping process. The clamping claw 3 is also provided with an auxiliary stabilizing mechanism 6, which includes two tensioning rods 602 that can move closer or further apart, and are used to abut against the inner wall of the arc portion of the U-shaped workpiece 5 in the clamping state. When in the initial non-clamping state, the two clamping claws 3 are in the open state, and the two tensioning rods 602 are gathered in the inner center area of ​​the arc portion of the U-shaped workpiece 5. When clamped, the two clamping claws 3 are closed, the flexible layer 4 contacts and adheres to the outer walls of the two straight sections of the U-shaped workpiece 5, and at the same time the two tensioning rods 602 open relative to each other and press against the inner wall of the arc part of the U-shaped workpiece 5.

[0025] This application designs a clamping claw 3 with a flexible layer 4. The elastic deformation of the flexible layer 4 increases the contact area and disperses the pressure, which can avoid damage to the U-shaped workpiece 5 to a certain extent. At the same time, this application also designs an auxiliary stabilizing mechanism 6. The overall technical solution formed by the clamping claw 3, the flexible layer 4 and the auxiliary stabilizing mechanism 6, on the one hand, utilizes the flexible layer 4 to adapt to the micro-geometry of the surface of the U-shaped workpiece 5 and provides stable friction to maintain clamping. On the other hand, the tensioning rod 602 uses the tensioning effect on the inner wall to restrict the circumferential rotational freedom of the U-shaped workpiece 5. It is particularly suitable for the automated insertion operation of U-shaped elbows in the production of air conditioning heat exchangers.

[0026] In a preferred embodiment of this application, see [reference] Figure 2 and Figure 3As shown, the clamping device 2 is a finger cylinder, and the two actuating ends 201 of the finger cylinder are fixedly connected to the clamping claws 3, forming symmetrically arranged clamping execution ends.

[0027] Furthermore, a rectangular guide post 301 is provided between the two gripping claws 3. One of the gripping claws 3 is fixedly connected to one end of the rectangular guide post 301, and the other gripping claw 3 is provided with a guide groove that cooperates with the rectangular guide post 301. The rectangular guide post 301 extends into the guide groove to form a sliding guide fit.

[0028] One side of the rectangular guide post 301 is a contact surface, which is used to contact one end face or inner wall of the U-shaped workpiece 5 to play the role of axial positioning and anti-rotation limiting.

[0029] Furthermore, a flexible layer 4 is fixedly connected to the contact surface of the rectangular guide post 301 to buffer contact impact and increase contact friction.

[0030] In a preferred embodiment of this application, see [reference] Figure 4 and Figure 5 As shown, the auxiliary stabilizing mechanism 6 also includes a guide slider 601, a flexible outer casing 603, and a linkage structure.

[0031] The clamping claw 3 has symmetrically arranged guide grooves, and guide sliders 601 are slidably connected in both guide grooves of the clamping claw 3 to form a linear reciprocating motion pair.

[0032] One end of each of the two guide sliders 601 is fixedly connected to a tension rod 602, which is used to press against the inner side of the arc of the U-shaped workpiece 5 as the guide slider 601 moves. The other end of the guide slider 601 is connected to a linkage structure, which is connected to one end of the rectangular guide post 301, and is used to convert the clamping action of the clamping claw 3 into the opening and closing action of the tension rod 602.

[0033] Through the above technical solution, when the clamping claw 3 is in the open state, the tensioning rod 602 retracts so that the U-shaped workpiece 5 can smoothly enter the clamping position, which can avoid interference and ensure smooth feeding. In this way, the timing coordination of clamping and tensioning actions is realized, and the linkage of mechanism actions is achieved.

[0034] Furthermore, a flexible outer casing 603 is fixedly connected to the arc-shaped wall of the tensioning rod 602. The flexible outer casing 603 is used to buffer the tensioning force and increase the friction of the inner wall. When the tensioning rod 602 expands outward to abut against the inner wall of the U-shaped workpiece 5, it can reduce the local contact stress and avoid the tube wall dents or scratches that may be caused by hard contact, thus achieving a flexible tensioning effect.

[0035] As a preferred technical solution, both the flexible layer 4 and the flexible outer casing 603 are made of elastic and wear-resistant materials, such as polyurethane or nitrile rubber, which can provide cushioning while resisting repeated frictional wear, thereby extending the service life of the grippers and protecting the surface of the workpiece.

[0036] In one specific embodiment of this application, see [reference]. Figure 5 and Figure 6 As shown, the linkage structure of the auxiliary stabilizing mechanism 6 includes a movable base 604, a connecting frame 605, a gear 608, and a drive rack 609; A movable base 604 is provided on the bottom surface of the gripper 3. Connecting brackets 605 are rotatably connected to both sides of the upper surface of the movable base 604. The upper ends of the two connecting brackets 605 are rotatably connected to the bottom surface of the guide slider 601 through hinges 606, forming a crank-slider type transmission structure.

[0037] When the movable seat 604 moves in a specific direction, it can drive the connecting frame 605 to swing, thereby pushing the guide slider 601 to move linearly along the guide groove, thus realizing the opening and closing action of the tension rod 602.

[0038] Furthermore, in order to transmit the movement of the gripper 3 to the movable seat 604, a gear 608 is rotatably connected to the bottom surface of the gripper 3, and a linkage rack 607 is fixedly connected to one side of the movable seat 604. The linkage rack 607 and the gear 608 mesh with each other to form a gear and rack transmission pair.

[0039] With this technical solution, when the clamping claw 3 closes and drives the rectangular guide post 301 to move, the moving seat 604 can be displaced through the transmission chain described later, thereby providing a power source for the tensioning action.

[0040] Furthermore, a drive rack 609 is meshed on one side of the gear 608, and one end of a connecting bracket 610 is fixedly connected to one side of the drive rack 609. The other end of the connecting bracket 610 is fixedly connected to the bottom surface of the rectangular guide post 301, forming a complete power transmission path.

[0041] With this technical solution, when the clamping jaw 3 closes under the drive of the action end 201, the rectangular guide post 301 moves accordingly, causing the drive rack 609 to translate and the drive gear 608 to rotate. Then, through the linkage rack 607, the moving seat 604 moves, and finally, through the connecting frame 605, the tension rod 602 is pushed outward to achieve synchronous clamping and tensioning, thereby simplifying the control logic and improving the action response speed. When the clamping jaw 3 opens and resets, it plays a role in reversing the drive of the tension rod 602 to close, making the workpiece release process smooth and unobstructed.

[0042] The working process of this application is described below with reference to specific action procedures: During operation, the grippers are in the initial non-gripping state, and the two moving ends 201 of the gripping device 2 move in opposite directions, causing the two gripping claws 3 to open. At the same time, the moving seat 604 of the auxiliary stabilizing mechanism 6 is located on the side away from the U-shaped workpiece 5. The connecting frame 605 pulls the two guide sliders 601 to retract, so that the tensioning rod 602 is located in the inner center area of ​​the arc part of the U-shaped workpiece 5, so as to avoid interference with the U-shaped workpiece 5 during the feeding process.

[0043] At this time, the external feeding mechanism transports the U-shaped workpiece 5 to the predetermined station. The opening of the U-shaped workpiece 5 faces the clamping claw 3, and the inner side of its arc portion is directly opposite the tension rod 602.

[0044] Subsequently, the clamping device 2 is activated, and the two actuating ends 201 drive the clamping claws 3 to move towards each other and begin to close. During this process, the rectangular guide post 301 fixed on one of the clamping claws 3 moves synchronously with the clamping claw 3, and the flexible layer 4 at its end contacts the inner wall of the U-shaped workpiece 5 first, pre-positioning and axially limiting the U-shaped workpiece 5. As the clamping claw 3 continues to close, the rectangular guide post 301 drives the drive rack 609 to translate through the connecting bracket 610, driving the gear 608 meshing with it to rotate.

[0045] The rotation of gear 608 drives the meshing rack 607 to move linearly, which in turn pushes the movable seat 604 to move closer to the U-shaped workpiece 5. The movement of the movable seat 604 is converted into the movement of two guide sliders 601 along their respective guide grooves by the connecting frame 605, so that the tensioning rod 602 gradually opens.

[0046] When the flexible layer 4 of the clamping claw 3 is attached to the outer wall of the two straight sections of the U-shaped workpiece 5, the tensioning rod 602 is just opened to its maximum stroke, and its outer flexible outer casing 603 is tightly pressed against the inner wall of the arc part of the U-shaped workpiece 5 to form a tensioning fit.

[0047] At this point, the U-shaped workpiece 5 is simultaneously subjected to the clamping force of the outer wall of the clamping claw 3 and the supporting force of the inner wall of the tensioning rod 602, and is in a stable fixed state.

[0048] When the gripper moves the U-shaped workpiece 5 to the end of the finned copper tube and performs the insertion operation, the friction provided by the flexible layer 4 and the flexible outer casing 603 helps to resist the axial resistance during the insertion process, while the tensioning rod 602's pressing against the arc wall helps to limit the rotation of the U-shaped workpiece 5 around its own axis, thereby reducing the risk of displacement or falling off due to uneven force to a certain extent.

[0049] After the insertion operation is completed, the actuating end 201 drives the clamping claws 3 to move in opposite directions to open. The rectangular guide post 301 retracts with the clamping claws 3, and through the transmission chain composed of the drive rack 609, gear 608 and linkage rack 607, it drives the moving seat 604 to reset in the opposite direction, and then drives the tensioning rod 602 to retract through the connecting frame 605, thereby releasing the tensioning effect on the U-shaped workpiece 5.

[0050] After the clamping jaw 3 is fully open, the jaw disengages from the workpiece, ready for the next work cycle.

[0051] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this application does not involve any improvement to the software and methods.

[0052] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A gripper for holding small curved heads, characterized in that: include: The base (1) has a clamping device (2) fixedly connected to one end of the base (1), and the clamping device (2) has two moving ends (201) that can move towards or away from each other. Both of the two actuating ends (201) are fixedly connected with clamping claws (3), which are used to apply clamping force to the U-shaped workpiece (5) to be processed; A flexible layer (4) is fixedly connected to the contact surface of the clamping claw (3) facing the U-shaped workpiece (5); The clamping claw (3) is also provided with an auxiliary stabilizing mechanism (6), which includes two tensioning rods (602) that can be relatively close to or far apart.

2. The gripper for holding a small curved head according to claim 1, characterized in that: A rectangular guide post (301) is provided between the two clamping claws (3). One of the clamping claws (3) is fixedly connected to one end of the rectangular guide post (301), and the other clamping claw (3) has a guide groove that cooperates with the rectangular guide post (301). The rectangular guide post (301) extends into the guide groove to form a sliding guide fit.

3. The gripper for holding a small curved head according to claim 2, characterized in that: One side of the rectangular guide post (301) is a contact surface, which is used to contact one end face or inner wall of the U-shaped workpiece (5).

4. The gripper for holding a small curved head according to claim 3, characterized in that: A flexible layer (4) is fixedly connected to the contact surface of the rectangular guide post (301).

5. The gripper for holding a small curved head according to claim 2, characterized in that: The auxiliary stabilizing mechanism (6) also includes a guide slider (601), a flexible outer casing (603), and a linkage structure; The clamping claw (3) is provided with symmetrically arranged guide grooves, and guide sliders (601) are slidably connected in both guide grooves of the clamping claw (3).

6. The gripper for holding a small curved head according to claim 5, characterized in that: Each of the two guide sliders (601) has a tension rod (602) fixedly connected to one end.

7. The gripper for holding a small curved head according to claim 6, characterized in that: The other end of the guide slider (601) is connected to a linkage structure, which is connected to one end of the rectangular guide post (301).

8. The gripper for holding a small curved head according to claim 6, characterized in that: The tensioning rod (602) is fixedly connected to a flexible outer casing (603) at the arc-shaped wall.

9. The gripper for holding a small curved head according to claim 7, characterized in that: The linkage structure of the auxiliary stabilizing mechanism (6) includes a movable base (604), a connecting frame (605), a gear (608), and a drive rack (609). The bottom surface of the gripper (3) is provided with a movable seat (604). Both sides of the upper surface of the movable seat (604) are rotatably connected to the connecting frame (605). The upper ends of the two connecting frames (605) are rotatably connected to the bottom surface of the guide slider (601) through hinges (606).

10. The gripper for holding a small curved head according to claim 9, characterized in that: A gear (608) is rotatably connected to the bottom surface of the clamping claw (3). A linkage rack (607) is fixedly connected to one side of the movable seat (604). The linkage rack (607) meshes with the gear (608). A drive rack (609) meshes with one side of the gear (608). One end of a connecting bracket (610) is fixedly connected to one side of the drive rack (609). The other end of the connecting bracket (610) is fixedly connected to the bottom surface of the rectangular guide post (301).

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