Heat exchanger side plate feeding apparatus

Abstract

The utility model discloses a heat exchanger side plate feeding equipment relates to air conditioner heat exchanger manufacturing technical field, and this heat exchanger side plate feeding equipment includes frame and is located in the feeding device and control device of frame, and the frame has the feeding station, and the feeding device includes first mobile module and is located in first mobile module first manipulator and first drive part, and first mobile module is used to drive first manipulator and first drive part and moves, and first drive part is used for driving and adjusting the angle of first manipulator and is grabbed side plate, and the control device includes visual identification module and controller, and visual identification module, feeding device are electrically connected with controller respectively, and visual identification module is used for scanning the profile of side plate on feeding station and forms image information, and the controller controls first manipulator to move to the position and the angle of grabbing of matching with side plate according to this image information. This heat exchanger side plate feeding equipment is favorable for reducing positioning failure and improving efficiency, and reducing the labor intensity of manual operation.

Description

Technical Field

[0001] This utility model relates to the field of air conditioning heat exchanger manufacturing technology, and in particular to a heat exchanger side plate feeding device. Background Technology

[0002] In related technologies, the outermost metal plate of the two air conditioner components (condenser and evaporator) is called a side plate. The mounting holes on the side plate are used to fix the entire condenser or evaporator assembly to the air conditioner chassis or bracket. The side plate usually needs to be loaded and unloaded by a feeding device, but the side plate needs to be placed manually during the loading process. This increases the probability of equipment positioning failure due to side plate position errors. Utility Model Content

[0003] The main purpose of this invention is to propose a heat exchanger side plate feeding device, which aims to improve the problem of high failure rate in side plate positioning of existing feeding devices.

[0004] To achieve the above objectives, the heat exchanger side plate feeding device proposed in this utility model includes: The frame has a loading station; A feeding device is provided on the frame. The feeding device includes a first moving module and a first manipulator and a first driving component provided on the first moving module. The moving module is used to drive the first manipulator and the first driving component to move. The first driving component is driven to the first manipulator to adjust the gripping angle of the first manipulator. The first manipulator is used to grip the side plate located at the feeding station. The control device includes a vision recognition module and a controller. The vision recognition module and the feeding device are electrically connected to the controller. The vision recognition module is positioned facing the feeding station. The vision recognition module is used to scan the outline of the side plate on the feeding station and send the acquired image information to the controller. The controller controls the first robot arm to move to a position and gripping angle that matches the side plate according to the image information.

[0005] In one embodiment, the first robotic arm is movable in a first direction, a second direction, and a third direction, wherein the first direction, the second direction, and the third direction intersect each other. And / or, the first drive member has a rotation axis extending along the third direction, the rotation axis being connected to the first manipulator.

[0006] In one embodiment, the visual recognition module is fixedly disposed above the loading station, and the loading device further includes a calibration component disposed on the first robot arm. The visual recognition module is used to detect the position information of the first robot arm according to the calibration component, and the controller controls the first robot arm to move and operate according to the position information and the image information.

[0007] In one embodiment, the first robotic arm includes a fixed plate and a movable plate. The fixed plate is provided with a plurality of magnetic suction components for adsorbing the side plate on the side near the loading station. The movable plate is movably disposed on the fixed plate. The movable plate is provided with a plurality of push rods on the side near the loading station for separating the side plate from the magnetic suction components.

[0008] In one embodiment, the movable plate is disposed on the side of the fixed plate near the loading station, and the movable plate is provided with through holes for the magnetic suction components to pass through. Multiple magnetic suction components are disposed through multiple through holes and are staggered with multiple top rods. And / or, the magnetic assembly includes a mounting base and a magnetic element, the magnetic element being disposed at the end of the mounting base away from the fixing plate; And / or, the first robotic arm further includes a distance sensor disposed on the fixed plate for detecting the distance between the magnetic suction assembly and the side plate.

[0009] In one embodiment, the frame is provided with a material conveying component; the material conveying component is used to convey the side plate to the loading station; Alternatively, the loading station may be located on the material conveying component.

[0010] In one embodiment, the frame is further provided with a positioning platform and a feeding station. The heat exchanger side plate feeding device also includes a transfer device, which includes a second robot and a third robot. The second robot is used to grab the side plate on the positioning platform and place it on the third robot. The third robot is used to flip the side plate and place it on the feeding station.

[0011] In one embodiment, the loading station, positioning platform, and unloading station are sequentially arranged on the frame along a first direction. The unloading station is provided with a buffer rack extending along a second direction. The second robot arm is arranged above the third robot arm along a third direction. The first direction, the second direction, and the third direction intersect each other.

[0012] In one embodiment, the transfer device includes a second moving module, and a second robotic arm is disposed on the second moving module. The second moving module is used to drive the second robotic arm to move along the first direction and a third direction. And / or, the transfer device includes a third moving module, the third robotic arm is disposed on the third moving module, and the third moving module is used to drive the third robotic arm to move along the second direction and the third direction.

[0013] In one embodiment, the third moving module is further provided with a second driving member, which is drivenly connected to the third robotic arm. The second driving member is used to drive the third robotic arm to rotate so as to flip the side plate. And / or, the transfer device includes at least two of the third robotic arms, each of the third robotic arms being connected to a third moving module, the two third robotic arms being spaced apart along a first direction, and the buffer rack being provided on one side of each of the third robotic arms.

[0014] In one embodiment, the positioning platform is further provided with a plurality of positioning blocks and a plurality of push blocks, each of the push blocks being connected to a third driving member, the third driving member being used to drive the push block to move, and the push block being used to push the side plate to a preset position and abut against the positioning block; And / or, the buffer rack is provided with a plurality of positioning posts at intervals along the length direction, the positioning posts being used for the mounting holes of the side plates to pass through, so that the side plates are positioned and placed on the buffer rack; And / or, a linear drive module is provided extending along the second direction on the unloading station, the buffer is mounted on the linear drive module, and the linear drive module is used to drive the buffer to move along the second direction.

[0015] In one embodiment, the heat exchanger side plate feeding device includes a feeding device, which includes a fourth moving module and a fourth robotic arm mounted on the fourth moving module. The fourth moving module is used to drive the fourth robotic arm to move, and the fourth robotic arm is used to grab one or more side plates located on the feeding station at one time.

[0016] In one embodiment, the second, third, and fourth robotic arms are each provided with at least two positioning members, which are used to pass through the mounting holes of the side plate for the fourth robotic arm to position and pick up the side plate.

[0017] The heat exchanger side plate feeding device proposed in this utility model includes a frame, a feeding device, and a control device. The frame has a feeding station for placing side plates. The feeding device is located on the frame and includes a first moving module, a first manipulator, and a first driving component. The first moving module is used to drive the first manipulator and the first driving component to move. The first driving component is used to drive and adjust the angle at which the first manipulator grasps the side plate. The control device includes a vision recognition module and a controller. The vision recognition module and the feeding device are electrically connected to the controller. The vision recognition module is set towards the feeding station to scan the outline of the side plate on the feeding station and send the acquired image information to the controller. The controller controls the first manipulator to move to a position matching the side plate and adjust the grasping angle according to the image information. With this setup, during the side plate loading process, the controller can first control the first moving module to move the first robot arm to the position corresponding to the side plate based on the contour image of the side plate, and then control the first driving component to adjust the gripping angle of the first robot arm. This overcomes the problem of positioning failure caused by the side plate placement error, allowing the first robot arm to automatically adapt to the placement posture of the side plate at the loading station. This helps to reduce failures caused by positioning failure and improve efficiency, thereby reducing the labor intensity of manual operations. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of a structure of an embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 2 A front view of an embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 3 A top view of an embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 4 A schematic diagram of the feeding device and unloading device in one embodiment of the heat exchanger side plate feeding equipment provided by this utility model; Figure 5 A schematic diagram of the structure of the first robotic arm and the first driving component in one embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 6 A schematic diagram of the positioning platform in one embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 7A partial structural schematic diagram of the transfer device in one embodiment of the heat exchanger side plate feeding equipment provided by this utility model; Figure 8 A schematic diagram of the structure of the second robotic arm in one embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 9 A schematic diagram of the structure of the third moving module, the third robotic arm, and the buffer rack in one embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 10 A schematic diagram of the buffer rack in one embodiment of the heat exchanger side plate feeding device provided by this utility model; Figure 11 A schematic diagram of the fourth robotic arm in one embodiment of the heat exchanger side plate feeding device provided by this utility model.

[0020] Explanation of icon numbers: 100. Heat exchanger side plate feeding equipment; 1. Frame; 11. Loading station; 111. Material conveying component; 12. Positioning table; 121. Positioning block; 122. Push block; 123. Third drive component; 124. Light source; 13. Unloading station; 131. Buffer rack; 1311. Positioning column; 132. Linear drive module; 2. Loading device; 21. First moving module; 22. First robotic arm; 221. Fixed plate; 222. Movable plate; 222a. Through hole; 22 3. Magnetic suction assembly; 224. Top rod; 225. Distance sensor; 23. First drive component; 231. Rotating shaft; 24. Cylinder; 25. Calibration component; 3. Control device; 31. Vision recognition module; 32. Electrical control box; 4. Transfer device; 41. Second moving module; 42. Second robotic arm; 43. Third moving module; 431. Second drive component; 44. Third robotic arm; 5. Unloading device; 51. Fourth moving module; 52. Fourth robotic arm; 6. Positioning component; 200, Side plate; 200a, Mounting hole.

[0021] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] 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. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0023] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0024] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0025] This utility model proposes a heat exchanger side plate feeding device 100.

[0026] Please see Figures 1 to 5 In one embodiment of this utility model, the heat exchanger side plate feeding device 100 includes a frame 1, a feeding device 2, and a control device 3. The frame 1 has a feeding station 11 for placing the side plate 200. The feeding device 2 is located on the frame 1 and includes a first moving module 21, a first manipulator 22, and a first drive member 23 located on the first moving module 21. The first moving module 21 is used to drive the first manipulator 22 and the first drive member 23 to move. The first drive member 23 is used to drive and adjust the angle at which the first manipulator 22 grasps the side plate 200. The control device 3 includes a vision recognition module 31 and a controller. The vision recognition module 31 and the feeding device 2 are electrically connected to the controller. The vision recognition module 31 is set towards the feeding station 11 to scan the outline of the side plate 200 on the feeding station 11 and send the acquired image information to the controller. The controller controls the first manipulator 22 to move to a position and grasping angle that matches the side plate 200 according to the image information.

[0027] With this configuration, during the feeding process of the side plate 200, the controller can first control the first moving module 21 to move the first robot arm 22 to the position corresponding to the side plate 200 based on the contour image of the side plate 200, and then control the first driving component 23 to adjust the gripping angle of the first robot arm 22. This overcomes the problem of positioning failure caused by the placement error of the side plate 200, so that the first robot arm 22 can automatically adapt to the placement posture of the side plate 200 on the feeding station 11. This helps to reduce the failure caused by positioning failure and improve efficiency, thereby reducing the labor intensity of manual operation.

[0028] It should be noted that the loading station 11 can be configured as a platform, shelf, conveyor belt, etc., to accommodate the side plate 200 and facilitate scanning by the visual recognition module 31. Its structure is not specifically limited here. The side plate 200 can be placed at the loading station 11 manually or using other grippers. The first moving module 21 can be configured as a linear module, multi-axis robotic arm, etc., to drive the first robotic arm 22 to move and grasp the side plate 200 at different positions on the loading station 11. Again, no specific limitations are made here. Furthermore, the first robotic arm 22 can be configured as a vacuum suction cup, electromagnetic suction cup, mechanical gripper / hook, multi-joint robot, etc., and the first drive unit 23 can be configured as a servo rotary motor, stepper motor, etc., which can be selected according to actual needs.

[0029] Furthermore, the vision recognition module 31 can be equipped with an industrial camera (typically a lens and light source) to identify the contour and center position of the side panel 200. This solution is a 2D vision system, which is low-cost, fast, and technologically mature. Of course, 3D vision systems such as laser contour scanners and binocular stereo cameras can also be used. These devices have high precision and speed, and can directly output the height and position information of the contour. The vision recognition module 31 can also be configured according to requirements, and no limitation is made here. By setting the vision recognition module 31, multiple side panels 200 can be stacked on the loading station 11, further reducing the workload of placement and improving work efficiency.

[0030] In this embodiment, the control device 3 is mounted on the frame 1, and the frame 1 is equipped with an electrical control box 32. The controller is located inside the electrical control box 32 and is electrically connected to each actuator to control each actuator to work together to complete the feeding process of the side plate 200. In some other embodiments of this utility model, the control device 3 may also be mounted independently of the frame 1, and no specific limitation is made here.

[0031] like Figures 1 to 4As shown, in one embodiment, the first robotic arm 22 is movable in a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction intersect each other. It should be noted that the first moving module 21 is set as a linear module with the function of moving along the x-axis, y-axis, and z-axis, respectively corresponding to the first direction, the second direction, and the third direction. The first moving module 21 drives the first robotic arm 22 to move to the corresponding position of the side plate 200 in the first direction and the second direction, and can grasp the side plate 200 by lifting and lowering along the third direction. With this setting, the first robotic arm 22 can handle the side plates 200 at different positions on the loading station 11, reducing the need for the side plates 200 to be placed and positioned, and improving the automation efficiency of the equipment.

[0032] like Figure 4 and Figure 5 As shown, in one embodiment, the first drive member 23 has a rotating shaft 231 extending along a third direction, and the rotating shaft 231 is connected to the first robot arm 22. It is understood that since the side plate 200 is placed at a random angle on the loading station 11, in order to ensure that the first robot arm 22 can stably grasp the side plate 200, after the vision recognition module 31 scans the outline of the side plate 200, the controller controls the first drive member 23 to drive the first robot arm 22 to rotate around the rotating shaft 231, so that the grasping angle of the first robot arm 22 matches the placement angle of the side plate 200, thereby improving the stability of the first robot arm 22's grasping of the side plate 200.

[0033] It should be noted that, in some embodiments of this application, the first direction is defined as the direction along the x-axis in the figures, the second direction is defined as the direction along the y-axis in the figures, and the third direction is defined as the direction along the z-axis in the figures. These three directions are perpendicular to each other, and this configuration will be described as the default setting below. In other embodiments, the specific orientation (whether vertical or horizontal) and the included angles between the first, second, and third directions are not specifically limited, and can be flexibly adapted and set according to actual needs.

[0034] In one embodiment, the vision recognition module 31 is fixedly mounted above the loading station 11. The loading device 2 also includes a calibration component 25 mounted on the first robotic arm 22. The vision recognition module 31 is used to detect the position information of the first robotic arm 22 based on the calibration component 25. The controller controls the first robotic arm 22 to move based on the position information and image information. It can be understood that after scanning the contour of the side plate 200, the vision recognition module 31 obtains its position information. The controller sends a command to the first moving module 21 based on the position information to drive the first robotic arm 22 to move towards the gripping position. During this process, it is necessary to determine whether the position of the first robotic arm 22 is accurate. The vision recognition module 31 can calculate whether the position of the first robotic arm 22 coincides with the position of the side plate 200 by scanning the positioning features of the calibration component 25, thereby ensuring the accuracy of gripping.

[0035] like Figure 5 As shown, in one embodiment, the first robotic arm 22 includes a fixed plate 221 and a movable plate 222. The fixed plate 221 has multiple magnetic suction components 223 for adsorbing the side plate 200 on the side near the loading station 11. The movable plate 222 is movably disposed on the fixed plate 221. The movable plate 222 has multiple push rods 224 on the side near the loading station 11 for separating the side plate 200 from the magnetic suction components 223. It should be noted that, since different side plates 200 have different shapes and structures such as folded edges and mounting holes 200a, after scanning by the visual recognition module 31, the first driving component 23 drives the first robotic arm 22 to rotate around a third direction. This allows the magnetic suction components 223 to avoid the folded edges and mounting holes 200a and stably adsorb the surface of the side plate 200, preventing adsorption failure or unstable adsorption.

[0036] Furthermore, the movable plate 222 is movably connected to the fixed plate 221 via a cylinder 24. When the side plate 200 needs to be grasped, the cylinder 24 drives the movable plate 222 to move closer to the fixed plate 221, so that the lower end of the magnetic suction assembly 223 can contact the side plate 200. When the side plate 200 needs to be released, the cylinder 24 drives the movable plate 222 to extend so that the push rod 224 abuts against the side plate 200, causing the side plate 200 to disengage from the magnetic suction assembly 223. It should be noted that, in addition to being connected to the fixed plate 221 via the cylinder 24, the movable plate 222 can also be equipped with a drive motor, hydraulic mechanism, etc., without specific limitations here.

[0037] like Figure 5As shown, in one embodiment, the movable plate 222 is located on the side of the fixed plate 221 near the loading station 11. The movable plate 222 is provided with through holes 222a for the magnetic suction components 223 to pass through. Multiple magnetic suction components 223 are passed through multiple through holes 222a and are staggered with multiple top rods 224. It should be noted that the side plate 200 has multiple mounting holes 200a along its length, and the lengths of different side plates 200 are different. In order to ensure gripping stability, multiple magnetic suction components 223 are spaced apart along the length of the fixed plate 221, and multiple push rods 224 are also spaced apart along the length of the movable plate 222. The multiple magnetic suction components 223 pass through the through holes 222a and are staggered with the multiple push rods 224, so that the first robot arm 22 can stably grip and release the side plate 200, and can adapt to side plates 200 of different lengths, shapes and numbers of mounting holes 200a (side plates with 5 holes, 6 holes, 10 holes, integrated side plates, etc.), which greatly improves the compatibility of the equipment with different side plates 200 and realizes flexible automated production.

[0038] like Figure 5 As shown, in one embodiment, the magnetic suction assembly 223 includes a mounting base and a magnetic component, with the magnetic component located at the end of the mounting base away from the fixing plate 221. It should be noted that the mounting base in this embodiment has a cylindrical structure and a mounting groove (not shown) is provided at the end away from the fixing plate 221. The magnetic component can be embedded into the mounting groove, which helps reduce assembly difficulty. The magnetic component can be a permanent magnet or an electromagnet; no specific limitation is made here.

[0039] like Figure 5 As shown, in one embodiment, the first robotic arm 22 further includes a distance sensor 225, which is mounted on the fixed plate 221 to detect the distance between the magnetic suction assembly 223 and the side plate 200. It should be noted that the distance sensor 225 is electrically connected to the controller to detect the distance information between the fixed plate 221 and the side plate 200. The controller controls the first robotic arm 22 to move along a third direction based on this distance information, so that the magnetic suction assembly 223 accurately adsorbs the side plate 200. The distance sensor 225 can be a laser rangefinder, infrared rangefinder, etc., requiring only that a through hole be made in both the fixed plate 221 and the movable plate 222; no specific limitation is made here.

[0040] like Figures 1 to 3As shown, in one embodiment, the frame 1 is provided with a material conveyor 111; the material conveyor 111 is used to convey the side plate 200 to the loading station 11; or, the loading station 11 is located on the material conveyor 111. In this embodiment, the material conveyor 111 is a material belt, the loading station 11 is located at one end of the material belt near the loading device 2, the first robot arm 22 is used to grab the side plate 200 on the material belt, and the part of the material belt outside the frame 1 can be used for manual placement of the side plate 200. Of course, in some other embodiments, the material conveyor 111 can also be configured as a platform or shelf with a movable function, the loading station 11 can be located on the material conveyor 111, or it can be configured as a fixed platform for receiving the side plate 200 conveyed by the material conveyor 111, without specific limitations here.

[0041] like Figures 1 to 3 As shown, in one embodiment, the frame 1 is further provided with a positioning platform 12 and a unloading station 13. The heat exchanger side plate feeding device 100 also includes a transfer device 4, which includes a second robotic arm 42 and a third robotic arm 44. The second robotic arm 42 is used to grab the side plate 200 on the positioning platform 12 and place it on the third robotic arm 44. The third robotic arm 44 is used to flip the side plate 200 and place it on the unloading station 13. It should be noted that the flange of the mounting hole 200a of the side plate 200 will affect the image data acquisition of the visual recognition module 31. Therefore, when placing the side plate 200 at the loading station 11, its flat side should face upward and the side with the flange of the mounting hole 200a should face downward to improve the recognition effect.

[0042] Furthermore, at the unloading station 13, the flanges of the mounting holes 200a on the side plate 200 need to face upwards. Therefore, a second robotic arm 42 is used to remove the side plate 200 positioned on the positioning table 12 and place it on a third robotic arm 44. The third robotic arm 44 is positioned below the second robotic arm 42. The third robotic axis rotates the side plate 200 180° and then places it on the unloading station 13, completing the positioning and placement. It can be understood that by setting up the second robotic arm 42 and the third robotic arm 44, the positioning and flipping of the side plate 200 can be quickly achieved, improving the transfer rate.

[0043] It should be noted that, please refer to Figures 7 to 9 The second robotic arm 42 and the third robotic arm 44 adopt the same structure as the first robotic arm 22. They both achieve grasping and separation operations through the magnetic suction component 223 on the fixed plate 221 and the push rod 224 on the movable plate 222. Of course, in some other embodiments of this utility model, the second robotic arm 42 and the third robotic arm 44 may also adopt other solutions such as mechanical grippers, which are not specifically limited here.

[0044] like Figure 6As shown, a light source 124 is also provided on the side of the positioning platform 12 near the loading station 11. The light source 124 is used to illuminate the loading station 11 so that the visual recognition module 31 can clearly scan the outline of the side plate 200 and improve the recognition effect.

[0045] like Figures 1 to 3 As shown, in one embodiment, the loading station 11, the positioning table 12, and the unloading station 13 are sequentially arranged on the frame 1 along a first direction. The unloading station 13 is provided with a buffer rack 131 extending along a second direction. The second robot arm 42 is positioned above the third robot arm 44 along a third direction. The first direction, the second direction, and the third direction intersect each other. (Combined with...) Figure 7 , Figure 9 As can be seen, after the first robotic arm 22 picks up the side plate 200 located on the feeding station 11, it moves along the first direction and places the side plate 200 on the positioning table 12 for positioning. The second robotic arm 42 takes out the positioned side plate 200 and places it on the third robotic arm 44. The third robotic arm 44 flips the side plate 200 and places it on the buffer rack 131, which can store multiple side plates 200. This arrangement makes the heat exchanger side plate feeding device 100 compact in overall structure and reduces space occupation.

[0046] like Figure 7 and Figure 8 As shown, in one embodiment, the transfer device 4 includes a second moving module 41, and a second robotic arm 42 is disposed on the second moving module 41. The second moving module 41 is used to drive the second robotic arm 42 to move along a first direction and a third direction. It can be understood that since the position of the positioning table 12 is fixed, the second moving module 41 does not need to move in the second direction. The second robotic arm 42 can move above the positioning table 12 and the third robotic arm 44 in the first direction, and move in the third direction to grasp the side plate 200 located on the positioning table 12, or place the grasped side plate 200 on the third robotic arm 44.

[0047] like Figure 9 As shown, in one embodiment, the transfer device 4 includes a third moving module 43, and a third robotic arm 44 is disposed on the third moving module 43. The third moving module 43 is used to drive the third robotic arm 44 to move along a second direction and a third direction. It can be understood that the third robotic arm 44 moves upward along the third direction to receive the side plate 200 from the second robotic arm 42, and moves downward to bring the third robotic arm 44 closer to the buffer rack 131. Furthermore, the third robotic arm 44 can move along the second direction to place the side plates 200 sequentially on the buffer rack 131.

[0048] like Figure 9As shown, in one embodiment, the third moving module 43 is further provided with a second driving member 431, which is drivenly connected to the third robotic arm 44. The second driving member 431 is used to drive the third robotic arm 44 to rotate so as to flip the side plate 200. It should be noted that when the third robotic arm 44 is facing upward along the third direction, it is used to receive the side plate 200 grasped by the second robotic arm 42. The first driving member 23 drives the third robotic arm 44 to rotate 180° around the first direction so that the third robotic arm 44 is facing downward along the third direction. The top rod 224 of the third robotic arm 44 moves downward so that the side plate 200 is detached and placed on the buffer rack 131. The first driving member 23 drives the third robotic arm 44 to repeatedly switch orientations, which can realize the flipping and placement of the side plate 200.

[0049] Furthermore, the second drive unit 431 can be configured as a servo rotary motor, stepper motor, etc., and the third robot arm 44 can be connected to the output shaft of the second drive unit 431. No specific limitation is made here.

[0050] like Figures 1 to 3 As shown, in one embodiment, the transfer device 4 includes at least two third robotic arms 44, each third robotic arm 44 connected to a third moving module 43. The two third robotic arms 44 are spaced apart along a first direction, and a buffer rack 131 is provided on one side of each third robotic arm 44. It can be understood that by setting two third robotic arms 44 and two buffer racks 131, the second robotic arm 42 can alternately transfer the side plate 200 to the two third robotic arms 44. By utilizing the interval during which one third robotic arm 44 rotates to place the side plate 200, the side plate 200 can be placed to the other third robotic arm 44, achieving a side plate feeding every 5 seconds, greatly improving the operating efficiency of the equipment.

[0051] like Figure 6 As shown, in one embodiment, the positioning platform 12 is further provided with a plurality of positioning blocks 121 and a plurality of push blocks 122. Each push block 122 is connected to a third driving member 123. The third driving member 123 is used to drive the push block 122 to move, and the push block 122 is used to push the side plate 200 to a preset position and abut against the positioning block 121. It should be noted that in this embodiment, one push block 122 is movably arranged along the length direction of the positioning platform 12, and two push blocks 122 are movably arranged along the width direction of the positioning platform 12. The positioning blocks 121 are fixed on the positioning platform 12 to form an L-shaped structure. The third driving member 123 can be a motor or a cylinder or other components. When the side plate 200 is placed on the positioning platform 12, each third driving member 123 drives the corresponding push block 122 to move, so as to push the side plate 200 to a preset position and abut against the positioning block 121.

[0052] Two push blocks 122 are provided in the width direction of the positioning platform 12 to make the side plate 200 more accurately positioned in the length direction and prevent skewing. In some other embodiments of this utility model, the number of push blocks 122 and the structure of the positioning blocks 121 are not specifically limited and can be adapted according to the shape of the side plate 200. Furthermore, the positioning blocks 121 in this solution adopt a quick-change structure, which has a short changeover time and is easy to operate, so as to quickly adapt to side plates 200 of different shapes.

[0053] like Figure 10 As shown, in one embodiment, the buffer rack 131 is provided with a plurality of positioning posts 1311 spaced apart along its length. The positioning posts 1311 are used for the mounting holes 200a of the side plate 200 to pass through, so that the side plate 200 is positioned and placed on the buffer rack 131. It can be understood that when the third robot arm 44 places the side plate 200, at least two positioning posts 1311 passing through two mounting holes 200a on one side plate 200 can achieve the positioning and installation of the side plate 200. If a plurality of positioning posts 1311 are provided along the length of the buffer rack 131, multiple side plates 200 can be placed sequentially, thereby increasing the capacity of the buffer rack 131.

[0054] like Figure 3 and Figure 9 As shown, in one embodiment, a linear drive module 132 extends along a second direction on the unloading station 13, and a buffer rack 131 is disposed on the linear drive module 132. The linear drive module 132 is used to drive the buffer rack 131 to move along the second direction. During unloading, it is necessary to move the buffer rack 131 to the unloading station 13 to facilitate the removal of the side plate 200. In order to avoid interference, the linear drive module 132 drives the buffer rack 131 to move along the second direction to the unloading station 13, which facilitates the unloading operation.

[0055] like Figure 3 , Figure 4 and Figure 11 As shown, in one embodiment, the heat exchanger side plate feeding device 100 includes a feeding device 5, which includes a fourth moving module 51 and a fourth robotic arm 52 mounted on the fourth moving module 51. The fourth moving module 51 is used to drive the fourth robotic arm 52 to move, and the fourth robotic arm 52 is used to grab one or more side plates 200 located on the feeding station 13 at a time. It should be noted that the fourth moving module 51 is used to drive the fourth robotic arm 52 to move downward along a third direction. After the fourth robotic arm 52 grabs the side plate 200 on the buffer rack 131, the fourth moving module 51 is used to drive the fourth robotic arm 52 to move upward along a third direction, and then move along a first direction to unload the side plate 200.

[0056] The fourth moving module 51 controls the fourth robot arm 52 to move along the first direction through a gear and rack structure. Compared with using a linear module, this can reduce the manufacturing cost of the equipment. The fourth robot arm 52 adopts the same magnetic suction component 223 and push rod 224 structure as the first robot arm 22, the second robot arm 42 and the third robot arm 44, which can ensure the uniformity of the equipment's gripping operation on the side plate 200.

[0057] like Figure 11 As shown, the fixed plate 221 and side plate 200 of the fourth robotic arm 52 extend along the second direction. The fixed plate 221 has multiple magnetic suction components 223 spaced apart along its length, and the movable plate 222 has multiple push rods 224 spaced apart along its length. This arrangement allows the fourth robotic arm 52 to remove one or more side plates 200 from the buffer rack 131 at once. In one embodiment, the fourth robotic arm 52 can remove 6 five-hole side plates 200, 5 six-hole side plates 200, and 3 ten-hole side plates 200. Of course, it can be lengthened as needed to achieve the ability to grasp more side plates 200 at once.

[0058] like Figure 8 , 9 As shown in Figure 11, in one embodiment, the second robotic arm 42, the third robotic arm 44, and the fourth robotic arm 52 are each provided with at least two positioning members 6. The positioning members 6 are used to pass through the mounting holes 200a of the side plate 200 for the fourth robotic arm 52 to position and pick up the side plate 200. It should be noted that the positioning member 6 is set as a positioning pin that is longer than the magnetic suction assembly 223 and the top rod 224, and the positioning pin is set on the fixed plate 221 and passes through the movable plate 222. When the side plate 200 is grasped, at least two positioning members 6 pass through the two mounting holes 200a of the side plate 200, so as to realize the positioning of the side plate 200 during the transfer process. Combined with the positioning post 1311 on the buffer frame 131, it effectively prevents the side plate 200 from being misaligned on the second robotic arm 42, the third robotic arm 44, the fourth robotic arm 52, and the buffer frame 131, which would lead to positioning failure.

[0059] Since the first robotic arm 22 does not need to precisely position and grasp the side plate 200, but is positioned by the positioning table 12, the positioning component 6 is not required on the first robotic arm 22. In addition, the second robotic arm 42, the third robotic arm 44, and the fourth robotic arm 52 are each equipped with a distance sensor 225 to detect the distance to the side plate 200 and whether the grasp is successful, which helps to improve the accuracy of each robotic arm in grasping the side plate 200 and the stability of the heat exchanger side plate feeding equipment 100.

[0060] After the new side plate 200 is introduced, if its key process parameters, such as shape, number of holes, and corresponding fin installation space, fall within the process parameter window of the heat exchanger side plate feeding equipment 100, it can be directly connected to the processes before and after the new product, reducing the one-time equipment cost generated by the introduction of the new product.

[0061] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A heat exchanger side plate feeding device, characterized in that, include: The frame has a loading station; A feeding device is provided on the frame. The feeding device includes a first moving module and a first manipulator and a first driving component provided on the first moving module. The moving module is used to drive the first manipulator and the first driving component to move. The first driving component is driven to the first manipulator to adjust the gripping angle of the first manipulator. The first manipulator is used to grip the side plate located at the feeding station. The control device includes a vision recognition module and a controller. The vision recognition module and the feeding device are electrically connected to the controller. The vision recognition module is positioned facing the feeding station. The vision recognition module is used to scan the outline of the side plate on the feeding station and send the acquired image information to the controller. The controller controls the first robot arm to move to a position and gripping angle that matches the side plate according to the image information.

2. The heat exchanger side plate feeding device as described in claim 1, characterized in that, The first robotic arm is movable in a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction intersect each other; And / or, the first drive member has a rotation axis extending along the third direction, the rotation axis being connected to the first manipulator.

3. The heat exchanger side plate feeding device as described in claim 2, characterized in that, The visual recognition module is fixedly installed above the loading station. The loading device also includes a calibration component installed on the first robot arm. The visual recognition module is used to detect the position information of the first robot arm according to the calibration component. The controller controls the movement of the first robot arm according to the position information and the image information.

4. The heat exchanger side plate feeding device as described in claim 1, characterized in that, The first robotic arm includes a fixed plate and a movable plate. The fixed plate is provided with a plurality of magnetic suction components for adsorbing the side plate on the side near the loading station. The movable plate is movably disposed on the fixed plate. The movable plate is provided with a plurality of push rods on the side near the loading station for separating the side plate from the magnetic suction components.

5. The heat exchanger side plate feeding device as described in claim 4, characterized in that, The movable plate is located on the side of the fixed plate near the loading station. The movable plate is provided with through holes for the magnetic suction components to pass through. Multiple magnetic suction components are passed through multiple through holes and are staggered with multiple top rods. And / or, the magnetic assembly includes a mounting base and a magnetic element, the magnetic element being disposed at the end of the mounting base away from the fixing plate; And / or, the first robotic arm further includes a distance sensor disposed on the fixed plate for detecting the distance between the magnetic suction assembly and the side plate.

6. The heat exchanger side plate feeding device as described in claim 1, characterized in that, The frame is equipped with a material conveying component; the material conveying component is used to convey the side plate to the loading station; Alternatively, the loading station may be located on the material conveying component.

7. The heat exchanger side plate feeding device according to any one of claims 1 to 6, characterized in that, The frame is also equipped with a positioning platform and a feeding station. The heat exchanger side plate feeding device also includes a transfer device, which includes a second robot and a third robot. The second robot is used to grab the side plate on the positioning platform and place it on the third robot. The third robot is used to flip the side plate and place it on the feeding station.

8. The heat exchanger side plate feeding device as described in claim 7, characterized in that, The loading station, positioning platform, and unloading station are sequentially arranged on the frame along the first direction. The unloading station is provided with a buffer rack extending along the second direction. The second robot arm is arranged above the third robot arm along the third direction. The first direction, the second direction, and the third direction intersect each other.

9. The heat exchanger side plate feeding device as described in claim 8, characterized in that, The transfer device includes a second moving module, and a second robotic arm is disposed on the second moving module. The second moving module is used to drive the second robotic arm to move along the first direction and a third direction. And / or, the transfer device includes a third moving module, the third robotic arm is disposed on the third moving module, and the third moving module is used to drive the third robotic arm to move along the second direction and the third direction.

10. The heat exchanger side plate feeding device as described in claim 9, characterized in that, The third moving module is also provided with a second driving component, which is drivenly connected to the third robotic arm. The second driving component is used to drive the third robotic arm to rotate so as to flip the side plate. And / or, the transfer device includes at least two of the third robotic arms, each of the third robotic arms being connected to a third moving module, the two third robotic arms being spaced apart along a first direction, and the buffer rack being provided on one side of each of the third robotic arms.

11. The heat exchanger side plate feeding device as described in claim 8, characterized in that, The positioning platform is also provided with multiple positioning blocks and multiple push blocks. Each push block is connected to a third driving component. The third driving component is used to drive the push block to move. The push block is used to push the side plate to a preset position and abut against the positioning block. And / or, the buffer rack is provided with a plurality of positioning posts at intervals along the length direction, the positioning posts being used for the mounting holes of the side plate to pass through, so that the side plate is positioned and placed on the buffer rack; And / or, a linear drive module is provided extending along the second direction on the unloading station, the buffer is mounted on the linear drive module, and the linear drive module is used to drive the buffer to move along the second direction.

12. The heat exchanger side plate feeding device as described in claim 7, characterized in that, The heat exchanger side plate feeding device includes a feeding device, which includes a fourth moving module and a fourth robotic arm mounted on the fourth moving module. The fourth moving module is used to drive the fourth robotic arm to move, and the fourth robotic arm is used to grab one or more side plates located on the feeding station at one time.

13. The heat exchanger side plate feeding device as described in claim 12, characterized in that, The second, third, and fourth robotic arms are each provided with at least two positioning members. The positioning members are used to pass through the mounting holes of the side plate so that the fourth robotic arm can position and pick up the side plate.

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