CN104668930B - A kind of small U-tube automatic intubation system of fin assembly based on number bus - Google Patents
A kind of small U-tube automatic intubation system of fin assembly based on number bus Download PDFInfo
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- CN104668930B CN104668930B CN201510056097.2A CN201510056097A CN104668930B CN 104668930 B CN104668930 B CN 104668930B CN 201510056097 A CN201510056097 A CN 201510056097A CN 104668930 B CN104668930 B CN 104668930B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/022—Extracting or inserting relatively long parts
- B23P19/024—Extracting or inserting relatively long parts tube bundles
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Abstract
The invention discloses a kind of small U-tube automatic intubation system of the fin assembly based on number bus, including mechanical arm (1), manipulator (2), the bracket of circulation-supplied material and small U-tube bearing tray (3) and electric control gear (4), mechanical arm is fixedly mounted on the ground, including X-coordinate drive mechanism, Y-coordinate drive mechanism, Z coordinate drive mechanism；Manipulator includes body (21), gripping refers to (22) and support fetching (23)；The bracket of circulation-supplied material and small U-tube bearing tray include Multi-layer bracket (31), small U-tube bearing tray (32), power set (33) and electrical control mechanism (34)；Electric control gear includes industrial control computer, electric power loop, pattern-recognition loop, counting circuit, small U-tube crawl loop, intubation control loop etc..The system can realize automation mechanized operation, reduce influence of the human factor to manufacturing schedule, it is ensured that be intubated the product quality of process.
Description
Technical field
It is specifically a kind of radiator suitable for air conditioner, cold the present invention relates to a kind of fin assembly automatic intubation system
Condenser fin assembly is intubated the small U-tube automatic intubation system of the fin assembly based on number bus of process, belongs to air-conditioning manufacture
Technical field.
Background technology
Generally needing the heat-exchanger rig surface for the carrying out heat transfer sheet metal stronger by increasing thermal conductivity, increase heat exchange
The heat exchange surface area of device, heat exchange efficiency is improved, the sheet metal with this function is referred to as fin.
There are two main heat exchangers, i.e. radiator and condenser in air conditioner, the side working media of this two big heat exchanger
It is refrigerant, opposite side is air, for the heat transfer of enhanced heat exchange device, typically takes compact Layout heat exchange area in air side,
Air conditioner uses compact fin-tube type heat exchanger mostly.
Be typically provided on the fin of compact fin-tube type heat exchanger it is multiple can be with the mounting hole of copper pipe major diameter fit, manufacturing process
Usually first by fin punch forming, the mounting hole for then penetrating long U-typed copper pipe on multiple fins side by side, finally in length
The openend of U-typed copper pipe carries out tube expansion, after being dried inside long U-typed copper pipe again grafting and weld small U-typed copper pipe will be each
Long U-typed copper pipe is sequentially communicated, and all long U-typed copper pipe will be connected into a passage.
Air conditioner manufacturer is still a large amount of using artificial in the fin assembly of radiator and condenser intubation process at present
Operation, will go here and there long U-typed copper pipe fin assembly pipe end to be inserted move up upwards on working position apparatus frame or streamline transmission
Take, then the small U-typed copper pipe in bulk in container is manually plugged on to each long U-typed copper of fin assembly one by one
Tube end, complete the fin assembly after artificial intubation and enter back into next procedure.
Following defect be present in this traditional mode of production：
1. due to carrying out intubation using artificial, thus the human factor such as operating personnel's sense of responsibility, mood to produce into
Degree has a great influence, and because preceding road tube expansion process is carried out by electric tube expander, efficiency is higher, therefore to meet follow-up drying
Welding sequence is normally carried out, and generally requires to set more people to carry out artificial intubation process, labor intensity of operating staff is big, efficiency
It is low；
2. although preceding road tube expansion process, rear road drying welding sequence have realized automation mechanized operation, intubation process still uses
Manual operation, therefore often preceding working procedure accumulates too many output, later process is stopped work and treated caused by personnel placement is unreasonable
The situation of material, automation degree of equipment is low, and utilization rate of equipment and installations is low, and production capacity cannot be guaranteed；
3. because intubation process use manual operation, therefore technical ability to operating personnel and qualification requirement are higher, more
The skilled operation degree of individual operating personnel is uneven also to influence manufacturing schedule to varying degrees, and easily causes product quality not
It is stable.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of small U-shaped of fin assembly based on number bus
Pipe automatic intubation system, automation mechanized operation can be realized, reduce influence of the human factor to manufacturing schedule, production efficiency is high, together
When can ensure be intubated process product quality.
To achieve these goals, mechanical arm, machinery are included based on the fin assembly automatic intubation unit of number bus
The bracket and small U-tube bearing tray and electric control gear of hand, circulation-supplied material；
Described mechanical arm is fixedly mounted on the ground, including the X-coordinate drive mechanism in left and right horizontal direction, anterior-posterior horizontal
The Y-coordinate drive mechanism in direction, the Z coordinate drive mechanism of vertical direction；
Described manipulator includes body, gripping refers to and holds in the palm fetching, and the top of body is installed on the end of mechanical arm, body
The width dimensions of bottom are less than the outer end width size of the U-shaped opening of small U-tube, and body bottom face is provided with and small U-tube
The arc groove I of pipe external diameter and U-shaped radian dimensional fits, the bottom land end of arc groove I are provided with range sensor, also set on body
It is equipped with position sensor and range sensor；Gripping, which refers to, is arranged to two pieces, the symmetrical symmetrical centre in body arc groove I
Line is simultaneously connected by transmission connecting mechanism with body, and the medial surface that gripping refers to towards body arc groove I is provided with and small U-shaped
The arc groove II that the pipe outside dimension of pipe coordinates；Fetching is ask to be arranged on by transmission connecting mechanism on body, finger tip Vertical Square
It is arranged to the U-shaped inner ring size with the U-shaped end of small U-tube towards the surface of arc groove I to towards arc groove I, support fetching
The arcuate structure of cooperation, the pipe diameter dimensional fits apart from size and small U-tube of the bottom land of arcuate structure to arc groove I；
The bracket of described circulation-supplied material and small U-tube bearing tray include Multi-layer bracket, small U-tube carrying support
Disk, power set and electrical control mechanism；Multi-layer bracket includes support body and tray support mechanism, and support body is rectangular frame structure, its
Inside is front and rear along its length to be provided with two accommodating chambers interconnected, and both ends are provided with along its length for the inside of support body
Limiting plate；Tray support mechanism along support body length direction is symmetrical, in front and rear two accommodating chambers for being evenly arranged in support body
On side, tray support mechanism includes support vertical beam, support claw, vertical connecting rod I and vertical connecting rod II, and support vertical beam is vertically arranged
Tubular structure, support on the body of vertical beam towards direction is provided with energy along the same axis on the medial surface of two accommodating chambers of support body
The pilot hole for allowing support claw to stretch out；Support claw, vertical connecting rod I and vertical connecting rod II are arranged in support vertical beam, and support claw is set
For more than one piece, its longitudinal section assumes diamond in shape or triangle, is uniformly arranged at intervals and in the middle part of support claw along the length direction of vertical connecting rod I
It is articulated and connected with vertical connecting rod I, support claw front end is external part, and support claw rear end is articulated and connected with vertical connecting rod II；Tray support machine
Structure is divided into fixed point supporting mechanism and mobile supporting mechanism, pinpoints supporting mechanism and mobile supporting mechanism along support body length direction interval
Set, the pilot hole of mobile supporting mechanism is an elongated hole of the uniform size of space summation of support claw, mobile supporting mechanism
Vertical connecting rod I and vertical connecting rod II can move up and down；The pilot hole for pinpointing supporting mechanism is the multiple elongated holes being uniformly spaced, fixed point branch
The uniform size of space of the uniform interval of the pilot hole of support mechanism and support claw coordinates, the vertical connecting rod I for pinpointing supporting mechanism be with
Support vertical beam is fixedly connected, and pinpointing the vertical connecting rod II of supporting mechanism can move up and down；Small U-tube bearing tray is arranged to more
Individual, layering is erected on the support claw of a receiving cavity wall of support body, and small U-tube bearing tray includes tray body and is arranged on
Multiple small U-tube station beams arranged in parallel on tray body, the width dimensions of small U-tube station beam section and the U of small U-tube
Shape A/F dimensional fits, the top end face of small U-tube station beam are arranged to match somebody with somebody with the U-shaped inner ring size at the U-shaped end of small U-tube
The arcwall face of conjunction, arcwall face are provided with concave through grooves, and the width and depth dimensions of concave through grooves are more than the width of gripping finger tip
And height dimension, the position that small U-tube station beam corresponds to the annular solder of small U-tube are provided with spigot surface；Power set include branch
Support claw pushing handle telescopic control mechanism, pallet passage telescoping mechanism and power control mechanism, support claw pushing handle telescopic control mechanism are arranged on support
The top of vertical beam, the top of vertical connecting rod II for pinpointing supporting mechanism are connected with support claw pushing handle telescopic control mechanism, mobile supporting mechanism
Vertical connecting rod I and vertical connecting rod II are connected with support claw pushing handle telescopic control mechanism；Pallet passage telescoping mechanism, which is arranged on, to be corresponded to from up to down
Numerical digit is in the position of the small U-tube bearing tray of first layer, and its telescopic direction is along support body length direction；Power control mechanism is set
On support body；Electrical control mechanism is arranged at the outside of Multi-layer bracket, including power pack, wirless transmitting and receiving module, dynamic Control mould
Block and electronic identification chip, power pack electrically connect with wireless transmitter module, power train control module and electronic identification chip, power control
Molding block electrically connects with power control mechanism；
Described electric control gear includes industrial control computer, electric power loop, pattern-recognition loop, counting circuit, small U-shaped
Pipe crawl loop, intubation control loop etc., industrial control computer and the position sensor on manipulator and range sensor electricity
Connection, industrial control computer respectively the X-coordinate drive mechanism with mechanical arm, Y-coordinate drive mechanism and Z coordinate drive mechanism and
Grip the transmission connecting mechanism referred to, hold in the palm the transmission connecting mechanism electrical connection of fetching.
As the preferred scheme of the present invention, described mechanical arm also includes support frame, crossbeam and slide rail, support frame
It is located above intubation streamline, its bottom is fixedly installed in ground, and its top fore-and-aft direction is provided with to be set along Y-coordinate direction is parallel
The guide rail put, on guide rail the restocking of X-coordinate direction be provided with crossbeam, crossbeam is provided with drive mechanism；
Crossbeam is provided with the slide rail being arranged on Z-direction direction on crossbeam, and elevating mechanism and transverse direction are provided with slide rail
Walking mechanism, the top of the body of described manipulator are arranged on the bottom of slide rail；
The bracket of described circulation-supplied material and small U-tube bearing tray are arranged inside support frame；
The industrial control computer of described electric control gear electrically connects with the drive mechanism of crossbeam, industrial control computer with
The elevating mechanism electrical connection of slide rail, industrial control computer electrically connect with the horizontal walking mechanism of slide rail.
Scheme as a further improvement on the present invention, the top of described body are connected by the end of mounting seat and mechanical arm
Connect, C CORDIC structures are provided with mounting seat；The industrial control computer of described electric control gear and C CORDICs structure electricity
Connection.
Scheme as a further improvement on the present invention, also include A CORDICs structure in described mounting seat or B coordinates revolve
Rotation mechanism, the industrial control computer of described electric control gear electrically connect with A CORDICs structure or B CORDIC structures.
Scheme as a further improvement on the present invention, described multiple small U-tube station Liang Jun one end are high, the other end is low,
Inclination is fixedly installed on tray body, and its low side is provided with the position restrainer for preventing that small U-tube from sliding as grasping end, low side top
Structure.
Scheme as a further improvement on the present invention, described support fetching is L-shaped, and its top is articulated and connected in body, support
Transmission connecting mechanism one end of fetching is connected with body, and the other end is connected in L-type support fetching.
Scheme as a further improvement on the present invention, described support fetching is in horizontal U-shaped, horizontal U-shaped one end along hanging down
Nogata asks the transmission connecting mechanism of fetching to be set parallel to horizontal U-shaped support fetching, transmission connecting mechanism one to penetrating in body
End is connected with body, and the other end, which is connected to, to be penetrated in intrinsic horizontal U-shaped support fetching.
Scheme as a further improvement on the present invention, described gripping refer to top and are respectively symmetrically hingedly connected on body,
Its transmission connecting mechanism one end is connected with body, and the other end is connected on gripping refers to.
Scheme as a further improvement on the present invention, described gripping refers to respectively symmetrically to be connected by guiding mechanism with body
Connect, its transmission connecting mechanism refers to setting parallel to gripping, and one end is connected with body, and the other end is connected on gripping refers to.
As the preferred scheme of the present invention, it is cylinder that described gripping, which refers to and held in the palm the transmission connecting mechanism of fetching,.
Compared with prior art, based on the small U-tube automatic intubation system of fin assembly of number bus due to using machine
Tool arm and manipulator is captured to small U-tube and grafting, artificial intubation is substituted, the labor intensity of operating personnel can be reduced, and
Carry out supplying small U-tube by the bracket and small U-tube bearing tray of circulation-supplied material, can the multiple small U of one-time continuous supply
Shape pipe bearing tray and small U-tube bearing tray is enumerated automatically, therefore capture and to be intubated efficiency higher；Can according to AOF calculation
One or more mechanical arms and manipulator are set while crawl meets to produce needs with intubation, automation degree of equipment is high, if
Standby utilization rate is high；This automatic intubation unit is run according to the program set, can evade human factor completely to manufacturing schedule
Influence, and then realize and ensure product quality；Driven because mechanical arm is provided with X-coordinate drive mechanism, Y-coordinate drive mechanism, Z coordinate
Motivation structure, A CORDICs structure, B CORDICs structure or C CORDIC structure coordinate controls can also be arranged as required to,
Therefore manipulator can be made to realize self-adapting grasping and the small U-tube of grafting according to program setting, ensured while realizing automation
Precise manipulation of the fin assembly during intubation, quality accident is prevented, ensure product quality.
Brief description of the drawings
Fig. 1 is the structural representation when present invention uses multi-joint centralized Control machinery arm configuration；
Fig. 2 is the structural representation when present invention uses frame-type split control machinery arm configuration；
Fig. 3 is the three dimensional structure diagram of manipulator of the present invention；
Fig. 4 is the front view of manipulator of the present invention；
Fig. 5 is Fig. 4 left view；
Fig. 6 is the bracket of circulation-supplied material and the three dimensional structure diagram of small U-tube bearing tray of the present invention；
Fig. 7 is the structural representation of the tray support mechanism of the present invention；
Fig. 8 is the three dimensional structure diagram of the small U-tube bearing tray of the present invention；
Fig. 9 is Fig. 8 I to partial enlarged drawing.
In figure：1st, mechanical arm, 11, support frame, 12, guide rail, 13, crossbeam, 14, slide rail, 2, manipulator, 21, body,
22nd, gripping refers to, and 23, support fetching, 3, the bracket of circulation-supplied material and small U-tube bearing tray, 31, Multi-layer bracket, 312, support
Disk supporting mechanism, 3121, support vertical beam, 3122, support claw, 3123, vertical connecting rod I, 3124, vertical connecting rod II, 32, small U-tube hold
Carry pallet, 321, tray body, 322, small U-tube station beam, 3221, concave through grooves, 3222, spigot surface, 33, power set,
331st, support claw pushing handle telescopic control mechanism, 332, pallet passage telescoping mechanism, 333, power control mechanism, 34, electrical control mechanism, 4, electricity
Control device, 5, small U-tube.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, based on number bus the small U-tube automatic intubation system of fin assembly include mechanical arm 1,
Manipulator 2, the bracket of circulation-supplied material and small U-tube bearing tray 3 and electric control gear 4 (are described with left and right horizontal side below
To for X-coordinate, using front and rear horizontal direction as Y-coordinate, using vertical direction as Z coordinate, to be revolved along left and right horizontal axis as rotary shaft
Turn direction be A coordinates, using along anterior-posterior horizontal axis as the direction that rotary shaft rotates be B coordinates, using along vertical axis as rotate
The direction of axle rotation is C coordinates).
Described mechanical arm 1 is fixedly mounted on the ground, including the X-coordinate drive mechanism in left and right horizontal direction, front and rear water
Square to Y-coordinate drive mechanism, the Z coordinate drive mechanism of vertical direction.
As shown in Figures 3 to 5, described manipulator 2 includes body 21, gripping refers to 22 and support fetching 23, the top of body 21
End is installed on the end of mechanical arm 1, and the width dimensions of the bottom of body 21 are less than the outer end width chi of the U-shaped opening of small U-tube 5
It is very little, and the bottom face of body 21 is provided with and the pipe external diameter of small U-tube 5 and the arc groove I of U-shaped radian dimensional fits, arc groove I
Bottom land end be provided with range sensor, the U-shaped top of small U-tube 5 can be caught in arc groove I, is additionally provided with body 21
Position sensor and range sensor；Gripping refers to 22 and is arranged to two pieces, the symmetrical symmetrical centre in the arc groove I of body 21
Line is simultaneously connected by transmission connecting mechanism with body 21, gripping refer to 22 towards the arc groove I of body 21 medial surface be provided with
The arc groove II that the pipe outside dimension of small U-tube 5 coordinates, gripping refer to 22 in the state of gripping, arc groove I and arc groove
II surrounds the portion profile on the U-shaped top of small U-tube 5 jointly；Fetching 23 is ask to be arranged on by transmission connecting mechanism on body 21,
Finger tip vertical direction is arranged to the U-shaped end with small U-tube 5 towards the surface of arc groove I towards arc groove I, support fetching 23
U-shaped inner ring dimensional fits arcuate structure, the pipe apart from size and small U-tube 5 of the bottom land of arcuate structure to arc groove I
Diameter dimension coordinates, that is, when gripping state, support fetching 23 can be held towards the surface of arc groove I in the U-shaped end of small U-tube 5
Side.
As shown in fig. 6, the bracket of described circulation-supplied material and small U-tube bearing tray 3 include Multi-layer bracket 31, small
U-tube bearing tray 32, power set 33 and electrical control mechanism 34；
Multi-layer bracket 31 includes support body and tray support mechanism 312, and support body is rectangular frame structure, along its length inside it
Degree is provided with two accommodating chambers interconnected before and after direction, and both ends are provided with limiting plate along its length for the inside of support body；
Tray support mechanism 312 is along support body length direction is symmetrical, front and rear two accommodating chambers for being evenly arranged in support body
Medial surface on, tray support mechanism 312 includes support vertical beam 3121, support claw 3122, vertical connecting rod I 3123 and vertical connecting rod II
3124, support vertical beam 3121 is the tubular structure being vertically arranged, and is supported on the body of vertical beam 3121 towards two receivings of support body
Direction is provided with the pilot hole that support claw 3122 can be allowed to stretch out along the same axis on the medial surface of chamber；Support claw 3122, perpendicular company
Bar I 3123 and vertical connecting rod II 3124 are arranged in support vertical beam 3121, and support claw 3122 is arranged to more than one piece, and its longitudinal section is in water chestnut
Shape or triangle, are uniformly arranged at intervals and the middle part of support claw 3122 and vertical connecting rod I along the length direction of vertical connecting rod I 3123
3123 are articulated and connected, and the front end of support claw 3122 (left end as shown in Figure 7) is external part, the rear end of support claw 3122 and vertical connecting rod II
3124 are articulated and connected, and are stretched out by controlling vertical connecting rod II 3124 to move up and down to control in the front end self- steering hole of support claw 3122
Or retraction；Tray support mechanism 312 divides to pinpoint supporting mechanism and mobile supporting mechanism, fixed point supporting mechanism and movement support machine
Structure is arranged at intervals along support body length direction, and the difference of fixed point supporting mechanism and mobile supporting mechanism is pilot hole along support vertical beam
Number, length on 3121 body axial directions is different different with vertical connecting rod I 3123, the fixed form of vertical connecting rod II 3124, mobile
The pilot hole of supporting mechanism is an elongated hole of the uniform size of space summation of support claw 3122, the vertical connecting rod of mobile supporting mechanism
I 3123 and vertical connecting rod II 3124 can move up and down；The pilot hole for pinpointing supporting mechanism is the multiple elongated holes being uniformly spaced, fixed point
The uniform interval of the pilot hole of supporting mechanism coordinates with the uniform size of space of support claw 3122, pinpoints the vertical connecting rod of supporting mechanism
I 3123 are fixedly connected with support vertical beam 3121, and pinpointing the vertical connecting rod II 3124 of supporting mechanism can move up and down；
Small U-tube bearing tray 32 is arranged to multiple, and layering is erected at the support claw of a receiving cavity wall of support body
On 3122, limiting plate can position small U-tube bearing tray 32, prevent small U-tube bearing tray 32 from deviating from from the inside of support body, such as
Shown in Fig. 8, Fig. 9, small U-tube bearing tray 32 includes tray body 321 and is arranged on arranged in parallel multiple on tray body 321
Small U-tube station beam 322, the U-shaped opening width dimensions of the width dimensions and small U-tube 5 in the small section of U-tube station beam 322 are matched somebody with somebody
Closing, the top end face of small U-tube station beam 322 is arranged to the arcwall face with the U-shaped inner ring dimensional fits at the U-shaped end of small U-tube 5,
Arcwall face is provided with concave through grooves 3221, the width and depth dimensions of concave through grooves 3221 be more than gripping refer to 22 finger tips width and
Height dimension, because the body of two ports of small U-tube 5 is provided with annular solder, therefore the small correspondence of U-tube station beam 322
The position of the annular solder of small U-tube 5 is provided with spigot surface 3222, and small U-tube 5 can pass through arcwall face and spigot surface 3,222 1 one
It is individual to be stuck in side by side on small U-tube station beam 322；
Power set 33 include support claw pushing handle telescopic control mechanism 331, pallet passage telescoping mechanism 332 and power control mechanism
333, support claw pushing handle telescopic control mechanism 331 is arranged on the top of support vertical beam 3121, pinpoints the vertical connecting rod II 3124 of supporting mechanism
Top is connected with support claw pushing handle telescopic control mechanism 331, vertical connecting rod I 3123 and vertical connecting rod II 3124 and the support of mobile supporting mechanism
Pawl pushing handle telescopic control mechanism 331 connects, and support claw pushing handle telescopic control mechanism 331 can be by controlling the action of vertical connecting rod II 3124 to realize control
It is flexible to formulate the support claw 3122 of point supporting mechanism, can be by controlling vertical connecting rod I 3123 and vertical connecting rod II 3124 to act and realize
The support claw 3122 of the mobile supporting mechanism of control is flexible and the entirety of vertical connecting rod I 3123 and vertical connecting rod II 3124 is moved up or moved down；
Pallet passage telescoping mechanism 332 is arranged on corresponding numerical digit from up to down in the position of the small U-tube bearing tray 32 of first layer, its
For telescopic direction along support body length direction, pallet passage telescoping mechanism 332 can be by the small U-tube bearing tray 32 of first layer from support body
An accommodating chamber laterally passage in another accommodating chamber；Power control mechanism 333 is arranged on support body, is supported for controlling
Pawl pushing handle telescopic control mechanism 331 and pallet passage telescoping mechanism 332；
Electrical control mechanism 34 is arranged at the outside of Multi-layer bracket 31, including power pack, wirless transmitting and receiving module, dynamic Control
Module and electronic identification chip, power pack electrically connect with wireless transmitter module, power train control module and electronic identification chip, power
Control module electrically connects with power control mechanism 333, and wirless transmitting and receiving module is used to enter with the central machine room of digital factory
Row information exchanges, and power train control module is used to control power set 33 to complete various actions, and electronic identification chip is easy to lead automatically
Draw transport vehicle and identify this bracket.
Described electric control gear 4 includes industrial control computer, electric power loop, pattern-recognition loop, counting circuit, small U
Shape pipe crawl loop, intubation control loop etc., industrial control computer and the position sensor and range sensor on manipulator 2
Electrical connection, the industrial control computer X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate driving machine with mechanical arm 1 respectively
Structure and gripping refer to 22 transmission connecting mechanism, hold in the palm the transmission connecting mechanism electrical connection of fetching 23.
Based on the operation principle of the small U-tube automatic intubation system of the fin assembly of number bus：As shown in Figure 1 and Figure 2,
Mechanical arm 1 is arranged near intubation streamline, and fully loaded order arranges the bracket of the circulation-supplied material of small U-tube 5 and small U-shaped
Pipe bearing tray 3 parks station by the setting that rests near mechanical arm 1 of automatical pilot transportation vehicle transport, when having gone here and there long U-shaped
Fin assembly the to be intubated intubation end of pipe by transmission crawler-tread to setting position and positions in intubation flow line stations upwards
When, small U-tube automatic intubation system starts, pass through the position sensor feedback on manipulator 2, tab order crawl circulation
The small U-tube 5 supplied in the bracket and small U-tube bearing tray 3 of material, is moved to the catheter position of setting, passes through after crawl
It is intubated after position sensor feedback automatic fine tuning section to accurate location on manipulator 2, manipulator 2 is opened after the completion of intubation
Open, that is, complete the grafting of first small U-tube, by that analogy, after intubation fin assembly is fully completed intubation, transmission crawler belt connects
To instruction, carry and be intubated fin assembly toward next procedure circulation；When the small U-tube of first layer positioned at the top of Multi-layer bracket 31 is held
After the whole crawls of small U-tube 5 for carrying pallet 32, electrical control mechanism 34 sends information to central machine room, and central machine room is sent
Instruction makes power train control module control power control mechanism 333 pallet is elapsed telescopic machine according to blas sequentially-operating
Structure 332 is acted the small U-tube bearing tray 32 of first layer from after the preceding accommodating chamber of support body is laterally elapsed to rear accommodating chamber, is located at
The first layer of accommodating chamber, the support claw pushing handle telescopic control mechanism 331 before being then within accommodating chamber successively act, and make to accommodate positioned at preceding
The small U-tube bearing tray 32 of remaining of intracavitary is overall to move up one grade, i.e., the small U-tube carrying of the second layer in preceding accommodating chamber
The small U-tube bearing tray 32 of first layer of accommodating chamber before pallet 32 rises to, manipulator 2, which can take, rises to the of first layer
Small U-tube 5 in two layers small U-tube bearing tray 32 uses, meanwhile, the small U-tube positioned at rear accommodating chamber first layer carries support
Support claw pushing handle telescopic control mechanism 331 of the disk 32 in rear accommodating chamber moves down one grade in the presence of acting, that is, is accommodated after being located at
The small U-tube bearing tray 32 of first layer of intracavitary drops to the small U-tube bearing tray 32 of the second layer, by that analogy, until being located at
Small U-tube bearing tray 32 in preceding accommodating chamber is all moved in rear accommodating chamber, that is, completes all small U-tube bearing trays 32
The use of interior small U-tube 5, automatical pilot transportation vehicle are overall by the bracket of circulation-supplied material and small U-tube bearing tray 3 again
Transport to small U-tube 5 collection wiring takes up small U-tube 5 again.
When system is not actuated (during zero position), mechanical arm 1 positions, and manipulator 2 is located at directly over intubation streamline, is in
The dead state of opening, i.e. gripping refer to 22 positions that the arc groove I away from body 21 is in support fetching 23；
When wait be intubated fin assembly be transferred into setting position and position after, based on the small U of fin assembly of number bus
Shape pipe automatic intubation system power supply loop start is started working, and industrial control computer, which sends instruction, makes small U-tube crawl loop
Start working：Industrial control computer control X-coordinate drive mechanism, Y-coordinate drive mechanism and the action of Z coordinate drive mechanism, machine
Tool arm 1 makes manipulator 2 be located at the surface of small U-tube bearing tray 32, mould according to preset program and coordinates computed action movement
Formula identifies loop starts, and industrial control computer is according to the position of the position sensor feedback on the body 21 of manipulator 2
Information coordinates computed and sending instruction continues to move to mechanical arm 1, makes manipulator 2 be located at the first small U-tube 5 of setting coordinate
Surface, counting circuit synchronously start working；
Industrial control computer, which continues to send to instruct, makes the Z coordinate drive mechanism of mechanical arm 1 work, and makes manipulator 2 close
First small U-tube 5, when the range sensor feedback information in arc groove I is zero, i.e., the arc groove I of manipulator 2 with
The U-shaped tip contact of first small U-tube 5, the U-shaped top of first small U-tube 5 are caught in arc groove I, and manipulator 2 is fixed
Position；Small U-tube captures loop starts, and the transmission connecting mechanism that industrial control computer control gripping refers to 22 acts, two
Gripping refers to 22 and successively engaged, and first small U-tube 5 is positioned at the U-shaped top that arc groove I and arc groove II surround jointly
Portion profile space in, then industrial control computer control support fetching 23 transmission connecting mechanism action, make support fetching 23
The bottom at the U-shaped end of the first small U-tube 5 of insertion, now first small U-tube 5 is on X-coordinate, Y-coordinate and Z coordinate direction
Respectively by arc groove I, arc groove II and support fetching 23 towards arc groove I surface it is spacing, be positioned in manipulator 2
On, complete crawl；
After crawl, industrial control computer control machinery arm 1 returns to zero position, and now the first small face of U-tube 5 is to be inserted
Pipe fin assembly, intubation control loop are started working, and industrial control computer is according to setting program coordinates computed and sends instruction
Continue to move to mechanical arm 1, make manipulator 2 be located at first of the fin assembly to be intubated of setting coordinate inserting position just on
Square, the position sensor on the body 21 of manipulator 2 catches the positional information of first inserting position, i.e., first inserting position
Centre coordinate information, industrial control computer is according to the positional information control machinery arm of the position sensor feedback on body 21
1 fine motion adjustment positioning, then industrial control computer, which continues to send to instruct, makes the Z coordinate drive mechanism of mechanical arm 1 work, and makes machine
Tool hand 2 vertically moves to first inserting position, when range sensor feedback information to the setpoint distance on manipulator 2, i.e.,
First small U-tube 5 inserts first inserting position and to after set depth, the biography of industrial control computer control support fetching 23
Dynamic bindiny mechanism's action, makes support fetching 23 be extracted out from the bottom at the U-shaped end of first small U-tube 5, then industrial control computer
Control gripping refers to 22 transmission connecting mechanism action, and two grippings refer to 22 openings, and first small U-tube 5 departs from manipulator 2,
Industrial control computer control machinery arm 1 returns to zero position, completes the catheterization procedure of first small U-tube 5, by that analogy, directly
To the catheterization procedure for the small U-tube 5 of last part completed on fin assembly to be intubated, it is then transported on crawler belt and is connected to instruction starting to transport
It is dynamic, carry and be intubated fin assembly toward next procedure circulation；
After the small U-tube 5 in the small U-tube bearing tray 32 positioned at first layer is used up, manipulator 2 is sent out to central machine room
Go out to complete first layer work information, central machine room i.e. send instruction make power train control module control power control mechanism 333 by
According to blas sequentially-operating：Pallet passage telescoping mechanism 332 acts first, by first layer at the top of the accommodating chamber before support body
Small U-tube bearing tray 32 accommodating chamber from before support body is laterally elapsed to accommodating chamber after support body, the small bottom of U-tube bearing tray 32
Pushed away under the supporting role of the support claw 3122 of tray support mechanism 312 on the inwall of support body accommodating chamber both sides while in pallet
The support claw 3122 of accommodating chamber after being slid onto on the support claw 3122 of preceding accommodating chamber is moved under the traction of telescoping mechanism 332
Upper, the top first layer positioned at rear accommodating chamber, act against on the limiting plate of rear accommodating chamber end, then pallet passage telescoping mechanism
332 reset；
Support claw pushing handle telescopic control mechanism 331 before being then within accommodating chamber successively acts, and pinpoints the perpendicular company of supporting mechanism
Bar II 3124 first acts, and the 3122 first retraction of support claw of fixed point supporting mechanism is supported in vertical beam 3121, small U-tube bearing tray
32 are supported on the support claw 3122 of mobile supporting mechanism, then move the vertical connecting rod I 3123 and vertical connecting rod II of supporting mechanism
A 3124 synchronous gears for moving to setting on the whole, the vertical connecting rod II 3124 for then pinpointing supporting mechanism reoperate, and make fixed point
Stretched out in the self-supporting vertical beam 3121 of support claw 3122 of supporting mechanism, hold the small U-tube bearing tray 32, Ran Houyi after moving up
The vertical connecting rod II 3124 of dynamic supporting mechanism, which acts, to be made in the retraction of support claw 3122 for moving supporting mechanism support vertical beam 3121, is moved up
Small U-tube bearing tray 32 afterwards is to be supported on the support claw 3122 that fixed point supporting mechanism stretches out, and then moves supporting mechanism
Vertical connecting rod I 3123 and vertical connecting rod II 3124 keep the retraction state synchronized of support claw 3122 integrally to move down and be repositioned to former gear position
Postpone, the support claw 3122 of mobile supporting mechanism stretches out, holds the small U-tube bearing tray 32 after moving up once again, positioned at preceding appearance
The small U-tube bearing tray 32 of intracavitary received is completed overall to move up one grade；Meanwhile the support claw extension and contraction control in rear accommodating chamber
Mechanism 331 also successively acts, and principle is same as above, and the small U-tube bearing tray 32 in rear accommodating chamber completes overall move down
One grade, i.e., the first layer of rear accommodating chamber inner top remains room, undertaking state, until the small U-shaped in preceding accommodating chamber
Pipe bearing tray 32 is all elapsed to rear accommodating chamber in layer, completes all small U-tubes in small U-tube bearing tray 32
5 use；
After manipulator sends the information for completing all to work to central machine room, it is the same as those described above, central machine room sends instruction
Make automatical pilot transportation vehicle close and identify this Multi-layer bracket 31, Multi-layer bracket 31 is jacked up and departs from ground and together with the small U of sky
The packaging station of small U-tube 5 that the whole Transporting of shape pipe bearing tray 32 to central machine room is planned is taken up small U-tube 5 i.e. again
Can.
Described mechanical arm 1 can use multi-joint centralized Control mechanical arm as shown in Figure 1, can also use such as Fig. 2
Shown frame-type split control machinery arm, or the mechanical arm using other forms such as Delta mechanical arms, due to the first side
The control of the multi-joint mechanical arm of case and the Delta mechanical arms of the third scheme is centralized Control, its accurately coordinate control compared with
Complexity, need to largely it be calculated by industrial control computer, software control procedure complexity, and manufacturing cost is higher, computer control
Burden weight, easily breaks down；Second scheme is controlled using split, i.e., several coordinate systems control respectively, and control is relatively easy, straight
Connect, be less prone to failure, therefore preferred second scheme,
That is, the preferred scheme as the present invention, as shown in Fig. 2 described mechanical arm 1 also includes support frame 11, crossbeam
13 and slide rail 14, support frame 11 is erected above intubation streamline, and its bottom is fixedly installed in ground, its top fore-and-aft direction
Be provided with the guide rail 12 that is be arranged in parallel along Y-coordinate direction, on guide rail 12 restocking of X-coordinate direction be provided with crossbeam 13, on crossbeam 13
Provided with drive mechanism, drive mechanism can drive crossbeam 13 to be moved forward and backward on guide rail 12；
Crossbeam 13 is provided with the slide rail 14 being arranged on Z-direction direction on crossbeam 13, and lift is provided with slide rail 14
Structure and horizontal walking mechanism, elevating mechanism and horizontal walking mechanism can be such that slide rail 14 is realized on crossbeam 13 in Z-direction
Moving left and right in oscilaltion campaign and X-direction, the top of the body 21 of described manipulator 2 are arranged on the bottom of slide rail 14
End；
The bracket of described circulation-supplied material and small U-tube bearing tray 3 are arranged inside support frame 11；
The industrial control computer of described electric control gear 4 electrically connects with the drive mechanism of crossbeam 13, and control crossbeam 13 is in Y
Movement on coordinate direction, industrial control computer electrically connect with the elevating mechanism of slide rail 14, and control slide rail 14 is in Z coordinate direction
On lifting, industrial control computer electrically connects with the horizontal walking mechanism of slide rail 14, and control slide rail 14 is on X-coordinate direction
It is mobile.
The small U-tube 5 of usual fin assembly grafting is located along X-direction or along Y direction, i.e., small U-tube 5 is slotting
The anglec of rotation is not needed in termination process, and must assure that small U-tube bearing tray 32 riding position it is correct, can not be crooked, be
The scope of application of the fin assembly small U-tube automatic intubation system based on number bus is increased, reduces small U-tube carrying support
The riding position precision of disk 32, scheme as a further improvement on the present invention, the top of described body 21 by mounting seat with
The end connection of mechanical arm 1, mounting seat is interior to be provided with C CORDIC structures, and body 21 can be along the vertical axis in mounting seat
Rotate freely and position in the range of 360 ° of rotary shaft；The industrial control computer of described electric control gear 4 and C CORDIC structures
Electrical connection, when the small riding position of U-tube bearing tray 32 has deviation, the pattern-recognition loop of electric control gear 4 can be according to machinery
The feedback driving C CORDIC structures of position sensor on hand 2 make manipulator 2 capture small U-tube 5 in correct position, equally,
In catheterization procedure, electric control gear 4 can drive C CORDIC structures manipulator 2 is inserted small U-tube 5, fin in correct position
The position of the small U-tube 5 of assembly grafting both made be it is crooked be equally applicable, increase the scope of application.
The position of the small U-tube 5 of usual fin assembly grafting is horizontal, further to increase the wing based on number bus
The scope of application of the small U-tube automatic intubation system of piece assembly, makes this automatic intubation unit also can be to non-level plug-in position
It is equally applicable, as the improvement project of the present invention, also include A CORDICs structure or B CORDICs in described mounting seat
Structure, body 21 can be to rotate freely and position in the range of rotary shaft ± 90 ° along the horizontal axis in mounting seat, and described is automatically controlled
The industrial control computer of device 4 electrically connects with A CORDICs structure or B CORDIC structures, when the small U-shaped of fin assembly grafting
When the position of pipe 5 is non-horizontal, industrial control computer can drive A CORDICs structure or B CORDIC structures to make before intubation
Manipulator 2 is overturn to the set angle of program, then catches catheter position by position sensor again.
When manipulator 2 captures small U-tube 5 in U-tube bearing tray 32 from childhood, if being captured by traditional order, its null
Journey can be lengthened progressively, therefore in order to reduce idle stroke, improve crawl efficiency, scheme, described as a further improvement on the present invention
Multiple small 322 equal one end of U-tube station beam it is high, the other end is low, tilts and is fixedly installed on tray body 321, its low side conduct
Grasping end, low side top are provided with the position-limit mechanism for preventing that small U-tube 5 from sliding, when the crawl of manipulator 2 is located at small U-tube station beam
After the first small U-tube 5 of 322 low sides, remaining small U-tube 5 on small U-tube station beam 322 can be because of self gravitation
Effect is overall to glide, and second small U-tube 5 slides to the position of first small U-tube 5, manipulator 2 and can captured always positioned at small
The small U-tube 5 of the low side of U-tube station beam 322, until all crawl finishes by the small U-tube 5 on small U-tube station beam 322,
The lower position crawl of other one small U-tube station beam 322 is moved to again, is reduced the idle stroke of manipulator 2, is improved crawl
Efficiency.
As the present invention support fetching 23 a kind of embodiment, described support fetching 23 is L-shaped, its top be articulated and connected in
Body 21, its transmission connecting mechanism one end are connected with body 21, and the other end is connected in L-type support fetching 23, and Industry Control calculates
Machine can ask the transmission connecting mechanism of fetching 23 to realize that L-type support fetching 23 is hinged axis rotation and body along it by controlling
21 bottoms engage or separation.
As the another embodiment of present invention support fetching 23, described support fetching 23 is in horizontal U-shaped, horizontal U
Type one end is vertically penetrated in body 21, and the transmission connecting mechanism of support fetching 23 is set parallel to horizontal U-shaped support fetching 23
Put, transmission connecting mechanism one end is connected with body 21, and the other end is connected to the horizontal U-shaped support fetching 23 penetrated in body 21
On, industrial control computer can by control hold in the palm fetching 23 transmission connecting mechanism realize horizontal U-shaped support fetching 23 along hang down
Nogata is realized to translation and engages or separate with the bottom of body 21.
Refer to a kind of 22 embodiment as present invention gripping, described gripping refers to 22 tops and is respectively symmetrically hingedly connected to
On body 21, its transmission connecting mechanism one end is connected with body 21, and the other end is connected to gripping and referred on 22, industrial control computer
It can realize that gripping refers to 22 and is hinged axis rotation and small U-tube 5 along it by controlling gripping to refer to 22 transmission connecting mechanism
Engaging or separation.
Refer to 22 another embodiment as present invention gripping, described gripping refers to 22 by guiding mechanism respectively symmetrically
It is connected with body 21, gripping refers to 22 and can slided by guiding mechanism on body 21, and its transmission connecting mechanism is parallel to gripping
Refer to 22 to set, one end is connected with body 21, and the other end is connected to gripping and referred on 22, and industrial control computer can press from both sides by controlling
The transmission connecting mechanism of fetching 22 realizes that gripping refers to 22 and movement is slided on body 21, and then realizes and engage with small U-tube 5 or divide
From.
Described gripping refers to 22 and asks the transmission connecting mechanism of fetching 23 to use hydraulic jack, can also use gas
Cylinder, or use purely mechanic transmission mechanism, due to according to hydraulic jack, it is necessary to add fuel tank and pump, Fa Deng mechanisms, structure compared with
Complexity, according to purely mechanic transmission mechanism, volume can be compared with both bulk, and source of the gas enriches in fin assembly workshop, and gas
Dynamic control action is swift in response, therefore preferred pneumatic control, i.e. as the preferred scheme of the present invention, described gripping refers to 22 Hes
The transmission connecting mechanism for holding in the palm fetching 23 is cylinder.
It is Digital Control unit based on the small U-tube automatic intubation system of the fin assembly of number bus, can be with work
The number bus of factory, which is seamlessly connected, realizes concentration digital management.
Based on the small U-tube automatic intubation system of the fin assembly of number bus due to right using mechanical arm 1 and manipulator 2
Small U-tube 5 is captured and grafting, substitutes artificial intubation, can reduce the labor intensity of operating personnel, and pass through circulation-supplied thing
The bracket of material and small U-tube bearing tray 3 carry out supplying small U-tube 5, can the multiple small U-tube bearing trays of one-time continuous supply
32 and small U-tube bearing tray 32 enumerate automatically, therefore capture be intubated efficiency it is higher；One is can be set according to AOF calculation
Or multiple mechanical arms 1 and manipulator 2 are captured with intubation to meet to produce needs simultaneously, automation degree of equipment is high, equipment utilization
Rate is high；This automatic intubation unit is run according to the program set, can be evaded influence of the human factor to manufacturing schedule completely, be entered
And realize and ensure product quality；Because mechanical arm 1 is provided with X-coordinate drive mechanism, Y-coordinate drive mechanism, Z coordinate driving machine
Structure, A CORDICs structure, B CORDICs structure or C CORDIC structure coordinate controls can also be arranged as required to, therefore
Manipulator 2 can be made to realize self-adapting grasping and the small U-tube 5 of grafting according to program setting, ensure wing while realizing automation
Precise manipulation of the piece assembly during intubation, quality accident is prevented, ensure product quality.
Claims (10)
- A kind of 1. small U-tube automatic intubation system of fin assembly based on number bus, it is characterised in that including mechanical arm (1), Manipulator (2), the bracket of circulation-supplied material and small U-tube bearing tray (3) and electric control gear (4)；Described mechanical arm (1) is fixedly mounted on the ground, including the X-coordinate drive mechanism in left and right horizontal direction, anterior-posterior horizontal The Y-coordinate drive mechanism in direction, the Z coordinate drive mechanism of vertical direction；Described manipulator (2) includes body (21), gripping refers to (22) and support fetching (23), and the top of body (21) is installed on machine The end of tool arm (1), the width dimensions of body (21) bottom are less than the outer end width size of the U-shaped opening of small U-tube (5), and Body (21) bottom face is provided with and the pipe external diameter of small U-tube (5) and the arc groove I of U-shaped radian dimensional fits, arc groove I Bottom land end be provided with range sensor, body is additionally provided with position sensor and range sensor on (21)；Gripping refers to (22) and set It is set to two pieces, symmetrical symmetrical center line in body (21) arc groove I simultaneously passes through transmission connecting mechanism and body (21) Connection, gripping refer to (22) and matched somebody with somebody towards the medial surface of body (21) arc groove I provided with the pipe outside dimension with small U-tube (5) The arc groove II of conjunction；Fetching (23) is ask to be arranged on by transmission connecting mechanism on body (21), finger tip vertical direction is towards arc Connected in star I, support fetching (23) are arranged to match somebody with somebody with the U-shaped inner ring size at the U-shaped end of small U-tube (5) towards the surface of arc groove I The arcuate structure of conjunction, the pipe diameter dimensional fits apart from size and small U-tube (5) of the bottom land of arcuate structure to arc groove I；The bracket of described circulation-supplied material and small U-tube bearing tray (3) include Multi-layer bracket (31), small U-tube carries Pallet (32), power set (33) and electrical control mechanism (34)；Multi-layer bracket (31) includes support body and tray support mechanism (312), Support body is rectangular frame structure, front and rear along its length inside it to be provided with two accommodating chambers interconnected, support body Internal both ends along its length are provided with limiting plate；Tray support mechanism (312) is symmetrical, front and rear equal along support body length direction On the medial surface of even two accommodating chambers for being arranged in support body, tray support mechanism (312) includes support vertical beam (3121), support claw (3122), vertical connecting rod I (3123) and vertical connecting rod II (3124), support vertical beam (3121) is the tubular structure being vertically arranged, support Towards direction is provided with and can allow to prop up along the same axis on the medial surface of two accommodating chambers of support body on the body of vertical beam (3121) The pilot hole that support claw (3122) stretches out；Support claw (3122), vertical connecting rod I (3123) and vertical connecting rod II (3124) are arranged at support In vertical beam (3121), support claw (3122) is arranged to more than one piece, and its longitudinal section assumes diamond in shape or triangle, along vertical connecting rod I (3123) Uniformly it is arranged at intervals on length direction and is articulated and connected in the middle part of support claw (3122) with vertical connecting rod I (3123), support claw (3122) Front end is external part, and support claw (3122) rear end is articulated and connected with vertical connecting rod II (3124)；Tray support mechanism (312) is divided into fixed Point supporting mechanism and mobile supporting mechanism, fixed point supporting mechanism and mobile supporting mechanism are arranged at intervals along support body length direction, are moved The pilot hole of dynamic supporting mechanism is an elongated hole of the uniform size of space summation of support claw (3122), and mobile supporting mechanism erects Connecting rod I (3123) and vertical connecting rod II (3124) can move up and down；Fixed point supporting mechanism pilot hole be uniformly be spaced it is multiple Elongated hole, the uniform interval of pilot hole and the uniform size of space of support claw (3122) for pinpointing supporting mechanism coordinate, fixed point support The vertical connecting rod I (3123) of mechanism is fixedly connected with support vertical beam (3121), pinpoints the vertical connecting rod II (3124) of supporting mechanism It can move up and down；Small U-tube bearing tray (32) is arranged to multiple, and layering is erected at the support of a receiving cavity wall of support body On pawl (3122), small U-tube bearing tray (32) includes tray body (321) and is arranged on arranged in parallel on tray body (321) Multiple small U-tube station beams (322), the U-shaped of the width dimensions and small U-tube (5) in small U-tube station beam (322) section opens Mouth width dimensions coordinate, and the top end face of small U-tube station beam (322) is arranged to the U-shaped inner ring chi with the U-shaped end of small U-tube (5) The arcwall face of very little cooperation, arcwall face are provided with concave through grooves (3221), and the width and depth dimensions of concave through grooves (3221) are more than Gripping refers to the width and height dimension of (22) finger tip, the position of the annular solder of the corresponding small U-tube (5) of small U-tube station beam (322) Spigot surface (3222) is installed；Power set (33) include support claw pushing handle telescopic control mechanism (331), pallet passage telescoping mechanism (332) and power control mechanism (333), support claw pushing handle telescopic control mechanism (331) are arranged on the top of support vertical beam (3121), determine Vertical connecting rod II (3124) top of point supporting mechanism is connected with support claw pushing handle telescopic control mechanism (331), and mobile supporting mechanism erects Connecting rod I (3123) and vertical connecting rod II (3124) are connected with support claw pushing handle telescopic control mechanism (331)；Pallet elapses telescoping mechanism (332) corresponding numerical digit from up to down is arranged in the position of the small U-tube bearing tray (32) of first layer, and its telescopic direction is along frame Body length direction；Power control mechanism (333) is arranged on support body；Electrical control mechanism (34) is arranged at the outer of Multi-layer bracket (31) Portion, including power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack and wireless transmission mould Block, power train control module and electronic identification chip electrical connection, power train control module electrically connect with power control mechanism (333)；Described electric control gear (4) includes industrial control computer, electric power loop, pattern-recognition loop, counting circuit, small U-shaped Pipe crawl loop, intubation control loop, industrial control computer and the position sensor on manipulator (2) and range sensor electricity Connection, the industrial control computer X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate driving machine with mechanical arm (1) respectively Structure and gripping refer to the transmission connecting mechanism electrical connection of the transmission connecting mechanism of (22), support fetching (23).
- 2. the small U-tube automatic intubation system of the fin assembly according to claim 1 based on number bus, its feature exist In described mechanical arm (1) also includes support frame (11), crossbeam (13) and slide rail (14), and support frame (11) is erected at slotting Above pipe streamline, its bottom is fixedly installed in ground, and its top fore-and-aft direction is provided with leads along what Y-coordinate direction be arranged in parallel Rail (12), on guide rail (12) restocking of X-coordinate direction be provided with crossbeam (13), crossbeam (13) is provided with drive mechanism；Crossbeam (13) is provided with the slide rail (14) being arranged on Z-direction direction on crossbeam (13), and slide rail is provided with liter on (14) Descending mechanism and horizontal walking mechanism, the top of the body (21) of described manipulator (2) are arranged on the bottom of slide rail (14)；It is internal that the bracket of described circulation-supplied material and small U-tube bearing tray (3) are arranged at support frame (11)；The industrial control computer of described electric control gear (4) electrically connects with the drive mechanism of crossbeam (13), and Industry Control calculates Machine electrically connects with the elevating mechanism of slide rail (14), and industrial control computer electrically connects with the horizontal walking mechanism of slide rail (14).
- 3. the small U-tube automatic intubation system of the fin assembly according to claim 1 or 2 based on number bus, its feature It is, the top of described body (21) is connected by mounting seat with the end of mechanical arm (1), and C coordinates are provided with mounting seat and are revolved Rotation mechanism；The industrial control computer of described electric control gear (4) electrically connects with C CORDIC structures.
- 4. the small U-tube automatic intubation system of the fin assembly according to claim 3 based on number bus, its feature exist In also including A CORDICs structure or B CORDIC structures in described mounting seat, the industry control of described electric control gear (4) Computer processed electrically connects with A CORDICs structure or B CORDIC structures.
- 5. the small U-tube automatic intubation system of the fin assembly according to claim 4 based on number bus, its feature exist In, one end is high, the other end is low, inclination is fixedly installed on tray body (321) for described multiple small U-tube station beams (322), Its low side is provided with the position-limit mechanism for preventing that small U-tube (5) from sliding as grasping end, low side top.
- 6. the small U-tube automatic intubation system of the fin assembly according to claim 1 or 2 based on number bus, its feature It is, described support fetching (23) is L-shaped, and its top is articulated and connected in body (21), the transmission connecting mechanism of support fetching (23) One end is connected with body (21), and the other end is connected in L-type support fetching (23).
- 7. the small U-tube automatic intubation system of the fin assembly according to claim 1 or 2 based on number bus, its feature It is, in horizontal U-shaped, horizontal U-shaped one end vertically penetrates in body (21) described support fetching (23), holds in the palm fetching (23) transmission connecting mechanism is set parallel to horizontal U-shaped support fetching (23), and transmission connecting mechanism one end connects with body (21) Connect, the other end, which is connected to, to be penetrated on the horizontal U-shaped support fetching (23) in body (21).
- 8. the small U-tube automatic intubation system of the fin assembly according to claim 1 or 2 based on number bus, its feature It is, described gripping refers to (22) top and is respectively symmetrically hingedly connected on body (21), its transmission connecting mechanism one end and sheet Body (21) connects, and the other end is connected to gripping and referred on (22).
- 9. the small U-tube automatic intubation system of the fin assembly according to claim 1 or 2 based on number bus, its feature Be, described gripping refers to (22) and is respectively symmetrically connected by guiding mechanism with body (21), its transmission connecting mechanism parallel to Gripping refers to (22) setting, and one end is connected with body (21), and the other end is connected to gripping and referred on (22).
- 10. the small U-tube automatic intubation system of the fin assembly according to claim 1 or 2 based on number bus, its feature It is, it is cylinder that described gripping, which refers to (22) and the transmission connecting mechanism of support fetching (23),.
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| CN201510056097.2A CN104668930B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube automatic intubation system of fin assembly based on number bus |
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| CN201510056097.2A CN104668930B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube automatic intubation system of fin assembly based on number bus |
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| CN104668930B true CN104668930B (en) | 2018-01-09 |
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| CN105171391B (en) * | 2015-09-01 | 2019-04-05 | 徐州德坤电气科技有限公司 | A kind of fin is always grown up the U-tube picking unit of U-tube automatic intubation system |
| CN105171389B (en) * | 2015-09-01 | 2019-04-30 | 徐州德坤电气科技有限公司 | A kind of U-tube retinue tooling unit of fin assembly automatic intubation system |
| CN106112459B (en) * | 2016-08-31 | 2018-07-03 | 南京涵曦月自动化科技有限公司 | Solenoid valve block installs standby label grabbing assembly |
| CN108296730B (en) * | 2017-12-28 | 2019-08-23 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Assembly system with weld-ring semi-circular tube |
| CN112571004B (en) * | 2019-09-27 | 2022-03-25 | 广东美的智能机器人有限公司 | Discharge mechanism and assembly system |
| CN112571006B (en) * | 2019-09-27 | 2021-12-21 | 广东美的智能机器人有限公司 | Pipe penetrating device |
| CN111015162B (en) * | 2019-12-24 | 2021-01-08 | 东莞华贝电子科技有限公司 | Partition plate assembling device |
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| JPH0930639A (en) * | 1995-07-12 | 1997-02-04 | Daikin Ind Ltd | Automatic aligning method and device for hairpin type heat conduction pipe |
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| CN1178897A (en) * | 1996-08-07 | 1998-04-15 | 株式会社东芝 | Assembling device for heat exchanging tube of heat exchanger and assembling method |
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