CN104670912A - Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system - Google Patents
Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system Download PDFInfo
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- CN104670912A CN104670912A CN201510057068.8A CN201510057068A CN104670912A CN 104670912 A CN104670912 A CN 104670912A CN 201510057068 A CN201510057068 A CN 201510057068A CN 104670912 A CN104670912 A CN 104670912A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses a digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system. The digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system comprises a mechanical arm (1), a mechanical hand (2), a scattered material bearing tray (3), a bracket and small U-shaped pipe bearing tray assembly (4) capable of supplying small U-shaped pipes circularly and an electric control device (5). The mechanical arm comprises an X-coordinate driving mechanism, a Y-coordinate driving mechanism and a Z-coordinate driving mechanism. The mechanical hand comprises a body (21), clamping fingers (22) and a supporting finger (23), and the body is connected with the tail end of the mechanical arm via a mounting seat (211) which is provided with a C-coordinate driving mechanism. The bracket and small U-shaped pipe bearing tray assembly capable of supplying the small U-shaped pipes circularly comprises a multilayer bracket (41), small U-shaped pipe bearing trays (42), a power device (43) and an electric control mechanism (44). The electric control device comprises an industrial control computer, a mode identification loop, a stirring interference loop, a grabbing and sequential stacking loop and the like. The digital-bus-based small-U-shaped-pipe grabbing and sequential stacking unit has the advantages that automatic operation can be achieved, and influence of human factors on production progress is reduced.
Description
Technical field
The present invention relates to and a kind of capture order code place system, be specifically a kind ofly applicable to the radiator of A/C, the little U-shaped pipe based on number bus of condenser fin assembly intubate operation captures order code place system, belongs to air-conditioning manufacturing technology field.
Background technology
Usually needing the heat-exchanger rig surface of carrying out heat trnasfer by increasing the stronger sheetmetal of permeability of heat, increase the heat transfer sheet area of heat-exchanger rig, improve heat exchange efficiency, the sheetmetal with this function is referred to as fin.
Have two main heat exchanger in A/C, i.e. radiator and condenser, the side working medium of this two large heat exchanger is refrigerant, opposite side is air, in order to the heat transfer of enhanced heat exchange device, generally take compact Layout heat interchanging area in air side, A/C adopts compact fin-tube type heat exchanger mostly.
The fin of compact fin-tube type heat exchanger is generally provided with multiple can with the mounting hole of copper pipe major diameter fit, manufacturing process is generally first by fin punch forming, then will grow " U " type copper pipe and penetrate mounting hole on multiple fin side by side, finally carry out expand tube at the open end growing " U " type copper pipe, long " U " type copper pipe inside is grafting weld little " U " type copper pipe and be communicated with successively by each long " U " type copper pipe again after drying, and is about to all long " U " type copper pipes and is communicated with into a passage.
Current A/C maker still adopts manual work in a large number in the fin assembly intubate operation of radiator and condenser, the fin assembly pipe end to be inserted being about to good long " U " type copper pipe of string upwards moves up on working position apparatus frame or on conveyor line belt conveyor, then artificial each length " U " the type copper pipe End little " U " type copper pipe in freight container in bulk being plugged on one by one fin assembly, completes the fin assembly after artificial intubate and enters next procedure again.
There is following defect in this traditional mode of production: manually carries out intubation owing to adopting, therefore the impact of human element on manufacturing schedule such as operating personal sense of responsibility, mood is larger, and due to front road expand tube operation be undertaken by electric tube expander, efficiency is higher, therefore for meeting normally carrying out of follow-up oven dry welding sequence, often need to arrange many people and carry out artificial intubate operation, labor intensity of operating staff is large, efficiency is low; Because intubate operation adopts manual operation, therefore require higher to the technical ability of operating personal and skill level, the skilled operation degree of multiple operating personal is uneven is also affecting manufacturing schedule in varying degrees, and easily causes unstable product quality.
In order to improve plug-in mounting efficiency and plug-in mounting quality, manipulator is adopted to carry out automatic order crawl, the little U-shaped pipe of plug-in mounting, due to little U-shaped pipe be in bulk, be placed in freight container disorderly, little U-shaped pipe there will be the phenomenon of mutual grafting, rhampotheca, therefore manipulator cannot be made to carry out automatic order crawl, ordered arrangement must be carried out little U-shaped pipe in bulk and could realize adopting manipulator to carry out automatic order crawl, the little U-shaped pipe of plug-in mounting; According to manually piling up, efficiency is lower, and labor intensity of operating staff is large, and the human elements such as operating personal sense of responsibility, mood are comparatively large on the impact of manufacturing schedule, requires higher to the technical ability of operating personal and skill level.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides a kind of little U-shaped pipe based on number bus and capture order code place system, little U-shaped pipe order in bulk can be piled up, and then be convenient to adopt manipulator to carry out automatic order crawl, the little U-shaped pipe of plug-in mounting.
To achieve these goals, this comprises mechanical arm, manipulator, bulk cargo weight tray based on little U-shaped pipe crawl order code place system of number bus, sequentially piles up weight tray and electrical controller;
Described mechanical arm fixed installation on the ground, comprises the X-coordinate driver train in left and right horizontal direction, the Y-coordinate driver train in anterior-posterior horizontal direction, the Z coordinate driver train of vertical direction;
Described manipulator comprises body, gripping refers to and hold in the palm fetching, the top of body is connected with the end of mechanical arm by mount pad, C CORDIC structure is provided with in mount pad, the width dimensions of body bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe, and body bottom face is provided with the arc groove I with the pipe external diameter of little U-shaped pipe and U-shaped radian dimensional fits, and body is also provided with position transduser and rang sensor; Gripping refers to be set to two pieces, the symmetrical center line of the symmetrical arc groove I in body arranges and is connected with body by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism, transmission connecting mechanism one end that gripping refers to is connected with body, the other end is connected to gripping and refers to, gripping refers to be provided with towards the medial surface of the arc groove I of body the arc groove II coordinated with the pipe outside dimension of little U-shaped pipe, and arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe jointly; L-shaped or the arc of holder fetching, be set to two pieces, front and back are symmetrical in arc groove I setting of body, holder fetching top is articulated and connected in body, finger tip vertical direction is towards arc groove I, holder fetching is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching is connected with holder fetching, the other end is connected with body, holder fetching finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe towards the surface of arc groove I, and arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe;
Described bulk cargo weight tray is arranged near mechanical arm, comprises tray body and bracing frame;
Bracket and the little U-shaped pipe weight tray of described circulation-supplied material are also arranged near mechanical arm, comprise Multi-layer bracket, little U-shaped pipe weight tray, engine installation and electrical control mechanism, Multi-layer bracket comprises support body and tray support mechanism, and support body is rectangular frame structure, and its inside along its length front and back is provided with two container cavities interconnected, and the inside of support body is provided with positioning plate in two ends along its length, on the medial surface of two container cavities that tray support mechanism is symmetrical along support body length direction, front and back are evenly arranged in support body, tray support mechanism comprises support vertical beam, support claw, vertical connecting rod I and vertical connecting rod II, supporting vertical beam is the tubular structure vertically arranged, and on the body of support vertical beam, on the medial surface of two container cavities of support body, direction is provided with the pilot hole that support claw can be allowed to stretch out along the same axis, support claw, vertical connecting rod I and vertical connecting rod II are all arranged on and support in vertical beam, support claw is set to more than one piece, its vertical section assumes diamond in shape or triangle, arrange along interval uniform on the length direction of vertical connecting rod I and be articulated and connected with vertical connecting rod I in the middle part of support claw, support claw front end is external part, and support claw rear end and vertical connecting rod II are articulated and connected, tray support mechanism is divided into fixed point supporting mechanism and movable support mechanism, fixed point supporting mechanism and movable support mechanism are arranged along support body length direction interval, the pilot hole of movable support mechanism is an elongated hole of the uniform size of space summation of support claw, and vertical connecting rod I and the vertical connecting rod II of movable support mechanism all can move up and down, the pilot hole of fixed point supporting mechanism is multiple elongated holes at uniform interval, the uniform interval of pilot hole of fixed point supporting mechanism coordinates with the uniform size of space of support claw, the vertical connecting rod I of fixed point supporting mechanism is fixedly connected with support vertical beam, and the vertical connecting rod II of fixed point supporting mechanism can move up and down, little U-shaped pipe weight tray is set to multiple, layering is erected on the support claw of a container cavity inwall of support body, little U-shaped pipe weight tray comprises tray body and is arranged on the multiple little U-shaped plumber position beam of the arrangement in parallel on tray body, the width dimensions of little U-shaped plumber position beam section and the U-shaped A/F dimensional fits of little U-shaped pipe, the top end face of little U-shaped plumber position beam is arranged to the arcwall face with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe, arcwall face is provided with concave through grooves, the width of concave through grooves and depth dimensions are greater than width and the height dimension of gripping finger tip, the position of the annular solder of the corresponding little U-shaped pipe of little U-shaped plumber position beam is provided with spigot surface, engine installation comprises support claw pushing handle telescopic control mechanism, pallet passes telescoping mechanism and power control mechanism, support claw pushing handle telescopic control mechanism is arranged on the top supporting vertical beam, vertical connecting rod II top of fixed point supporting mechanism is connected with support claw pushing handle telescopic control mechanism, and the vertical connecting rod I of movable support mechanism is connected with support claw pushing handle telescopic control mechanism with vertical connecting rod II, pallet passing telescoping mechanism is arranged on correspondence, and from up to down numerical digit is in the position of the little U-shaped pipe weight tray of ground floor, and its telescopic direction is along support body length direction, power control mechanism is arranged on support body, electrical control mechanism is arranged at the outside of Multi-layer bracket, comprise power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack is electrically connected with wireless transmitter module, power train control module and electronic identification chip, and power train control module is electrically connected with power control mechanism,
Described electrical controller comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, little U-shaped pipe crawl loop, little U-shaped pipe to pile up loop etc., industrial control computer is electrically connected with the position transduser on manipulator and rang sensor, the transmission connecting mechanism that industrial control computer refers to the C CORDIC structure in the X-coordinate driver train of mechanical arm, Y-coordinate driver train and Z coordinate driver train and mount pad, gripping respectively, asks the transmission connecting mechanism of fetching to be electrically connected.
As preferred version of the present invention, described mechanical arm also comprises support frame, crossbeam and slide rail, support frame is erected at above intubate conveyor line, ground is fixedly installed in bottom it, its top fore-and-aft direction is provided with the guide rail be arranged in parallel along Y-coordinate direction, on guide rail, X-coordinate direction is added is provided with crossbeam, and crossbeam is provided with driver train;
Crossbeam is provided with slide rail Z-direction direction is arranged on crossbeam, and slide rail is provided with lifting mechanism and horizontal traveling gear, the top of the body of described manipulator is arranged on the bottom of slide rail;
Described little U-shaped pipe weight tray is arranged at support frame inside;
The industrial control computer of described electrical controller is electrically connected with the driver train of crossbeam, and industrial control computer is electrically connected with the lifting mechanism of slide rail, and industrial control computer is electrically connected with the horizontal traveling gear of slide rail.
Scheme as a further improvement on the present invention, also comprises A CORDIC structure or B CORDIC structure in described mount pad, the industrial control computer of described electrical controller is electrically connected with A CORDIC structure or B CORDIC structure.
Scheme as a further improvement on the present invention, arrange low-frequency vibration mechanism between the tray body of described bulk cargo weight tray and bracing frame, described electrical controller also comprises low-frequency vibration loop, and industrial control computer is electrically connected with low-frequency vibration mechanism.
Scheme as a further improvement on the present invention, described Liang Jun one end, multiple little U-shaped plumber position is high, the other end is low, inclination is fixedly installed on tray body, and end is piled up in its high-end conduct, and low side top is provided with the stop gear preventing the landing of little U-shaped pipe.
Scheme as a further improvement on the present invention, also arranges low-frequency vibration mechanism between described little U-shaped plumber position beam and tray body.
Scheme as a further improvement on the present invention, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching.
As preferred version of the present invention, described gripping refers to and asks the transmission connecting mechanism of fetching to be cylinder.
As preferred version of the present invention, telescoping mechanism passed by described support claw pushing handle telescopic control mechanism and pallet is cylinder, and described power control mechanism is electromagnetism-gas-driving valve group.
Compared with prior art, this little U-shaped pipe based on number bus captures order code place system and also piles up in order on little U-shaped pipe weight tray owing to adopting mechanical arm and manipulator to carry out crawl to little U-shaped pipe in bulk, substitute artificial intubate, the labour intensity of operating personal and manual operation skill level can be reduced on the impact of the progress of piling up, and undertaken supplying little U-shaped pipe by the bracket of circulation-supplied material and little U-shaped pipe weight tray, can one-time continuous supply multiple little U-shaped pipe weight tray and little U-shaped pipe weight tray automatically enumerate, therefore capture with intubate efficiency higher; Can arrange one or more mechanical arm and manipulator according to AOF calculation to capture simultaneously and pile up to meet to pile up progress needs, automation degree of equipment is high, and capacity utilization rate is high; This little U-shaped pipe captures sequence and piles up unit according to the program operation set, and can evade the impact of human element on manufacturing schedule completely, and then realizes guarantee and pile up quality; Because mechanical arm is provided with X-coordinate driver train, Y-coordinate driver train, Z coordinate driver train, C coordinate driver train is provided with in the mount pad on manipulator top, A CORDIC structure or B CORDIC structure coordinate control can also be set as required, therefore manipulator can be made to realize self-adapting grasping and pile up little U-shaped pipe according to program setting, ensure precise manipulation while realizing automation, ensure to pile up quality.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention when adopting multi-joint centralized control mechanical arm structure;
Fig. 2 is the structural representation of the present invention when adopting frame-type split controlling machine mechanical arm structure;
Fig. 3 is the three-dimensional structure schematic diagram of manipulator of the present invention;
Fig. 4 is the front elevation of manipulator of the present invention;
Fig. 5 is the left view of Fig. 4;
Fig. 6 is the bracket of circulation-supplied material of the present invention and the three-dimensional structure schematic diagram of little U-shaped pipe weight tray;
Fig. 7 is the structural representation of tray support mechanism of the present invention;
Fig. 8 is the three-dimensional structure schematic diagram that order of the present invention piles up weight tray;
Fig. 9 is that the I of Fig. 8 is to partial enlarged drawing.
In figure: 1, mechanical arm, 11, support frame, 12, guide rail, 13, crossbeam, 14, slide rail, 2, manipulator, 21, body, 211, mount pad, 22, gripping refers to, 23, holder fetching, 3, bulk cargo weight tray, 4, the bracket of circulation-supplied material and little U-shaped pipe weight tray, 41, Multi-layer bracket, 411, support body, 412, tray support mechanism, 4121, support vertical beam, 4122, support claw, 4123, vertical connecting rod I, 4124, vertical connecting rod II, 42, little U-shaped pipe weight tray, 421, tray body, 422, little U-shaped plumber position beam, 4221, concave through grooves, 4222, spigot surface, 43, engine installation, 431, support claw pushing handle telescopic control mechanism, 432, telescoping mechanism passed by pallet, 433, power control mechanism, 44, electrical control mechanism, 5, electrical controller, 6, little U-shaped pipe.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1 and Figure 2, this little U-shaped pipe based on number bus captures that order code place system comprises mechanical arm 1, manipulator 2, bulk cargo weight tray 3, order piles up weight tray 4 and electrical controller 5 (describes with left and right horizontal direction as X-coordinate below, with front and back horizontal direction for Y-coordinate, take vertical direction as Z coordinate, with the direction rotated for S. A. along left and right horizontal axis for A coordinate, with the direction rotated for S. A. along anterior-posterior horizontal axis for B coordinate, with the direction rotated for S. A. along vertical axis for C coordinate).
Described mechanical arm 1 fixedly mounts on the ground, comprises the X-coordinate driver train in left and right horizontal direction, the Y-coordinate driver train in anterior-posterior horizontal direction, the Z coordinate driver train of vertical direction.
As shown in Figures 3 to 5, described manipulator 2 comprises body 21, gripping refers to 22 and holder fetching 23, the top of body 21 is connected with the end of mechanical arm 1 by mount pad 211, C CORDIC structure is provided with in mount pad 211, body 21 can be rotate freely within the scope of S. A. 360 ° and locate along the vertical axis in mount pad 211, the width dimensions of body 21 bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe 6, and body 21 bottom face is provided with the arc groove I with the pipe external diameter of little U-shaped pipe 6 and U-shaped radian dimensional fits, the U-shaped top of little U-shaped pipe 6 can snap in arc groove I, body 21 is also provided with position transduser and rang sensor, gripping refers to that 22 are set to two pieces, the symmetrical symmetrical center line in body 21 arc groove I is arranged, and be connected with body 21 by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism on 22, gripping refers to that transmission connecting mechanism one end of 22 is connected with body 21, the other end is connected to gripping and refers on 22, gripping refers to that 22 can be slided up and down on body 21 by transmission connecting mechanism and guiding mechanism, gripping refers to that 22 are provided with towards the medial surface of body 21 arc groove I arc groove II coordinated with the pipe outside dimension of little U-shaped pipe 6, gripping refers to that 22 when gripping state, arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe 6 jointly, L-shaped or the arc of holder fetching 23, be set to two pieces, front and back are symmetrical in the setting of body 21 arc groove I, holder fetching 23 top is articulated and connected in body 21, finger tip vertical direction is towards arc groove I, holder fetching 23 is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching 23 is connected with holder fetching 23, the other end is connected with body 21, holder fetching 23 can by transmission connecting mechanism around its interface point Unscrew or closedown, holder fetching 23 finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe 6 towards the surface of arc groove I, arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe 6, during i.e. gripping state, holder fetching 23 can hold the U-shaped end medial surface of little U-shaped pipe 6 towards the surface of arc groove I.
Described bulk cargo weight tray 3 is arranged near mechanical arm 1, comprises tray body and bracing frame.
Bracket and the little U-shaped pipe weight tray 4 of described circulation-supplied material are also arranged near mechanical arm 1, as shown in Figure 6, Figure 7, comprise Multi-layer bracket 41, little U-shaped pipe weight tray 42, engine installation 43 and electrical control mechanism 44;
Multi-layer bracket 41 comprises support body 411 and tray support mechanism 412, and support body 411 is rectangular frame structures, and its inside along its length front and back is provided with two container cavities interconnected, and the inside of support body 411 is provided with positioning plate in two ends along its length;
Tray support mechanism 412 is symmetrical along support body 411 length direction, front and back are evenly arranged on the medial surface of two container cavities of support body 411, tray support mechanism 412 comprises support vertical beam 4121, support claw 4122, vertical connecting rod I 4123 and vertical connecting rod II 4124, supporting vertical beam 4121 is the tubular structures vertically arranged, and on the body of support vertical beam 4121, on the medial surface of two container cavities of support body 411, direction is provided with the pilot hole that support claw 4122 can be allowed to stretch out along the same axis; Support claw 4122, vertical connecting rod I 4123 and vertical connecting rod II 4124 are all arranged on and support in vertical beam 4121, support claw 4122 is set to more than one piece, its vertical section assumes diamond in shape or triangle, arrange along interval uniform on the length direction of vertical connecting rod I 4123 and be articulated and connected with vertical connecting rod I 4123 in the middle part of support claw 4122, support claw 4122 front end (left end as shown in Figure 7) is external part, support claw 4122 rear end and vertical connecting rod II 4124 are articulated and connected, and can control to stretch out or retraction in self-steering hole, support claw 4122 front end by controlling vertical connecting rod II 4124 knee-action; Tray support mechanism 412 is divided into fixed point supporting mechanism and movable support mechanism, fixed point supporting mechanism and movable support mechanism are arranged along support body 411 length direction interval, fixed point supporting mechanism and the difference of movable support mechanism be pilot hole along the number supported on vertical beam 4121 body axial direction, length different with vertical connecting rod I 4123, vertical connecting rod II 4124 fixed form is different, the pilot hole of movable support mechanism is an elongated hole of the uniform size of space summation of support claw 4122, and vertical connecting rod I 4123 and the vertical connecting rod II 4124 of movable support mechanism all can move up and down; The pilot hole of fixed point supporting mechanism is multiple elongated holes at uniform interval, the uniform interval of pilot hole of fixed point supporting mechanism coordinates with the uniform size of space of support claw 4122, the vertical connecting rod I 4123 of fixed point supporting mechanism is fixedly connected with support vertical beam 4121, and the vertical connecting rod II 4124 of fixed point supporting mechanism can move up and down;
Little U-shaped pipe weight tray 42 is set to multiple, layering is erected on the support claw 4122 of a container cavity inwall of support body 411, positioning plate can locate little U-shaped pipe weight tray 42, prevent little U-shaped pipe weight tray 42 from deviating from from the inside of support body 411, as Fig. 8, shown in Fig. 9, little U-shaped pipe weight tray 42 comprises tray body 421 and is arranged on the multiple little U-shaped plumber position beam 422 of the arrangement in parallel on tray body 421, the width dimensions in beam 422 cross section, little U-shaped plumber position and the U-shaped A/F dimensional fits of little U-shaped pipe 6, the top end face of little U-shaped plumber position beam 422 is arranged to the arcwall face with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe 6, arcwall face is provided with concave through grooves 4221, the width of concave through grooves 4221 and depth dimensions are greater than width and the height dimension that gripping refers to 22 finger tips, because the body of two ports of little U-shaped pipe 6 is provided with annular solder, therefore the position of the annular solder of the corresponding little U-shaped pipe 6 of little U-shaped plumber position beam 422 is provided with spigot surface 4222, little U-shaped pipe 6 is stuck on little U-shaped plumber position beam 422 by arcwall face and spigot surface 4222 one by one side by side,
Engine installation 43 comprises support claw pushing handle telescopic control mechanism 431, pallet passes telescoping mechanism 432 and power control mechanism 433, support claw pushing handle telescopic control mechanism 431 is arranged on the top supporting vertical beam 4121, vertical connecting rod II 4124 top of fixed point supporting mechanism is connected with support claw pushing handle telescopic control mechanism 431, the vertical connecting rod I 4123 of movable support mechanism is connected with support claw pushing handle telescopic control mechanism 431 with vertical connecting rod II 4124, the support claw 4122 that support claw pushing handle telescopic control mechanism 431 can realize controlling by controlling vertical connecting rod II 4124 action fixed point supporting mechanism stretches, can realize controlling moving on the whole or moving down of the flexible and vertical connecting rod I 4123 of the support claw 4122 of movable support mechanism and vertical connecting rod II 4124 by controlling vertical connecting rod I 4123 and vertical connecting rod II 4124 action, pallet is passed telescoping mechanism 432 and is arranged on corresponding from up to down numerical digit in the position of the little U-shaped pipe weight tray 42 of ground floor, its telescopic direction is along support body 411 length direction, and pallet is passed telescoping mechanism 432 and the container cavity of the little U-shaped pipe weight tray 42 of ground floor from support body 411 laterally can be passed in another container cavity, power control mechanism 433 is arranged on support body 411, for controlling support claw pushing handle telescopic control mechanism 431 and pallet passing telescoping mechanism 432,
Electrical control mechanism 44 is arranged at the outside of Multi-layer bracket 41, comprise power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack is electrically connected with wireless transmitter module, power train control module and electronic identification chip, power train control module is electrically connected with power control mechanism 433, wirless transmitting and receiving module is used for carrying out information exchange with the central machine room of digital factory, power train control module completes various actions for controlling engine installation 43, and electronic identification chip is convenient to this bracket of automatical pilot transportation vehicle identification.
Described electrical controller 5 comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, little U-shaped pipe crawl loop, little U-shaped pipe to pile up loop etc., industrial control computer is electrically connected with the position transduser on manipulator 2 and rang sensor, industrial control computer refer to the C CORDIC structure in the X-coordinate driver train of mechanical arm 1, Y-coordinate driver train and Z coordinate driver train and mount pad 211, gripping respectively 22 transmission connecting mechanism, ask the transmission connecting mechanism of fetching 23 to be electrically connected.
This little U-shaped pipe based on number bus captures the principle of work of order code place system: as shown in Figure 1, when the fully loaded bulk cargo weight tray 3 of little U-shaped pipe 6 in bulk and the bracket of vacant circulation-supplied material and little U-shaped pipe weight tray 4 to be transported by automatical pilot transportation vehicle the setting rested in respectively near mechanical arm 1 park on station time, start working, pass through position sensor feedback, pattern-recognition, location captures the little U-shaped pipe 6 in bulk cargo weight tray 3, the order moving to setting after crawl piles up weight tray 4 top position, to accurate location, carry out sequence code by position sensor feedback automatic fine tuning joint to put, pile up rear manipulator 2 to open, namely the crawl completing first little U-shaped pipe is piled up, by that analogy, fill after the little U-shaped pipe 6 be sequentially well placed wait the little U-shaped pipe weight tray 42 being positioned at ground floor, electrical control mechanism 44 sends information to central machine room, namely central machine room sends instruction makes power train control module control power control mechanism 433 according to blas sequentially-operating, first make pallet pass telescoping mechanism 432 action the little U-shaped pipe weight tray 42 of ground floor container cavity before support body 411 is laterally passed to rear container cavity, be positioned at the ground floor of rear container cavity, then the support claw pushing handle telescopic control mechanism 431 successively action of front container cavity is positioned at, remaining the little U-shaped pipe weight tray 42 being positioned at front container cavity is made to move one grade on the whole, namely the little U-shaped pipe weight tray 42 being positioned at the front container cavity second layer rises to the ground floor little U-shaped pipe weight tray 42 of front container cavity, manipulator 2 can pile up little U-shaped pipe 6 by little U-shaped pipe weight tray 42 to the second layer rising to ground floor, simultaneously, the little U-shaped pipe weight tray 42 being positioned at rear container cavity ground floor moves down one grade under the effect of support claw pushing handle telescopic control mechanism 431 action of rear container cavity, namely the ground floor little U-shaped pipe weight tray 42 being positioned at rear container cavity drops to the second layer little U-shaped pipe weight tray 42, by that analogy, until the little U-shaped pipe weight tray 42 being positioned at front container cavity all moves to rear container cavity, namely piling up of the little U-shaped pipe 6 in whole little U-shaped pipe weight tray 42 is completed, automatical pilot transportation vehicle again by the bracket of circulation-supplied material and little U-shaped pipe weight tray 4 integral transportation to next procedure.
When system does not start (during zero position), mechanical arm 1 is located, directly over the bracket that manipulator 2 is positioned at circulation-supplied material and little U-shaped pipe weight tray 4, be in the dead state of opening, namely gripping refers to that 22 are all in the position of the arc groove I away from body 21 with holder fetching 23;
When the fully loaded bulk cargo weight tray 3 of little U-shaped pipe 6 in bulk and the bracket of vacant circulation-supplied material and little U-shaped pipe weight tray 4 to be transported by automatical pilot transportation vehicle the setting rested in respectively near mechanical arm 1 park on station time, the electric power loop that this little U-shaped pipe based on number bus captures order code place system starts starts working, industrial control computer controls X-coordinate driver train, Y-coordinate driver train and the action of Z coordinate driver train, mechanical arm 1 moves according to preset program and coordinates computed action, manipulator 2 is made to be positioned at directly over bulk cargo weight tray 3, pattern-recognition loop starts, industrial control computer is according to the positional information calculation coordinate of the position sensor feedback on the body 21 of manipulator 2 and send instruction after catching the U-shaped apical position coordinate information of little U-shaped pipe 6 and make mechanical arm 1 and C coordinate driver train continue action, manipulator 2 is positioned at mutual grafting does not occur, directly over first little U-shaped pipe 6 that the coordinate of rhampotheca phenomenon sets at random, and the arc groove I of body 21 is just to the U-shaped top of first little U-shaped pipe 6, counting circuit is synchronously started working,
Industrial control computer continues to send the Z coordinate driver train work that instruction makes mechanical arm 1, make manipulator 2 near first little U-shaped pipe 6, when the rang sensor feedback information on body 21 is setpoint distance, little U-shaped pipe captures loop starts, industrial control computer controls the transmission connecting mechanism action of holder fetching 23, two are made to ask fetching 23 to snap into setting size, namely two holder fetchings 23 do not engage completely, leave gap, and the U-shaped top of first little U-shaped pipe 6 is connected between two holder fetchings 23 actively, industrial control computer sends the Z coordinate driver train work that instruction makes mechanical arm 1 simultaneously, manipulator 2 is made to be promoted to setpoint distance, now, first little U-shaped pipe 6 under the draw of two holder fetchings 23, depart from bulk cargo weight tray 3 and because of self gravitation act in the process that manipulator 2 promotes hang down to U-shaped top upwards, the downward vertical state of two ports, after manipulator 2 is promoted to setpoint distance, industrial control computer controls the transmission connecting mechanism action of holder fetching 23, two are made to ask fetching 23 to engage completely, namely the U-shaped top of first little U-shaped pipe 6 snaps in the arc groove I of body 21, industrial control computer controls the transmission connecting mechanism action that gripping refers to 22 simultaneously, two grippings are referred to, and 22 slide down to setpoint distance by guiding mechanism and first little U-shaped pipe 6 is fitted simultaneously on body 21, now first little U-shaped pipe 6 is namely in X-coordinate, respectively by arc groove I on Y-coordinate and Z coordinate direction, arc groove II is spacing towards the surface of arc groove I with holder fetching 23, be positioned on manipulator 2, complete crawl,
After crawl, industrial control computer controlling machine mechanical arm 1 gets back to zero position, now first little U-shaped pipe 6 is just to the little U-shaped pipe weight tray 42 being positioned at ground floor, loop starts piled up by little U-shaped pipe, industrial control computer is according to setting program coordinates computed and send instruction that mechanical arm 1 is continued is mobile, directly over first carrying position that manipulator 2 is positioned on the little U-shaped plumber position beam 422 of setting coordinate, then industrial control computer continues to send the Z coordinate driver train work that instruction makes mechanical arm 1, make manipulator 2 Vertical dimension first carry position to move, when rang sensor feedback information on the body 21 of manipulator 2 is to setpoint distance, namely after two ports of first little U-shaped pipe 6 snap in first carrying position, industrial control computer controls the transmission connecting mechanism action of asking the transmission connecting mechanism of fetching 23 and gripping to refer to 22, two are made to ask fetching 23 to be flared to zero position, two grippings refer to 22 by guiding mechanism on body 21 upward sliding to zero position, namely first little U-shaped pipe 6 depart from manipulator 2, be erected on first carrying position on the little U-shaped plumber position beam 422 of setting coordinate, industrial control computer controlling machine mechanical arm 1 gets back to zero position, what complete first little U-shaped pipe 6 piles up process, by that analogy, until little U-shaped pipe 6 is piled up in the carrying position completed on the whole little U-shaped plumber position beam 422 of ground floor little U-shaped pipe weight tray 42,
In the crawl process of little U-shaped pipe 6, mutual grafting is there is not when the position transduser on body 21 detects in bulk cargo weight tray 3, after the little U-shaped pipe 6 of rhampotheca phenomenon is all crawled, stir interference loop works, industrial control computer sends the Z coordinate driver train work that instruction makes mechanical arm 1, manipulator 2 is made to drop to setpoint distance, manipulator 2 touches and mutual grafting occurs, the little U-shaped pipe 6 of rhampotheca phenomenon, then industrial control computer sends X-coordinate driver train and/or the work of Y driver train that instruction makes mechanical arm 1, Z coordinate driver train work manipulator 2 is returned to U-shaped apical position information that position directly over bulk cargo weight tray 3 catches little U-shaped pipe 6 again after making manipulator 2 planar mobile along the track of program setting, capture again, until the little U-shaped pipe 6 in bulk cargo weight tray 3 is all captured complete,
After the little U-shaped pipe 5 of the little U-shaped pipe weight tray 42 being positioned at ground floor is all piled up, manipulator 2 has sent the information of ground floor work to central machine room, namely central machine room sends instruction makes power train control module control power control mechanism 433 according to blas sequentially-operating: telescoping mechanism 432 first action passed by pallet, little U-shaped pipe weight tray 42 container cavity before support body 411 being positioned at container cavity top ground floor before support body 411 is laterally passed container cavity to support body 411, under the supporting role of the support claw 4122 of the tray support mechanism 412 bottom little U-shaped pipe weight tray 42 on the inwall of support body 411 container cavity both sides, after sliding onto on the support claw 4122 of front container cavity pass the traction of telescoping mechanism 432 at pallet under simultaneously container cavity support claw 4122 on, be positioned at the top ground floor of rear container cavity, lean on the positioning plate of rear container cavity end, then pallet passing telescoping mechanism 432 resets,
Then the support claw pushing handle telescopic control mechanism 431 successively action of front container cavity is positioned at, the first action of vertical connecting rod II 4124 of fixed point supporting mechanism, the first retraction of the support claw 4122 of fixed point supporting mechanism is made to support in vertical beam 4121, namely little U-shaped pipe weight tray 42 is supported on the support claw 4122 of movable support mechanism, then the vertical connecting rod I 4123 of movable support mechanism and vertical connecting rod II 4124 synchronously move to a gear of setting on the whole, then to fix a point vertical connecting rod II 4124 action again of supporting mechanism, make to stretch out in the support claw 4122 self-supporting vertical beam 4121 of fixed point supporting mechanism, hold the little U-shaped pipe weight tray 42 after moving, then vertical connecting rod II 4124 action of movable support mechanism makes support claw 4122 retraction of movable support mechanism support in vertical beam 4121, on move after little U-shaped pipe weight tray 42 be namely supported on the support claw 4122 that stretches out of fixed point supporting mechanism, then after the vertical connecting rod I 4123 of movable support mechanism and the retraction state synchronized entirety of vertical connecting rod II 4124 maintenance support claw 4122 move down and are repositioned to former gear positions, the support claw 4122 of movable support mechanism stretches out once again, hold the little U-shaped pipe weight tray 42 after moving, the little U-shaped pipe weight tray 42 being positioned at front container cavity completes and moves one grade on the whole, simultaneously, be positioned at the support claw pushing handle telescopic control mechanism 431 also successively action of rear container cavity, principle is same as above, the little U-shaped pipe weight tray 42 being positioned at rear container cavity completes entirety and moves down one grade, namely after, the ground floor of container cavity inner top remains room, undertaking state, until the little U-shaped pipe weight tray 42 being positioned at front container cavity is all in layer passed to rear container cavity, complete piling up of little U-shaped pipe 6 in whole little U-shaped pipe weight tray 42,
After manipulator has sent the information of all work to central machine room, described in the same, namely central machine room sends instruction and makes automatical pilot transportation vehicle close and identify this Multi-layer bracket 41, the next procedure planned to central machine room by Multi-layer bracket 41 jack-up disengaging ground and together with little U-shaped pipe weight tray 42 integral transportation of sky.
Described mechanical arm 1 can adopt multi-joint centralized control mechanical arm as shown in Figure 1, also frame-type split controlling machine mechanical arm as shown in Figure 2 can be adopted, or adopt the other forms of mechanical arms such as Delta mechanical arm, because the control of the multi-joint mechanical arm of the first scheme and the Delta mechanical arm of the third scheme is centralized control, coordinate control is more complicated accurately for it, need be complicated through a large amount of calculating of industrial control computer, software control procedure, and manufacturing cost is higher, conputer controlled burden is heavy, easily breaks down; First scheme employing split controls, and namely several system of axes controls respectively, controls relatively simple, direct, not easily breaks down, therefore preferred first scheme,
Namely, as preferred version of the present invention, as shown in Figure 2, described mechanical arm 1 also comprises support frame 11, crossbeam 13 and slide rail 14, and support frame 11 is erected at above intubate conveyor line, is fixedly installed in ground bottom it, its top fore-and-aft direction is provided with the guide rail 12 be arranged in parallel along Y-coordinate direction, on guide rail 12, X-coordinate direction is added is provided with crossbeam 13, and crossbeam 13 is provided with driver train, and driver train can drive crossbeam 13 movable on guide rail 12;
Crossbeam 13 is provided with the slide rail 14 Z-direction direction is arranged on crossbeam 13, slide rail 14 is provided with lifting mechanism and horizontal traveling gear, lifting mechanism and horizontal traveling gear can make slide rail 14 on crossbeam 13, realize the oscilaltion campaign in Z-direction and the sway in X-direction, and the top of the body 21 of described manipulator 2 is arranged on the bottom of slide rail 14;
Described bulk cargo weight tray 3 and order are piled up weight tray 4 and are arranged at support frame 11 inside;
The industrial control computer of described electrical controller 5 is electrically connected with the driver train of crossbeam 13, control the movement of crossbeam 13 on Y-coordinate direction, industrial control computer is electrically connected with the lifting mechanism of slide rail 14, control the lifting of slide rail 14 on Z coordinate direction, industrial control computer is electrically connected with the horizontal traveling gear of slide rail 14, controls the movement of slide rail 14 on X-coordinate direction.
The position of the little U-shaped pipe 6 of usual fin assembly grafting is levels, for adding the Applicable scope of university degree based on the little U-shaped pipe crawl order code place system of number bus further, make this automatic intubation unit also can be applicable equally to non-level plug-in position, as improvement project of the present invention, A CORDIC structure or B CORDIC structure is also comprised in described mount pad 211, mount pad 211 can be rotate freely within the scope of S. A. rotates ± 90 ° and locate along horizontal axis, the industrial control computer of described electrical controller 5 is electrically connected with A CORDIC structure or B CORDIC structure, when the position non-horizontal of the little U-shaped pipe 6 of fin assembly grafting, industrial control computer can drive A CORDIC structure or B CORDIC structure to make manipulator 2 turn to the set angle of program before intubate, and then catch catheter position by position transduser, the degree of freedom that A CORDIC structure or B CORDIC structure increase crawl equally in the process capturing little U-shaped pipe 6 is set.
Mutual grafting is there is in order to alleviate little U-shaped pipe 6 further, rhampotheca phenomenon, improve and capture efficiency, as improvement project of the present invention, between the tray body of described bulk cargo weight tray 3 and bracing frame, low-frequency vibration mechanism is set, described electrical controller 5 also comprises low-frequency vibration loop, industrial control computer is electrically connected with low-frequency vibration mechanism, after manipulator 2 captures a little U-shaped pipe 6, carry out in the process of piling up, low-frequency vibration loop works, industrial control computer control low-frequency vibration mechanism carries out low-frequency vibration makes rhampotheca little U-shaped pipe 6 together in bulk cargo weight tray 3 be scattered, when manipulator 2 captures again, catching position information captures again.
When manipulator 2 piles up little U-shaped pipe 6 in little U-shaped pipe weight tray 42, if pile up by traditional order, its idle travel can progressively lengthen, therefore in order to reduce idle travel, improve and pile up efficiency, scheme as a further improvement on the present invention, described equal one end of multiple little U-shaped plumber position beam 422 is high, the other end is low, tilt to be fixedly installed on tray body 421, end is piled up in its high-end conduct, low side top is provided with the stop gear preventing the landing of little U-shaped pipe 6, pile up first little U-shaped pipe 6 directly over manipulator 2 on the little U-shaped plumber position beam 42 of setting coordinate is high-end first carrying position after, first little U-shaped pipe 6 can slide to the low side of little U-shaped plumber position beam 422 and the spacing location of limited mechanism automatically because of self gravitation effect under the arc top surface of little U-shaped plumber position beam 422, manipulator 2 can pile up little U-shaped pipe 6 directly over first carrying position always on the little U-shaped plumber position beam 422 of setting coordinate is high-end, until little U-shaped plumber position beam 422 will be booked the little U-shaped pipe 6 of setting quantity, the high-end position moving to an other little U-shaped plumber position beam 422 is again piled up, decrease the idle travel of manipulator 2, improve and pile up efficiency.
In order to make little U-shaped pipe 6 because of the self gravitation effect smooth low side sliding to little U-shaped plumber position beam 422 under the arc top surface of little U-shaped plumber position beam 422 automatically, scheme as a further improvement on the present invention, between described little U-shaped plumber position beam 422 and tray body 421, low-frequency vibration mechanism is also set, when manipulator 2 complete pile up a little U-shaped pipe 6 after, in the process of carrying out capturing, low-frequency vibration loop works, low-frequency vibration mechanism carries out the low side sliding to little U-shaped plumber position beam 422 under low-frequency vibration makes the little U-shaped pipe 6 on little U-shaped plumber position beam 422 smoothly.
In order to ensure little U-shaped pipe 6 acted on by self gravitation smoothly under the draw of two holder fetchings 23 in the process that manipulator 2 promotes hang down to U-shaped top upwards, the downward vertical state of two ports, the area of contact of holder fetching 23 finger tip towards the clevis eye inner end surface of the surface of arc groove I and little U-shaped pipe 6 should be reduced as far as possible, scheme as a further improvement on the present invention, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching 23.
Described gripping refers to that 22 can adopt hydraulic ram with the transmission connecting mechanism of holder fetching 23, also cylinder can be adopted, or adopt pure mechanical transmission mechanism, due to according to hydraulic ram, fuel tank and pump, Fa Deng mechanism must be added, structure is more complicated, according to pure mechanical transmission mechanism, volume can comparatively both bulk, and in fin assembly workshop, source of the gas enriches, and air operated control movement response is rapid, therefore preferred air operated control, that is, as preferred version of the present invention, described gripping refer to 22 and holder fetching 23 transmission connecting mechanism be cylinder.
Telescoping mechanism 432 passed by described support claw pushing handle telescopic control mechanism 431 and pallet can adopt hydraulic ram, also cylinder can be adopted, or adopt pure mechanical transmission mechanism, due to according to hydraulic ram, fuel tank and pump must be added, Fa Deng mechanism, corresponding power control mechanism 433 is because adding fuel tank and pump, the mechanism structure such as valve are more complicated, according to pure mechanical transmission mechanism, volume can comparatively both bulk, and source of the gas is generally abundanter in the workshop of digital factory, and air operated control movement response is rapid, therefore preferred air operated control, namely, as preferred version of the present invention, telescoping mechanism 432 passed by described support claw pushing handle telescopic control mechanism 431 and pallet is cylinders, described power control mechanism 433 is electromagnetism-gas-driving valve groups, during use, by the admission port of source of the gas and electromagnetism-gas-driving valve group by pipeline connection.
It is Digital Control unit that this little U-shaped pipe based on number bus captures order code place system, can realize concentrating digital management with the number bus seamless link of factory.
This little U-shaped pipe based on number bus captures order code place system and also piles up in order on little U-shaped pipe weight tray 42 owing to adopting mechanical arm 1 and manipulator 2 to carry out crawl to little U-shaped pipe 6 in bulk, substitute artificial intubate, the labour intensity of operating personal and manual operation skill level can be reduced on the impact of the progress of piling up, and undertaken supplying little U-shaped pipe 6 by the bracket of circulation-supplied material and little U-shaped pipe weight tray 4, can one-time continuous supply multiple little U-shaped pipe weight tray 42 and little U-shaped pipe weight tray 42 automatically enumerate, therefore capture with intubate efficiency higher; Can arrange one or more mechanical arm 1 and manipulator 2 according to AOF calculation to capture simultaneously and pile up to meet to pile up progress needs, automation degree of equipment is high, and capacity utilization rate is high; This little U-shaped pipe captures sequence and piles up unit according to the program operation set, and can evade the impact of human element on manufacturing schedule completely, and then realize ensureing product design; Because mechanical arm 1 is provided with X-coordinate driver train, Y-coordinate driver train, Z coordinate driver train, C coordinate driver train is provided with in the mount pad 211 on manipulator 2 top, A CORDIC structure or B CORDIC structure coordinate control can also be set as required, therefore manipulator 2 can be made to realize self-adapting grasping and pile up little U-shaped pipe 6 according to program setting, ensure precise manipulation while realizing automation, ensure to pile up quality.
Claims (9)
1. one kind captures order code place system based on the little U-shaped pipe of number bus, it is characterized in that, comprise mechanical arm (1), manipulator (2), bulk cargo weight tray (3), the bracket of circulation-supplied material and little U-shaped pipe weight tray (4) and electrical controller (5);
Mechanical arm (1) fixed installation on the ground, comprises the X-coordinate driver train in left and right horizontal direction, the Y-coordinate driver train in anterior-posterior horizontal direction, the Z coordinate driver train of vertical direction;
Manipulator (2) comprises body (21), gripping refers to (22) and holder fetching (23), the top of body (21) is connected with the end of mechanical arm (1) by mount pad (211), C CORDIC structure is provided with in mount pad (211), the width dimensions of body (21) bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe (6), and body (21) bottom face is provided with the arc groove I of pipe external diameter with little U-shaped pipe (6) and U-shaped radian dimensional fits, (21) are also provided with position transduser and rang sensor to body, gripping refers to, and (22) are set to two pieces, the symmetrical center line of the symmetrical arc groove I in body (21) is arranged, and be connected with body (21) by guiding mechanism is symmetrical respectively, transmission connecting mechanism is provided with on gripping refers to (22), transmission connecting mechanism one end that gripping refers to (22) is connected with body (21), the other end is connected to gripping and refers on (22), gripping refers to (22) is provided with towards the medial surface of the arc groove I of body (21) arc groove II coordinated with the pipe outside dimension of little U-shaped pipe (6), arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe (6) jointly, holder fetching (23) L-shaped or arc, be set to two pieces, the arc groove I that front and back are symmetrical in body (21) is arranged, holder fetching (23) top is articulated and connected in body (21), finger tip vertical direction is towards arc groove I, holder fetching (23) is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching (23) is connected with holder fetching (23), the other end is connected with body (21), holder fetching (23) finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe (6) towards the surface of arc groove I, arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe (6),
Described bulk cargo weight tray (3) is arranged near mechanical arm (1), comprises tray body and bracing frame;
Bracket and the little U-shaped pipe weight tray (4) of described circulation-supplied material are also arranged near mechanical arm (1), comprise Multi-layer bracket (41), little U-shaped pipe weight tray (42), engine installation (43) and electrical control mechanism (44), Multi-layer bracket (41) comprises support body (411) and tray support mechanism (412), support body (411) is rectangular frame structure, its inside along its length front and back is provided with two container cavities interconnected, and the inside of support body (411) is provided with positioning plate in two ends along its length, tray support mechanism (412) is symmetrical along support body (411) length direction, front and back are evenly arranged on the medial surface of two container cavities of support body (411), tray support mechanism (412) comprises support vertical beam (4121), support claw (4122), vertical connecting rod I (4123) and vertical connecting rod II (4124), supporting vertical beam (4121) is the tubular structure vertically arranged, on the body of support vertical beam (4121), on the medial surface of two container cavities of support body (411), direction is provided with the pilot hole that support claw (4122) can be allowed to stretch out along the same axis, support claw (4122), vertical connecting rod I (4123) and vertical connecting rod II (4124) are all arranged on and support in vertical beam (4121), support claw (4122) is set to more than one piece, its vertical section assumes diamond in shape or triangle, arrange along interval uniform on the length direction of vertical connecting rod I (4123) and be articulated and connected with vertical connecting rod I (4123) in the middle part of support claw (4122), support claw (4122) front end is external part, and support claw (4122) rear end and vertical connecting rod II (4124) are articulated and connected, tray support mechanism (412) is divided into fixed point supporting mechanism and movable support mechanism, fixed point supporting mechanism and movable support mechanism are arranged along support body (411) length direction interval, the pilot hole of movable support mechanism is an elongated hole of the uniform size of space summation of support claw (4122), and the vertical connecting rod I (4123) of movable support mechanism and vertical connecting rod II (4124) all can move up and down, the pilot hole of fixed point supporting mechanism is multiple elongated holes at uniform interval, the uniform interval of the pilot hole of fixed point supporting mechanism coordinates with the uniform size of space of support claw (4122), the vertical connecting rod I (4123) of fixed point supporting mechanism is fixedly connected with support vertical beam (4121), and the vertical connecting rod II (4124) of fixed point supporting mechanism can move up and down, little U-shaped pipe weight tray (42) is set to multiple, layering is erected on the support claw (4122) of a container cavity inwall of support body (411), little U-shaped pipe weight tray (42) comprises tray body (421) and is arranged on multiple little U-shaped plumber position beam (422) of the arrangement in parallel on tray body (421), the width dimensions in beam (422) cross section, little U-shaped plumber position and the U-shaped A/F dimensional fits of little U-shaped pipe (6), the top end face of little U-shaped plumber position beam (422) is arranged to the arcwall face with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe (6), arcwall face is provided with concave through grooves (4221), the width of concave through grooves (4221) and depth dimensions are greater than width and the height dimension that gripping refers to (22) finger tip, the position of the annular solder of the corresponding little U-shaped pipe (6) of little U-shaped plumber position beam (422) is provided with spigot surface (4222), engine installation (43) comprises support claw pushing handle telescopic control mechanism (431), pallet passes telescoping mechanism (432) and power control mechanism (433), support claw pushing handle telescopic control mechanism (431) is arranged on the top supporting vertical beam (4121), vertical connecting rod II (4124) top of fixed point supporting mechanism is connected with support claw pushing handle telescopic control mechanism (431), and the vertical connecting rod I (4123) of movable support mechanism is connected with support claw pushing handle telescopic control mechanism (431) with vertical connecting rod II (4124), pallet passing telescoping mechanism (432) is arranged on correspondence, and from up to down numerical digit is in the position of the little U-shaped pipe weight tray (42) of ground floor, and its telescopic direction is along support body (411) length direction, power control mechanism (433) is arranged on support body (411), electrical control mechanism (44) is arranged at the outside of Multi-layer bracket (41), comprise power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack is electrically connected with wireless transmitter module, power train control module and electronic identification chip, and power train control module is electrically connected with power control mechanism (433),
Described electrical controller (5) comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stir interference loop, little U-shaped pipe captures loop, loop etc. piled up by little U-shaped pipe, industrial control computer is electrically connected with the position transduser on manipulator (2) and rang sensor, industrial control computer respectively with the X-coordinate driver train of mechanical arm (1), C CORDIC structure in Y-coordinate driver train and Z coordinate driver train and mount pad (211), the transmission connecting mechanism that gripping refers to (22), the transmission connecting mechanism electrical connection of holder fetching (23).
2. the little U-shaped pipe based on number bus according to claim 1 captures order code place system, it is characterized in that, described mechanical arm (1) also comprises support frame (11), crossbeam (13) and slide rail (14), support frame (11) is erected at above intubate conveyor line, ground is fixedly installed in bottom it, its top fore-and-aft direction is provided with the guide rail (12) be arranged in parallel along Y-coordinate direction, on guide rail (12), X-coordinate direction is added is provided with crossbeam (13), and crossbeam (13) is provided with driver train;
Crossbeam (13) is provided with the slide rail (14) Z-direction direction is arranged on crossbeam (13), slide rail (14) is provided with lifting mechanism and horizontal traveling gear, the top of the body (21) of described manipulator (2) is arranged on the bottom of slide rail (14);
It is inner that described bulk cargo weight tray (3), the bracket of circulation-supplied material and little U-shaped pipe weight tray (4) are arranged at support frame (11);
The industrial control computer of described electrical controller (5) is electrically connected with the driver train of crossbeam (13), industrial control computer is electrically connected with the lifting mechanism of slide rail (14), and industrial control computer is electrically connected with the horizontal traveling gear of slide rail (14).
3. the little U-shaped pipe based on number bus according to claim 1 and 2 captures order code place system, it is characterized in that, also comprise A CORDIC structure or B CORDIC structure in described mount pad (211), the industrial control computer of described electrical controller (5) is electrically connected with A CORDIC structure or B CORDIC structure.
4. the little U-shaped pipe based on number bus according to claim 1 and 2 captures order code place system, it is characterized in that, between the tray body of described bulk cargo weight tray (3) and bracing frame, low-frequency vibration mechanism is set, described electrical controller (5) also comprises low-frequency vibration loop, and industrial control computer is electrically connected with low-frequency vibration mechanism.
5. the little U-shaped pipe based on number bus according to claim 1 and 2 captures order code place system, it is characterized in that, scheme as a further improvement on the present invention, all one end is high, the other end is low for described multiple little U-shaped plumber position beam (422), inclination is fixedly installed on tray body (421), end is piled up in its high-end conduct, and low side top is provided with the stop gear preventing the landing of little U-shaped pipe (6).
6. the little U-shaped pipe based on number bus according to claim 5 captures order code place system, it is characterized in that, scheme as a further improvement on the present invention, also arranges low-frequency vibration mechanism between described little U-shaped plumber position beam (422) and tray body (421).
7. the little U-shaped pipe based on number bus according to claim 1 and 2 captures order code place system, it is characterized in that, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching (23).
8. the little U-shaped pipe based on number bus according to claim 1 and 2 captures order code place system, it is characterized in that, described gripping refers to that the transmission connecting mechanism of (22) and holder fetching (23) is cylinder.
9. the little U-shaped pipe based on number bus according to claim 1 and 2 captures order code place system, it is characterized in that, telescoping mechanism (432) passed by described support claw pushing handle telescopic control mechanism (431) and pallet is cylinder, and described power control mechanism (433) is electromagnetism-gas-driving valve group.
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| CN110480122A (en) * | 2019-07-31 | 2019-11-22 | 徐州德坤电气科技有限公司 | Offline unit on a kind of steel pipe of rack connecting rod automatic welding production system |
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| WO2021084009A1 (en) * | 2019-10-29 | 2021-05-06 | Fives Syleps | Palletisation and depalletisation system and method |
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