CN104690528B - A kind of small U-tube of fin assembly is unordered to grab cannula unit automatically - Google Patents

Abstract

Automatically cannula unit is grabbed the invention discloses a kind of small U-tube of fin assembly is unordered, including mechanical arm (1), manipulator (2), 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), and body top is connected by mounting seat (211) with the end of mechanical arm, and C coordinate drive mechanisms are provided with mounting seat；Gripping refers to and asks fetching to be respectively provided with two pieces, the arc groove with the pipe external diameter of small U-tube (5) and U-shaped radian dimensional fits is equipped with the medial surface that body bottom face and gripping refer to, support fetching upper surface to arc groove bottom land coordinates apart from size and the pipe size of small U-tube.This intubation unit 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

A kind of small U-tube of fin assembly is unordered to grab cannula unit automatically

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 unit The small U-tube of fin assembly of condenser fin assembly intubation process is unordered to grab cannula unit automatically, belongs to air-conditioning manufacturing technology neck Domain.

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-tube of fin assembly is unordered to grab pipe automatically Unit is intubated, can realize automation mechanized operation, reduces influence of the human factor to manufacturing schedule, production efficiency is high, while can be with Ensure the product quality of intubation process.

To achieve these goals, the unordered automatic cannula unit of grabbing of the small U-tube of this fin assembly includes mechanical arm, machinery Hand, small U-tube bearing tray and electric control gear；

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 passes through mounting seat and the end of mechanical arm End connection, mounting seat is interior to be provided with C CORDIC structures, and the width dimensions of body bottom are less than the outer end of the U-shaped opening of small U-tube Width dimensions, and body bottom face be provided with the pipe external diameter of small U-tube and the arc groove I of U-shaped radian dimensional fits, on body It is additionally provided with position sensor and range sensor；Gripping, which refers to, is arranged to two pieces, pair of the symmetrical arc groove I in body Claim center line to set and be respectively symmetrically connected by guiding mechanism with body, grip and be provided with transmission connecting mechanism on referring to, grip Transmission connecting mechanism one end of finger is connected with body, and the other end is connected on gripping refers to, and gripping refers to the arc groove I towards body Medial surface be provided with the arc groove II coordinated with the pipe outside dimension of small U-tube, arc groove I and arc groove II are common Surround the portion profile on the U-shaped top of small U-tube；Hold in the palm that fetching is L-shaped or arc, be arranged to two pieces, the front and rear body that is symmetrical with Arc groove I is set, and support fetching top, which is articulated and connected, holds in the palm and also set in fetching towards arc groove I in body, finger tip vertical direction Transmission connecting mechanism is equipped with, asks transmission connecting mechanism one end of fetching to be connected with support fetching, the other end is connected with body, holds in the palm fetching The surface of finger tip towards arc groove I is arranged to the arcuate structure with the U-shaped inner ring dimensional fits at the U-shaped end of small U-tube, arc Structure to the bottom land of arc groove I the pipe diameter dimensional fits apart from size and small U-tube；

Described small U-tube bearing tray is arranged near mechanical arm, including tray body and support frame；

Described electric control gear includes industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirred Disturb loop, small U-tube crawl loop, intubation control loop etc., industrial control computer and the position sensor on manipulator Electrically connected with range sensor, the industrial control computer X-coordinate drive mechanism, Y-coordinate drive mechanism and Z with mechanical arm respectively Transmission connecting mechanism that C CORDICs structure in coordinate drive mechanism and mounting seat, gripping refer to, the drive connection machine for holding in the palm fetching Structure electrically connects.

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；

Described small U-tube bearing tray is 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, 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, between the tray body and support frame of described small U-tube bearing tray Low-frequency vibration mechanism is set, and described electric control gear also includes low-frequency vibration loop, industrial control computer and low-frequency vibration machine Structure electrically connects.

Scheme as a further improvement on the present invention, the finger tip section of described support fetching is in that top margin is the trapezoidal of circular arc Structure.

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, the small U-tube of this fin assembly it is unordered it is automatic grab cannula unit due to using mechanical arm and Unordered small U-tube is captured manipulator and grafting, substitutes artificial intubation, can reduce the labor intensity of operating personnel, and Crawl and intubation efficiency are higher；According to AOF calculation can be set one or more mechanical arms and manipulator and meanwhile crawl with intubation come Meet production needs, automation degree of equipment is high, and utilization rate of equipment and installations is high；This automatic intubation unit is transported according to the program set OK, influence of the human factor to manufacturing schedule can be evaded completely, and then realize and ensure product quality；Because mechanical arm is provided with X Coordinate drive mechanism, Y-coordinate drive mechanism, Z coordinate drive mechanism, the mounting seat on manipulator top is interior to be provided with C coordinate driving machines Structure, A CORDICs structure or B CORDIC structure coordinate controls can also be arranged as required to, therefore can be set according to program Surely manipulator is realized self-adapting grasping and the small U-tube of grafting, ensure mistake of the fin assembly in intubation while realizing automation Precise manipulation in journey, 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 mechanical arm；

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 robot section 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 cross-sectional view of the support fetching finger tip of the present invention.

In figure：1st, mechanical arm, 11, support frame, 12, guide rail, 13, crossbeam, 14, slide rail, 2, manipulator, 21, body, 211st, mounting seat, 22, gripping refer to, 23, support fetching, 3, small U-tube bearing tray, 4, electric control gear, 5, small U-tube.

Embodiment

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 to 5, the unordered automatic cannula unit of grabbing of the small U-tube of this fin assembly includes mechanical arm 1, machinery Hand 2, small U-tube bearing tray 3 and electric control gear 4 (are described using left and right horizontal direction as X-coordinate, with front and rear horizontal direction below For Y-coordinate, using vertical direction as Z coordinate, using along left and right horizontal axis as the direction that rotary shaft rotates be A coordinates, with along front and rear Horizontal axis be rotary shaft rotation direction be B coordinates, using along vertical axis as the direction that rotary shaft rotates be 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.

Described manipulator 2 includes body 21, gripping refers to 22 and support fetching 23, and the top of body 21 passes through mounting seat 211 It is connected with the end of mechanical arm 1, C CORDIC structures is provided with mounting seat 211, body 21 can be along erects in mounting seat 211 Straight axis is to rotate freely and position in the range of 360 ° of rotary shaft, and the width dimensions of the bottom of body 21 are less than the U-shaped of small U-tube 5 The outer end width size of opening, and the bottom face of body 21 is provided with and the pipe external diameter of small U-tube 5 and the arc of U-shaped radian dimensional fits Connected in star I, the U-shaped top of small U-tube 5 can be caught in arc groove I, and position sensor and distance are additionally provided with body 21 Sensor；Gripping refers to 22 and is arranged to two pieces, and the symmetrical symmetrical center line in the arc groove I of body 21 sets and by leading Respectively symmetrically it is connected to mechanism with body 21, gripping, which refers to, is provided with transmission connecting mechanism on 22, gripping refers to 22 drive connection machine Structure one end is connected with body 21, and the other end is connected to gripping and referred on 22, and gripping refers to 22 can be by transmission connecting mechanism and guiding Mechanism slides up and down on body 21, gripping refer to 22 towards the arc groove I of body 21 medial surface be provided with and small U-tube 5 The arc groove II that pipe outside dimension coordinates, gripping refer to 22 in the state of gripping, and arc groove I and arc groove II surround jointly The portion profile on the U-shaped top of small U-tube 5；Hold in the palm that fetching 23 is L-shaped or arc, be arranged to two pieces, it is front and rear to be symmetrical with the arc of body 21 Connected in star I is set, and support fetching 23 top is articulated and connected holds in the palm in fetching 23 in body 21, finger tip vertical direction towards arc groove I Transmission connecting mechanism is also equipped with, asks transmission connecting mechanism one end of fetching 23 to be connected with support fetching 23, the other end and body 21 Connection, support fetching 23 can hold in the palm the finger tip of fetching 23 towards arc by transmission connecting mechanism around its interface point Unscrew or closing The surface of connected in star I is arranged to the arcuate structure with the U-shaped inner ring dimensional fits at the U-shaped end of small U-tube 5, arcuate structure to arc The pipe diameter dimensional fits apart from size and small U-tube 5 of the bottom land of connected in star I, that is, when gripping state, support fetching 23 is towards arc The surface of connected in star I can hold the U-shaped end medial surface of small U-tube 5.

Described small U-tube bearing tray 3 is arranged near mechanical arm 1, including tray body and support frame.

Described electric control gear 4 includes industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirred Disturb loop, small U-tube crawl loop, intubation control loop etc., industrial control computer and the position sensor on manipulator 2 With range sensor electrically connect, industrial control computer respectively the X-coordinate drive mechanism with mechanical arm 1, Y-coordinate drive mechanism and C CORDICs structure, gripping in Z coordinate drive mechanism and mounting seat 211 refer to 22 transmission connecting mechanism, hold in the palm the biography of fetching 23 Dynamic bindiny mechanism's electrical connection.

The unordered automatic operation principle for grabbing cannula unit of the small U-tube of this fin assembly：So that shown in Fig. 1, mechanical arm 1 is set Near intubation streamline, the setting that the small U-tube bearing tray 3 of fully loaded small U-tube 5 in bulk is rested near mechanical arm 1 stops Put station, when gone here and there long U-tube fin assembly to be intubated intubation end upwards intubation flow line stations on by transmission crawler belt When being sent to setting position and positioning, the unordered automatic cannula unit of grabbing of small U-tube is started working, anti-by position sensor Feedback, pattern-recognition, the small U-tube 5 captured in small U-tube bearing tray 3 is positioned, the catheter position of setting is moved to after crawl, By being intubated after position sensor feedback automatic fine tuning section to accurate location, manipulator 2 opens after the completion of intubation, that is, completes The grafting of first small U-tube, by that analogy, after intubation fin assembly is fully completed intubation, transmission crawler belt is connected to instruction, carries And be intubated fin assembly toward next procedure circulation.

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 unit electric power loop, which starts, is started working, and industrial control computer control X-coordinate drive mechanism, Y-coordinate are driven Motivation structure and the action of Z coordinate drive mechanism, mechanical arm 1 are located at manipulator 2 according to preset program and coordinates computed action movement The surface of small U-tube bearing tray 3, pattern-recognition loop starts, industrial control computer is according to the position on manipulator 2 Put the positional information calculation coordinate of sensor feedback and catch and send instruction after the U-shaped apical position information of small U-tube 5 and make machinery Arm 1 and C coordinate drive mechanisms continue to act, make manipulator 2 positioned at do not occur mutually to plug, the coordinate of rhampotheca phenomenon is set at random First small U-tube 5 surface and body 21 I face of arc groove, first small U-tube 5 U-shaped top, count Loop synchronisation is started 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 on body 21 is setpoint distance, small U-tube crawl loop starts Work, the transmission connecting mechanism action of industrial control computer control support fetching 23, makes two support fetchings 23 snap into setting chi Very little, i.e., two support fetchings 23 do not engage, leave gap completely, and the U-shaped top of first small U-tube 5 is actively connected to two Between support fetching 23；Industrial control computer, which sends instruction, simultaneously makes the Z coordinate drive mechanism of mechanical arm 1 work, and makes manipulator 2 Setpoint distance is promoted to, now, first small U-tube 5 departs from small U-tube carrying support under two draws for holding in the palm fetching 23 Disk 3 and because self gravitation effect hung down to during manipulator 2 is lifted U-shaped top upwards, downward vertical in two ports State；After manipulator 2 is promoted to setpoint distance, the transmission connecting mechanism action of industrial control computer control support fetching 23, Two support fetchings 23 are made to engage completely, the U-shaped top of first small U-tube 5 is caught in the arc groove I of body 21, simultaneously Industrial control computer control gripping refers to 22 transmission connecting mechanism action, two grippings is referred to 22 while is existed by guiding mechanism Slide down to setpoint distance on body 21 to be bonded with first small U-tube 5, now first small U-tube 5 is i.e. in X-coordinate, Y On 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, It is positioned on manipulator 2, completes 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 manipulator 2 catches the positional information of first inserting position, i.e., the center of first inserting position is sat Information is marked, industrial control computer is adjusted according to the fine motion of positional information control machinery arm 1 of feedback and positioned, then Industry Control meter Calculation machine, which continues to send to instruct, makes the Z coordinate drive mechanism of mechanical arm 1 work, and manipulator 2 is vertically moved to first inserting position Dynamic, when range sensor feedback information to the setpoint distance on manipulator 2, i.e., first small U-tube 5 inserts first inserting The transmission that position and to after set depth, the transmission connecting mechanism of industrial control computer control support fetching 23 and gripping refer to 22 connects Connection mechanism act, make two support fetchings 23 be flared to zero position, two gripping refer to 22 by guiding mechanism on body 21 upwards Zero position is slid into, first small U-tube 5 departs from manipulator 2, and industrial control computer control machinery arm 1 returns to zero position, The catheterization procedure of first small U-tube 5 is completed, by that analogy, until completing the small U-shaped of last part on fin assembly to be intubated The catheterization procedure of pipe 5, it is then transported on crawler belt and is connected to instruction setting in motion, carries and be intubated fin assembly toward next procedure circulation；

During the crawl of small U-tube 5, when the position sensor on body 21 is detected in small U-tube bearing tray 3 Do not occur mutually to plug, after the small U-tube of rhampotheca phenomenon 5 is all crawled, stir interference loop works, industrial control computer Sending instruction makes the Z coordinate drive mechanism of mechanical arm 1 work, and makes that manipulator 2 drops to setpoint distance, manipulator 2 touches hair Life mutually plugs, the small U-tube 5 of rhampotheca phenomenon, and then industrial control computer, which sends instruction, drives the X-coordinate of mechanical arm 1 Mechanism and/or the work of Y drive mechanisms, make track of the manipulator 2 along program setting planar move rear Z coordinate drive mechanism work Make to make manipulator 2 recover to the position directly above of small U-tube bearing tray 3 to catch the U-shaped apical position letter of small U-tube 5 again Breath, then captured, until all crawl finishes by the small U-tube 5 in small U-tube bearing tray 3.

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；

Described small U-tube bearing tray 3 is 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 position of the small U-tube 5 of usual fin assembly grafting is horizontal, further to increase the small U-tube of this fin assembly The unordered automatic scope of application for grabbing cannula unit, make this automatic intubation unit also can be equally suitable to non-level plug-in position With, as the improvement project of the present invention, also include A CORDICs structure or B CORDIC structures in described mounting seat 211, Mounting seat 211 can be to rotate freely and position, described electric control gear 4 in the range of ± 90 ° of rotary shaft rotation along horizontal axis Industrial control computer electrically connected with A CORDICs structure or B CORDIC structures, when the small U-tube 5 of fin assembly grafting When position is non-horizontal, industrial control computer can drive A CORDICs structure or B CORDIC structures to make manipulator before intubation Then 2 upsets catch catheter position by position sensor again, set A CORDICs structure or B to sit to the set angle of program Mark rotating mechanism equally increases the free degree of crawl during small U-tube 5 is captured.

Occur mutually to plug to further alleviate small U-tube 5, rhampotheca phenomenon, crawl efficiency is improved, as the present invention's Improvement project, low-frequency vibration mechanism, described electricity are set between the tray body and support frame of described small U-tube bearing tray 3 Control device 4 also includes low-frequency vibration loop, and industrial control computer electrically connects with low-frequency vibration mechanism, when manipulator 2 captures one After the small U-tube 5 of part, be intubated during, low-frequency vibration loop works, industrial control computer control low-frequency vibration mechanism Carrying out low-frequency vibration makes the small U-tube 5 of rhampotheca together in small U-tube bearing tray 3 be scattered, weight when manipulator 2 captures again New catching position information is captured.

In order to ensure that small U-tube 5 passes through self gravitation effect in machinery under two draws for holding in the palm fetching 23 Hand 2 hangs down to the vertical state that U-shaped top is upward, two ports are downward during being lifted, the reduction support fetching 23 that should try one's best refers to End face to the surface of arc groove I and the U-loop inner face of small U-tube 5 contact area, as a further improvement on the present invention Scheme, the finger tip section of described support fetching 23 are in the trapezium structure that top margin is circular arc.

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.

The small U-tube of this fin assembly it is unordered it is automatic to grab cannula unit be Digital Control unit, can be with the number of factory Word bus, which is seamlessly connected, realizes concentration digital management.

The unordered automatic cannula unit of grabbing of the small U-tube of this fin assembly is due to using mechanical arm 1 and manipulator 2 to unordered Small U-tube 5 is captured and grafting, substitutes artificial intubation, can reduce the labor intensity of operating personnel, and captures and intubation efficiency It is higher；One or more mechanical arms 1 and manipulator 2 can be set according to AOF calculation while crawl meets to produce need with intubation Will, automation degree of equipment is high, and utilization rate of equipment and installations is high；This automatic intubation unit is run according to the program set, can be advised completely Influence of the human factor to manufacturing schedule is kept away, and then realizes and ensures product quality；Because mechanical arm 1 is provided with X-coordinate driving machine Structure, Y-coordinate drive mechanism, Z coordinate drive mechanism, the mounting seat 211 on the top of manipulator 2 is interior to be provided with C coordinate drive mechanisms, may be used also To be arranged as required to A CORDICs structure or B CORDIC structure coordinate controls, therefore machinery can be made according to program setting Hand 2 realizes self-adapting grasping and the small U-tube 5 of grafting, ensures fin assembly during intubation while realizing automation Precise manipulation, quality accident is prevented, ensure product quality.

Claims (6)

1. a kind of small U-tube of fin assembly is unordered to grab cannula unit automatically, it is characterised in that including mechanical arm (1), manipulator (2), small U-tube bearing tray (3) and electric control gear (4)；

Mechanical arm (1) is fixedly mounted on the ground, including the X-coordinate drive mechanism in left and right horizontal direction, the Y in anterior-posterior horizontal direction Coordinate drive mechanism, the Z coordinate drive mechanism of vertical direction；

Manipulator (2) includes body (21), gripping refers to (22) and support fetching (23), and the top of body (21) passes through mounting seat (211) end with mechanical arm (1) is connected, and C CORDIC structures, the width of body (21) bottom are provided with mounting seat (211) Size is 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 small U-tube (5) The arc groove I of pipe external diameter and U-shaped radian dimensional fits, body are additionally provided with position sensor and range sensor on (21)； Gripping refers to (22) and is arranged to two pieces, and the symmetrical center line of the symmetrical arc groove I in body (21) sets and passes through guiding Mechanism is respectively symmetrically connected with body (21), and gripping, which refers to, is provided with transmission connecting mechanism on (22), and the transmission that gripping refers to (22) connects Connection mechanism one end is connected with body (21), and the other end is connected to gripping and referred on (22), and gripping refers to (22) towards the arc of body (21) The medial surface of connected in star I is provided with the arc groove II coordinated with the pipe outside dimension of small U-tube (5), arc groove I and arc Groove II surrounds the portion profile on the U-shaped top of small U-tube (5) jointly；Fetching (23) L-shaped or arc is held in the palm, is arranged to two pieces, The front and rear arc groove I for being symmetrical with body (21) is set, and support fetching (23) top is articulated and connected in body (21), finger tip Vertical Square To towards arc groove I, hold in the palm and transmission connecting mechanism is also equipped with fetching (23), hold in the palm transmission connecting mechanism one end of fetching (23) It is connected with support fetching (23), the other end is connected with body (21), and the surface of support fetching (23) finger tip towards arc groove I is arranged to With the arcuate structure of the U-shaped inner ring dimensional fits at the U-shaped end of small U-tube (5), the bottom land of arcuate structure to arc groove I away from From size and the pipe diameter dimensional fits of small U-tube (5)；

Described small U-tube bearing tray (3) is arranged near mechanical arm (1), including tray body and support frame；

Described electric control gear (4) include industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stir it is dry Disturb loop, small U-tube crawl loop, intubation control loop, position sensor on industrial control computer and manipulator (2) and Range sensor electrically connect, industrial control computer respectively the X-coordinate drive mechanism with mechanical arm (1), Y-coordinate drive mechanism and C CORDICs structure, gripping in Z coordinate drive mechanism and mounting seat (211) refer to the transmission connecting mechanism of (22), support fetching (23) transmission connecting mechanism electrical connection.

2. the small U-tube of fin assembly according to claim 1 is unordered to grab cannula unit automatically, it is characterised in that described Mechanical arm (1) also include support frame (11), crossbeam (13) and slide rail (14), support frame (11) is erected at intubation streamline Top, its bottom are fixedly installed in ground, and its top fore-and-aft direction is provided with the guide rail (12) being be arranged in parallel along Y-coordinate direction, The restocking of X-coordinate direction is provided with crossbeam (13) on guide rail (12), and 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 described small U-tube bearing tray (3) is 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 of fin assembly according to claim 1 or 2 is unordered to grab cannula unit automatically, it is characterised in that institute Also include A CORDICs structure or B CORDIC structures, the industry control of described electric control gear (4) in the mounting seat (211) stated Computer processed electrically connects with A CORDICs structure or B CORDIC structures.

4. the small U-tube of fin assembly according to claim 1 or 2 is unordered to grab cannula unit automatically, it is characterised in that institute Low-frequency vibration mechanism, described electric control gear (4) are set between the tray body and support frame of the small U-tube bearing tray (3) stated Also include low-frequency vibration loop, industrial control computer electrically connects with low-frequency vibration mechanism.

5. the small U-tube of fin assembly according to claim 1 or 2 is unordered to grab cannula unit automatically, it is characterised in that institute The finger tip section for the support fetching (23) stated is in the trapezium structure that top margin is circular arc.

6. the small U-tube of fin assembly according to claim 1 or 2 is unordered to grab cannula unit automatically, it is characterised in that institute It is cylinder that the gripping stated, which refers to (22) and the transmission connecting mechanism of support fetching (23),.