CN203246889U

CN203246889U - Fin assembly taking-out and stacking mechanical arm

Info

Publication number: CN203246889U
Application number: CN 201320202833
Authority: CN
Inventors: 郝新浦
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-04-22
Filing date: 2013-04-22
Publication date: 2013-10-23
Anticipated expiration: 2023-04-22

Abstract

The utility model discloses a fin assembly taking-out and stacking mechanical arm, and relates to the field of air conditioner condenser machining, in particular to equipment capable of taking out and stacking fin assemblies. The fin assembly taking-out and stacking mechanical arm comprises two parallel supports. A cross beam is arranged on the parallel supports, a vertical guide rail is arranged on the cross beam, a mechanical arm support is installed at the tail end of the guide tail, the cross beam is connected with the parallel supports in a sliding mode, the vertical guide rail is connected with the cross beam in a sliding mode, and motors are arranged at different positions and drive the cross beam to move on the parallel supports in the horizontal direction, drive the vertical guide rail to move on the cross beam in the horizontal direction, drive the vertical guide rail to move on the cross beam in the vertical direction, drive the mechanical arm support to turn over, and drive the mechanical arm support to rotate respectively. The fin assembly taking-out and stacking mechanical arm is characterized in that four grabbing mechanical arms are arranged on the mechanical arm support, the grabbing mechanical arms are composed of fixed grabbing blocks and movable grabbing blocks, and the movable grabbing blocks are driven to move by straight line motion air cylinders. According to the technical scheme, after pipe penetrating is completed, the fin assemblies are taken out and stacked automatically, and automation of a pipe penetrating technology is realized.

Description

The fin assembly takes out palletizing mechanical arm

Technical field

The utility model relates to the air-conditioning condenser manufacture field, particularly the fin assembly is taken out the also equipment of piling.

Background technology

Condenser in the air-conditioning comprises fins set, and copper pipe is arranged in the fins set, at present, generally is that manual operations is inserted copper pipe in the fins set, and production efficiency is low.The applicant has proposed to relate to the multinomial technology of automatic tube-penetrating, but after poling is finished, how automatically the fin assembly to be taken out and to pile up as required, does not have supporting technical scheme.

Summary of the invention

The purpose of this utility model provides a kind of equipment, after poling is finished, automatically the fin assembly is taken out and piling, realizes the automation of poling technique.

For achieving the above object, the technical solution adopted in the utility model is: the fin assembly takes out palletizing mechanical arm, comprise two parallel brackets, crossbeam is set on the parallel bracket, vertical guide rail is set on the crossbeam, guide rail end installation manipulator support, between crossbeam and parallel bracket, sliding block joint between vertical guide rail and crossbeam, motor is set on the diverse location, drive respectively crossbeam horizontal motion on support, vertical guide rail is horizontal motion on crossbeam, vertical guide rail is movement in vertical direction on crossbeam, the manipulator support upset, the manipulator support rotation, key is: four catching robots are set on the manipulator support, catching robot is grabbed piece and is formed by fixedly grabbing piece and activity, and activity is grabbed piece by the straight-line motion air cylinder driven.

After poling was finished, manipulator was near the fin assembly, and activity is grabbed piece and fixedly grabbed piece and cooperates, and fixes the fin assembly by the crawl copper pipe, thereby the fin assembly is taken out and piles up on request.

The technical scheme that adopts the utility model to provide can automatically be taken out the fin assembly, pile up, and improves whole poling technique, realizes the automation of poling, saves cost of labor, enhances productivity.

Description of drawings

Fig. 1 is structural representation of the present utility model,

Fig. 2 is the birds-eye view behind the utility model crawl fin assembly,

Fig. 3 is the structural representation of manipulator support,

Fig. 4 is the scheme drawing of fin assembly,

Fig. 5 is the Local map of catching robot during the free time,

Fig. 6 is the Local map of catching robot when firmly grasping copper pipe.

Wherein, the 1st, parallel bracket, the 2nd, crossbeam, the 3rd, vertical guide rail, the 4th, manipulator support, 5-1,5-2,5-3,5-4,5-5 are drive motor, the 6th, the fin assembly, the 7th, the copper pipe in the fin assembly,

4-1 is catching robot, 4-2 be catching robot fixedly grab piece, 4-3 is that piece is grabbed in the activity of catching robot, 4-4 is the straight-line motion cylinder that piece is grabbed in the driving activity,

7-1,7-2 are the crawl position of manipulator on copper pipe.

The specific embodiment

The utility model is described in further detail below in conjunction with accompanying drawing.

Referring to Fig. 1 and Fig. 2, on two parallel brackets 1 crossbeam 2 is set, vertical guide rail 3 is set on the crossbeam 2, guide rail 3 terminal installation manipulator supports 4,1 of crossbeam 2 and parallel bracket,

vertical guide rail

3 and 2 on crossbeam are sliding block joints.

Motor 5-1 drives crossbeam 2 horizontal motion on support 1, motor 5-2 drives vertical guide rail 3 horizontal motion on crossbeam 2, motor 5-3 drives vertical guide rail 3 movement in vertical direction on

crossbeam

2,4 upsets of motor 5-4 driving device hand support, 4 rotations of motor 5-5 driving device hand support.

Referring to Fig. 3, Fig. 5 and Fig. 6, four catching robot 4-1 are set on the manipulator support 4, catching robot 4-1 grabs piece 4-3 and forms by fixedly grabbing piece 4-2 and activity, and activity is grabbed piece by the hinged driving of straight-line motion cylinder 4-4.

During equipment work, motor 5-4,5-5 driving device hand support 4 make manipulator support 4 and fin assembly 6 be in parallel position; Motor 5-2,5-3 drive vertical guide rail 3, and driving mechanical hand support 4 makes catching robot 4-1 aim at crawl position 7-1,7-2 shown in Figure 4; Motor 5-1 drives crossbeam 2, drives catching robot 4-1 and arrives crawl position 7-1,7-2, and piece 4-3 is grabbed in straight-line motion cylinder 4-4 driving activity, and activity is grabbed piece 4-3 and fixedly grabbed piece 4-2 and cooperate, and firmly grasps copper pipe 7, as shown in Figure 2.

After four manipulator 4-1 firmly grasp four position 7-1 and 7-2 of copper pipe 7 on the fin assembly 6, under the driving of motor 5-1,5-2,5-3,5-4,5-5, fin assembly 6 is moved to assigned address, piece 4-3 is grabbed in straight-line motion cylinder 4-4 driving activity, decontrol copper pipe 7, finish the taking-up piling of fin assembly 6.

Referring to Fig. 5 and Fig. 6, fixedly grab piece 4-2 and movable profile of grabbing the inboard coupling of piece 4-3 copper pipe, be set to circular arc, grasp firmly, and do not damage copper pipe.

Referring to Fig. 3, manipulator support 4 is assemblied to form by attaching parts, is convenient to adjust position of manipulator, is fit to the fin assembly of different size.

Fig. 4 has provided the scheme drawing of crawl position, but just provides an embodiment here, in actual applications, obviously, need only two crawl positions at the arc part of copper pipe, two crawl positions are terminal at copper pipe, all can finish described action, not limit shown position.

Claims

1. the fin assembly takes out palletizing mechanical arm, comprise two parallel brackets (1), crossbeam (2) is set on the parallel bracket (1), vertical guide rail (3) is set on the crossbeam (2), the terminal installation manipulator support of guide rail (3) (4), between crossbeam (2) and parallel bracket (1), sliding block joint between vertical guide rail (3) and crossbeam (2), motor (5-1) drives crossbeam (2) in the upper horizontal motion of support (1), motor (5-2) drives vertical guide rail (3) in the upper horizontal motion of crossbeam (2), motor (5-3) drives vertical guide rail (3) in the upper movement in vertical direction of crossbeam (2), motor (5-4) driving device hand support (4) upset, motor (5-5) driving device hand support (4) rotation, it is characterized in that: four catching robots (4-1) are set on the manipulator support (4), catching robot (4-1) is grabbed piece (4-3) and is formed by fixedly grabbing piece (4-2) and activity, and activity is grabbed piece (4-3) and driven by straight-line motion cylinder (4-4).

2. the fin assembly takes out palletizing mechanical arm according to claim 1, and described it is characterized in that: grabbing the piece inboard is circular arc.

3. the fin assembly takes out palletizing mechanical arm according to claim 1, and it is characterized in that: manipulator support (4) is comprised of attaching parts, and size is adjustable.

4. the fin assembly takes out palletizing mechanical arm according to claim 1, and it is characterized in that: activity is grabbed piece (4-3) by the hinged driving of straight-line motion cylinder (4-4).

5. the fin assembly takes out palletizing mechanical arm according to claim 1, it is characterized in that: the crawl position of catching robot on copper pipe is positioned at end and the arc top of copper pipe.