CN204989933U - Automatic tubulature device - Google Patents
Automatic tubulature device Download PDFInfo
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- CN204989933U CN204989933U CN201520282279.7U CN201520282279U CN204989933U CN 204989933 U CN204989933 U CN 204989933U CN 201520282279 U CN201520282279 U CN 201520282279U CN 204989933 U CN204989933 U CN 204989933U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The utility model discloses an automatic tubulature device, include: a machine support. The setting is in control system in the frame, the setting is in the tight mechanism of product conveying clamp that the frame bottom is used for carrying product to workspace and presss from both sides tight product, the setting is in be used for in the frame realizing that the row that automatic row is in charge of the mechanism, the setting is in be used for acquireing the positional information's of hole site on the product vision mechanism in the frame, the setting is in be used for in the frame following arrange and be in charge of the tubulature mechanism of picking the pipe and inserting the hole site in the mechanism, the tight mechanism of product conveying clamp, row are in charge of mechanism, vision mechanism and tubulature mechanism and pass through control system control connection. This automatic tubulature device can replace artifical intubate, has not only lightened intensity of labour and then has improved work quality, and stopped the phenomenon that wrong hole was inserted to the return bend, realizes quick top tube, automatic alignment and accomplishes the tubulature fast.
Description
Technical field
The utility model relate to a kind of tubulature device automatically.
Background technology
In recent years, China's labor market is faced with that labor cost rises rapidly, degradation situation is constantly descended in labor supply, and demographic dividend progressively disappears; On the other hand, Chinese manufacturing acceleration the transition and upgrade phase be also faced with manufacturing industry efficiency in urgent need to be improved, seek the current demands such as flexible manufacturing, manufacturing accuracy constantly promote, therefore, artificial with machine replacement in manufacturing industry, raising automatization level becomes the task of top priority, and Chinese market has entered for intelligent machine Man's Demands and increased fast and the outbreak period.For now, the large multirobot on market uses all to be applied in the extensive field such as carrying, piling, or on the more single streamline of product.And higher for accuracy requirement, the factors such as the application that consumer product type is many but seems not enough, the time that main cause debugs needs in the switching of product is long, and debugging is complicated, and promote difficult problem.Air conditioner industry is the important component part of white domestic appliances, and the air-conditioning of more than 80% is produced in China in the world.And the Gree that has been born, Haier, large quantities of air-conditioner manufacturer having popularity in the world such as beautiful.Under existing situation, these enterprises have dropped into a large amount of funds and energy carries out automatic improving to producing line, realize automated production largely.But high for accuracy requirement, but contribute seldom in the field that technical difficulty is large.Such as: the automatically slotting little bend pipe of the core component condenser pipe of air-conditioning, rests on the stage of artificial intubate.This is the anxious problem expecting solution of air-conditioning producer, and reason is: 1, artificial intubate inefficiency; The action of 2, dull repetition, easy wrong plug position; 3, high ambient temperature, noise overall situation is severe, and personnel are easily run off.Artificial intubate not only exists that intubate efficiency is low, labor cost is high, and the problem that quality is unstable, rejection rate is higher.
Utility model content
In order to solve above-mentioned the deficiencies in the prior art, the purpose of this utility model is that providing a kind of increases work efficiency and the automatic tubulature device of accurately tubulature, this automatic tubulature device can replace artificial intubate, not only alleviate labour intensity and then improve operation quality, and stopped the phenomenon in bend pipe wrong plug hole, realize quick upper pipe, automatic aligning and complete tubulature fast.
Technical problem to be solved in the utility model is achieved by the following technical programs:
A kind of tubulature device automatically, comprising:
Frame;
Be arranged on the control system in described frame;
Be arranged on bottom described frame for conveying products to workspace and clamping product product conveying clamp system;
Be arranged in described frame and be in charge of mechanism for realizing automatically arranging the row be in charge of;
Be arranged in described frame for obtaining the visual mechanisms of the positional information of position, hole on product;
Be arranged in described frame and capture pipe and the tubulature mechanism of patchhole position for being in charge of mechanism from described row;
Described product conveying clamp system, row are in charge of mechanism, visual mechanisms and tubulature mechanism by described control system control linkage.
Further, described product conveying clamp system comprises conveying mechanism and clamp system; Described conveying mechanism comprises conveying mechanism support, the first conveying belt, the second conveying belt, the 3rd conveying belt, and described first conveying belt, the second conveying belt and the 3rd conveying belt are disposed on described conveying mechanism support successively; Described clamp system comprises clamp system support, is arranged on the transmission clamp system of described clamp system support and work clamp system; Described transmission clamp system comprises the first photoelectric sensor of being positioned at front, material waiting section and backgauge cylinder, be positioned at rear, material waiting section and the positioning cylinder in front, workspace, be positioned at material waiting section the second photoelectric sensor with clap positive cylinder, for clamp product and two groups that transmit transmit clamping cylinders, transmit the Timing Belt that clamping cylinder is connected, the transmission servomotor be connected with Timing Belt with two groups; Described work clamp system comprises and is positioned at the 3rd photoelectric sensor of workspace and the work clamping cylinder for clamping product.
Further, described conveying mechanism also comprises the lift servo motor that connect corresponding to the first conveying belt and the second conveying belt respectively.
Further, described clamp system also comprises the stepper motor be connected with positioning cylinder.
Further, described work clamping cylinder is connected with work clamping plate; Described backgauge cylinder is connected with striker plate; Described positioning cylinder is connected with location-plate; The positive cylinder of described bat is connected with claps positive plate.
Further, described row is in charge of mechanism and comprises nozzle mechanism, rack pipe mechanism and be in charge of mechanism; Described nozzle mechanism comprises pipe plate, be arranged at least one adapter groove of described pipe plate and be positioned at the 4th photoelectric sensor of described adapter groove side; The comb cylinder that described rack pipe mechanism comprises rack pipe mechanism support, is arranged on the linear module on described rack pipe mechanism support and is connected with described linear module, described comb cylinder is connected with at least one comb gas pawl; Describedly be in charge of that mechanism comprises a point pipe holder, for realizing ejector sleeve guide rail that described point of pipe holder move forward and backward, to be arranged on described point pipe holder at least one is in charge of gas pawl and is in charge of on gas pawl for carrying at least one point of tube sheet of pipe described in being arranged on; The described mechanism that is in charge of also comprises ejector sleeve mechanism for described point of tube sheet being pushed into Dai Zhua district.
Further, described row is in charge of mechanism and is two groups and is disposed side by side on the rear plate of described frame.
Further, the pressure pipe structure that mechanism also comprises the pipe on described in positive pressure point of tube sheet is in charge of described in; Described pressure pipe structure comprises positive pressure cylinder, the positive pressure plate be connected with described positive pressure cylinder and two and vertically to arrange and for realizing the descending positive pressure guide rail of positive pressure cylinder.
Further, be positioned at both sides, Dai Zhua district to be respectively arranged with for detecting the 5th photoelectric sensor whether described point tube sheet having pipe.
Further, described tubulature mechanism comprises mechanical arm holder and is positioned at the mechanical arm on described mechanical arm holder, is positioned at the servo-drive system on described mechanical arm and is positioned at least one tubulature gas pawl of this servo-drive system output terminal described.
Further, described tubulature mechanism is two groups and is disposed side by side on the front flat board of described frame.
Further, described servo-drive system is four axle servo-drive systems.
The utility model has following beneficial effect:
(1) automatic tubulature device described in the utility model achieves the robotization of tubulature, improves work efficiency, solves that existing artificial intubate efficiency is low, labor cost is high, quality is unstable and the more high deficiency of rejection rate;
(2) automatic tubulature device described in the utility model is applicable to the product of different in width or width, can complete loading and unloading simultaneously, vision location and tubulature mechanism is adopted to combine, hole was photographed in what position by vision camera, tubulature mechanism just moves to corresponding position and carries out intubate, this can accomplish accurate intubate, greatly reduce again the shape requirement of the position, hole of product being treated intubate, solve existing employing machinery locate very high to the shape requirement of the position, hole of product being treated intubate and be difficult to orientation problem, dimensional tolerances will within 0.1mm (more difficult realization), and the catheter position of tubulature mechanism is fixing, pipe not easily inserting hole position after causing existing machinery to be located, and easily misplace and then affect work efficiency and improve production cost.
(3) condenser that automatic tubulature device of the present utility model solves in the technical barrier, particularly air-conditioning refrigerator industry of the automatic tubulature of prior art plugs a Manifold technology difficult problem automatically; Its development & application, contributes to enterprise and realizes continuously and the automated production of high-quality, not only optimize production run, and reduce cost of labor, improve tubulature production efficiency and quality simultaneously; Easy to use, Be very effective, effect obviously, has good economic benefit and social benefit.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model one embodiment;
Fig. 2 is the structural representation of product described in the utility model conveying clamp system;
Fig. 3 is the structural representation that row described in the utility model is in charge of mechanism;
Fig. 4 is that row described in the utility model is in charge of in mechanism the front elevation being in charge of gas pawl and point tube sheet;
Implication is marked as follows in accompanying drawing:
1, frame, 2, product, 3, pipe, 4, front flat board, 5, rear plate, 6, Kong Wei, 7, feeding area, 8, workspace, 9, discharging area, 10, adapter district, 11, row point area under control, 12, Dai Zhua district, 13, conveying mechanism support, 14, first conveying belt (front conveying belt), 15, second conveying belt, 16, 3rd conveying belt (rear carrier), 17, lift servo motor, 18, transmit servomotor, 19, Timing Belt, 20, clamp system support, 21, transmit guide rail, 22, first photoelectric sensor, 23, backgauge cylinder, 231, striker plate (clapping positive plate), 24, positioning cylinder, 241, location-plate, 25, second photoelectric sensor, 26, clap positive cylinder, 27, stepper motor, 28, transmit clamping cylinder, 281, transmit clamping plate, 29, 3rd photoelectric sensor, 30, work clamping cylinder, 301, work clamping plate, 31, pipe plate, 32, 4th photoelectric sensor, 33, rack pipe mechanism support, 34, linear module, 35, comb cylinder, 351, comb gas claw-plate, 352 comb gas pawls, 36, divide pipe holder, 37, ejector sleeve guide rail, 38, first is in charge of gas pawl, 39, second is in charge of gas pawl, 40, divide tube sheet, 401, adapter post, 41, pressure pipe cylinder, 411, positive pressure plate, 42, positive pressure guide rail, 43, ejector sleeve cylinder, 44, ejector sleeve block, 45, 5th photoelectric sensor, 46, vision camera, 47, mechanical arm holder, 48, mechanical arm, 49, tubulature gas pawl.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in detail.
The present embodiment related products comprise but are not defined as evaporator, and product specification is preferably width about 508 ~ 914mm, highly about 700 ~ 1100mm, and thickness is 22 ~ 66mm about, but is not limited to this; Pipe comprises but is not defined as U-tube or half bend pipe, the various bipass of pipe can be caliber be 5 ~ 10mm or three-way pipe or many siphunculus, but is not limited to this.In the utility model, involved automatic control part all adopts prior art to realize, and no longer describes in detail.
Please refer to Fig. 1 to 4, which show a kind of tubulature device automatically, it comprises:
Frame 1 and hood;
To be arranged on bottom described frame 1 for conveying products 2 to workspace 8 and the product conveying clamp system of clamping product 2;
Be arranged in described frame 1 and be in charge of mechanism for realizing automatically arranging the row be in charge of;
Be arranged in described frame 1 for obtaining the visual mechanisms of the positional information of position, hole 6 on product 2;
Be arranged on the tubulature mechanism described frame 1 capturing pipe 3 patchhole position 6 for being in charge of mechanism from described row;
Be arranged on the control system (figure does not show) in described frame 1;
Described product conveying clamp system, row are in charge of mechanism, visual mechanisms and tubulature mechanism and described control system control linkage.
Please refer to Fig. 2, described product conveying clamp system is preferably arranged on the rear plate 5 of described frame 1, and this product conveying clamp system comprises conveying mechanism and clamp system.Described product conveying clamping organization establishes has material waiting section 7, workspace 8 and discharging area 9.Described conveying mechanism comprise conveying mechanism support 13, first conveying belt 14, second conveying belt 15, the 3rd conveying belt 16, respectively with the first conveying belt 14 and the corresponding lift servo motor 17 connected of the second conveying belt 15.Described first conveying belt 14, second conveying belt 15 and the 3rd conveying belt 16 interval and be positioned at same level and be arranged on described conveying mechanism support 13 successively; Described first conveying belt 14 is for being delivered to material waiting section 7 by product 2, described 3rd conveying belt 16 is for being delivered to discharging area 9 by the product 2 after tubulature, automatically regulated the height of described first, the 3rd conveying belt 14,16 by lift servo motor 17, ensure product 2 tubulature at grade of differing heights.Described clamp system comprises clamp system support 20, transmission clamp system, work clamp system, described clamp system support 20 is arranged two transmission guide rails 21 be arranged in parallel, transmit clamp system for carrying and realize mobile transmission, described work clamp system is positioned at the below of described transmission guide rail 21 and is arranged on described clamp system support 20.Described transmission clamp system comprises the first photoelectric sensor 22 and backgauge cylinder 23 that are positioned at front, material waiting section 7, be positioned at rear, material waiting section 7 and the positioning cylinder 24 in front, workspace 8, be positioned at the second photoelectric sensor 25 of material waiting section 7 and clap positive cylinder 26, the stepper motor 27 be connected with positioning cylinder 24, to be positioned on described transmission guide rail 21 and spaced two groups transmit clamping cylinders 28, the Timing Belt 19 transmitting clamping cylinder 28 be connected with described two groups, the transmission servomotor 18 be connected with described Timing Belt 19, described first photoelectric sensor 22 is connected with described backgauge cylinder 23, positioning cylinder 24, and the piston rod of described backgauge cylinder 23 is connected with striker plate 231, and the piston rod of described positioning cylinder 24 is connected with location-plate 241, described first photoelectric sensor 22 induction has product 2 to move at described first conveying belt 14, described positioning cylinder 24 stretches out location-plate 241, product 2 is positioned at material waiting section 7, product 2 departs from described first photoelectric sensor 22, it is non-inductive, described backgauge cylinder 23 stretches out striker plate 231, in order to block supplied materials below, the piston rod of the positive cylinder of described bat 26 is connected with claps positive plate, after described second photoelectric sensor 25 is responded to, retracts, facilitate clamp system to clamp product 2 after the positive plate of described bat stretches out and claps positive product 2, often group transmits the transmission clamping cylinder 28 that clamping cylinder 28 is preferably a pair opposing parallel setting, the piston rod of described transmission clamping cylinder 28 is connected with and transmits clamping plate 281, preferred water flat transmits clamping plate 281, product 2 top is preferably clamped) for clamping product 2(, described transmission clamping cylinder 28 is connected with Timing Belt 19, after clapping positive product 2, and work clamping cylinder 30 is in retracted mode, transmit described in two groups clamping cylinder 28 stretch out simultaneously transmit clamping plate 281 clamp product 2, described transmission servomotor 18 operates and drives Timing Belt 19, coordinate described first conveying belt 14, second conveying belt 15 and the 3rd conveying belt 16 realize product 2 and deliver to workspace 8 from material waiting section 7 and deliver to discharging area 9 from workspace 8, material loading and the blanking that clamping cylinder 28 can realize product 2 is simultaneously transmitted by two groups.Described work clamp system comprises and is positioned at the 3rd photoelectric sensor 29 of workspace 8 and the work clamping cylinder 30 of a pair opposing parallel setting, the piston rod of described work clamping cylinder 30 is connected with work clamping plate 301, preferred vertical or cruciform work clamping plate 301, preferably clamp in the middle part of product 2 for clamping product 2() so that tubulature.Product 2 is sent into subsequent processing by conveying rear carrier by the product 2 completing tubulature being positioned at discharging area 9.
During specific implementation, described product conveying clamp system is transported to material waiting section 7 by described front conveying belt product 2, and position respectively through described positioning cylinder 24 and the positive cylinder 26 of bat and clap just, two groups are transmitted clamping cylinder 28 and clamp product 2 simultaneously, drive described Timing Belt 19 to complete product 2 from material waiting section 7 to workspace 8 and from workspace 8 to the transmission of discharging area 9 by described transmission servomotor 18 again, loading and unloading can be completed simultaneously; When product 2 arrives workspace 8, described work clamping cylinder 30 clamps product 2, can carry out tubulature work.Transmit clamping cylinder 28 and automatically can return original position after work clamping cylinder 30 stretches out and clamps product 2; For the product 2 of different in width, the position controlling conveying positioning cylinder 24 by conveying stepper motor 27 realizes automatically adjusting orientation distance; For the product 2 of differing heights, by described lift servo motor 17 automatic controlled height, ensure that the product 2 of differing heights is convenient to tubulature work at same plane; For the product 2 of differing heights, realize delivering in the belt line of subsequent processing on sustained height by the lift servo motor 17 on rear Belt Conveying.
Please refer to Fig. 3,4, described row is in charge of mechanism and is preferably two groups, is separately positioned on the both sides of the rear plate 5 of described frame 1, and described row is in charge of mechanism and is provided with adapter district 10, row Ji Daizhua district, point area under control 11 12.Described row is in charge of mechanism and also comprises nozzle mechanism, rack pipe mechanism and be in charge of mechanism.Described nozzle mechanism comprises pipe plate 31 and at least one adapter groove, described adapter groove is preferably straight line adapter groove, described adapter groove preferably but be not defined as two and it is set in parallel in described pipe plate 31 dual-side, described adapter groove one end is in open state as inlet pipe end, the other end is in closed state as gear pipe end, has an adapter district 10 between described inlet pipe end and gear pipe end, be positioned near described gear pipe end, on described pipe plate 31, side is provided with the 4th photoelectric sensor 32, whether arrives described adapter district 10 for detecting pipe 3, and preferably, two articles of adapter grooves are respectively to there being one group of the 4th photoelectric sensor 32, this rack pipe mechanism comprises rack pipe mechanism support 33, be arranged on linear module 34 on described rack pipe mechanism support 33 and comb cylinder 35, the piston rod of described comb cylinder 35 is connected with comb gas claw-plate 351 and is positioned at least one comb gas pawl 352 on described comb gas claw-plate 351, described comb gas pawl 352 is for capturing the pipe 3 in described adapter district 10, described comb gas pawl 352 with the first magnetic induction switch, for responding on described comb gas pawl 352 whether grabbed pipe 3, described comb cylinder 35 is connected with described linear module 34 by contiguous block, and realizing capturing by described linear module 34 has moving horizontally of the comb cylinder 35 of pipe 3, described be in charge of mechanism comprise point pipe holder 36, be arranged on described rear plate 5 and for realizing the movable ejector sleeve guide rail 37 of described point of pipe holder 36, to be arranged on described point pipe holder 36 at least one is in charge of gas pawl and is in charge of on gas pawl for carrying at least one point of tube sheet 40 of pipe 3 described in being arranged on, correspondingly with described adapter district 10 be provided with a row point area under control 11, described row point area under control 11 is positioned at the rear end of described ejector sleeve guide rail 37, described ejector sleeve guide rail 37 front end is provided with a Dai Zhua district 12, after described comb gas pawl 352 gathering captures and is positioned at the pipe 3 in described adapter district 10, described comb cylinder 35 rises and puts on described point tube sheet 40 by described linear module 34 by pipe 3, described point of tube sheet 40 is provided with at least one adapter post 401 corresponding with pipe 3 port, pipe 3 is made to stand upright on described point tube sheet 40, for U-tube or half bend pipe, described adapter post 401 for one group of adapter post 401 corresponding to U-tube or the two or more port of half bend pipe, preferably, each described point tube sheet 40 is provided with adapter post 401 described in two groups, adapter post 401 spacing described in two groups preferably adapter separation described with two is corresponding, be in charge of when gas pawl to be provided with described at least two point tube sheet 40 described in each, described gas pawl of being in charge of adjusts spacing between adjacent point of tube sheet 40, namely the distance between adjacent pipe 3, during specific implementation, adjustment spacing size be according to product 2 holes position 6 between distance and determine, object adjusts to the spacing needed for product 2, when facilitating mechanical arm 48 intubate and the spacing of product be consistent, increase work efficiency, the described mechanism that is in charge of also comprises the pressure pipe structure being arranged on described rack pipe mechanism support 33, described pressure pipe structure is used for the pipe 3 on point tube sheet 40 described in positive pressure, described pressure pipe structure comprises positive pressure cylinder 41, the positive pressure plate 411 be connected with the piston rod of described positive pressure cylinder 41 and two are vertically arranged and positive pressure guide rail 42 for realizing the descending positive pressure pipe 3 of positive pressure cylinder 41, described positive pressure cylinder 41 is connected to be carried on positive pressure guide rail 42 and can move up and down relative to positive pressure guide rail 42, described positive pressure plate 411 to be positioned at above described row point area under control 11 and correspondingly with described point of tube sheet 40 to arrange, realize carrying out positive pressure to the pipe 3 on described point of tube sheet 40, described be in charge of gas pawl with the 3rd magnetic induction switch connect and control described positive pressure cylinder 41, during its induction, described positive pressure cylinder 41 stretches out the pipe 3 driven on point tube sheet 40 described in the descending positive pressure of described positive pressure plate 411, and automatic retraction, the described mechanism that is in charge of also comprises ejector sleeve mechanism for described point of pipe holder 36 to be pushed into described Dai Zhua district 12 from described row point area under control 11, the ejector sleeve block 44 that described ejector sleeve mechanism comprises ejector sleeve cylinder 43 and is connected with the piston rod of described ejector sleeve cylinder 43, described ejector sleeve block 44 is positioned at described point pipe holder 36 side, described positive pressure cylinder 41 with the 4th magnetic induction switch connect and control described ejector sleeve cylinder 43, during its induction, described ejector sleeve cylinder 43 stretches out and drives described ejector sleeve block 44, realize described point of pipe holder 36 to be pushed into Dai Zhua district 12, be convenient to tubulature.
During specific implementation, pipe 3 is pushed into adapter district 10, described 4th photoelectric sensor 32 induction has pipe 3, described comb cylinder 35 declines and is drawn in by its comb gas pawl 352 and captures pipe 3, is then sent to described row point area under control 11 by described linear module 34, pipe 3 is put on described cutting plate, and by being in charge of gas pawl, an adjacent described point tube sheet 40 is divided into desired spacing, the descending positive pressure pipe 3 of described positive pressure mechanism, pushes to Dai Zhua district 12 by described ejector sleeve mechanism, is convenient to tubulature.
Preferably, be positioned at both sides, Dai Zhua district 12 and be respectively arranged with the 5th photoelectric sensor 45, for detecting on described point tube sheet 40 whether have pipe 3, play safety protection function, when described 5th photoelectric sensor 45 thoughts are seasonable, described ejector sleeve cylinder 43 can not be retracted, and could retract time non-inductive.On described comb gas claw-plate 351 preferably but do not limit the described comb gas pawl 352 being provided with single 4 double 8, described comb gas pawl 352 spacing of two rows is corresponding with two described adapter separation, each described comb gas pawl 352 all can control separately, realize the variation of comb mode, pipe 3 can capture arbitrarily from 1 ~ 16, to adapt to the tubulature mode of the required different arrangement of product 2.Described point of pipe holder 36 is preferably provided with described in two groups and is in charge of gas pawl, often be in charge of gas pawl described in group to preferably include first and be in charge of gas pawl 38 and be arranged on the first two second of being in charge of on gas pawl 38 and be in charge of gas pawl 39, realize once most multipotency and separate 16 pipes 3 to required spacing, to be supplied to mechanical arm 48 capturing pipe 3.
Described visual mechanisms correspondence is fixed on above workspace 8, and described visual mechanisms at least comprises vision camera 46, for taking pictures the position determining position, hole 6 on product 2 to the product 2 being positioned at workspace 8, and this positional information is sent to described tubulature mechanism.
Described tubulature mechanism is preferably two assembling pipe mechanisms, often assemble pipe mechanism to comprise and be positioned at mechanical arm holder 47 on front dull and stereotyped 4 of described frame 1 and mechanical arm 48, be positioned at servo-drive system on described mechanical arm 48 and described in be positioned at least one tubulature gas pawl 49 of this servo-drive system output terminal, described mechanical arm 48 to be contained on described mechanical arm holder 47 and can to rotate relative to this mechanical arm holder 47, moves to drive described servo-drive system; Described servo-drive system is preferably four axle servo-drive systems, and described servo-drive system controls described tubulature gas pawl 49 according to described positional information and captures pipe 3 from described point of tube sheet 40 and mobile to be inserted on product 2 on desired aperture position 6.Described servo-drive system output terminal is preferably arranged the tubulature gas pawl 49 that 4 is a group, each tubulature gas pawl 49 can control separately, realizes capturing arbitrarily and tubulature from 12 1 groups, Dai Zhua district pipe 3.The pipe 3 of crawl can to insert in the position, hole 6 that product 2 is specified with various arrangement mode by described tubulature mechanism.
During specific implementation, after product 2 arrives workspace 8, described vision camera 46 is taken pictures and is found the position of position, hole 6 on product 2, and this positional information is sent to described tubulature mechanism, this tubulature mechanism controls tubulature gas pawl 49 captures pipe 3 from described point of tube sheet 40 and is inserted on product 2 desired aperture position 6.
A kind of tubulature technique automatically, comprises the following steps:
(1) product is delivered to workspace and clamps and treat tubulature.
Product 2 is delivered to material waiting section 7 by the first conveying belt 14, transmit clamping cylinder 28 and clamp product 2, Timing Belt 19 is driven by transmitting servomotor 18, complete product 2 from material waiting section 7 to workspace 8 and from workspace 8 to the conveying of discharging area 9 simultaneously, after product 2 arrives workspace 8, work clamping cylinder 30 clamps product 2 and treats tubulature.
During specific implementation, the first photoelectric sensor 22 induction has product 2 to move on the first conveying belt 14, and positioning cylinder 24 stretches out to block product 2 and positions; When product 2 departs from the first photoelectric sensor 22, namely its non-inductive after, backgauge cylinder 23 stretches out to block supplied materials below; By positioning cylinder 24, product 2 is positioned at material waiting section 7, second photoelectric sensor 25 to respond to, claps positive cylinder 26 and stretch out clap positive product 2 and retract; After clapping positive product 2, and work clamping cylinder 30 is in retracted mode, and two groups are transmitted clamping cylinder 28 and stretch out clamping respectively simultaneously and be positioned at the product 2 of the tubulature on the product 2 of material waiting section 7 and workspace 8, and positioning cylinder 24 and backgauge cylinder 23 are all retracted; Transmit servomotor 18 running and drive Timing Belt 19, coordinate transmission clamping cylinder 28 and first, second, third conveying belt 16 product 2 are delivered to workspace 8 from material waiting section 7 and deliver to discharging area 9 from workspace 8, realize completing loading and unloading simultaneously; 3rd photoelectric sensor 29 is responded to when workspace 8 having product 2, and work clamping cylinder 30 stretches out to clamp product 2 so that tubulature, and two groups are transmitted clamping cylinders 28 and unclamp and return original position; Deliver to subsequent processing at the product of tubulature 2 of discharging area 9 by the 3rd conveying belt 16, be preferably the interpolation district of interpolation operation.
For the product 2 of different in width, the stepper motor 27 connected by positioning cylinder 24 adjusts orientation distance automatically; For the product 2 of differing heights, lift servo motor 17 automatic controlled height connected by the first, the 3rd conveying belt 16, ensures product 2 tubulature at grade of differing heights; For the product 2 of differing heights, also by the lift servo motor 17 of the 3rd conveying belt 16 product 2 is on sustained height and delivers to the conveying belt of subsequent processing from the 3rd conveying belt 16.
(2) pipe is delivered to adapter district, and pipe is put on point tube sheet, then push to Dai Zhua district; Described Dai Zhua district is corresponding with workspace.
During specific implementation, after the adapter groove on pipe plate 31 put by double pipe 3, pipe 3 is pushed to adapter district 10; 4th photoelectric sensor 32 is responded in adapter district 10 pipe 3, comb cylinder 35 declines and controls comb gas pawl 352 and draws crawl pipe 3 in, the first magnetic induction switch induction on comb gas pawl 352, comb cylinder 35 rises, then by linear module 34 above comb gas pawl 352 row of delivering to point area under control 11, now, ejector sleeve cylinder 43 is in retracted mode, is in charge of gas pawl and is in rounding state; Comb gas pawl 352 arrives after above row point area under control 11, comb cylinder 35 declines, comb gas pawl 352 unclamps to be put on the adapter post 401 of point tube sheet 40 by pipe 3, be in charge of gas pawl to open adjacent point of tube sheet 40 is divided into required spacing, the first magnetic induction switch simultaneously on comb gas pawl 352 is non-inductive, and comb cylinder 35 rises; Be in charge of the second magnetic induction switch induction on gas pawl, positive pressure cylinder 41 stretches out the pipe 3 divided with positive pressure on tube sheet 40, and then positive pressure cylinder 41 is retracted, to ensure that pipe 3 stands on point tube sheet 40; The 3rd magnetic induction switch induction on positive pressure cylinder 41, ejector sleeve cylinder 43 stretches out delivers to Dai Zhua district 12 by a point tube sheet 40, and this Dai Zhua district 12 is corresponding with workspace 8.
The 5th photoelectric sensor 45 arranged respectively by being positioned at both sides, Dai Zhua district 12 detects on point tube sheet 40 whether have pipe 3, can play safety protection function, and when the 5th photoelectric sensor 45 thoughts are seasonable, ejector sleeve cylinder 43 can not be retracted, and could retract time non-inductive.
(3) positional information of position, hole on product is obtained;
By the 46 pairs of products 2 of the vision camera above workspace 8 need the image information of tubulature to gather, the process of machine disposal system obtains position, hole 6 co-ordinate position information needing tubulature as calculated, and this positional information is sent to tubulature mechanism
(4) capture pipe and pipe be inserted into position, hole corresponding on product.
After tubulature mechanism receives positional information, automatic capturing is positioned at the pipe 3 on 12 points, Dai Zhua district tube sheet 40, and is inserted on position, hole 6 corresponding on product 2 by pipe 3 according to positional information, completes tubulature work.
The present embodiment adopts vision location and tubulature mechanism to combine, hole was photographed in what position by vision camera 46, tubulature mechanism just moves to corresponding position and carries out intubate, this can accomplish accurate intubate, greatly reduce again the shape requirement of the position, hole 6 of product 2 being treated intubate, solve existing employing machinery location very high to the shape requirement of the position, hole 6 of product 2 being treated intubate, dimensional tolerances will within 0.1mm (more difficult realization), and the catheter position of tubulature mechanism is fixing, pipe 3 not easily inserting hole position 6 after causing existing machinery to be located, and easily misplace, affect work efficiency and improve production cost.
The above embodiment only have expressed embodiment of the present utility model; it describes comparatively concrete and detailed; but therefore can not be interpreted as the restriction to the utility model the scope of the claims; in every case the technical scheme adopting the form of equivalent replacement or equivalent transformation to obtain, all should drop within protection domain of the present utility model.
Claims (8)
1. an automatic tubulature device, is characterized in that, comprise
Frame;
Be arranged on the control system in described frame;
Be arranged on bottom described frame for conveying products to workspace and clamping product product conveying clamp system;
Be arranged in described frame and be in charge of mechanism for realizing automatically arranging the row be in charge of;
Be arranged in described frame for obtaining the visual mechanisms of the positional information of position, hole on product;
Be arranged in described frame and capture pipe and the tubulature mechanism of patchhole position for being in charge of mechanism from described row;
Described product conveying clamp system, row are in charge of mechanism, visual mechanisms and tubulature mechanism and described control system control linkage.
2. automatic tubulature device according to claim 1, is characterized in that, described product conveying clamp system comprises conveying mechanism and clamp system; Described conveying mechanism comprises conveying mechanism support, the first conveying belt, the second conveying belt, the 3rd conveying belt, and described first conveying belt, the second conveying belt and the 3rd conveying belt are disposed on described conveying mechanism support successively; Described clamp system comprises clamp system support, is arranged on the transmission clamp system of described clamp system support and work clamp system; Described transmission clamp system comprises the first photoelectric sensor of being positioned at front, material waiting section and backgauge cylinder, be positioned at rear, material waiting section and the positioning cylinder in front, workspace, be positioned at material waiting section the second photoelectric sensor with clap positive cylinder, for clamp product and two groups that transmit transmit clamping cylinders, transmit the Timing Belt that clamping cylinder is connected, the transmission servomotor be connected with Timing Belt with two groups; Described work clamp system comprises and is positioned at the 3rd photoelectric sensor of workspace and the work clamping cylinder for clamping product.
3. automatic tubulature device according to claim 2, is characterized in that, described conveying mechanism also comprises the lift servo motor that connect corresponding to the first conveying belt and the second conveying belt respectively.
4. automatic tubulature device according to claim 2, it is characterized in that, described clamp system also comprises the stepper motor be connected with positioning cylinder.
5. automatic tubulature device according to claim 1, it is characterized in that, described row is in charge of mechanism and comprises nozzle mechanism, rack pipe mechanism and be in charge of mechanism; Described nozzle mechanism comprises pipe plate, be arranged at least one adapter groove of described pipe plate and be positioned at the 4th photoelectric sensor of described adapter groove side; The comb cylinder that described rack pipe mechanism comprises rack pipe mechanism support, is arranged on the linear module on described rack pipe mechanism support and is connected with described linear module, described comb cylinder is connected with at least one comb gas pawl; Describedly be in charge of that mechanism comprises a point pipe holder, for realizing ejector sleeve guide rail that described point of pipe holder move forward and backward, to be arranged on described point pipe holder at least one is in charge of gas pawl and is in charge of on gas pawl for carrying at least one point of tube sheet of pipe described in being arranged on; The described mechanism that is in charge of also comprises ejector sleeve mechanism for described point of tube sheet being pushed into Dai Zhua district.
6. automatic tubulature device according to claim 5, is characterized in that, is positioned at side, Dai Zhua district and is provided with for detecting the 5th photoelectric sensor whether described point tube sheet having pipe.
7. automatic tubulature device according to claim 5, is characterized in that, described in be in charge of the pressure pipe structure that mechanism also comprises the pipe on point tube sheet described in positive pressure; Described pressure pipe structure comprises positive pressure cylinder, the positive pressure plate be connected with described positive pressure cylinder and two and vertically to arrange and for realizing the descending positive pressure guide rail of positive pressure cylinder.
8. automatic tubulature device according to claim 1, it is characterized in that, described tubulature mechanism comprises mechanical arm holder and is positioned at the mechanical arm on described mechanical arm holder, is positioned at the servo-drive system on described mechanical arm and is positioned at least one tubulature gas pawl of this servo-drive system output terminal described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520282279.7U CN204989933U (en) | 2015-05-05 | 2015-05-05 | Automatic tubulature device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520282279.7U CN204989933U (en) | 2015-05-05 | 2015-05-05 | Automatic tubulature device |
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| Publication Number | Publication Date |
|---|---|
| CN204989933U true CN204989933U (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520282279.7U Active CN204989933U (en) | 2015-05-05 | 2015-05-05 | Automatic tubulature device |
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| CN (1) | CN204989933U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842132A (en) * | 2015-05-05 | 2015-08-19 | 深圳市品印宝智能科技有限公司 | Automatic pipe installation device and automatic pipe installation method |
| CN109719407A (en) * | 2019-02-25 | 2019-05-07 | 苏州迅镭激光科技有限公司 | A kind of automatic loading machine for pipes structure and laser pipe cutter based on camera positioning |
-
2015
- 2015-05-05 CN CN201520282279.7U patent/CN204989933U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842132A (en) * | 2015-05-05 | 2015-08-19 | 深圳市品印宝智能科技有限公司 | Automatic pipe installation device and automatic pipe installation method |
| CN109719407A (en) * | 2019-02-25 | 2019-05-07 | 苏州迅镭激光科技有限公司 | A kind of automatic loading machine for pipes structure and laser pipe cutter based on camera positioning |
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Address after: 1 Building 29, 8288 town of Dayun software, No. 518000 Longgang Road, Longgang District, Shenzhen, Guangdong Patentee after: Shenzhen Czech cattle Intelligent Equipment Co., Ltd. Address before: 518100 building, 29 building, 8288 software Town, Longgang Road, 1, Shenzhen, Guangdong Patentee before: Shenzhen Printchecker Intelligent Technolgy Co., Ltd. |
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