CN104148533A - Data bus based automatic copper pipe mouth expanding system of fin assembly - Google Patents

Data bus based automatic copper pipe mouth expanding system of fin assembly Download PDF

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Publication number
CN104148533A
CN104148533A CN201410372917.4A CN201410372917A CN104148533A CN 104148533 A CN104148533 A CN 104148533A CN 201410372917 A CN201410372917 A CN 201410372917A CN 104148533 A CN104148533 A CN 104148533A
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fin assembly
mechanical arm
coordinate
copper pipe
rotation
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CN201410372917.4A
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CN104148533B (en
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郝新浦
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Xuzhou DKEC Electrical Technology Co Ltd
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Xuzhou DKEC Electrical Technology Co Ltd
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Abstract

The invention discloses a data bus based automatic copper pipe mouth expanding system of a fin assembly. The data bus based automatic copper pipe mouth expanding system comprises a pipe expander (1), a fin assembly stacking device (2), at least two controlled material carts (3) and an electronic control unit (4). The fin assembly stacking device (2) comprises a support frame (2.1), a guide rail (2.2), a longitudinal beam (2.3) and a mechanical arm (2.6). The mechanical arm comprises a slide rail (2.7), a coordinate rotation mechanism assembly (2.10) and a stacking mechanical arm (2.14), and the mechanical arm can realize four-coordinate movement. The controlled material carts (3) are placed on two inner sides of the support frame (2.1). The electronic control unit (4) comprises an industrial control computer, a power supply circuit, a counting circuit, a fin assembly grabbing and feeding circuit, a pipe expander control circuit, a fin assembly grabbing and blanking circuit and the like. By the automatic copper pipe mouth expanding system, automatic operation can be realized, the influence of human factors on production schedule is reduced, and production quality is guaranteed.

Description

A kind of full-automatic expand tube system of fin assembly copper pipe mouth based on number bus
Technical field
The present invention relates to the full-automatic expand tube system of a kind of copper pipe mouth, the specifically a kind of radiator of air-conditioner, full-automatic expand tube system of fin assembly copper pipe mouth based on number bus of condenser fin copper pipe mouth expand tube operation of being applicable to, belongs to air-conditioning and manufactures field.
Background technology
Conventionally carry out at needs the surperficial stronger sheet metal of increase thermal conductivity that passes through of heat-exchanger rig that heat is transmitted, increase the heat transfer sheet area of heat-exchanger rig, improve heat exchange efficiency, the sheet metal with this function is referred to as fin.
In air-conditioner, there are two main heat exchangers, i.e. radiator and condenser, a side working media of this two large heat exchanger is cold-producing medium, opposite side is air, for the heat transfer of enhanced heat exchange device, generally take compact Layout heat exchange area in air side, air-conditioner adopts compact fin-tube type heat exchanger mostly.
On the fin of compact fin-tube type heat exchanger, be generally provided with multiple installing holes that can coordinate with copper pipe external diameter, manufacturing process is generally first by fin punch forming, then will grow " U " type copper pipe and penetrate side by side the installing hole on multiple fins, finally carry out expand tube at the openend of growing " U " type copper pipe, short " U " type copper pipe is installed and is welded after the inner oven dry of long " U " type copper pipe again each long " U " type copper pipe is communicated with successively, be about to all long " U " type copper pipe and be communicated with into a passage.
Air-conditioner manufacturer is still used in a large number manual work in the fin copper mouth of pipe expand tube operation of radiator and condenser at present, manually move up one by one in the frock of electric tube expander by the fin assembly after intubate, operate again electric tube expander frock and carry out expand tube by operating electric tube expander after fin assembly clamping and positioning, complete after expand tube, more manually take off singly and pile up, transfer to next procedure.
There is following defect in these traditional modes of production:
1. although electric tube expander has been realized automation mechanized operation, pick and place fin assembly and still adopt manual operation, therefore automation degree of equipment is low, and utilization rate of equipment and installations is low, and production capacity is low;
2. adopt manual operation owing to picking and placeing fin assembly, therefore the human factor such as operating personnel's sense of responsibility, mood is larger on the impact of manufacturing schedule;
3. because fin is generally thinner, be very easily out of shape, and then affect product appearance and quality after extruding or collision, it is careful when manual operation moves up, to need, and has virtually extended the operating time, and unstable product quality.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of full-automatic expand tube system of fin assembly copper pipe mouth based on number bus, can realize automation mechanized operation, reduces the impact of human factor on manufacturing schedule, and then ensures product quality.
To achieve these goals, this full-automatic expand tube system of fin assembly copper pipe mouth based on number bus comprises electric tube expander, fin assembly code fetch device, controlled substance trolley and electric control gear;
Described electric tube expander comprises expand tube pressure head and automatic displacement locking tool, automatic displacement locking tool comprises front frock face and rear frock face, expand tube pressure head is positioned at the top position of rear frock face, on front frock face and rear frock face, be equipped with retaining mechanism, automatic displacement locking tool inside is provided with rotation control mechanism;
Described fin assembly code fetch device comprises support frame and mechanical arm, and support frame bottom is fixedly installed in ground, and its top is provided with the guide rail that X coordinate arranges, the added longeron that is provided with of Y coordinate direction on guide rail, and longeron is provided with driving mechanism;
Mechanical arm is arranged on longeron, and mechanical arm comprises the slide rail that is arranged in Z-direction direction on longeron, is arranged on the rotation of coordinate mechanism assembly of slide rail bottom and is arranged on the code fetch manipulator on rotation of coordinate mechanism assembly,
On slide rail, be provided with elevating mechanism and longitudinal traveling mechanism,
Rotation of coordinate mechanism assembly bottom is provided with mount pad, is provided with A rotation of coordinate mechanism in rotation of coordinate mechanism assembly,
Code fetch manipulator inside arranges joint control mechanism, and front is provided with sensor, and the back side is fixedly mounted on mount pad;
Described controlled substance trolley is at least set to two, is arranged at the left and right sides of support frame inside;
Described electric control gear comprises that industrial control computer, electric power loop, counting circuit, fin assembly capture material loading loop, electric tube expander control loop and fin assembly crawl blanking and pile up loop etc., industrial control computer is connected with sensor electrical, industrial control computer is electrically connected with driving mechanism, industrial control computer is electrically connected with elevating mechanism, industrial control computer is electrically connected with longitudinal traveling mechanism, industrial control computer is electrically connected with A rotation of coordinate mechanism, and industrial control computer is electrically connected with electric tube expander electric-control system.
Scheme as a further improvement on the present invention, described mechanical arm and longeron are all set to two, be symmetrical set on guide rail, described fin assembly captures material loading circuit controls and is positioned at the mechanical arm of charging controlled substance trolley top, and described fin assembly captures blanking and piles up circuit controls and be positioned at the mechanical arm of discharging controlled substance trolley top.
Scheme as a further improvement on the present invention, is also provided with C rotation of coordinate mechanism in described mount pad; Described electric control gear also comprises fin assembly pattern-recognition loop, and industrial control computer is electrically connected with C rotation of coordinate mechanism.
Scheme as a further improvement on the present invention, is arranged side by side multiple grasping mechanisms on described code fetch manipulator, and described electric control gear also comprises that order captures loop.
Scheme as a further improvement on the present invention, described electric control gear also comprises startup loop, the left and right sides bottom position of described support frame inside, the extreme position of accepting described controlled substance trolley arrange contact switch, and contact switch is electrically connected with electric power loop.
As preferred version of the present invention, described controlled substance trolley is digitized track dolly or digitlization pallet.
Compared with prior art, this air-conditioner fin assembly automatic expanding guard system is owing to adopting mechanical arm that fin assembly is captured and piled up, and therefore automaticity is high, utilization rate of equipment and installations is higher, production capacity is higher, and human factor is less on the impact of manufacturing schedule; Because mechanical arm inside is provided with X coordinate driving mechanism, Y coordinate driving mechanism, Z coordinate driving mechanism, A rotation of coordinate mechanism and C rotation of coordinate mechanism five coordinate controls, therefore can make code fetch manipulator realize self-adapting grasping fin assembly according to program setting, when realizing automation, further ensure the accurate operation of fin assembly in the process of feeding, discharge, prevent that fin assembly fin in punching press, loading and unloading process is extruded, collides with or other reasons causes deformation, and then ensure product quality.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the partial structurtes schematic diagram of mechanical arm part in the present invention;
Fig. 3 is the structural representation of the present invention while adopting two cover mechanical arms.
In figure: 1, electric tube expander, 1.1, expand tube pressure head, 1.2, automatic displacement locking tool, 1.3, front frock face, 1.4, rear frock face, 2, fin assembly code fetch device, 2.1, support frame, 2.2, guide rail, 2.3, longeron, 2.5, driving mechanism, 2.6, mechanical arm, 2.7, slide rail, 2.8, elevating mechanism, 2.9, longitudinal traveling mechanism, 2.10, rotation of coordinate mechanism assembly, 2.11, mount pad, 2.12, A rotation of coordinate mechanism, 2.13, C rotation of coordinate mechanism, 2.14, code fetch manipulator, 2.15, joint control mechanism, 3, controlled substance trolley, 4, electric control gear.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1 and Figure 2, this full-automatic expand tube system of fin assembly copper pipe mouth based on number bus comprises that electric tube expander 1, fin assembly code fetch device 2, controlled substance trolley 3 and electric control gear 4(are following and describes direction taking electric tube expander 1 place in the whole full-automatic expand tube system of fin assembly copper pipe mouth based on number bus as rear, taking left and right horizontal direction as X coordinate, taking front and back horizontal direction as Y coordinate, taking vertical direction as Z coordinate, taking along horizontal axis as rotating shaft rotation direction as A coordinate, taking along vertical axis as rotating shaft rotation direction as C coordinate).
Described electric tube expander 1 comprises expand tube pressure head 1.1 and automatic displacement locking tool 1.2, automatic displacement locking tool 1.2 comprises front frock face 1.3 and rear frock face 1.4, expand tube pressure head 1.1 is positioned at the top position of rear frock face 1.4, on front frock face 1.3 and rear frock face 1.4, be equipped with retaining mechanism, automatic displacement locking tool 1.2 inside are provided with rotation control mechanism, pivot is positioned at its center, can rotate and locate along 180 ° of pivot fore-and-aft directions.
In order to shorten the distance of material code fetch, described fin assembly code fetch device 2 is arranged on the dead ahead of electric tube expander 1, comprise support frame 2.1 and mechanical arm 2.6, support frame 2.1 bottoms are fixedly installed in ground, its rear and front end, top is equipped with the guide rail 2.2 that X coordinate direction be arranged in parallel, the added longeron 2.3 that is provided with of Y coordinate direction on guide rail 2.2, longeron 2.3 is provided with driving mechanism 2.5, and driving mechanism 2.5 can drive longeron 2.3 to move left and right on guide rail 2.2;
Mechanical arm 2.6 is arranged on longeron 2.3, mechanical arm 2.6 comprises the slide rail 2.7 that is arranged in Z-direction direction on longeron 2.3, is arranged on the rotation of coordinate mechanism assembly 2.10 of slide rail 2.7 bottoms and is arranged on the code fetch manipulator 2.14 on rotation of coordinate mechanism assembly 2.10
On slide rail 2.7, be provided with elevating mechanism 2.8 and longitudinal traveling mechanism 2.9, elevating mechanism 2.8 and longitudinal traveling mechanism 2.9 can make whole mechanical arm 2.6 on longeron 2.3, realize moving forward and backward in oscilaltion campaign in Z-direction and Y direction,
Rotation of coordinate mechanism assembly 2.10 bottoms are provided with mount pad 2.11, are provided with A rotation of coordinate mechanism 2.12 in rotation of coordinate mechanism assembly 2.10, and mount pad 2.11 can rotate freely and locate within the scope of the axis on Y coordinate direction is rotating shaft ± 90 °,
Code fetch manipulator 2.14 inside arrange joint control mechanism 2.15, and front is provided with sensor, and the back side is fixedly mounted on the mount pad 2.11 of mechanical arm 2.6.
Described controlled substance trolley 3 is at least set to two, is arranged at the left and right sides of support frame 2.1 inside, and one is used for charging, and one is used for discharging.
Described electric control gear 4 comprises that industrial control computer, electric power loop, counting circuit, fin assembly capture material loading loop, electric tube expander control loop and fin assembly crawl blanking and pile up loop etc., industrial control computer is connected with sensor electrical, industrial control computer is electrically connected with driving mechanism 2.5, industrial control computer is electrically connected with elevating mechanism 2.8, industrial control computer is electrically connected with longitudinal traveling mechanism 2.9, industrial control computer is electrically connected with A rotation of coordinate mechanism 2.12, and industrial control computer is electrically connected with electric tube expander electric-control system.
The operation principle of this full-automatic expand tube system of fin assembly copper pipe mouth based on number bus: taking the left shown in Fig. 1 as feedstock direction, right-hand for discharging direction be example, the controlled substance trolley that is left is feed material dolly, carry and treat that by what set that quantity piles up expand tube fin assembly is from the circulate inner left end of support frame 2.1 of this full-automatic expand tube system of fin assembly copper pipe mouth based on number bus of last process, right-hand controlled substance trolley is discharging material dolly, be parked in the inner right-hand member of support frame 2.1, the fin assembly that completes expand tube operation is piled up on discharging material dolly, piling up quantity reaches after setting value, discharging material dolly circulates toward next procedure.
When system does not start (when mechanical arm zero position), mechanical arm 2.6 is positioned at the dead ahead of automatic displacement locking tool 1.2 in X coordinate direction symmetry, Y coordinate direction is positioned at the centre position of longeron 2.3, on Z coordinate direction, be positioned at higher than the position of piling up highly and be greater than the radius of turn of code fetch manipulator 2.14 in A coordinate system, on A coordinate direction, the front of code fetch manipulator 2.14 is in the face of automatic displacement locking tool 1.2,, the mount pad 2.11 of mechanical arm 2.6 is in-90 ° of positions.
When carrying the feed material dolly for the treatment of expand tube fin assembly, to enter the inner left end of support frame 2.1 in place, discharging material dolly enters the inner right-hand member of support frame 2.1 time in place, this the full-automatic expand tube system power supply of fin assembly copper pipe mouth loop start based on number bus, system is started working: industrial control computer sends instruction, fin assembly captures material loading loop works, driving mechanism 2.5 on longeron 2.3 drives longeron 2.3 to move to left near feed material dolly, simultaneously, A rotation of coordinate mechanism 2.12 half-twist in A coordinate system of mechanical arm 2.6 makes the front of code fetch manipulator 2.14 of mechanical arm 2.6 in the face for the treatment of expand tube fin assembly by what set that quantity piles up on feed material dolly, counting circuit work,
In the time that the code fetch manipulator 2.14 of mechanical arm 2.6 is positioned at directly over expand tube fin assembly, longeron 2.3 is out of service;
Simultaneously, elevating mechanism 2.8 work of mechanical arm 2.6 decline slide rail 2.7, 2.15 work of joint control mechanism are opened the code fetch manipulator 2.14 of mechanical arm 2.6, capture first and treat expand tube fin assembly, after crawl, elevating mechanism 2.8 work of mechanical arm 2.6 make slide rail 2.7 rising certain distances make first to treat that expand tube fin assembly and the expand tube fin assembly for the treatment of below depart from, simultaneously, longeron 2.3 is driven and is moved to right to zero position by driving mechanism 2.5, according to setting program, work makes slide rail 2.7 drop to desired location to elevating mechanism 2.8, the code fetch manipulator 2.14 that A rotation of coordinate mechanism 2.12 half-twist in A coordinate system of mechanical arm 2.6 makes mechanical arm 2.6 treats that together with crawled first expand tube fin assembly is in treating expand tube end upwards and facing automatic displacement locking tool 1.2 positions, dead ahead, longitudinal traveling mechanism 2.9 work of mechanical arm 2.6 make mechanical arm 2.6 entirety move automatic displacement locking tool 1.2 to Y coordinate direction, until the crawled installed surface for the treatment of expand tube fin assembly contact automatic displacement locking tool 1.2, 2.15 work of joint control mechanism are opened the code fetch manipulator 2.14 of mechanical arm 2.6, treat expand tube end upwards the expand tube fin assembly for the treatment of of state drop in the holding groove of front frock face 1.3 of automatic displacement locking tool 1.2, mechanical arm 2.6 is got back to zero-bit and completes the crawl material loading of first fin assembly immediately,
Simultaneously, industrial control computer sends signal starts working electric tube expander control loop: the retaining mechanism work of the front frock face 1.3 of automatic displacement locking tool 1.2 is treated the locking of expand tube fin assembly by first, then along original place, frock center clockwise or be rotated counterclockwise 180 °, make frock face 1.4 thereafter face fin assembly code fetch device 2, now, fin assembly captures material loading loop task again, same as above, mechanical arm 2.6 captures second until expand tube fin assembly and in by the holding groove of its pick-and-place frock face 1.4 after automatic displacement locking tool 1.2, then mechanical arm 2.6 completes the crawl material loading of second fin assembly in back to zero position again, simultaneously, the retaining mechanism work of the rear frock face 1.4 of automatic displacement locking tool 1.2 is treated the locking of expand tube fin assembly by second, expand tube pressure head 1.1 falls to setpoint distance simultaneously, treat that to first expand tube fin assembly carries out expand tube, after expand tube operation completes, expand tube pressure head 1.1 rises, automatic displacement locking tool 1.2 along original place, frock center counterclockwise or the retaining mechanism of its front frock face 1.3 after 180 ° that turns clockwise unclamp,
Industrial control computer sends signal and makes fin assembly capture blanking to pile up loop and start working: longitudinal traveling mechanism 2.9 work of mechanical arm 2.6 make mechanical arm 2.6 be started to move backward by zero-bit at Y coordinate direction, 2.15 work of joint control mechanism are opened the code fetch manipulator 2.14 of mechanical arm 2.6, capture first expand tube fin assembly;
After crawl, longitudinal traveling mechanism 2.9 work of mechanical arm 2.6 make mechanical arm 2.6 get back to zero-bit at Y coordinate direction, simultaneously, driving mechanism 2.5 on longeron 2.3 drives longeron 2.3 to move to right on X coordinate direction to desired location, according to counting circuit feedack, work makes slide rail 2.7 drop to desired location to the elevating mechanism 2.8 of mechanical arm 2.6, A rotation of coordinate mechanism 2.12 half-twist in A coordinate system of mechanical arm 2.6, the code fetch manipulator 2.14 that finally makes mechanical arm 2.6 together with crawled first expand tube fin assembly in the face of the pallet of discharging material dolly, joint control mechanism 2.15 work of mechanical arm 2.6 are opened the code fetch manipulator 2.14 of mechanical arm 2.6, expand tube fin assembly drops on the pallet of discharging material dolly, mechanical arm 2.6 get back to immediately zero-bit complete first the crawl blanking of expand tube fin assembly pile up,
Mechanical arm 2.6 captures blanking piled up after, mechanical arm 2.6 is proceeded the 3rd material loading work for the treatment of expand tube fin assembly, mechanical arm 2.6 is treated expand tube fin assembly pick-and-place to the adapting table of the front frock face 1.3 of automatic displacement locking tool 1.2 by the 3rd and is got back to zero-bit, automatic displacement locking tool 1.2 is treated expand tube fin assembly locking positioning with being about to the 3rd, wait for that expand tube operation completes, by that analogy, until the expand tube fin assembly for the treatment of on feed material dolly is all completed to expand tube operation and piles up on discharging material dolly.
Because controlled substance trolley 3 is the left and right sides that are arranged at support frame 2.1 inside, mechanical arm 2.6 is upper, in the process of blanking, its movement locus is longer, in order to prevent because of the long location distortion causing of movement locus, as shown in Figure 3, scheme as a further improvement on the present invention, described mechanical arm 2.6 and longeron 2.3 are all set to two, be symmetrical set on guide rail 2.2, described fin assembly crawl material loading circuit controls is positioned at the mechanical arm of charging controlled substance trolley top, described fin assembly captures blanking and piles up circuit controls and be positioned at the mechanical arm of discharging controlled substance trolley top, arrange like this, make the stroke of two mechanical arms all relatively short, can prevent because of the long location distortion causing of movement locus.
Under perfect condition, the expand tube fin assembly for the treatment of from last process is piled up neat at feed material dolly, if pile up irregular or location dislocation, be prone to the phenomenon of crawl and material loading malposition, intelligent in order further to realize, scheme as a further improvement on the present invention, in described mount pad 2.11, be also provided with C rotation of coordinate mechanism 2.13, mount pad 2.11 self can be along rotating freely and locate within the scope of in the direction perpendicular to A rotation of coordinate mechanism 2.12 rotating shafts 360 °, described electric control gear 4 also comprises fin assembly pattern-recognition loop, industrial control computer is electrically connected with C rotation of coordinate mechanism 2.13, capture until expand tube fin assembly or when expand tube fin assembly at code fetch manipulator 2.14, fin assembly pattern-recognition loop works, sensor on code fetch manipulator 2.14 fronts is caught and is treated shape and the positional information of expand tube fin assembly and feed back to industrial control computer, code fetch manipulator 2.14 is worked according to the positional information of fin assembly pattern-recognition circuit feedback and shape information C rotation of coordinate mechanism 2.13, automatically adjust self-position, realize self-adapting grasping.
In order to realize the versatility of fin assembly of different model, size, scheme as a further improvement on the present invention, on described code fetch manipulator 2.14, be arranged side by side multiple grasping mechanisms, described electric control gear 4 also comprises that order captures loop, for the different fin assembly of width dimensions, according to the feedback in fin assembly pattern-recognition loop, code fetch manipulator 2.14 can be realized side by side and capturing successively, while piling up, piles up successively.
Automatically start this full-automatic expand tube system of fin assembly copper pipe mouth based on number bus in order to realize, scheme as a further improvement on the present invention, the left and right sides bottom position of described support frame 2.1 inside, the extreme position of accepting described controlled substance trolley 3 arrange contact switch, described electric control gear 4 also comprises startup loop, contact switch is electrically connected with electric power loop, when feed material dolly, discharging material dolly simultaneously in place, all complete closing contact switch, open system electric power loop, system is started working, and realizes intelligent operation.
Described controlled substance trolley 3 can adopt artificial implementation operation, also can adopt digitlization operation, because the latter's automaticity is higher, can further reduce the impact of human factor, therefore preferred the latter, , as preferred version of the present invention, described controlled substance trolley 3 is digitized track dolly or digitlization pallet, digitized track dolly or digitlization tray conforms number bus factory specification, can be connected with the number bus of factory to realize and concentrate digital management, be that the fin assembly that last process completes can be by the setting station of digitlization palletized transport full-automatic expand tube system of fin assembly copper pipe mouth based on number bus to this of the small rail car of Digital Control or conveyer belt carrying, the fin assembly that completes expand tube operation also can be by the digitlization palletized transport of the small rail car of Digital Control or conveyer belt carrying the station to next procedure.
This full-automatic expand tube system of fin assembly copper pipe mouth based on number bus is Digital Control unit, can realize and concentrate digital management with the number bus seamless link of factory.
This air-conditioner fin assembly automatic expanding guard system automaticity is high, utilization rate of equipment and installations is higher, production capacity is higher, and human factor is less on the impact of manufacturing schedule; Because mechanical arm is provided with X coordinate driving mechanism, Y coordinate driving mechanism, Z coordinate driving mechanism, A rotation of coordinate mechanism and C rotation of coordinate mechanism five coordinate controls, therefore can make code fetch manipulator realize self-adapting grasping fin assembly according to program setting, when realizing automation, further ensure the accurate operation of fin assembly in the process of feeding, discharge, prevent that fin assembly fin in punching press, loading and unloading process is extruded, collides with or other reasons causes deformation, and then ensure product quality.

Claims (6)

1. the full-automatic expand tube system of fin assembly copper pipe mouth based on number bus, comprise electric tube expander (1), controlled substance trolley (3) and electric control gear (4), electric tube expander (1) comprises expand tube pressure head (1.1) and automatic displacement locking tool (1.2), automatic displacement locking tool (1.2) comprises front frock face (1.3) and rear frock face (1.4), expand tube pressure head (1.1) is positioned at the top position of rear frock face (1.4), on front frock face (1.3) and rear frock face (1.4), be equipped with retaining mechanism, automatic displacement locking tool (1.2) inside is provided with rotation control mechanism, controlled substance trolley (3) is at least set to two, electric control gear (4) comprises industrial control computer, electric power loop, counting circuit and electric tube expander control loop, and industrial control computer is electrically connected with electric tube expander electric-control system, it is characterized in that,
Also comprise fin assembly code fetch device (2), fin assembly code fetch device (2) comprises support frame (2.1) and mechanical arm (2.6), support frame (2.1) bottom is fixedly installed in ground, its top is provided with the guide rail (2.2) that X coordinate direction arranges, at the upper added longeron (2.3) that is provided with of Y coordinate direction of guide rail (2.2), longeron (2.3) is provided with driving mechanism (2.5);
Mechanical arm (2.6) is arranged on longeron (2.3), mechanical arm (2.6) comprises the slide rail (2.7) that is arranged in Z-direction direction on longeron (2.3), is arranged on the rotation of coordinate mechanism assembly (2.10) of slide rail (2.7) bottom and is arranged on the code fetch manipulator (2.14) on rotation of coordinate mechanism assembly (2.10)
On slide rail (2.7), be provided with elevating mechanism (2.8) and longitudinal traveling mechanism (2.9),
Rotation of coordinate mechanism assembly (2.10) bottom is provided with mount pad (2.11), is provided with A rotation of coordinate mechanism (2.12) in rotation of coordinate mechanism assembly (2.10),
Code fetch manipulator (2.14) inside arranges joint control mechanism (2.15), and front is provided with sensor, and the back side is fixedly mounted on mount pad (2.11);
Described two controlled substance trolleys (3) are arranged at the inner left and right sides of support frame (2.1);
Described electric control gear (4) also comprises that fin assembly captures material loading loop and loop etc. is piled up in fin assembly crawl blanking, industrial control computer is connected with sensor electrical, industrial control computer is electrically connected with driving mechanism (2.5), industrial control computer is electrically connected with elevating mechanism (2.8), industrial control computer is electrically connected with longitudinal traveling mechanism (2.9), and industrial control computer is electrically connected with A rotation of coordinate mechanism (2.12).
2. the full-automatic expand tube system of fin assembly copper pipe mouth based on number bus according to claim 1, it is characterized in that, described mechanical arm (2.6) and longeron (2.3) are all set to two, be symmetrical set on guide rail (2.2), described fin assembly captures material loading circuit controls and is positioned at the mechanical arm of charging controlled substance trolley top, and described fin assembly captures blanking and piles up circuit controls and be positioned at the mechanical arm of discharging controlled substance trolley top.
3. the full-automatic expand tube system of fin assembly copper pipe mouth based on number bus according to claim 1 and 2, is characterized in that, in described mount pad (2.11), is also provided with C rotation of coordinate mechanism (2.13); Described electric control gear (4) also comprises fin assembly pattern-recognition loop, and industrial control computer is electrically connected with C rotation of coordinate mechanism (2.13).
4. the full-automatic expand tube system of fin assembly copper pipe mouth based on number bus according to claim 1 and 2, it is characterized in that, on described code fetch manipulator (2.14), be arranged side by side multiple grasping mechanisms, described electric control gear (4) also comprises that order captures loop.
5. the full-automatic expand tube system of fin assembly copper pipe mouth based on number bus according to claim 1 and 2, it is characterized in that, the inner left and right sides bottom position of described support frame (2.1), the extreme position of accepting described controlled substance trolley (3) arrange contact switch, described electric control gear (4) also comprises startup loop, and contact switch is electrically connected with electric power loop.
6. the full-automatic expand tube system of fin assembly copper pipe mouth based on number bus according to claim 1 and 2, is characterized in that, described controlled substance trolley (3) is digitized track dolly or digitlization pallet.
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CN104670775A (en) * 2015-02-03 2015-06-03 徐州德坤电气科技有限公司 Digital-bus-based bracket and tray assembly capable of supplying materials circularly
CN104670912A (en) * 2015-02-03 2015-06-03 徐州德坤电气科技有限公司 Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system
CN107626836A (en) * 2017-09-22 2018-01-26 徐州德坤电气科技有限公司 A kind of air conditioner fin assembly automatic expanding guard system
CN107649599A (en) * 2017-09-22 2018-02-02 徐州德坤电气科技有限公司 A kind of station fin assembly code fetch unit of automatic expanding guard system three
CN107695216A (en) * 2017-09-22 2018-02-16 徐州德坤电气科技有限公司 A kind of fin assembly automatic expanding guard system supporting steel plate inserts unit
CN108818304A (en) * 2018-08-10 2018-11-16 东昌电机(深圳)有限公司 A kind of automatic charging machine
CN108942937A (en) * 2018-07-27 2018-12-07 广东海亮铜业有限公司 A kind of copper pipe processing method
CN112139370A (en) * 2020-09-22 2020-12-29 黄山三佳谊华精密机械有限公司 Automatic feeding device for heat exchanger of pipe expander

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CN104670911A (en) * 2015-02-03 2015-06-03 徐州德坤电气科技有限公司 Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking unit
CN104670775A (en) * 2015-02-03 2015-06-03 徐州德坤电气科技有限公司 Digital-bus-based bracket and tray assembly capable of supplying materials circularly
CN104670912A (en) * 2015-02-03 2015-06-03 徐州德坤电气科技有限公司 Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system
CN107626836A (en) * 2017-09-22 2018-01-26 徐州德坤电气科技有限公司 A kind of air conditioner fin assembly automatic expanding guard system
CN107649599A (en) * 2017-09-22 2018-02-02 徐州德坤电气科技有限公司 A kind of station fin assembly code fetch unit of automatic expanding guard system three
CN107695216A (en) * 2017-09-22 2018-02-16 徐州德坤电气科技有限公司 A kind of fin assembly automatic expanding guard system supporting steel plate inserts unit
CN108942937A (en) * 2018-07-27 2018-12-07 广东海亮铜业有限公司 A kind of copper pipe processing method
CN108818304A (en) * 2018-08-10 2018-11-16 东昌电机(深圳)有限公司 A kind of automatic charging machine
CN112139370A (en) * 2020-09-22 2020-12-29 黄山三佳谊华精密机械有限公司 Automatic feeding device for heat exchanger of pipe expander

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