CN104148533B - A kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus - Google Patents
A kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus Download PDFInfo
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- CN104148533B CN104148533B CN201410372917.4A CN201410372917A CN104148533B CN 104148533 B CN104148533 B CN 104148533B CN 201410372917 A CN201410372917 A CN 201410372917A CN 104148533 B CN104148533 B CN 104148533B
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Abstract
The invention discloses a kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus, including electric tube expander（1）, fin assembly code fetch device（2）, controlled substance trolley（3）And electric control gear（4）, fin assembly code fetch device include braced frame（2.1）, guide rail（2.2）, longeron（2.3）And mechanical arm（2.6）, mechanical arm include sliding rail（2.7）, coordinate rotary machine structure assembly（2.10）With code fetch manipulator（2.14）, mechanical arm can realize at least 4-coordinate movement；Controlled substance trolley（3）Two pieces is set at least to, is positioned over braced frame（2.1）Internal both sides；Electric control gear（4）Circuit etc. is piled up including industrial control computer, electric power loop, counting circuit, fin assembly crawl feeding circuit, electric tube expander control loop and the crawl blanking of fin assembly.This tube expansion system can realize automation mechanized operation, reduce influence of the human factor to manufacturing schedule, ensure product quality.
Description
Technical field
It is specifically a kind of radiator suitable for air conditioner, cold the present invention relates to a kind of full-automatic tube expansion system of copper pipe mouth
The full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus of condenser fin copper nozzle tube expansion process, belongs to air-conditioning system
Make field.
Background technology
Usually on the heat-exchanger rig surface for needing to carry out hot transmission by increasing the stronger sheet metal of thermal conductivity, increase heat exchange
The heat exchange surface area of device, improves heat exchange efficiency, and sheet metal with this function is referred to as fin.
There are two main heat exchanger, i.e. radiator and condenser, the side working medias of this two big heat exchanger in air conditioner
It is refrigerant, opposite side is air, for the heat transfer of enhanced heat exchange device, generally takes compact Layout heat exchange area in air side,
Air conditioner uses compact fin-tube type heat exchanger mostly.
Be typically provided on the fin of compact fin-tube type heat exchanger it is multiple can be with the mounting hole of copper pipe major diameter fit, manufacturing process
Usually first then long U-typed copper pipe is penetrated into the mounting hole on multiple fins, finally in length by fin punch forming side by side
The openend of U-typed copper pipe carries out tube expansion, and installing again after being dried inside long U-typed copper pipe and weld short U-typed copper pipe will be each
Long U-typed copper pipe is sequentially communicated, and will all long U-typed copper pipe be connected into a channel.
Air conditioner manufacturer still a large amount of users in the fin copper nozzle tube expansion process of radiator and condenser at present
Work industry, and the fin assembly after will being intubated manually moves up in the tooling of electric tube expander, then operate electric tube expander tooling one by one
Tube expansion is carried out by electric tube expander is operated after fin assembly clamping and positioning, after completing tube expansion, then stacking is manually singly removed, turns
Move on to next procedure.
There are following defects for these traditional modes of production：
1. although electric tube expander has realized automation mechanized operation, fin assembly is picked and placeed still using manual operation, therefore equipment is certainly
Dynamicization degree is low, and utilization rate of equipment and installations is low, and production capacity is low；
2. due to picking and placeing fin assembly using manual operation, the human factors such as operating personnel's sense of responsibility, mood are to life
Production progress is affected；
3. since fin is generally than relatively thin, easily deformed after extruding or collision, and then influence product appearance and quality, people
It is careful that work operation needs when moving up, and virtually extends operating time, and unstable product quality.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of fin assembly copper pipe mouths based on number bus
Full-automatic tube expansion system, can realize automation mechanized operation, reduce influence of the human factor to manufacturing schedule, and then ensure product matter
Amount.
To achieve these goals, include tube expansion based on the full-automatic tube expansion system of fin assembly copper pipe mouth of number bus
Machine, fin assembly code fetch device, controlled substance trolley and electric control gear；
The electric tube expander includes tube expansion pressure head and automatic displacement locking tool, and automatic displacement locking tool includes preceding tooling
Face and rear tooling face, tube expansion pressure head are located at the top position in rear tooling face, locking machine are equipped on preceding tooling face and rear tooling face
Structure, automatic displacement locking tool are internally provided with rotation control mechanism；
The fin assembly code fetch device includes braced frame and mechanical arm, and braced frame bottom is fixedly installed in ground
Face, top are equipped with the guide rail of X-coordinate setting, are provided with longeron on Y coordinate direction on guide rail, and longeron is equipped with driving machine
Structure；
Mechanical arm is mounted on longeron, and mechanical arm includes the sliding rail being mounted on Z-direction direction on longeron, mounted on cunning
The coordinate rotary machine structure assembly at flange of rail end and the code fetch manipulator on coordinate rotary machine structure assembly,
Elevating mechanism and longitudinal traveling mechanism are provided on sliding rail,
Coordinate rotary machine structure assembly bottom is equipped with mounting base, and A coordinate rotary machine structures are equipped in coordinate rotary machine structure assembly,
Setting joint control mechanism, front are provided with sensor inside code fetch manipulator, and the back side is fixedly mounted on mounting base
On；
The controlled substance trolley sets at least to two pieces, is set to the left and right sides inside braced frame；
The electric control gear includes industrial control computer, electric power loop, counting circuit, fin assembly crawl feeding and returns
Circuit etc. is piled up in road, electric tube expander control loop and the crawl blanking of fin assembly, and industrial control computer is electrically connected with sensor, work
Industry control computer is electrically connected with driving mechanism, and industrial control computer is electrically connected with elevating mechanism, industrial control computer with
Longitudinal traveling mechanism is electrically connected, and industrial control computer is electrically connected with A coordinate rotary machine structures, industrial control computer and electric tube expander
Electric-control system is electrically connected.
Scheme as a further improvement on the present invention, the mechanical arm and longeron are disposed as two pieces, symmetrical to set
It is placed on guide rail, the circuit control of fin assembly crawl feeding is located at the mechanical arm above charging controlled substance trolley, institute
The mechanical arm that circuit control is located above discharging controlled substance trolley is piled up in the fin assembly crawl blanking stated.
Scheme as a further improvement on the present invention is additionally provided with C coordinate rotary machine structures in the mounting base；The electricity
Control device further includes fin assembly pattern-recognition circuit, and industrial control computer is electrically connected with C coordinate rotary machine structures.
Multiple grasping mechanisms, institute are arranged side by side on the code fetch manipulator for scheme as a further improvement on the present invention
The electric control gear stated further includes sequence crawl circuit.
Scheme as a further improvement on the present invention, the electric control gear further include starting-up later time, the support frame
The extreme position setting contact switch of the controlled substance trolley described in left and right sides bottom position, undertaking inside frame, contact is opened
Pass is electrically connected with electric power loop.
As the preferred embodiment of the present invention, the controlled substance trolley is digitized track trolley or digitlization pallet.
Compared with prior art, this air conditioner fin assembly automatic expanding guard system due to using mechanical arm to fin assembly into
Row crawl and stacking, therefore high degree of automation, utilization rate of equipment and installations are higher, production capacity is higher, and human factor is to manufacturing schedule
It influences smaller；Since mechanical arm is internally provided with X-coordinate driving mechanism, Y coordinate driving mechanism, Z coordinate driving mechanism, A coordinates
Rotating mechanism and the control of C coordinate rotary machine structures Five Axis, therefore it is adaptive to realize according to program setting code fetch manipulator
Fin assembly is captured, precise manipulation of the fin assembly during feeding, discharge is further ensured that while realizing automation, is prevented
Only fin assembly fin during punching press, loading and unloading is extruded, collides with or other reasons cause deformation, and then ensure product matter
Amount.
Description of the drawings
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the partial structural diagram of mechanical arm section in the present invention；
Fig. 3 is the structure diagram when present invention uses two sets of mechanical arms.
In figure：1st, electric tube expander, 1.1, tube expansion pressure head, 1.2, automatic displacement locking tool, 1.3, preceding tooling face, 1.4, after
Tooling face, 2, fin assembly code fetch device, 2.1, braced frame, 2.2, guide rail, 2.3, longeron, 2.5, driving mechanism, 2.6, machine
Tool arm, 2.7, sliding rail, 2.8, elevating mechanism, 2.9, longitudinal traveling mechanism, 2.10, coordinate rotary machine structure assembly, 2.11, installation
Seat, 2.12, A coordinate rotary machine structures, 2.13, C coordinate rotary machine structures, 2.14, code fetch manipulator, 2.15, joint control mechanism, 3,
Controlled substance trolley, 4, electric control gear.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, include electric tube expander based on the full-automatic tube expansion system of fin assembly copper pipe mouth of number bus
1st, fin assembly code fetch device 2, controlled substance trolley 3 and electric control gear 4（It is described below with electric tube expander 1 entire based on number
Direction where in the full-automatic tube expansion system of fin assembly copper pipe mouth of bus is rear, using left and right horizontal direction as X-coordinate, with
Anterior-posterior horizontal direction be Y coordinate, using vertical direction as Z coordinate, using along horizontal axis as the direction that rotary shaft rotates be A coordinates,
Using along vertical axis as the direction that rotary shaft rotates be C coordinates）.
The electric tube expander 1 includes tube expansion pressure head 1.1 and automatic displacement locking tool 1.2, automatic displacement locking tool 1.2
Including preceding tooling face 1.3 and rear tooling face 1.4, tube expansion pressure head 1.1 is located at the top position in rear tooling face 1.4, preceding tooling face 1.3
Retaining mechanism is equipped with on rear tooling face 1.4, automatic displacement locking tool 1.2 is internally provided with rotation control mechanism, in rotation
Heart position at its center along the 180 ° of rotations of rotation center front-rear direction and can position.
In order to shorten the distance of material code fetch, the fin assembly code fetch device 2 is arranged on the front of electric tube expander 1,
Including braced frame 2.1 and mechanical arm 2.6,2.1 bottom of braced frame is fixedly installed in ground, and top rear and front end is equipped with
The guide rail 2.2 that X-coordinate direction is arranged in parallel, is provided with longeron 2.3 on guide rail 2.2 on Y coordinate direction, longeron 2.3 is equipped with
Driving mechanism 2.5, driving mechanism 2.5 can drive longeron 2.3 to be moved left and right on guide rail 2.2；
Mechanical arm 2.6 is mounted on longeron 2.3, and mechanical arm 2.6 includes being mounted on longeron 2.3 on Z-direction direction
Sliding rail 2.7, mounted on the coordinate rotary machine structure assembly 2.10 of 2.7 bottom end of sliding rail and on coordinate rotary machine structure assembly 2.10
Code fetch manipulator 2.14,
Elevating mechanism 2.8 and longitudinal traveling mechanism 2.9, elevating mechanism 2.8 and longitudinal traveling mechanism are provided on sliding rail 2.7
2.9 can make before and after entire mechanical arm 2.6 realized on longeron 2.3 in oscilaltion campaign and Y direction in Z-direction
It is mobile,
2.10 bottom of coordinate rotary machine structure assembly is equipped with mounting base 2.11, and being equipped with A in coordinate rotary machine structure assembly 2.10 sits
Rotating mechanism 2.12 is marked, mounting base 2.11 can be along the axis on Y coordinate direction to be rotated freely simultaneously in the range of rotary shaft ± 90 °
Positioning,
2.14 inside setting joint control mechanism 2.15 of code fetch manipulator, front is provided with sensor, and the back side is fixedly mounted
In the mounting base 2.11 of mechanical arm 2.6.
The controlled substance trolley 3 sets at least to two pieces, is set to the left and right sides inside braced frame 2.1, and one
A to be used for feeding, one is used for discharging.
The electric control gear 4 includes industrial control computer, electric power loop, counting circuit, fin assembly crawl feeding
Circuit etc. is piled up in circuit, electric tube expander control loop and the crawl blanking of fin assembly, and industrial control computer is electrically connected with sensor,
Industrial control computer is electrically connected with driving mechanism 2.5, and industrial control computer is electrically connected with elevating mechanism 2.8, Industry Control
Computer is electrically connected with longitudinal traveling mechanism 2.9, and industrial control computer is electrically connected with A coordinate rotary machine structure 2.12, industry control
Computer processed is electrically connected with electric tube expander electric-control system.
Based on the operation principle of the full-automatic tube expansion system of fin assembly copper pipe mouth of number bus：With a left side shown in FIG. 1
For side be feedstock direction, right is discharging direction, i.e., the controlled substance trolley of left is feed material trolley, is carried by setting
What quantity was piled up treats that tube expansion fin assembly circulates from previous process to full-automatic based on the fin assembly copper pipe mouth of number bus
The 2.1 inside left end of braced frame of tube expansion system, the controlled substance trolley of right is discharging material trolley, is parked in braced frame
2.1 inside right ends, the fin assembly for completing tube expansion process is piled up onto discharging material trolley, after stacking quantity reaches setting value,
The material trolley that discharges circulates toward next procedure.
When system is not actuated（I.e. mechanical arm zero position when）, mechanical arm 2.6 is symmetrically located in automatic displacement in X-coordinate direction
The front of locking tool 1.2, Y coordinate direction are located in the centre position of longeron 2.3, and Z coordinate is positioned above code on direction
It puts height and is more than the position of radius of turn of the code fetch manipulator 2.14 in A coordinate systems, code fetch manipulator on A coordinate directions
2.14 front faces automatic displacement locking tool 1.2, that is, the mounting base 2.11 of mechanical arm 2.6 is in -90 ° of positions.
Enter that 2.1 inside left end of braced frame is in place, goes out material when carrying the feed material trolley for the treatment of tube expansion fin assembly
Trolley enter 2.1 inside right end of braced frame it is in place when, based on the full-automatic tube expansion of fin assembly copper pipe mouth of number bus
System power supply loop start, system starts：Industrial control computer sends out instruction, fin assembly crawl feeding circuit work
To make, the driving mechanism 2.5 on longeron 2.3 drives longeron 2.3 to move to left close to feed material trolley, meanwhile, the A of mechanical arm 2.6 is sat
The front that mark rotating mechanism 2.12 is rotated by 90 ° the code fetch manipulator 2.14 for making mechanical arm 2.6 in A coordinate systems faces feed material
On trolley tube expansion fin assembly, counting circuit work are treated by what setting quantity was piled up；
When the code fetch manipulator 2.14 of mechanical arm 2.6 is located at right over tube expansion fin assembly, longeron 2.3 stops fortune
Row；
Meanwhile the work of elevating mechanism 2.8 of mechanical arm 2.6 declines sliding rail 2.7, the work of joint control mechanism 2.15 makes machine
The code fetch manipulator 2.14 of tool arm 2.6 opens, and tube expansion fin assembly, after crawl, the elevator of mechanical arm 2.6 are treated in first piece of crawl
The work of structure 2.8, which makes sliding rail 2.7 rise certain distance, makes first piece to treat that tube expansion fin assembly treats that tube expansion fin assembly takes off with following
From, meanwhile, longeron 2.3 is moved to right by the driving of driving mechanism 2.5 to zero position, and elevating mechanism 2.8 makes cunning according to setting program work
Rail 2.7 drops to setting position, and the A coordinate rotary machine structure 2.12 of mechanical arm 2.6 is rotated by 90 ° in A coordinate systems makes mechanical arm 2.6
Code fetch manipulator 2.14 treat that tube expansion fin assembly is in together with first piece be crawled and treat tube expansion end upwards and face automatic
Indexable 1.2 front position of locking tool, the work of longitudinal traveling mechanism 2.9 of mechanical arm 2.6 make mechanical arm 2.6 is whole to be sat to Y
Direction movement is marked close to automatic displacement locking tool 1.2, until what is be crawled treats the contact automatic displacement locking of tube expansion fin assembly
The mounting surface of tooling 1.2；The work of joint control mechanism 2.15 opens the code fetch manipulator 2.14 of mechanical arm 2.6, treats tube expansion end
Upward state treats that tube expansion fin assembly is fallen in the holding groove in the preceding tooling face 1.3 of automatic displacement locking tool 1.2, machinery
Arm 2.6 then goes back to the crawl feeding that zero-bit completes first piece of fin assembly；
Meanwhile industrial control computer sends out signal and electric tube expander control loop is made to start to work：Automatic displacement locking tool
The retaining mechanism work in 1.2 preceding tooling face 1.3 treats that tube expansion fin assembly is locked by first piece, then suitable along tooling center original place
Hour hands or counterclockwise rotation 180 °, make thereafter tooling face 1.4 face fin assembly code fetch device 2, at this point, fin assembly crawl on
Expect circuit task again, same as above, mechanical arm 2.6 captures second piece and treats tube expansion fin assembly and by its pick-and-place in automatic displacement
In the holding groove in the rear tooling face 1.4 of locking tool 1.2, then second piece of fin assembly is completed in back to zero position to mechanical arm 2.6 again
Crawl feeding, meanwhile, the retaining mechanism in the rear tooling face 1.4 of automatic displacement locking tool 1.2 works treats tube expansion by second piece
Fin assembly is locked；Tube expansion pressure head 1.1 falls to setpoint distance simultaneously, treats that tube expansion fin assembly carries out tube expansion to first piece, swollen
After the completion of plumber's sequence, tube expansion pressure head 1.1 rises, and automatic displacement locking tool 1.2 is counterclockwise or clockwise along tooling center original place
The retaining mechanism in its preceding tooling face 1.3 unclamps after 180 ° of rotation；
Industrial control computer, which sends out signal, makes the crawl blanking of fin assembly pile up loop starts：Mechanical arm 2.6
The work of longitudinal traveling mechanism 2.9 makes mechanical arm 2.6 be moved backward by zero-bit in Y coordinate direction, joint control mechanism 2.15
Work opens the code fetch manipulator 2.14 of mechanical arm 2.6, captures first piece of tube expansion fin assembly；
After crawl, the work of longitudinal traveling mechanism 2.9 of mechanical arm 2.6 makes mechanical arm 2.6 return to zero-bit in Y coordinate direction,
Meanwhile driving mechanism 2.5 on longeron 2.3 drives longeron 2.3 to move to right in X-coordinate direction up to setting position, mechanical arm 2.6
Elevating mechanism 2.8 according to counting circuit feedack work make sliding rail 2.7 drop to setting position, mechanical arm 2.6 A coordinates
Rotating mechanism 2.12 is rotated by 90 ° in A coordinate systems, finally makes the code fetch manipulator 2.14 of mechanical arm 2.6 together be crawled
One piece tube expansion fin assembly in face of discharging material trolley pallet, mechanical arm 2.6 joint control mechanism 2.15 work make machine
The code fetch manipulator 2.14 of tool arm 2.6 opens, and tube expansion fin assembly is to fall on the pallet of discharging material trolley, mechanical arm
2.6 then go back to zero-bit complete first piece tube expansion fin assembly crawl blanking pile up；
After the completion of mechanical arm 2.6 captures blanking stacking, mechanical arm 2.6 continues third block and treats the upper of tube expansion fin assembly
Expect work, third block is treated tube expansion fin assembly pick-and-place to the preceding tooling face 1.3 of automatic displacement locking tool 1.2 by mechanical arm 2.6
Adapting table on and return to zero-bit, automatic displacement locking tool 1.2 with third block is treated tube expansion fin assembly locking positioning, etc.
Treat that tube expansion process is completed, and so on, until will treat that tube expansion fin assembly is fully completed tube expansion process on feed material trolley
And it piles up on discharging material trolley.
Since controlled substance trolley 3 is disposed on the left and right sides inside braced frame 2.1, mechanical arm 2.6 is in feeding, discharge
During its movement locus it is longer, in order to prevent caused by movement locus is longer position distortion, as shown in figure 3, as this
Invention is further improved scheme, and the mechanical arm 2.6 and longeron 2.3 are disposed as two pieces, are symmetrical set in guide rail
On 2.2, the circuit control of fin assembly crawl feeding is located at the mechanical arm above charging controlled substance trolley, the wing
The mechanical arm that circuit control is located above discharging controlled substance trolley is piled up in the crawl blanking of piece assembly, in this way, making two machines
The stroke of tool arm is relatively short, can prevent from positioning distortion caused by movement locus is longer.
Ideally, from previous process treat tube expansion fin assembly be it is neatly packed in feed material trolley, such as
Fruit piles up irregular or location dislocation, easily occurs capturing and the phenomenon that feeding malposition, in order to further realize intelligence
Change, as a further improvement on the present invention scheme, C coordinate rotary machine structure 2.13 is additionally provided in the mounting base 2.11, install
Seat 2.11 itself can be rotated freely and be determined along in the range of on the direction of 2.12 rotary shaft of A coordinate rotary machine structure 360 °
Position；The electric control gear 4 further includes fin assembly pattern-recognition circuit, industrial control computer and C coordinate rotary machine structures
2.13 electrical connections, when code fetch manipulator 2.14 is captured when tube expansion fin assembly or tube expansion fin assembly, fin assembly pattern
Identify loop works, the sensor capture on 2.14 front of code fetch manipulator treat tube expansion fin assembly shape and location information simultaneously
Feed back to industrial control computer, code fetch manipulator 2.14 is according to the location information and shape of fin assembly pattern-recognition circuit feedback
Shape information C coordinate rotary machine structure 2.13 works, adjust automatically self-position, realizes self-adapting grasping.
In order to realize the versatility of the fin assembly of different model, size, scheme as a further improvement on the present invention, institute
Multiple grasping mechanisms are arranged side by side on the code fetch manipulator 2.14 stated, the electric control gear 4 further includes sequence crawl circuit, needle
The fin assembly different to width dimensions, according to the feedback in fin assembly pattern-recognition circuit, code fetch manipulator 2.14 can be real
It now captures successively side by side, when stacking piles up successively.
In order to realize the automatic full-automatic tube expansion system of fin assembly copper pipe mouth started based on number bus, as this hair
Bright to be further improved scheme, left and right sides bottom position inside the braced frame 2.1 accepts the controlled material
The extreme position setting contact switch of trolley 3, the electric control gear 4 further include starting-up later time, contact switch and electric power loop
Electrical connection, when feed material trolley, discharging material trolley are in place simultaneously, i.e., completion is closed contact switch, open system power supply
Circuit, system starts realize intelligent operation.
Artificial implementation operation may be used in the controlled substance trolley 3, digital manipulation can also be used, due to the latter
The degree of automation higher can further reduce the influence of human factor, therefore preferred the latter, that is, the preferred side as the present invention
Case, the controlled substance trolley 3 be digitized track trolley or digitlization pallet, digitized track trolley or digitlization pallet
Meet number bus plant practices, realization can be connect with the number bus of factory and concentrates digital management, is i.e. previous process is complete
Into fin assembly can by the small rail car or conveyer belt of Digital Control carry digitlization palletized transport to based on
The setting station of the full-automatic tube expansion system of fin assembly copper pipe mouth of number bus, the fin assembly for completing tube expansion process can also
Pass through the digitlization palletized transport that the small rail car or conveyer belt of Digital Control carry to the station of next procedure.
It is Digital Control unit based on the full-automatic tube expansion system of fin assembly copper pipe mouth of number bus, it can be with work
The number bus of factory, which is seamlessly connected, realizes concentration digital management.
This air conditioner fin assembly automatic expanding guard system high degree of automation, utilization rate of equipment and installations is higher, production capacity is higher, and people
It is smaller for influence of the factor to manufacturing schedule；Since mechanical arm is provided with X-coordinate driving mechanism, Y coordinate driving mechanism, Z coordinate
Driving mechanism, A coordinate rotary machine structure and the control of C coordinate rotary machine structures Five Axis, therefore code fetch machine can be made according to program setting
Tool hand realizes self-adapting grasping fin assembly, and process of the fin assembly in feeding, discharge is further ensured that while realizing automation
In precise manipulation, fin assembly fin during punching press, loading and unloading is prevented to be extruded, collide with or other reasons cause shape
Become, and then ensure product quality.
Claims (6)
1. a kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus, small including electric tube expander (1), controlled material
Vehicle (3) and electric control gear (4), electric tube expander (1) include tube expansion pressure head (1.1) and automatic displacement locking tool (1.2), automatic displacement
Locking tool (1.2) includes preceding tooling face (1.3) and rear tooling face (1.4), and tube expansion pressure head (1.1) is positioned at rear tooling face (1.4)
Top position, be equipped with retaining mechanism, automatic displacement locking tool (1.2) on preceding tooling face (1.3) and rear tooling face (1.4)
It is internally provided with rotation control mechanism；Controlled substance trolley (3) sets at least to two pieces；Electric control gear (4) includes Industry Control meter
Mechanical, electrical resource loop, counting circuit and electric tube expander control loop are calculated, industrial control computer is electrically connected with electric tube expander electric-control system,
It is characterized in that,
Fin assembly code fetch device (2) is further included, fin assembly code fetch device (2) includes braced frame (2.1) and mechanical arm
(2.6), braced frame (2.1) bottom is fixedly installed in ground, and top is equipped with the guide rail (2.2) of X-coordinate direction setting, is leading
Longeron (2.3) is provided on rail (2.2) on Y coordinate direction, longeron (2.3) is equipped with driving mechanism (2.5)；
Mechanical arm (2.6) is on longeron (2.3), and mechanical arm (2.6) is including being mounted on longeron (2.3) on Z-direction direction
On sliding rail (2.7), mounted on the coordinate rotary machine structure assembly (2.10) of sliding rail (2.7) bottom end and mounted on coordinate rotary machine structure
Code fetch manipulator (2.14) on assembly (2.10),
Elevating mechanism (2.8) and longitudinal traveling mechanism (2.9) are provided on sliding rail (2.7),
Coordinate rotary machine structure assembly (2.10) bottom is equipped with mounting base (2.11), and A is equipped in coordinate rotary machine structure assembly (2.10)
Coordinate rotary machine structure (2.12),
Setting joint control mechanism (2.15) inside code fetch manipulator (2.14), front are provided with sensor, and the back side is fixedly mounted
In mounting base (2.11)；
The two pieces controlled substance trolley (3) is set to the internal left and right sides of braced frame (2.1)；
The electric control gear (4) further includes fin assembly crawl feeding circuit and circuit, work are piled up in the crawl blanking of fin assembly
Industry control computer is electrically connected with sensor, and industrial control computer is electrically connected with driving mechanism (2.5), industrial control computer
It is electrically connected with elevating mechanism (2.8), industrial control computer is electrically connected with longitudinal traveling mechanism (2.9), industrial control computer
It is electrically connected with A coordinate rotary machine structure (2.12)；
Enter that the internal left end of braced frame (2.1) is in place, discharging material when carrying the feed material trolley for the treatment of tube expansion fin assembly
Trolley enter braced frame (2.1) internal right end it is in place when, based on the full-automatic tube expansion of fin assembly copper pipe mouth of number bus
System power supply loop start, system starts：Industrial control computer sends out instruction, fin assembly crawl feeding circuit work
To make, driving mechanism (2.5) the driving longeron (2.3) on longeron (2.3) is moved to left close to feed material trolley, meanwhile, mechanical arm
(2.6) A coordinate rotary machine structure (2.12) is rotated by 90 ° the code fetch manipulator (2.14) that makes mechanical arm (2.6) in A coordinate systems
Tube expansion fin assembly, counting circuit work are treated by what setting quantity was piled up in front on feed material trolley；
When the code fetch manipulator (2.14) of mechanical arm (2.6) is positioned at right over tube expansion fin assembly, longeron (2.3) stops fortune
Row；
Meanwhile elevating mechanism (2.8) work of mechanical arm (2.6) declines sliding rail (2.7), joint control mechanism (2.15) work
Open the code fetch manipulator (2.14) of mechanical arm (2.6), tube expansion fin assembly, after crawl, mechanical arm are treated in first piece of crawl
(2.6) elevating mechanism (2.8) work make sliding rail (2.7) rise certain distance make first piece treat tube expansion fin assembly with it is following
Treat that tube expansion fin assembly is detached from, meanwhile, longeron (2.3) is moved to right by driving mechanism (2.5) driving to zero position, elevating mechanism
(2.8) sliding rail (2.7) is made to drop to setting position, the A coordinate rotary machine structures of mechanical arm (2.6) according to setting program work
(2.12) be rotated by 90 ° in A coordinate systems make mechanical arm (2.6) code fetch manipulator (2.14) treated together with first piece be crawled it is swollen
Pipe fin assembly, which is in, to be treated that tube expansion end is upward and faces position immediately ahead of automatic displacement locking tool (1.2), mechanical arm (2.6)
Longitudinal traveling mechanism (2.9) work make mechanical arm (2.6) whole to the movement of Y coordinate direction close to automatic displacement locking tool
(1.2), until what is be crawled treats that tube expansion fin assembly contacts the mounting surface of automatic displacement locking tool (1.2)；Joint control machine
Structure (2.15) work opens the code fetch manipulator (2.14) of mechanical arm (2.6), and that treats the upward state in tube expansion end treats tube expansion fin
Assembly is fallen in the holding groove of the preceding tooling face (1.3) of automatic displacement locking tool (1.2), and it is complete that mechanical arm (2.6) returns to zero-bit
Into the crawl feeding of first piece of fin assembly；
Meanwhile industrial control computer sends out signal and electric tube expander control loop is made to start to work：Automatic displacement locking tool (1.2)
Preceding tooling face (1.3) retaining mechanism work by first piece treat tube expansion fin assembly lock, it is then suitable along tooling center original place
Hour hands or counterclockwise rotation 180 °, make thereafter tooling face (1.4) in face of fin assembly code fetch device (2), at this point, fin assembly is grabbed
Feeding circuit task again is taken, same as above, mechanical arm (2.6) captures second piece and treats tube expansion fin assembly and by its pick-and-place certainly
In the holding groove of the rear tooling face (1.4) of turn position locking tool (1.2), then back to zero position completes the to mechanical arm (2.6) again
The crawl feeding of two pieces of fin assemblies, meanwhile, the retaining mechanism work of the rear tooling face (1.4) of automatic displacement locking tool (1.2)
Make to treat that tube expansion fin assembly is locked by second piece；Tube expansion pressure head (1.1) falls to setpoint distance simultaneously, and tube expansion wing is treated to first piece
Piece assembly carries out tube expansion, and after the completion of tube expansion process, tube expansion pressure head (1.1) rises, and automatic displacement locking tool (1.2) is along tooling
Heart original place is counterclockwise or rotates clockwise the retaining mechanism of its preceding tooling face (1.3) after 180 ° unclamps；
Industrial control computer, which sends out signal, makes the crawl blanking of fin assembly pile up loop starts：Mechanical arm (2.6) is indulged
Mechanical arm (2.6) is made to be moved backward by zero-bit in Y coordinate direction to walking mechanism (2.9) work, joint control mechanism
(2.15) work opens the code fetch manipulator (2.14) of mechanical arm (2.6), captures first piece of tube expansion fin assembly；
After crawl, longitudinal traveling mechanism (2.9) work of mechanical arm (2.6) makes mechanical arm (2.6) return to zero in Y coordinate direction
Position, meanwhile, driving mechanism (2.5) the driving longeron (2.3) on longeron (2.3) is moved to right in X-coordinate direction up to setting position, machine
The elevating mechanism (2.8) of tool arm (2.6) according to counting circuit feedack work make sliding rail (2.7) drop to setting position,
The A coordinate rotary machine structure (2.12) of mechanical arm (2.6) is rotated by 90 ° in A coordinate systems, makes the code fetch manipulator of mechanical arm (2.6)
(2.14) together with first piece be crawled tube expansion fin assembly in face of discharging material trolley pallet, the pass of mechanical arm (2.6)
Section control mechanism (2.15), which works, opens the code fetch manipulator (2.14) of mechanical arm (2.6), and tube expansion fin assembly is fallen
It discharges on the pallet of material trolley, mechanical arm (2.6) returns to the crawl blanking code that zero-bit completes first piece of tube expansion fin assembly
It puts；
After the completion of mechanical arm (2.6) crawl blanking is piled up, mechanical arm (2.6) continues third block and treats the upper of tube expansion fin assembly
Expect work, third block is treated tube expansion fin assembly pick-and-place to the preceding tooling face of automatic displacement locking tool (1.2) by mechanical arm (2.6)
(1.3) on holding groove and zero-bit is returned to, third block is treated that the locking of tube expansion fin assembly is fixed by automatic displacement locking tool (1.2)
Position waits for tube expansion process to complete, and so on, until will treat that tube expansion fin assembly is fully completed tube expansion on feed material trolley
Process is simultaneously piled up on discharging material trolley.
2. the fin assembly copper pipe mouth full-automatic tube expansion system according to claim 1 based on number bus, feature exist
In the mechanical arm (2.6) and longeron (2.3) are disposed as two pieces, are symmetrical set on guide rail (2.2), described
The circuit control of fin assembly crawl feeding is located at the mechanical arm above feed material trolley, fin assembly crawl blanking code
Put back to the mechanical arm that road control is located above discharging material trolley.
3. the fin assembly copper pipe mouth full-automatic tube expansion system according to claim 1 or 2 based on number bus, feature
It is, C coordinate rotary machine structure (2.13) is additionally provided in the mounting base (2.11)；The electric control gear (4) further includes wing
Piece assembly pattern-recognition circuit, industrial control computer are electrically connected with C coordinate rotary machine structure (2.13).
4. the fin assembly copper pipe mouth full-automatic tube expansion system according to claim 1 or 2 based on number bus, feature
It is, multiple grasping mechanisms are arranged side by side on the code fetch manipulator (2.14), and the electric control gear (4) further includes sequence
Capture circuit.
5. the fin assembly copper pipe mouth full-automatic tube expansion system according to claim 1 or 2 based on number bus, feature
It is, the internal left and right sides bottom position of the braced frame (2.1), the pole for accepting the controlled substance trolley (3)
Extreme position sets contact switch, and the electric control gear (4) further includes starting-up later time, and contact switch is electrically connected with electric power loop.
6. the fin assembly copper pipe mouth full-automatic tube expansion system according to claim 1 or 2 based on number bus, feature
It is, the controlled substance trolley (3) is digitized track trolley or digitlization pallet.
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| CN201410372917.4A CN104148533B (en) | 2014-08-01 | 2014-08-01 | A kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus |
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| CN201410372917.4A CN104148533B (en) | 2014-08-01 | 2014-08-01 | A kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus |
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| CN104148533B true CN104148533B (en) | 2018-06-08 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104670911B (en) * | 2015-02-03 | 2019-04-30 | 徐州德坤电气科技有限公司 | A kind of small U-tube crawl sequence stacking unit based on number bus |
| CN104670775B (en) * | 2015-02-03 | 2019-05-31 | 徐州德坤电气科技有限公司 | A kind of bracket and pallet of the circulation-supplied material based on number bus |
| CN104670912B (en) * | 2015-02-03 | 2019-04-30 | 徐州德坤电气科技有限公司 | A kind of small U-tube crawl order code place system based on number bus |
| 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 |
| CN107695216B (en) * | 2017-09-22 | 2023-05-16 | 徐州德坤电气科技有限公司 | Supporting steel plate imbedding unit of automatic tube expanding system of fin assembly |
| CN107649599B (en) * | 2017-09-22 | 2023-07-14 | 徐州德坤电气科技有限公司 | Automatic three station fin assemblies of expand tube system get yard 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS61111732A (en) * | 1984-11-05 | 1986-05-29 | Hitachi Cable Ltd | Manufacture of heat exchanger |
| CN202752477U (en) * | 2012-02-13 | 2013-02-27 | 宁波精达成形装备股份有限公司 | Double-station working table of tube expander |
| CN103213852B (en) * | 2013-04-25 | 2015-06-24 | 云南众诚士德柔性自动化设备有限公司 | Multi-functional mechanical grabbing and transporting device capable of unstacking and overturning automatically |
| CN203791505U (en) * | 2014-01-28 | 2014-08-27 | 宁波精达成形装备股份有限公司 | Flaring device of pipe expander |
| CN204035403U (en) * | 2014-08-01 | 2014-12-24 | 徐州德坤电气科技有限公司 | Based on the full-automatic expand tube system of fin assembly copper pipe mouth of number bus |
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