CN104355110A - Automatic device for degreasing of air conditioner heat exchanger core body and application method thereof - Google Patents
Automatic device for degreasing of air conditioner heat exchanger core body and application method thereof Download PDFInfo
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- CN104355110A CN104355110A CN201410589486.7A CN201410589486A CN104355110A CN 104355110 A CN104355110 A CN 104355110A CN 201410589486 A CN201410589486 A CN 201410589486A CN 104355110 A CN104355110 A CN 104355110A
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Abstract
The invention discloses an automatic device for degreasing of an air conditioner heat exchanger core body and an application method thereof, and belongs to the technical field of air conditioner heat exchanger core body manufacture. The automatic device comprises a plurality of centralizing trays for heat exchanger core bodies to be degreased, a reverse line, a destacking chain accumulation line, a visual imaging device, a robot, a gripping apparatus and the like, wherein the robot and the gripping apparatus are arranged in the center of the automatic device; the visual imaging device is arranged above the front ends of the robot and the gripping apparatus; the reverse line is arranged on the right sides of the robot and the gripping apparatus; the centralizing trays are arranged on the reverse line; the centralizing trays are used for laying the heat exchanger core bodies. The automatic device utilizes the visual imaging device, the robot and the gripping apparatus to replace manual labor to carry the heat exchanger core bodies to be degreased under the condition that the original production technical processes are not changed, adopts a specific operation method to achieve purposes of improving the device production efficiency, lowering the labor intensity and ensuring the quality of products, and is significant in effect.
Description
Technical field
The invention belongs to air-condition heat exchanger core body manufacturing technology field, be specially a kind of air-condition heat exchanger core body degreasing operatorless device and using method thereof.
Background technology
Air-condition heat exchanger core body is the core component in air-conditioning, in three more than ten years in the past, person skilled in art carries out continuous refinement and improvement to the production facilities of air-condition heat exchanger core body and flow process, defines present comprise string sheet, expand tube, degreasing, welding, bending etc. and manufacture several large operation in process; Wherein, degreasing process is the important step ensureing air-condition heat exchanger core body quality.But when A/C productive output increases severely year by year, in prior art, still adopt the mode heat exchanger core body of artificial loading and unloading to carry out degreasing, cause that production efficiency is low, the large and artificial loading of the labour intensity very easily problem such as reviewing, be difficult to ensure product design.
Summary of the invention
Technical matters to be solved by this invention is, under the condition not changing original technological process of production, is reached the object of enhancing productivity, reducing labour intensity, ensureing product design by the automatization level improved in production technology.
Technical scheme of the present invention can realize according to such as under type:
Can comprise according to the air-condition heat exchanger core body degreasing operatorless device of the embodiment of the present invention and treat that degreasing concentrates pallet, deposit line, de-stacking chain to accumulate line, vision imaging device, robot and gripping apparatus, stokehold travel line, debinding furnace and empty pallet backflow transfer line, wherein: robot and gripping apparatus are in the center of described operatorless device, vision imaging device is placed on the top of the front end of robot and gripping apparatus; Deposit line is arranged on the right side of robot and gripping apparatus, multiplely treats that degreasing concentrates pallet to be placed on deposit line, treats that degreasing is concentrated in pallet for placing heat exchanger core body; De-stacking chain accumulates line perpendicular to deposit line, and be in the front of robot and gripping apparatus, de-stacking chain accumulates line left side along its length and is provided with gear stop device, and is provided with pallet close to the position on top on the left of it and reforms device; Reflux one end of transfer line of the left end that de-stacking chain accumulates line and empty pallet connects; Stokehold travel line and the empty pallet transfer line that refluxes is perpendicular, and is placed in the left side of robot and gripping apparatus, and the front end of gear stop device and stokehold travel line that de-stacking chain accumulates line is all within the crawl turning circle of robot and gripping apparatus; The end of stokehold travel line is connected with the stove rollgang that enters of debinding furnace.
Can for being equipped with the six-joint robot of gripping apparatus according to the robot in the air-condition heat exchanger core body degreasing operatorless device of the embodiment of the present invention and gripping apparatus, four-way can be adopted to locate Grasp Modes, and each heat exchanger core series may correspond to a kind of common gripping apparatus of robot.
Stokehold travel line can adopt the guardrail that can regulate height, and the heat exchanger core body according to different size height regulates guardrail height, and stokehold travel line can take dwell type speed change mode of movement, and the load-transfer device of stokehold travel line can select soft musculus cutaneus band.
According to a further aspect in the invention, a kind of using method of air-condition heat exchanger core body degreasing operatorless device, described using method comprises the following steps:
1) to be piled up by heat exchanger core body by workman or independent robot treat that degreasing is concentrated in pallet on deposit line, each treats that degreasing is concentrated in pallet and had multi-disc heat exchanger core body by groined type or M shape code; What code was treated well degreasing heat exchanger core body by fork truck workman treats that degreasing concentrates pallet continuously to take out and deliver to de-stacking chain and accumulate on line by deposit line according to productive temp;
2) be placed in de-stacking chain to accumulate on line and fully loaded heat exchanger core body treat that degreasing is concentrated pallet to accumulate line along de-stacking chain and travelled forward, de-stacking chain accumulates line and is driven by motor and speed reducer, drives the duplex chain on it to move; When pallet arrival desired location is concentrated in degreasing, the gear stop device be typically preset as stretching out is kept off and being stopped, thus be automatically positioned at the grabbing workpiece station of robot and gripping apparatus, then pallet device of reforming shrinks and treats degreasing and concentrate pallet to reform further location, until degreasing concentrate pallet through the gear of gear stop device stop reforming with pallet device reform after de-stacking chain to accumulate line out of service;
3) vision imaging device on robot and gripping apparatus detects the specification of the uppermost heat exchanger core body being in described pre-position automatically, judge whether this heat exchanger core body meets crawl condition, if meet crawl condition, then by the robot that automatically guides in the bottom and gripping apparatus by heat exchanger core body grasping operation on the travel line of stokehold, in crawl process, if run into the heat exchanger core body not meeting crawl condition, or material loading de-stacking is when completing, robot and gripping apparatus will carry out acousto-optic voice alarm;
4) the heat exchanger core body automatic transport on it is carried out degreasing process by stokehold travel line to debinding furnace, coordinate the work tempo of debinding furnace, repeatedly repeat step 3) described in process, namely vision imaging device detects automatically to the uppermost heat exchanger core body being in described pre-position, intelligently guiding robot and gripping apparatus by heat exchanger core body grasping operation on the travel line of stokehold, until this to be treated degreasing concentrates last heat exchanger core body on pallet to capture;
5) after degreasing concentrates last heat exchanger core body on pallet to be captured by robot and gripping apparatus, the gear stop device that de-stacking chain accumulates line is regained, pallet device of reforming unclamps, de-stacking chain accumulates line and starts together with empty pallet backflow transfer line, de-stacking chain accumulate line by sky treat degreasing concentrate pallet be transported to empty pallet backflow transfer line on, sky on it is treated that degreasing concentrates pallet to transport by empty pallet backflow transfer line, after this subsequent work circulation is carried out, the gear stop device that de-stacking chain accumulates line stretches out again, de-stacking chain accumulate line the next one is fully loaded with treat degreasing heat exchanger core body treat that degreasing concentrates pallet to be transported to the grabbing workpiece station of robot and gripping apparatus.
In work, the concrete use according to the air-condition heat exchanger core body degreasing operatorless device of the embodiment of the present invention can operate by following process sequence:
Skimmed prod piling station treated by the dish that puts one's child in a boarding nursery, automatic logistics line feed station, and visual pattern processing system judges, robot gripping apparatus grabbing workpiece station, debinding furnace splicing station, empty pallet backflow transfer line station, subsequent work stations etc.
As follows according to the air-condition heat exchanger core body degreasing operatorless device outstanding advantages compared with prior art of the embodiment of the present invention:
(1) achieve in production process by the transformation manually to automation, can realize running for continuous 24 hours, significantly reduce labour intensity and the productive costs of workman, improve production efficiency;
(2) whole debinding furnace automatic charging process adopts robot and gripping apparatus to carry out single-piece clamping and running, avoids the damage that a dead lift heat exchanger core body causes, the hidden danger of quality such as avoid core body reviewing in operation process, damage;
(3) flexible design is adopted, during de-stacking, vision imaging device judges dissimilar product, and then correct robot and gripping apparatus voluntarily, robot and gripping apparatus are captured in revolution range at it accurately capture and forward placement, meet clamping and the operational requirements of each serial variety classes product;
(4) entering stove rollgang takes dwell type speed change to carry, and load-transfer device selects soft musculus cutaneus band, ensure that to place to hold copper pipe injury-free; Send according to beat speed change dress, core body interval gapless can be ensured, improve the output of debinding furnace;
(5) adopt can automatic controlled height guardrail for stokehold travel line, automatically can regulate guardrail height according to the core body of different size height.
Accompanying drawing explanation
Fig. 1 is the schematic layout pattern of the integral planar structure of air-condition heat exchanger core body degreasing operatorless device according to the embodiment of the present invention;
Fig. 2 is the topology layout schematic diagram of automatic logistics travel line.
In the accompanying drawings: 1 be heat exchanger core body, 2 for treat degreasing concentrate pallet, 3 to be deposit line, 4 be vision imaging device for de-stacking chain accumulates line, 5,6 be robot and gripping apparatus, 7 be stokehold travel line, 8 be debinding furnace, 9 for empty pallet backflow transfer line, 10 be keep off stop device, 11 to reform device for pallet.
Detailed description of the invention
Below in conjunction with concrete performance, the present invention is further illustrated.
As shown in Figure 1 and Figure 2, can be provided with according to the air-condition heat exchanger core body degreasing operatorless device of the embodiment of the present invention treat that pallet 2 is concentrated in degreasing, deposit line 3, de-stacking chain accumulate line 4, vision imaging device 5, robot and gripping apparatus 6, stokehold travel line 7, debinding furnace 8 and empty pallet backflow transfer line 9; Wherein: robot and gripping apparatus 6 are in the approximate center position of described operatorless device, and vision imaging device 5 is placed on the top of the front end of robot and gripping apparatus 6; Deposit line 3 is arranged on the right side of robot and gripping apparatus 6, multiplely treats that degreasing concentrates pallet 2 to be placed on deposit line 3, treats that degreasing concentrates pallet 2 built with heat exchanger core body 1; De-stacking chain accumulates line 4 perpendicular to deposit line 3, is in the front of robot and gripping apparatus 6, and de-stacking chain accumulates line 4 left side along its length and is provided with gear stop device 10, and is provided with pallet close to the position on top on the left of it and reforms device 11; Reflux one end of transfer line 9 of the left end that de-stacking chain accumulates line 4 and empty pallet connects; Stokehold travel line 7 and the empty pallet transfer line 9 that refluxes is perpendicular, and being placed in the left side of robot and gripping apparatus 6, the front end (upper end of the stokehold travel line 7 shown in Fig. 2) of gear stop device 10 and stokehold travel line 7 that de-stacking chain accumulates line 4 is all within the crawl turning circle of robot and gripping apparatus 6; The end of stokehold travel line 7 is connected with the stove rollgang that enters of debinding furnace 8.
Robot and gripping apparatus 6 can, for being equipped with the six-joint robot of special gripping apparatus, can adopt four-way to locate Grasp Modes, and each heat exchanger core series may correspond to the special robot of this series and gripping apparatus 6.
Stokehold travel line 7 can adopt can the guardrail of automatic controlled height, and automatically regulate guardrail height according to the heat exchanger core body of different size height, stokehold travel line 7 can take dwell type speed change mode of movement, and the load-transfer device of stokehold travel line 7 can select soft musculus cutaneus band.
During work, according to the air-condition heat exchanger core body degreasing operatorless device of the embodiment of the present invention according to operating as under type:
1, to be piled up by heat exchanger core body 1 by workman or independent robot treat that degreasing is concentrated in pallet 2 on deposit line 3, each treats that degreasing is concentrated in pallet 2 and had multi-disc (such as, 20) heat exchanger core body 1 by groined type or M shape code; What code was treated well degreasing heat exchanger core body 1 by fork truck workman treats that degreasing concentrates pallet 2 continuously to take out and deliver to de-stacking chain and accumulate on line 4 by deposit line 3 according to productive temp;
2, be placed in de-stacking chain to accumulate on line 4 and fully loaded heat exchanger core body 1 treat that degreasing concentrates pallet 2 to accumulate line 4 (left side towards Fig. 1) motion forward along de-stacking chain, de-stacking chain accumulates line 4 and is driven by motor and speed reducer, thus drives the duplex chain on it to move; When degreasing concentrates pallet 2 to arrive desired location, the gear stop device 10 be typically preset as stretching out gear is stopped, thus be automatically positioned at the grabbing workpiece station of robot and gripping apparatus 6, then pallet device 11 of reforming shrinks and treats degreasing and concentrate pallet 2 to reform further location, until degreasing concentrate pallet 2 through the gear of gear stop device 10 stop reforming with pallet device 11 reform after de-stacking chain to accumulate line 4 out of service;
3, the vision imaging device 5 on robot and gripping apparatus 6 detects the specification being in the uppermost heat exchanger core body 1 of described pre-position automatically, judge whether this heat exchanger core body 1 meets crawl condition, if meet crawl condition, then by the robot that automatically guides in the bottom and gripping apparatus 6 by heat exchanger core body 1 grasping operation on stokehold travel line 7, in crawl process, the heat exchanger core body 1 of crawl condition is not met if run into, or material loading de-stacking is when completing, robot and gripping apparatus 6 will carry out report to the police (such as, acousto-optic voice alarm);
4, heat exchanger core body 1 automatic transport on it is carried out degreasing process by stokehold travel line 7 to debinding furnace 8, coordinate the work tempo of debinding furnace 8, repeatedly repeat process described in step 3 (such as, 20 times), namely vision imaging device 5 detects automatically to the uppermost heat exchanger core body 1 being in described pre-position, intelligently guiding robot and gripping apparatus 6 by heat exchanger core body 1 grasping operation on stokehold travel line 7, until this to be treated degreasing concentrates last heat exchanger core body 1 on pallet 2 to capture;
5, after degreasing concentrates last heat exchanger core body 1 on pallet 2 to be captured by robot and gripping apparatus 6, de-stacking chain accumulates that the gear stop device 10 of line 4 is regained, pallet is reformed, and device 11 unclamps, de-stacking chain accumulates line 4 and starts together with empty pallet backflow transfer line 9, de-stacking chain accumulates line 4 and sky is treated that degreasing concentrates pallet 2 to be transported in empty pallet backflow transfer line 9, and the sky on it is treated that degreasing concentrates pallet 2 to transport by empty pallet backflow transfer line 9.After this carry out subsequent work circulation, the gear stop device 10 that de-stacking chain accumulates line 4 stretches out again, de-stacking chain accumulate line 4 next one is fully loaded with treat degreasing heat exchanger core body 1 treat that degreasing concentrates pallet 2 to be transported to the grabbing workpiece station of robot and gripping apparatus 6.
Wherein, treat that degreasing concentrates the workflow of pallet 2 on automatic logistics travel line as denoted by the arrows in fig. 2.
Claims (4)
1. an air-condition heat exchanger core body degreasing operatorless device, it is characterized in that, described operatorless device comprises treats that degreasing concentrates pallet (2), deposit line (3), de-stacking chain to accumulate line (4), vision imaging device (5), robot and gripping apparatus (6), stokehold travel line (7), debinding furnace (8) and empty pallet backflow transfer line (9), wherein: robot and gripping apparatus (6) are in the center of described operatorless device, and vision imaging device (5) is placed on the top of the front end of robot and gripping apparatus (6); Deposit line (3) is arranged on the right side of robot and gripping apparatus (6), multiplely treating that degreasing concentrates pallet (2) to be placed on deposit line (3), treating that degreasing is concentrated in pallet (2) for placing heat exchanger core body (1); De-stacking chain accumulates line (4) perpendicular to deposit line (3), be in the front of robot and gripping apparatus (6), de-stacking chain accumulates line (4) left side along its length and is provided with gear stop device (10), and is provided with pallet close to the position on top on the left of it and reforms device (11); Reflux one end of transfer line (9) of the left end that de-stacking chain accumulates line (4) and empty pallet connects; Stokehold travel line (7) and the empty pallet transfer line (9) that refluxes is perpendicular, and being placed in the left side of robot and gripping apparatus (6), the front end of gear stop device (10) and stokehold travel line (7) that de-stacking chain accumulates line (4) is all within the crawl turning circle of robot and gripping apparatus (6); The end of stokehold travel line (7) is connected with the stove rollgang that enters of debinding furnace (8).
2. air-condition heat exchanger core body degreasing operatorless device according to claim 1, is characterized in that, the robot in described operatorless device and gripping apparatus (6), for being equipped with the six-joint robot of gripping apparatus, adopt four-way location Grasp Modes.
3. air-condition heat exchanger core body degreasing operatorless device according to claim 1, it is characterized in that, stokehold travel line (7) in described operatorless device adopts the guardrail that can regulate height, heat exchanger core body (1) according to different size height regulates guardrail height, stokehold travel line (7) takes dwell type speed change to carry, and the load-transfer device of stokehold travel line (7) selects soft musculus cutaneus band.
4. a using method for air-condition heat exchanger core body degreasing operatorless device, is characterized in that, described using method comprises the following steps:
1), by heat exchanger core body (1) pile up and treat that degreasing is concentrated in pallet (2) on deposit line (3), each treats that degreasing is concentrated in pallet (2) and had multi-disc heat exchanger core body (1) by groined type or M shape code; That code is treated well degreasing heat exchanger core body (1) treats that degreasing is concentrated pallet (2) continuously above to be taken out and deliver to de-stacking chain by deposit line (3) according to productive temp and accumulated on line (4);
2) what, be placed in that de-stacking chain accumulates the upper and fully loaded heat exchanger core body (1) of line (4) treats that degreasing is concentrated pallet (2) to accumulate line (4) along de-stacking chain and travelled forward, de-stacking chain accumulates line (4) and is driven by motor and speed reducer, drives the duplex chain on it to move; Gear stop device (10) gear be typically preset when degreasing concentrates pallet (2) to arrive desired location as stretching out stops, thus be automatically positioned at the grabbing workpiece station of robot and gripping apparatus (6), then pallet device (11) of reforming shrinks and treats degreasing and concentrate pallet (2) to reform further location, until degreasing concentrate the gear of pallet (2) through keeping off stop device (10) stop reforming with pallet device (11) reform after de-stacking chain to accumulate line (4) out of service;
3), vision imaging device (5) on robot and gripping apparatus (6) detects the specification being in the uppermost heat exchanger core body (1) of described pre-position automatically, judge whether this heat exchanger core body (1) meets crawl condition, if meet crawl condition, then by automatic guided robot and gripping apparatus (6) by heat exchanger core body (1) grasping operation on stokehold travel line (7), in crawl process, if run into the heat exchanger core body (1) not meeting crawl condition, or material loading de-stacking is when completing, robot and gripping apparatus (6) will carry out acousto-optic voice alarm,
4), heat exchanger core body (1) automatic transport on it is carried out degreasing process by stokehold travel line (7) to debinding furnace (8), coordinate the work tempo of debinding furnace (8), repeatedly repeat step 3) described in process: vision imaging device (5) detects automatically to the uppermost heat exchanger core body (1) being in described pre-position, intelligently guiding robot and gripping apparatus (6) by heat exchanger core body (1) grasping operation on stokehold travel line (7), until this to be treated degreasing concentrates last heat exchanger core body (1) on pallet (2) to capture,
5), after degreasing concentrates last heat exchanger core body (1) on pallet (2) to be captured by robot and gripping apparatus (6), the gear stop device (10) that de-stacking chain accumulates line (4) is regained, pallet device (11) of reforming unclamps, de-stacking chain accumulates line (4) and empty pallet backflow transfer line (9) starts together, de-stacking chain accumulates line (4) and sky is treated that degreasing concentrates pallet (2) to be transported on empty pallet backflow transfer line (9), sky on it is treated that degreasing concentrates pallet (2) to transport by empty pallet backflow transfer line (9), after this subsequent work circulation is carried out, the gear stop device (10) that de-stacking chain accumulates line (4) stretches out again, de-stacking chain accumulate line (4) by fully loaded for the next one treat degreasing heat exchanger core body (1) treat that degreasing concentrates pallet (2) to be transported to the grabbing workpiece station of robot and gripping apparatus (6).
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| CN201410589486.7A CN104355110B (en) | 2014-10-28 | 2014-10-28 | A kind of air-condition heat exchanger core body degreasing automatic gear and using method thereof |
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| CN201410589486.7A CN104355110B (en) | 2014-10-28 | 2014-10-28 | A kind of air-condition heat exchanger core body degreasing automatic gear and using method thereof |
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| CN104355110B CN104355110B (en) | 2016-06-08 |
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| CN105292988A (en) * | 2015-11-26 | 2016-02-03 | 重庆贝华科技有限公司 | Air conditioner outdoor unit welding production system |
| CN106628940A (en) * | 2016-11-11 | 2017-05-10 | 沈阳中泽智能装备有限公司 | Automatic transferring system device for manufacturing air conditioning evaporator and operation method |
| CN107867565A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Transformer core silicon-steel automatic docking device |
| CN109048921A (en) * | 2018-09-30 | 2018-12-21 | 南京泉峰汽车精密技术股份有限公司 | Mold insert grasping means based on robot vision identification |
| CN109896297A (en) * | 2017-12-08 | 2019-06-18 | 泰科电子(上海)有限公司 | Automatic feeding system |
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| CN110294320A (en) * | 2019-06-17 | 2019-10-01 | 赣州珐玛珈智能设备有限公司 | A kind of automatically manage listens machine |
| CN112108884A (en) * | 2019-06-21 | 2020-12-22 | 珠海盾安热工科技有限公司 | Heat exchanger production system |
| CN112850094A (en) * | 2021-01-08 | 2021-05-28 | 山东迈宝赫健身器材有限公司 | Tray follow-up type modular automatic production line |
| CN113334046A (en) * | 2021-06-02 | 2021-09-03 | 亚普汽车部件股份有限公司 | Method for automatically mounting parts on mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107867565A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Transformer core silicon-steel automatic docking device |
| CN109896297A (en) * | 2017-12-08 | 2019-06-18 | 泰科电子(上海)有限公司 | Automatic feeding system |
| CN109048921A (en) * | 2018-09-30 | 2018-12-21 | 南京泉峰汽车精密技术股份有限公司 | Mold insert grasping means based on robot vision identification |
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| CN110202347A (en) * | 2019-07-05 | 2019-09-06 | 湖北天华智能装备股份有限公司 | Automobile engine speed changer upper housing pressing sleeve production line conveying apparatus |
| CN112850094A (en) * | 2021-01-08 | 2021-05-28 | 山东迈宝赫健身器材有限公司 | Tray follow-up type modular automatic production line |
| CN112850094B (en) * | 2021-01-08 | 2022-06-07 | 山东迈宝赫健身器材有限公司 | Tray follow-up type modular automatic production line |
| CN113334046A (en) * | 2021-06-02 | 2021-09-03 | 亚普汽车部件股份有限公司 | Method for automatically mounting parts on mechanism |
| CN114751135A (en) * | 2022-05-13 | 2022-07-15 | 迅得机械（东莞）有限公司 | Continuous automatic conveyor for reserved station of circuit board basket |
| CN114751135B (en) * | 2022-05-13 | 2024-04-16 | 迅得机械（东莞）有限公司 | Automatic conveyer for reserved station of continuous circuit board basket |
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| CN104355110B (en) | 2016-06-08 |
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Effective date of registration: 20190717 Address after: Beiling Street in Huanggu District of Shenyang City, Liaoning Province, No. 56 110032 Patentee after: SHENYANG ZHONGZE INTELLIGENT EQUIPMENT CO., LTD. Address before: Beiling Street in Huanggu District of Shenyang City, Liaoning Province, No. 56 110032 Patentee before: Liaoning Machinery Reasearch Institute Co., Ltd. |
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