CN104552238A - Composite board automated assembly device and method of aluminum plate-fin heat exchanger - Google Patents
Composite board automated assembly device and method of aluminum plate-fin heat exchanger Download PDFInfo
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- CN104552238A CN104552238A CN201510035576.6A CN201510035576A CN104552238A CN 104552238 A CN104552238 A CN 104552238A CN 201510035576 A CN201510035576 A CN 201510035576A CN 104552238 A CN104552238 A CN 104552238A
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Abstract
Disclosed is a composite board automated assembly device and method of an aluminum plate-fin heat exchanger. The device is mainly composed of positioning rails, a telescoping and folding rod mechanism, vacuum systems, a drive system, a thickness measuring system, safety locking cylinders, suction plate mechanisms and an alarm system. The at least two positioning rails are arranged in parallel on both sides of an assembly table of a workshop. The telescoping and folding rod mechanism and a mechanical arm are respectively arranged on a door-shaped frame capable of moving on the positioning rails, the telescoping and folding rod mechanism can control the length of the mechanical arm according to composite boards of different length, the mechanical arm is provided with the plurality of stretching suction plate mechanisms respectively provided with a plurality of suction plates at the lower portion, and the suction plate mechanisms are provided with the vacuum systems in a supporting mode and locking mechanisms which are used for locking the composite boards after the suctions plates tightly suck the composite boards and composed of locking rods or plates with the safety locking cylinders. The mechanical arm is also provided with the thickness measuring system. A displacement detecting unit is arranged in the direction of the displacement of the mechanical arm. The thickness measuring system and the displacement detecting unit are connected to the alarm system respectively.
Description
Technical field
What the present invention relates to is a kind of composite plate automatic assembling apparatus and assembly method of aluminum plate-fin heat exchanger, and especially composite plate portion dress automatic charging device and method, belong to composite plate loading and unloading technical field of automation.
Background technology
Composite plate is the basic heat exchange unit in aluminum plate-fin heat exchanger, thickness 0.8 ~ 2.0mm, width 400 ~ 1500mm, length is within 8000mm, composite plate is after between cleaning Vehicle, automatic cleaning equipment cleaning arranges, stack after carrying out next procedure between neat inlet portion entrucking, be assembled into plate type heat exchanger core body.In the past, after between the entrucking of plate-fin heat exchanger composite plate inlet portion, before portion's cored body, action need 6 ~ 8 people cooperates, and upper and lower turnover panel, checks again to block composite plate, but for larger composite plate, needs manyly manually to be coordinated.When rechecking, operating process needs to be doubly cautious, and avoids knocking, touches, hinders, affect the total quality of plate type heat exchanger.After composite plate has been rechecked, drive a vehicle and hung to dress platform position, portion, carry out artificial turnover panel portion dress.
Along with sky divide, the fast development of the industry such as natural gas, petrochemical industry, physical dimension, the pressure rating of plate-fin heat exchanger significantly improve thereupon, the composite plate size of plate type heat exchanger and thickness also increase thereupon, composite plate size maximum at present reaches 2mm × 8000mm × 1400mm, soon, thickness will be increased to 3.0mm, and quality is more than 90KG.Traditional portion's packing technique, handwork not only intensity is large, and efficiency is low, has been difficult to the needs meeting suitability for industrialized production.Development aluminum plate-fin heat exchanger aluminium alloy compound plate automatic assembling apparatus, the appearance quality problems that can not only effectively prevent human factor to cause, and be conducive to the work burden alleviating workman, improve labor productivity.Meanwhile, the industrial policy of country's " machine substitution " is met.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art village, and a kind of can replace traditional artificial turnover panel, manual assembly technique are provided, composite plate is carried out turnover panel inspection, automatically located loading and unloading, realizes composite plate automatic assembling apparatus and the assembly method of the aluminum plate-fin heat exchanger of composite plate assembly automation.
Of the present inventionly to come by following technical solution, a kind of composite plate automatic assembling apparatus of aluminum plate-fin heat exchanger, it is primarily of positioning track, flexible and folding rod mechanism, vacuum system, drive system, thickness measuring system, safe locking cylinder, sucking disc mechanism and warning system formation, described positioning track has at least two to be arranged in parallel in dress both sides, platform position, workshop portion, to adapt to the simplicity in the composite plate model of different size and workshop space arrangement reasonability and manual operation process; Described flexible and folding rod mechanism and manipulator are configured on a door type frame can walked on positioning track respectively, according to different length composite plate, the length that described flexible and folding rod mechanism can carry out mechanical arm controls, to adapt to the operation requirements of different length composite plate;
Described manipulator by multiple stretching, extension, bottom is with the mechanical arm of the sucking disc mechanism be made up of multiple sucker, described sucking disc mechanism is supporting vacuum system, is also configured with locking mechanism lock composite plate after sucker sucks composite plate, that be made up of check lock lever or the plate with safe locking cylinder simultaneously;
Described manipulator is also configured with thickness measuring system, and described thickness measuring system is furnished with thickness detection apparatus; The direction of displacement separately run at manipulator arranges displacement detector, and described thickness detection apparatus and displacement detector are connected with described warning system respectively.
Positioning track of the present invention is that free-standing is arranged, and the entirety of positioning track is fixed on Y direction, and carries out controlling and moving in X-direction remote control, to adapt to operate different model, the heat exchanger matching requirements of different putting position; Described sucking disc mechanism is configured with left and right two cover vacuum system, and each sucker in described sucking disc mechanism all adopts flexibility silicon rubber suction cup and stainless steel pipeline to form;
Vacuum line in vacuum system of the present invention is furnished with vacuum checking device, and this vacuum checking device is connected to the warning system always detecting sucker vacuum; Be provided with the automatic finishing device of that be made up of four cylinders, neat composite plate on a robotic arm.
One utilizes above-mentioned composite plate automatic assembling apparatus to carry out composite plate automatic assembly method, and the method is:
A fills platform position according to portion, the length of core body portion holding position and aluminium alloy compound plate, and remote control motor is fixed manipulator by positioning track;
B regulates according to composite plate telescopic length folding rod mechanism, start two cover vacuum systems 3 to work, when vacuum system 3 negative pressure reaches requirement, vacuum warning system is removed, manipulator normally can run decline, sucker suction composite plate, rise to safe altitude, thickness measuring system 5 pairs of composite plates carry out thickness measure, highly stop if mechanical arm without exception continues to rise to 2000mm, then above the portion's of being moved horizontally to dress platform position, manipulator drops at the bottom of platform position according to numerical control order and bleeds off composite plate, and manipulator resets and carries out subsequent operation;
If composite plate thickness abnormity (when exceeding setting value) after c thickness measuring completes, manipulator warning system starts, and manipulator quits work, and opens jittering device, and the composite plate of adhesion is departed from, and detects thickness qualified, resumes work.；
In d manipulator absorbing composite plate running, warning system is detecting sucker vacuum always, if it is abnormal to find that sucker vacuum occurs, manipulator can give the alarm the very first time, stopping level and operating up and down, but vacuum system 3 can keep duty, ensures that sucker suction composite plate.
The present invention passes through autonomous Design, integrated, by each operation synthesis on dress platform position, a portion, manipulator loading and unloading of the present invention are compared with common manual operation, common manpower is lifted plate and is assembled, the composite plate of a 1.6mm × 6000mm × 1300mm at least needs 8 people, left and right 4 people carry out safe assembling, after being equipped with automatic manipulator, about portion's cored body, 2 people just can assemble by heat exchanger parts at the most, and in composite plate transport process, reduce artificial touching, so decrease the damage probability of composite plate in turnover panel process, improve the assembly precision of the core body of plate type heat exchanger, the person's of lightening one's labor labour intensity, efficiency improves more than 50%, there is high Social and economic benef@.
Accompanying drawing explanation
Fig. 1 is the structural representation of composite plate automatic assembling apparatus device of the present invention.
Fig. 2 is the flow chart of composite plate automatic assembling apparatus device of the present invention assembling composite plate.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be described in detail: Fig. 1, shown in 2, the composite plate automatic assembling apparatus of a kind of aluminum plate-fin heat exchanger of the present invention, it is primarily of positioning track 1, stretch and folding rod mechanism 2, vacuum system 3, drive system 4, thickness measuring system 5, safe locking cylinder 6, sucking disc mechanism 7 and warning system 8 are formed, it is characterized in that described positioning track 1 has at least two to be arranged in parallel in dress both sides, platform position, workshop portion, to adapt to the simplicity in the composite plate model of different size and workshop space arrangement reasonability and manual operation process, described flexible and folding rod mechanism 2 is configured on a door type frame can walked on positioning track 1 with manipulator respectively, according to different length composite plate, the length that described flexible and folding rod mechanism 2 can carry out mechanical arm controls, to adapt to the operation requirements of different length composite plate,
Described manipulator by multiple stretching, extension, bottom is with the mechanical arm of the sucking disc mechanism 7 be made up of multiple sucker, described sucking disc mechanism is supporting vacuum system 3, is also configured with locking mechanism lock composite plate after sucker sucks composite plate, that be made up of check lock lever or the plate with safe locking cylinder 6 simultaneously;
Described manipulator is also configured with thickness measuring system 5, and described thickness measuring system 5 is furnished with thickness detection apparatus; The direction of displacement separately run at manipulator arranges displacement detector, and described thickness detection apparatus and displacement detector are connected with described warning system 8 respectively.
Positioning track of the present invention is that free-standing is arranged, and the entirety of positioning track is fixed on Y direction, and carries out controlling and moving in X-direction remote control, to adapt to operate different model, the heat exchanger matching requirements of different putting position; Described sucking disc mechanism 7 is configured with left and right two cover vacuum system, and each sucker in described sucking disc mechanism all adopts flexibility silicon rubber suction cup and stainless steel pipeline to form;
Vacuum line in vacuum system 3 of the present invention is furnished with vacuum checking device, and this vacuum checking device is connected to the warning system 8 always detecting sucker vacuum; Be provided with the automatic finishing device of that be made up of four cylinders, neat composite plate on a robotic arm.
One utilizes above-mentioned composite plate automatic assembling apparatus to carry out composite plate automatic assembly method, and the method is:
A fills platform position according to portion, the length of core body portion holding position and aluminium alloy compound plate, and remote control motor is fixed manipulator by positioning track;
B regulates according to composite plate telescopic length folding rod mechanism, start two cover vacuum systems 3 to work, when vacuum system 3 negative pressure reaches requirement, vacuum warning system is removed, manipulator normally can run decline, sucker suction composite plate, rise to safe altitude, thickness measuring system 5 pairs of composite plates carry out thickness measure, highly stop if mechanical arm without exception continues to rise to 2000mm, then above the portion's of being moved horizontally to dress platform position, manipulator drops at the bottom of platform position according to numerical control order and bleeds off composite plate, and manipulator resets and carries out subsequent operation;
If composite plate thickness abnormity (when exceeding setting value) after c thickness measuring completes, manipulator warning system starts, and manipulator quits work, and opens jittering device, and the composite plate of adhesion is departed from, and detects thickness qualified, resumes work.；
In d manipulator absorbing composite plate running, warning system is detecting sucker vacuum always, if it is abnormal to find that sucker vacuum occurs, manipulator can give the alarm the very first time, stopping level and operating up and down, but vacuum system 3 can keep duty, ensures that sucker suction composite plate.
Embodiment:
Shown in Fig. 1, aluminium alloy compound plate automatic loading and unloading device between portion of the present invention entrucking, mainly includes 1. positioning track 1, flexible and folding rod mechanism 2, vacuum system 3, drive system 4, thickness measuring system 5, safe locking cylinder 6, sucking disc mechanism 7 and warning system 8 and forms.
Described composite plate automatic assembling apparatus device positioning track in order to the reasonability of the composite plate model and workshop space arrangement that adapt to different size, and considers again simplicity in manual operation process, is provided with positioning track 1.Because considering the different of composite plate width and length, robot track carries out free-standing setting, entirety is fixed on Y direction, carries out control movement in X-direction remote control and realize adaptation operation different model, the matching requirements of different putting position heat exchanger.After automatic manipulator is fixing, regulate the length of mechanical arm to adapt to the length of composite plate, it is more accurate to accomplish, meticulousr operation requirements.
Described expansion link mechanism 2 is the composite plates in order to adapt to from 3m ~ 8m length, and according to different length composite plate, the length of carrying out manipulator wall controls, and adapts to different length composite plate operation requirements.Telescopic folding linkage is made by the stainless steel of high strength, support the moment that the longer composite plate of absorption produces, simultaneously when manipulator quits work, contract hand wall, with rail moving to wall limit, reduce workshop to take up room, put space to good use to driving hanging, improve the security of plant operations.
The automatic finishing device of described composite plate automatic assembling apparatus, refers to that composite plate is by after the composite plate cleaning line of 36 meters long, after being subject to the interference of hyperacoustic vibrations and blowing, being bound to produce skew, causing the irregular of blanking piling.Development cylinder collating unit, before sucker suction blanking, suspended the conveying device short time, by the motion of four cylinders, neat composite plate, to realize the automatic assembling in later stage.
Described composite plate automatic assembling apparatus vacuum system manipulator adopts two cover vacuum systems 3, improve the security of equipment to greatest extent, development trend because of composite plate is increasing, more and more heavier, be equipped with the adsorption capacity that two cover vacuum system improves overall manipulator sucker, reach more than 15KG through the absorption affinity of testing present each sucker.Composite plate is transported in the course of the work through the operator crown, need increase its security, and the personal safety of protection operator is that gesture is indispensable.Manipulator is in the absorbing composite plate incipient stage, and carry out thickness measuring to the composite plate of rising certain altitude, when thickness measuring is without exception, manipulator normally runs, on the contrary stop alarm.
The present invention is provided with proprietary locking device, and when sucker sucks composite plate, and it is qualified to detect thickness, and during without haftplatte problem, mechanical linkage rises to can translation position, i.e. upper dead center position, and cylinder starts, and stretches out locking mechanism locked, does not decline when ensureing translation.Meanwhile, if mechanical linkage rises less than upper dead center position, program is locked, cannot translation, to ensure being perfectly safe of side personnel.
Described thickness measuring system 5 carries out Thickness sensitivity to the composite plate of manipulator sucker suction, because the composite plate phase mutual suction-operated that clean neatly and orderly stacks, in being risen by manipulator absorption, composite plate rises together with two or more composite plates sometimes, so arrange thickness measuring function at certain altitude, alert process is carried out to thickness measuring abnormal data, ensures to detect exception in safe altitude distance, in running, improve security.
Described sucking disc mechanism 7 adopts flexibility silicon rubber suction cup and stainless steel pipeline to form, and flexibility material sucker ensures, when strong adsorption composite plate, not cause the damage to composite plate, protection composite surface solder layer.High-strength stainless steel vaccum suction pipe improves the adsorption capacity of overall manipulator.
Described warning system 8 refers to that every bar vacuum line of manipulator arranges vacuum checking device, thickness measuring system 5 arranges thickness detection apparatus, the direction of displacement run at manipulator arranges displacement detector etc., once these system jam, the warning system very first time sends buzzerphone, and the every root post of manipulator is provided with scram button, when occurring unexpected, operating personnel can find rapidly anxious stopping, and press anxious stopping.In manipulator absorbing composite plate running, warning system is detecting sucker vacuum always, if it is abnormal to find that sucker vacuum occurs, manipulator can give the alarm the very first time, stopping level and operating up and down, but vacuum system can keep duty, ensures that sucker suction composite plate.
Composite plate automatic assembling apparatus of the present invention to the method that aluminium alloy compound plate assembles is: according to dress platform position, portion, the length of core body portion holding position and aluminium alloy compound plate, remote control motor is fixed manipulator by positioning track.According to composite plate telescopic length folding rod, mechanism regulates; start two cover vacuum systems 3 to work; when vacuum system negative pressure reaches requirement; vacuum warning system is removed; manipulator normally can run decline; sucker suction composite plate; rise to safe altitude thickness measuring system 5 pairs of composite plates and carry out thickness measure; highly stop if mechanical arm without exception continues to rise to 2000mm; then above the portion's of being moved horizontally to dress platform position; manipulator drops at the bottom of platform position according to numerical control order and bleeds off composite plate, and manipulator resets and carries out subsequent operation.If composite plate thickness abnormity (when exceeding setting value) after thickness measuring completes, manipulator warning system starts, and manipulator quits work, and opens jittering device, and the composite plate of adhesion is departed from, and detects thickness qualified, resumes work.In manipulator absorbing composite plate running, warning system is detecting sucker vacuum always, if it is abnormal to find that sucker vacuum occurs, manipulator can give the alarm the very first time, stopping level and operating up and down, but vacuum system 3 can keep duty, ensures that sucker suction composite plate.
Composite plate automatic assembling apparatus device can run automatically, does not need manual monitoring.
As shown in Figure 2, composite plate is firmly fixed on mechanical arm by sucking disc mechanism assemble flow by the present invention, is done up and down and move horizontally by mechanical arm, by dress platform position, the composite plate portion of being precisely positioned on.In overall process, the warning system abnormal data of inspecting manipuator in running always of automatic manipulator, ensure whole system security of operation and accurately, whole process is carried out repeatedly, install into until set the whole portion of composite plate number, whole composite plate automatic assembling apparatus device end of operation.
Claims (4)
1. the composite plate automatic assembling apparatus of an aluminum plate-fin heat exchanger, it is primarily of positioning track (1), flexible and folding rod mechanism (2), vacuum system (3), drive system (4), thickness measuring system (5), safe locking cylinder (6), sucking disc mechanism (7) and warning system (8) formation, it is characterized in that described positioning track (1) has at least two to be arranged in parallel in dress both sides, platform position, workshop portion, to adapt to the simplicity in the composite plate model of different size and workshop space arrangement reasonability and manual operation process; Described flexible and folding rod mechanism (2) is configured on a door type frame can walked on positioning track (1) with manipulator respectively, according to different length composite plate, the length that described flexible and folding rod mechanism (2) can carry out mechanical arm controls, to adapt to the operation requirements of different length composite plate;
Described manipulator by multiple stretching, extension, bottom is with the mechanical arm of the sucking disc mechanism be made up of multiple sucker (7), described sucking disc mechanism is supporting vacuum system (3), is also configured with locking mechanism lock composite plate after sucker sucks composite plate, that be made up of check lock lever or the plate with safe locking cylinder (6) simultaneously;
Described manipulator is also configured with thickness measuring system (5), and described thickness measuring system (5) is furnished with thickness detection apparatus; The direction of displacement separately run at manipulator arranges displacement detector, and described thickness detection apparatus and displacement detector are connected with described warning system (8) respectively.
2. the composite plate automatic assembling apparatus of aluminum plate-fin heat exchanger according to claim 1, it is characterized in that described positioning track is that free-standing is arranged, the entirety of positioning track is fixed on Y direction, and carry out controlling and moving in X-direction remote control, to adapt to operate different model, the heat exchanger matching requirements of different putting position; Described sucking disc mechanism (7) is configured with left and right two cover vacuum system, and each sucker in described sucking disc mechanism all adopts flexibility silicon rubber suction cup and stainless steel pipeline to form.
3. the composite plate automatic assembling apparatus of aluminum plate-fin heat exchanger according to claim 1 and 2, it is characterized in that the vacuum line in described vacuum system (3) is furnished with vacuum checking device, this vacuum checking device is connected to the warning system (8) always detecting sucker vacuum; Be provided with the automatic finishing device of that be made up of four cylinders, neat composite plate on a robotic arm.
4. utilize composite plate automatic assembling apparatus described in claim 1 or 2 or 3 to carry out a composite plate automatic assembly method, it is characterized in that the method is:
A fills platform position according to portion, the length of core body portion holding position and aluminium alloy compound plate, and remote control motor is fixed manipulator by positioning track;
B regulates according to composite plate telescopic length folding rod mechanism, start two cover vacuum systems 3 to work, when vacuum system 3 negative pressure reaches requirement, vacuum warning system is removed, manipulator normally can run decline, sucker suction composite plate, rise to safe altitude, thickness measuring system 5 pairs of composite plates carry out thickness measure, highly stop if mechanical arm without exception continues to rise to 2000mm, then above the portion's of being moved horizontally to dress platform position, manipulator drops at the bottom of platform position according to numerical control order and bleeds off composite plate, and manipulator resets and carries out subsequent operation;
If composite plate thickness abnormity after c thickness measuring completes, when namely exceeding setting value, manipulator warning system starts, and manipulator quits work, and opens jittering device, and the composite plate of adhesion is departed from, and detects thickness qualified, resumes work;
In d manipulator absorbing composite plate running, warning system is detecting sucker vacuum always, if it is abnormal to find that sucker vacuum occurs, manipulator can give the alarm the very first time, stopping level and operating up and down, but vacuum system 3 can keep duty, ensures that sucker suction composite plate.
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| CN201510035576.6A CN104552238B (en) | 2015-01-23 | 2015-01-23 | The composite plate automatic assembling apparatus of a kind of aluminum plate-fin heat exchanger and assembly method |
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| CN201510035576.6A CN104552238B (en) | 2015-01-23 | 2015-01-23 | The composite plate automatic assembling apparatus of a kind of aluminum plate-fin heat exchanger and assembly method |
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| CN104552238B CN104552238B (en) | 2016-08-24 |
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Cited By (3)
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| CN105965421A (en) * | 2016-07-13 | 2016-09-28 | 丘斯波 | Vacuum clamping system |
| CN108168486A (en) * | 2017-11-29 | 2018-06-15 | 深圳国创名厨商用设备制造有限公司南海分公司 | A kind of panel thickness detection device |
| CN108163259A (en) * | 2018-01-17 | 2018-06-15 | 中山市瑞福达触控显示技术有限公司 | Patch machine is taped and easily torn to a kind of easily tear |
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|---|---|
| CN104552238B (en) | 2016-08-24 |
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