CN104669288A - Unordered automatic pipe grabbing and inserting manipulator for small U-shaped pipes of fin assembly - Google Patents
Unordered automatic pipe grabbing and inserting manipulator for small U-shaped pipes of fin assembly Download PDFInfo
- Publication number
- CN104669288A CN104669288A CN201510056182.9A CN201510056182A CN104669288A CN 104669288 A CN104669288 A CN 104669288A CN 201510056182 A CN201510056182 A CN 201510056182A CN 104669288 A CN104669288 A CN 104669288A
- Authority
- CN
- China
- Prior art keywords
- little
- shaped
- shaped pipe
- arc groove
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an unordered automatic pipe grabbing and inserting manipulator for small U-shaped pipes of a fin assembly. The unordered automatic pipe grabbing and inserting manipulator comprises a body (1), two clamping fingers (2) and two lifting fingers (3), the top end of the body is connected with the tail end of a mechanical arm (4) through a mounting seat (11), a C coordinate rotating mechanism is arranged in the mounting seat, arc-shaped grooves I (11) and arc-shaped grooves II (21) matched with outer diameter and U-shaped radian size of the small U-shaped pipes are formed in the bottom end face of the body and the inner side faces of the clamping fingers respectively, a position sensor and a distance sensor are arranged on the body, the clamping fingers and the lifting fingers are arranged in a mutually perpendicular manner and connected with a transmission connection mechanism respectively, and distance size from the upper surface of the finger end of each lifting finger to the groove bottom of the corresponding arc-shaped groove I is matched with diameter size of each small U-shaped pipe. The unordered automatic pipe grabbing and inserting manipulator can realize automated operation, influence, on production progress, of human factors can be lowered, and product quality in the pipe inserting process can be guaranteed.
Description
Technical field
The present invention relates to a kind of fin assembly and automatically grab cannula manipulator, specifically a kind of be applicable to air-conditioner radiator, condenser fin assembly intubate operation fin assembly little U-shaped pipe unorderedly automatically grab cannula manipulator, belong to air-conditioning manufacturing technology field.
Background technology
Usually needing the heat-exchanger rig surface of carrying out heat trnasfer by increasing the stronger sheet metal of thermal conductivity, increase the heat transfer sheet area of heat-exchanger rig, improve heat exchange efficiency, the sheet metal with this function is referred to as fin.
Have two main heat exchanger in air-conditioner, i.e. radiator and condenser, the side working media of this two large heat exchanger is cold-producing medium, opposite side is air, in order to the heat transfer of enhanced heat exchange device, generally take compact Layout heat exchange area in air side, air-conditioner adopts compact fin-tube type heat exchanger mostly.
The fin of compact fin-tube type heat exchanger is generally provided with multiple can with the installing hole of copper pipe major diameter fit, manufacturing process is generally first by fin punch forming, then will grow " U " type copper pipe and penetrate installing hole on multiple fin side by side, finally carry out expand tube in the openend growing " U " type copper pipe, long " U " type copper pipe inside is grafting weld little " U " type copper pipe and be communicated with successively by each long " U " type copper pipe again after drying, and is about to all long " U " type copper pipes and is communicated with into a passage.
Current air-conditioner manufacturer still adopts manual work in a large number in the fin assembly intubate operation of radiator and condenser, the fin assembly pipe end to be inserted being about to good long " U " type copper pipe of string upwards moves up on working position apparatus frame or on streamline conveyer belt, then artificial each length " U " the type copper pipe End little " U " type copper pipe in container in bulk being plugged on one by one fin assembly, completes the fin assembly after artificial intubate and enters next procedure again.
There is following defect in this traditional mode of production:
1. manually carry out intubation owing to adopting, therefore the impact of human factor on manufacturing schedule such as operating personnel's sense of responsibility, mood is larger, and due to front road expand tube operation be undertaken by electric tube expander, efficiency is higher, therefore for meeting normally carrying out of follow-up oven dry welding sequence, often need to arrange many people and carry out artificial intubate operation, labor intensity of operating staff is large, efficiency is low;
2. although front road expand tube operation, rear road are dried welding sequence and are realized automation mechanized operation, but intubate operation still adopts manual operation, therefore often the situation that preceding working procedure accumulates too many output, later process holds up work for lack of material is caused because personnel placement is unreasonable, automation degree of equipment is low, utilization rate of equipment and installations is low, and production capacity can not ensure;
3., because intubate operation adopts manual operation, therefore require higher to the technical ability of operating personnel and qualification, the skilled operation degree of multiple operating personnel is uneven is also affecting manufacturing schedule in varying degrees, and easily causes unstable product quality.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides that a kind of fin assembly little U-shaped pipe is unordered grabs cannula manipulator automatically, can automation mechanized operation be realized, reduce human factor to the impact of manufacturing schedule, production efficiency is high, can ensure the product quality of intubate operation simultaneously.
To achieve these goals, this fin assembly little U-shaped pipe is unordered grabs that cannula manipulator comprises body, gripping refers to and hold in the palm fetching automatically;
The top of described body is connected by the end of mount pad with the mechanical arm with X-coordinate driving mechanism, Y-coordinate driving mechanism and Z coordinate driving mechanism, C CORDIC structure is provided with in mount pad, C CORDIC structure is electrically connected with the industrial control computer of electric control gear, the width dimensions of the bottom of body is less than the outer end width size of the U-shaped opening of little U-shaped pipe, and the bottom face of body is provided with the arc groove I with the pipe external diameter of little U-shaped pipe and U-shaped radian dimensional fits, and body is also provided with position sensor and range sensor;
Described gripping refers to be set to two pieces, the symmetrical center line of the symmetrical arc groove I in body arranges and is connected with body by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism, transmission connecting mechanism one end that gripping refers to is connected with body, the other end is connected to gripping and refers to, gripping refers to be provided with towards the medial surface of the arc groove I of body the arc groove II coordinated with the pipe outside dimension of little U-shaped pipe, and arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe jointly;
L-shaped or the arc of described holder fetching, be set to two pieces, front and back are symmetrical in arc groove I setting of body, holder fetching top is articulated and connected in body, finger tip vertical direction is towards arc groove I, holder fetching is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching is connected with holder fetching, the other end is connected with body, holder fetching finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe towards the surface of arc groove I, arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe.
Scheme as a further improvement on the present invention, also comprises A CORDIC structure or B CORDIC structure in described mount pad, A CORDIC structure or B CORDIC structure are electrically connected with the industrial control computer of electric control gear.
Scheme as a further improvement on the present invention, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching.
As preferred version of the present invention, described guiding mechanism is guide chute structure.
As preferred version of the present invention, described gripping refers to and asks the transmission connecting mechanism of fetching to be cylinder.
Compared with prior art, the unordered cannula manipulator of automatically grabbing of this fin assembly little U-shaped pipe captures and grafting little U-shaped pipe owing to adopting manipulator, substitute artificial intubate, the labour intensity of operating personnel can be reduced, and first snapping into setting size by programme-control holder fetching, the U-shaped top of little U-shaped pipe snaps between two holder fetchings actively, little U-shaped pipe acts on by self gravitation in the process of manipulator lifting and hangs down to U-shaped top upwards under the draw of two holder fetchings, the vertical state that two ports are downward, ensure that unordered crawl, orderly location intubate, capture with intubate efficiency higher, can arrange one or more manipulator according to AOF calculation to capture simultaneously and meet need of production with intubate, automation degree of equipment is high, and utilization rate of equipment and installations is high, this manipulator runs according to the program set, and can evade the impact of human factor on manufacturing schedule completely, and then realizes ensureing product quality, because this manipulator can also arrange A CORDIC structure or B CORDIC structure coordinate control as required, therefore manipulator can be made to realize self-adapting grasping and the little U-shaped pipe of grafting according to program setting, the precise manipulation of fin assembly in the process of intubate is ensured while realizing automation, prevent quality accident, ensure product quality.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure schematic diagram of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is the left view of Fig. 2.
In figure: 1, body, 11, mount pad, 12, arc groove I, 2, gripping refer to, 21, arc groove II, 3, holder fetching, 4, mechanical arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figure 1 to Figure 3, this fin assembly little U-shaped pipe is unordered grabs that cannula manipulator comprises body 1 automatically, gripping refer to 2 and holder fetching 3 (describe with left and right horizontal direction as X-coordinate below, with front and back horizontal direction for Y-coordinate, take vertical direction as Z coordinate, with the direction rotated for rotating shaft along left and right horizontal axis for A coordinate, with the direction rotated for rotating shaft along anterior-posterior horizontal axis for B coordinate, with the direction rotated for rotating shaft along vertical axis for C coordinate).
The top of described body 1 is by mount pad 11 and with X-coordinate driving mechanism, Y-coordinate driving mechanism is connected with the end of the mechanical arm 4 of Z coordinate driving mechanism, C CORDIC structure is provided with in mount pad 11, C CORDIC structure is electrically connected with the industrial control computer of electric control gear, body 1 can be rotate freely within the scope of 360 °, rotating shaft and locate along the vertical axis in mount pad 11, the width dimensions of body 1 bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe, and body 1 bottom face is provided with the arc groove I 12 with the pipe external diameter of little U-shaped pipe and U-shaped radian dimensional fits, the U-shaped top of little U-shaped pipe can snap in arc groove I 12, body 1 is also provided with position sensor and range sensor.
Described gripping refers to that 2 are set to two pieces, the symmetrical symmetrical center line in body 1 arc groove I 12 is arranged, and be connected with body 1 by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism on 2, gripping refers to that transmission connecting mechanism one end of 2 is connected with body 1, the other end is connected to gripping and refers on 2, gripping refers to that 2 can be slided up and down on body 1 by transmission connecting mechanism and guiding mechanism, gripping refers to that 2 are provided with towards the medial surface of body 1 arc groove I 12 arc groove II 21 coordinated with the pipe outside dimension of little U-shaped pipe, gripping refers to that 2 when gripping state, arc groove I 12 and arc groove II 21 surround the portion profile on the U-shaped top of little U-shaped pipe jointly.
L-shaped or the arc of described holder fetching 3, be set to two pieces, front and back are symmetrical in body 1 arc groove I 12 and arrange, holder fetching 3 top is articulated and connected in body 1, finger tip vertical direction is towards arc groove I 12, holder fetching 3 is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching 3 is connected with holder fetching 3, the other end is connected with body 1, holder fetching 3 can by transmission connecting mechanism around its interface point Unscrew or closedown, holder fetching 3 finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe towards the surface of arc groove I 12, arcuate structure coordinates to the distance size of the bottom land of arc groove I 12 with the pipe diameter dimension of little U-shaped pipe, during i.e. gripping state, holder fetching 3 can hold the U-shaped end medial surface of little U-shaped pipe towards the surface of arc groove I 12.
The unordered operation principle of automatically grabbing cannula manipulator of this fin assembly little U-shaped pipe: mechanical arm 4 is arranged near intubate streamline, station is parked in little U-shaped pipe bearing tray 6 setting rested near mechanical arm 4 of fully loaded little U-shaped pipe in bulk, when gone here and there long U-shaped pipe until intubate fin assembly intubate end upwards in intubate flow line stations by transmission crawler-tread to desired location and locate time, the unordered cannula unit of automatically grabbing of little U-shaped pipe is started working, the unordered position sensor feedback of automatically grabbing on cannula manipulator body 1 of this fin assembly little U-shaped pipe, pattern-recognition, location captures the little U-shaped pipe in little U-shaped pipe bearing tray 6, the catheter position of setting is moved to after crawl, to accurate location, intubate is carried out by position sensor feedback automatic fine tuning joint, after intubate completes, the unordered cannula manipulator of automatically grabbing of this fin assembly little U-shaped pipe opens, namely the grafting of first little U-shaped pipe is completed, by that analogy, after intubate fin assembly all completes intubate, transmit crawler belt and receive instruction, carry intubate fin assembly to circulate toward next procedure.
When system does not start (during zero position), manipulator is positioned at directly over intubate streamline, is in the dead state of opening, and namely gripping refers to that 2 are all in the position of the arc groove I 12 away from body 1 with holder fetching 3;
When be transferred into until intubate fin assembly desired location and location after, electric power loop starts starts working, the X-coordinate driving mechanism of industrial control computer controller mechanical arm 4, Y-coordinate driving mechanism and the action of Z coordinate driving mechanism, mechanical arm 4 moves according to preset program and coordinates computed action, manipulator is made to be positioned at directly over little U-shaped pipe bearing tray 6, pattern-recognition loop starts, industrial control computer is according to the positional information calculation coordinate of the position sensor feedback on manipulator and send instruction after catching the U-shaped apical position information of little U-shaped pipe and make mechanical arm 4 and C coordinate driving mechanism continue action, manipulator 2 is positioned at mutual grafting does not occur, directly over first little U-shaped pipe that the coordinate of rhampotheca phenomenon sets at random, and the arc groove I 12 of body 1 is just to the U-shaped top of first little U-shaped pipe, counting circuit is synchronously started working,
Industrial control computer continues to send the Z coordinate driving mechanism work that instruction makes mechanical arm 4, make manipulator near first little U-shaped pipe, when the range sensor feedback information on body 1 is setpoint distance, little U-shaped pipe captures loop starts, industrial control computer controls the transmission connecting mechanism action of holder fetching 3, two are made to ask fetching 3 to snap into setting size, namely two holder fetchings 3 do not engage completely, leave gap, and the U-shaped top of first little U-shaped pipe is connected between two holder fetchings 3 actively, industrial control computer sends the Z coordinate driving mechanism work that instruction makes mechanical arm 4 simultaneously, manipulator is made to be promoted to setpoint distance, now, first little U-shaped pipe under the draw of two holder fetchings 3, depart from little U-shaped pipe bearing tray 6 and because of self gravitation act in the process that manipulator promotes hang down to U-shaped top upwards, the downward vertical state of two ports, after manipulator is promoted to setpoint distance, industrial control computer controls the transmission connecting mechanism action of holder fetching 3, two are made to ask fetching 3 to engage completely, namely the U-shaped top of first little U-shaped pipe snaps in the arc groove I 12 of body 1, industrial control computer controls the transmission connecting mechanism action that gripping refers to 2 simultaneously, two grippings are referred to, and 2 slide down to setpoint distance by guiding mechanism and first little U-shaped pipe is fitted simultaneously on body 1, now first little U-shaped pipe is namely in X-coordinate, respectively by arc groove I 12 on Y-coordinate and Z coordinate direction, arc groove II 21 is spacing towards the surface of arc groove I 12 with holder fetching 3, be positioned on manipulator, complete crawl,
After crawl, industrial control computer controller mechanical arm 4 gets back to zero position, now intubate fin assembly just treated by first little U-shaped pipe, intubate control loop is started working, industrial control computer is according to setting program coordinates computed and send instruction that mechanical arm 4 is continued is mobile, manipulator is made to be positioned at directly over first plug-in mounting position for the treatment of intubate fin assembly of setting coordinate, position sensor on manipulator catches the positional information of first plug-in mounting position, the i.e. centre coordinate information of first plug-in mounting position, industrial control computer is according to the positional information controller mechanical arm 4 fine motion adjustment location of feedback, then industrial control computer continues to send the Z coordinate driving mechanism work that instruction makes mechanical arm 4, manipulator Vertical dimension first plug-in mounting position is moved, when the range sensor feedback information on manipulator is to setpoint distance, namely first little U-shaped pipe inserts first plug-in mounting position and to set depth, industrial control computer controls the transmission connecting mechanism action of asking the transmission connecting mechanism of fetching 3 and gripping to refer to 2, two are made to ask fetching 3 to be flared to zero position, two grippings refer to 2 by guiding mechanism on body 1 upward sliding to zero position, namely first little U-shaped pipe depart from manipulator, industrial control computer controller mechanical arm 4 gets back to zero position, complete the catheterization procedure of first little U-shaped pipe, by that analogy, until complete the catheterization procedure of the little U-shaped pipe of last part treated on intubate fin assembly, then transmit crawler belt and receive instruction setting in motion, carry intubate fin assembly to circulate toward next procedure.
The position of the little U-shaped pipe of usual fin assembly grafting is level, for adding the unordered scope of application of automatically grabbing cannula manipulator of university degree fin assembly little U-shaped pipe further, make this automatic intubation unit also can be applicable equally to non-level plug-in position, as improvement project of the present invention, A CORDIC structure or B CORDIC structure is also comprised in described mount pad 11, mount pad 11 can be rotate freely within the scope of rotating shaft rotates ± 90 ° and locate along horizontal axis, A CORDIC structure or B CORDIC structure are electrically connected with the industrial control computer of electric control gear, when the position non-horizontal of the little U-shaped pipe of fin assembly grafting, industrial control computer can drive A CORDIC structure or B CORDIC structure to make manipulator turn to the set angle of program before intubate, and then catch catheter position by position sensor, the free degree that A CORDIC structure or B CORDIC structure increase crawl equally in the process capturing little U-shaped pipe is set.
In order to ensure little U-shaped pipe acted on by self gravitation smoothly under the draw of two holder fetchings 3 in the process that manipulator promotes hang down to U-shaped top upwards, the downward vertical state of two ports, the contact area of holder fetching 3 finger tip towards the U-loop inner face of the surface of arc groove I 12 and little U-shaped pipe should be reduced as far as possible, scheme as a further improvement on the present invention, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching 3.
Described gripping refers to that the guiding mechanism between 2 and body 1 can adopt guide chute structure, also pilot sleeve structure can be adopted, processing and fabricating is convenient to owing to adopting guide chute structure, and be convenient to transmission connecting mechanism is installed, therefore preferably sliding groove structure is adopted, that is, as preferred version of the present invention, described guiding mechanism is guide chute structure.
Described gripping refers to that 2 can adopt hydraulic jack with the transmission connecting mechanism of holder fetching 3, also cylinder can be adopted, or adopt pure mechanical transmission mechanism, due to according to hydraulic jack, fuel tank and pump, Fa Deng mechanism must be added, structure is more complicated, according to pure mechanical transmission mechanism, volume can comparatively both bulk, and in fin assembly workshop, source of the gas enriches, and pneumatic control movement response is rapid, therefore preferably pneumatic control, that is, as preferred version of the present invention, described gripping refer to 2 and holder fetching 23 transmission connecting mechanism be cylinder.
The unordered cannula manipulator of automatically grabbing of this fin assembly little U-shaped pipe is Digital Control unit, can realize concentrating digital management with the number bus seamless link of factory.
The unordered cannula manipulator of automatically grabbing of this fin assembly little U-shaped pipe captures and grafting little U-shaped pipe owing to adopting manipulator, substitute artificial intubate, the labour intensity of operating personnel can be reduced, and first snapping into setting size by programme-control holder fetching 3, the U-shaped top of little U-shaped pipe snaps between two holder fetchings 3 actively, little U-shaped pipe acts on by self gravitation in the process of manipulator lifting and hangs down to U-shaped top upwards under the draw of two holder fetchings 3, the vertical state that two ports are downward, ensure that unordered crawl, orderly location intubate, capture with intubate efficiency higher, can arrange one or more manipulator according to AOF calculation to capture simultaneously and meet need of production with intubate, automation degree of equipment is high, and utilization rate of equipment and installations is high, this manipulator runs according to the program set, and can evade the impact of human factor on manufacturing schedule completely, and then realizes ensureing product quality, because this manipulator can also arrange A CORDIC structure or B CORDIC structure coordinate control as required, therefore manipulator can be made to realize self-adapting grasping and the little U-shaped pipe of grafting according to program setting, the precise manipulation of fin assembly in the process of intubate is ensured while realizing automation, prevent quality accident, ensure product quality.
Claims (5)
1. fin assembly little U-shaped pipe is unordered grabs a cannula manipulator automatically, it is characterized in that, comprise body 1, gripping refer to 2 and holder fetching 3;
The top of body (1) is by mount pad (11) and with X-coordinate driving mechanism, Y-coordinate driving mechanism is connected with the end of the mechanical arm (4) of Z coordinate driving mechanism, C CORDIC structure is provided with in mount pad (11), C CORDIC structure is electrically connected with the industrial control computer of electric control gear, the width dimensions of the bottom of body (1) is less than the outer end width size of the U-shaped opening of little U-shaped pipe, and the bottom face of body (1) is provided with the arc groove I (12) with the pipe external diameter of little U-shaped pipe and U-shaped radian dimensional fits, (1) is also provided with position sensor and range sensor to body,
Gripping refers to, and (2) are set to two pieces, the symmetrical center line of the symmetrical arc groove I (12) in body (1) is arranged, and be connected with body (1) by guiding mechanism is symmetrical respectively, transmission connecting mechanism is provided with on gripping refers to (2), transmission connecting mechanism one end that gripping refers to (2) is connected with body (1), the other end is connected to gripping and refers on (2), gripping refers to (2) is provided with towards the medial surface of the arc groove I (12) of body (1) arc groove II (21) coordinated with the pipe outside dimension of little U-shaped pipe, arc groove I (12) and arc groove II (21) surround the portion profile on the U-shaped top of little U-shaped pipe jointly,
Holder fetching (3) L-shaped or arc, be set to two pieces, the arc groove I (12) that front and back are symmetrical in body (1) is arranged, holder fetching (3) top is articulated and connected in body (1), finger tip vertical direction is towards arc groove I (12), holder fetching (3) is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching (3) is connected with holder fetching (3), the other end is connected with body (1), holder fetching (3) finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe towards the surface of arc groove I (12), arcuate structure coordinates to the distance size of the bottom land of arc groove I (12) with the pipe diameter dimension of little U-shaped pipe.
2. fin assembly according to claim 1 little U-shaped pipe is unordered grabs cannula manipulator automatically, it is characterized in that, also comprise A CORDIC structure or B CORDIC structure in described mount pad (11), A CORDIC structure or B CORDIC structure are electrically connected with the industrial control computer of electric control gear.
3. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula manipulator automatically, it is characterized in that, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching (3).
4. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula manipulator automatically, and it is characterized in that, described guiding mechanism is guide chute structure.
5. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula manipulator automatically, it is characterized in that, described gripping refers to that the transmission connecting mechanism of (2) and holder fetching (3) is cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510056182.9A CN104669288B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube of fin assembly is unordered to grab cannula manipulator automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510056182.9A CN104669288B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube of fin assembly is unordered to grab cannula manipulator automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669288A true CN104669288A (en) | 2015-06-03 |
| CN104669288B CN104669288B (en) | 2018-11-13 |
Family
ID=53305131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510056182.9A Active CN104669288B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube of fin assembly is unordered to grab cannula manipulator automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104669288B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150201A (en) * | 2015-09-21 | 2015-12-16 | 徐州德坤电气科技有限公司 | Manipulator for grabbing and piling up fin assemblies |
| CN105215649A (en) * | 2015-10-20 | 2016-01-06 | 武汉德丰自动化控制有限公司 | On-line automatic slotting U guard system |
| CN107054728A (en) * | 2016-11-28 | 2017-08-18 | 浙江理工大学 | A kind of 3 points of hooks modus ponens medical infusion lines automatic fetching device |
| CN108687502A (en) * | 2018-07-16 | 2018-10-23 | 华普电子（常熟）有限公司 | A kind of automatic inserting equipment for U-tube |
| CN109290761A (en) * | 2018-10-22 | 2019-02-01 | 深圳市强瑞电子有限公司 | Air-conditioning condenser inserts U pipe automatically and assembles equipment |
| CN111844094A (en) * | 2020-07-22 | 2020-10-30 | 深圳航天科技创新研究院 | Hard disk clamp holder |
| CN112027689A (en) * | 2020-09-16 | 2020-12-04 | 深圳市金环宇电线电缆有限公司 | Coiled wire stacking robot and automatic stacking method |
| CN112643605A (en) * | 2020-12-10 | 2021-04-13 | 盐城联泰机械有限责任公司 | Automatic inserting device for engine radiator fins |
| CN112959018A (en) * | 2021-02-02 | 2021-06-15 | 苏州浩德自动化设备有限公司 | Get material subassembly and assembly quality |
| CN116214476A (en) * | 2023-05-09 | 2023-06-06 | 盐城漫澜信息科技服务有限公司 | Artificial intelligence scientific and technological information acquisition robot and method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0929675A (en) * | 1995-07-23 | 1997-02-04 | Kawasaki Heavy Ind Ltd | Gripper having positioning part |
| US20060290153A1 (en) * | 2003-02-28 | 2006-12-28 | E.C.L. | Handling gipper for an electrolysis cell service machine for the production of aluminium |
| CN101019485A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of strobile picking robot and its control method |
| CN101219539A (en) * | 2008-01-24 | 2008-07-16 | 上海微电子装备有限公司 | Clamp device with adjustable manipulator angle |
| WO2010003551A1 (en) * | 2008-07-10 | 2010-01-14 | Khs Ag | Method and device for handling containers |
| KR20120105669A (en) * | 2011-03-16 | 2012-09-26 | 주식회사 로보스타 | Edge grip type pre-aligner |
| CN103056887A (en) * | 2013-01-17 | 2013-04-24 | 苏州大学 | Multi-finger micro-gripper |
| CN103072142A (en) * | 2012-12-26 | 2013-05-01 | 西北工业大学 | Space rope catching and locking device |
| CN203254224U (en) * | 2013-01-31 | 2013-10-30 | 深圳深蓝精机有限公司 | Overturn transporting mechanism and loading equipment |
| CN203510238U (en) * | 2013-09-30 | 2014-04-02 | 深圳雷柏科技股份有限公司 | Four-side clamping mechanism |
| CN103707297A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Part suction mechanism |
| CN204566151U (en) * | 2015-02-03 | 2015-08-19 | 徐州德坤电气科技有限公司 | Fin assembly little U-shaped pipe is unordered grabs cannula manipulator automatically |
-
2015
- 2015-02-03 CN CN201510056182.9A patent/CN104669288B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0929675A (en) * | 1995-07-23 | 1997-02-04 | Kawasaki Heavy Ind Ltd | Gripper having positioning part |
| US20060290153A1 (en) * | 2003-02-28 | 2006-12-28 | E.C.L. | Handling gipper for an electrolysis cell service machine for the production of aluminium |
| CN101019485A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of strobile picking robot and its control method |
| CN101219539A (en) * | 2008-01-24 | 2008-07-16 | 上海微电子装备有限公司 | Clamp device with adjustable manipulator angle |
| WO2010003551A1 (en) * | 2008-07-10 | 2010-01-14 | Khs Ag | Method and device for handling containers |
| KR20120105669A (en) * | 2011-03-16 | 2012-09-26 | 주식회사 로보스타 | Edge grip type pre-aligner |
| CN103072142A (en) * | 2012-12-26 | 2013-05-01 | 西北工业大学 | Space rope catching and locking device |
| CN103056887A (en) * | 2013-01-17 | 2013-04-24 | 苏州大学 | Multi-finger micro-gripper |
| CN203254224U (en) * | 2013-01-31 | 2013-10-30 | 深圳深蓝精机有限公司 | Overturn transporting mechanism and loading equipment |
| CN203510238U (en) * | 2013-09-30 | 2014-04-02 | 深圳雷柏科技股份有限公司 | Four-side clamping mechanism |
| CN103707297A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Part suction mechanism |
| CN204566151U (en) * | 2015-02-03 | 2015-08-19 | 徐州德坤电气科技有限公司 | Fin assembly little U-shaped pipe is unordered grabs cannula manipulator automatically |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150201A (en) * | 2015-09-21 | 2015-12-16 | 徐州德坤电气科技有限公司 | Manipulator for grabbing and piling up fin assemblies |
| CN105150201B (en) * | 2015-09-21 | 2023-08-04 | 徐州德坤电气科技有限公司 | Grabbing and stacking manipulator for fin assembly |
| CN105215649A (en) * | 2015-10-20 | 2016-01-06 | 武汉德丰自动化控制有限公司 | On-line automatic slotting U guard system |
| CN107054728A (en) * | 2016-11-28 | 2017-08-18 | 浙江理工大学 | A kind of 3 points of hooks modus ponens medical infusion lines automatic fetching device |
| CN108687502A (en) * | 2018-07-16 | 2018-10-23 | 华普电子（常熟）有限公司 | A kind of automatic inserting equipment for U-tube |
| CN109290761A (en) * | 2018-10-22 | 2019-02-01 | 深圳市强瑞电子有限公司 | Air-conditioning condenser inserts U pipe automatically and assembles equipment |
| CN109290761B (en) * | 2018-10-22 | 2023-10-31 | 深圳市强瑞电子有限公司 | Automatic U pipe inserting assembly equipment for air conditioner condenser |
| CN111844094B (en) * | 2020-07-22 | 2022-03-15 | 深圳航天科技创新研究院 | Hard disk clamp holder |
| CN111844094A (en) * | 2020-07-22 | 2020-10-30 | 深圳航天科技创新研究院 | Hard disk clamp holder |
| CN112027689A (en) * | 2020-09-16 | 2020-12-04 | 深圳市金环宇电线电缆有限公司 | Coiled wire stacking robot and automatic stacking method |
| CN112643605A (en) * | 2020-12-10 | 2021-04-13 | 盐城联泰机械有限责任公司 | Automatic inserting device for engine radiator fins |
| CN112959018A (en) * | 2021-02-02 | 2021-06-15 | 苏州浩德自动化设备有限公司 | Get material subassembly and assembly quality |
| CN116214476A (en) * | 2023-05-09 | 2023-06-06 | 盐城漫澜信息科技服务有限公司 | Artificial intelligence scientific and technological information acquisition robot and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104669288B (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104669288A (en) | Unordered automatic pipe grabbing and inserting manipulator for small U-shaped pipes of fin assembly | |
| CN104668931A (en) | Unordered automatic pipe grabbing and inserting system for small U-shaped pipes of fin assembly | |
| CN104668930A (en) | Digital-bus-based automatic small-U-shaped-pipe inserting system of fin assembly | |
| JP6303069B2 (en) | Automatic pipe expansion system for air conditioning fin assembly based on digital bus | |
| CN104670912A (en) | Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system | |
| CN204565547U (en) | Based on the fin assembly little U-shaped pipe automatic intubation unit of number bus | |
| CN104148533B (en) | A kind of full-automatic tube expansion system of fin assembly copper pipe mouth based on number bus | |
| CN204473895U (en) | Based on the fin assembly intubate welding sequence code fetch unit of number bus | |
| CN104690528A (en) | Disordered automatic tube grabbing and inserting unit for small U-shaped tubes of fin assembly | |
| CN104670911A (en) | Digital-bus-based small-U-shaped-pipe grabbing and sequential stacking unit | |
| CN204565546U (en) | Fin assembly little U-shaped pipe is unordered grabs cannula system automatically | |
| CN104669253A (en) | Capturing and inserting manipulator for small U-shaped tubes of fin assembly on basis of digital bus | |
| CN204565545U (en) | Fin assembly little U-shaped pipe is unordered grabs cannula unit automatically | |
| CN204566151U (en) | Fin assembly little U-shaped pipe is unordered grabs cannula manipulator automatically | |
| CN204689149U (en) | Little U-shaped pipe based on number bus captures order code place system | |
| CN204566128U (en) | The little U-shaped pipe of fin assembly based on number bus captures intubate manipulator | |
| CN104708300A (en) | Automatic fin assembly small U-shaped pipe inserting unit based on digital bus | |
| CN204565548U (en) | Based on the fin assembly little U-shaped pipe automatic intubation system of number bus | |
| CN204689148U (en) | Little U-shaped pipe based on number bus captures sequence and piles up unit | |
| CN204035403U (en) | Based on the full-automatic expand tube system of fin assembly copper pipe mouth of number bus | |
| CN205085974U (en) | Fin assembly snatchs puts things in good order manipulator | |
| CN204035402U (en) | Based on the air-conditioner fin assembly automatic expanding guard system of number bus | |
| CN203486558U (en) | Automatic device for producing air-conditioning heat exchanger cores | |
| CN103466316B (en) | A kind of air-condition heat exchanger core body production operatorless device and using method | |
| CN105171724A (en) | Grasping and piling manipulator for fin assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |