CN104690528A - Disordered automatic tube grabbing and inserting unit for small U-shaped tubes of fin assembly - Google Patents
Disordered automatic tube grabbing and inserting unit for small U-shaped tubes of fin assembly Download PDFInfo
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- CN104690528A CN104690528A CN201510056099.1A CN201510056099A CN104690528A CN 104690528 A CN104690528 A CN 104690528A CN 201510056099 A CN201510056099 A CN 201510056099A CN 104690528 A CN104690528 A CN 104690528A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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Abstract
The invention discloses a disordered automatic tube grabbing and inserting unit for small U-shaped tubes of a fin assembly. The disordered automatic tube grabbing and inserting unit comprises a mechanical arm (1), a mechanical hand (2), small U-shaped tube bearing trays (3) and an electric control device (4), wherein the mechanical arm is fixedly mounted on the ground and comprises an X-coordinate drive mechanism, a Y-coordinate drive mechanism and a Z-coordinate drive mechanism; the mechanical hand comprises a main body (21), two clamping fingers (22) and two supporting fingers (23); a top end of the main body is connected with a tail end of the mechanical arm through a mounting seat (211); a C-coordinate drive mechanism is arranged in the mounting seat; arc-shaped grooves matched with outer diameters of the small U-shaped tubes (5) and radians of U shapes are formed in a bottom end surface of the main body and inner side surfaces of the clamping fingers; the distance between an upper surface of each supporting finger and the bottom of each arc-shaped groove is matched with the size of each small U-shaped tube. The tube inserting unit can realize automated operation, reduce influence of human factors on a production progress and guarantee the product quality in a tube insertion process.
Description
Technical field
The present invention relates to a kind of fin assembly automatic intubation unit, 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 unit, 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 unit 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, the unordered cannula unit of automatically grabbing of this fin assembly little U-shaped pipe comprises mechanical arm, manipulator, little U-shaped pipe bearing tray and electric control gear;
Described mechanical arm fixed installation on the ground, comprises the X-coordinate driving mechanism in left and right horizontal direction, the Y-coordinate driving mechanism in anterior-posterior horizontal direction, the Z coordinate driving mechanism of vertical direction;
Described manipulator comprises body, gripping refers to and hold in the palm fetching, the top of body is connected with the end of mechanical arm by mount pad, C CORDIC structure is provided with in mount pad, the width dimensions of body bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe, and body bottom face 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; 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 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, and 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;
Described little U-shaped pipe bearing tray is arranged near mechanical arm, comprises tray body and bracing frame;
Described electric control gear comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, the crawl of little U-shaped pipe loop, intubate control loop etc., industrial control computer is electrically connected with the position sensor on manipulator and range sensor, the transmission connecting mechanism that industrial control computer refers to the C CORDIC structure in the X-coordinate driving mechanism of mechanical arm, Y-coordinate driving mechanism and Z coordinate driving mechanism and mount pad, gripping respectively, asks the transmission connecting mechanism of fetching to be electrically connected.
As preferred version of the present invention, described mechanical arm also comprises support frame, crossbeam and slide rail, support frame is erected at above intubate streamline, ground is fixedly installed in bottom it, its top fore-and-aft direction is provided with the guide rail be arranged in parallel along Y-coordinate direction, on guide rail, X-coordinate direction is added is provided with crossbeam, and crossbeam is provided with driving mechanism;
Crossbeam is provided with slide rail Z-direction direction is arranged on crossbeam, and slide rail is provided with elevating mechanism and horizontal walking mechanism, the top of the body of described manipulator is arranged on the bottom of slide rail;
Described little U-shaped pipe bearing tray is arranged at support frame inside;
The industrial control computer of described electric control gear is electrically connected with the driving mechanism of crossbeam, and industrial control computer is electrically connected with the elevating mechanism of slide rail, and industrial control computer is electrically connected with the horizontal walking mechanism of slide rail.
Scheme as a further improvement on the present invention, also comprises A CORDIC structure or B CORDIC structure in described mount pad, the industrial control computer of described electric control gear is electrically connected with A CORDIC structure or B CORDIC structure.
Scheme as a further improvement on the present invention, arrange low-frequency vibration mechanism between the tray body of described little U-shaped pipe bearing tray and bracing frame, described electric control gear also comprises low-frequency vibration loop, and industrial control computer is electrically connected with low-frequency vibration mechanism.
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 gripping refers to and asks the transmission connecting mechanism of fetching to be cylinder.
Compared with prior art, the unordered cannula unit of automatically grabbing of this fin assembly little U-shaped pipe captures and grafting unordered little U-shaped pipe owing to adopting mechanical arm and manipulator, substitute artificial intubate, the labour intensity of operating personnel can be reduced, and capture with intubate efficiency higher; Can arrange one or more mechanical arm and 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 automatic intubation unit 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 mechanical arm is provided with X-coordinate driving mechanism, Y-coordinate driving mechanism, Z coordinate driving mechanism, C coordinate driving mechanism is provided with in the mount pad on manipulator top, A CORDIC structure or B CORDIC structure coordinate control can also be set 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 the structural representation of the present invention when adopting multi-joint centralized Control mechanical arm;
Fig. 2 is the structural representation of the present invention when adopting frame-type split controller mechanical arm structure;
Fig. 3 is the three-dimensional structure schematic diagram of robot section of the present invention;
Fig. 4 is the front view of manipulator of the present invention;
Fig. 5 is the left view of Fig. 4;
Fig. 6 is the cross-sectional view of holder fetching finger tip of the present invention.
In figure: 1, mechanical arm, 11, support frame, 12, guide rail, 13, crossbeam, 14, slide rail, 2, manipulator, 21, body, 211, mount pad, 22, gripping refers to, 23, holder fetching, 3, little U-shaped pipe bearing tray, 4, electric control gear, 5, little U-shaped pipe.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figures 1 to 5, this fin assembly little U-shaped pipe is unordered automatically grabs cannula unit and comprises mechanical arm 1, manipulator 2, little U-shaped pipe bearing tray 3 and electric control gear 4 and (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).
Described mechanical arm 1 fixedly mounts on the ground, comprises the X-coordinate driving mechanism in left and right horizontal direction, the Y-coordinate driving mechanism in anterior-posterior horizontal direction, the Z coordinate driving mechanism of vertical direction.
Described manipulator 2 comprises body 21, gripping refers to 22 and holder fetching 23, the top of body 21 is connected with the end of mechanical arm 1 by mount pad 211, C CORDIC structure is provided with in mount pad 211, body 21 can be rotate freely within the scope of 360 °, rotating shaft and locate along the vertical axis in mount pad 211, the width dimensions of body 21 bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe 5, and body 21 bottom face is provided with the arc groove I with the pipe external diameter of little U-shaped pipe 5 and U-shaped radian dimensional fits, the U-shaped top of little U-shaped pipe 5 can snap in arc groove I, body 21 is also provided with position sensor and range sensor, gripping refers to that 22 are set to two pieces, the symmetrical symmetrical center line in body 21 arc groove I is arranged, and be connected with body 21 by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism on 22, gripping refers to that transmission connecting mechanism one end of 22 is connected with body 21, the other end is connected to gripping and refers on 22, gripping refers to that 22 can be slided up and down on body 21 by transmission connecting mechanism and guiding mechanism, gripping refers to that 22 are provided with towards the medial surface of body 21 arc groove I arc groove II coordinated with the pipe outside dimension of little U-shaped pipe 5, gripping refers to that 22 when gripping state, arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe 5 jointly, L-shaped or the arc of holder fetching 23, be set to two pieces, front and back are symmetrical in the setting of body 21 arc groove I, holder fetching 23 top is articulated and connected in body 21, finger tip vertical direction is towards arc groove I, holder fetching 23 is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching 23 is connected with holder fetching 23, the other end is connected with body 21, holder fetching 23 can by transmission connecting mechanism around its interface point Unscrew or closedown, holder fetching 23 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 5 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 5, during i.e. gripping state, holder fetching 23 can hold the U-shaped end medial surface of little U-shaped pipe 5 towards the surface of arc groove I.
Described little U-shaped pipe bearing tray 3 is arranged near mechanical arm 1, comprises tray body and bracing frame.
Described electric control gear 4 comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, the crawl of little U-shaped pipe loop, intubate control loop etc., industrial control computer is electrically connected with the position sensor on manipulator 2 and range sensor, industrial control computer refer to the C CORDIC structure in the X-coordinate driving mechanism of mechanical arm 1, Y-coordinate driving mechanism and Z coordinate driving mechanism and mount pad 211, gripping respectively 22 transmission connecting mechanism, ask the transmission connecting mechanism of fetching 23 to be electrically connected.
The unordered operation principle of automatically grabbing cannula unit of this fin assembly little U-shaped pipe: shown in Fig. 1, mechanical arm 1 is arranged near intubate streamline, station is parked in little U-shaped pipe bearing tray 3 setting rested near mechanical arm 1 of fully loaded little U-shaped pipe 5 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, pass through position sensor feedback, pattern-recognition, location captures the little U-shaped pipe 5 in little U-shaped pipe bearing tray 3, 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, manipulator 2 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), mechanical arm 1 is located, and manipulator 2 is positioned at directly over intubate streamline, is in the dead state of opening, and namely gripping refers to that 22 are all in the position of the arc groove I away from body 21 with holder fetching 23;
When be transferred into until intubate fin assembly desired location and location after, this fin assembly little U-shaped pipe automatic intubation unit electric power loop based on number bus starts starts working, industrial control computer controls X-coordinate driving mechanism, Y-coordinate driving mechanism and the action of Z coordinate driving mechanism, mechanical arm 1 moves according to preset program and coordinates computed action, manipulator 2 is made to be positioned at directly over little U-shaped pipe bearing tray 3, pattern-recognition loop starts, industrial control computer is according to the positional information calculation coordinate of the position sensor feedback on manipulator 2 and send instruction after catching the U-shaped apical position information of little U-shaped pipe 5 and make mechanical arm 1 and C coordinate driving mechanism continue action, manipulator 2 is positioned at mutual grafting does not occur, directly over first little U-shaped pipe 5 that the coordinate of rhampotheca phenomenon sets at random, and the arc groove I of body 21 is just to the U-shaped top of first little U-shaped pipe 5, counting circuit is synchronously started working,
Industrial control computer continues to send the Z coordinate driving mechanism work that instruction makes mechanical arm 1, make manipulator 2 near first little U-shaped pipe 5, when the range sensor feedback information on body 21 is setpoint distance, little U-shaped pipe captures loop starts, industrial control computer controls the transmission connecting mechanism action of holder fetching 23, two are made to ask fetching 23 to snap into setting size, namely two holder fetchings 23 do not engage completely, leave gap, and the U-shaped top of first little U-shaped pipe 5 is connected between two holder fetchings 23 actively, industrial control computer sends the Z coordinate driving mechanism work that instruction makes mechanical arm 1 simultaneously, manipulator 2 is made to be promoted to setpoint distance, now, first little U-shaped pipe 5 under the draw of two holder fetchings 23, depart from little U-shaped pipe bearing tray 3 and because of self gravitation act in the process that manipulator 2 promotes hang down to U-shaped top upwards, the downward vertical state of two ports, after manipulator 2 is promoted to setpoint distance, industrial control computer controls the transmission connecting mechanism action of holder fetching 23, two are made to ask fetching 23 to engage completely, namely the U-shaped top of first little U-shaped pipe 5 snaps in the arc groove I of body 21, industrial control computer controls the transmission connecting mechanism action that gripping refers to 22 simultaneously, two grippings are referred to, and 22 slide down to setpoint distance by guiding mechanism and first little U-shaped pipe 5 is fitted simultaneously on body 21, now first little U-shaped pipe 5 is namely in X-coordinate, respectively by arc groove I on Y-coordinate and Z coordinate direction, arc groove II is spacing towards the surface of arc groove I with holder fetching 23, be positioned on manipulator 2, complete crawl,
After crawl, industrial control computer controller mechanical arm 1 gets back to zero position, now intubate fin assembly just treated by first little U-shaped pipe 5, intubate control loop is started working, industrial control computer is according to setting program coordinates computed and send instruction that mechanical arm 1 is continued is mobile, manipulator 2 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 2 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 1 fine motion adjustment location of feedback, then industrial control computer continues to send the Z coordinate driving mechanism work that instruction makes mechanical arm 1, manipulator 2 Vertical dimension first plug-in mounting position is moved, when the range sensor feedback information on manipulator 2 is to setpoint distance, namely first little U-shaped pipe 5 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 23 and gripping to refer to 22, two are made to ask fetching 23 to be flared to zero position, two grippings refer to 22 by guiding mechanism on body 21 upward sliding to zero position, namely first little U-shaped pipe 5 depart from manipulator 2, industrial control computer controller mechanical arm 1 gets back to zero position, complete the catheterization procedure of first little U-shaped pipe 5, by that analogy, until complete the catheterization procedure of the little U-shaped pipe 5 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,
In the crawl process of little U-shaped pipe 5, mutual grafting is there is not when the position sensor on body 21 detects in little U-shaped pipe bearing tray 3, after the little U-shaped pipe 5 of rhampotheca phenomenon is all crawled, stir interference loop works, industrial control computer sends the Z coordinate driving mechanism work that instruction makes mechanical arm 1, manipulator 2 is made to drop to setpoint distance, manipulator 2 touches and mutual grafting occurs, the little U-shaped pipe 5 of rhampotheca phenomenon, then industrial control computer sends X-coordinate driving mechanism and/or the work of Y driving mechanism that instruction makes mechanical arm 1, after making manipulator 2 planar mobile along the track of program setting, the work of Z coordinate driving mechanism makes manipulator 2 return to position directly over little U-shaped pipe bearing tray 3 and again catches the U-shaped apical position information of little U-shaped pipe 5, capture again, until the little U-shaped pipe 5 in little U-shaped pipe bearing tray 3 is all captured complete.
Described mechanical arm 1 can adopt multi-joint centralized Control mechanical arm as shown in Figure 1, also frame-type split controller mechanical arm as shown in Figure 2 can be adopted, or adopt the other forms of mechanical arms such as Delta mechanical arm, because the control of the multi-joint mechanical arm of the first scheme and the Delta mechanical arm of the third scheme is centralized Control, coordinate control is more complicated accurately for it, need be complicated through a large amount of calculating of industrial control computer, software control procedure, and manufacturing cost is higher, conputer controlled burden is heavy, easily breaks down; First scheme employing split controls, and namely several coordinate system controls respectively, controls relatively simple, direct, not easily breaks down, therefore preferred first scheme,
Namely, as preferred version of the present invention, as shown in Figure 2, described mechanical arm 1 also comprises support frame 11, crossbeam 13 and slide rail 14, and support frame 11 is erected at above intubate streamline, is fixedly installed in ground bottom it, its top fore-and-aft direction is provided with the guide rail 12 be arranged in parallel along Y-coordinate direction, on guide rail 12, X-coordinate direction is added is provided with crossbeam 13, and crossbeam 13 is provided with driving mechanism, and driving mechanism can drive crossbeam 13 movable on guide rail 12;
Crossbeam 13 is provided with the slide rail 14 Z-direction direction is arranged on crossbeam 13, slide rail 14 is provided with elevating mechanism and horizontal walking mechanism, elevating mechanism and horizontal walking mechanism can make slide rail 14 on crossbeam 13, realize moving left and right in oscilaltion campaign in Z-direction and X-direction, and the top of the body 21 of described manipulator 2 is arranged on the bottom of slide rail 14;
It is inner that described little U-shaped pipe bearing tray 3 is arranged at support frame 11;
The industrial control computer of described electric control gear 4 is electrically connected with the driving mechanism of crossbeam 13, control the movement of crossbeam 13 on Y-coordinate direction, industrial control computer is electrically connected with the elevating mechanism of slide rail 14, control the lifting of slide rail 14 on Z coordinate direction, industrial control computer is electrically connected with the horizontal walking mechanism of slide rail 14, controls the movement of slide rail 14 on X-coordinate direction.
The position of the little U-shaped pipe 5 of usual fin assembly grafting is levels, for adding the unordered scope of application of automatically grabbing cannula unit 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 211, mount pad 211 can be rotate freely within the scope of rotating shaft rotates ± 90 ° and locate along horizontal axis, the industrial control computer of described electric control gear 4 is electrically connected with A CORDIC structure or B CORDIC structure, when the position non-horizontal of the little U-shaped pipe 5 of fin assembly grafting, industrial control computer can drive A CORDIC structure or B CORDIC structure to make manipulator 2 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 5 is set.
Mutual grafting is there is in order to alleviate little U-shaped pipe 5 further, rhampotheca phenomenon, improve and capture efficiency, as improvement project of the present invention, between the tray body of described little U-shaped pipe bearing tray 3 and bracing frame, low-frequency vibration mechanism is set, described electric control gear 4 also comprises low-frequency vibration loop, industrial control computer is electrically connected with low-frequency vibration mechanism, after manipulator 2 captures a little U-shaped pipe 5, carry out in the process of intubate, low-frequency vibration loop works, industrial control computer control low-frequency vibration mechanism carries out low-frequency vibration makes rhampotheca little U-shaped pipe 5 together in little U-shaped pipe bearing tray 3 be scattered, when manipulator 2 captures again, catching position information captures again.
In order to ensure little U-shaped pipe 5 acted on by self gravitation smoothly under the draw of two holder fetchings 23 in the process that manipulator 2 promotes hang down to U-shaped top upwards, the downward vertical state of two ports, the contact area of holder fetching 23 finger tip towards the U-loop inner face of the surface of arc groove I and little U-shaped pipe 5 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 23.
Described gripping refers to that 22 can adopt hydraulic jack with the transmission connecting mechanism of holder fetching 23, 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 22 and holder fetching 23 transmission connecting mechanism be cylinder.
The unordered cannula unit 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 unit of automatically grabbing of this fin assembly little U-shaped pipe captures and grafting unordered little U-shaped pipe 5 owing to adopting mechanical arm 1 and manipulator 2, substitutes artificial intubate, can reduce the labour intensity of operating personnel, and capture with intubate efficiency higher; Can arrange one or more mechanical arm 1 and manipulator 2 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 automatic intubation unit 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 mechanical arm 1 is provided with X-coordinate driving mechanism, Y-coordinate driving mechanism, Z coordinate driving mechanism, C coordinate driving mechanism is provided with in the mount pad 211 on manipulator 2 top, A CORDIC structure or B CORDIC structure coordinate control can also be set as required, therefore manipulator 2 can be made to realize self-adapting grasping and the little U-shaped pipe 5 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 (6)
1. fin assembly little U-shaped pipe is unordered grabs a cannula unit automatically, it is characterized in that, comprises mechanical arm (1), manipulator (2), little U-shaped pipe bearing tray (3) and electric control gear (4);
Mechanical arm (1) fixed installation on the ground, comprises the X-coordinate driving mechanism in left and right horizontal direction, the Y-coordinate driving mechanism in anterior-posterior horizontal direction, the Z coordinate driving mechanism of vertical direction;
Manipulator (2) comprises body (21), gripping refers to (22) and holder fetching (23), the top of body (21) is connected with the end of mechanical arm (1) by mount pad (211), C CORDIC structure is provided with in mount pad (211), the width dimensions of body (21) bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe (5), and body (21) bottom face is provided with the arc groove I of pipe external diameter with little U-shaped pipe (5) and U-shaped radian dimensional fits, (21) are also provided with position sensor and range sensor to body, gripping refers to, and (22) are set to two pieces, the symmetrical center line of the symmetrical arc groove I in body (21) is arranged, and be connected with body (21) by guiding mechanism is symmetrical respectively, transmission connecting mechanism is provided with on gripping refers to (22), transmission connecting mechanism one end that gripping refers to (22) is connected with body (21), the other end is connected to gripping and refers on (22), gripping refers to (22) is provided with towards the medial surface of the arc groove I of body (21) arc groove II coordinated with the pipe outside dimension of little U-shaped pipe (5), arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe (5) jointly, holder fetching (23) L-shaped or arc, be set to two pieces, the arc groove I that front and back are symmetrical in body (21) is arranged, holder fetching (23) top is articulated and connected in body (21), finger tip vertical direction is towards arc groove I, holder fetching (23) is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching (23) is connected with holder fetching (23), the other end is connected with body (21), holder fetching (23) 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 (5) 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 (5),
Described little U-shaped pipe bearing tray (3) is arranged near mechanical arm (1), comprises tray body and bracing frame;
Described electric control gear (4) comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stir interference loop, little U-shaped pipe captures loop, intubate control loop etc., industrial control computer is electrically connected with the position sensor on manipulator (2) and range sensor, industrial control computer respectively with the X-coordinate driving mechanism of mechanical arm (1), C CORDIC structure in Y-coordinate driving mechanism and Z coordinate driving mechanism and mount pad (211), the transmission connecting mechanism that gripping refers to (22), the transmission connecting mechanism electrical connection of holder fetching (23).
2. fin assembly according to claim 1 little U-shaped pipe is unordered grabs cannula unit automatically, it is characterized in that, described mechanical arm (1) also comprises support frame (11), crossbeam (13) and slide rail (14), support frame (11) is erected at above intubate streamline, ground is fixedly installed in bottom it, its top fore-and-aft direction is provided with the guide rail (12) be arranged in parallel along Y-coordinate direction, on guide rail (12), X-coordinate direction is added is provided with crossbeam (13), and crossbeam (13) is provided with driving mechanism;
Crossbeam (13) is provided with the slide rail (14) Z-direction direction is arranged on crossbeam (13), slide rail (14) is provided with elevating mechanism and horizontal walking mechanism, the top of the body (21) of described manipulator (2) is arranged on the bottom of slide rail (14);
It is inner that described little U-shaped pipe bearing tray (3) is arranged at support frame (11);
The industrial control computer of described electric control gear (4) is electrically connected with the driving mechanism of crossbeam (13), industrial control computer is electrically connected with the elevating mechanism of slide rail (14), and industrial control computer is electrically connected with the horizontal walking mechanism of slide rail (14).
3. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula unit automatically, it is characterized in that, also comprise A CORDIC structure or B CORDIC structure in described mount pad (211), the industrial control computer of described electric control gear (4) is electrically connected with A CORDIC structure or B CORDIC structure.
4. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula unit automatically, it is characterized in that, between the tray body of described little U-shaped pipe bearing tray (3) and bracing frame, low-frequency vibration mechanism is set, described electric control gear (4) also comprises low-frequency vibration loop, and industrial control computer is electrically connected with low-frequency vibration mechanism.
5. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula unit 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 (23).
6. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula unit automatically, it is characterized in that, described gripping refers to that the transmission connecting mechanism of (22) and holder fetching (23) is cylinder.
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| CN201510056099.1A CN104690528B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube of fin assembly is unordered to grab cannula unit automatically |
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| CN201510056099.1A CN104690528B (en) | 2015-02-03 | 2015-02-03 | A kind of small U-tube of fin assembly is unordered to grab cannula unit automatically |
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| CN104690528B CN104690528B (en) | 2018-01-23 |
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| CN105171724A (en) * | 2015-09-01 | 2015-12-23 | 徐州德坤电气科技有限公司 | Grasping and piling manipulator for fin assembly |
| CN117260220A (en) * | 2023-10-26 | 2023-12-22 | 大连日佳电子有限公司 | Copper pipe guide insertion system |
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