CN105171724A - Grasping and piling manipulator for fin assembly - Google Patents
Grasping and piling manipulator for fin assembly Download PDFInfo
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- CN105171724A CN105171724A CN201510551525.9A CN201510551525A CN105171724A CN 105171724 A CN105171724 A CN 105171724A CN 201510551525 A CN201510551525 A CN 201510551525A CN 105171724 A CN105171724 A CN 105171724A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a grasping and piling assembly for a fin assembly. The grasping and piling manipulator comprises a fin assembly grasping coordinate control drive device (1) and a fin assembly grasping control device (2), wherein the back of the fin assembly grasping control device is connected with the fin assembly grasping coordinate control drive device; the fin assembly grasping control device comprises a vertical positioning surface (21) and clamping components (22), wherein each clamping component comprises a bent pipe end clamping device (221) and a straight pipe end clamping device (222); at least one of the bent pipe end clamping device and the straight pipe end clamping device is provided with a telescopic mechanism which extends and retracts in the axial direction of a fin assembly U-shaped pipe, and the bent pipe end clamping device comprises a bent pipe positioning block (2211), and the straight pipe end clamping device comprises a straight pipe positioning block (2221). The grasping and piling manipulator disclosed by the invention can realize automated operation, and prevents the influence of anthropogenic factors on production progress; besides, the product quality can be ensured, and the grasping and piling manipulator is suitable for an automatic processing system for the fin assembly in digitalized evaporator and condenser plants.
Description
Technical field
The present invention relates to a kind of crawl and pile up manipulator, specifically a kind of radiator, condenser fin assembly being applicable to air-conditioner captures to capture with the fin assembly piled up and piles up manipulator, belongs to air-conditioner 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 long U-shaped copper pipe is penetrated side by side the installing hole on multiple fin, finally carry out expand tube in the openend of long U-shaped copper pipe, long U-shaped copper pipe inside is grafting weld little U-shaped copper pipe and be communicated with successively by each long U-shaped copper pipe again after drying, and is about to all long U-shaped copper pipes and is communicated with into a passage.
The fin assembly of the operation such as intubate, expand tube, oven dry, welding of current air-conditioner manufacturer in the production process of radiator and condenser is piled up operation and is still adopted manual work in a large number, is namely manually piled up one by one by fin assembly on setting station or conveyer belt.
Have fin assembly in prior art to capture and pile up manipulator, normally gripping or the fin that unclamps fin assembly capture to complete and pile up.
This manually pile up to capture with existing fin assembly pile up manipulator and also there is following defect:
1. manually carry out piling up operation owing to adopting, therefore the impact of human factor on manufacturing schedule such as operating personnel's sense of responsibility, mood is larger, labor intensity of operating staff is large, efficiency is low, and often cause the situation that preceding working procedure accumulates too many output, later process holds up work for lack of material 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;
2. because the fin in fin assembly very easily collides with distortion, operation is manually piled up in employing needs extreme care, 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;
3. existing fin assembly captures and piles up manipulator is the fin and then the realization firm clamping fin assembly that firmly clamp fin assembly two ends usually when capturing fin assembly, because fin is very easily out of shape, and then easily cause that fin assembly is out of shape by the fin of bare terminal end, gap between fin assembly fin is uneven, affects product quality.
Summary of the invention
For above-mentioned prior art Problems existing, the invention provides the crawl of a kind of fin assembly and pile up manipulator, can realize automation mechanized operation, stop the impact of human factor on manufacturing schedule, production efficiency is high, can ensure product quality simultaneously.
To achieve these goals, this fin assembly captures and piles up mechanical hand and comprise fin assembly and capture coordinate control drive unit and fin assembly and capture control device;
Described fin assembly captures coordinate control drive unit and comprises the Z coordinate control of vertical above-below direction, the X-coordinate control of horizontal left and right directions and/or the Y-coordinate control of horizontal fore-and-aft direction, and fin assembly captures coordinate control drive unit and is electrically connected with the industrial control computer of ECU;
The back side of described fin assembly crawl control device captures coordinate control drive unit with fin assembly and is connected, and comprises location facade and hold assembly; The height dimension of location facade coordinates with the height dimension of fin assembly; Hold assembly comprises bend pipe end clamp device and straight tube end clamp device, have at least one to have along the flexible telescoping mechanism of fin assembly U-tube axial direction in bend pipe end clamp device and straight tube end clamp device, telescoping mechanism is electrically connected with the industrial control computer of ECU; Bend pipe end clamp device is arranged on the top of the location facade of the corresponding U-shaped bend loss position of fin assembly U-tube, comprise bend pipe locating piece, bend pipe locating piece is vertically set on the facade of location, and its lower surface is provided with the concave inward structure I with the U-shaped bend pipe dimensional fits of fin assembly U-tube; Straight tube end clamp device is arranged on the bottom of the location facade of corresponding fin assembly U-tube straight length position, comprise straight tube locating piece, straight tube locating piece is vertically set on the facade of location, and its upper surface is provided with the concave inward structure II with fin assembly U-tube straight tube dimensional fits.
As preferred version of the present invention, it is gantry type split controller mechanical arm structure that described fin assembly captures coordinate control drive unit.
Scheme as a further improvement on the present invention, it is that the A coordinate of rotating shaft rotates and controls and/or rotate along the B coordinate that the axis in anterior-posterior horizontal direction is rotating shaft to control and/or rotate along the C coordinate that vertical axis is rotating shaft to control that described fin assembly captures the coordinate control drive unit axis also comprised along left and right horizontal direction.
As one embodiment of the present invention, described bend pipe end clamp device is arranged on the top of location facade by telescoping mechanism, described bend pipe locating piece is connected with the telescopic end of telescoping mechanism, and described straight tube end clamp device is fixedly mounted on the bottom of location facade.
As another embodiment of the invention, described bend pipe end clamp device and described straight tube end clamp device are all arranged on top and the bottom of location facade respectively by telescoping mechanism, described bend pipe locating piece is connected with the telescopic end of telescoping mechanism respectively with described straight tube locating piece.
Scheme as a further improvement on the present invention, the quantity of described bend pipe end clamp device and straight tube end clamp device is set to two pieces at least respectively.
Scheme as a further improvement on the present invention, described concave inward structure I and concave inward structure II have the structure of crossing over the U-shaped bend loss of multiple fin assembly U-tube and straight length.
Scheme as a further improvement on the present invention, described location facade is provided with range sensor, and range sensor is electrically connected with the industrial control computer of fin assembly automatic intubation system electric-controlled unit.
As preferred version of the present invention, described telescoping mechanism is cylinder, and cylinder is connected with control valve respectively by pipeline, and control valve is electrically connected with the industrial control computer of ECU.
Scheme as a further improvement on the present invention, described location facade adopts frame structure.
Compared with prior art, this fin assembly captures piles up manipulator owing to taking industrial control computer control fin assembly crawl coordinate control drive unit and fin assembly crawl control device, automation mechanized operation can be realized, production efficiency is higher, therefore can eliminate the impact of human factor on manufacturing schedule and product quality completely; Clamp owing to adopting bend pipe end clamp device and the U-tube exposed junction of straight tube end clamp device to fin assembly, fin is not clamped, therefore can not damage fin, and then gap uniformity, the guarantee product quality between fin assembly fin can be ensured; Lower surface is provided with the U-tube exposed junction being provided with the bend pipe locating piece of the concave inward structure I of the U-shaped bend pipe dimensional fits of fin assembly U-tube and upper surface and firmly can clamping fin assembly with the straight tube locating piece of the concave inward structure II of fin assembly U-tube straight tube dimensional fits, prevent from moving fin assembly when piling up evolution in fin assembly process to come off, and be arranged in fin assembly automatic processing system not easily to cause and interfere with the work of other working cells, be applicable to the fin assembly automatic processing system of digitlization Liang Qi factory.
Accompanying drawing explanation
Fig. 1 is that the present invention is arranged on the intrasystem structural representation of fin assembly automatic intubation;
Fig. 2 is the structure schematic diagram that fin assembly of the present invention captures control device;
Fig. 3 is the Facad structure schematic diagram that fin assembly of the present invention captures control device;
Structural representation when Fig. 4 is fin assembly of the present invention crawl control device clamping fin assembly.
In figure: 1, fin assembly captures coordinate control drive unit, 2, fin assembly captures control device, 21, location facade, 22, hold assembly, 221, bend pipe end clamp device, 2211, bend pipe locating piece, 2212, concave inward structure I, 222, straight tube end clamp device, 2221, straight tube locating piece, 2222, concave inward structure II, 3, support frame, 4, fin assembly bracket, 5, fin assembly accompany frock, 6, fin assembly accompany frock transposition working cell.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described (describes 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).
As shown in Figures 1 to 4, this fin assembly captures and piles up mechanical hand and comprise fin assembly and capture coordinate control drive unit 1 and fin assembly captures control device 2.
Described fin assembly captures coordinate control drive unit 1 and comprises the Z coordinate control of vertical above-below direction, the X-coordinate control of horizontal left and right directions and/or the Y-coordinate control of horizontal fore-and-aft direction, and fin assembly captures coordinate control drive unit 1 and is electrically connected with the industrial control computer of ECU.
The back side of described fin assembly crawl control device 2 captures coordinate control drive unit 1 with fin assembly and is connected, and comprises location facade 21 and hold assembly 22;
The height dimension of location facade 21 coordinates with the height dimension of fin assembly, and during seized condition, fin assembly can be fitted in locate on facade for realize the location of vertical direction, is convenient to firm crawl;
Hold assembly 22 comprises bend pipe end clamp device 221 and straight tube end clamp device 222, have at least one to have along the flexible telescoping mechanism of fin assembly U-tube axial direction in bend pipe end clamp device 221 and straight tube end clamp device 222, telescoping mechanism is electrically connected with the industrial control computer of ECU;
Bend pipe end clamp device 221 is arranged on the top of the location facade 21 of the corresponding U-shaped bend loss position of fin assembly U-tube, comprise bend pipe locating piece 2211, bend pipe locating piece 2211 is vertically set on the facade 21 of location, its lower surface is provided with the concave inward structure I 2212 with the U-shaped bend pipe dimensional fits of fin assembly U-tube, and concave inward structure I 2212 can hold the U-shaped bend loss of fin assembly U-tube;
Straight tube end clamp device 222 is arranged on the bottom of the location facade 21 of corresponding fin assembly U-tube straight length position, comprise straight tube locating piece 2221, straight tube locating piece 2221 is vertically set on the facade 21 of location, its upper surface is provided with the concave inward structure II 2222 with fin assembly U-tube straight tube dimensional fits, and concave inward structure II 2222 can hold fin assembly U-tube straight length.
Described fin assembly captures coordinate control drive unit 1 can adopt multi-joint centralized Control formula mechanical arm structure, also gantry type split controller mechanical arm structure can be adopted, because the coordinate control of the first scheme is more complicated, need through a large amount of calculating of industrial control computer, software control procedure is complicated, and manufacturing cost is higher, conputer controlled burden is heavy, easily break down, and first scheme adopts split to control, namely several coordinate system controls respectively, control relatively simple, directly, not easily break down, therefore preferred first scheme, namely, as preferred version of the present invention, it is gantry type split controller mechanical arm structure that described fin assembly captures coordinate control drive unit 1.
In order to realize adjusting flexibly the crawl of fin assembly and pile up direction, add university degree fin assembly and capture the scope of application of piling up manipulator, scheme as a further improvement on the present invention, it is that the A coordinate of rotating shaft rotates and controls and/or rotate along the B coordinate that the axis in anterior-posterior horizontal direction is rotating shaft to control and/or rotate along the C coordinate that vertical axis is rotating shaft to control that described fin assembly captures coordinate control drive unit 1 axis also comprised along left and right horizontal direction.
As one embodiment of the present invention, described bend pipe end clamp device 221 is arranged on the top of location facade 21 by telescoping mechanism, described bend pipe locating piece 2211 is connected with the telescopic end of telescoping mechanism, described straight tube end clamp device 222 is fixedly mounted on the bottom of location facade 21, when capturing fin assembly, telescoping mechanism is in complete retraction state, it is also just right with it a little less than fin assembly that first fin assembly crawl coordinate control drive unit 1 drives the crawl of this fin assembly to pile up manipulator, reach setpoint distance makes location facade 21 and fin assembly fit, then fin assembly captures coordinate control drive unit 1 and drives and move setpoint distance on the whole and make fin assembly U-tube straight length be inserted in straight tube locating piece 2221, then telescoping mechanism stretches out, bend pipe locating piece 2211 is driven to move down setpoint distance by U-shaped for fin assembly U-tube bend loss obvolvent, complete crawl.
As another embodiment of the invention, described bend pipe end clamp device 221 and described straight tube end clamp device 222 are all arranged on top and the bottom of location facade 21 respectively by telescoping mechanism, described bend pipe locating piece 2211 is connected with the telescopic end of telescoping mechanism respectively with described straight tube locating piece 2221, when capturing fin assembly, telescoping mechanism is in complete retraction state, fin assembly captures coordinate control drive unit 1 and first drives the crawl of this fin assembly to pile up manipulator just to fin assembly, reach setpoint distance makes location facade 21 and fin assembly fit, then telescoping mechanism stretches out, bend pipe locating piece 2211 is driven to move down setpoint distance, straight tube locating piece 2221 moves setpoint distance by the U-shaped bend loss of fin assembly U-tube and straight length obvolvent, complete crawl.
For ensureing firm crawl, scheme as a further improvement on the present invention, described bend pipe end clamp device 221 and the quantity of straight tube end clamp device 222 are set to two pieces at least respectively.
For ensureing firm crawl, scheme as a further improvement on the present invention, described concave inward structure I 2212 and concave inward structure II 2222 have the structure of crossing over the U-shaped bend loss of multiple fin assembly U-tube and straight length, and the structure of crossing over the U-shaped bend loss of multiple fin assembly U-tube and straight length more firmly can clamp the U-shaped bend pipe position of fin assembly U-tube and straight tube position.
In order to ensure accurate crawl, scheme as a further improvement on the present invention, described location facade 21 is provided with range sensor, range sensor is electrically connected with the industrial control computer of ECU, and industrial control computer is according to the displacement of the feedback compensation location facade 21 of range sensor.
Described telescoping mechanism can adopt hydraulic control, also pneumatic control can be adopted, or adopt pure Mechanical course, because pneumatic control mechanism is simple, reaction speed is fast and usually have abundant source of the gas in workshop, therefore preferred first scheme, namely, as preferred version of the present invention, described telescoping mechanism is cylinder, and cylinder is connected with control valve respectively by pipeline, and control valve is electrically connected with the industrial control computer of ECU.
In order to reduce rated power, scheme as a further improvement on the present invention, described location facade 21 adopts frame structure, and the location facade 21 of lighter in weight can reduce rated power.
Pile up unit for the crawl of the fin assembly of fin assembly automatic intubation system below and describe the operation principle that manipulator is piled up in the crawl of this fin assembly.
As shown in Figure 1, during original state, three fin assembly accompany frocks 5 are positioned at left section of fin assembly accompany frock track or on forward and backward two working faces of right section of upper, fin assembly accompany frock transposition working cell 6; Fins set captures and piles up the front that manipulator is positioned at fin assembly accompany frock transposition working cell 6 leading face; The crawl of this fin assembly is piled up manipulator and is arranged on support frame 3, be positioned at the front of the fin assembly accompany frock 5 on left section or right section of accompany frock track, the top of fin assembly bracket 4, be in and open dead state towards fin assembly accompany frock 5.
After fin assembly automatic intubation system starts, the industrial control computer of ECU sends the pilot pin retractor device first action that instruction makes fin assembly accompany frock transposition working cell 6 leading face, pilot pin vertically extend out to setpoint distance, then industrial control computer send instruction fins set is captured pile up manipulator to be vertically displaced downwardly to the anterior first row fins set just captured the desired location of first row fins set in fins set bracket in fins set bracket after vertically on move, crawled first row fins set departs from the pilot pin in fins set bracket in upper process of moving, be enclosed within the pilot pin of the pilot pin retractor device of fin assembly accompany frock transposition working cell 6 leading face simultaneously, on move to desired location after accepted by fin assembly accompany frock transposition working cell 6 leading face, first row fins set namely the pilot pin of the pilot pin retractor device of fin assembly accompany frock transposition working cell 6 leading face and fin assembly accompany frock stretch backing device positioning action under be positioned at the fin assembly accompany frock 5 be positioned on the leading face of fin assembly accompany frock transposition working cell 6, then fins set captures and piles up manipulator and unclamp first row fins set, withdraw to initial position and await orders,
Fin assembly accompany frock transposition working cell 6 overturn 180 ° and location after, industrial control computer sends instruction and makes to be positioned at the pilot pin retractor device action on the leading face of fin assembly accompany frock transposition working cell 6, pilot pin retraction moves to initial position, depart from first row fins set, then in the face of the intubate unit of fin assembly accompany frock transposition working cell 6 leading face can carry out intubation; Meanwhile, same as above, synchronously can carry out the second row fins set captured in fins set bracket and await orders to the fin assembly accompany frock 5 on the rear working face in fin assembly accompany frock transposition working cell 6;
After the first row fins set in the fin assembly accompany frock 5 on the leading face of fin assembly accompany frock transposition working cell 6 completes intubate, industrial control computer sends instruction again makes fin assembly accompany frock transposition working cell 6 rotate 180 ° and locate, be positioned at behind fin assembly accompany frock transposition working cell 6 on working face, can intubation be carried out with the fin assembly accompany frock 5 of second row fins set;
Simultaneously, after the fin assembly accompany frock 5 being loaded with the first row fins set completing intubate be positioned on the leading face of fin assembly accompany frock transposition working cell 6 is clamped by fin assembly accompany frock auxiliary sliding device, unclamp at the fin assembly accompany frock clamping device of fin assembly accompany frock transposition working cell 6 leading face, the clamping of fin assembly accompany frock thrust unit is positioned at the fin assembly accompany frock 5 of the sky of fin assembly accompany frock track left end or right-hand member and promotes it and move to middle part along fin assembly accompany frock track, the fin assembly accompany frock 5 that namely empty fin assembly accompany frock 5 promotes to be loaded with the first row fins set completing intubate moves, the fin assembly accompany frock 5 being loaded with the fins set completing intubate is pushed into the other end of fin assembly accompany frock track and locates, empty fin assembly accompany frock 5 is positioned on the leading face of fin assembly accompany frock transposition working cell 6 simultaneously, fins set captures the 3rd row's fins set of piling up manipulator and can carry out capturing in fins set bracket,
Then industrial control computer sends instruction and makes the action of fin assembly crawl coordinate control drive unit 1, make fin assembly capture control device 2 along Y-coordinate backward translation press close to be loaded with to have completed the fin assembly accompany frock 5 of the first row fins set of intubate, to the setpoint distance that location facade 21 is fitted in first row fins set, stop translation, now bend pipe location refers to 2211 to snap onto in the U-tube bend pipe inner ring on the first row fins set top completing intubate, straight tube location refers to that 2221 snap onto in the U-tube straight tube of the both sides, first row fins set bottom completing intubate; Then industrial control computer sends instruction and makes gripping refer to the action of opening and closing controlling organization, make bend pipe gripping refer to 2212 and straight tube gripping refer to that 2222 conjunctions are finished, the two ends that bend pipe end clamp device 221 and straight tube end clamp device 222 are about to the first row fins set U-tube completing intubate clamp; Then fin assembly accompany frock auxiliary sliding device is got back to initial position after unclamping the fin assembly accompany frock 5 being loaded with the first row fins set completing intubate and is awaited orders, the first row fins set now having completed intubate namely by hold assembly 22 strong fix on the facade 21 of location; then industrial control computer sends instruction and makes fin assembly capture the action of coordinate control drive unit 1 to make fin assembly capture control device 2 to move forward to along Y-coordinate the first row fins set that setpoint distance makes to complete intubate and depart from fin assembly accompany frock 5, fin assembly captures coordinate control drive unit 1 continuation action makes fin assembly crawl control device 2 continue the top of piling up position of the fin assembly bracket 4 moving forward to program setting along Y-coordinate, then fin assembly captures the A coordinate rotational coordinates control action of coordinate control drive unit 1, making fin assembly capture control device 2, to carry the first row fins set that completes intubate along the axis in left and right horizontal direction be rotating shaft half-twist, complete the first row fins set of intubate namely towards fin assembly bracket 4, fin assembly captures the action of coordinate control drive unit 1 makes fin assembly crawl control device 2 Z-direction vertically be displaced downwardly to desired location, the first row fins set having completed intubate is fitted on fin assembly bracket 4, then industrial control computer sends instruction and makes gripping refer to the action of opening and closing controlling organization, make bend pipe gripping refer to 2212 and straight tube gripping refer to 2222 open release completed the first row fins set of intubate after this fin assembly capture and pile up manipulator and get back to initial position and await orders, namely the first row fins set having completed intubate piles up on fin assembly bracket 4,
By that analogy, realize uninterruptedly carrying out the material loading of fins set and having completed the piling up of fins set of intubate.
This fin assembly captures to be piled up manipulator and can capture in coordinate control drive unit 1 at fin assembly as required and arrange different coordinate controls, is arranged on the automatic capturing that realizes fin assembly in the fin assembly automatic processing systems such as fin assembly automatic intubation system, fin assembly automatic expanding guard system, fin assembly auto-drying welding system and piles up.
This fin assembly captures piles up manipulator owing to taking industrial control computer control fin assembly crawl coordinate control drive unit 1 and fin assembly crawl control device 2, automation mechanized operation can be realized, production efficiency is higher, therefore can eliminate the impact of human factor on manufacturing schedule and product quality completely; Clamp owing to adopting the U-tube exposed junction of bend pipe end clamp device 221 and straight tube end clamp device 222 pairs of fin assemblies, fin is not clamped, therefore can not damage fin, and then gap uniformity, the guarantee product quality between fin assembly fin can be ensured; Lower surface is provided with the U-tube exposed junction being provided with the bend pipe locating piece 2211 of the concave inward structure I 2212 of the U-shaped bend pipe dimensional fits of fin assembly U-tube and upper surface and firmly can clamping fin assembly with the straight tube locating piece 2221 of the concave inward structure II 2222 of fin assembly U-tube straight tube dimensional fits, prevent from moving fin assembly when piling up evolution in fin assembly process to come off, and be arranged in fin assembly automatic processing system not easily to cause and interfere with the work of other working cells, be applicable to the fin assembly automatic processing system of digitlization Liang Qi factory.
Claims (10)
1. fin assembly captures and piles up a manipulator, comprises fin assembly and captures coordinate control drive unit (1) and fin assembly crawl control device (2); Fin assembly captures coordinate control drive unit (1) and comprises the Z coordinate control of vertical above-below direction, the X-coordinate control of horizontal left and right directions and/or the Y-coordinate control of horizontal fore-and-aft direction, and fin assembly captures coordinate control drive unit (1) and is electrically connected with the industrial control computer of ECU; It is characterized in that,
The back side of described fin assembly crawl control device (2) captures coordinate control drive unit (1) with fin assembly and is connected, and comprises location facade (21) and hold assembly (22); The height dimension of location facade (21) coordinates with the height dimension of fin assembly; Hold assembly (22) comprises bend pipe end clamp device (221) and straight tube end clamp device (222), have at least one to have along the flexible telescoping mechanism of fin assembly U-tube axial direction in bend pipe end clamp device (221) and straight tube end clamp device (222), telescoping mechanism is electrically connected with the industrial control computer of ECU; Bend pipe end clamp device (221) is arranged on the top of the location facade (21) of the corresponding U-shaped bend loss position of fin assembly U-tube, comprise bend pipe locating piece (2211), bend pipe locating piece (2211) is vertically set on location facade (21), and its lower surface is provided with the concave inward structure I (2212) with the U-shaped bend pipe dimensional fits of fin assembly U-tube; Straight tube end clamp device (222) is arranged on the bottom of the location facade (21) of corresponding fin assembly U-tube straight length position, comprise straight tube locating piece (2221), straight tube locating piece (2221) is vertically set on location facade (21), and its upper surface is provided with the concave inward structure II (2222) with fin assembly U-tube straight tube dimensional fits.
2. fin assembly according to claim 1 captures and piles up manipulator, it is characterized in that, it is gantry type split controller mechanical arm structure that described fin assembly captures coordinate control drive unit (1).
3. fin assembly according to claim 1 captures and piles up manipulator, it is characterized in that, it is that the A coordinate of rotating shaft rotates and controls and/or rotate along the B coordinate that the axis in anterior-posterior horizontal direction is rotating shaft to control and/or rotate along the C coordinate that vertical axis is rotating shaft to control that described fin assembly captures coordinate control drive unit (1) axis also comprised along left and right horizontal direction.
4. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, it is characterized in that, described bend pipe end clamp device (221) is arranged on the top of location facade (21) by telescoping mechanism, described bend pipe locating piece (2211) is connected with the telescopic end of telescoping mechanism, and described straight tube end clamp device (222) is fixedly mounted on the bottom of location facade (21).
5. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, it is characterized in that, described bend pipe end clamp device (221) and described straight tube end clamp device (222) are all arranged on top and the bottom of location facade (21) respectively by telescoping mechanism, described bend pipe locating piece (2211) is connected with the telescopic end of telescoping mechanism respectively with described straight tube locating piece (2221).
6. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, and it is characterized in that, described bend pipe end clamp device (221) and the quantity of straight tube end clamp device (222) are set to two pieces at least respectively.
7. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, it is characterized in that, described concave inward structure I (2212) and concave inward structure II (2222) have the structure of crossing over the U-shaped bend loss of multiple fin assembly U-tube and straight length.
8. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, and it is characterized in that, described location facade (21) is provided with range sensor, and range sensor is electrically connected with the industrial control computer of ECU.
9. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, and it is characterized in that, described telescoping mechanism is cylinder, and cylinder is connected with control valve respectively by pipeline, and control valve is electrically connected with the industrial control computer of ECU.
10. the fin assembly according to claim 1 or 2 or 3 captures and piles up manipulator, it is characterized in that, described location facade (21) adopts frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510551525.9A CN105171724B (en) | 2015-09-01 | 2015-09-01 | Grabbing and stacking manipulator for fin assembly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510551525.9A CN105171724B (en) | 2015-09-01 | 2015-09-01 | Grabbing and stacking manipulator for fin assembly |
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| CN105171724A true CN105171724A (en) | 2015-12-23 |
| CN105171724B CN105171724B (en) | 2023-06-16 |
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| CN108817242A (en) * | 2018-08-10 | 2018-11-16 | 珠海格力智能装备有限公司 | Fixture and electric tube expander with it |
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| CN104669253A (en) * | 2015-02-03 | 2015-06-03 | 徐州德坤电气科技有限公司 | Capturing and inserting manipulator for small U-shaped tubes of fin assembly on basis of digital bus |
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| CN108817242A (en) * | 2018-08-10 | 2018-11-16 | 珠海格力智能装备有限公司 | Fixture and electric tube expander with it |
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| CN105171724B (en) | 2023-06-16 |
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