CN105171724B - Grabbing and stacking manipulator for fin assembly - Google Patents
Grabbing and stacking manipulator for fin assembly Download PDFInfo
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- CN105171724B CN105171724B CN201510551525.9A CN201510551525A CN105171724B CN 105171724 B CN105171724 B CN 105171724B CN 201510551525 A CN201510551525 A CN 201510551525A CN 105171724 B CN105171724 B CN 105171724B
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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
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- 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 fin assembly grabbing and stacking manipulator which comprises a fin assembly grabbing coordinate control driving device (1) and a fin assembly grabbing control device (2); the fin assembly grabbing control device back is connected with the fin assembly grabbing coordinate control driving device, the fin assembly grabbing control device comprises a positioning vertical face (21) and a clamping component (22), the 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 stretches along the axial direction of a U-shaped pipe of the fin assembly, 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 grabbing and stacking manipulator can realize automatic operation, avoid the influence of human factors on the production progress, ensure the product quality, and is suitable for an automatic fin assembly processing system of a digital two-device factory.
Description
Technical Field
The invention relates to a grabbing and stacking manipulator, in particular to a grabbing and stacking manipulator for a fin assembly, which is suitable for grabbing and stacking fin assemblies of a radiator and a condenser of an air conditioner, and belongs to the technical field of air conditioner manufacturing.
Background
The surface of a heat exchange device needing heat transfer is generally increased by adding a metal sheet with stronger heat conductivity, so that the heat exchange surface area of the heat exchange device is increased, the heat exchange efficiency is improved, and the metal sheet with the function is called a fin.
Two main heat exchangers, namely a radiator and a condenser, are arranged in the air conditioner, one side of the two main heat exchangers is provided with a working medium which is a refrigerant, and the other side is provided with air, and in order to strengthen the heat transfer of the heat exchangers, the air side is generally provided with a compact heat exchange area, and the air conditioner mostly adopts a compact tube-fin heat exchanger.
The fin of the compact tube-fin heat exchanger is generally provided with a plurality of mounting holes matched with the outer diameter of the copper tube, the fin is generally punched and molded in the manufacturing process, then the long U-shaped copper tube is penetrated into the mounting holes of the fins side by side, finally the open end of the long U-shaped copper tube is expanded, the inside of the long U-shaped copper tube is dried and then is inserted and welded with the small U-shaped copper tube to sequentially communicate the long U-shaped copper tubes, namely, the whole long U-shaped copper tube is communicated into a channel.
At present, the fin assembly stacking operation of the air conditioner manufacturer in the working procedures of inserting pipes, expanding pipes, drying, welding and the like in the production process of the radiator and the condenser still largely adopts manual operation, namely, the fin assemblies are manually stacked on a set station or a conveyer belt one by one.
In the prior art, a fin assembly grabbing and stacking manipulator usually clamps or unclamps fins of the fin assembly to finish grabbing and stacking.
The manual stacking and the existing fin assembly grabbing and stacking manipulator have the following defects:
1. because the stacking operation is carried out manually, the influence of the human factors such as responsibility and emotion of an operator on the production progress is large, the labor intensity of the operator is high, the efficiency is low, the situation that too many output is accumulated in the previous working procedure and the material is stopped in the subsequent working procedure is often caused by unreasonable arrangement of the operator, the equipment automation degree is low, the equipment utilization rate is low, and the productivity cannot be ensured;
2. because the fins in the fin assembly are easy to collide and deform, manual stacking operation is needed to be careful, requirements on skills and proficiency of operators are high, the uneven operation proficiency of a plurality of operators also affects the production progress to different degrees, and unstable product quality is easy to cause;
3. the existing fin assembly grabbing and stacking manipulator is used for stably clamping fins at two ends of the fin assembly when grabbing the fin assembly, so that the fin assembly is stably clamped, and the fins are easily deformed, so that the fins at the clamped ends of the fin assembly are easily deformed, gaps among the fins of the fin assembly are uneven, and the product quality is influenced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the fin assembly grabbing and stacking manipulator which can realize automatic operation, avoid the influence of human factors on the production progress, has high production efficiency and can ensure the product quality.
In order to achieve the above purpose, the fin assembly grabbing and stacking manipulator comprises a fin assembly grabbing coordinate control driving device and a fin assembly grabbing control device;
the fin assembly grabbing coordinate control driving device comprises Z coordinate control in the vertical up-down direction, X coordinate control in the horizontal left-right direction and/or Y coordinate control in the horizontal front-back direction, and is electrically connected with the industrial control computer of the electronic control unit;
the back of the fin assembly grabbing control device is connected with the fin assembly grabbing coordinate control driving device and comprises a positioning vertical face and a clamping part; the height dimension of the positioning elevation is matched with the height dimension of the fin assembly; the clamping component comprises a bent pipe end clamping device and a straight pipe end clamping device, at least one of the bent pipe end clamping device and the straight pipe end clamping device is provided with a telescopic mechanism which stretches along the axial direction of the U-shaped pipe of the fin assembly, and the telescopic mechanism is electrically connected with an industrial control computer of the electric control unit; the bent pipe end clamping device is arranged at the top end of a positioning elevation corresponding to the U-shaped bent pipe section of the U-shaped pipe of the fin assembly and comprises a bent pipe positioning block, the bent pipe positioning block is vertically arranged on the positioning elevation, and the lower end surface of the bent pipe positioning block is provided with a concave structure I matched with the U-shaped bent pipe of the U-shaped pipe of the fin assembly in size; the straight tube end clamping device is arranged at the bottom end of a positioning elevation corresponding to the position of the straight tube section of the U-shaped tube of the fin assembly and comprises a straight tube positioning block, the straight tube positioning block is vertically arranged on the positioning elevation, and an indent structure II matched with the size of the straight tube of the U-shaped tube of the fin assembly is arranged on the upper end face of the straight tube positioning block.
As a preferable scheme of the invention, the fin assembly grabbing coordinate control driving device is a portal frame type split control mechanical arm structure.
As a further improvement of the invention, the fin assembly grabbing coordinate control driving device further comprises an a coordinate rotation control with an axis in the left-right horizontal direction as a rotation axis and/or a B coordinate rotation control with an axis in the front-back horizontal direction as a rotation axis and/or a C coordinate rotation control with a vertical axis as a rotation axis.
As one implementation mode of the invention, the bent pipe end clamping device is arranged at the top end of the positioning vertical face through the telescopic mechanism, the bent pipe positioning block is connected with the telescopic end of the telescopic mechanism, and the straight pipe end clamping device is fixedly arranged at the bottom end of the positioning vertical face.
As another embodiment of the invention, the bent pipe end clamping device and the straight pipe end clamping device are respectively arranged at the top end and the bottom end of the positioning vertical surface through telescopic mechanisms, and the bent pipe positioning block and the straight pipe positioning block are respectively connected with the telescopic ends of the telescopic mechanisms.
As a further improvement of the invention, the number of the bent pipe end clamping device and the straight pipe end clamping device is at least two.
As a further improvement of the invention, the concave structures I and II are structures with U-shaped bent pipe sections and straight pipe sections which span a plurality of fin assemblies.
As a further improvement scheme of the invention, the positioning elevation is provided with a distance sensor, and the distance sensor is electrically connected with the industrial control computer of the electric control unit of the automatic insertion tube system of the fin assembly.
As a preferable scheme of the invention, the telescopic mechanism is an air cylinder, the air cylinder is respectively connected with a control valve through a pipeline, and the control valve is electrically and mechanically connected with the industrial control of the electronic control unit.
As a further improvement of the invention, the positioning elevation adopts a frame structure.
Compared with the prior art, the fin assembly grabbing and stacking manipulator can realize automatic operation and has higher production efficiency due to the fact that the industrial control computer is adopted to control the fin assembly grabbing coordinate control driving device and the fin assembly grabbing control device, so that the influence of human factors on the production progress and the product quality can be completely eliminated; the U-shaped tube exposed ends of the fin assembly are clamped by adopting the bent tube end clamping device and the straight tube end clamping device, and the fins are not clamped, so that the fins are not damaged, the uniform gaps among the fins of the fin assembly can be further ensured, and the product quality is ensured; the U-shaped tube exposed end of the fin assembly can be firmly clamped by the straight tube positioning block of the concave structure II which is matched with the U-shaped tube straight tube of the fin assembly in size on the lower end face, the fin assembly is prevented from falling off when the position of the fin assembly is shifted in a movable stacking manner, and the fin assembly is installed in an automatic fin assembly machining system and is not easy to interfere with the work of other working units, so that the automatic fin assembly machining system is suitable for a digital two-device factory.
Drawings
FIG. 1 is a schematic view of the present invention installed in an automated fin assembly intubation system;
FIG. 2 is a schematic view of the back side structure of the fin assembly grip control device of the present invention;
FIG. 3 is a schematic elevational view of a fin assembly grip control device of the present invention;
FIG. 4 is a schematic view of the structure of the fin assembly gripping control device of the present invention when gripping the fin assembly.
In the figure: 1. the fin assembly grabbing coordinate control driving device comprises a fin assembly grabbing control device body 2, a fin assembly grabbing control device body 21, a positioning vertical face, a clamping part 22, a 221, an elbow end clamping device body 2211, an elbow positioning block body 2212, a concave structure I, a 222, a straight pipe end clamping device body 2221, a straight pipe positioning block body 2222, a concave structure II, a 3, a supporting frame, a 4, a fin assembly bracket, a 5, fin assembly follower fixture and a 6, fin assembly follower fixture transposition working unit.
Detailed Description
The present invention will be further described with reference to the drawings (hereinafter, the description is given with an X-coordinate in the horizontal direction, a Y-coordinate in the horizontal direction, a Z-coordinate in the vertical direction, an a-coordinate in the direction rotated about the horizontal axis as the rotation axis, a B-coordinate in the direction rotated about the horizontal axis as the rotation axis, and a C-coordinate in the direction rotated about the vertical axis).
As shown in fig. 1 to 4, the fin assembly gripping and stacking manipulator comprises a fin assembly gripping coordinate control driving device 1 and a fin assembly gripping control device 2.
The fin assembly grabbing coordinate control driving device 1 comprises Z coordinate control in the vertical up-down direction, X coordinate control in the horizontal left-right direction and/or Y coordinate control in the horizontal front-back direction, and the fin assembly grabbing coordinate control driving device 1 is electrically and mechanically connected with industrial control of the electronic control unit.
The back of the fin assembly grabbing control device 2 is connected with the fin assembly grabbing coordinate control driving device 1 and comprises a positioning vertical face 21 and a clamping part 22;
the height dimension of the positioning elevation 21 is matched with the height dimension of the fin assembly, and when in a grabbing state, the fin assembly can be attached to the positioning elevation to realize positioning in the vertical direction, so that the fin assembly is convenient to firmly grab;
the clamping part 22 comprises a bent pipe end clamping device 221 and a straight pipe end clamping device 222, and at least one of the bent pipe end clamping device 221 and the straight pipe end clamping device 222 is provided with a telescopic mechanism which stretches along the axial direction of the U-shaped pipe of the fin assembly, and the telescopic mechanism is electrically connected with an industrial control computer of the electric control unit;
the bent pipe end clamping device 221 is arranged at the top end of the positioning vertical surface 21 corresponding to the position of the U-shaped bent pipe section of the U-shaped pipe of the fin assembly, and comprises a bent pipe positioning block 2211, the bent pipe positioning block 2211 is vertically arranged on the positioning vertical surface 21, a concave structure I2212 matched with the U-shaped bent pipe of the U-shaped pipe of the fin assembly in size is arranged on the lower end surface of the bent pipe positioning block 2211, and the concave structure I2212 can accommodate the U-shaped bent pipe section of the U-shaped pipe of the fin assembly;
the straight tube end clamping device 222 is arranged at the bottom end of the positioning vertical face 21 corresponding to the position of the straight tube section of the U-shaped tube of the fin assembly and comprises a straight tube positioning block 2221, the straight tube positioning block 2221 is vertically arranged on the positioning vertical face 21, the upper end face of the straight tube positioning block 2221 is provided with a concave structure II 2222 matched with the size of the straight tube of the U-shaped tube of the fin assembly, and the concave structure II 2222 can accommodate the straight tube section of the U-shaped tube of the fin assembly.
The fin assembly grabbing coordinate control driving device 1 can adopt a multi-joint centralized control type mechanical arm structure, and also can adopt a portal type split control mechanical arm structure, because the coordinate control of the first scheme is complex, a large amount of calculation is needed through an industrial control computer, the software control program is complex, the manufacturing cost is high, the computer control burden is heavy, the fault is easy to occur, and the second scheme adopts split control, namely, a plurality of coordinate systems are respectively controlled, the control is relatively simple and direct, and the fault is difficult to occur, so the second scheme is preferable, namely, as the preferable scheme of the invention, the fin assembly grabbing coordinate control driving device 1 is a portal type split control mechanical arm structure.
In order to flexibly adjust the grabbing and stacking directions of the fin assemblies and enlarge the application range of the grabbing and stacking manipulator of the fin assemblies, as a further improvement scheme of the invention, the fin assembly grabbing coordinate control driving device 1 further comprises an A coordinate rotation control with the axis in the left-right horizontal direction as a rotating shaft and/or a B coordinate rotation control with the axis in the front-back horizontal direction as a rotating shaft and/or a C coordinate rotation control with the axis in the vertical axis as a rotating shaft.
As one embodiment of the invention, the bent pipe end clamping device 221 is installed at the top end of the positioning elevation 21 through a telescopic mechanism, the bent pipe positioning block 2211 is connected with the telescopic end of the telescopic mechanism, the straight pipe end clamping device 222 is fixedly installed at the bottom end of the positioning elevation 21, when the fin assembly is grabbed, the telescopic mechanism is in a completely retracted state, the fin assembly grabbing coordinate control driving device 1 firstly drives the fin assembly grabbing and stacking manipulator to be slightly lower than and opposite to the fin assembly, the positioning elevation 21 is attached to the fin assembly by a set forward distance, then the fin assembly grabbing coordinate control driving device 1 drives the whole U-shaped pipe straight pipe section of the fin assembly to be sleeved into the straight pipe positioning block 2221 by a set upward distance, and then the telescopic mechanism stretches out to drive the bent pipe positioning block 2211 to move the set downward to clamp the U-shaped pipe section of the fin assembly, so that grabbing is completed.
As another embodiment of the present invention, the bent pipe end clamping device 221 and the straight pipe end clamping device 222 are respectively installed at the top end and the bottom end of the positioning elevation 21 through telescopic mechanisms, the bent pipe positioning block 2211 and the straight pipe positioning block 2221 are respectively connected with the telescopic ends of the telescopic mechanisms, when the fin assembly is grabbed, the telescopic mechanisms are in a completely retracted state, the fin assembly grabbing coordinate control driving device 1 firstly drives the fin assembly grabbing and stacking manipulator to face the fin assembly, the forward moving set distance enables the positioning elevation 21 to be attached to the fin assembly, then the telescopic mechanisms extend out, the bent pipe positioning block 2211 is driven to move downwards by the set distance, and the straight pipe positioning block 2221 is moved upwards by the set distance to clamp the U-shaped bent pipe section and the straight pipe section of the U-shaped pipe of the fin assembly, so as to complete grabbing.
In order to ensure stable gripping, as a further improvement of the present invention, the number of the bent pipe end gripping devices 221 and the straight pipe end gripping devices 222 is at least two.
In order to ensure stable gripping, as a further improvement of the invention, the concave structures I2212 and II 2222 are structures with U-shaped bent pipe sections and straight pipe sections which span a plurality of fin assemblies, and the structures which span the U-shaped bent pipe sections and the straight pipe sections of the fin assemblies can more firmly clamp the U-shaped bent pipe positions and the straight pipe positions of the fin assemblies.
In order to ensure accurate grabbing, as a further improvement of the present invention, the positioning elevation 21 is provided with a distance sensor, the distance sensor is electrically connected with an industrial control computer of the electronic control unit, and the industrial control computer corrects the moving distance of the positioning elevation 21 according to feedback of the distance sensor.
The telescopic mechanism can be hydraulically controlled, pneumatically controlled or purely mechanically controlled, and the pneumatic control mechanism is simple, has high reaction speed and has rich gas source in workshop, so that the second scheme is preferable.
In order to reduce the rated power, as a further improvement of the invention, the positioning elevation 21 adopts a frame structure, and the positioning elevation 21 with lighter weight can reduce the rated power.
The working principle of the fin assembly grabbing and stacking manipulator is described below by taking a fin assembly grabbing and stacking unit of an automatic fin assembly intubation system as an example.
As shown in fig. 1, in the initial state, three fin assembly follower fixtures 5 are positioned on the left section or the right section of the fin assembly follower fixture track, and the front working surface and the rear working surface of the fin assembly follower fixture indexing working unit 6; the fin group grabbing and stacking manipulator is positioned in front of the front working face of the fin assembly pallet indexing working unit 6; the fin assembly grabbing and stacking manipulator is arranged on the supporting frame 3, is positioned in front of the fin assembly pallet 5 on the left section or the right section of the pallet track, is positioned above the fin assembly bracket 4, and is in an open stagnation state facing the fin assembly pallet 5.
After the automatic fin assembly intubation system starts to work, an industrial control computer of an electronic control unit sends an instruction to enable a positioning needle telescopic device of a front working face of a fin assembly pallet indexing working unit 6 to act at first and enable the positioning needle to vertically extend to a set distance, then the industrial control computer sends an instruction to enable a fin assembly grabbing and stacking manipulator to vertically move downwards to a set position opposite to a first row of fin assemblies in a fin assembly bracket to grab a front first row of fin assemblies in the fin assembly bracket, the grabbed first row of fin assemblies are separated from the positioning needle in the fin assembly bracket in the upward moving process and are sleeved on the positioning needle telescopic device of the front working face of the fin assembly pallet indexing working unit 6 at the same time, the positioning needle telescopic device of the front working face of the fin assembly pallet indexing working unit 6 is connected with the positioning needle telescopic device of the fin assembly pallet indexing working unit 6 after the positioning needle is upwards moved to the set position, and the first row of fin assemblies are positioned in a fin assembly pallet assembly 5 positioned on the front working face of the fin assembly pallet telescopic device of the fin assembly pallet indexing working unit 6 under the positioning action of the fin assembly pallet telescopic device, and then the first row of fins are grabbed by the fin assembly pallet is released to the first row of the fin assembly pallet;
after the fin assembly pallet indexing working unit 6 is turned over by 180 degrees and positioned, the industrial control computer sends an instruction to enable a positioning needle telescopic device positioned on the front working surface of the fin assembly pallet indexing working unit 6 to act, the positioning needle is retracted and moved up to an initial position and separated from the first row of fin groups, and then a cannula unit facing the front working surface of the fin assembly pallet indexing working unit 6 can conduct cannula operation; meanwhile, as described above, the second row of fin groups in the fin group bracket can be simultaneously grabbed into the fin assembly pallet 5 on the rear working face of the fin assembly pallet indexing working unit 6 for standby;
after the first row of fin groups in the fin assembly pallet 5 on the front working surface of the fin assembly pallet indexing working unit 6 completes the insertion pipe, the industrial control computer sends out a command again to enable the fin assembly pallet indexing working unit 6 to rotate 180 degrees and position, and the fin assembly pallet 5 with the second row of fin groups on the rear working surface of the fin assembly pallet indexing working unit 6 can perform the insertion pipe operation;
meanwhile, after the fin assembly pallet 5 carrying the first row of inserted fins on the front working surface of the fin assembly pallet indexing working unit 6 is clamped by the fin assembly pallet auxiliary sliding device, the fin assembly pallet clamping device on the front working surface of the fin assembly pallet indexing working unit 6 is loosened, the fin assembly pallet pushing device clamps and pushes the empty fin assembly pallet 5 on the left end or the right end of the fin assembly pallet track to move towards the middle part along the fin assembly pallet track, the empty fin assembly pallet 5 pushes the fin assembly pallet 5 carrying the first row of inserted fins to move, the fin assembly pallet 5 carrying the inserted fins is pushed to the other end of the fin assembly pallet track and positioned, the empty fin assembly pallet 5 is positioned on the front working surface of the fin assembly pallet indexing working unit 6 at the same time, and the fin assembly gripping manipulator can grip the third row of fins in the fin assembly bracket;
then the industrial control computer sends out an instruction to enable the fin assembly grabbing coordinate to control the driving device 1 to act, the fin assembly grabbing control device 2 translates backwards along the Y coordinate and is close to the fin assembly follower fixture 5 carrying the first row of fin groups with finished insertion tubes, the translation is stopped after the locating elevation 21 is attached to the set distance of the first row of fin groups, at the moment, the bent tube locating finger 2211 is clamped into the inner ring of the U-shaped tube bent tube at the top end of the first row of fin groups with finished insertion tubes, and the straight tube locating finger 2221 is clamped into the U-shaped tube straight tubes at the two sides of the bottom end of the first row of fin groups with finished insertion tubes; then the industrial control computer sends out an instruction to enable the clamping finger opening and closing control mechanism to act, so that the bent pipe clamping finger 2212 and the straight pipe clamping finger 2222 are clamped, and the two ends of the U-shaped pipes of the first row of fin groups, of which the insertion pipes are about to be completed, are clamped by the bent pipe end clamping device 221 and the straight pipe end clamping device 222; then the fin assembly follower fixture auxiliary sliding device releases the fin assembly follower fixture 5 carrying the first row of fin groups with completed insertion tubes and returns to the initial position for standby, and at the moment, the first row of fin groups with completed insertion tubes are stably positioned on the positioning vertical face 21 by the clamping parts 22; then the industrial control computer sends out an instruction to enable the fin assembly grabbing coordinate control driving device 1 to act so that the fin assembly grabbing control device 2 moves forwards along the Y coordinate to a set distance to enable a first row of fin groups with finished insertion tubes to be separated from the fin assembly follower fixture 5, the fin assembly grabbing coordinate control driving device 1 continues to act so that the fin assembly grabbing control device 2 continues to move forwards along the Y coordinate to the position above a stacking position of a programmed fin assembly bracket 4, then the fin assembly grabbing coordinate control driving device 1 rotates the coordinate control action along the A coordinate, so that the fin assembly grabbing control device 2 rotates 90 degrees along an axis of a first row of fin groups with finished insertion tubes along the left and right horizontal directions to enable the fin assembly grabbing control device 2 to face the fin assembly bracket 4, the fin assembly grabbing coordinate control device 1 acts so that the fin assembly grabbing control device 2 moves vertically along the Z coordinate to the set position, the first row of fin groups with finished insertion tubes are attached to the fin assembly bracket 4, then the industrial control computer sends out an instruction to enable the clamping finger clamping control mechanism to act, so that the finger clamping 2 and the straight tube clamping finger clamping device 2 returns to the first row of fin groups with the first fin groups with finished insertion tubes to the first fin groups with the first row of fin groups with finished insertion tubes to be stacked on the first fin assembly bracket 2221;
and the like, the loading of the fin group is continuously carried out, and the stacking of the fin group with the inserted tube is completed.
The fin assembly grabbing and stacking manipulator can set different coordinate controls in the fin assembly grabbing coordinate control driving device 1 according to requirements, and is installed in fin assembly automatic processing systems such as a fin assembly automatic insertion pipe system, a fin assembly automatic expansion pipe system and a fin assembly automatic drying and welding system to achieve automatic grabbing and stacking of the fin assemblies.
The fin assembly grabbing and stacking manipulator can realize automatic operation and has higher production efficiency due to the fact that the industrial control computer is adopted to control the fin assembly grabbing coordinate control driving device 1 and the fin assembly grabbing control device 2, so that the influence of human factors on the production progress and the product quality can be completely eliminated; because the exposed ends of the U-shaped tubes of the fin assembly are clamped by adopting the bent tube end clamping device 221 and the straight tube end clamping device 222, the fins are not clamped, the fins are not damaged, the uniform gaps among the fins of the fin assembly can be further ensured, and the product quality is ensured; the U-shaped tube exposed end of the fin assembly can be firmly clamped by the straight tube positioning block 2221 of the concave structure II 2222 matched with the U-shaped tube straight tube size of the fin assembly is arranged on the lower end face, the fin assembly is prevented from falling off when the position of the fin assembly is changed in the moving and stacking process, and the fin assembly is installed in an automatic fin assembly machining system and is not easy to interfere with the work of other working units, so that the automatic fin assembly machining system is suitable for the automatic fin assembly machining system of a digital two-device factory.
Claims (10)
1. A fin assembly grabbing and stacking manipulator comprises a fin assembly grabbing coordinate control driving device (1) and a fin assembly grabbing control device (2); the fin assembly grabbing coordinate control driving device (1) comprises Z coordinate control in the vertical up-down direction, X coordinate control in the horizontal left-right direction and/or Y coordinate control in the horizontal front-back direction, and the fin assembly grabbing coordinate control driving device (1) is electrically and mechanically connected with industrial control of the electronic control unit; it is characterized in that the method comprises the steps of,
the back of the fin assembly grabbing control device (2) is connected with the fin assembly grabbing coordinate control driving device (1) and comprises a positioning vertical face (21) and a clamping part (22); the height dimension of the positioning elevation (21) is matched with the height dimension of the fin assembly; the clamping component (22) 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 (221) and the straight pipe end clamping device (222) is provided with a telescopic mechanism which stretches along the axial direction of the U-shaped pipe of the fin assembly, and the telescopic mechanism is electrically connected with an industrial control computer of the electric control unit; the bent pipe end clamping device (221) is arranged at the top end of a positioning vertical surface (21) corresponding to the U-shaped bent pipe section position of the U-shaped pipe of the fin assembly and comprises a bent pipe positioning block (2211), the bent pipe positioning block (2211) is vertically arranged on the positioning vertical surface (21), and a concave structure I (2212) matched with the U-shaped bent pipe of the U-shaped pipe of the fin assembly in size is arranged on the lower end surface of the bent pipe positioning block; the straight tube end clamping device (222) is arranged at the bottom end of a positioning vertical face (21) corresponding to the position of the straight tube section of the U-shaped tube of the fin assembly and comprises a straight tube positioning block (2221), the straight tube positioning block (2221) is vertically arranged on the positioning vertical face (21), and an indent structure II (2222) matched with the size of the straight tube of the U-shaped tube of the fin assembly is arranged on the upper end face of the straight tube positioning block.
2. The fin assembly grabbing and stacking manipulator according to claim 1, wherein the fin assembly grabbing coordinate control driving device (1) is a gantry type split control mechanical arm structure.
3. The fin assembly grabbing and stacking manipulator according to claim 1, wherein the fin assembly grabbing coordinate control driving device (1) further comprises an a-coordinate rotation control with an axis in the horizontal direction as a rotation axis and/or a B-coordinate rotation control with an axis in the horizontal direction as a rotation axis and/or a C-coordinate rotation control with an axis in the horizontal direction as a rotation axis.
4. A fin assembly grabbing and stacking manipulator according to claim 1, 2 or 3, wherein the bent pipe end clamping device (221) is installed at the top end of the positioning vertical face (21) through a telescopic mechanism, the bent pipe positioning block (2211) is connected with the telescopic end of the telescopic mechanism, and the straight pipe end clamping device (222) is fixedly installed at the bottom end of the positioning vertical face (21).
5. The fin assembly grabbing and stacking manipulator according to claim 1, 2 or 3, wherein the bent pipe end clamping device (221) and the straight pipe end clamping device (222) are respectively installed at the top end and the bottom end of the positioning vertical face (21) through telescopic mechanisms, and the bent pipe positioning block (2211) and the straight pipe positioning block (2221) are respectively connected with telescopic ends of the telescopic mechanisms.
6. A fin assembly gripping and stacking manipulator according to claim 1, 2 or 3, wherein the number of the bent pipe end gripping devices (221) and the number of the straight pipe end gripping devices (222) are at least two.
7. A fin assembly gripping and stacking manipulator as claimed in claim 1, 2 or 3, wherein the concave structures i (2212) and ii (2222) are structures having U-bend and straight tube sections spanning a plurality of fin assemblies.
8. A fin assembly grabbing and stacking manipulator according to claim 1, 2 or 3, wherein a distance sensor is arranged on the positioning elevation (21), and the distance sensor is electrically and mechanically connected with an industrial control of the electronic control unit.
9. The fin assembly grabbing and stacking manipulator according to claim 1, 2 or 3, wherein the telescopic mechanism is an air cylinder, the air cylinder is respectively connected with a control valve through a pipeline, and the control valve is electrically and mechanically connected with an industrial control unit of the electronic control unit.
10. A fin assembly gripping and stacking manipulator according to claim 1, 2 or 3, wherein the positioning elevation (21) adopts a frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN201510551525.9A CN105171724B (en) | 2015-09-01 | 2015-09-01 | Grabbing and stacking manipulator for fin assembly |
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| CN105171724A CN105171724A (en) | 2015-12-23 |
| CN105171724B true CN105171724B (en) | 2023-06-16 |
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| CN108817242B (en) * | 2018-08-10 | 2020-06-26 | 珠海格力电器股份有限公司 | Clamp and pipe expander with same |
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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 |
| CN104690528A (en) * | 2015-02-03 | 2015-06-10 | 徐州德坤电气科技有限公司 | Disordered automatic tube grabbing and inserting unit for small U-shaped tubes of fin assembly |
| CN104708300A (en) * | 2015-02-03 | 2015-06-17 | 徐州德坤电气科技有限公司 | Automatic fin assembly small U-shaped pipe inserting unit based on digital bus |
| CN204473895U (en) * | 2014-12-11 | 2015-07-15 | 徐州德坤电气科技有限公司 | Based on the fin assembly intubate welding sequence code fetch unit of number bus |
| CN205085974U (en) * | 2015-09-01 | 2016-03-16 | 徐州德坤电气科技有限公司 | Fin assembly snatchs puts things in good order manipulator |
-
2015
- 2015-09-01 CN CN201510551525.9A patent/CN105171724B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204473895U (en) * | 2014-12-11 | 2015-07-15 | 徐州德坤电气科技有限公司 | Based on the fin assembly intubate welding sequence code fetch unit of number bus |
| 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 |
| CN104690528A (en) * | 2015-02-03 | 2015-06-10 | 徐州德坤电气科技有限公司 | Disordered automatic tube grabbing and inserting unit for small U-shaped tubes of fin assembly |
| CN104708300A (en) * | 2015-02-03 | 2015-06-17 | 徐州德坤电气科技有限公司 | Automatic fin assembly small U-shaped pipe inserting unit based on digital bus |
| CN205085974U (en) * | 2015-09-01 | 2016-03-16 | 徐州德坤电气科技有限公司 | Fin assembly snatchs puts things in good order manipulator |
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