CN107626836A - A kind of air conditioner fin assembly automatic expanding guard system - Google Patents
A kind of air conditioner fin assembly automatic expanding guard system Download PDFInfo
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- CN107626836A CN107626836A CN201710862801.2A CN201710862801A CN107626836A CN 107626836 A CN107626836 A CN 107626836A CN 201710862801 A CN201710862801 A CN 201710862801A CN 107626836 A CN107626836 A CN 107626836A
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 20
- 229910052802 copper Inorganic materials 0.000 claims abstract description 20
- 239000010949 copper Substances 0.000 claims abstract description 20
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- 238000002955 isolation Methods 0.000 claims description 32
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- 238000004378 air conditioning Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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Abstract
The invention discloses a kind of air conditioner fin assembly automatic expanding guard system, including electric tube expander, fin assembly indexing retinue unit, supporting steel plate to insert unit, three station fin assembly code fetch units and ECU；Supporting steel plate inserts the left side or right side that unit is arranged on fin assembly indexing retinue unit, mechanical arm is inserted including supporting steel plate feed bin and supporting steel plate code fetch, supporting steel plate code fetch inserts mechanical arm and inserts mechanical arm including supporting steel plate code fetch mechanical arm and supporting steel plate；Three station fin assembly code fetch units are arranged on the dead astern of fin assembly indexing retinue unit, including three station translational transferring apparatus, workpiece charging code fetch device and workpiece discharging code fetch device.This air conditioner fin assembly automatic expanding guard system can realize automation mechanized operation, realize that the fin assembly that supporting steel plate is positioned to not installing carries out tube expansion on the premise of efficiency is piled up in crawl that can realize to improve, especially suitable for air conditioner fin assembly copper pipe mouth tube expansion process.
Description
Technical field
The present invention relates to a kind of automatic expanding guard system, specifically a kind of radiator, condenser fin suitable for air conditioner
The air conditioner fin assembly automatic expanding guard system of assembly tube expansion process, belongs to air-conditioning manufacturing technology field.
Background technology
Generally needing the heat-exchanger rig surface for the carrying out heat transfer sheet metal stronger by increasing thermal conductivity, increase heat exchange
The heat exchange surface area of device, heat exchange efficiency is improved, the sheet metal with this function is referred to as fin.
There are two main heat exchangers, i.e. radiator and condenser in air conditioner, the side working media of this two big heat exchanger
It is refrigerant, opposite side is air, for the heat transfer of enhanced heat exchange device, typically takes compact Layout heat exchange area in air side,
Air conditioner uses compact fin-tube type heat exchanger mostly.
Be typically provided on the fin of compact fin-tube type heat exchanger it is multiple can be with the mounting hole of copper pipe major diameter fit, manufacturing process
Usually first by fin punch forming, the mounting hole for then penetrating long U-typed copper pipe on multiple fins side by side, finally in length
The openend of U-typed copper pipe carries out tube expansion, and installing again after being dried inside long U-typed copper pipe and weld short U-typed copper pipe will be each
Long U-typed copper pipe is sequentially communicated, and all long U-typed copper pipe will be connected into a passage.
Air conditioner manufacturer still a large amount of users in the fin copper mouth of pipe tube expansion process of radiator and condenser at present
Worked industry, and the fin assembly after will being intubated singly manually is moved up in the frock of electric tube expander, then operates automatic displacement
Locking tool will operate electric tube expander and carry out tube expansion after fin assembly clamping and positioning, after completing tube expansion, then manually remove one by one
Pile up, be transferred to next procedure.Manual operation not only low production efficiency, and human factor has a great influence to manufacturing schedule.
The patent of invention for the Application No. 201410372916.X that the applicant declares before《It is a kind of based on number bus
Air conditioner fin assembly automatic expanding guard system》, coordinate electric tube expander to carry out automatic expanding it is disclosed that exchanging pallet by interactive mode
Pipe, but fin assembly usually requires the installation at least one end of fin assembly before tube expansion is carried out and positions supporting steel plate, therefore
The tube expansion system is only applicable to carry out tube expansion to the fin assembly for being provided with positioning supporting steel plate, and can not be to not installing positioning
The fin assembly of supporting steel plate carries out tube expansion；In addition, for prevent stacking, have intensive fin fin assembly between insert mutually
Connect in succession and be not easy to code fetch, isolation cardboard is added between fin assembly during usual stacking, the fin assembly of the tube expansion system
It although the code fetch mode of code fetch device, which can be realized, adds isolation cardboard, can only intermittently carry out, therefore pile up less efficient, enter
And cause the reduction of tube expansion process whole work efficiency.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of air conditioner fin assembly automatic expanding guard system,
Automation mechanized operation can be realized, is realized that can realize to improve on the premise of efficiency is piled up in crawl to not installing positioning supporting steel plate
Fin assembly carry out tube expansion, especially suitable for air conditioner fin assembly copper pipe mouth tube expansion process.
To achieve these goals, this air conditioner fin assembly automatic expanding guard system includes electric tube expander, the indexing of fin assembly
Retinue unit, supporting steel plate insert unit, three station fin assembly code fetch units and ECU；
Described electric tube expander includes lower platen and the fin assembly positioning tool immediately below lower platen；Pacify on lower platen
Equipped with the tube expansion mould with the cooperation of the copper pipe mouth of fin assembly, tube expansion mould is horizontally disposed with, set on tube expansion mould in left-right direction
There are multiple tube expansion pressure heads set straight down；Fin assembly positioning tool is the riser structure being vertically arranged, riser structure
Left and right ends are equipped with work holder, and the bottom rear of riser structure is provided with Working piece positioning device；
Described fin assembly indexing retinue unit is arranged on the dead astern of electric tube expander, fin assembly indexing retinue unit bag
Include support underframe, guide rail, walker and indexable machine frame；Guide rail fore-and-aft direction sets and is fixedly mounted on support underframe；Walking
Frame, which is set up, to be arranged on guide rail, and front and rear travel driving unit and device for revolving and driving, device for revolving and driving are provided with inside walker
Revolution axis vertical direction set；Indexable machine frame includes the leading face being vertically arranged and rear working face, indexable frock
Frame integral installation is connected on walker and with the device for revolving and driving of walker, the leading face of indexable machine frame and rear work
Axis of rotation is symmetrical with after in face of work to set, and piece-holder is equipped with the left and right ends and bottom of leading face and rear working face
Mechanism, the workpiece grip mechanism of indexable machine frame and the work holder spatial offset of electric tube expander are set；
Described supporting steel plate inserts the left side or right side that unit is arranged on fin assembly indexing retinue unit, supporting steel plate
Insert unit and insert mechanical arm including supporting steel plate feed bin and supporting steel plate code fetch；
Supporting steel plate feed bin includes feed bin support frame and sets up the supporting steel plate support being arranged on inside feed bin support frame
Frame；Supporting steel plate bracket is the riser structure being be arranged in parallel with the fin assembly positioning tool of electric tube expander, horizontal in riser structure
Positioning element is lifted provided with the more than one piece supporting steel plate up and down in uniform layer structure, supporting steel plate lifts positioning element in left and right
One group of positioning supporting plate group is comprised at least on direction, positioning supporting plate group includes two positioning supporting plates being spaced apart, positions supporting plate
Front end or rear end, left or right are provided with the spacing flanging flipped up, and the two pieces positioning supporting plate of one group of positioning supporting plate group is in a left side
The right side is symmetrical arranged and the spacing flanging of the spacing flanging of a positioning supporting plate left end and another positioning supporting plate right-hand member is set in opposite directions
Put, the space between the spacing flanging of two pieces positioning supporting plate forms the receiving space of supporting steel plate；The top of feed bin support frame,
The top position of supporting steel plate bracket is additionally provided with supporting steel plate sliding stacking pallet and sliding stacking pallet guide rail, and support is piled up in sliding
Frame guide rail left and right directions set up be arranged on feed bin support frame on and sliding stacking pallet guide rail towards the indexing of fin assembly with
One end of row unit extend out to the outside of feed bin support frame, and slides height dimension of the stacking pallet guide rail apart from ground and be more than
The top of indexable machine frame apart from ground height dimension, supporting steel plate slide stacking pallet by slide stacking pallet driving with
Slide stacking pallet guide rail and coordinate installation, supporting steel plate sliding stacking pallet is provided with supporting steel plate location structure；
Supporting steel plate code fetch inserts mechanical arm and inserts mechanical arm including supporting steel plate code fetch mechanical arm and supporting steel plate；Support
Steel plate code fetch mechanical arm is erected at the top of supporting steel plate bracket, and supporting steel plate code fetch mechanical arm is comprised at least along anterior-posterior horizontal side
To Y-coordinate drive mechanism, Z coordinate drive mechanism vertically and be arranged on supporting steel plate code fetch mechanical arm minor details end
Supporting steel plate code fetch manipulator, supporting steel plate code fetch manipulator be provided with supporting steel plate crawl pile up mechanism；Supporting steel plate is put
Enter mechanical arm correspondingly slide stacking pallet guide rail position be erected at sliding stacking pallet guide rail external part top, supporting steel
Plate insert mechanical arm comprise at least along the X-coordinate drive mechanism in left and right horizontal direction, Z coordinate drive mechanism vertically and
It is arranged on supporting steel plate and inserts the supporting steel plate of mechanical arm minor details end and insert manipulator, supporting steel plate is inserted on manipulator and also set
There is supporting steel plate crawl to pile up mechanism；
Three described station fin assembly code fetch units are arranged on the dead astern of fin assembly indexing retinue unit, three stations
Fin assembly code fetch unit includes three station translational transferring apparatus, workpiece charging code fetch device and workpiece discharging code fetch device；
Three station translational transferring apparatus left and right directions are set, including the transhipment station of left, center, right three, and middle transhipment station is just
The dead astern of fin assembly indexing retinue unit is set；Three station translational transferring apparatus include translation transhipment support frame, workpiece
Translation transhipment bracket peace transfer fortune carriage drive；Workpiece translational motion transports bracket and is erected at translation transhipment by left and right directions level
Translation transhipment carriage rail on support frame is movably arranged on translation transhipment support frame, and workpiece translational motion transhipment bracket corresponds to transfer
Fortune station and right-hand rotation fortune station position or left-hand rotation fortune station and middle transhipment station position are arranged to two pieces, and two pieces workpiece translational motion
Bracket is transported by bindiny mechanism's connection fastened to each other, translation transhipment bracket at least is installed on a workpiece translational motion transhipment bracket
Driving, workpiece translational motion are transported on bracket and are additionally provided with piece-holder detent mechanism；The middle transhipment station of three station translational transferring apparatus
On be additionally provided with workpiece grabbing and pile up mechanical arm, workpiece grabbing is piled up mechanical arm and comprised at least to be driven along the Y-coordinate in anterior-posterior horizontal direction
Motivation structure, Z coordinate drive mechanism vertically, rotate and drive for the A coordinates of rotary shaft along the X-coordinate axle in left and right horizontal direction
Motivation structure and it is arranged on workpiece grabbing and piles up the workpiece grabbing of mechanical arm minor details end and pile up manipulator, workpiece grabbing piles up machinery
Workpiece grip mechanism is provided with hand；
Workpiece charging code fetch device is arranged on the left-hand rotation fortune station of three station translational transferring apparatus or turns right fortune station just
Rear, workpiece charging code fetch device include charging crawl and pile up mechanical arm and feed tray；Charging crawl piles up mechanical arm at least
Including the Y-coordinate drive mechanism along anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and it is arranged on charging crawl code
Manipulator is piled up in the charging crawl for putting mechanical arm minor details end, and charging crawl piles up machinery and is provided with workpiece grip mechanism on hand；Enter
Material torr disk positions the dead astern for being arranged on three station translational transferring apparatus；
Workpiece discharging code fetch device is arranged on the right-hand rotation fortune station of three station translational transferring apparatus or turns left fortune station just
Rear, workpiece discharging code fetch device include discharging crawl and pile up mechanical arm and discharging pallet；Discharging crawl piles up mechanical arm at least
Including the Y-coordinate drive mechanism along anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and it is arranged on discharging crawl code
Manipulator is piled up in the discharging crawl for putting mechanical arm minor details end, and discharging crawl piles up machinery and is provided with workpiece grip mechanism on hand；Go out
Material torr disk positions the dead astern for being arranged on three station translational transferring apparatus；
Described ECU includes industrial control computer, electric power loop, counting circuit, workpiece feed back loop, translation
Transhipment control loop, loop is piled up in work delivery crawl, supporting steel plate inserts control loop, indexing retinue control loop, tube expansion
Machine control loop, workpiece discharging loop, industrial control computer piles up mechanical arm with charging crawl respectively, workpiece translational motion transhipment is held in the palm
Piece-holder detent mechanism, the translation transhipment carriage drive of workpiece translational motion transhipment bracket, the workpiece grabbing of frame are piled up mechanical arm, turned
The position workpiece grip mechanism of machine frame, the front and rear travel driving unit and device for revolving and driving of walker, supporting steel plate sliding code
Put the driving of sliding stacking pallet, the supporting steel plate crawl of supporting steel plate code fetch mechanical arm, supporting steel plate code fetch manipulator of bracket
Pile up mechanism, supporting steel plate inserts mechanical arm, supporting steel plate inserts the supporting steel plate crawl of manipulator and piles up mechanism, electric tube expander
Mechanical arm electrical connection is piled up in electrical control cubicles, discharging crawl.
Scheme as a further improvement on the present invention, the left-hand rotation fortune station of three described station translational transferring apparatus and right-hand rotation
Isolation cardboard bearing tray, the isolation cardboard bearing tray of corresponding workpiece charging code fetch device are respectively equipped with immediately below the station of position
It is unloaded isolation cardboard bearing tray, the isolation cardboard bearing tray of corresponding workpiece discharging code fetch device is fully loaded corresponding feed
The isolation cardboard of tube expansion fin assembly quantity is treated on pallet；Described ECU also includes isolation cardboard crawl laying loop.
Machinery is piled up in scheme as a further improvement on the present invention, the charging crawl that mechanical arm is piled up in described charging crawl
The workpiece grabbing that hand, workpiece translational motion transhipment bracket, workpiece grabbing pile up mechanical arm piles up the work of manipulator, indexable machine frame
Face, supporting steel plate code fetch manipulator, supporting steel plate insert manipulator, the fin assembly positioning tool of electric tube expander, discharging crawl code
Put mechanical arm discharging crawl pile up machinery be equipped with range sensor, the industrial control computer of described ECU on hand
Electrically connected respectively with range sensor.
Machinery is piled up in scheme as a further improvement on the present invention, the charging crawl that mechanical arm is piled up in described charging crawl
The workpiece grabbing that hand, workpiece grabbing pile up mechanical arm piles up manipulator, discharging captures the discharging crawl arranging machine for piling up mechanical arm
Tool hand also includes C coordinate rotary drive mechanism and pattern-recognition sensor of the Z coordinate axle vertically for rotary shaft, institute
The ECU stated also includes pattern-recognition control loop, and described industrial control computer piles up machinery with charging crawl respectively
Arm charging crawl pile up manipulator, workpiece grabbing pile up mechanical arm workpiece grabbing pile up manipulator, discharging crawl arranging machine
C coordinates rotary drive mechanism and the electrical connection of pattern-recognition sensor of manipulator are piled up in the discharging crawl of tool arm.
Scheme as a further improvement on the present invention, described supporting steel plate bracket are arranged to more than one piece, more than one piece supporting steel plate
Parallel set up of bracket is arranged on inside feed bin support frame, and equal water on front and rear two facade of the supporting steel plate bracket of riser structure
Flat be provided with lifts positioning element in the more than one piece supporting steel plate of uniform layer structure up and down.
Scheme as a further improvement on the present invention, described supporting steel plate bracket are arranged on feed bin carriage by setting up
Slide rail and detent mechanism on frame connect with the installation of feed bin support frame.
Scheme as a further improvement on the present invention, described supporting steel plate are inserted unit and also pushed away including supporting steel plate bracket
Move detent mechanism and supplementary support steel plate feed bin, the positioning of supplementary support steel plate feed bin be arranged on feed bin support frame front or
Dead astern and supplementary support steel plate feed bin inner support steel plate pile up piling up for direction and the supporting steel plate on supporting steel plate bracket
Direction is identical；It is additionally provided with described supporting steel plate code fetch manipulator along the X-coordinate axle in left and right horizontal direction and is sat for the A of rotary shaft
Mark rotary drive mechanism；Described ECU also includes supporting steel plate supplementary loop, described industrial control computer and branch
Support the passage detent mechanism electrical connection of steel plate bracket.
Scheme as a further improvement on the present invention, described supporting steel plate code fetch mechanical arm are also included along left and right horizontal side
To X-coordinate drive mechanism, the Z coordinate axle also included on described supporting steel plate code fetch manipulator vertically is rotary shaft
C coordinates rotary drive mechanism and pattern-recognition sensor, described industrial control computer and supporting steel plate code fetch manipulator
C coordinates rotary drive mechanism and pattern-recognition sensor electrical connection.
Scheme as a further improvement on the present invention, described supporting steel plate, which inserts mechanical arm, also to be included along anterior-posterior horizontal side
To Y-coordinate drive mechanism, it is rotary shaft that described supporting steel plate, which inserts on manipulator the Z coordinate axle also included vertically,
C coordinates rotary drive mechanism and pattern-recognition sensor, described industrial control computer and supporting steel plate insert manipulator
C coordinates rotary drive mechanism and pattern-recognition sensor electrical connection.
As the preferred scheme of the present invention, mechanical arm is piled up in described charging crawl, workpiece grabbing piles up mechanical arm, discharging
It is gantry type split control machinery that crawl, which piles up mechanical arm, supporting steel plate code fetch mechanical arm and supporting steel plate to insert mechanical arm,
Arm.
Compared with prior art, this air conditioner fin assembly automatic expanding guard system automaticity is high, utilization rate of equipment and installations compared with
Height, production capacity are higher, and the fin that supporting steel plate is positioned to not installing is realized on the premise of efficiency is piled up in crawl that can realize to improve
Assembly carries out tube expansion；Due to provided with three station fin assembly code fetch units, and two pieces workpiece translational motion transports bracket by connecting machine
Structure connection fastened to each other includes two pieces and transports bracket by the workpiece translational motion of bindiny mechanism's connection fastened to each other, therefore passes through control
Translation transhipment carriage drive action can realize that two pieces workpiece translational motion transhipment bracket is synchronous and translated along translation transhipment carriage rail
Moved left and right on transhipment support frame and position realization conversion station, industrial control computer can control two pieces according to setting program
Mechanical arm is piled up in crawl to the charging of workpiece translational motion transhipment bracket engagement, workpiece grabbing piles up mechanical arm and mechanical arm is piled up in discharging crawl
Action carry out in good time shift action, and then the crawl for treating tube expansion fin assembly can be realized and pile up control, workpiece translational motion turn
Fortune bracket conversion station control, work delivery control, completed tube expansion fin assembly crawl and pile up control successively between
Have a rest orderly progress, so as to improve the overall operating efficiency of fin assembly tube expansion process；Due to inserting unit provided with supporting steel plate, because
This enters before electric tube expander carries out tube expansion operation in fin assembly can realize inserting for supporting steel plate, three while steel plate is inserted
Station fin assembly code fetch unit, which can continue to coordinate, carries out the follow-up preparation for treating tube expansion fin assembly, and then realizes and ensure wing
The overall operating efficiency of piece assembly tube expansion process；Due to station and right-hand rotation position can be transported in the left-hand rotation of three station translational transferring apparatus
The underface of station sets isolation cardboard bearing tray respectively, therefore can realize and isolation cardboard is grabbed during tube expansion
Take and lay, and then realize and prevent between the fin assembly of intensive fin socket connection mutually and be not easy to code fetch, it is particularly suitable
In air conditioner fin assembly copper pipe mouth tube expansion process.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of the present invention；
Fig. 2 is the front view of the rear apparent direction of the present invention；
Fig. 3 is Fig. 2 top view；
Fig. 4 is Fig. 2 left view；
Fig. 5 is the three dimensional structure diagram of fin assembly indexing retinue unit of the present invention；
Fig. 6 is the front view of apparent direction after fin assembly indexing retinue unit of the present invention；
Fig. 7 is Fig. 6 top view；
Fig. 8 is Fig. 6 left view；
Fig. 9 is the three dimensional structure diagram that supporting steel plate of the present invention inserts unit；
Figure 10 is the front view that supporting steel plate of the present invention inserts apparent direction after unit；
Figure 11 is Figure 10 top view；
Figure 12 is Figure 10 left view；
Figure 13 is the three dimensional structure diagram of apparent direction after three station fin assembly code fetch units of the invention；
Figure 14 is the three dimensional structure diagram of apparent direction before three station fin assembly code fetch units of the invention；
Figure 15 is the front view of apparent direction after three station fin assembly code fetch units of the invention；
Figure 16 is Figure 15 top view；
Figure 17 is Figure 15 left view.
In figure：1st, electric tube expander, 2, fin assembly indexing retinue unit, 21, guide rail, 22, walker, 23, indexable machine frame,
3rd, supporting steel plate inserts unit, and 31, feed bin support frame, 32, supporting steel plate bracket, 33, positioning supporting plate, 34, supporting steel plate slides
Move stacking pallet, 35, sliding stacking pallet guide rail, 36, supporting steel plate code fetch mechanical arm, 37, supporting steel plate code fetch manipulator,
38th, supporting steel plate inserts mechanical arm, 39, supporting steel plate insert manipulator, 4, three station fin assembly code fetch units, 41, three works
Position translational transferring apparatus, 411, translation transhipment support frame, 412, workpiece translational motion transhipment bracket, 413, workpiece grabbing pile up machinery
Arm, 42, workpiece charging code fetch device, 421, charging crawl pile up mechanical arm, 422, feed tray, 43, workpiece discharging code fetch dress
Put, 431, discharging crawl pile up mechanical arm, 432, discharging pallet.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings, and (following description is total in whole air conditioner fin with electric tube expander 1
Direction where into automatic expanding guard system is front, using left and right horizontal direction as X-coordinate, using front and rear horizontal direction as Y-coordinate,
Using vertical direction as Z coordinate, using along X-coordinate azimuth axis as the direction that rotary shaft rotates be A coordinates, with Z-direction axis of orientation
Line is that the direction of rotary shaft rotation is C coordinates).
As shown in Figures 1 to 4, this air conditioner fin assembly automatic expanding guard system include electric tube expander 1, the indexing of fin assembly with
Row unit 2, supporting steel plate insert unit 3, three station fin assembly code fetch units 4 and ECU.
Described electric tube expander 1 includes lower platen and the fin assembly positioning tool immediately below lower platen；On lower platen
The tube expansion mould coordinated with the copper pipe mouth of fin assembly is installed, tube expansion mould is horizontally disposed with left-right direction, on tube expansion mould
Provided with multiple tube expansion pressure heads set straight down；Fin assembly positioning tool is the riser structure being vertically arranged, riser structure
Left and right ends be equipped with work holder, the bottom rear of riser structure is provided with Working piece positioning device.
Described fin assembly indexing retinue unit 2 is arranged on the dead astern of electric tube expander 1, as shown in Fig. 5 to Fig. 8, fin
Assembly indexing retinue unit 2 includes support underframe, guide rail 21, walker 22 and indexable machine frame 23；The fore-and-aft direction of guide rail 21 is set
Put and be fixedly mounted on support underframe；Walker 22, which is set up, to be arranged on guide rail 21, and the inside of walker 22 is provided with front and rear walking and driven
Dynamic device and device for revolving and driving, the revolution axis vertical direction of device for revolving and driving are set, and front and rear travel driving unit can
To drive the entirety of walker 22 to be moved forward and backward on guide rail 21 and position；Indexable machine frame 23 comprises at least the preceding work being vertically arranged
Make face and rear working face, the indexable integral installation of machine frame 23 connects on walker 22 and with the device for revolving and driving of walker 22
Connect, axis of rotation setting, leading face and rear working face are symmetrical with before and after the leading face and rear working face of indexable machine frame 23
Left and right ends and bottom on be equipped with workpiece grip mechanism, to prevent from interfering, the workpiece grip mechanism of indexable machine frame 23 with
The work holder spatial offset of electric tube expander 1 is set, and the device for revolving and driving of walker 22 can at least drive indexable frock
Frame 23 rotates and positioned along 180 ° of its rotation axis to be exchanged with station before and after realization.
Described supporting steel plate inserts the left side or right side that unit 3 is arranged on fin assembly indexing retinue unit 2, such as Fig. 9
Shown in Figure 12, supporting steel plate inserts unit 3 and inserts mechanical arm including supporting steel plate feed bin and supporting steel plate code fetch；
Supporting steel plate feed bin includes feed bin support frame 31 and sets up the supporting steel plate being arranged on inside feed bin support frame
Bracket 32；Supporting steel plate bracket 32 is the riser structure being be arranged in parallel with the fin assembly positioning tool of electric tube expander 1, riser structure
Upper horizontal be provided with lifts positioning element in the more than one piece supporting steel plate of uniform layer structure up and down, and supporting steel plate lifts positioning element
One group of positioning supporting plate group is comprised at least in the lateral direction, and positioning supporting plate group includes two positioning supporting plates 33 being spaced apart, such as
Shown in Figure 11, the front end or rear end, left or right that position supporting plate 33 are provided with the spacing flanging flipped up, one group of positioning supporting plate
The symmetrical setting of two pieces positioning supporting plate 33 and a spacing flanging for positioning the left end of supporting plate 33 and another positioning of group are held in the palm
The spacing flanging of the right-hand member of plate 33 is oppositely arranged, and the space between the spacing flanging of two pieces positioning supporting plate 33 forms the appearance of supporting steel plate
Receive space；Top, the top position of supporting steel plate bracket 32 of feed bin support frame 31 are additionally provided with supporting steel plate sliding and pile up support
Frame 34 and sliding stacking pallet guide rail 35, the left and right directions of sliding stacking pallet guide rail 35, which is set up, is arranged on feed bin support frame 31
Upper and sliding stacking pallet guide rail 35 one end towards fin assembly indexing retinue unit 2 extend out to feed bin support frame 31
Outside, and slide height dimension of the stacking pallet guide rail 35 apart from ground and be more than the top of indexable machine frame 23 apart from ground
Height dimension, supporting steel plate slides stacking pallet 34 is pacified by sliding stacking pallet driving with the cooperation of sliding stacking pallet guide rail 35
Dress, supporting steel plate sliding stacking pallet 34 are provided with supporting steel plate location structure；
Mechanical arm is inserted for the ease of control supporting steel plate code fetch, improves crawl and the efficiency inserted, supporting steel plate code fetch
Insert mechanical arm and insert mechanical arm 38 including supporting steel plate code fetch mechanical arm 36 and supporting steel plate；Supporting steel plate code fetch mechanical arm 36
The top of supporting steel plate bracket 32 is erected at, supporting steel plate code fetch mechanical arm 36 comprises at least the Y-coordinate along anterior-posterior horizontal direction
Drive mechanism, Z coordinate drive mechanism vertically and the support for being arranged on the minor details end of supporting steel plate code fetch mechanical arm 36
Steel plate code fetch manipulator 37, supporting steel plate code fetch manipulator 37 are provided with supporting steel plate crawl and pile up mechanism；Supporting steel plate is inserted
The position of the corresponding sliding stacking pallet guide rail 35 of mechanical arm 38 is erected at the top of the external part of sliding stacking pallet guide rail 35, branch
Support steel plate inserts mechanical arm 38 and comprises at least the X-coordinate drive mechanism along left and right horizontal direction, Z coordinate driving vertically
Mechanism and it is arranged on supporting steel plate and inserts the supporting steel plate of the minor details end of mechanical arm 38 and insert manipulator 39, supporting steel plate inserts machine
Supporting steel plate crawl also is provided with tool hand 39 and piles up mechanism.
Three described station fin assembly code fetch units 4 are arranged on the dead astern of fin assembly indexing retinue unit 2, such as scheme
Shown in 13 to 17, three station fin assembly code fetch units 4 include three station translational transferring apparatus 41, workpiece charging code fetch device 42
With workpiece discharging code fetch device 43；
The left and right directions of three station translational transferring apparatus 41 is set, including the transhipment station of left, center, right three, middle transhipment station
The dead astern of face fin assembly indexing retinue unit 2 is set；Three station translational transferring apparatus 41 include translation transhipment support frame
411st, the peace transfer fortune carriage drive of workpiece translational motion transhipment bracket 412；It is horizontal by left and right directions that workpiece translational motion transports bracket 412
The translation transhipment carriage rail being erected on translation transhipment support frame 411 is movably arranged on translation transhipment support frame 411, workpiece
Station is transported during translation transhipment bracket 412 is corresponding and is turned right and fortune station position or turns left fortune station and middle transhipment station position is set
Two pieces is set to, and two pieces workpiece translational motion transhipment bracket 412 is turned by bindiny mechanism's connection fastened to each other, at least a workpiece translational motion
Translation transhipment carriage drive is installed, by controlling translation transhipment carriage drive action to realize two pieces work on fortune bracket 412
Part translation transhipment bracket 412 is synchronous to be moved left and right on translation transhipment support frame 411 along translation transhipment carriage rail and positions reality
Station is now converted, piece-holder detent mechanism is additionally provided with workpiece translational motion transhipment bracket 412；Three station translational transferring apparatus 41
Workpiece grabbing is additionally provided with middle transhipment station and piles up mechanical arm 413, workpiece grabbing is piled up mechanical arm 413 and comprised at least along front and rear water
Square to Y-coordinate drive mechanism, Z coordinate drive mechanism vertically, along left and right horizontal direction X-coordinate axle for rotation
The A coordinates rotary drive mechanism of axle and it is arranged on workpiece grabbing and piles up the workpiece grabbing of the minor details end of mechanical arm 413 and pile up machinery
Hand, workpiece grabbing pile up machinery and are provided with workpiece grip mechanism on hand；
Workpiece charging code fetch device 42 is arranged on the left-hand rotation fortune station of three station translational transferring apparatus 41 or fortune station of turning right
Dead astern, workpiece charging code fetch device 42 includes charging crawl and piles up mechanical arm 421 and feed tray 422；Charging crawl code
Put mechanical arm 421 comprise at least along the Y-coordinate drive mechanism in anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and
It is arranged on charging crawl and piles up the charging crawl of the minor details end of mechanical arm 421 and pile up manipulator, charging crawl piles up machinery on hand
Provided with workpiece grip mechanism；Feed tray 422 positions the dead astern for being arranged on three station translational transferring apparatus 41；
Workpiece discharging code fetch device 43 is arranged on the right-hand rotation fortune station of three station translational transferring apparatus 41 or the fortune station that turns left
Dead astern, workpiece discharging code fetch device 43 includes discharging crawl and piles up mechanical arm 431 and discharging pallet 432；Discharging crawl code
Put mechanical arm 431 comprise at least along the Y-coordinate drive mechanism in anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and
It is arranged on discharging crawl and piles up the discharging crawl of the minor details end of mechanical arm 431 and pile up manipulator, discharging crawl piles up machinery on hand
Provided with workpiece grip mechanism；Discharging pallet 432 positions the dead astern for being arranged on three station translational transferring apparatus 41.
Described ECU includes industrial control computer, electric power loop, counting circuit, workpiece feed back loop, translation
Transhipment control loop, loop is piled up in work delivery crawl, supporting steel plate inserts control loop, indexing retinue control loop, tube expansion
Machine control loop, workpiece discharging loop, industrial control computer piles up mechanical arm 421 with charging crawl respectively, workpiece translational motion turns
Transport piece-holder detent mechanism, the translation transhipment carriage drive of workpiece translational motion transhipment bracket 412, the workpiece grabbing code of bracket 412
Put mechanical arm 413, the workpiece grip mechanism of indexable machine frame 23, the front and rear travel driving unit of walker 22 and revolution driving dress
Put, supporting steel plate slides the sliding stacking pallet driving of stacking pallet 34, supporting steel plate code fetch mechanical arm 36, supporting steel plate code fetch
Mechanism is piled up in the supporting steel plate crawl of manipulator 37, supporting steel plate inserts mechanical arm 38, supporting steel plate inserts the branch of manipulator 39
Support plate grab code fetch laying mechanism, the electrical control cubicles of electric tube expander 1, discharging crawl are piled up mechanical arm 431 and electrically connected.
As shown in figure 3, the right-hand rotation for being arranged on three station translational transferring apparatus 41 below with workpiece charging code fetch device 42 is transported
The dead astern of station, workpiece discharging code fetch device 43 are arranged on the dead astern of the left-hand rotation fortune station of three station translational transferring apparatus 41
Exemplified by the operation principle of this air conditioner fin assembly automatic expanding guard system is described.
During original state, workpiece translational motion transhipment bracket 412 is stuck in the middle transhipment of the station translational transferring apparatus 41 of face three
The initial position of station and fortune station of turning right, the piece-holder detent mechanism that workpiece translational motion is transported on bracket 412 are in what is opened
Original state；Walker 22 is stuck in the initial position of the rear end of guide rail 21, and indexable machine frame 23 is in leading face towards before just
Side, rear working face are towards the initial position in dead astern, the piece-holder on the leading face and rear working face of indexable machine frame 23
Mechanism is in the original state opened；Supporting steel plate sliding stacking pallet 34 is located at the initial bit of the top of supporting steel plate bracket 32
Put；The lower platen of electric tube expander 1 is located at the initial position of upper limit, and the work holder of electric tube expander 1 is in the initial shape opened
State；Workpiece grabbing pile up mechanical arm 413 be in face and away from workpiece translational motion transhipment bracket 412 original state and workpiece grab
The workpiece grip mechanism that code fetch puts mechanical arm 413 is in the original state opened；Charging crawl piles up mechanical arm 421 and is in face
And away from feed tray 422 initial position and charging crawl pile up mechanical arm 421 workpiece grip mechanism be in open just
Beginning state；Discharging crawl piles up mechanical arm 431 and is in face and initial position and discharging crawl code away from discharging pallet 432
The workpiece grip mechanism for putting mechanical arm 431 is in the original state opened.
When being loaded with by the feed tray 422 for treating tube expansion fin assembly workpiece piled up of setting quantity by manual or automatic guiding
Transport vehicle from last process circulate to this air conditioner fin assembly automatic expanding guard system three station translational transferring apparatus 41 just after
The charging setting stand of side, unloaded discharging pallet 432 arrive this air conditioner wing by the circulation of manual or automatic guide transport lorry
During the discharging setting stand in the dead astern of three station translational transferring apparatus 41 of piece assembly automatic expanding guard system, this air conditioner wing
The electric power loop of piece assembly automatic expanding guard system starts, system starts.
Treat the crawl of tube expansion fin assembly with piling up：Workpiece feed back loop is first begin to work, industrial control computer hair
Go out instruction control charging crawl and pile up mechanical arm 421 according to preset program and coordinates computed action, feed crawl and pile up manipulator
Front treat tube expansion fin assembly, positioned at treating tube expansion fin assembly just by what setting quantity was piled up on the feed tray 422
Top, counting circuit are synchronously started working, then charging crawl pile up the Z-direction of mechanical arm 421 be displaced downwardly to the crawl of setting away from
Control charging crawl to pile up the workpiece grip mechanism holding action of mechanical arm 421 from postindustrial control computer to be pointed into material torr
Top layer first on disk 422 treats that tube expansion fin assembly carries out clamping crawl, and crawl rear feeding crawl piles up mechanical arm 421 along Z
Coordinate moves up certain distance, i.e., first is treated that tube expansion fin assembly treats that tube expansion fin assembly departs from following, and then charging is grabbed
Code fetch puts the surface that mechanical arm 421 moves forward to the right-hand rotation fortune station of three station translational transferring apparatus 41 along Y-coordinate, then feeds
Crawl piles up the Z-direction of mechanical arm 421 and is displaced downwardly to the right-hand rotation for treating that tube expansion fin assembly abuts in three station translational transferring apparatus 41
The setting of workpiece translational motion transhipment bracket 412 upper surface on fortune station is piled up controls charging crawl apart from postindustrial control computer
The workpiece grip mechanism expansion action for piling up mechanical arm 421 treats that tube expansion fin assembly is piled up to first, and then charging is grabbed
Code fetch puts mechanical arm 421 and is reset to original state, completes first crawl for treating tube expansion fin assembly with piling up.
Workpiece translational motion transhipment bracket 412 converts station：Translation transhipment control loop is started working, industrial control computer hair
The piece-holder detent mechanism holding action for going out instruction control workpiece translational motion transhipment bracket 412 treats tube expansion fin assembly to first
Clamping position is carried out, then the translation transhipment carriage drive action of industrial control computer control workpiece translational motion transhipment bracket 412
Make two pieces workpiece translational motion transhipment bracket 412 synchronous and sat to the left on translation transhipment support frame 411 along translation transhipment carriage rail
Setpoint distance and positioning that a station is moved in stepping are marked, is now loaded with first workpiece translational motion for treating tube expansion fin assembly transhipment
Bracket 412 is located on the middle transhipment station of three station translational transferring apparatus 41, and it is overall to complete two pieces workpiece translational motion transhipment bracket 412
Conversion station.
Work delivery：Loop is piled up in work delivery crawl and indexing retinue control loop is started working, and Industry Control calculates
Machine sends instruction control workpiece grabbing and piles up mechanical arm 413 according to preset program and coordinates computed action, workpiece grabbing arranging machine
The front of tool hand is faced on the workpiece translational motion transhipment bracket 412 on the middle transhipment station of three station translational transferring apparatus 41
First is treated tube expansion fin assembly, and then workpiece grabbing piles up the Z-direction of mechanical arm 413 and is displaced downwardly to the crawl of setting apart from rear work
The workpiece grip mechanism holding action that industry control computer control workpiece grabbing piles up mechanical arm 413 is pointed to workpiece translational motion transhipment
First on bracket 412 is treated that tube expansion fin assembly carries out clamping crawl, while industrial control computer controls the workpiece translational motion
The piece-holder detent mechanism expansion action of transhipment bracket 412 treats that tube expansion fin assembly joins to first, then workpiece
Crawl, which piles up mechanical arm 413 and captures first, to be treated to move to setpoint distance, while workpiece grabbing on tube expansion fin assembly Z-direction
Piling up the A coordinates rotary drive mechanism work of mechanical arm 413 makes workpiece grabbing pile up manipulator in 90 ° of A coordinate systems internal rotation, i.e.,
Workpiece grabbing pile up manipulator together with first be crawled treat tube expansion fin assembly be in treat the upward vertical state in tube expansion end,
And it is located at the dead astern position of face fin assembly indexing retinue unit 2, then workpiece grabbing piles up mechanical arm 413 along Y-coordinate
First setpoint distance after tube expansion fin assembly abuts in indexable machine frame 23 on working face, while industry control are moved to afterwards
Computer processed, which sends instruction, makes the workpiece grip mechanism holding action after indexable machine frame 23 on working face treat tube expansion to first
Fin assembly carry out clamping position, workpiece grabbing pile up mechanical arm 413 workpiece grip mechanism open after workpiece grabbing arranging machine
Tool arm 413 is reset to original state, while industrial control computer sends the device for revolving and driving time of instruction control walker 22
Rotating work makes indexable machine frame 23 rotate clockwise or counter-clockwise 180 °, is loaded with first indexable work for treating tube expansion fin assembly
Shelve working face after 23 and return back to the state towards electric tube expander 1, complete to treat the work delivery of tube expansion fin assembly；
Workpiece grabbing pile up mechanical arm 413 capture first treat tube expansion fin assembly depart from workpiece translational motion transhipment bracket
The translation transhipment carriage drive action of industrial control computer control workpiece translational motion transhipment bracket 412 makes two pieces work while 412
Part translation transhipment bracket 412 is synchronous, and along translation transhipment carriage rail, coordinate stepping moves to the right on translation transhipment support frame 411
Move the setpoint distance of a station and position recovery to original state, mechanical arm 421 is piled up in charging crawl can continue to entering material torr
Second on disk 422 is treated that tube expansion fin assembly is captured and piles up the right-hand rotation fortune station in three station translational transferring apparatus 41
On workpiece translational motion transhipment bracket 412 on await orders.
Supporting steel plate is inserted：Supporting steel plate inserts control loop start-up operation, and industrial control computer sends instruction control
Mechanism patch is piled up in the supporting steel plate crawl that the Z-direction of supporting steel plate code fetch mechanical arm 36 is displaced downwardly to supporting steel plate code fetch manipulator 37
The setpoint distance on first piece of supporting steel plate on top layer positioning supporting plate group positioning supporting plate 33 is leaned against, then supporting steel plate takes
The supporting steel plate crawl of code mechanical hand 37 piles up mechanism action and first piece of supporting steel plate is captured, and crawl rear support steel plate takes
Code mechanical arm 36 carries moves to setpoint distance and then Y-coordinate direction moves to supporting steel on first piece of supporting steel plate elder generation Z-direction
Plate slides the surface of stacking pallet 34, and the supporting steel plate crawl of supporting steel plate code fetch manipulator 37 piles up mechanism action to first
Block supporting steel plate is reset to original state after being piled up, then industrial control computer sends instruction control supporting steel plate sliding
The sliding stacking pallet drive actions of stacking pallet 34 make supporting steel plate sliding stacking pallet 34 carry first piece of supporting steel plate along X
Coordinate is moved to the projecting end of sliding stacking pallet guide rail 35 and positioning, and then industrial control computer sends instruction control branch
Support steel plate, which inserts the Z-direction of mechanical arm 38 and is displaced downwardly to supporting steel plate and inserts the supporting steel plate crawl of manipulator 39, to be piled up mechanism and reclines
Positioned at supporting steel plate sliding stacking pallet 34 on first piece of supporting steel plate on setpoint distance, then supporting steel plate insert machine
The supporting steel plate crawl of tool hand 39 piles up mechanism action and first piece of supporting steel plate is captured, and crawl rear support steel plate inserts machine
Tool arm 38, which carries, moves to setpoint distance and then X-coordinate direction moves to face indexing work on first piece of supporting steel plate elder generation Z-direction
The surface of working face after 23 is shelved, then supporting steel plate is inserted the Z-direction of manipulator 39 and is displaced downwardly on first piece of supporting steel plate
Copper pipe borehole jack be connected on first and treat that tube expansion fin assembly treats the setpoint distance on the copper pipe at tube expansion end, supporting steel plate inserts machinery
The supporting steel plate crawl of hand 39 is piled up original state is reset to after mechanism action is piled up to first piece of supporting steel plate, completes the
One piece of supporting steel plate is inserted；
During first piece of supporting steel plate is inserted, industrial control computer controls translation transhipment control loop and work simultaneously
Loop task again is piled up in part handing-over crawl, is the same as those described above, and two pieces workpiece translational motion transhipment bracket 412 is again after integral transformation station
Workpiece grabbing piles up that mechanical arm 413 treats the crawl of tube expansion fin assembly by second and alignment code is placed on the preceding work of indexable machine frame 23
Make on face, workpiece grabbing piles up mechanical arm 413 and recovers to original state to await orders again, and two pieces workpiece translational motion transhipment bracket 412 is again
Secondary recovery to the original state that moves to right is awaited orders, and mechanical arm 421 is piled up in charging crawl can continue to treat the 3rd on feed tray 422
Tube expansion fin assembly is captured and piles up the workpiece translational motion transhipment on the right-hand rotation fortune station of three station translational transferring apparatus 41
Awaited orders on bracket 412.
Treat the tube expansion operation of tube expansion fin assembly：First piece of supporting steel plate of completion is inserted treats tube expansion fin assembly with second
After alignment code is placed on the leading face of indexable machine frame 23, indexing retinue control loop and electric tube expander control loop start work
Make, the front and rear travel driving unit action that industrial control computer sends instruction control walker 22 makes walker 22 is overall leading
Front end and the positioning of guide rail 21 are moved forward on rail 21 along Y-coordinate, is now placed in first after indexable machine frame 23 on working face
Treat that tube expansion fin assembly is abutted on the fin assembly positioning tool of electric tube expander 1, it is swollen that industrial control computer sends instruction control
The work holder holding action of the fin assembly positioning tool of pipe machine 1 is treated that tube expansion fin assembly clamp to first and determined
Position, while industrial control computer controls piece-holder detent mechanism expansion action after indexable machine frame 23 on working face to the
One is treated that tube expansion fin assembly is joined, and industrial control computer sends the front and rear hoofing part dress of instruction control walker 22
Put the wing that action makes walker 22 integrally move to working face and electric tube expander 1 after indexable machine frame 23 along after Y-coordinate on guide rail 21
Walker 22 is standby after the setpoint distance that piece assembly positioning tool departs from, and industrial control computer sends instruction control
The lower platen of electric tube expander 1 presses to setpoint distance, and the tube expansion mould on lower platen treats that tube expansion fin assembly is treated to first
Tube expansion end carries out tube expansion, and the lower platen of electric tube expander 1 is reset to first tube expansion for treating tube expansion fin assembly of completion after original state
Operation.
The crawl of fin assembly of tube expansion has been completed with piling up：Indexable control loop task again of accompanying, Industry Control meter
The front and rear travel driving unit action that calculation machine sends instruction control walker 22 makes the entirety of walker 22 on guide rail 21 along Y-coordinate
The front end of guide rail 21 and positioning are moved forward to, first be now placed on the fin assembly positioning tool of electric tube expander 1 has completed swollen
The fin assembly of pipe is abutted in after indexable machine frame 23 on working face, and industrial control computer works after controlling indexable machine frame 23
Piece-holder detent mechanism holding action on face carries out clamping position, while work to first fin for having completed tube expansion assembly
Industry control computer sends the work holder expansion action of the fin assembly positioning tool of instruction control electric tube expander 1 to first
The fin assembly that part has completed tube expansion is joined, and then industrial control computer sends the front and rear row of instruction control walker 22
Walking drive device action makes overall rear end and the positioning for moving to guide rail 21 along after Y-coordinate on guide rail 21 of walker 22, while work
Industry control computer send instruction control walker 22 device for revolving and driving revolution action make indexable machine frame 23 clockwise or
180 ° of person's rotate counterclockwise, working face returns back to after being loaded with the indexable machine frame 23 of first fin for having completed tube expansion assembly
Towards the state of three station fin assembly code fetch units 4；
Then industrial control computer sends instruction control workpiece grabbing and piles up mechanical arm 413 and completed tube expansion by first
Fin assembly handing-over crawl and the middle transhipment station of the alignment code three station translational transferring apparatus 41 that are placed on armed state on
The workpiece translational motion transhipment bracket 412 on workpiece translational motion transhipment bracket 412 while transported in this on station has been completed swollen to first
The fin assembly of pipe carries out clamping position, and then industrial control computer sends instruction control two pieces workpiece translational motion transhipment bracket
412 overall are again moved to the left the workpiece translational motion transhipment bracket that first fin for having completed tube expansion assembly is loaded with after conversion station
412 are located at the front of workpiece discharging code fetch device 43, are loaded with the 3rd workpiece translational motion for treating tube expansion fin assembly transhipment support
Frame 412 is that then industrial control computer, which is sent, instructs while control out positioned at the dead astern of fin assembly indexing retinue unit 2
Mechanical arm 431 is piled up in material crawl and workpiece grabbing is piled up mechanical arm 413 and acted and grabs first fin for having completed tube expansion assembly
Code fetch is placed on discharging pallet 432, piles up the working face after indexable machine frame 23 after the crawl of tube expansion fin assembly by the 3rd
On, first fin assembly for having completed tube expansion of completion is piled up, and two pieces workpiece translational motion transhipment bracket 412 moves to right a work again
Bit recovery to original state is awaited orders；
Meanwhile industrial control computer sends instruction control supporting steel plate and inserts control loop and work second piece of branch again
Support second that steel plate is embedded on the indexable leading face of machine frame 23 and treat that tube expansion fin assembly is treated on the copper pipe at tube expansion end.
By that analogy, until treating that tube expansion fin assembly is fully completed tube expansion process and piled up successively on feed tray 422
On discharging pallet 432, feed tray 422 and discharging pallet 432 are transported through.
The usual Outside Dimensions of isolation cardboard added during due to stacking between fin assembly are less than the outer of fin assembly
Size is enclosed, therefore isolation cardboard is captured and laid during tube expansion in order to realize, as further changing for the present invention
Enter scheme, isolation is respectively equipped with immediately below the left-hand rotation fortune station of three described station translational transferring apparatus 41 and right turnover station
Cardboard bearing tray, the isolation cardboard bearing tray of corresponding workpiece charging code fetch device 42 is unloaded isolation cardboard carrying support
Disk, the isolation cardboard bearing tray of corresponding workpiece discharging code fetch device 43 is fully loaded with to have treats tube expansion fin on corresponding feed tray 422
The isolation cardboard of assembly quantity；Described ECU also includes isolation cardboard crawl laying loop；Complete first and treat tube expansion
The crawl of fin assembly and after piling up, treats that two pieces workpiece translational motion transports the postindustrial control computer of integral transformation station of bracket 412
Send instruction control charging crawl and pile up mechanical arm 421 and be pointed on feed tray 422 second and treat above tube expansion fin assembly
Isolation cardboard captured and translate pile up to the right-hand rotation fortune station of three station translational transferring apparatus 41 it is unloaded every
Mechanical arm 421, which is piled up, from rear feeding crawl on cardboard bearing tray is reset to original state；The wing for having completed tube expansion by first
After the crawl of piece assembly is piled up on discharging pallet 432, treat that two pieces workpiece translational motion transhipment bracket 412 moves to right a station and recovered again
Send instruction control discharging crawl to original state postindustrial control computer of awaiting orders and pile up mechanical arm 431 and be pointed to three stations and put down
First isolation cardboard on fully loaded isolation cardboard bearing tray immediately below the left-hand rotation fortune station of transfer shipping unit 41 is grabbed
Take and translate to pile up to rear discharging crawl on first fin assembly for having completed tube expansion on discharging pallet 432 and pile up mechanical arm
431 are reset to original state；By that analogy, until by feed tray 422 while completing the tube expansion of all fin assemblies
Isolation cardboard all piles up on the isolation cardboard bearing tray of zero load successively, by fully loaded isolation cardboard bearing tray every
All piled up between the fin assembly of tube expansion has respectively been completed successively from cardboard, isolation cardboard bearing tray is transported through i.e.
Can.
In order to ensure the supply of enough supporting steel plates, scheme as a further improvement on the present invention, described support
Steel plate bracket 32 is arranged to more than one piece, and parallel set up of more than one piece supporting steel plate bracket 32 is arranged on inside feed bin support frame, and riser
It is horizontal on front and rear two facade of the supporting steel plate bracket 32 of structure to be provided with up and down in the more than one piece supporting steel of uniform layer structure
Plate support lifts positioning element.
Supplemented for the ease of inserting the supporting steel plate in unit 3 on supporting steel plate bracket 32 to supporting steel plate, as
Further improvement of the present invention scheme, described supporting steel plate bracket 32 is by setting up the slide rail being arranged in feed bin support frame
Connected with detent mechanism and the installation of feed bin support frame；Zero load can will be crawled during steel plate is inserted by being arranged such
Supporting steel plate bracket 32 be pushed out to outside feed bin support frame along slide rail and the supporting steel plate bracket 32 of zero load carried out in time
The filling supplement of supporting steel plate.
The supporting steel plate bracket 32 of zero load is carried out being automatically replenished supporting steel plate in order to realize, as the further of the present invention
Improvement project, described supporting steel plate, which inserts unit 3, also includes supporting steel plate bracket passage detent mechanism and supplementary support steel plate
Feed bin, supplementary support steel plate feed bin position front or dead astern and the supplementary support steel plate for being arranged on feed bin support frame 31
Feed bin inner support steel plate pile up direction and the supporting steel plate on supporting steel plate bracket 32 to pile up direction identical；Described support
It is additionally provided with steel plate code fetch manipulator 37 along the A coordinate rotary drive mechanisms that the X-coordinate axle in left and right horizontal direction is rotary shaft；Institute
The ECU stated also includes supporting steel plate supplementary loop, and described industrial control computer positions with the passage of supporting steel plate bracket
Mechanism electrically connects；Time dead between previous piece of supporting steel plate is inserted and latter piece of supporting steel plate is inserted, Industry Control meter
Calculation machine can control the action of supporting steel plate code fetch mechanical arm 36 to make supporting steel plate code fetch manipulator 37 successively from supplement supporting steel plate
From the gap between two positioning being spaced apart supporting plates 33 after being rotated to an angle in feed bin after crawl supporting steel plate along A coordinates
Supporting steel plate is sent into different unloaded positioning supporting plate groups, realizes and the supporting steel plate bracket 32 of zero load is automatically replenished
Supporting steel plate.
In order to realize that supporting steel plate code fetch manipulator 37 is pointed to position on supporting plate group positioning supporting plate 33 or supplementary support
Supporting steel plate in steel plate feed bin is accurately captured, as a further improvement on the present invention scheme, and described supporting steel plate takes
Code mechanical arm 36 also includes the X-coordinate drive mechanism along left and right horizontal direction, is gone back on described supporting steel plate code fetch manipulator 37
Including the C coordinates rotary drive mechanism and pattern-recognition sensor that Z coordinate axle vertically is rotary shaft, described industry
Control computer electrically connects with the C coordinates rotary drive mechanism and pattern-recognition sensor of supporting steel plate code fetch manipulator 37；Branch
37 self-positioning supporting plate group of support steel plate code fetch manipulator positions when crawl supporting steel plate is carried out on supporting plate 33 or supporting steel plate code fetch machine
Tool hand 37 carries out during crawl supporting steel plate industrial control computer according to pattern-recognition sensor from supplementing in supporting steel plate feed bin
Feedback founding mathematical models, and postindustrial control computer passes through compared with built-in data model by the mathematical modeling
Control the shape of C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate drive mechanism to supporting steel plate code fetch manipulator 37
Position is captured again after being rectified a deviation, and then realizes and supporting steel plate is accurately captured.
Fin assembly is accurately captured and piles up in order to realize, as a further improvement on the present invention scheme, described charging
Manipulator is piled up in the charging crawl that mechanical arm 421 is piled up in crawl, workpiece translational motion transports bracket 412, workpiece grabbing piles up mechanical arm
413 workpiece grabbing is piled up manipulator, the working face of indexable machine frame 23, supporting steel plate code fetch manipulator 37, supporting steel plate and put
Enter manipulator 39, electric tube expander 1 fin assembly positioning tool, discharging crawl pile up mechanical arm 431 discharging crawl pile up machinery
Range sensor is equipped with hand, and the industrial control computer of described ECU electrically connects with range sensor respectively, work
Industry control computer can be achieved accurately to capture and pile up fin assembly by the feedback of range sensor.
Fin assembly is accurately captured in order to further realize, as a further improvement on the present invention scheme, described charging
Manipulator is piled up in the charging crawl that mechanical arm 421 is piled up in crawl, workpiece grabbing piles up the workpiece grabbing of mechanical arm 413 and piles up machinery
The discharging crawl that hand, discharging crawl pile up mechanical arm 431 piles up manipulator and also includes Z coordinate axle vertically for rotation
The C coordinates rotary drive mechanism and pattern-recognition sensor of axle, described ECU also include pattern-recognition control loop, institute
Manipulator, workpiece grabbing code are piled up in the charging crawl that the industrial control computer stated piles up mechanical arm 421 with charging crawl respectively
The workpiece grabbing for putting mechanical arm 413 piles up manipulator, discharging captures the C for capturing and piling up manipulator that discharges for piling up mechanical arm 431
Coordinate rotary drive mechanism and the electrical connection of pattern-recognition sensor；The industrial control computer before each manipulator captures fin assembly
According to the feedback founding mathematical models of pattern-recognition sensor, and by the mathematical modeling compared with built-in data model after
Industrial control computer captures again after being rectified a deviation to the morpheme of manipulator by controlling C coordinates rotary drive mechanism, enters
And realize accurate crawl fin assembly.
In order to realize steel plate insert during proper alignment be placed into, scheme, described as a further improvement on the present invention
Supporting steel plate insert mechanical arm 38 and also include Y-coordinate drive mechanism along anterior-posterior horizontal direction, described supporting steel plate inserts
The Z coordinate axle also included on manipulator 39 vertically is the C coordinates rotary drive mechanism of rotary shaft and pattern-recognition sensing
Device, described industrial control computer inserts the C coordinates rotary drive mechanism of manipulator 39 with supporting steel plate and pattern-recognition passes
Sensor electrically connects；Treat that tube expansion fin assembly treats work before tube expansion end when supporting steel plate inserts manipulator 39 and captures supporting steel plate and insert
Industry control computer is according to the feedback founding mathematical models of pattern-recognition sensor, and by the mathematical modeling and built-in data mould
Type is compared postindustrial control computer by controlling C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate to drive
Mechanism supporting steel plate is inserted manipulator 39 morpheme rectify a deviation after insert again, and then realize the accurate right of supporting steel plate
Just it is placed into.
Described supporting steel plate code fetch manipulator 37 and supporting steel plate insert the supporting steel plate crawl arranging machine of manipulator 39
Structure can be by the way of clamping captures supporting steel plate, can also be by the way of negative-pressure adsorption captures supporting steel plate, due to branch
Support that the quality of steel plate is relatively light, and the mechanism of the latter's Grasp Modes set and control it is relative the former is simple, therefore preferred the latter,
That is, the preferred scheme as the present invention, described supporting steel plate code fetch manipulator 37 and supporting steel plate insert the branch of manipulator 39
Support plate grab code fetch laying mechanism is negative-pressure adsorption crawl structure, and negative-pressure adsorption crawl structure is included perpendicular to the negative of gripping surface setting
Adsorption orifice is pressed, negative-pressure adsorption mouth is connected by gas circuit pipeline and vacuum cavitations valve group with negative pressure source, the work of described ECU
Industry control computer electrically connects with vacuum cavitations valve group；Industrial control computer is by controlling the keying of vacuum cavitations valve group to realize
Supporting steel plate code fetch manipulator 37 and supporting steel plate insert the absorption of manipulator 39 crawl or pile up supporting steel plate.
Mechanical arm 421 is piled up in described charging crawl, workpiece grabbing piles up mechanical arm 413, mechanical arm is piled up in discharging crawl
431st, supporting steel plate code fetch mechanical arm 36 and supporting steel plate, which insert mechanical arm 38, can use multi-joint centralized Control mechanical arm,
Gantry type split control machinery arm, or the mechanical arm using other forms can be used, due to the multi-joint of the first scheme
The control of mechanical arm is centralized Control, and accurately coordinate control is more complicated for it, need to largely be calculated by industrial control computer,
Software control procedure is complicated, and manufacturing cost is higher, computer control burden weight, easily breaks down；Second scheme uses split
Control, i.e., several coordinate systems control respectively, and control is relatively easy, direct, is less prone to failure, therefore preferred second scheme,
That is, the preferred scheme as the present invention, mechanical arm 421 is piled up in described charging crawl, workpiece grabbing piles up mechanical arm 413, goes out
It is gantry type split that material crawl, which piles up mechanical arm 431, supporting steel plate code fetch mechanical arm 36 and supporting steel plate to insert mechanical arm 38,
Control machinery arm.
This air conditioner fin assembly automatic expanding guard system can carry out automatic tube expansion to common single row fin assembly, for
Because have the same widths size, being superimposed for different height size that air-conditioning products function needs and designs are in the double of double-decker
Fin assembly, because the tube expansion end of two row's fin assemblies in double fin assembly is typically highly concordant and two row's fins
The tube expansion end of assembly is generally attached by the supporting steel plate with double copper pipe hole, therefore by the front and back of feed tray 422
To be arranged to two pieces, the fin assembly of different height size is put in stacking respectively, while according to the positioning rule of double fin assembly
The very little workpiece grabbing for requiring to pile up piece-holder detent mechanism, the workpiece grabbing of workpiece translational motion transhipment bracket 412 into mechanical arm 413
Workpiece grip mechanism, the fin of electric tube expander 1 piled up on the working face of machinery workpiece grip mechanism on hand, indexable machine frame 23 are total
Work holder and Working piece positioning device, discharging crawl into positioning tool pile up the discharging crawl arranging machine of mechanical arm 431
The workpiece grip mechanism of tool on hand is accordingly arranged to be applied to the location structure for positioning double fin assembly, and coordinates and be replaced by
Double tube expansion mould and the supporting steel plate with double copper pipe hole, you can realize inserting after steel plate once to double fin assembly
Tube expansion is molded, during the difference with single row fin assembly tube expansion is that charging is piled up, the basis of mechanical arm 421 is piled up in charging crawl
First fin assembly alignment code that program is first captured on a feed tray 422 is placed on workpiece translational motion transhipment bracket 412, again
The second fin assembly alignment code captured according to program on another feed tray 422 is placed on setting on first fin assembly
Positioning is put, and workpiece translational motion transhipment bracket 412 can carry out overall positioning to this double fin assembly, during discharging is piled up, go out
Material crawl piles up mechanical arm 431 and piles up total integral removed from workpiece translational motion transhipment bracket 412 of double fin.
This air conditioner fin assembly automatic expanding guard system is Digitizing And Control Unit, can be total with the numeral of air conditioner factory
Line, which is seamlessly connected, realizes concentration digital management.
This air conditioner fin assembly automatic expanding guard system automaticity is high, utilization rate of equipment and installations is higher, production capacity is higher, in energy
It is enough to realize that improve realization on the premise of efficiency is piled up in crawl carries out tube expansion to the fin assembly for not installing positioning supporting steel plate；Due to
Provided with three station fin assembly code fetch units 4, and two pieces workpiece translational motion transhipment bracket 412 passes through bindiny mechanism's connection fastened to each other
Bracket 412 is transported by the workpiece translational motion of bindiny mechanism's connection fastened to each other including two pieces, therefore transhipment support is translated by controlling
Frame drive actions can realize that two pieces workpiece translational motion transhipment bracket 412 is synchronous and transport carriage rail in translation transhipment support along translation
Moved left and right on frame 411 and position realization conversion station, industrial control computer can control two pieces workpiece according to setting program
Translation transhipment bracket 412 coordinates charging, and mechanical arm 421 is piled up in crawl, workpiece grabbing piles up mechanical arm 413 and discharging crawl is piled up
The action of mechanical arm 431 carries out in good time shift action, and then can realize the crawl for treating tube expansion fin assembly and pile up control, work
The control of the part translation transhipment conversion station of bracket 412, work delivery control, completed the crawl of the fin assembly of tube expansion and piles up control
The interval successively of system is carried out in order, so as to improve the overall operating efficiency of fin assembly tube expansion process；Due to provided with supporting steel plate
Unit 3 is inserted, therefore inserting for supporting steel plate can be realized before fin assembly enters the progress tube expansion operation of electric tube expander 1, in steel
Three station fin assembly code fetch units 4, which can continue to coordinate, while plate is inserted carries out the follow-up beam worker for treating tube expansion fin assembly
Make, and then realize the operating efficiency for ensureing that fin assembly tube expansion process is overall；Due to can be in three station translational transferring apparatus 41
Left-hand rotation fortune station and the underface of right turnover station isolation cardboard bearing tray is set respectively, therefore can realize in tube expansion mistake
Isolation cardboard is captured and laid in journey, so realize prevent between the fin assembly of intensive fin socket connection mutually and
Code fetch is not easy to, especially suitable for air conditioner fin assembly copper pipe mouth tube expansion process.
Claims (10)
1. a kind of air conditioner fin assembly automatic expanding guard system, including electric tube expander (1), fin assembly indexing retinue unit (2) and
ECU；Described electric tube expander (1) includes lower platen and the fin assembly positioning tool immediately below lower platen；Lower platen
On the tube expansion mould coordinated with the copper pipe mouth of fin assembly is installed, tube expansion mould is horizontally disposed with left-right direction, tube expansion mould
It is provided with multiple tube expansion pressure heads set straight down；Fin assembly positioning tool is the riser structure being vertically arranged, riser knot
The left and right ends of structure are equipped with work holder, and the bottom rear of riser structure is provided with Working piece positioning device；Described fin
Assembly indexing retinue unit (2) is arranged on the dead astern of electric tube expander (1), and fin assembly indexing retinue unit (2) includes support bottom
Frame, guide rail (21), walker (22) and indexable machine frame (23)；Guide rail (21) fore-and-aft direction sets and is fixedly mounted on support underframe
On；Walker (22), which is set up, to be arranged on guide rail (21), and front and rear travel driving unit is provided with inside walker (22) and revolution is driven
Dynamic device, the revolution axis vertical direction of device for revolving and driving are set；Indexable machine frame (23) includes the preceding work being vertically arranged
Make face and rear working face, indexable machine frame (23) integral installation on walker (22) and with the revolution driving of walker (22)
Device connects, and is symmetrical with axis of rotation setting before and after the leading face and rear working face of indexable machine frame (23), leading face and
Be equipped with workpiece grip mechanism on the left and right ends and bottom of working face afterwards, the workpiece grip mechanism of indexable machine frame (23) with it is swollen
The work holder spatial offset of pipe machine (1) is set；
Characterized in that, this air conditioner fin assembly automatic expanding guard system also inserts unit (3) and three stations including supporting steel plate
Fin assembly code fetch unit (4)；
Described supporting steel plate inserts the left side or right side that unit (3) is arranged on fin assembly indexing retinue unit (2), supporting steel
Plate inserts unit (3) and inserts mechanical arm including supporting steel plate feed bin and supporting steel plate code fetch；
Supporting steel plate feed bin includes feed bin support frame (31) and sets up the supporting steel plate support being arranged on inside feed bin support frame
Frame (32)；Supporting steel plate bracket (32) is the riser structure being be arranged in parallel with the fin assembly positioning tool of electric tube expander (1), riser
Horizontal be provided with lifts positioning element in the more than one piece supporting steel plate of uniform layer structure up and down in structure, and supporting steel plate lifts positioning
Part comprises at least one group of positioning supporting plate group in the lateral direction, and positioning supporting plate group includes two positioning supporting plates being spaced apart
(33) front end or rear end, left or right for, positioning supporting plate (33) are provided with the spacing flanging flipped up, one group of positioning supporting plate group
Two pieces positioning supporting plate (33) it is symmetrical setting and one positioning supporting plate (33) left end spacing flanging with another positioning
The spacing flanging of supporting plate (33) right-hand member is oppositely arranged, and the space between the spacing flanging of two pieces positioning supporting plate (33) forms supporting steel
The receiving space of plate；Top, the top position of supporting steel plate bracket (32) of feed bin support frame (31) are additionally provided with supporting steel plate
Stacking pallet (34) and sliding stacking pallet guide rail (35) are slid, sliding stacking pallet guide rail (35) left and right directions, which is set up, to be arranged on
In feed bin support frame (31) and sliding stacking pallet guide rail (35) towards fin assembly indexing retinue unit (2) one end
The outside of feed bin support frame (31) is extend out to, and slides height dimension of the stacking pallet guide rail (35) apart from ground and is more than indexing
The top of machine frame (23) is apart from the height dimension on ground, and supporting steel plate sliding stacking pallet (34) is by sliding stacking pallet drive
Dynamic to coordinate installation with sliding stacking pallet guide rail (35), supporting steel plate sliding stacking pallet (34) is provided with supporting steel plate positioning knot
Structure；
Supporting steel plate code fetch inserts mechanical arm and inserts mechanical arm (38) including supporting steel plate code fetch mechanical arm (36) and supporting steel plate；
Supporting steel plate code fetch mechanical arm (36) is erected at the top of supporting steel plate bracket (32), and supporting steel plate code fetch mechanical arm (36) is at least
Including the Y-coordinate drive mechanism along anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and it is arranged on supporting steel plate and takes
The supporting steel plate code fetch manipulator (37) of code mechanical arm (36) minor details end, supporting steel plate code fetch manipulator (37) are provided with support
Plate grab code fetch laying mechanism；The position that supporting steel plate inserts the corresponding sliding stacking pallet guide rail (35) of mechanical arm (38) is erected at cunning
Frameshit puts the top of the external part of carriage rail (35), and supporting steel plate is inserted mechanical arm (38) and comprised at least along left and right horizontal direction
X-coordinate drive mechanism, Z coordinate drive mechanism vertically and be arranged on supporting steel plate and insert mechanical arm (38) minor details end
The supporting steel plate in portion inserts manipulator (39), and supporting steel plate, which is inserted on manipulator (39), also is provided with supporting steel plate crawl arranging machine
Structure；
Three described station fin assembly code fetch units (4) are arranged on the dead astern of fin assembly indexing retinue unit (2), three works
Position fin assembly code fetch unit (4) includes three station translational transferring apparatus (41), workpiece charging code fetch device (42) and workpiece and gone out
Expect code fetch device (43)；
Three station translational transferring apparatus (41) left and right directions are set, including the transhipment station of left, center, right three, and middle transhipment station is just
The dead astern of fin assembly indexing retinue unit (2) is set；Three station translational transferring apparatus (41) include translation transhipment support
Frame (411), workpiece translational motion transhipment bracket (412) peace transfer fortune carriage drive；Workpiece translational motion transhipment bracket (412) passes through left and right
The translation transhipment carriage rail that direction level is erected on translation transhipment support frame (411) is movably arranged on translation transhipment support frame
(411) on, station is transported during workpiece translational motion transhipment bracket (412) is corresponding and turn right fortune station position or turn left fortune station and in
Transhipment station position is arranged to two pieces, and two pieces workpiece translational motion transhipment bracket (412) is by bindiny mechanism's connection fastened to each other, extremely
Translation transhipment carriage drive is installed, workpiece translational motion is transported on bracket (412) also on few workpiece translational motion transhipment bracket (412)
Provided with piece-holder detent mechanism；Workpiece grabbing arranging machine is additionally provided with the middle transhipment station of three station translational transferring apparatus (41)
Tool arm (413), workpiece grabbing pile up mechanical arm (413) and comprise at least the Y-coordinate drive mechanism along anterior-posterior horizontal direction, along vertical
The Z coordinate drive mechanism in direction, the A coordinates rotary drive mechanism along the X-coordinate axle in left and right horizontal direction for rotary shaft and setting
The workpiece grabbing that mechanical arm (413) minor details end is piled up in workpiece grabbing piles up manipulator, and workpiece grabbing is piled up machinery and set on hand
There is workpiece grip mechanism；
Workpiece charging code fetch device (42) is arranged on the left-hand rotation fortune station of three station translational transferring apparatus (41) or fortune station of turning right
Dead astern, workpiece charging code fetch device (42) include charging crawl pile up mechanical arm (421) and feed tray (422)；Charging
Crawl piles up mechanical arm (421) and comprises at least the Y-coordinate drive mechanism along anterior-posterior horizontal direction, Z coordinate drive vertically
Motivation structure and it is arranged on charging crawl and piles up the charging crawl of mechanical arm (421) minor details end and pile up manipulator, charging crawl code
Put manipulator and be provided with workpiece grip mechanism；Feed tray (422) positioning is being arranged on three station translational transferring apparatus (41) just
Rear；
Workpiece discharging code fetch device (43) is arranged on the right-hand rotation fortune station of three station translational transferring apparatus (41) or the fortune station that turns left
Dead astern, workpiece discharging code fetch device (43) include discharging crawl pile up mechanical arm (431) and discharge pallet (432)；Discharging
Crawl piles up mechanical arm (431) and comprises at least the Y-coordinate drive mechanism along anterior-posterior horizontal direction, Z coordinate drive vertically
Motivation structure and it is arranged on discharging crawl and piles up the discharging crawl of mechanical arm (431) minor details end and pile up manipulator, discharging crawl code
Put manipulator and be provided with workpiece grip mechanism；Discharging pallet (432) positioning is being arranged on three station translational transferring apparatus (41) just
Rear；
Described ECU includes industrial control computer, electric power loop, counting circuit, workpiece feed back loop, translation transhipment
Control loop, loop is piled up in work delivery crawl, supporting steel plate inserts control loop, indexable accompany control loop, electric tube expander control
Loop processed, workpiece discharging loop, industrial control computer piles up mechanical arm (421) with charging crawl respectively, workpiece translational motion is transported
Piece-holder detent mechanism, the translation transhipment carriage drive of workpiece translational motion transhipment bracket (412), the workpiece grabbing of bracket (412)
Pile up mechanical arm (413), the workpiece grip mechanism of indexable machine frame (23), walker (22) front and rear travel driving unit and return
Rotary driving device, supporting steel plate sliding stacking pallet (34) the driving of sliding stacking pallet, supporting steel plate code fetch mechanical arm (36),
Mechanism is piled up in the supporting steel plate crawl of supporting steel plate code fetch manipulator (37), supporting steel plate inserts mechanical arm (38), supporting steel plate
Mechanism, the electrical control cubicles of electric tube expander (1) are piled up in the supporting steel plate crawl for inserting manipulator (39), mechanical arm is piled up in the crawl that discharges
(431) electrically connect.
2. air conditioner fin assembly automatic expanding guard system according to claim 1, it is characterised in that three described stations are put down
Isolation cardboard bearing tray, corresponding work are respectively equipped with immediately below the left-hand rotation fortune station of transfer shipping unit (41) and right turnover station
The isolation cardboard bearing tray of part charging code fetch device (42) is unloaded isolation cardboard bearing tray, corresponding workpiece discharging code fetch
The isolation cardboard bearing tray of device (43) is fully loaded the barrier paper that tube expansion fin assembly quantity is treated on corresponding feed tray (422)
Plate；Described ECU also includes isolation cardboard crawl laying loop.
3. air conditioner fin assembly automatic expanding guard system according to claim 1 or 2, it is characterised in that described charging
Manipulator, workpiece translational motion transhipment bracket (412), workpiece grabbing arranging machine are piled up in the charging crawl that mechanical arm (421) is piled up in crawl
The workpiece grabbing of tool arm (413) pile up manipulator, the working face of indexable machine frame (23), supporting steel plate code fetch manipulator (37),
Supporting steel plate insert manipulator (39), electric tube expander (1) fin assembly positioning tool, discharging crawl pile up mechanical arm (431)
Discharging crawl piles up machinery and is equipped with range sensor on hand, the industrial control computer of described ECU respectively with distance
Sensor electrically connects.
4. air conditioner fin assembly automatic expanding guard system according to claim 3, it is characterised in that described charging crawl
Manipulator is piled up in the charging crawl for piling up mechanical arm (421), workpiece grabbing piles up the workpiece grabbing of mechanical arm (413) and piles up machinery
The discharging crawl that hand, discharging crawl pile up mechanical arm (431) piles up manipulator and also includes Z coordinate axle vertically for rotation
The C coordinates rotary drive mechanism and pattern-recognition sensor of rotating shaft, described ECU also include pattern-recognition control loop,
Manipulator is piled up in the charging crawl that described industrial control computer piles up mechanical arm (421) with charging crawl respectively, workpiece is grabbed
Code fetch put mechanical arm (413) workpiece grabbing pile up manipulator, discharging crawl pile up mechanical arm (431) discharging crawl arranging machine
C coordinates rotary drive mechanism and pattern-recognition the sensor electrical connection of tool hand.
5. air conditioner fin assembly automatic expanding guard system according to claim 1 or 2, it is characterised in that described support
Steel plate bracket (32) is arranged to more than one piece, and parallel set up of more than one piece supporting steel plate bracket (32) is arranged on inside feed bin support frame, and
It is horizontal on front and rear two facade of the supporting steel plate bracket (32) of riser structure to be provided with up and down in the more than one piece of uniform layer structure
Supporting steel plate lifts positioning element.
6. air conditioner fin assembly automatic expanding guard system according to claim 5, it is characterised in that described supporting steel plate
Bracket (32) is connected by setting up the slide rail being arranged in feed bin support frame and detent mechanism with the installation of feed bin support frame.
7. air conditioner fin assembly automatic expanding guard system according to claim 6, it is characterised in that described supporting steel plate
Inserting unit (3) also includes supporting steel plate bracket passage detent mechanism and supplementary support steel plate feed bin, supplementary support steel plate feed bin
Positioning is arranged on the front of feed bin support frame (31) or piling up for dead astern and supplementary support steel plate feed bin inner support steel plate
Direction and the supporting steel plate on supporting steel plate bracket (32) to pile up direction identical；Described supporting steel plate code fetch manipulator (37)
On be additionally provided with along left and right horizontal direction X-coordinate axle be rotary shaft A coordinate rotary drive mechanisms；Described ECU also wraps
Supporting steel plate supplementary loop is included, described industrial control computer electrically connects with supporting steel plate bracket passage detent mechanism.
8. air conditioner fin assembly automatic expanding guard system according to claim 7, it is characterised in that described supporting steel plate
Code fetch mechanical arm (36) also includes the X-coordinate drive mechanism along left and right horizontal direction, described supporting steel plate code fetch manipulator
(37) C coordinate rotary drive mechanism and pattern-recognition sensor of the Z coordinate axle vertically for rotary shaft, institute are also included on
The C coordinates rotary drive mechanism and pattern-recognition sensor of the industrial control computer stated and supporting steel plate code fetch manipulator (37)
Electrical connection.
9. air conditioner fin assembly automatic expanding guard system according to claim 3, it is characterised in that described supporting steel plate
Inserting mechanical arm (38) also includes inserting manipulator along the Y-coordinate drive mechanism in anterior-posterior horizontal direction, described supporting steel plate
(39) C coordinate rotary drive mechanism and pattern-recognition sensor of the Z coordinate axle vertically for rotary shaft, institute are also included on
The industrial control computer stated inserts the C coordinates rotary drive mechanism and pattern-recognition sensor of manipulator (39) with supporting steel plate
Electrical connection.
10. air conditioner fin assembly automatic expanding guard system according to claim 1 or 2, it is characterised in that described charging
Mechanical arm (421) is piled up in crawl, workpiece grabbing piles up mechanical arm (413), mechanical arm (431), supporting steel plate are piled up in discharging crawl
It is gantry type split control machinery arm that code fetch mechanical arm (36) and supporting steel plate, which insert mechanical arm (38),.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862801.2A CN107626836A (en) | 2017-09-22 | 2017-09-22 | A kind of air conditioner fin assembly automatic expanding guard system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710862801.2A CN107626836A (en) | 2017-09-22 | 2017-09-22 | A kind of air conditioner fin assembly automatic expanding guard system |
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| Publication Number | Publication Date |
|---|---|
| CN107626836A true CN107626836A (en) | 2018-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710862801.2A Pending CN107626836A (en) | 2017-09-22 | 2017-09-22 | A kind of air conditioner fin assembly automatic expanding guard system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108202110A (en) * | 2018-02-01 | 2018-06-26 | 珠海格力电器股份有限公司 | Heat exchanger pipe-expanding device |
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