CN107649600A

CN107649600A - A kind of control method of the station fin assembly code fetch unit of automatic expanding guard system three

Info

Publication number: CN107649600A
Application number: CN201710862799.9A
Authority: CN
Inventors: 郝新浦
Original assignee: Xuzhou DKEC Electrical Technology Co Ltd
Current assignee: Xuzhou DKEC Electrical Technology Co Ltd
Priority date: 2017-09-22
Filing date: 2017-09-22
Publication date: 2018-02-02
Anticipated expiration: 2037-09-22
Also published as: CN107649600B

Abstract

The invention discloses a kind of control method of the station fin assembly code fetch unit of automatic expanding guard system three, including Job readiness, treat the crawl of tube expansion fin assembly with piling up, workpiece translational motion transhipment bracket conversion station, work delivery, completed tube expansion fin assembly crawl and the step such as pile up.The control method of the station fin assembly code fetch unit of this automatic expanding guard system three, automation mechanized operation can be realized, efficiency is piled up in the crawl for improving fin assembly, by controlling the workpiece translational motion of three station translational transferring apparatus to transport bracket, mechanical arm is piled up in the charging crawl of workpiece charging code fetch device, sharing out the work and help one another for mechanical arm is piled up in the discharging crawl of workpiece discharging code fetch device, not only realize and be easy to control, it is independent of each other, and realize the efficiency for improving the crawl of fin assembly and piling up, air conditioner fin assembly automatic expanding guard system especially suitable for air conditioner fin assembly copper pipe mouth tube expansion process.

Description

A kind of control method of the station fin assembly code fetch unit of automatic expanding guard system three

Technical field

The present invention relates to a kind of control method of fin assembly code fetch unit, specifically a kind of radiating suitable for air conditioner Device, condenser fin assembly tube expansion process the station fin assembly code fetch unit of automatic expanding guard system three control method, belong 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

Taken in view of the above-mentioned problems of the prior art, the present invention provides a kind of station fin assembly of automatic expanding guard system three The control method of code unit, it can realize that efficiency is piled up in automation mechanized operation, the crawl of raising fin assembly, especially suitable for air-conditioning The air conditioner fin assembly automatic expanding guard system of device fin assembly copper pipe mouth tube expansion process.

To achieve these goals, three station fin assembly code fetch units include three station translational transferring apparatus, workpiece enters Expect 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, the translation of three stations turn Shipping unit includes translation transhipment support frame, workpiece translational motion transhipment bracket peace transfer fortune carriage drive；Workpiece translational motion transports bracket The translation being erected at by left and right directions level on translation transhipment support frame transports carriage rail and is movably arranged on translation transhipment branch On support, station and right-hand rotation fortune station position or turn left fortune station and middle transhipment work are transported during workpiece translational motion transhipment bracket is corresponding Position position is arranged to two pieces, and two pieces workpiece translational motion transhipment bracket passes through bindiny mechanism's connection fastened to each other, at least a workpiece Translation transhipment carriage drive is installed on translation transhipment bracket, piece-holder localization machine is additionally provided with workpiece translational motion transhipment bracket Structure；Workpiece grabbing is additionally provided with the middle transhipment station of three station translational transferring apparatus and piles up mechanical arm, and workpiece grabbing piles up machinery Arm is comprised at least along the Y-coordinate drive mechanism in anterior-posterior horizontal direction, Z coordinate drive mechanism vertically, along left and right horizontal The X-coordinate axle in direction for rotary shaft A coordinates rotary drive mechanism and be arranged on workpiece grabbing and pile up mechanical arm minor details end Workpiece grabbing piles up manipulator, and workpiece grabbing piles up machinery and is provided with workpiece grip mechanism on 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；

The industrial control computer of the ECU of air conditioner fin assembly automatic expanding guard system captures code with charging respectively Mechanical arm, the piece-holder detent mechanism of workpiece translational motion transhipment bracket, the translation transhipment bracket of workpiece translational motion transhipment bracket is put to drive Dynamic, workpiece grabbing piles up mechanical arm, mechanical arm electrical connection is piled up in discharging crawl；

Control method specifically includes following steps：

A. Job readiness：During original state, workpiece translational motion transhipment bracket is stuck in the station translational transferring apparatus of face three The initial position of middle transhipment station and fortune station of turning right, the piece-holder detent mechanism that workpiece translational motion is transported on bracket, which is in, to be opened Original state；Workpiece grabbing piles up mechanical arm and is in face and away from the original state and workpiece of workpiece translational motion transhipment bracket The workpiece grip mechanism that mechanical arm is piled up in crawl is in the original state opened；Charging crawl pile up mechanical arm be in face and far The workpiece grip mechanism of mechanical arm is piled up in the original state opened from the initial position of feed tray and charging crawl；Go out The workpiece clamp that mechanical arm is in the initial position of face and remote discharging pallet and mechanical arm is piled up in discharging crawl is piled up in material crawl Hold mechanism and be in the original state opened；When being loaded with by the feed tray quilt for treating tube expansion fin assembly workpiece piled up of setting quantity The charging setting that manual or automatic guide transport lorry circulates to this three station translational transferring apparatus dead astern from last process is parked Position, unloaded discharging pallet are by manual or automatic guide transport lorry circulation to this air conditioner fin assembly automatic expanding guard system During the discharging setting stand in three station translational transferring apparatus dead asterns, air conditioner fin assembly automatic expanding guard system starts work Make；

B. treat the crawl of tube expansion fin assembly with piling up：The workpiece feed back loop of air conditioner fin assembly automatic expanding guard system Work is first begin to, industrial control computer sends instruction control charging crawl and piles up mechanical arm according to preset program and calculate seat Mark acts, and charging crawl piles up the front of manipulator and treats that tube expansion fin is total by what setting quantity was piled up on feed tray Into, positioned at treating directly over tube expansion fin assembly, counting circuit is synchronously started working, and is then fed crawl and is piled up mechanical arm and is sat along Z Mark is displaced downwardly to the workpiece grip mechanism folder that the crawl of setting controls charging crawl to pile up mechanical arm apart from postindustrial control computer Hold the top layer first that action is pointed on feed tray and treat that tube expansion fin assembly carries out clamping crawl, crawl rear feeding crawl code Putting mechanical arm Z-direction and moving up setpoint distance makes first to treat that tube expansion fin assembly treats that tube expansion fin assembly departs from following, Then the surface that mechanical arm moves forward to the right-hand rotation fortune station of three station translational transferring apparatus along Y-coordinate is piled up in charging crawl, so Rear feeding crawl piles up mechanical arm Z-direction and is displaced downwardly to the right-hand rotation for treating that tube expansion fin assembly abuts in three station translational transferring apparatus The setting of workpiece translational motion transhipment bracket upper surface on fortune station is piled up controls charging crawl code apart from postindustrial control computer The workpiece grip mechanism expansion action for putting mechanical arm treats that tube expansion fin assembly is piled up to first, then feeds crawl and piles up Mechanical arm is reset to original state, completes first crawl for treating tube expansion fin assembly with piling up；

C. workpiece translational motion transhipment bracket conversion station：The translation transhipment of air conditioner fin assembly automatic expanding guard system controls back Road is started working, and the piece-holder detent mechanism clamping that industrial control computer sends instruction control workpiece translational motion transhipment bracket is dynamic Oppose first and treat that tube expansion fin assembly carries out clamping position, then industrial control computer control workpiece translational motion transports bracket Translation transhipment carriage drive action makes two pieces workpiece translational motion transhipment bracket synchronously transport branch in translation along translation transhipment carriage rail Setpoint distance and the positioning of a station are moved in coordinate stepping to the left on support, are loaded with first work for treating tube expansion fin assembly Part translation transhipment bracket is located on the middle transhipment station of three station translational transferring apparatus, and it is whole to complete two pieces workpiece translational motion transhipment bracket The conversion station of body；

D. work delivery：Loop is piled up in work delivery crawl and indexing retinue control loop is started working, Industry Control meter Calculation machine, which sends instruction control workpiece grabbing, to be piled up mechanical arm and is acted according to preset program and coordinates computed, and workpiece grabbing piles up machinery The front of hand faces first on the workpiece translational motion transhipment bracket on the middle transhipment station of three station translational transferring apparatus Tube expansion fin assembly is treated, then workpiece grabbing piles up mechanical arm Z-direction and is displaced downwardly to the crawl of setting apart from postindustrial control meter Calculation machine control workpiece grabbing pile up mechanical arm workpiece grip mechanism holding action be pointed on workpiece translational motion transhipment bracket the One is treated that tube expansion fin assembly carries out clamping crawl, while industrial control computer controls the workpiece of workpiece translational motion transhipment bracket Clamping positioning mechainsm expansion action treats that tube expansion fin assembly joins to first, and then workpiece grabbing piles up mechanical arm crawl First to treat to move to setpoint distance on tube expansion fin assembly Z-direction, while workpiece grabbing piles up the A coordinates rotation of mechanical arm Drive mechanism work makes workpiece grabbing pile up manipulator makes workpiece grabbing pile up manipulator together with quilt for 90 ° in A coordinate systems internal rotation Crawl first treat tube expansion fin assembly be in treat the upward vertical state in tube expansion end and positioned at face fin assembly indexing with The dead astern position of row unit, then workpiece grabbing pile up mechanical arm moved to along after Y-coordinate first treat tube expansion fin assembly paste The setpoint distance on the rear working face of fin assembly indexing retinue unit is leaned against, while industrial control computer sends instruction makes wing Workpiece grip mechanism holding action on the rear working face of piece assembly indexing retinue unit treats that tube expansion fin assembly enters to first Row clamping position, workpiece grabbing pile up mechanical arm workpiece grip mechanism open after workpiece grabbing pile up mechanical arm and be reset to initially State is completed to treat the work delivery of tube expansion fin assembly, and the action of industrial control computer control fin assembly indexing retinue unit is simultaneously Move forward to electric tube expander and carry out tube expansion operation；

Workpiece grabbing pile up mechanical arm capture first treat tube expansion fin assembly depart from workpiece translational motion transhipment bracket it is same When industrial control computer control workpiece translational motion transhipment bracket translation transhipment carriage drive action make two pieces workpiece translational motion transport Bracket is synchronous, and along translation transhipment carriage rail, the setting of a station is moved in coordinate stepping to the right on translation transhipment support frame Distance, which simultaneously positions, to be recovered to original state, charging crawl to pile up mechanical arm and continue to treat tube expansion fin to second on feed tray Assembly is captured and piled up and awaited orders on the workpiece translational motion transhipment bracket on the right-hand rotation fortune station of three station translational transferring apparatus；

E. the crawl of fin assembly of tube expansion has been completed with piling up：First after tube expansion fin assembly complete tube expansion after, work Industry control computer, which sends instruction control fin assembly indexing retinue unit and carries first fin for having completed tube expansion assembly, to be moved The front end of three station translational transferring apparatus is moved to after making simultaneously and positioning, first fin assembly for having completed tube expansion are in towards three The state of station fin assembly code fetch unit；

Then industrial control computer sends instruction control workpiece grabbing and piles up mechanical arm and completed tube expansion by first Workpiece on the middle transhipment station for the three station translational transferring apparatus that fin assembly handing-over crawl and alignment code are placed on armed state The fin that the workpiece translational motion transhipment bracket on translation transhipment bracket while transported in this on station has completed tube expansion to first is total Into clamping position is carried out, then industrial control computer send instruction control two pieces workpiece translational motion transhipment bracket again it is overall to the left The workpiece translational motion transhipment bracket that first fin for having completed tube expansion assembly is loaded with after running transform station be located at workpiece and discharged and takes The front of code device, it is loaded with the 3rd workpiece translational motion for treating tube expansion fin assembly transhipment bracket and be located at the indexing of fin assembly and accompany The dead astern of unit, then industrial control computer, which is sent, instructs while controls discharging crawl to pile up mechanical arm and workpiece grabbing code Put mechanical arm action and pile up the crawl of first fin for having completed tube expansion assembly and treat tube expansion wing on discharging pallet, by the 3rd The crawl of piece assembly is piled up on the rear working face of indexable machine frame, and first fin assembly for having completed tube expansion of completion is piled up, Two pieces workpiece translational motion transhipment bracket moves to right a station and recovers to original state to await orders again；

By that analogy, until treating that tube expansion fin assembly is fully completed tube expansion process and piled up successively on feed tray On material torr disk, feed tray and discharging pallet are transported through.

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；

First crawl for treating tube expansion fin assembly is completed with piling up and treating two pieces workpiece translational motion in described step c The transhipment postindustrial control computer of bracket integral transformation station sends instruction control charging crawl and piles up mechanical arm and be pointed to feed Second isolation cardboard treated above tube expansion fin assembly, which is captured and translate to pile up to three stations, on pallet translates transhipment dress Rear feeding crawl piles up mechanical arm and is reset to initial shape on the unloaded isolation cardboard bearing tray immediately below right-hand rotation fortune station put State；

Captured in described step e in the fin assembly for having completed first tube expansion and pile up on discharging pallet and treat Two pieces workpiece translational motion transhipment bracket moves to right a station and recovers to send finger to original state postindustrial control computer of awaiting orders again The fully loaded isolation that mechanical arm is pointed to immediately below the left-hand rotation fortune station of three station translational transferring apparatus is piled up in order control discharging crawl First on cardboard bearing tray isolation cardboard captured and translate pile up to first on discharging pallet completed it is swollen Discharging crawl piles up mechanical arm and is reset to original state after on the fin assembly of pipe；

By that analogy, until completing while the tube expansion of all fin assemblies that the isolation cardboard on feed tray is complete successively Portion piles up on the isolation cardboard bearing tray of zero load, by the isolation cardboard on fully loaded isolation cardboard bearing tray successively all Pile up between the fin assembly of tube expansion has respectively been completed, isolation cardboard bearing tray is transported through.

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 manipulator, mechanical arm is piled up in discharging crawl Discharging crawl pile up machinery be equipped with range sensor on hand, the ECU of air conditioner fin assembly automatic expanding guard system Industrial control computer electrically connects with range sensor respectively；Industrial control computer is realized accurate by the feedback of range sensor Really capture and pile up fin assembly or supporting steel plate.

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 The Z coordinate axle that tool hand also includes vertically is the C coordinates rotary drive mechanism and pattern-recognition sensor of rotary shaft, empty The industrial control computer of the ECU of device fin assembly automatic expanding guard system is adjusted to pile up mechanical arm with charging crawl respectively Charging crawl pile up manipulator, workpiece grabbing pile up mechanical arm workpiece grabbing pile up manipulator, discharging crawl pile up mechanical arm Discharging crawl pile up manipulator C coordinates rotary drive mechanism and pattern-recognition sensor electrical connection；Captured in each manipulator Industrial control computer is according to the feedback founding mathematical models of pattern-recognition sensor before fin assembly, and by the mathematical modeling with Built-in data model is compared postindustrial control computer by controlling morpheme of the C coordinates rotary drive mechanism to manipulator Captured again after being rectified a deviation.

A kind of embodiment of transhipment carriage drive is translated as the present invention, described workpiece translational motion is transported flat on bracket Transfer fortune carriage drive is servomotor, and drive gear, described translation transhipment are installed with the output shaft of servomotor Carriage rail is the rack structure for coordinating and engaging with drive gear teeth portion；Industrial control computer is by controlling servomotor Rotating realizes that drive gear drives workpiece translational motion transhipment bracket to be moved left and right on translation transhipment carriage rail.

The another embodiment of transhipment carriage drive is translated as the present invention, described workpiece translational motion is transported on bracket Translation transhipment carriage drive is pushing handle telescopic control mechanism, and the body end of pushing handle telescopic control mechanism is fixedly mounted on translation transhipment support frame Upper, telescopic end and workpiece translational motion transhipment bracket installation connect；Industrial control computer is by controlling the flexible of pushing handle telescopic control mechanism Realize that workpiece translational motion transhipment bracket moves left and right on translation transhipment carriage rail.

As the preferred scheme of the present invention, described pushing handle telescopic control mechanism is cylinder, and cylinder is by pneumatic line and pneumatically Control valve group is connected, and pneumatic control valve group is connected with pressure gas source, pneumatic control valve group and the automatic tube expansion of air conditioner fin assembly The industrial control computer electrical connection of the ECU of system；Industrial control computer is by controlling the action of pneumatic control valve group Telescopic-cylinder is set to realize that workpiece translational motion transhipment bracket moves left and right on translation transhipment carriage rail.

Compared with prior art, the station fin assembly code fetch unit of this automatic expanding guard system three is Digital Control unit, Automaticity is high, and coordinating to be arranged in air conditioner fin assembly automatic expanding guard system can realize that improving crawl piles up efficiency； Because two pieces workpiece translational motion transports bracket, by bindiny mechanism's connection fastened to each other, to include two pieces fastened to each other by bindiny mechanism The workpiece translational motion transhipment bracket of connection, therefore by controlling translation transhipment carriage drive action to realize that two pieces workpiece translational motion turns Fortune bracket is synchronous to be moved left and right on translation transhipment support frame along translation transhipment carriage rail and positions realization conversion station, air-conditioning The industrial control computer of device fin assembly automatic expanding guard system can control two pieces workpiece translational motion transhipment support according to setting program Frame coordinates that mechanical arm is piled up in charging crawl, workpiece grabbing piles up mechanical arm and discharging crawl pile up mechanical arm action carry out it is 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 transhipment bracket conversion station Control, work delivery control, the crawl for the fin assembly for having completed tube expansion are carried out in order with piling up the interval successively of control, so as to Improve the overall operating efficiency of fin assembly tube expansion process；Due to can three station translational transferring apparatus left-hand rotation fortune station and The underface of right turnover station sets isolation cardboard bearing tray respectively, therefore can realize during tube expansion to isolating cardboard Captured and laid, and then realized and prevent between the fin assembly of intensive fin socket connection mutually and be not easy to code fetch, it is special Not Shi Yongyu air conditioner fin assembly copper pipe mouth tube expansion process air conditioner fin assembly automatic expanding guard system.

Brief description of the drawings

Fig. 1 is the three dimensional structure diagram of air conditioner fin assembly automatic expanding guard system；

Fig. 2 is the front view of the rear apparent direction of air conditioner fin assembly automatic expanding guard system；

Fig. 3 is Fig. 2 top view；

Fig. 4 is Fig. 2 left view；

Fig. 5 is the three dimensional structure diagram of air conditioner fin assembly automatic expanding guard system fin assembly indexing retinue unit；

Fig. 6 is the front view of apparent direction after air conditioner fin assembly automatic expanding guard system fin assembly indexing retinue unit；

Fig. 7 is Fig. 6 top view；

Fig. 8 is Fig. 6 left view；

Fig. 9 is the three-dimensional structure signal that air conditioner fin assembly automatic expanding guard system fin assembly supporting steel plate inserts unit Figure；

Figure 10 is the master that air conditioner fin assembly automatic expanding guard system fin assembly supporting steel plate inserts apparent direction after unit View；

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 the present invention；

Figure 14 is the three dimensional structure diagram of apparent direction before the present invention；

Figure 15 is the front view of apparent direction after the present 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, air conditioner fin assembly automatic expanding guard system includes electric tube expander 1, the indexing retinue of fin assembly 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.

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 pile up manipulator, discharging crawl pile up mechanical arm 431 discharging crawl pile up machinery be equipped with distance on hand Sensor, the industrial control computer of described ECU electrically connect with range sensor respectively, and industrial control computer leads to The feedback for crossing range sensor can be achieved accurately to capture and pile up fin assembly.

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.

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, multi-joint centralized Control mechanical arm can be used, gantry type split control machinery arm can also be used, or using other The mechanical arm of form, because the control of the multi-joint mechanical arm of the first scheme is centralized Control, its accurately coordinate control compared with Complexity, need to largely it be calculated by industrial control computer, software control procedure complexity, and manufacturing cost is higher, computer control Burden weight, easily breaks down；Second scheme is controlled using split, i.e., several coordinate systems control respectively, and control is relatively easy, straight Connect, be less prone to failure, therefore preferred second scheme, i.e. as the preferred scheme of the present invention, described charging crawl is piled up Mechanical arm 421, workpiece grabbing pile up mechanical arm 413, to pile up mechanical arm 431 be gantry type split control machinery for discharging crawl Arm.

A kind of embodiment of transhipment carriage drive is translated as the present invention, described workpiece translational motion is transported on bracket 412 Translation transhipment carriage drive be servomotor, drive gear, described translation are installed with the output shaft of servomotor It is the rack structure for coordinating and engaging with drive gear teeth portion to transport carriage rail, i.e., workpiece translational motion transhipment bracket 412 passes through tooth Wheel rack-driving, which is realized, to be moved left and right.

The another embodiment of transhipment carriage drive, described workpiece translational motion transhipment bracket 412 are translated as the present invention On translation transhipment carriage drive be pushing handle telescopic control mechanism, the body end of pushing handle telescopic control mechanism is fixedly mounted on translation transhipment support On frame 411, telescopic end and workpiece translational motion transhipment bracket 412 installation connection, i.e. the flexible realization by controlling pushing handle telescopic control mechanism Workpiece translational motion transhipment bracket 412 moves left and right.

Described pushing handle telescopic control mechanism can be hydraulic cylinder structure, can also be air cylinder structure or be screw rod structure, Because pressure gas source enriches in pneumatic gearing speed and air conditioner manufacturing shop, therefore preferred pneumatic control, i.e. as The preferred scheme of the present invention, described pushing handle telescopic control mechanism is cylinder, and cylinder is connected by pneumatic line with pneumatic control valve group, Pneumatic control valve group is connected with pressure gas source, pneumatic control valve group and the ECU of air conditioner fin assembly automatic expanding guard system Industrial control computer electrical connection.

The station fin assembly code fetch unit of this automatic expanding guard system three is Digital Control unit, and automaticity is high, matches somebody with somebody Close to be arranged in air conditioner fin assembly automatic expanding guard system and can realize that improving crawl piles up efficiency；Due to two pieces workpiece translational motion Transhipment bracket 412 includes workpiece translational motion of the two pieces by bindiny mechanism's connection fastened to each other by bindiny mechanism's connection fastened to each other Bracket 412 is transported, thus it is same by controlling translation transhipment carriage drive action to realize that two pieces workpiece translational motion transports bracket 412 Step moves left and right on translation transhipment support frame 411 along translation transhipment carriage rail and positions realization conversion station, air conditioner wing The industrial control computer of piece assembly automatic expanding guard system can control two pieces workpiece translational motion transhipment bracket 412 according to setting program Mechanical arm 421 is piled up in cooperation charging crawl, workpiece grabbing piles up mechanical arm 413 and discharging captures the action for piling up mechanical arm 431 In good time shift action is carried out, and then the crawl for treating tube expansion fin assembly can be realized and pile up control, workpiece translational motion transhipment bracket 412 conversion station controls, work delivery control, completed the crawl of the fin assembly of tube expansion with piling up intermittently having successively for control Sequence is carried out, so as to improve the overall operating efficiency of fin assembly tube expansion process；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, the air conditioner fin assembly automatic expanding piping especially suitable for air conditioner fin assembly copper pipe mouth tube expansion process System.

Claims

1. a kind of control method of the station fin assembly code fetch unit of automatic expanding guard system three, three station fin assembly code fetch units (4) three station translational transferring apparatus (41), workpiece charging code fetch device (42) and workpiece discharging code fetch device (43) are included；

Three station translational transferring apparatus (41) left and right directions are set, including the transhipment station of left, center, right three, the translation of three stations turn Shipping unit (41) includes translation transhipment support frame (411), workpiece translational motion transhipment bracket (412) peace transfer fortune carriage drive；Work Bracket is transported in the translation that part translation transhipment bracket (412) is erected at by left and right directions level on translation transhipment support frame (411) Guide rail is movably arranged on translation transhipment support frame (411), and station and right-hand rotation are transported during workpiece translational motion transhipment bracket (412) is corresponding 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 transhipment bracket (412) By bindiny mechanism's connection fastened to each other, translation transhipment bracket is at least installed on a workpiece translational motion transhipment bracket (412) and driven It is dynamic, it is additionally provided with piece-holder detent mechanism on workpiece translational motion transhipment bracket (412)；The transfer of three station translational transferring apparatus (41) Workpiece grabbing is additionally provided with fortune 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 the workpiece grabbing arranging machine that workpiece grabbing piles up mechanical arm (413) minor details end Tool 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) 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；

The industrial control computer of the ECU of air conditioner fin assembly automatic expanding guard system captures arranging machine with charging respectively The translation of tool arm (421), the piece-holder detent mechanism of workpiece translational motion transhipment bracket (412), workpiece translational motion transhipment bracket (412) Transhipment carriage drive, workpiece grabbing pile up mechanical arm (413), mechanical arm (431) electrical connection is piled up in discharging crawl；

Characterized in that, control method specifically includes following steps：

A. Job readiness：During original state, workpiece translational motion transhipment bracket (412) is stuck in the station translational transferring apparatus of face three (41) middle transhipment station and the initial position for fortune station of turning right, the piece-holder positioning that workpiece translational motion is transported on bracket (412) Mechanism is in the original state opened；Workpiece grabbing piles up mechanical arm (413) and is in face and away from workpiece translational motion transhipment bracket (412) workpiece grip mechanism that original state and workpiece grabbing piles up mechanical arm (413) is in the original state opened；Enter Material crawl pile up mechanical arm (421) be in face and away from feed tray (422) initial position and feed crawl pile up machinery The workpiece grip mechanism of arm (421) is in the original state opened；Discharging crawl piles up mechanical arm (431) and is in face and remote The workpiece grip mechanism that mechanical arm (431) is piled up in the initial position of discharging pallet (432) and discharging crawl is in the initial of opening State；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 Charging setting stand of the transport vehicle from last process circulation to this three station translational transferring apparatus (41) dead astern, zero load Pallet (432) discharge by three stations of manual or automatic guide transport lorry circulation to this air conditioner fin assembly automatic expanding guard system During the discharging setting stand in translational transferring apparatus (41) dead astern, air conditioner fin assembly automatic expanding guard system starts work Make；

B. treat the crawl of tube expansion fin assembly with piling up：The workpiece feed back loop of air conditioner fin assembly automatic expanding guard system is first Start working, industrial control computer sends instruction control charging crawl and piles up mechanical arm (421) according to preset program and calculating Coordinate acts, and charging crawl piles up the front of manipulator and treats tube expansion by what setting quantity was piled up on feed tray (422) Fin assembly, positioned at treating directly over tube expansion fin assembly, counting circuit is synchronously started working, and is then fed crawl and is piled up mechanical arm (421) Z-direction is displaced downwardly to the crawl of setting and controls charging crawl to pile up mechanical arm (421) apart from postindustrial control computer The top layer first that workpiece grip mechanism holding action is pointed on feed tray (422) treats that tube expansion fin assembly carries out clamping and grabbed Take, crawl rear feeding crawl pile up mechanical arm (421) Z-direction move up setpoint distance make first treat tube expansion fin assembly with Face treats that tube expansion fin assembly departs from, and then charging crawl piles up mechanical arm (421) and moves forward to the translation transhipment of three stations along Y-coordinate The surface of the right-hand rotation fortune station of device (41), then feed crawl and pile up mechanical arm (421) Z-direction and be displaced downwardly to and treat tube expansion wing Workpiece translational motion transhipment bracket (412) upper surface that piece assembly is abutted on the right-hand rotation fortune station of three station translational transferring apparatus (41) Setting pile up apart from postindustrial control computer control charging crawl pile up mechanical arm (421) workpiece grip mechanism open it is dynamic Oppose first and treat that tube expansion fin assembly is piled up, then charging crawl piles up mechanical arm (421) and is reset to original state, complete The crawl for treating tube expansion fin assembly into first is with piling up；

C. workpiece translational motion transhipment bracket conversion station：The translation transhipment control loop of air conditioner fin assembly automatic expanding guard system is opened Beginning work, industrial control computer send the piece-holder detent mechanism clamping of instruction control workpiece translational motion transhipment bracket (412) Action treats that tube expansion fin assembly carries out clamping position to first, then industrial control computer control workpiece translational motion transhipment bracket (412) it is synchronous along translation transhipment carriage rail that translation transhipment carriage drive action makes two pieces workpiece translational motion transport bracket (412) Setpoint distance and the positioning of a station are moved in coordinate stepping to the left on translation transhipment support frame (411), are loaded with first Treat that the workpiece translational motion transhipment bracket (412) of tube expansion fin assembly is located at the middle transhipment station of three station translational transferring apparatus (41) On, complete the overall conversion station of two pieces workpiece translational motion transhipment bracket (412)；

D. work delivery：Loop is piled up in work delivery crawl and indexing retinue control loop is started working, industrial control computer Send instruction control workpiece grabbing and pile up mechanical arm (413) according to preset program and coordinates computed action, workpiece grabbing arranging machine The front of tool hand faces the workpiece translational motion transhipment bracket (412) on the middle transhipment station of three station translational transferring apparatus (41) On first treat tube expansion fin assembly, then workpiece grabbing pile up mechanical arm (413) Z-direction be displaced downwardly to the crawl of setting away from The workpiece grip mechanism holding action that mechanical arm (413) is piled up from postindustrial control computer control workpiece grabbing is pointed to workpiece First on translation transhipment bracket (412) is treated that tube expansion fin assembly carries out clamping crawl, while industrial control computer controls The piece-holder detent mechanism expansion action of workpiece translational motion transhipment bracket (412) treats that tube expansion fin assembly is handed over to first Connect, then workpiece grabbing pile up mechanical arm (413) capture first treat to move on tube expansion fin assembly Z-direction setting away from From, at the same workpiece grabbing pile up mechanical arm (413) A coordinates rotary drive mechanism work workpiece grabbing is piled up manipulator in A 90 ° of coordinate system internal rotation make workpiece grabbing pile up manipulator together with first be crawled treat tube expansion fin assembly be in treat tube expansion Hold upward vertical state and be located at the dead astern position of face fin assembly indexing retinue unit (2), then workpiece grabbing code Put mechanical arm (413) first is moved to along after Y-coordinate and treat that tube expansion fin assembly abuts in fin assembly indexing retinue unit (2) Setpoint distance on working face afterwards, while industrial control computer is sent after instruction makes fin assembly indexing retinue unit (2) Workpiece grip mechanism holding action on working face treats that tube expansion fin assembly carries out clamping position to first, and workpiece grabbing is piled up After the workpiece grip mechanism of mechanical arm (413) opens workpiece grabbing pile up mechanical arm (413) be reset to original state complete to treat it is swollen The work delivery of pipe fin assembly, industrial control computer control fin assembly indexing retinue unit (2) are acted and moved forward to swollen Pipe machine (1) carries out tube expansion operation；

Workpiece grabbing pile up mechanical arm (413) capture first treat tube expansion fin assembly depart from workpiece translational motion transhipment bracket (412) the translation transhipment carriage drive action of industrial control computer control workpiece translational motion transhipment bracket (412) makes two while Part workpiece translational motion transhipment bracket (412) is synchronous to be sat to the right along translation transhipment carriage rail on translation transhipment support frame (411) Mark stepping, which moves the setpoint distance of a station and positions recovery to original state, charging crawl, piles up mechanical arm (421) continuation Treat that tube expansion fin assembly is captured and piled up in three station translational transferring apparatus (41) to second on feed tray (422) Right-hand rotation fortune station on workpiece translational motion transhipment bracket (412) on await orders；

E. the crawl of fin assembly of tube expansion has been completed with piling up：First after tube expansion fin assembly complete tube expansion after, industry control Computer processed sends instruction control fin assembly indexing retinue unit (2) and carries first fin for having completed tube expansion assembly action The front end of three station translational transferring apparatus (41) and positioning are moved to after and, first fin assembly for having completed tube expansion be in 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 Simultaneously alignment code is placed on the middle transhipment station of three station translational transferring apparatus (41) of armed state for fin assembly handing-over crawl The workpiece translational motion transhipment bracket (412) transported on workpiece translational motion transhipment bracket (412) while in this on station is complete to first Fin assembly into tube expansion carries out clamping position, and then industrial control computer sends instruction control two pieces workpiece translational motion transhipment support Frame (412) is overall again to be moved to the left the workpiece translational motion transhipment that first fin for having completed tube expansion assembly is loaded with after conversion station Bracket (412) is located at the front of workpiece discharging code fetch device (43), is loaded with the 3rd workpiece translational motion for treating tube expansion fin assembly Transhipment bracket (412) is located at the dead astern of fin assembly indexing retinue unit (2), and then it is same to send instruction for industrial control computer Time control, which is made, expects that mechanical arm (431) is piled up in crawl and workpiece grabbing piles up mechanical arm (413) action and completed tube expansion by first The crawl of fin assembly pile up and treat that the crawl of tube expansion fin assembly is piled up in indexable frock in discharging pallet (432), by the 3rd On the rear working face of frame (23), first fin assembly for having completed tube expansion of completion is piled up, two pieces workpiece translational motion transhipment bracket (412) station is moved to right again to recover to original state to await orders；

By that analogy, until treating that tube expansion fin assembly is fully completed tube expansion process and piled up successively on feed tray (422) Discharge on pallet (432), feed tray (422) and discharging pallet (432) are transported through.

2. the control method of the station fin assembly code fetch unit of automatic expanding guard system three according to claim 1, its feature It is, 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 on corresponding feed tray (422) The isolation cardboard of fin assembly quantity；

First crawl for treating tube expansion fin assembly is completed with piling up and treating that two pieces workpiece translational motion is transported in described step c The postindustrial control computer of bracket (412) integral transformation station sends instruction control charging crawl and piles up mechanical arm (421) contraposition Captured and translated in upper second isolation cardboard treated above tube expansion fin assembly of feed tray (422) and piled up to three stations Machinery is piled up in rear feeding crawl on unloaded isolation cardboard bearing tray immediately below the right-hand rotation fortune station of translational transferring apparatus (41) Arm (421) is reset to original state；

Captured in described step e in the fin assembly for having completed first tube expansion and pile up on discharging pallet (432) and treat Two pieces workpiece translational motion transhipment bracket (412) moves to right a station and recovers to original state to await orders postindustrial control computer hair again Go out instruction control discharging crawl pile up mechanical arm (431) be pointed to three station translational transferring apparatus (41) left-hand rotation fortune station just under First isolation cardboard on the fully loaded isolation cardboard bearing tray of side, which is captured and translated, to be piled up to discharging pallet (432) First fin assembly for having completed tube expansion on after discharging crawl pile up mechanical arm (431) and be reset to original state；

By that analogy, until while completing the tube expansion of all fin assemblies by the isolation cardboard on feed tray (422) successively All pile up on the isolation cardboard bearing tray of zero load, the isolation cardboard on fully loaded isolation cardboard bearing tray is complete successively Portion is piled up between the fin assembly of tube expansion has respectively been completed, and isolation cardboard bearing tray is transported through.

3. the control method of the station fin assembly code fetch unit of automatic expanding guard system three according to claim 1 or 2, it is special Sign is that manipulator, workpiece translational motion transhipment bracket are piled up in the charging crawl that mechanical arm (421) is piled up in described charging crawl (412), workpiece grabbing pile up mechanical arm (413) workpiece grabbing pile up manipulator, discharging crawl pile up going out for mechanical arm (431) Material crawl piles up machinery and is equipped with range sensor, the industry of the ECU of air conditioner fin assembly automatic expanding guard system on hand Control computer electrically connects with range sensor respectively；Industrial control computer is realized by the feedback of range sensor and accurately grabbed Take and pile up fin assembly or supporting steel plate.

4. the control method of the station fin assembly code fetch unit of automatic expanding guard system three according to claim 3, its feature It is, manipulator is piled up in the charging crawl that mechanical arm (421) is piled up in described charging crawl, workpiece grabbing piles up mechanical arm (413) workpiece grabbing piles up manipulator, discharging crawl piles up the discharging crawl of mechanical arm (431) and piles up manipulator and also include Z coordinate axle vertically be rotary shaft C coordinates rotary drive mechanism and pattern-recognition sensor, air conditioner fin assembly The charging that the industrial control computer of the ECU of automatic expanding guard system piles up mechanical arm (421) with charging crawl respectively captures Pile up manipulator, workpiece grabbing pile up mechanical arm (413) workpiece grabbing pile up manipulator, discharging crawl pile up mechanical arm (431) C coordinates rotary drive mechanism and the electrical connection of pattern-recognition sensor of manipulator are piled up in discharging crawl；

Industrial control computer establishes mathematical modulo according to the feedback of pattern-recognition sensor before each manipulator captures fin assembly Type, and postindustrial control computer is driven by controlling C coordinates to rotate compared with built-in data model by the mathematical modeling Motivation structure captures again after being rectified a deviation to the morpheme of manipulator.

5. the control method of the station fin assembly code fetch unit of automatic expanding guard system three according to claim 1 or 2, it is special Sign is, the translation transhipment carriage drive on described workpiece translational motion transhipment bracket (412) is servomotor, servomotor it is defeated Drive gear is installed with shaft, described translation transhipment carriage rail is the tooth for coordinating and engaging with drive gear teeth portion Bar structure；Industrial control computer is by controlling the rotating of servomotor to realize that drive gear drives workpiece translational motion to transport bracket (412) moved left and right on translation transhipment carriage rail.

6. the control method of the station fin assembly code fetch unit of automatic expanding guard system three according to claim 1 or 2, it is special Sign is, the translation transhipment carriage drive on described workpiece translational motion transhipment bracket (412) is pushing handle telescopic control mechanism, extension and contraction control The body end of mechanism is fixedly mounted on translation transhipment support frame (411), telescopic end and workpiece translational motion transhipment bracket (412) are installed Connection；Industrial control computer is by controlling the flexible of pushing handle telescopic control mechanism to realize that workpiece translational motion is transported bracket (412) and translated Moved left and right on transhipment carriage rail.

7. the control method of the station fin assembly code fetch unit of automatic expanding guard system three according to claim 6, its feature It is, described pushing handle telescopic control mechanism is cylinder, and cylinder is connected by pneumatic line with pneumatic control valve group, pneumatic control valve group It is connected with pressure gas source, pneumatic control valve group and the Industry Control meter of the ECU of air conditioner fin assembly automatic expanding guard system Calculate mechatronics；Industrial control computer is by controlling the action of pneumatic control valve group Telescopic-cylinder is realized that workpiece translational motion is transported Bracket (412) moves left and right on translation transhipment carriage rail.