CN107649600B

CN107649600B - A kind of control method of three station fin assembly code fetch unit of automatic expanding guard system

Info

Publication number: CN107649600B
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: 2019-02-05
Anticipated expiration: 2037-09-22
Also published as: CN107649600A

Abstract

The invention discloses a kind of control method of three station fin assembly code fetch unit of automatic expanding guard system, including Job readiness, the crawl to tube expansion fin assembly and stacking, workpiece translational motion transhipment bracket transformation station, work delivery, be completed tube expansion fin assembly crawl and pile up.The control method of three station fin assembly code fetch unit of this automatic expanding guard system, it can be realized automatic operation, efficiency is piled up in the crawl for improving fin assembly, workpiece translational motion by controlling three station translational transferring apparatus transports bracket, mechanical arm is piled up in the charging crawl that workpiece feeds 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, it not only realizes convenient for 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 three station fin assembly code fetch unit of automatic expanding guard system

Technical field

The present invention relates to a kind of control method of fin assembly code fetch unit, specifically a kind of heat dissipations suitable for air conditioner Device, condenser fin assembly tube expansion process three station fin assembly code fetch unit of automatic expanding guard system control method, belong to Air-conditioning manufacturing technology field.

Background technique

Usually increase heat exchange by increasing the stronger sheet metal of thermal conductivity on the heat-exchanger rig surface for needing to carry out hot transmitting The heat exchange surface area of device, improves heat exchange efficiency, and sheet metal with this function is referred to as fin.

There are two main heat exchanger, i.e. radiator and condenser, the side working medias of this two big heat exchanger in air conditioner It is refrigerant, the other side is air, for the heat transfer of enhanced heat exchange device, compact Layout heat exchange area generally is taken in air side, Air conditioner mostly uses greatly compact fin-tube type heat exchanger.

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, long U-typed copper pipe is then penetrated into the mounting hole on multiple fins side by side, finally in length The open end of U-typed copper pipe carries out tube expansion, and installing again after drying inside long U-typed copper pipe and weld short U-typed copper pipe will be each Long U-typed copper pipe is sequentially communicated, i.e., by all long U-typed copper pipe connections at a channel.

Air conditioner manufacturer still a large amount of users in the fin copper nozzle tube expansion process of radiator and condenser at present Work industry, i.e., in the tooling that the fin assembly after intubation is singly manually moved up to electric tube expander, then operates automatic displacement Operation electric tube expander carries out tube expansion after fin assembly is clamped positioning by locking tool, after completing tube expansion, then manually removes one by one It piles up, be transferred to next procedure.Not only production efficiency is low for manual operation, but also human factor is affected to manufacturing schedule.

The applicant declare before that application No. is the patents of invention of 201410372916.X is " a kind of based on number bus Air conditioner fin assembly automatic expanding guard system ", it is disclosed that cooperating electric tube expander to carry out automatic expanding by the interactive pallet that exchanges Pipe, but fin assembly usually requires to install positioning support steel plate at least one end of fin assembly before carrying out tube expansion, therefore The tube expansion system is only applicable to carry out tube expansion to the fin assembly for being equipped with positioning support steel plate, and can not be to not installing positioning The fin assembly of supporting steel plate carries out tube expansion；In addition, to prevent from inserting mutually between stacking, fin assembly with intensive fin It connects in succession and is not easy to code fetch, when usual stacking adds isolation cardboard between fin assembly, the fin assembly of the tube expansion system Although the code fetch mode of code fetch device may be implemented to add isolation cardboard, but can only intermittently carry out, therefore stacking efficiency is lower, into And cause the reduction of tube expansion process whole work efficiency.

Summary of the invention

In view of the above existing problems in the prior art, the present invention provides a kind of three station fin assemblies of automatic expanding guard system to take The control method of code unit can be realized automatic operation, the crawl stacking efficiency for improving 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 the goals above, three station fin assembly code fetch units include three station translational transferring apparatus, workpiece into Expect code fetch device and workpiece discharging code fetch device；

The setting of three station translational transferring apparatus left and right directions, 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 Carriage rail, which is transported, by the translation that left and right directions level is erected on translation transhipment support frame is movably arranged on translation transhipment branch On support, workpiece translational motion transport bracket it is corresponding in transhipment station and turn right fortune station position or turn left fortune station and middle transhipment work Position position is set as 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, is additionally provided with piece-holder localization machine on workpiece translational motion transhipment bracket Structure；It is additionally provided with workpiece grabbing on the middle transhipment station of three station translational transferring apparatus and piles up mechanical arm, workpiece grabbing is piled up mechanical Arm is included at least along the Y coordinate driving mechanism in anterior-posterior horizontal direction, Z coordinate driving mechanism along the vertical direction, along left and right horizontal The X-coordinate axle in direction is that the A coordinate rotary drive mechanism of rotary shaft piles up mechanical arm minor details end with workpiece grabbing is arranged in Workpiece grabbing piles up manipulator, and workpiece grabbing is piled up mechanical on hand equipped with workpiece grip mechanism；

Workpiece charging code fetch device is arranged in the left-hand rotation fortune station of three station translational transferring apparatus or turns right fortune station just Rear, it includes that mechanical arm and feed tray are piled up in charging crawl that workpiece, which feeds code fetch device,；Charging crawl piles up mechanical arm at least Code is grabbed in charging including the Y coordinate driving mechanism along anterior-posterior horizontal direction, Z coordinate driving mechanism along the vertical direction and setting Manipulator is piled up in the charging crawl for putting mechanical arm minor details end, and charging crawl stacking is mechanical to be equipped with workpiece grip mechanism on hand；Into Material torr disk positions the dead astern that three station translational transferring apparatus are arranged in；

Workpiece discharging code fetch device is arranged in 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 that mechanical arm and discharging pallet are piled up in discharging crawl；Discharging crawl piles up mechanical arm at least Code is grabbed in discharging including the Y coordinate driving mechanism along anterior-posterior horizontal direction, Z coordinate driving mechanism along the vertical direction and setting Manipulator is piled up in the discharging crawl for putting mechanical arm minor details end, and discharging crawl stacking is mechanical to be equipped with workpiece grip mechanism on hand；Out Material torr disk positions the dead astern that three station translational transferring apparatus are arranged in；

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

Control method specifically includes the following steps:

A. Job readiness: when original state, workpiece translational motion transhipment bracket is stuck in three station translational transferring apparatus of face The initial position of middle transhipment station and fortune station of turning right, the piece-holder positioning 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 original state and workpiece far from 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 that initial position and charging crawl from feed tray pile up mechanical arm is in the original state opened；Out Material crawl stacking mechanical arm is in the workpiece clamp of face and initial position and discharging crawl stacking mechanical arm far from discharging pallet It holds mechanism and is in the original state opened；When be loaded with by setting quantity pile up the feed tray quilt to tube expansion fin assembly workpiece Manual or automatic guide transport lorry is parked from the charging setting that previous process circulates to this three station translational transferring apparatus dead astern Position, unloaded discharging pallet are circulated by manual or automatic guide transport lorry to this air conditioner fin assembly automatic expanding guard system When the discharging in three station translational transferring apparatus dead asterns sets stand, air conditioner fin assembly automatic expanding guard system starts work Make；

B. the crawl and stacking to tube expansion fin assembly: the workpiece feed back loop of air conditioner fin assembly automatic expanding guard system It is first begin to work, industrial control computer, which issues to instruct to control to feed to grab, piles up mechanical arm according to preset program and calculating seat Mark acts, and charging grabs the front for piling up manipulator and presses the total to tube expansion fin of setting quantity stacking on feed tray At, be located at and start to work to right above tube expansion fin assembly, counting circuit is synchronous, then charging crawl is piled up mechanical arm and is sat along Z The workpiece grip mechanism folder of mechanical arm is piled up in the crawl that mark is displaced downwardly to setting apart from postindustrial control computer control charging crawl It holds movement and carries out clamping crawl to tube expansion fin assembly to the top layer being located on feed tray first, crawl rear feeding grabs code Put mechanical arm Z-direction move up set distance make first to tube expansion fin assembly and it is following to tube expansion fin assembly be detached from, 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 sticking on three station translational transferring apparatus to tube expansion fin assembly The setting for transporting the workpiece translational motion transhipment bracket upper surface on station, which is piled up, controls charging crawl code apart from postindustrial control computer The workpiece grip mechanism expansion action for putting mechanical arm piles up first to tube expansion fin assembly, and then charging crawl is piled up Mechanical arm is reset to original state, completes first crawl and stacking to tube expansion fin assembly；

C. workpiece translational motion transhipment bracket converts station: the translation transhipment of air conditioner fin assembly automatic expanding guard system controls back Road is started to work, and the piece-holder positioning mechanism clamping that industrial control computer issues instruction control workpiece translational motion transhipment bracket is dynamic It opposes first and carries out clamping position to tube expansion fin assembly, then industrial control computer control workpiece translational motion transports bracket Translation transhipment carriage drive movement transports two pieces workpiece translational motion, and bracket is synchronous to translate transhipment branch along translation transhipment carriage rail The set distance of the mobile station of coordinate stepping and positioning to the left, is loaded with first work to tube expansion fin assembly on support 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 transformation station of body；

D. work delivery: circuit is piled up in work delivery crawl and indexing retinue control loop is started to work, Industry Control meter Calculation machine issues instruction control workpiece grabbing stacking mechanical arm and acts according to preset program and coordinates computed, and workpiece grabbing is piled up mechanical The front of hand faces first on the workpiece translational motion transhipment bracket on the middle transhipment station of three station translational transferring apparatus To tube expansion fin assembly, the crawl that then workpiece grabbing stacking mechanical arm Z-direction is displaced downwardly to setting is counted apart from postindustrial control Calculation machine controls workpiece grabbing and piles up the workpiece grip mechanism holding action of mechanical arm to the be located on workpiece translational motion transhipment bracket One carries out clamping crawl to tube expansion fin assembly, while industrial control computer controls the workpiece of workpiece translational motion transhipment bracket Clamping positioning mechainsm expansion action joins first to tube expansion fin assembly, and then workpiece grabbing piles up mechanical arm crawl First to move to set distance on tube expansion fin assembly Z-direction, while workpiece grabbing piles up the A coordinate rotation of mechanical arm Driving mechanism work, which makes workpiece grabbing pile up manipulator and be rotated by 90 ° in A coordinate system, makes workpiece grabbing pile up manipulator together with quilt First of crawl be in the vertical state upward to tube expansion end to tube expansion fin assembly and be located at the indexing of face fin assembly with The dead astern position of row unit, then workpiece grabbing is piled up mechanical arm and is moved back to first along Y coordinate to tube expansion fin assembly patch The set distance on the rear working face of fin assembly indexing retinue unit is leaned against, while industrial control computer sending instruction makes wing Piece assembly indexing accompany unit rear working face on workpiece grip mechanism holding action to first to tube expansion fin assembly into Row clamping position, workpiece grabbing is piled up mechanical arm and is reset to initially after the workpiece grip mechanism that workpiece grabbing piles up mechanical arm opens State completes the work delivery to tube expansion fin assembly, and industrial control computer controls the movement of fin assembly indexing retinue unit simultaneously It moves forward to electric tube expander and carries out tube expansion operation；

Workpiece grabbing piles up mechanical arm and grabs first to the same of tube expansion fin assembly disengaging workpiece translational motion transhipment bracket When industrial control computer control workpiece translational motion transhipment bracket translation transhipment carriage drive movement 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 simultaneously positions recovery to original state, and charging crawl is piled up mechanical arm and continued to second on feed tray to tube expansion fin Assembly is grabbed and is 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. be completed the crawl and stacking of the fin assembly of tube expansion: first after tube expansion fin assembly completes tube expansion, work It is dynamic that industry control computer sending instruction control fin assembly indexing retinue unit carries the fin assembly that first is completed tube expansion Make and moves back to the front end of three station translational transferring apparatus and positioning, first fin assembly that tube expansion is completed are in towards three The state of station fin assembly code fetch unit；

Then industrial control computer issues instruction control workpiece grabbing stacking mechanical arm and tube expansion is completed by first Workpiece on the middle transhipment station for the three station translational transferring apparatus that fin assembly handover crawl and alignment code are placed on armed state The fin that tube expansion is completed to first in the workpiece translational motion transhipment bracket on translation transhipment bracket while transported on station in this is total At clamping position is carried out, then industrial control computer issue instruction control two pieces workpiece translational motion transhipment bracket again it is whole to the left The workpiece translational motion transhipment bracket that the fin assembly that first is completed tube expansion is loaded with after running transform station is located at workpiece discharging and takes Code device front, be loaded with third part wait for tube expansion fin assembly workpiece translational motion transhipment bracket be located at fin assembly indexing accompany The dead astern of unit, then industrial control computer, which issues instruction while controlling discharging crawl, piles up mechanical arm and workpiece grabbing code It puts mechanical arm movement and the fin assembly crawl stacking that first is completed tube expansion is waited for into tube expansion wing on discharging pallet, by third part The crawl of piece assembly is piled up on the rear working face of indexable machine frame, and first stacking that the fin assembly of tube expansion is completed is completed, Two pieces workpiece translational motion transhipment bracket moves to right a station again and restores to original state to await orders；

And so on, until being fully completed tube expansion process to tube expansion fin assembly and successively piling up on feed tray On material torr disk, feed tray and discharging pallet are transported through.

As a further improvement of the present invention, the left-hand rotation fortune station of the three station translational transferring apparatus and right-hand rotation Isolation cardboard carrying pallet is respectively equipped with immediately below the station of position, the isolation cardboard of corresponding workpiece charging code fetch device carries pallet It is unloaded isolation cardboard carrying pallet, the isolation cardboard carrying pallet of corresponding workpiece discharging code fetch device is fully loaded corresponding charging Isolation cardboard on pallet to tube expansion fin assembly quantity；

First crawl to tube expansion fin assembly is completed with stacking and to two pieces workpiece translational motion in the step c Transporting the postindustrial control computer sending of bracket integral transformation station instructs control charging crawl stacking mechanical arm to positioned at charging Second is grabbed to the isolation cardboard above tube expansion fin assembly and is translated stacking to three stations translation transhipment dress on pallet Rear feeding crawl piles up mechanical arm and is reset to initial shape on unloaded isolation cardboard carrying pallet immediately below the right-hand rotation fortune station set State；

In the step e first is completed tube expansion fin assembly crawl pile up discharging pallet on and to Two pieces workpiece translational motion transhipment bracket moves to right a station postindustrial control computer that restores to original state to await orders again and issues and refer to Control discharging crawl is enabled to pile up mechanical arm to the fully loaded isolation immediately below the left-hand rotation fortune station for being located at three station translational transferring apparatus Cardboard carrying pallet on first isolation cardboard grabbed and translate pile up to discharging pallet on first be completed it is swollen Discharging crawl piles up mechanical arm and is reset to original state after on the fin assembly of pipe；

And so on, until completing while the tube expansion of all fin assemblies that the isolation cardboard on feed tray is successively complete The isolation cardboard that portion is piled up on the unloaded isolation cardboard carrying pallet that be isolated on cardboard carrying pallet, will be fully loaded with is successively whole It piles up between the fin assembly that tube expansion is respectively completed, isolation cardboard carrying pallet is transported through.

As a further improvement of the present invention, the charging crawl that mechanical arm is piled up in the charging crawl is piled up mechanical 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 electronic control unit of air conditioner fin assembly automatic expanding guard system Industrial control computer is electrically connected with range sensor respectively；Industrial control computer is realized quasi- by the feedback of range sensor Really crawl and stacking fin assembly or supporting steel plate.

As a further improvement of the present invention, the charging crawl that mechanical arm is piled up in the charging crawl is piled up mechanical The discharging that the workpiece grabbing that hand, workpiece grabbing pile up mechanical arm piles up manipulator, discharging crawl stacking mechanical arm grabs arranging machine Tool hand further includes C coordinate rotary drive mechanism and pattern-recognition sensor of the Z coordinate axis along the vertical direction for rotary shaft, sky It adjusts the industrial control computer of the electronic control unit of device fin assembly automatic expanding guard system to grab respectively with charging and piles up mechanical arm Manipulator is piled up in charging crawl, workpiece grabbing piles up the workpiece grabbing stacking manipulator of mechanical arm, mechanical arm is piled up in discharging crawl Discharging crawl pile up manipulator C coordinate rotary drive mechanism and pattern-recognition sensor electrical connection；It is grabbed 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 model with Built-in data model is compared morpheme of the postindustrial control computer by control C coordinate rotary drive mechanism to manipulator It is grabbed again after being rectified a deviation.

A kind of embodiment of transhipment carriage drive is translated as the present invention, it is flat on the workpiece translational motion transhipment bracket Transfer fortune carriage drive is servo motor, and driving gear, the translation transhipment are fixedly installed on the output shaft of servo motor Carriage rail is the rack structure engaged with driving gear tooth with merging；Industrial control computer passes through control servo motor Positive and negative rotation realize driving gear band start building part translation transhipment bracket translation transhipment carriage rail on move left and right.

The another embodiment of transhipment carriage drive is translated as the present invention, the 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 flexible by control pushing handle telescopic control mechanism Realize that workpiece translational motion transhipment bracket moves left and right on translation transhipment carriage rail.

As a preferred solution of the present invention, the pushing handle telescopic control mechanism is cylinder, and cylinder is by pneumatic line and pneumatically Control valve group connection, pneumatic control valve group are connect with pressure gas source, pneumatic control valve group and the automatic tube expansion of air conditioner fin assembly The industrial control computer of the electronic control unit of system is electrically connected；The movement that industrial control computer passes through control 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, three station fin assembly code fetch unit of this automatic expanding guard system is Digital Control unit, High degree of automation is fitted in air conditioner fin assembly automatic expanding guard system and can be realized raising crawl stacking efficiency； Since two pieces workpiece translational motion transhipment bracket includes that two pieces is fastened to each other by bindiny mechanism by bindiny mechanism's connection fastened to each other The workpiece translational motion of connection transports bracket, therefore two pieces workpiece translational motion may be implemented by control translation transhipment carriage drive movement and turn Fortune bracket is synchronous to be moved left and right on translation transhipment support frame along translation transhipment carriage rail and positions realization transformation 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 cooperation charging crawl stacking mechanical arm, workpiece grabbing stacking mechanical arm and discharging crawl pile up the movement progress of mechanical arm in due course Shift action, and then the crawl to tube expansion fin assembly may be implemented and pile up control, workpiece translational motion transhipment bracket transformation station Control, work delivery control, the crawl for the fin assembly that tube expansion is completed orderly are carried out with the successively interval for piling up control, thus Improve the working efficiency of fin assembly tube expansion process entirety；Due to can the left-hand rotation of three station translational transferring apparatus transport station and Isolation cardboard carrying pallet is respectively set immediately below right turnover station, therefore may be implemented during tube expansion to isolation cardboard It is grabbed and is laid with, and then realized mutual plug connection between the fin assembly for preventing intensive fin 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.

Detailed description of the invention

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

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

Fig. 3 is the top view of Fig. 2；

Fig. 4 is the left view of Fig. 2；

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 main view of apparent direction after air conditioner fin assembly automatic expanding guard system fin assembly indexing retinue unit；

Fig. 7 is the top view of Fig. 6；

Fig. 8 is the left view of Fig. 6；

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

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

Figure 11 is the top view of Figure 10；

Figure 12 is the left view of Figure 10；

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 main view of apparent direction after the present invention；

Figure 16 is the top view of Figure 15；

Figure 17 is the left view of Figure 15.

In figure: 1, electric tube expander, 2, fin assembly indexing retinue unit, 21, guide rail, 22, walker, 23, indexable machine frame, 3, supporting steel plate is placed in unit, 31, feed bin braced frame, 32, supporting steel plate bracket, 33, positioning supporting plate, 34, supporting steel plate cunning Shifting stacking pallet, 35, sliding stacking pallet guide rail, 36, supporting steel plate code fetch mechanical arm, 37, supporting steel plate code fetch manipulator, 38, supporting steel plate is placed in mechanical arm, 39, supporting steel plate merging 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 transport bracket, 413, workpiece grabbing pile up it is mechanical Arm, 42, workpiece feed code fetch device, 421, charging crawl pile up mechanical arm, 422, feed tray, 43, workpiece discharging code fetch dress It sets, 431, discharging crawl stacking mechanical arm, 432, discharging pallet.

Specific embodiment

The present invention will be further described with reference to the accompanying drawing (is described below total in entire air conditioner fin with electric tube expander 1 It is front at the direction where in automatic expanding guard system, using left and right horizontal direction as X-coordinate, using front and back 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 coordinate, with Z-direction axis of orientation Line is that the direction of rotary shaft rotation is C coordinate).

As shown in Figures 1 to 4, air conditioner fin assembly automatic expanding guard system includes electric tube expander 1, fin assembly indexing retinue Unit 2, supporting steel plate merging unit 3, three station fin assembly code fetch units 4 and electronic control unit.

The electric tube expander 1 includes lower platen and the fin assembly positioning tool immediately below lower platen；On lower platen Tube expansion mold with the cooperation of the copper pipe mouth of fin assembly is installed, tube expansion mold is horizontally disposed in left-right direction, on tube expansion mold Equipped with multiple tube expansion pressure heads being arranged straight down；Fin assembly positioning tool is the vertical plate structure being vertically arranged, vertical plate structure Left and right ends be equipped with work holder, the bottom rear of vertical plate structure is equipped with Working piece positioning device.

The dead astern of electric tube expander 1, as shown in Fig. 5 to Fig. 8, fin is arranged in the fin assembly indexing retinue unit 2 Assembly indexing retinue unit 2 includes support underframe, guide rail 21, walker 22 and indexable machine frame 23；21 front-rear direction of guide rail is set It sets and is fixedly mounted on support underframe；The erection of walker 22 is mounted on guide rail 21, and front and back walking is equipped with inside walker 22 and is driven Dynamic device and device for revolving and driving, the revolution central axes vertical direction setting of device for revolving and driving, front and back travel driving unit can To drive walker 22 is whole to be moved forward and backward and position on guide rail 21；Indexable machine frame 23 includes at least the preceding work being vertically arranged Make face and rear working face, indexable 23 integral installation of machine frame connects on walker 22 and with the device for revolving and driving of walker 22 It connects, axis of rotation setting, leading face and rear working face is symmetrical with before and after the leading face of indexable machine frame 23 and rear working face Left and right ends and bottom end 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 arranged, and the device for revolving and driving of walker 22 can at least drive indexable tooling Frame 23 is rotated and is positioned along 180 ° of its rotation axis to realize that front and back station exchanges.

The left or right side of fin assembly indexing retinue unit 2, such as Fig. 9 is arranged in the supporting steel plate merging unit 3 To shown in Figure 12, it includes that supporting steel plate feed bin and supporting steel plate code fetch are placed in mechanical arm that supporting steel plate, which is placed in unit 3,；

Supporting steel plate feed bin includes the supporting steel plate that feed bin braced frame 31 is mounted on inside feed bin braced frame with erection Bracket 32；Supporting steel plate bracket 32 is the fin assembly positioning tool vertical plate structure disposed in parallel with electric tube expander 1, vertical plate structure Upper horizontal be equipped with lifts positioning element in the more than one piece supporting steel plate of uniformly distributed layer structure up and down, and supporting steel plate lifts positioning element One group of positioning supporting plate group is included 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 for positioning supporting plate 33 are equipped with the limit flanging flipped up, one group of positioning supporting plate The symmetrical setting of two pieces positioning supporting plate 33 and a limit flanging for positioning 33 left end of supporting plate and another positioning of group are held in the palm The limit flanging of 33 right end of plate is oppositely arranged, and the space that two pieces positions between the limit flanging of supporting plate 33 constitutes the appearance of supporting steel plate Receive space；The top of feed bin braced frame 31, the top position of supporting steel plate bracket 32 are additionally provided with supporting steel plate sliding and pile up support Frame 34 and sliding stacking pallet guide rail 35, sliding 35 left and right directions of stacking pallet guide rail erection are mounted on feed bin braced frame 31 One end towards fin assembly indexing retinue unit 2 that is upper and sliding stacking pallet guide rail 35 extend out to feed bin braced frame 31 Outside, and slide height dimension of the stacking pallet guide rail 35 apart from ground and be greater than the top of indexable machine frame 23 apart from ground Height dimension, supporting steel plate slides stacking pallet 34 is pacified by the driving of sliding stacking pallet and the sliding cooperation of stacking pallet guide rail 35 Dress, supporting steel plate slide stacking pallet 34 and are equipped with supporting steel plate location structure；

For the ease of control supporting steel plate code fetch merging mechanical arm, improve the efficiency for grabbing and being placed in, supporting steel plate code fetch Merging mechanical arm includes supporting steel plate code fetch mechanical arm 36 and supporting steel plate merging mechanical arm 38；Supporting steel plate code fetch mechanical arm 36 It is erected at the top of supporting steel plate bracket 32, supporting steel plate code fetch mechanical arm 36 includes at least the Y coordinate along anterior-posterior horizontal direction Driving mechanism, Z coordinate driving mechanism along the vertical direction and the support that 36 minor details end of supporting steel plate code fetch mechanical arm is set Steel plate code fetch manipulator 37, supporting steel plate code fetch manipulator 37 are equipped with supporting steel plate crawl and pile up mechanism；Supporting steel plate merging The position of the corresponding sliding stacking pallet guide rail 35 of mechanical arm 38 is erected at the top of the extension end of sliding stacking pallet guide rail 35, branch It supports steel plate merging mechanical arm 38 and includes at least the X-coordinate driving mechanism along left and right horizontal direction, Z coordinate driving along the vertical direction Mechanism and the supporting steel plate merging manipulator 39 that supporting steel plate merging 38 minor details end of mechanical arm is arranged in, supporting steel plate are placed in machine It also is provided with supporting steel plate crawl on tool hand 39 and piles up mechanism.

The dead astern of fin assembly indexing retinue unit 2 is arranged in the three station fin assembly code fetch units 4, such as schemes 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 setting of three station translational transferring apparatus, 41 left and right directions, including the transhipment station of left, center, right three, middle transhipment station The dead astern setting of face fin assembly indexing retinue unit 2；Three station translational transferring apparatus 41 include translation transhipment support frame 411,412 peace transfer fortune carriage drive of workpiece translational motion transhipment bracket；Workpiece translational motion transports bracket 412 and passes through left and right directions level The translation transhipment carriage rail being erected on translation transhipment support frame 411 is movably arranged on translation transhipment support frame 411, workpiece It transhipment station and turns right during translation transhipment bracket 412 is corresponding and fortune station position or turns left fortune station and middle transhipment station position is set It is set to two pieces, and two pieces workpiece translational motion transhipment bracket 412, by bindiny mechanism's connection fastened to each other, an at least workpiece translational motion turns Translation transhipment carriage drive is installed, translating transhipment carriage drive movement by control may be implemented 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, is additionally provided with piece-holder positioning mechanism on workpiece translational motion transhipment bracket 412；Three station translational transferring apparatus 41 It is additionally provided with workpiece grabbing on middle transhipment station and piles up mechanical arm 413, workpiece grabbing is piled up mechanical arm 413 and included at least along front and back water Square to Y coordinate driving mechanism, Z coordinate driving mechanism along the vertical direction, along left and right horizontal direction X-coordinate axle be rotation The A coordinate rotary drive mechanism of axis and the workpiece grabbing that workpiece grabbing stacking 413 minor details end of mechanical arm is arranged in are piled up mechanical Hand, workpiece grabbing are piled up mechanical on hand equipped with workpiece grip mechanism；

The left-hand rotation fortune station of three station translational transferring apparatus 41 is arranged in or fortune station of turning right in workpiece charging code fetch device 42 Dead astern, it includes that mechanical arm 421 and feed tray 422 are piled up in charging crawl that workpiece, which feeds code fetch device 42,；Charging crawl code Put mechanical arm 421 include at least along the Y coordinate driving mechanism in anterior-posterior horizontal direction, Z coordinate driving mechanism along the vertical direction and Manipulator is piled up in the charging crawl that charging crawl stacking 421 minor details end of mechanical arm is arranged in, and charging crawl stacking is mechanical on hand Equipped with workpiece grip mechanism；Feed tray 422 positions the dead astern that three station translational transferring apparatus 41 are arranged in；

The right-hand rotation fortune station of three station translational transferring apparatus 41 is arranged in or the fortune station that turns left in workpiece discharging code fetch device 43 Dead astern, workpiece discharge code fetch device 43 include discharging crawl pile up mechanical arm 431 and discharging pallet 432；Discharging crawl code Put mechanical arm 431 include at least along the Y coordinate driving mechanism in anterior-posterior horizontal direction, Z coordinate driving mechanism along the vertical direction and Manipulator is piled up in the discharging crawl that discharging crawl stacking 431 minor details end of mechanical arm is arranged in, and discharging crawl stacking is mechanical on hand Equipped with workpiece grip mechanism；Discharging pallet 432 positions the dead astern that three station translational transferring apparatus 41 are arranged in.

The electronic control unit includes industrial control computer, electric power loop, counting circuit, workpiece feed back loop, translation Transport control loop, circuit is piled up in work delivery crawl, supporting steel plate merging control loop, indexing retinue control loop, tube expansion Machine control loop, workpiece discharging circuit, industrial control computer grabs with charging pile up mechanical arm 421 respectively, workpiece translational motion turns Carriage drive, workpiece grabbing code are transported in the translation for transporting the piece-holder positioning mechanism, workpiece translational motion transhipment bracket 412 of bracket 412 Put mechanical arm 413, the workpiece grip mechanism of indexable machine frame 23, the front and back travel driving unit of walker 22 and revolution driving dress It sets, the sliding stacking pallet driving of supporting steel plate sliding stacking pallet 34, supporting steel plate code fetch mechanical arm 36, supporting steel plate code fetch The branch of mechanism, supporting steel plate merging mechanical arm 38, supporting steel plate merging manipulator 39 is piled up in the supporting steel plate crawl of manipulator 37 Plate grab code fetch laying mechanism, the power control cabinet of electric tube expander 1, discharging crawl stacking mechanical arm 431 is supportted to be electrically connected.

As shown in figure 3, the right-hand rotation fortune of three station translational transferring apparatus 41 is arranged in workpiece charging code fetch device 42 below The dead astern of the left-hand rotation fortune station of three station translational transferring apparatus 41 is arranged in the dead astern of station, workpiece discharging code fetch device 43 For the working principle of this air conditioner fin assembly automatic expanding guard system is described.

When original state, workpiece translational motion transhipment bracket 412 is stuck in the middle transhipment of three station translational transferring apparatus 41 of face The initial position of station and fortune station of turning right, the piece-holder positioning mechanism that workpiece translational motion is transported on bracket 412 are in opening Original state；Walker 22 is stuck in the initial position of 21 rear end of guide rail, and indexable machine frame 23 is in leading face towards before just Side, rear initial position of the working face towards 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 32 top of supporting steel plate bracket It sets；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 stacking mechanical arm 413 is in the original state of face and separate workpiece translational motion transhipment bracket 412 and workpiece is grabbed 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 far 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 far from discharging pallet 432 The workpiece grip mechanism for putting mechanical arm 431 is in the original state opened.

When be loaded with by setting quantity pile up the feed tray 422 to tube expansion fin assembly workpiece by manual or automatic guiding Transport vehicle from previous 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 are circulated by manual or automatic guide transport lorry to this air conditioner wing When the discharging in three station translational transferring apparatus, 41 dead astern of piece assembly automatic expanding guard system sets stand, this air conditioner wing The electric power loop starting of piece assembly automatic expanding guard system, system starts.

Crawl and stacking to tube expansion fin assembly: workpiece feed back loop is first begin to work, industrial control computer hair Instruction control charging crawl is piled up mechanical arm 421 and is acted according to preset program and coordinates computed out, and manipulator is piled up in charging crawl Front on the feed tray 422 by setting quantity pile up to tube expansion fin assembly, be located to tube expansion fin assembly just Top, counting circuit is synchronous to start to work, then charging crawl pile up 421 Z-direction of mechanical arm be displaced downwardly to the crawl of setting away from The workpiece grip mechanism holding action for feeding crawl stacking mechanical arm 421 from postindustrial control computer control is held in the palm to charging is located at Top layer first on disk 422 carries out clamping crawl to tube expansion fin assembly, and crawl rear feeding crawl piles up mechanical arm 421 along Z Coordinate moves up certain distance, i.e., first is detached from following to tube expansion fin assembly to tube expansion fin assembly, 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 421 Z-direction of mechanical arm and is displaced downwardly to the right-hand rotation for sticking on three station translational transferring apparatus 41 to tube expansion fin assembly The setting for transporting workpiece translational motion transhipment 412 upper surface of bracket on station, which is piled up, controls charging crawl apart from postindustrial control computer The workpiece grip mechanism expansion action for piling up mechanical arm 421 piles up first to tube expansion fin assembly, and then charging is grabbed Code fetch puts mechanical arm 421 and is reset to original state, completes first crawl and stacking to tube expansion fin assembly.

Workpiece translational motion transports bracket 412 and converts station: translation transhipment control loop is started to work, industrial control computer hair The piece-holder positioning mechanism holding action of instruction control workpiece translational motion transhipment bracket 412 is to first to tube expansion fin assembly out Clamping position is carried out, then the translation transhipment carriage drive movement of industrial control computer control workpiece translational motion transhipment bracket 412 Keep two pieces workpiece translational motion transhipment bracket 412 synchronous and is sat to the left on translation transhipment support frame 411 along translation transhipment carriage rail The set distance of the mobile station of stepping and positioning are marked, first workpiece translational motion to tube expansion fin assembly is loaded at this time and transports Bracket 412 is located on the middle transhipment station of three station translational transferring apparatus 41, and it is whole to complete two pieces workpiece translational motion transhipment bracket 412 Transformation station.

Work delivery: circuit is piled up in work delivery crawl and indexing retinue control loop is started to work, and Industry Control calculates Machine issues instruction control workpiece grabbing and piles up mechanical arm 413 according to preset program and coordinates computed movement, workpiece grabbing arranging machine The front of tool hand faces on the workpiece translational motion transhipment bracket 412 on the middle transhipment station of three station translational transferring apparatus 41 First to tube expansion fin assembly, then workpiece grabbing piles up 413 Z-direction of mechanical arm and is displaced downwardly to the crawl of setting apart from rear work Industry controls computer control workpiece grabbing and piles up the workpiece grip mechanism holding action of mechanical arm 413 to positioned at workpiece translational motion transhipment First on bracket 412 carries out clamping crawl to tube expansion fin assembly, while industrial control computer controls the workpiece translational motion The piece-holder positioning mechanism expansion action of transhipment bracket 412 joins first to tube expansion fin assembly, then workpiece Crawl piles up mechanical arm 413 and grabs first to move to set distance, while workpiece grabbing on tube expansion fin assembly Z-direction The A coordinate rotary drive mechanism work for piling up mechanical arm 413 is rotated by 90 ° workpiece grabbing stacking manipulator in A coordinate system, i.e., Workpiece grabbing pile up manipulator together with first be crawled to tube expansion fin assembly be in the vertical state upward to 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 It moves back to first set distance after tube expansion fin assembly sticks on indexable machine frame 23 on working face, while industry control Computer sending processed instructs the workpiece grip mechanism holding action after making indexable machine frame 23 on working face to first to tube expansion Fin assembly carries out clamping position, workpiece grabbing arranging machine after the workpiece grip mechanism that workpiece grabbing piles up mechanical arm 413 opens Tool arm 413 is reset to original state, while industrial control computer issues the device for revolving and driving time of instruction control walker 22 Rotation makees that indexable machine frame 23 is made to rotate clockwise or counter-clockwise 180 °, is loaded with first indexable work to tube expansion fin assembly Working face returns back to the state towards electric tube expander 1 after shelving 23, completes the work delivery to tube expansion fin assembly；

Workpiece grabbing piles up mechanical arm 413 and grabs first to tube expansion fin assembly disengaging workpiece translational motion transhipment bracket The translation transhipment carriage drive movement 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 is moved to the right on translation transhipment support frame 411 The set distance of a dynamic station simultaneously positions recovery to original state, and mechanical arm 421 is piled up in charging crawl can continue to hold in the palm charging Second on the disk 422 right-hand rotation fortune station for being grabbed and being piled up to tube expansion fin assembly in three station translational transferring apparatus 41 On workpiece translational motion transhipment bracket 412 on await orders.

Supporting steel plate merging: supporting steel plate is placed in control loop and starts to work, and industrial control computer issues instruction control Mechanism patch is piled up in the supporting steel plate crawl that 36 Z-direction of supporting steel plate code fetch mechanical arm is displaced downwardly to supporting steel plate code fetch manipulator 37 The set distance on first piece of supporting steel plate being located 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 is piled up mechanism action and is grabbed to first piece of supporting steel plate, and crawl rear support steel plate takes Code mechanical arm 36 carry moved on first piece of supporting steel plate elder generation Z-direction set distance, then Y coordinate direction be moved to supporting steel 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 issues 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 issues instruction control branch The supporting steel plate crawl that support steel plate merging 38 Z-direction of mechanical arm is displaced downwardly to supporting steel plate merging manipulator 39 piles up mechanism and reclines Set distance on first piece of supporting steel plate being located on supporting steel plate sliding stacking pallet 34, then supporting steel plate is placed in machine The supporting steel plate crawl of tool hand 39 is piled up mechanism action and is grabbed to first piece of supporting steel plate, and crawl rear support steel plate is placed in machine Tool arm 38 carry moved on first piece of supporting steel plate elder generation Z-direction set distance, then X-coordinate direction be moved to face indexing work The surface of working face after shelving 23, then supporting steel plate merging 39 Z-direction of manipulator is displaced downwardly on first piece of supporting steel plate Copper pipe hole be socketed in first set distance waited on the copper pipe at tube expansion end to tube expansion fin assembly, supporting steel plate merging is mechanical The supporting steel plate crawl of hand 39, which is piled up after mechanism action piles up first piece of supporting steel plate, is reset to original state, completes the The merging of one piece of supporting steel plate；

During first piece of supporting steel plate merging, industrial control computer controls translation transhipment control loop and work simultaneously Circuit task again is piled up in part handover crawl, and as described above, two pieces workpiece translational motion transhipment bracket 412 is again after integral transformation station Workpiece grabbing piles up mechanical arm 413 for second to the crawl of tube expansion fin assembly 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 restores to original state to await orders again, and two pieces workpiece translational motion transports bracket 412 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 wait for the third part on feed tray 422 Tube expansion fin assembly is grabbed and piles up the workpiece translational motion transhipment on the right-hand rotation fortune station of three station translational transferring apparatus 41 It awaits orders on bracket 412.

Tube expansion to tube expansion fin assembly operates: completing first piece of supporting steel plate merging with second to tube expansion fin assembly 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 back travel driving unit movement that industrial control computer issues instruction control walker 22 is leading walker 22 integrally Front end and the positioning for moving forward to guide rail 21 on rail 21 along Y coordinate are now placed in first after indexable machine frame 23 on working face It is sticked on the fin assembly positioning tool of electric tube expander 1 to tube expansion fin assembly, it is swollen that industrial control computer issues instruction control The work holder holding action of the fin assembly positioning tool of pipe machine 1 clamp to tube expansion fin assembly to first to be determined Position, while industrial control computer controls the piece-holder positioning mechanism expansion action after indexable machine frame 23 on working face to the One is joined to tube expansion fin assembly, and industrial control computer issues the front and back hoofing part dress of instruction control walker 22 Set movement make walker 22 it is whole on guide rail 21 along Y coordinate move back to indexable machine frame 23 after working face and electric tube expander 1 wing Walker 22 is standby after the set distance that piece assembly positioning tool is detached from, and industrial control computer issues instruction control The lower platen of electric tube expander 1 presses to set distance, the tube expansion mold on lower platen be to first to tube expansion fin assembly to Tube expansion end carries out tube expansion, and the lower platen of electric tube expander 1 completes first tube expansion to tube expansion fin assembly after being reset to original state Operation.

The crawl and stacking of the fin assembly of tube expansion is completed: indexable control loop task again of accompanying, Industry Control meter The front and back travel driving unit movement that calculation machine issues 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 is completed swollen The fin assembly of pipe sticks on after indexable machine frame 23 on working face, and industrial control computer works after controlling indexable machine frame 23 The fin assembly that tube expansion is completed to first in piece-holder positioning mechanism holding action on face carries out clamping position, while work Industry controls the work holder expansion action of the fin assembly positioning tool of computer sending instruction control electric tube expander 1 to first The fin assembly that tube expansion is completed in part is joined, and then industrial control computer issues the front and back row of instruction control walker 22 Walking driving device movement moves back walker 22 integrally to the rear end of guide rail 21 and positioning, while work on guide rail 21 along Y coordinate The device for revolving and driving revolution movement that industry control computer issues instruction control walker 22 make indexable machine frame 23 clockwise or Person rotates 180 ° counterclockwise, and working face returns back to after being loaded with the indexable machine frame 23 for the fin assembly that first is completed tube expansion State towards three station fin assembly code fetch units 4；

Then industrial control computer issues instruction control workpiece grabbing stacking mechanical arm 413 and tube expansion is completed by first Fin assembly handover 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 on station in this is completed first swollen The fin assembly of pipe carries out clamping position, and then industrial control computer issues instruction control two pieces workpiece translational motion and transports bracket 412 whole are again moved to the left the workpiece translational motion transhipment bracket that the fin assembly that first is completed tube expansion is loaded with after transformation station 412 are located at the front of workpiece discharging code fetch device 43, are loaded with the workpiece translational motion transhipment support that third part waits for tube expansion fin assembly Frame 412 is the dead astern for being located at fin assembly indexing retinue unit 2, and then industrial control computer issues instruction while controlling out Mechanical arm 431 is piled up in material crawl and workpiece grabbing piles up the movement of mechanical arm 413 and grabs the fin assembly that first is completed tube expansion Code fetch is placed on discharging pallet 432, third part is piled up the working face after indexable machine frame 23 after the crawl of tube expansion fin assembly On, first stacking that the fin assembly of tube expansion is completed is completed, 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 issues instruction control supporting steel plate merging control loop and is worked again by second piece of branch Second that steel plate is embedded on indexable 23 leading face of machine frame is supportted to wait on the copper pipe at tube expansion end to tube expansion fin assembly.

And so on, until being fully completed tube expansion process to tube expansion fin assembly and successively piling up 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 between fin assembly when due to stacking are less than the outer of fin assembly Size is enclosed, therefore isolation cardboard is grabbed and is laid with during tube expansion in order to realize, is further changed as of the invention Into scheme, isolation is respectively equipped with immediately below the left-hand rotation fortune station of the three station translational transferring apparatus 41 and right turnover station Cardboard carries pallet, and the isolation cardboard carrying pallet of corresponding workpiece charging code fetch device 42 is unloaded isolation cardboard carrying support Disk, the isolation cardboard carrying pallet of corresponding workpiece discharging code fetch device 43 is fully loaded to be had on corresponding feed tray 422 to tube expansion fin The isolation cardboard of assembly quantity；The electronic control unit further includes that isolation cardboard crawl is laid with circuit；First is completed to tube expansion After the crawl and stacking of fin assembly, the postindustrial control computer of 412 integral transformation station of bracket is transported to two pieces workpiece translational motion It issues instruction control charging crawl and piles up mechanical arm 421 to being located on feed tray 422 second to above tube expansion fin assembly Isolation cardboard grabbed 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 carrying pallet is reset to original state；First is completed the wing of tube expansion After the crawl of piece assembly is piled up on discharging pallet 432, a station is moved to right again to two pieces workpiece translational motion transhipment bracket 412 and is restored It issues instruction control discharging crawl to await orders postindustrial control computer of original state to pile up mechanical arm 431 flat to three stations are located at First isolation cardboard on fully loaded isolation cardboard carrying pallet immediately below the left-hand rotation fortune station of transfer shipping unit 41 is grabbed It takes and translates discharging crawl stacking mechanical arm after first piled up on extremely discharging pallet 432 is completed on the fin assembly of tube expansion 431 are reset to original state；And so on, until will be on feed tray 422 while completing the tube expansion of all fin assemblies On the isolation cardboard carrying pallet that isolation cardboard successively all piles up on unloaded isolation cardboard carrying pallet, will be fully loaded every It is successively all piled up between the fin assembly that tube expansion is respectively completed from cardboard, isolation cardboard carrying pallet is transported through i.e. It can.

In order to realize accurate crawl and pile up fin assembly, as a further improvement of the present invention, the charging The charging crawl that mechanical arm 421 is piled up in crawl piles up manipulator, workpiece translational motion transhipment bracket 412, workpiece grabbing and piles up mechanical arm The discharging crawl that 413 workpiece grabbing piles up manipulator, discharging crawl stacking mechanical arm 431 piles up machinery and is equipped with distance on hand The industrial control computer of sensor, the electronic control unit is electrically connected with range sensor respectively, and industrial control computer is logical The feedback for crossing range sensor can be achieved accurate crawl and pile up fin assembly.

In order to further realize accurate crawl fin assembly, as a further improvement of the present invention, the charging The workpiece grabbing that charging crawl stacking manipulator, the workpiece grabbing that mechanical arm 421 is piled up in crawl pile up mechanical arm 413 is piled up mechanical It further includes Z coordinate axis along the vertical direction for rotation that manipulator is piled up in the discharging crawl that hand, discharging crawl pile up mechanical arm 431 The C coordinate rotary drive mechanism and pattern-recognition sensor of axis, the electronic control unit further include pattern-recognition control loop, institute The industrial control computer stated grabs charging crawl the stacking manipulator, workpiece grabbing code for piling up mechanical arm 421 with charging respectively The workpiece grabbing for putting mechanical arm 413 piles up manipulator, discharging grabs the C for the discharging crawl stacking manipulator 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 grabs fin assembly According to the feedback founding mathematical models of pattern-recognition sensor, and after the mathematical model is compared with built-in data model Industrial control computer grabs again after being rectified a deviation by control C coordinate rotary drive mechanism to the morpheme of manipulator, into And realize accurate crawl fin assembly.

Mechanical arm 421 is piled up in the charging crawl, workpiece grabbing piles up mechanical arm 413, mechanical arm is piled up in discharging crawl 431, multi-joint centralized control mechanical arm can be used, mechanical arm can also be controlled using gantry type fission, or use other The mechanical arm of form, since the control of the multi-joint mechanical arm of the first scheme is centralized control, accurately coordinate control compared with Complexity need to largely calculate, software control procedure complexity by industrial control computer, and manufacturing cost is higher, computer control Burden weight, easily breaks down；Second scheme is controlled respectively using seperated control, i.e., several coordinate systems, is controlled relatively easy, straight It connects, is less prone to failure, therefore preferred second scheme, that is, as a preferred solution of the present invention, the charging, which grabs, piles up It is that the control of gantry type fission is mechanical that mechanical arm 421, workpiece grabbing, which pile up mechanical arm 413, mechanical arm 431 is piled up in discharging crawl Arm.

A kind of embodiment of transhipment carriage drive is translated as the present invention, the workpiece translational motion is transported on bracket 412 Translation transhipment carriage drive be servo motor, driving gear, the translation are fixedly installed on the output shaft of servo motor Transhipment carriage rail is with driving gear tooth with the rack structure engaged is merged, i.e. workpiece translational motion transhipment bracket 412 passes through tooth Wheel rack-driving realization moves left and right.

The another embodiment of transhipment carriage drive is translated as the present invention, the workpiece translational motion transports bracket 412 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., by control pushing handle telescopic control mechanism flexible realization Workpiece translational motion transhipment bracket 412 moves left and right.

The pushing handle telescopic control mechanism can be hydraulic cylinder structure, is also possible to air cylinder structure or is spiral rod structure, Since pressure gas source is abundant in pneumatic gearing fast speed and air conditioner manufacturing shop, preferred pneumatic control, that is, as Preferred embodiment of the invention, the pushing handle telescopic control mechanism are cylinders, and cylinder is connect by pneumatic line with pneumatic control valve group, Pneumatic control valve group is connect with pressure gas source, the electronic control unit of pneumatic control valve group and air conditioner fin assembly automatic expanding guard system Industrial control computer electrical connection.

Three station fin assembly code fetch unit of this automatic expanding guard system is Digital Control unit, and high degree of automation is matched Conjunction, which is mounted in air conditioner fin assembly automatic expanding guard system, can be realized raising crawl stacking efficiency；Due to two pieces workpiece translational motion It includes workpiece translational motion of the two pieces by bindiny mechanism's connection fastened to each other that bracket 412, which is transported, by bindiny mechanism's connection fastened to each other It transports bracket 412, therefore two pieces workpiece translational motion may be implemented by control translation transhipment carriage drive movement to transport bracket 412 same Step moves left and right on translation transhipment support frame 411 along translation transhipment carriage rail and positions realization transformation station, air conditioner wing The industrial control computer of piece assembly automatic expanding guard system can control two pieces workpiece translational motion according to setting program and transport bracket 412 The movement that mechanical arm 431 is piled up in mechanical arm 421, workpiece grabbing stacking mechanical arm 413 and discharging crawl is piled up in cooperation charging crawl In due course shift action is carried out, and then the crawl to tube expansion fin assembly may be implemented and pile up control, workpiece translational motion transhipment bracket 412 transformation station controls, work delivery control, the crawl of fin assembly and successively intermittently the having for stacking control that tube expansion is completed Sequence carries out, to improve the working efficiency of fin assembly tube expansion process entirety；Due to can be in three station translational transferring apparatus 41 Left-hand rotation fortune station and right turnover station immediately below isolation cardboard carrying pallet is respectively set, therefore may be implemented in tube expansion mistake Isolation cardboard is grabbed and is laid in journey, so realize prevent between the fin assembly of intensive fin plug connection mutually and It is not easy to code fetch, 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 three station fin assembly code fetch unit of automatic expanding guard system, three station fin assembly code fetch units It (4) include three station translational transferring apparatus (41), workpiece charging code fetch device (42) and workpiece discharging code fetch device (43)；

The setting of three station translational transferring apparatus (41) left and right directions, 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 Part translation transhipment bracket (412) is erected at the translation in translation transhipment support frame (411) by left and right directions level and transports bracket Guide rail is movably arranged in translation transhipment support frame (411), workpiece translational motion transport bracket (412) it is corresponding in transport station and right-hand rotation Fortune station position or left-hand rotation fortune station and middle transhipment station position are set as two pieces, and two pieces workpiece translational motion transhipment bracket (412) By bindiny mechanism's connection fastened to each other, translation transhipment bracket is installed at least workpiece translational motion transhipment bracket (412) and is driven It is dynamic, piece-holder positioning mechanism is additionally provided in workpiece translational motion transhipment bracket (412)；The transfer of three station translational transferring apparatus (41) Workpiece grabbing is additionally provided on fortune station and piles up mechanical arm (413), and workpiece grabbing is piled up mechanical arm (413) and included at least along front and back water Square to Y coordinate driving mechanism, Z coordinate driving mechanism along the vertical direction, along left and right horizontal direction X-coordinate axle be rotation The workpiece grabbing arranging machine of mechanical arm (413) minor details end is piled up in the A coordinate rotary drive mechanism of axis and setting in workpiece grabbing Tool hand, workpiece grabbing are piled up mechanical on hand equipped with workpiece grip mechanism；

Workpiece feeds code fetch device (42) setting and transports station or fortune station of turning right in the left-hand rotation of three station translational transferring apparatus (41) Dead astern, it includes that mechanical arm (421) and feed tray (422) are piled up in charging crawl that workpiece, which feeds code fetch device (42),；Charging Crawl piles up mechanical arm (421) and includes at least the Y coordinate driving mechanism along anterior-posterior horizontal direction, Z coordinate drive along the vertical direction Manipulator is piled up in the charging crawl of motivation structure and setting in charging crawl stacking mechanical arm (421) minor details end, and charging grabs code Manipulator is put equipped with workpiece grip mechanism；Feed tray (422) positioning setting three station translational transferring apparatus (41) just Rear；

Workpiece discharging code fetch device (43) setting transports station or the fortune station that turns left in the right-hand rotation of three station translational transferring apparatus (41) Dead astern, workpiece discharge code fetch device (43) include discharging crawl pile up mechanical arm (431) and discharge pallet (432)；Discharging Crawl piles up mechanical arm (431) and includes at least the Y coordinate driving mechanism along anterior-posterior horizontal direction, Z coordinate drive along the vertical direction Manipulator is piled up in the discharging crawl of motivation structure and setting in discharging crawl stacking mechanical arm (431) minor details end, and discharging grabs code Manipulator is put equipped with workpiece grip mechanism；Discharge pallet (432) positioning setting three station translational transferring apparatus (41) just Rear；

The industrial control computer of the electronic control unit of air conditioner fin assembly automatic expanding guard system grabs arranging machine with charging respectively Tool arm (421), the piece-holder positioning mechanism of workpiece translational motion transhipment bracket (412), workpiece translational motion transport the translation of bracket (412) Transport carriage drive, workpiece grabbing piles up mechanical arm (413), mechanical arm (431) electrical connection is piled up in discharging crawl；

It is characterized in that, control method specifically includes the following steps:

A. Job readiness: when original state, workpiece translational motion transhipment bracket (412) is stuck in three station translational transferring apparatus of face (41) initial position of middle transhipment station and fortune station of turning right, workpiece translational motion transport the piece-holder positioning on bracket (412) Mechanism is in the original state opened；Workpiece grabbing piles up mechanical arm (413) and is in face and transports bracket far from workpiece translational motion (412) workpiece grip mechanism that original state and workpiece grabbing piles up mechanical arm (413) is in the original state opened；Into Material crawl stacking mechanical arm (421) is in the initial position of face and separate feed tray (422) and machinery is piled up in charging crawl 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 separate The workpiece grip mechanism that mechanical arm (431) are piled up in the initial position of discharging pallet (432) and the crawl that discharges is in the initial of opening State；When be loaded with by setting quantity pile up the feed tray (422) to tube expansion fin assembly workpiece by manual or automatic guiding Transport vehicle circulates from previous process to the charging setting stand, unloaded in this three station translational transferring apparatus (41) dead astern Pallet (432) are discharged by three stations of manual or automatic guide transport lorry circulation to this air conditioner fin assembly automatic expanding guard system When the discharging in translational transferring apparatus (41) dead astern sets stand, air conditioner fin assembly automatic expanding guard system starts work Make；

B. the crawl and stacking to tube expansion fin assembly: the workpiece feed back loop of air conditioner fin assembly automatic expanding guard system is first It starts to work, industrial control computer issues instruction control charging crawl and piles up mechanical arm (421) according to preset program and calculating Coordinate movement, charging crawl pile up the front of manipulator on feed tray (422) by setting quantity pile up to tube expansion Fin assembly is located to which right above tube expansion fin assembly, mechanical arm is piled up in the synchronous start-up operation of counting circuit, then charging crawl (421) crawl that Z-direction is displaced downwardly to setting piles up mechanical arm (421) apart from postindustrial control computer control charging crawl Workpiece grip mechanism holding action carries out clamping to tube expansion fin assembly to the top layer being located on feed tray (422) first and grabs Take, crawl rear feeding crawl pile up mechanical arm (421) Z-direction move up set distance make first to tube expansion fin assembly under Face is detached to tube expansion fin assembly, 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 charging crawl is piled up mechanical arm (421) Z-direction and is displaced downwardly to tube expansion wing Piece assembly sticks on workpiece translational motion transhipment bracket (412) upper surface on the right-hand rotation fortune station of three station translational transferring apparatus (41) Setting pile up opened apart from the workpiece grip mechanism that mechanical arm (421) are piled up in postindustrial control computer control charging crawl it is dynamic It opposes first and is piled up to tube expansion fin assembly, then charging crawl piles up mechanical arm (421) and is reset to original state, complete At first crawl and stacking to tube expansion fin assembly；

C. workpiece translational motion transhipment bracket converts station: the translation transhipment control loop of air conditioner fin assembly automatic expanding guard system is opened Beginning work, industrial control computer issue the piece-holder positioning mechanism clamping of instruction control workpiece translational motion transhipment bracket (412) Movement carries out clamping position to tube expansion fin assembly to first, and then industrial control computer control workpiece translational motion transports bracket (412) translation transhipment carriage drive movement keeps two pieces workpiece translational motion transhipment bracket (412) synchronous along translation transhipment carriage rail The set distance of the mobile station of coordinate stepping and positioning to the left, is loaded with first in translation transhipment support frame (411) It is located at the middle transhipment station of three station translational transferring apparatus (41) to workpiece translational motion transhipment bracket (412) of tube expansion fin assembly On, complete the transformation station of two pieces workpiece translational motion transhipment bracket (412) entirety；

D. work delivery: circuit is piled up in work delivery crawl and indexing retinue control loop is started to work, industrial control computer It issues instruction control workpiece grabbing and piles up mechanical arm (413) according to preset program and coordinates computed movement, workpiece grabbing arranging machine The front of tool hand faces the workpiece translational motion on the middle transhipment station of three station translational transferring apparatus (41) and transports bracket (412) On first to 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 of mechanical arm (413) is piled up to positioned at workpiece from postindustrial control computer control workpiece grabbing First in translation transhipment bracket (412) carries out clamping crawl to tube expansion fin assembly, while industrial control computer controls The piece-holder positioning mechanism expansion action of workpiece translational motion transhipment bracket (412) hands over first to tube expansion fin assembly Connect, then workpiece grabbing pile up mechanical arm (413) grab first to moved on tube expansion fin assembly Z-direction setting away from From, while the A coordinate rotary drive mechanism work of workpiece grabbing stacking mechanical arm (413) makes workpiece grabbing pile up manipulator in A Being rotated by 90 ° in coordinate system makes workpiece grabbing pile up manipulator is in tube expansion fin assembly to tube expansion together with first be crawled It holds upward vertical state and is located at the dead astern position of face fin assembly indexing retinue unit (2), then workpiece grabbing code It puts mechanical arm (413) and moves back along Y coordinate to first and stick on fin assembly indexing retinue unit (2) to tube expansion fin assembly Set distance on working face afterwards, while industrial control computer sending instructs after making fin assembly indexing retinue unit (2) Workpiece grip mechanism holding action on working face carries out clamping position to tube expansion fin assembly to first, and workpiece grabbing is piled up Workpiece grabbing piles up mechanical arm (413) and is reset to original state completion to swollen after the workpiece grip mechanism of mechanical arm (413) opens The work delivery of pipe fin assembly, industrial control computer control fin assembly indexing retinue unit (2) are acted and are moved forward to swollen Pipe machine (1) carries out tube expansion operation；

Workpiece grabbing piles up mechanical arm (413) and grabs first to tube expansion fin assembly disengaging workpiece translational motion transhipment bracket (412) the translation transhipment carriage drive movement of industrial control computer control workpiece translational motion transhipment bracket (412) while makes two Part workpiece translational motion transhipment bracket (412) is synchronous to sit in translation transhipment support frame (411) to the right along translation transhipment carriage rail The set distance of the mobile station of mark stepping simultaneously positions recovery to original state, and charging crawl is piled up mechanical arm (421) and continued Second on feed tray (422) is grabbed to tube expansion fin assembly and is piled up in three station translational transferring apparatus (41) Right-hand rotation fortune station on workpiece translational motion transhipment bracket (412) on await orders；

E. be completed the crawl and stacking of the fin assembly of tube expansion: first after tube expansion fin assembly completes tube expansion, industry control Computer processed issues instruction control fin assembly indexing retinue unit (2) and carries first fin assembly movement that tube expansion is completed And move back to the front end of three station translational transferring apparatus (41) and positioning, first fin assembly that tube expansion is completed be in towards The state of three station fin assembly code fetch units (4)；

Then industrial control computer issues instruction control workpiece grabbing stacking mechanical arm (413) and tube expansion is completed 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 handover crawl Workpiece translational motion transhipment bracket (412) that workpiece translational motion is transported on bracket (412) while in this on transhipment station is complete to first Clamping position is carried out at the fin assembly of tube expansion, then industrial control computer issues instruction control two pieces workpiece translational motion transhipment support Frame (412) is whole again to be moved to the left the workpiece translational motion transhipment that the fin assembly that first is completed tube expansion is loaded with after transformation station Bracket (412) is located at the front of workpiece discharging code fetch device (43), is loaded with the workpiece translational motion that third part waits for 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 issue instruction for industrial control computer Material crawl stacking mechanical arm (431) is produced in time control and workpiece grabbing piles up mechanical arm (413) movement and tube expansion is completed by first The crawl of fin assembly pile up in discharging pallet (432), third part being waited for, the crawl of tube expansion fin assembly is piled up in indexable tooling On the rear working face of frame (23), first stacking that the fin assembly of tube expansion is completed is completed, two pieces workpiece translational motion transports bracket (412) station is moved to right again to restore to original state to await orders；

And so on, until being fully completed tube expansion process to tube expansion fin assembly and successively piling up on feed tray (422) It discharges on pallet (432), feed tray (422) and discharging pallet (432) is transported through.

2. the control method of three station fin assembly code fetch unit of automatic expanding guard system according to claim 1, feature It is, is respectively equipped with isolation immediately below the left-hand rotation fortune station of the three station translational transferring apparatus (41) and right turnover station Cardboard carries pallet, and the isolation cardboard carrying pallet of corresponding workpiece charging code fetch device (42) is unloaded isolation cardboard carrying support Disk, the isolation cardboard carrying pallet of corresponding workpiece discharging code fetch device (43) is fully loaded to be had on corresponding feed tray (422) to tube expansion The isolation cardboard of fin assembly quantity；

First crawl to tube expansion fin assembly is completed with stacking and to the transhipment of two pieces workpiece translational motion in the step c The postindustrial control computer of bracket (412) integral transformation station issues instruction control charging crawl and piles up mechanical arm (421) contraposition It is grabbed in feed tray (422) upper second to the isolation cardboard above tube expansion fin assembly and translates stacking to three stations Rear feeding crawl is piled up mechanical on unloaded isolation cardboard carrying pallet immediately below the right-hand rotation fortune station of translational transferring apparatus (41) Arm (421) is reset to original state；

In the step e first is completed tube expansion fin assembly crawl pile up discharging pallet (432) on and to Two pieces workpiece translational motion transhipment bracket (412) moves to right a station again and restores to original state postindustrial control computer hair of awaiting orders It is instructed under controlling discharging crawl stacking mechanical arm (431) to station is transported just positioned at the left-hand rotation of three station translational transferring apparatus (41) out First isolation cardboard on the fully loaded isolation cardboard carrying pallet of side is grabbed and is translated in stacking to discharging pallet (432) First be completed on the fin assembly of tube expansion after discharging crawl pile up mechanical arm (431) be reset to original state；

And so on, until while completing the tube expansion of all fin assemblies successively by the isolation cardboard on feed tray (422) Whole isolation cardboards piled up on the unloaded isolation cardboard carrying pallet that be isolated on cardboard carrying pallet, will be fully loaded with are successively complete Portion is piled up between the fin assembly that tube expansion is respectively completed, and is transported through to isolation cardboard carrying pallet.

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

4. the control method of three station fin assembly code fetch unit of automatic expanding guard system according to claim 3, feature It is, manipulator is piled up in the charging crawl that mechanical arm (421) are piled up in the charging crawl, workpiece grabbing piles up mechanical arm (413) workpiece grabbing piles up manipulator, the discharging crawl of discharging crawl stacking mechanical arm (431) piles up manipulator and further includes Z coordinate axis along the vertical direction is the C coordinate rotary drive mechanism and pattern-recognition sensor of rotary shaft, air conditioner fin assembly The industrial control computer of the electronic control unit of automatic expanding guard system grabs the charging crawl for piling up mechanical arm (421) with charging respectively Pile up manipulator, workpiece grabbing piles up the workpiece grabbing stacking manipulator of mechanical arm (413), mechanical arm is piled up in discharging crawl (431) C coordinate 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 grabs fin assembly Type, and the mathematical model is compared postindustrial control computer with built-in data model and is driven by control C coordinate rotation Motivation structure grabs again after rectifying a deviation to the morpheme of manipulator.

5. the control method of three station fin assembly code fetch unit of automatic expanding guard system according to claim 1 or 2, special Sign is, the translation transhipment carriage drive in workpiece translational motion transhipment bracket (412) is servo motor, servo motor it is defeated Driving gear is fixedly installed on shaft, the translation transhipment carriage rail is the tooth engaged with driving gear tooth with merging Structure；Industrial control computer by control servo motor positive and negative rotation realize driving gear band start building part translation transhipment bracket (412) it is moved left and right on translation transhipment carriage rail.

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

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