CN107855430A - A kind of fin assembly automatic expanding guard system supporting steel plate inserts the control method of unit - Google Patents

A kind of fin assembly automatic expanding guard system supporting steel plate inserts the control method of unit Download PDF

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Publication number
CN107855430A
CN107855430A CN201710862802.7A CN201710862802A CN107855430A CN 107855430 A CN107855430 A CN 107855430A CN 201710862802 A CN201710862802 A CN 201710862802A CN 107855430 A CN107855430 A CN 107855430A
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CN
China
Prior art keywords
steel plate
supporting steel
fin assembly
supporting
manipulator
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Granted
Application number
CN201710862802.7A
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Chinese (zh)
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CN107855430B (en
Inventor
郝新浦
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Xuzhou DKEC Electrical Technology Co Ltd
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Xuzhou DKEC Electrical Technology Co Ltd
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Priority to CN201710862802.7A priority Critical patent/CN107855430B/en
Publication of CN107855430A publication Critical patent/CN107855430A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D53/00—Making other particular articles
    • B21D53/02—Making other particular articles heat exchangers or parts thereof, e.g. radiators, condensers fins, headers
    • B21D53/022—Making the fins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/08—Tube expanders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/20—Storage arrangements; Piling or unpiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D53/00—Making other particular articles
    • B21D53/02—Making other particular articles heat exchangers or parts thereof, e.g. radiators, condensers fins, headers
    • B21D53/06—Making other particular articles heat exchangers or parts thereof, e.g. radiators, condensers fins, headers of metal tubes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses the control method that a kind of fin assembly automatic expanding guard system supporting steel plate inserts unit, including the steps such as the crawl of Job readiness, supporting steel plate is with piling up, supporting steel plate is translated, supporting steel plate is inserted.The control method automaticity that this fin assembly automatic expanding guard system supporting steel plate inserts unit is high, by controlling supporting steel plate code fetch manipulator and supporting steel plate to insert sharing out the work and help one another for manipulator, not only realize and be easy to control, it is independent of each other, and realize the efficiency for improving crawl and inserting, inserting for supporting steel plate is realized coordinating air conditioner fin assembly automatic expanding guard system other units to make not install the fin assembly of positioning supporting steel plate to enter before electric tube expander carries out tube expansion operation, and then realize the operating efficiency for ensureing that fin assembly tube expansion process is overall, 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 fin assembly automatic expanding guard system supporting steel plate inserts the control method of unit
Technical field
The present invention relates to the control method that a kind of supporting steel plate inserts unit, specifically a kind of radiating suitable for air conditioner Device, the fin assembly automatic expanding guard system supporting steel plate of condenser fin assembly tube expansion process insert the control method of unit, category In air-conditioning manufacturing technology field.
Background technology
Generally needing the heat-exchanger rig surface for the carrying out heat transfer sheet metal stronger by increasing thermal conductivity, increase heat exchange The heat exchange surface area of device, heat exchange efficiency is improved, the sheet metal with this function is referred to as fin.
There are two main heat exchangers, i.e. radiator and condenser in air conditioner, the side working media of this two big heat exchanger It is refrigerant, opposite side is air, for the heat transfer of enhanced heat exchange device, typically takes compact Layout heat exchange area in air side, Air conditioner uses compact fin-tube type heat exchanger mostly.
Be typically provided on the fin of compact fin-tube type heat exchanger it is multiple can be with the mounting hole of copper pipe major diameter fit, manufacturing process Usually first by fin punch forming, the mounting hole for then penetrating long U-typed copper pipe on multiple fins side by side, finally in length The openend of U-typed copper pipe carries out tube expansion, and installing again after being dried inside long U-typed copper pipe and weld short U-typed copper pipe will be each Long U-typed copper pipe is sequentially communicated, and all long U-typed copper pipe will be connected into a passage.
Air conditioner manufacturer still a large amount of users in the fin copper mouth of pipe tube expansion process of radiator and condenser at present Worked industry, and the fin assembly after will being intubated singly manually is moved up in the frock of electric tube expander, then operates automatic displacement Locking tool will operate electric tube expander and carry out tube expansion after fin assembly clamping and positioning, after completing tube expansion, then manually remove one by one Pile up, be transferred to next procedure.Manual operation not only low production efficiency, and human factor has a great influence to manufacturing schedule.
The patent of invention for the Application No. 201410372916.X that the applicant declares before《It is a kind of based on number bus Air conditioner fin assembly automatic expanding guard system》, coordinate electric tube expander to carry out automatic expanding it is disclosed that exchanging pallet by interactive mode Pipe, but fin assembly usually requires the installation at least one end of fin assembly before tube expansion is carried out and positions supporting steel plate, therefore The tube expansion system is only applicable to carry out tube expansion to the fin assembly for being provided with positioning supporting steel plate, and can not be to not installing positioning The fin assembly of supporting steel plate carries out tube expansion；In addition, for prevent stacking, have intensive fin fin assembly between insert mutually Connect in succession and be not easy to code fetch, isolation cardboard is added between fin assembly during usual stacking, the fin assembly of the tube expansion system It although the code fetch mode of code fetch device, which can be realized, adds isolation cardboard, can only intermittently carry out, therefore pile up less efficient, enter And cause the reduction of tube expansion process whole work efficiency.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of fin assembly automatic expanding guard system supporting steel plate The control method of unit is inserted, automation mechanized operation can be realized, the fin assembly to not installing positioning supporting steel plate can be realized Inserting for steel plate is supported, the air conditioner fin assembly especially suitable for air conditioner fin assembly copper pipe mouth tube expansion process is automatic Tube expansion system.
To achieve these goals, supporting steel plate inserts unit and inserts machine including supporting steel plate feed bin and supporting steel plate code fetch Tool arm；
Supporting steel plate feed bin includes feed bin support frame and sets up the supporting steel plate support being arranged on inside feed bin support frame Frame；Supporting steel plate bracket is the riser structure being be arranged in parallel with the fin assembly positioning tool of electric tube expander, horizontal in riser structure Positioning element is lifted provided with the more than one piece supporting steel plate up and down in uniform layer structure, supporting steel plate lifts positioning element in left and right One group of positioning supporting plate group is comprised at least on direction, positioning supporting plate group includes two positioning supporting plates being spaced apart, positions supporting plate Front end or rear end, left or right are provided with the spacing flanging flipped up, and the two pieces positioning supporting plate of one group of positioning supporting plate group is in a left side The right side is symmetrical arranged and the spacing flanging of the spacing flanging of a positioning supporting plate left end and another positioning supporting plate right-hand member is set in opposite directions Put, the space between the spacing flanging of two pieces positioning supporting plate forms the receiving space of supporting steel plate；The top of feed bin support frame, The top position of supporting steel plate bracket is additionally provided with supporting steel plate sliding stacking pallet and sliding stacking pallet guide rail, and support is piled up in sliding Frame guide rail left and right directions set up be arranged on feed bin support frame on and sliding stacking pallet guide rail towards the indexing of fin assembly with One end of row unit extend out to the outside of feed bin support frame, and slides height dimension of the stacking pallet guide rail apart from ground and be more than The top of indexable machine frame apart from ground height dimension, supporting steel plate slide stacking pallet by slide stacking pallet driving with Slide stacking pallet guide rail and coordinate installation, supporting steel plate sliding stacking pallet is provided with supporting steel plate location structure；
Supporting steel plate code fetch inserts mechanical arm and inserts mechanical arm including supporting steel plate code fetch mechanical arm and supporting steel plate；Support Steel plate code fetch mechanical arm is erected at the top of supporting steel plate bracket, and supporting steel plate code fetch mechanical arm is comprised at least along anterior-posterior horizontal side To Y-coordinate drive mechanism, Z coordinate drive mechanism vertically and be arranged on supporting steel plate code fetch mechanical arm minor details end Supporting steel plate code fetch manipulator, supporting steel plate code fetch manipulator be provided with supporting steel plate crawl pile up mechanism；Supporting steel plate is put Enter mechanical arm correspondingly slide stacking pallet guide rail position be erected at sliding stacking pallet guide rail external part top, supporting steel Plate insert mechanical arm comprise at least along the X-coordinate drive mechanism in left and right horizontal direction, Z coordinate drive mechanism vertically and It is arranged on supporting steel plate and inserts the supporting steel plate of mechanical arm minor details end and insert manipulator, supporting steel plate is inserted on manipulator and also set There is supporting steel plate crawl to pile up mechanism；
The industrial control computer of the ECU of air conditioner fin assembly automatic expanding guard system is slided with supporting steel plate respectively Move the driving of sliding stacking pallet, supporting steel plate code fetch mechanical arm, the supporting steel plate of supporting steel plate code fetch manipulator of stacking pallet Mechanism is piled up in crawl, supporting steel plate inserts mechanical arm, supporting steel plate inserts the supporting steel plate crawl of manipulator and piles up mechanism and be electrically connected Connect；
Control method specifically includes following steps：
A. Job readiness：By supporting steel plate insert unit be arranged on air conditioner fin assembly automatic expanding guard system fin it is total Into the left side or right side of indexing retinue unit, supporting steel plate sliding stacking pallet is located at the initial bit above supporting steel plate bracket Put；When the device for revolving and driving of the walker of the fin assembly indexing retinue unit of air conditioner fin assembly automatic expanding guard system returns Rotate and make to make indexable machine frame rotate clockwise or counter-clockwise 180 °, be loaded with first indexable frock for treating tube expansion fin assembly Working face returns back to towards electric tube expander the air conditioner fin assembly automatic expanding guard system after supporting steel plate state is inserted after frame Supporting steel plate inserts control loop start-up operation；
B. supporting steel plate crawl is with piling up：The industrial control computer of air conditioner fin assembly automatic expanding guard system sends finger Mechanism is piled up in the supporting steel plate crawl that order control supporting steel plate code fetch mechanical arm Z-direction is displaced downwardly to supporting steel plate code fetch manipulator The setpoint distance positioned positioned at top layer positioning supporting plate group on first piece of supporting steel plate on supporting plate is abutted in, then supporting steel plate takes The supporting steel plate crawl of code mechanical hand piles up mechanism action and first piece of supporting steel plate is captured, and captures rear support steel plate code fetch Mechanical arm, which carries, moves to setpoint distance and then Y-coordinate direction moves to supporting steel plate cunning on first piece of supporting steel plate elder generation Z-direction The surface of stacking pallet (34) is moved, the supporting steel plate crawl of supporting steel plate code fetch manipulator piles up mechanism action to first piece of branch Support steel plate is reset to original state after being piled up；
C. supporting steel plate translates：The industrial control computer of air conditioner fin assembly automatic expanding guard system sends instruction control The sliding stacking pallet drive actions of supporting steel plate sliding stacking pallet make supporting steel plate sliding stacking pallet carry first piece of branch Support steel plate is moved to projecting end and the positioning of sliding stacking pallet guide rail along X-coordinate；
D. supporting steel plate is inserted：The industrial control computer of air conditioner fin assembly automatic expanding guard system sends instruction control Supporting steel plate, which inserts mechanical arm Z-direction and is displaced downwardly to supporting steel plate and inserts the supporting steel plate crawl of manipulator, to be piled up mechanism and abuts in Positioned at supporting steel plate sliding stacking pallet on first piece of supporting steel plate on setpoint distance, then supporting steel plate insert manipulator Supporting steel plate crawl pile up mechanism action first piece of supporting steel plate captured, crawl rear support steel plate inserts mechanical arm load And move to setpoint distance on first piece of supporting steel plate elder generation Z-direction and then X-coordinate direction moves to work after face indexing machine frame Make the surface in face, then supporting steel plate is inserted the copper pipe borehole jack that manipulator Z-direction is displaced downwardly on first piece of supporting steel plate and connect After the indexable machine frame positioned at the fin assembly of air conditioner fin assembly automatic expanding guard system indexing retinue unit on working face First treat that tube expansion fin assembly treats the setpoint distance on the copper pipe at tube expansion end, supporting steel plate inserts the supporting steel plate of manipulator Crawl, which is piled up, is reset to original state after mechanism action is piled up to first piece of supporting steel plate, first piece of supporting steel plate of completion Insert；
By that analogy, sequentially entered after tube expansion fin assembly after supporting steel plate state is inserted, the b, c that repeats the above steps, D, until the supporting steel plate for completing to need tube expansion fin assembly is inserted.
Scheme as a further improvement on the present invention, described supporting steel plate code fetch manipulator, supporting steel plate insert machinery Range sensor, the industrial control computer difference of the ECU of air conditioner fin assembly automatic expanding guard system are equipped with hand Electrically connected with range sensor, the industrial control computer of air conditioner fin assembly automatic expanding guard system passes through range sensor Feedback, which is realized, accurately captures and piles up supporting steel plate.
Scheme as a further improvement on the present invention, described supporting steel plate bracket are arranged to more than one piece, more than one piece supporting steel plate Parallel set up of bracket is arranged on inside feed bin support frame, and equal water on front and rear two facade of the supporting steel plate bracket of riser structure Flat be provided with lifts positioning element in the more than one piece supporting steel plate of uniform layer structure up and down；More than one piece supporting steel plate bracket passes through erection Slide rail and detent mechanism in feed bin support frame connect with the installation of feed bin support frame；This supporting steel plate inserts unit Also include supporting steel plate bracket passage detent mechanism and supplementary support steel plate feed bin, the positioning of supplementary support steel plate feed bin is arranged on material The front or dead astern of storehouse support frame and supplementary support steel plate feed bin inner support steel plate pile up direction and supporting steel plate support Supporting steel plate on frame to pile up direction identical；It is additionally provided with described supporting steel plate code fetch manipulator along left and right horizontal direction X-coordinate axle is the A coordinate rotary drive mechanisms of rotary shaft；The ECU of described air conditioner fin assembly automatic expanding guard system Industrial control computer and supporting steel plate bracket passage detent mechanism electrically connect；Inserted and latter piece in previous piece of supporting steel plate Supporting steel plate insert between time dead, the industrial control computer of air conditioner fin assembly automatic expanding guard system controls first The supporting steel plate bracket of zero load is released and positioned by the passage detent mechanism action of supporting steel plate bracket, then controls supporting steel plate to take The action of code mechanical arm makes supporting steel plate code fetch manipulator successively from after crawl supporting steel plate in supplement supporting steel plate feed bin along A coordinates Supporting steel plate is sent into from the gap between two positioning being spaced apart supporting plates after rotating to an angle and different unloaded determined In the supporting plate group of position, the supporting steel plate bracket of zero load is carried out being automatically replenished supporting steel plate, air conditioner fin is total after complete supplement The supporting steel that will be fully loaded with into the industrial control computer control supporting steel plate bracket passage detent mechanism action of automatic expanding guard system Board bracket pushes back to initial position and positioned.
Scheme as a further improvement on the present invention, described supporting steel plate code fetch mechanical arm are also included along left and right horizontal side To X-coordinate drive mechanism, the Z coordinate axle also included on described supporting steel plate code fetch manipulator vertically is rotary shaft C coordinates rotary drive mechanism and pattern-recognition sensor, the C coordinates rotary drive mechanism and mould of supporting steel plate code fetch manipulator Industrial control computer of the formula identification sensor respectively with the ECU of air conditioner fin assembly automatic expanding guard system electrically connects； The self-positioning supporting plate group of supporting steel plate code fetch manipulator positions when crawl supporting steel plate is carried out on supporting plate or supporting steel plate code fetch machinery Hand carries out the Industry Control of air conditioner fin assembly automatic expanding guard system during crawl supporting steel plate from supplementing in supporting steel plate feed bin Computer is carried out according to the feedback founding mathematical models of pattern-recognition sensor, and by the mathematical modeling and built-in data model More postindustrial control computer is by controlling C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate drive mechanism pair The morpheme of supporting steel plate code fetch manipulator is captured again after being rectified a deviation.
Scheme as a further improvement on the present invention, described supporting steel plate, which inserts mechanical arm, also to be included along anterior-posterior horizontal side To Y-coordinate drive mechanism, it is rotary shaft that described supporting steel plate, which inserts on manipulator the Z coordinate axle also included vertically, C coordinates rotary drive mechanism and pattern-recognition sensor, supporting steel plate inserts the C coordinates rotary drive mechanism and mould of manipulator Industrial control computer of the formula identification sensor respectively with the ECU of air conditioner fin assembly automatic expanding guard system electrically connects； Treat that tube expansion fin assembly treats industrial control computer before tube expansion end when supporting steel plate inserts manipulator and captures supporting steel plate and insert According to the feedback founding mathematical models of pattern-recognition sensor, and by the mathematical modeling compared with built-in data model after Industrial control computer is by controlling C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate drive mechanism to supporting steel Plate insert manipulator morpheme rectified a deviation after inserted again.
As the preferred scheme of the present invention, described supporting steel plate code fetch manipulator and supporting steel plate insert the branch of manipulator Support plate grab code fetch laying mechanism is negative-pressure adsorption crawl structure, and negative-pressure adsorption crawl structure is included perpendicular to the negative of gripping surface setting Adsorption orifice is pressed, negative-pressure adsorption mouth is connected by gas circuit pipeline and vacuum cavitations valve group with negative pressure source, vacuum cavitations valve group and air-conditioning The industrial control computer electrical connection of the ECU of device fin assembly automatic expanding guard system；The automatic tube expansion of air conditioner fin assembly The industrial control computer of system is by controlling the keying of vacuum cavitations valve group to realize supporting steel plate code fetch manipulator and supporting steel Plate inserts manipulator absorption crawl or piles up supporting steel plate.
Compared with prior art, this fin assembly automatic expanding guard system supporting steel plate inserts the control method automation of unit Degree is high, can realize to enter the fin assembly for not installing positioning supporting steel plate on the premise of efficiency is piled up in crawl realizing to improve Row inserts steel plate；Due to being additionally provided with supporting steel plate sliding in the top position on the top of feed bin support frame, supporting steel plate bracket Stacking pallet and sliding stacking pallet guide rail, and supporting steel plate code fetch inserts mechanical arm includes supporting steel plate code fetch mechanical arm and branch Support steel plate inserts mechanical arm, therefore realizes that supporting steel plate code fetch manipulator is only responsible for capturing branch on self-positioning supporting plate group positioning supporting plate Support steel plate is simultaneously piled up on supporting steel plate sliding stacking pallet and supporting steel plate inserts manipulator and is only responsible for self-supporting steel plate Supporting steel plate and being socketed is captured on sliding stacking pallet pile up and treating that tube expansion fin assembly treated on the copper pipe at tube expansion end, and then Realize and be easy to control, be independent of each other, improve crawl and the efficiency inserted, so as to coordinate air conditioner fin assembly automatic expanding piping Other units of uniting make not install the fin assembly of positioning supporting steel plate and enter before electric tube expander carries out tube expansion operation and realize supporting steel plate Insert, the operating efficiency for ensureing that fin assembly tube expansion process is overall is realized, especially suitable for air conditioner fin assembly copper pipe mouth The air conditioner fin assembly automatic expanding guard system of tube expansion process.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of air conditioner fin assembly automatic expanding guard system；
Fig. 2 is the front view of the rear apparent direction of air conditioner fin assembly automatic expanding guard system；
Fig. 3 is Fig. 2 top view；
Fig. 4 is Fig. 2 left view；
Fig. 5 is the three dimensional structure diagram of air conditioner fin assembly automatic expanding guard system fin assembly indexing retinue unit；
Fig. 6 is the front view of apparent direction after air conditioner fin assembly automatic expanding guard system fin assembly indexing retinue unit；
Fig. 7 is Fig. 6 top view；
Fig. 8 is Fig. 6 left view；
Fig. 9 is the three dimensional structure diagram of the present invention；
Figure 10 is the front view of apparent direction after the present invention；
Figure 11 is Figure 10 top view；
Figure 12 is Figure 10 left view；
Figure 13 is the three-dimensional of apparent direction after the station fin assembly code fetch unit of air conditioner fin assembly automatic expanding guard system three Structural representation；
Figure 14 is the three-dimensional of apparent direction before the station fin assembly code fetch unit of air conditioner fin assembly automatic expanding guard system three Structural representation；
Figure 15 is the main view of apparent direction after the station fin assembly code fetch unit of air conditioner fin assembly automatic expanding guard system three Figure；
Figure 16 is Figure 15 top view；
Figure 17 is Figure 15 left view.
In figure：1st, electric tube expander, 2, fin assembly indexing retinue unit, 21, guide rail, 22, walker, 23, indexable machine frame, 3rd, supporting steel plate inserts unit, and 31, feed bin support frame, 32, supporting steel plate bracket, 33, positioning supporting plate, 34, supporting steel plate slides Move stacking pallet, 35, sliding stacking pallet guide rail, 36, supporting steel plate code fetch mechanical arm, 37, supporting steel plate code fetch manipulator, 38th, supporting steel plate inserts mechanical arm, 39, supporting steel plate insert manipulator, 4, three station fin assembly code fetch units, 41, three works Position translational transferring apparatus, 411, translation transhipment support frame, 412, workpiece translational motion transhipment bracket, 413, workpiece grabbing pile up machinery Arm, 42, workpiece charging code fetch device, 421, charging crawl pile up mechanical arm, 422, feed tray, 43, workpiece discharging code fetch dress Put, 431, discharging crawl pile up mechanical arm, 432, discharging pallet.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings, and (following description is total in whole air conditioner fin with electric tube expander 1 Direction where into automatic expanding guard system is front, using left and right horizontal direction as X-coordinate, using front and rear horizontal direction as Y-coordinate, Using vertical direction as Z coordinate, using along X-coordinate azimuth axis as the direction that rotary shaft rotates be A coordinates, with Z-direction axis of orientation Line is that the direction of rotary shaft rotation is C coordinates).
As shown in Figures 1 to 4, air conditioner fin assembly automatic expanding guard system includes electric tube expander 1, the indexing retinue of fin assembly Unit 2, supporting steel plate insert unit 3, three station fin assembly code fetch units 4 and ECU.
Described electric tube expander 1 includes lower platen and the fin assembly positioning tool immediately below lower platen；On lower platen The tube expansion mould coordinated with the copper pipe mouth of fin assembly is installed, tube expansion mould is horizontally disposed with left-right direction, on tube expansion mould Provided with multiple tube expansion pressure heads set straight down；Fin assembly positioning tool is the riser structure being vertically arranged, riser structure Left and right ends be equipped with work holder, the bottom rear of riser structure is provided with Working piece positioning device.
Described fin assembly indexing retinue unit 2 is arranged on the dead astern of electric tube expander 1, as shown in Fig. 5 to Fig. 8, fin Assembly indexing retinue unit 2 includes support underframe, guide rail 21, walker 22 and indexable machine frame 23；The fore-and-aft direction of guide rail 21 is set Put and be fixedly mounted on support underframe；Walker 22, which is set up, to be arranged on guide rail 21, and the inside of walker 22 is provided with front and rear walking and driven Dynamic device and device for revolving and driving, the revolution axis vertical direction of device for revolving and driving are set, and front and rear travel driving unit can To drive the entirety of walker 22 to be moved forward and backward on guide rail 21 and position；Indexable machine frame 23 comprises at least the preceding work being vertically arranged Make face and rear working face, the indexable integral installation of machine frame 23 connects on walker 22 and with the device for revolving and driving of walker 22 Connect, axis of rotation setting, leading face and rear working face are symmetrical with before and after the leading face and rear working face of indexable machine frame 23 Left and right ends and bottom on be equipped with workpiece grip mechanism, to prevent from interfering, the workpiece grip mechanism of indexable machine frame 23 with The work holder spatial offset of electric tube expander 1 is set, and the device for revolving and driving of walker 22 can at least drive indexable frock Frame 23 rotates and positioned along 180 ° of its rotation axis to be exchanged with station before and after realization.
Described supporting steel plate inserts the left side or right side that unit 3 is arranged on fin assembly indexing retinue unit 2, such as Fig. 9 Shown in Figure 12, supporting steel plate inserts unit 3 and inserts mechanical arm including supporting steel plate feed bin and supporting steel plate code fetch；
Supporting steel plate feed bin includes feed bin support frame 31 and sets up the supporting steel plate being arranged on inside feed bin support frame Bracket 32；Supporting steel plate bracket 32 is the riser structure being be arranged in parallel with the fin assembly positioning tool of electric tube expander 1, riser structure Upper horizontal be provided with lifts positioning element in the more than one piece supporting steel plate of uniform layer structure up and down, and supporting steel plate lifts positioning element One group of positioning supporting plate group is comprised at least in the lateral direction, and positioning supporting plate group includes two positioning supporting plates 33 being spaced apart, such as Shown in Figure 11, the front end or rear end, left or right that position supporting plate 33 are provided with the spacing flanging flipped up, one group of positioning supporting plate The symmetrical setting of two pieces positioning supporting plate 33 and a spacing flanging for positioning the left end of supporting plate 33 and another positioning of group are held in the palm The spacing flanging of the right-hand member of plate 33 is oppositely arranged, and the space between the spacing flanging of two pieces positioning supporting plate 33 forms the appearance of supporting steel plate Receive space；Top, the top position of supporting steel plate bracket 32 of feed bin support frame 31 are additionally provided with supporting steel plate sliding and pile up support Frame 34 and sliding stacking pallet guide rail 35, the left and right directions of sliding stacking pallet guide rail 35, which is set up, is arranged on feed bin support frame 31 Upper and sliding stacking pallet guide rail 35 one end towards fin assembly indexing retinue unit 2 extend out to feed bin support frame 31 Outside, and slide height dimension of the stacking pallet guide rail 35 apart from ground and be more than the top of indexable machine frame 23 apart from ground Height dimension, supporting steel plate slides stacking pallet 34 is pacified by sliding stacking pallet driving with the cooperation of sliding stacking pallet guide rail 35 Dress, supporting steel plate sliding stacking pallet 34 are provided with supporting steel plate location structure；
Mechanical arm is inserted for the ease of control supporting steel plate code fetch, improves crawl and the efficiency inserted, supporting steel plate code fetch Insert mechanical arm and insert mechanical arm 38 including supporting steel plate code fetch mechanical arm 36 and supporting steel plate；Supporting steel plate code fetch mechanical arm 36 The top of supporting steel plate bracket 32 is erected at, supporting steel plate code fetch mechanical arm 36 comprises at least the Y-coordinate along anterior-posterior horizontal direction Drive mechanism, Z coordinate drive mechanism vertically and the support for being arranged on the minor details end of supporting steel plate code fetch mechanical arm 36 Steel plate code fetch manipulator 37, supporting steel plate code fetch manipulator 37 are provided with supporting steel plate crawl and pile up mechanism；Supporting steel plate is inserted The position of the corresponding sliding stacking pallet guide rail 35 of mechanical arm 38 is erected at the top of the external part of sliding stacking pallet guide rail 35, branch Support steel plate inserts mechanical arm 38 and comprises at least the X-coordinate drive mechanism along left and right horizontal direction, Z coordinate driving vertically Mechanism and it is arranged on supporting steel plate and inserts the supporting steel plate of the minor details end of mechanical arm 38 and insert manipulator 39, supporting steel plate inserts machine Supporting steel plate crawl also is provided with tool hand 39 and piles up mechanism.
Three described station fin assembly code fetch units 4 are arranged on the dead astern of fin assembly indexing retinue unit 2, such as scheme Shown in 13 to 17, three station fin assembly code fetch units 4 include three station translational transferring apparatus 41, workpiece charging code fetch device 42 With workpiece discharging code fetch device 43；
The left and right directions of three station translational transferring apparatus 41 is set, including the transhipment station of left, center, right three, middle transhipment station The dead astern of face fin assembly indexing retinue unit 2 is set；Three station translational transferring apparatus 41 include translation transhipment support frame 411st, the peace transfer fortune carriage drive of workpiece translational motion transhipment bracket 412；It is horizontal by left and right directions that workpiece translational motion transports bracket 412 The translation transhipment carriage rail being erected on translation transhipment support frame 411 is movably arranged on translation transhipment support frame 411, workpiece Station is transported during translation transhipment bracket 412 is corresponding and is turned right and fortune station position or turns left fortune station and middle transhipment station position is set Two pieces is set to, and two pieces workpiece translational motion transhipment bracket 412 is turned by bindiny mechanism's connection fastened to each other, at least a workpiece translational motion Translation transhipment carriage drive is installed, by controlling translation transhipment carriage drive action to realize two pieces work on fortune bracket 412 Part translation transhipment bracket 412 is synchronous to be moved left and right on translation transhipment support frame 411 along translation transhipment carriage rail and positions reality Station is now converted, piece-holder detent mechanism is additionally provided with workpiece translational motion transhipment bracket 412；Three station translational transferring apparatus 41 Workpiece grabbing is additionally provided with middle transhipment station and piles up mechanical arm 413, workpiece grabbing is piled up mechanical arm 413 and comprised at least along front and rear water Square to Y-coordinate drive mechanism, Z coordinate drive mechanism vertically, along left and right horizontal direction X-coordinate axle for rotation The A coordinates rotary drive mechanism of axle and it is arranged on workpiece grabbing and piles up the workpiece grabbing of the minor details end of mechanical arm 413 and pile up machinery Hand, workpiece grabbing pile up machinery and are provided with workpiece grip mechanism on hand；
Workpiece charging code fetch device 42 is arranged on the left-hand rotation fortune station of three station translational transferring apparatus 41 or fortune station of turning right Dead astern, workpiece charging code fetch device 42 includes charging crawl and piles up mechanical arm 421 and feed tray 422；Charging crawl code Put mechanical arm 421 comprise at least along the Y-coordinate drive mechanism in anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and It is arranged on charging crawl and piles up the charging crawl of the minor details end of mechanical arm 421 and pile up manipulator, charging crawl piles up machinery on hand Provided with workpiece grip mechanism；Feed tray 422 positions the dead astern for being arranged on three station translational transferring apparatus 41；
Workpiece discharging code fetch device 43 is arranged on the right-hand rotation fortune station of three station translational transferring apparatus 41 or the fortune station that turns left Dead astern, workpiece discharging code fetch device 43 includes discharging crawl and piles up mechanical arm 431 and discharging pallet 432；Discharging crawl code Put mechanical arm 431 comprise at least along the Y-coordinate drive mechanism in anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and It is arranged on discharging crawl and piles up the discharging crawl of the minor details end of mechanical arm 431 and pile up manipulator, discharging crawl piles up machinery on hand Provided with workpiece grip mechanism；Discharging pallet 432 positions the dead astern for being arranged on three station translational transferring apparatus 41.
Described ECU includes industrial control computer, electric power loop, counting circuit, workpiece feed back loop, translation Transhipment control loop, loop is piled up in work delivery crawl, supporting steel plate inserts control loop, indexing retinue control loop, tube expansion Machine control loop, workpiece discharging loop, industrial control computer piles up mechanical arm 421 with charging crawl respectively, workpiece translational motion turns Transport piece-holder detent mechanism, the translation transhipment carriage drive of workpiece translational motion transhipment bracket 412, the workpiece grabbing code of bracket 412 Put mechanical arm 413, the workpiece grip mechanism of indexable machine frame 23, the front and rear travel driving unit of walker 22 and revolution driving dress Put, supporting steel plate slides the sliding stacking pallet driving of stacking pallet 34, supporting steel plate code fetch mechanical arm 36, supporting steel plate code fetch Mechanism is piled up in the supporting steel plate crawl of manipulator 37, supporting steel plate inserts mechanical arm 38, supporting steel plate inserts the branch of manipulator 39 Support plate grab code fetch laying mechanism, the electrical control cubicles of electric tube expander 1, discharging crawl are piled up mechanical arm 431 and electrically connected.
As shown in figure 3, the right-hand rotation for being arranged on three station translational transferring apparatus 41 below with workpiece charging code fetch device 42 is transported The dead astern of station, workpiece discharging code fetch device 43 are arranged on the dead astern of the left-hand rotation fortune station of three station translational transferring apparatus 41 Exemplified by the operation principle of this air conditioner fin assembly automatic expanding guard system is described.
During original state, workpiece translational motion transhipment bracket 412 is stuck in the middle transhipment of the station translational transferring apparatus 41 of face three The initial position of station and fortune station of turning right, the piece-holder detent mechanism that workpiece translational motion is transported on bracket 412 are in what is opened Original state；Walker 22 is stuck in the initial position of the rear end of guide rail 21, and indexable machine frame 23 is in leading face towards before just Side, rear working face are towards the initial position in dead astern, the piece-holder on the leading face and rear working face of indexable machine frame 23 Mechanism is in the original state opened；Supporting steel plate sliding stacking pallet 34 is located at the initial bit of the top of supporting steel plate bracket 32 Put；The lower platen of electric tube expander 1 is located at the initial position of upper limit, and the work holder of electric tube expander 1 is in the initial shape opened State；Workpiece grabbing pile up mechanical arm 413 be in face and away from workpiece translational motion transhipment bracket 412 original state and workpiece grab The workpiece grip mechanism that code fetch puts mechanical arm 413 is in the original state opened；Charging crawl piles up mechanical arm 421 and is in face And away from feed tray 422 initial position and charging crawl pile up mechanical arm 421 workpiece grip mechanism be in open just Beginning state；Discharging crawl piles up mechanical arm 431 and is in face and initial position and discharging crawl code away from discharging pallet 432 The workpiece grip mechanism for putting mechanical arm 431 is in the original state opened.
When being loaded with by the feed tray 422 for treating tube expansion fin assembly workpiece piled up of setting quantity by manual or automatic guiding Transport vehicle from last process circulate to this air conditioner fin assembly automatic expanding guard system three station translational transferring apparatus 41 just after The charging setting stand of side, unloaded discharging pallet 432 arrive this air conditioner wing by the circulation of manual or automatic guide transport lorry During the discharging setting stand in the dead astern of three station translational transferring apparatus 41 of piece assembly automatic expanding guard system, this air conditioner wing The electric power loop of piece assembly automatic expanding guard system starts, system starts.
Treat the crawl of tube expansion fin assembly with piling up：Workpiece feed back loop is first begin to work, industrial control computer hair Go out instruction control charging crawl and pile up mechanical arm 421 according to preset program and coordinates computed action, feed crawl and pile up manipulator Front treat tube expansion fin assembly, positioned at treating tube expansion fin assembly just by what setting quantity was piled up on the feed tray 422 Top, counting circuit are synchronously started working, then charging crawl pile up the Z-direction of mechanical arm 421 be displaced downwardly to the crawl of setting away from Control charging crawl to pile up the workpiece grip mechanism holding action of mechanical arm 421 from postindustrial control computer to be pointed into material torr Top layer first on disk 422 treats that tube expansion fin assembly carries out clamping crawl, and crawl rear feeding crawl piles up mechanical arm 421 along Z Coordinate moves up certain distance, i.e., first is treated that tube expansion fin assembly treats that tube expansion fin assembly departs from following, and then charging is grabbed Code fetch puts the surface that mechanical arm 421 moves forward to the right-hand rotation fortune station of three station translational transferring apparatus 41 along Y-coordinate, then feeds Crawl piles up the Z-direction of mechanical arm 421 and is displaced downwardly to the right-hand rotation for treating that tube expansion fin assembly abuts in three station translational transferring apparatus 41 The setting of workpiece translational motion transhipment bracket 412 upper surface on fortune station is piled up controls charging crawl apart from postindustrial control computer The workpiece grip mechanism expansion action for piling up mechanical arm 421 treats that tube expansion fin assembly is piled up to first, and then charging is grabbed Code fetch puts mechanical arm 421 and is reset to original state, completes first crawl for treating tube expansion fin assembly with piling up.
Workpiece translational motion transhipment bracket 412 converts station：Translation transhipment control loop is started working, industrial control computer hair The piece-holder detent mechanism holding action for going out instruction control workpiece translational motion transhipment bracket 412 treats tube expansion fin assembly to first Clamping position is carried out, then the translation transhipment carriage drive action of industrial control computer control workpiece translational motion transhipment bracket 412 Make two pieces workpiece translational motion transhipment bracket 412 synchronous and sat to the left on translation transhipment support frame 411 along translation transhipment carriage rail Setpoint distance and positioning that a station is moved in stepping are marked, is now loaded with first workpiece translational motion for treating tube expansion fin assembly transhipment Bracket 412 is located on the middle transhipment station of three station translational transferring apparatus 41, and it is overall to complete two pieces workpiece translational motion transhipment bracket 412 Conversion station.
Work delivery：Loop is piled up in work delivery crawl and indexing retinue control loop is started working, and Industry Control calculates Machine sends instruction control workpiece grabbing and piles up mechanical arm 413 according to preset program and coordinates computed action, workpiece grabbing arranging machine The front of tool hand is faced on the workpiece translational motion transhipment bracket 412 on the middle transhipment station of three station translational transferring apparatus 41 First is treated tube expansion fin assembly, and then workpiece grabbing piles up the Z-direction of mechanical arm 413 and is displaced downwardly to the crawl of setting apart from rear work The workpiece grip mechanism holding action that industry control computer control workpiece grabbing piles up mechanical arm 413 is pointed to workpiece translational motion transhipment First on bracket 412 is treated that tube expansion fin assembly carries out clamping crawl, while industrial control computer controls the workpiece translational motion The piece-holder detent mechanism expansion action of transhipment bracket 412 treats that tube expansion fin assembly joins to first, then workpiece Crawl, which piles up mechanical arm 413 and captures first, to be treated to move to setpoint distance, while workpiece grabbing on tube expansion fin assembly Z-direction Piling up the A coordinates rotary drive mechanism work of mechanical arm 413 makes workpiece grabbing pile up manipulator in 90 ° of A coordinate systems internal rotation, i.e., Workpiece grabbing pile up manipulator together with first be crawled treat tube expansion fin assembly be in treat the upward vertical state in tube expansion end, And it is located at the dead astern position of face fin assembly indexing retinue unit 2, then workpiece grabbing piles up mechanical arm 413 along Y-coordinate First setpoint distance after tube expansion fin assembly abuts in indexable machine frame 23 on working face, while industry control are moved to afterwards Computer processed, which sends instruction, makes the workpiece grip mechanism holding action after indexable machine frame 23 on working face treat tube expansion to first Fin assembly carry out clamping position, workpiece grabbing pile up mechanical arm 413 workpiece grip mechanism open after workpiece grabbing arranging machine Tool arm 413 is reset to original state, while industrial control computer sends the device for revolving and driving time of instruction control walker 22 Rotating work makes indexable machine frame 23 rotate clockwise or counter-clockwise 180 °, is loaded with first indexable work for treating tube expansion fin assembly Shelve working face after 23 and return back to the state towards electric tube expander 1, complete to treat the work delivery of tube expansion fin assembly；
Workpiece grabbing pile up mechanical arm 413 capture first treat tube expansion fin assembly depart from workpiece translational motion transhipment bracket The translation transhipment carriage drive action of industrial control computer control workpiece translational motion transhipment bracket 412 makes two pieces work while 412 Part translation transhipment bracket 412 is synchronous, and along translation transhipment carriage rail, coordinate stepping moves to the right on translation transhipment support frame 411 Move the setpoint distance of a station and position recovery to original state, mechanical arm 421 is piled up in charging crawl can continue to entering material torr Second on disk 422 is treated that tube expansion fin assembly is captured and piles up the right-hand rotation fortune station in three station translational transferring apparatus 41 On workpiece translational motion transhipment bracket 412 on await orders.
Supporting steel plate is inserted：Supporting steel plate inserts control loop start-up operation, and industrial control computer sends instruction control Mechanism patch is piled up in the supporting steel plate crawl that the Z-direction of supporting steel plate code fetch mechanical arm 36 is displaced downwardly to supporting steel plate code fetch manipulator 37 The setpoint distance on first piece of supporting steel plate on top layer positioning supporting plate group positioning supporting plate 33 is leaned against, then supporting steel plate takes The supporting steel plate crawl of code mechanical hand 37 piles up mechanism action and first piece of supporting steel plate is captured, and crawl rear support steel plate takes Code mechanical arm 36 carries moves to setpoint distance and then Y-coordinate direction moves to supporting steel on first piece of supporting steel plate elder generation Z-direction Plate slides the surface of stacking pallet 34, and the supporting steel plate crawl of supporting steel plate code fetch manipulator 37 piles up mechanism action to first Block supporting steel plate is reset to original state after being piled up, then industrial control computer sends instruction control supporting steel plate sliding The sliding stacking pallet drive actions of stacking pallet 34 make supporting steel plate sliding stacking pallet 34 carry first piece of supporting steel plate along X Coordinate is moved to the projecting end of sliding stacking pallet guide rail 35 and positioning, and then industrial control computer sends instruction control branch Support steel plate, which inserts the Z-direction of mechanical arm 38 and is displaced downwardly to supporting steel plate and inserts the supporting steel plate crawl of manipulator 39, to be piled up mechanism and reclines Positioned at supporting steel plate sliding stacking pallet 34 on first piece of supporting steel plate on setpoint distance, then supporting steel plate insert machine The supporting steel plate crawl of tool hand 39 piles up mechanism action and first piece of supporting steel plate is captured, and crawl rear support steel plate inserts machine Tool arm 38, which carries, moves to setpoint distance and then X-coordinate direction moves to face indexing work on first piece of supporting steel plate elder generation Z-direction The surface of working face after 23 is shelved, then supporting steel plate is inserted the Z-direction of manipulator 39 and is displaced downwardly on first piece of supporting steel plate Copper pipe borehole jack be connected on first and treat that tube expansion fin assembly treats the setpoint distance on the copper pipe at tube expansion end, supporting steel plate inserts machinery The supporting steel plate crawl of hand 39 is piled up original state is reset to after mechanism action is piled up to first piece of supporting steel plate, completes the One piece of supporting steel plate is inserted；
During first piece of supporting steel plate is inserted, industrial control computer controls translation transhipment control loop and work simultaneously Loop task again is piled up in part handing-over crawl, is the same as those described above, and two pieces workpiece translational motion transhipment bracket 412 is again after integral transformation station Workpiece grabbing piles up that mechanical arm 413 treats the crawl of tube expansion fin assembly by second and alignment code is placed on the preceding work of indexable machine frame 23 Make on face, workpiece grabbing piles up mechanical arm 413 and recovers to original state to await orders again, and two pieces workpiece translational motion transhipment bracket 412 is again Secondary recovery to the original state that moves to right is awaited orders, and mechanical arm 421 is piled up in charging crawl can continue to treat the 3rd on feed tray 422 Tube expansion fin assembly is captured and piles up the workpiece translational motion transhipment on the right-hand rotation fortune station of three station translational transferring apparatus 41 Awaited orders on bracket 412.
Treat the tube expansion operation of tube expansion fin assembly：First piece of supporting steel plate of completion is inserted treats tube expansion fin assembly with second After alignment code is placed on the leading face of indexable machine frame 23, indexing retinue control loop and electric tube expander control loop start work Make, the front and rear travel driving unit action that industrial control computer sends instruction control walker 22 makes walker 22 is overall leading Front end and the positioning of guide rail 21 are moved forward on rail 21 along Y-coordinate, is now placed in first after indexable machine frame 23 on working face Treat that tube expansion fin assembly is abutted on the fin assembly positioning tool of electric tube expander 1, it is swollen that industrial control computer sends instruction control The work holder holding action of the fin assembly positioning tool of pipe machine 1 is treated that tube expansion fin assembly clamp to first and determined Position, while industrial control computer controls piece-holder detent mechanism expansion action after indexable machine frame 23 on working face to the One is treated that tube expansion fin assembly is joined, and industrial control computer sends the front and rear hoofing part dress of instruction control walker 22 Put the wing that action makes walker 22 integrally move to working face and electric tube expander 1 after indexable machine frame 23 along after Y-coordinate on guide rail 21 Walker 22 is standby after the setpoint distance that piece assembly positioning tool departs from, and industrial control computer sends instruction control The lower platen of electric tube expander 1 presses to setpoint distance, and the tube expansion mould on lower platen treats that tube expansion fin assembly is treated to first Tube expansion end carries out tube expansion, and the lower platen of electric tube expander 1 is reset to first tube expansion for treating tube expansion fin assembly of completion after original state Operation.
The crawl of fin assembly of tube expansion has been completed with piling up：Indexable control loop task again of accompanying, Industry Control meter The front and rear travel driving unit action that calculation machine sends instruction control walker 22 makes the entirety of walker 22 on guide rail 21 along Y-coordinate The front end of guide rail 21 and positioning are moved forward to, first be now placed on the fin assembly positioning tool of electric tube expander 1 has completed swollen The fin assembly of pipe is abutted in after indexable machine frame 23 on working face, and industrial control computer works after controlling indexable machine frame 23 Piece-holder detent mechanism holding action on face carries out clamping position, while work to first fin for having completed tube expansion assembly Industry control computer sends the work holder expansion action of the fin assembly positioning tool of instruction control electric tube expander 1 to first The fin assembly that part has completed tube expansion is joined, and then industrial control computer sends the front and rear row of instruction control walker 22 Walking drive device action makes overall rear end and the positioning for moving to guide rail 21 along after Y-coordinate on guide rail 21 of walker 22, while work Industry control computer send instruction control walker 22 device for revolving and driving revolution action make indexable machine frame 23 clockwise or 180 ° of person's rotate counterclockwise, working face returns back to after being loaded with the indexable machine frame 23 of first fin for having completed tube expansion assembly Towards the state of three station fin assembly code fetch units 4；
Then industrial control computer sends instruction control workpiece grabbing and piles up mechanical arm 413 and completed tube expansion by first Fin assembly handing-over crawl and the middle transhipment station of the alignment code three station translational transferring apparatus 41 that are placed on armed state on The workpiece translational motion transhipment bracket 412 on workpiece translational motion transhipment bracket 412 while transported in this on station has been completed swollen to first The fin assembly of pipe carries out clamping position, and then industrial control computer sends instruction control two pieces workpiece translational motion transhipment bracket 412 overall are again moved to the left the workpiece translational motion transhipment bracket that first fin for having completed tube expansion assembly is loaded with after conversion station 412 are located at the front of workpiece discharging code fetch device 43, are loaded with the 3rd workpiece translational motion for treating tube expansion fin assembly transhipment support Frame 412 is that then industrial control computer, which is sent, instructs while control out positioned at the dead astern of fin assembly indexing retinue unit 2 Mechanical arm 431 is piled up in material crawl and workpiece grabbing is piled up mechanical arm 413 and acted and grabs first fin for having completed tube expansion assembly Code fetch is placed on discharging pallet 432, piles up the working face after indexable machine frame 23 after the crawl of tube expansion fin assembly by the 3rd On, first fin assembly for having completed tube expansion of completion is piled up, and two pieces workpiece translational motion transhipment bracket 412 moves to right a work again Bit recovery to original state is awaited orders；
Meanwhile industrial control computer sends instruction control supporting steel plate and inserts control loop and work second piece of branch again Support second that steel plate is embedded on the indexable leading face of machine frame 23 and treat that tube expansion fin assembly is treated on the copper pipe at tube expansion end.
By that analogy, until treating that tube expansion fin assembly is fully completed tube expansion process and piled up successively on feed tray 422 On discharging pallet 432, feed tray 422 and discharging pallet 432 are transported through.
In order to ensure the supply of enough supporting steel plates, scheme as a further improvement on the present invention, described support Steel plate bracket 32 is arranged to more than one piece, and parallel set up of more than one piece supporting steel plate bracket 32 is arranged on inside feed bin support frame, and riser It is horizontal on front and rear two facade of the supporting steel plate bracket 32 of structure to be provided with up and down in the more than one piece supporting steel of uniform layer structure Plate support lifts positioning element.
Supplemented for the ease of inserting the supporting steel plate in unit 3 on supporting steel plate bracket 32 to supporting steel plate, as Further improvement of the present invention scheme, described supporting steel plate bracket 32 is by setting up the slide rail being arranged in feed bin support frame Connected with detent mechanism and the installation of feed bin support frame；Zero load can will be crawled during steel plate is inserted by being arranged such Supporting steel plate bracket 32 be pushed out to outside feed bin support frame along slide rail and the supporting steel plate bracket 32 of zero load carried out in time The filling supplement of supporting steel plate.
The supporting steel plate bracket 32 of zero load is carried out being automatically replenished supporting steel plate in order to realize, as the further of the present invention Improvement project, this supporting steel plate, which inserts unit 3, also includes supporting steel plate bracket passage detent mechanism and supplementary support steel plate feed bin, The positioning of supplementary support steel plate feed bin is arranged in the front or dead astern and supplementary support steel plate feed bin of feed bin support frame 31 Supporting steel plate pile up direction and the supporting steel plate on supporting steel plate bracket 32 to pile up direction identical；Described supporting steel plate takes It is additionally provided with code mechanical hand 37 along the A coordinate rotary drive mechanisms that the X-coordinate axle in left and right horizontal direction is rotary shaft；Described electricity Control unit also includes supporting steel plate supplementary loop, described industrial control computer and supporting steel plate bracket passage detent mechanism electricity Connection；Time dead between previous piece of supporting steel plate is inserted and latter piece of supporting steel plate is inserted, industrial control computer can To control the action of supporting steel plate code fetch mechanical arm 36 to make supporting steel plate code fetch manipulator 37 successively from supplement supporting steel plate feed bin It will be supported from the gap between two positioning being spaced apart supporting plates 33 after being rotated to an angle after crawl supporting steel plate along A coordinates Steel plate is sent into different unloaded positioning supporting plate groups, realizes and the supporting steel plate bracket 32 of zero load is carried out being automatically replenished supporting steel Plate.
In order to realize that supporting steel plate code fetch manipulator 37 is pointed to position on supporting plate group positioning supporting plate 33 or supplementary support Supporting steel plate in steel plate feed bin is accurately captured, as a further improvement on the present invention scheme, and described supporting steel plate takes Code mechanical arm 36 also includes the X-coordinate drive mechanism along left and right horizontal direction, is gone back on described supporting steel plate code fetch manipulator 37 Including the C coordinates rotary drive mechanism and pattern-recognition sensor that Z coordinate axle vertically is rotary shaft, described industry Control computer electrically connects with the C coordinates rotary drive mechanism and pattern-recognition sensor of supporting steel plate code fetch manipulator 37；Branch 37 self-positioning supporting plate group of support steel plate code fetch manipulator positions when crawl supporting steel plate is carried out on supporting plate 33 or supporting steel plate code fetch machine Tool hand 37 carries out during crawl supporting steel plate industrial control computer according to pattern-recognition sensor from supplementing in supporting steel plate feed bin Feedback founding mathematical models, and postindustrial control computer passes through compared with built-in data model by the mathematical modeling Control the shape of C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate drive mechanism to supporting steel plate code fetch manipulator 37 Position is captured again after being rectified a deviation, and then realizes and supporting steel plate is accurately captured.
Fin assembly is accurately captured and piles up in order to realize, as a further improvement on the present invention scheme, described support Steel plate code fetch manipulator 37, supporting steel plate, which are inserted on manipulator 39, is equipped with range sensor, the Industry Control meter of ECU Calculation machine electrically connects with range sensor respectively, industrial control computer by the feedback of range sensor can be achieved accurate crawl and Pile up fin assembly.
In order to realize steel plate insert during proper alignment be placed into, scheme, described as a further improvement on the present invention Supporting steel plate insert mechanical arm 38 and also include Y-coordinate drive mechanism along anterior-posterior horizontal direction, described supporting steel plate inserts The Z coordinate axle also included on manipulator 39 vertically is the C coordinates rotary drive mechanism of rotary shaft and pattern-recognition sensing Device, described industrial control computer inserts the C coordinates rotary drive mechanism of manipulator 39 with supporting steel plate and pattern-recognition passes Sensor electrically connects；Treat that tube expansion fin assembly treats work before tube expansion end when supporting steel plate inserts manipulator 39 and captures supporting steel plate and insert Industry control computer is according to the feedback founding mathematical models of pattern-recognition sensor, and by the mathematical modeling and built-in data mould Type is compared postindustrial control computer by controlling C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate to drive Mechanism supporting steel plate is inserted manipulator 39 morpheme rectify a deviation after insert again, and then realize the accurate right of supporting steel plate Just it is placed into.
Described supporting steel plate code fetch manipulator 37 and supporting steel plate insert the supporting steel plate crawl arranging machine of manipulator 39 Structure can be by the way of clamping captures supporting steel plate, can also be by the way of negative-pressure adsorption captures supporting steel plate, due to branch Support that the quality of steel plate is relatively light, and the mechanism of the latter's Grasp Modes set and control it is relative the former is simple, therefore preferred the latter, That is, the preferred scheme as the present invention, described supporting steel plate code fetch manipulator 37 and supporting steel plate insert the branch of manipulator 39 Support plate grab code fetch laying mechanism is negative-pressure adsorption crawl structure, and negative-pressure adsorption crawl structure is included perpendicular to the negative of gripping surface setting Adsorption orifice is pressed, negative-pressure adsorption mouth is connected by gas circuit pipeline and vacuum cavitations valve group with negative pressure source, the work of described ECU Industry control computer electrically connects with vacuum cavitations valve group；Industrial control computer is by controlling the keying of vacuum cavitations valve group to realize Supporting steel plate code fetch manipulator 37 and supporting steel plate insert the absorption of manipulator 39 crawl or pile up supporting steel plate.
Described supporting steel plate code fetch mechanical arm 36 and supporting steel plate, which insert mechanical arm 38, to use multi-joint to concentrate control Mechanical arm processed, gantry type split control machinery arm, or the mechanical arm using other forms can also be used, due to the first side The control of the multi-joint mechanical arm of case is centralized Control, and accurately coordinate control is more complicated for it, need to pass through industrial control computer Substantial amounts of calculating, software control procedure are complicated, and manufacturing cost is higher, computer control burden weight, easy to break down；Second of side Case is controlled using split, i.e., several coordinate systems control respectively, and control is relatively easy, direct, is less prone to failure, therefore preferably the Two kinds of schemes, i.e. as the preferred scheme of the present invention, described supporting steel plate code fetch mechanical arm 36 and supporting steel plate insert machinery Arm 38 is gantry type split control machinery arm.
It is Digital Control unit that this fin assembly automatic expanding guard system supporting steel plate, which inserts unit, can be with fin assembly The number bus of automatic expanding guard system, which is seamlessly connected, realizes concentration digital management；Meanwhile in a broad sense, this fin assembly is automatic The agent structure that tube expansion system supporting steel plate inserts unit can be fitted by changing suitable positioning supporting plate group and positioning supporting plate 33 There is storage, crawl and the code of the parts of sheet type structure for any such as printed circuit board (PCB), chip board, computer chip Put, i.e. be not limited to air conditioner industry, be equally applicable to such as electric, mechanical manufacturing.
The control method automaticity that this fin assembly automatic expanding guard system supporting steel plate inserts unit is high, can be in reality Now improve on the premise of efficiency is piled up in crawl and realize that the fin assembly that supporting steel plate is positioned to not installing carries out inserting steel plate；Due to Supporting steel plate sliding stacking pallet 34 and is additionally provided with the top position on the top of feed bin support frame 31, supporting steel plate bracket 32 Stacking pallet guide rail 35 is slid, and supporting steel plate code fetch inserts mechanical arm includes supporting steel plate code fetch mechanical arm 36 and supporting steel plate Mechanical arm 38 is inserted, therefore realizes that 37, supporting steel plate code fetch manipulator is responsible for capturing branch on self-positioning supporting plate group positioning supporting plate 33 Support steel plate and piled up supporting steel plate sliding stacking pallet 34 on and supporting steel plate inserts 39 responsible self-supportings of manipulator Supporting steel plate and being socketed is captured on steel plate sliding stacking pallet 34 pile up and treating that tube expansion fin assembly treats the copper pipe at tube expansion end On, and then realize and be easy to control, be independent of each other, improve crawl and the efficiency inserted, so as to coordinate air conditioner fin assembly certainly Other units of dynamic tube expansion system make the fin assembly for not installing positioning supporting steel plate be realized before entering the progress tube expansion operation of electric tube expander 1 Supporting steel plate is inserted, and realizes the operating efficiency for ensureing that fin assembly tube expansion process is overall, total especially suitable for air conditioner fin Into the air conditioner fin assembly automatic expanding guard system of copper pipe mouth tube expansion process.

Claims (6)

1. a kind of fin assembly automatic expanding guard system supporting steel plate inserts the control method of unit, supporting steel plate inserts unit (3) Mechanical arm is inserted including supporting steel plate feed bin and supporting steel plate code fetch；
Supporting steel plate feed bin includes feed bin support frame (31) and sets up the supporting steel plate support being arranged on inside feed bin support frame Frame (32)；Supporting steel plate bracket (32) is riser structure, horizontal in riser structure to be provided with up and down in the more of uniform layer structure Part supporting steel plate lifts positioning element, and supporting steel plate lifts positioning element and comprises at least one group of positioning supporting plate in the lateral direction Group, positioning supporting plate group include two positioning supporting plates (33) being spaced apart, front end or rear end, the left end or right side of positioning supporting plate (33) End is provided with the spacing flanging flipped up, the symmetrical setting of two pieces positioning supporting plate (33) of one group of positioning supporting plate group and one The spacing flanging of the spacing flanging and another positioning supporting plate (33) right-hand member of part positioning supporting plate (33) left end is oppositely arranged, and two pieces is fixed Space between the spacing flanging of position supporting plate (33) forms the receiving space of supporting steel plate；The top of feed bin support frame (31), The top position of supporting steel plate bracket (32) is additionally provided with supporting steel plate sliding stacking pallet (34) and sliding stacking pallet guide rail (35) stacking pallet guide rail (35) left and right directions, is slid to set up in feed bin support frame (31) and slide stacking pallet One end towards fin assembly indexing retinue unit (2) of guide rail (35) extend out to the outside of feed bin support frame (31), and sliding Frameshit puts height gauge of the top apart from ground that height dimension of the carriage rail (35) apart from ground is more than indexable machine frame (23) Very little, supporting steel plate sliding stacking pallet (34) is pacified by sliding stacking pallet driving with sliding stacking pallet guide rail (35) cooperation Dress, supporting steel plate sliding stacking pallet (34) are provided with supporting steel plate location structure；
Supporting steel plate code fetch inserts mechanical arm and inserts mechanical arm (38) including supporting steel plate code fetch mechanical arm (36) and supporting steel plate； Supporting steel plate code fetch mechanical arm (36) is erected at the top of supporting steel plate bracket (32), and supporting steel plate code fetch mechanical arm (36) is at least Including the Y-coordinate drive mechanism along anterior-posterior horizontal direction, Z coordinate drive mechanism vertically and it is arranged on supporting steel plate and takes The supporting steel plate code fetch manipulator (37) of code mechanical arm (36) minor details end, supporting steel plate code fetch manipulator (37) are provided with support Plate grab code fetch laying mechanism；The position that supporting steel plate inserts the corresponding sliding stacking pallet guide rail (35) of mechanical arm (38) is erected at cunning Frameshit puts the top of the external part of carriage rail (35), and supporting steel plate is inserted mechanical arm (38) and comprised at least along left and right horizontal direction X-coordinate drive mechanism, Z coordinate drive mechanism vertically and be arranged on supporting steel plate and insert mechanical arm (38) minor details end The supporting steel plate in portion inserts manipulator (39), and supporting steel plate, which is inserted on manipulator (39), also is provided with supporting steel plate crawl arranging machine Structure；
The industrial control computer of the ECU of air conditioner fin assembly automatic expanding guard system slides code with supporting steel plate respectively Put the sliding stacking pallet driving of bracket (34), supporting steel plate code fetch mechanical arm (36), supporting steel plate code fetch manipulator (37) Mechanism is piled up in supporting steel plate crawl, supporting steel plate inserts mechanical arm (38), supporting steel plate inserts the supporting steel plates of manipulator (39) Mechanism electrical connection is piled up in crawl；
Characterized in that, control method specifically includes following steps：
A. Job readiness：By supporting steel plate insert unit (3) be arranged on air conditioner fin assembly automatic expanding guard system fin it is total Into the left side or right side of indexing retinue unit (2), supporting steel plate sliding stacking pallet (34) is located on supporting steel plate bracket (32) The initial position of side；When the walker of the fin assembly indexing retinue unit (2) of air conditioner fin assembly automatic expanding guard system (22) device for revolving and driving revolution action makes indexable machine frame (23) rotate clockwise or counter-clockwise 180 °, be loaded with first After tube expansion fin assembly indexable machine frame (23) afterwards working face return back to supporting steel plate state to be inserted towards electric tube expander (1) The supporting steel plate of air conditioner fin assembly automatic expanding guard system inserts control loop start-up operation afterwards；
B. supporting steel plate crawl is with piling up：The industrial control computer of air conditioner fin assembly automatic expanding guard system sends instruction control The supporting steel plate crawl that supporting steel plate code fetch mechanical arm (36) Z-direction processed is displaced downwardly to supporting steel plate code fetch manipulator (37) is piled up The setpoint distance that mechanism is abutted on first piece of supporting steel plate on top layer positioning supporting plate group positioning supporting plate (33), Ran Houzhi The supporting steel plate crawl of support steel plate code fetch manipulator (37) piles up mechanism action and first piece of supporting steel plate is captured, after crawl Supporting steel plate code fetch mechanical arm (36) carries and moves to setpoint distance and then Y-coordinate direction on first piece of supporting steel plate elder generation Z-direction Move to the surface of supporting steel plate sliding stacking pallet (34), the supporting steel plate crawl code of supporting steel plate code fetch manipulator (37) Laying mechanism action is reset to original state after being piled up to first piece of supporting steel plate；
C. supporting steel plate translates：The industrial control computer of air conditioner fin assembly automatic expanding guard system sends instruction control support The sliding stacking pallet drive actions of steel plate sliding stacking pallet (34) make supporting steel plate sliding stacking pallet (34) carry first Block supporting steel plate is moved to projecting end and the positioning of sliding stacking pallet guide rail (35) along X-coordinate；
D. supporting steel plate is inserted：The industrial control computer of air conditioner fin assembly automatic expanding guard system sends instruction control support Steel plate insert mechanical arm (38) Z-direction be displaced downwardly to supporting steel plate insert manipulator (39) supporting steel plate crawl pile up mechanism patch The setpoint distance on first piece of supporting steel plate on supporting steel plate sliding stacking pallet (34) is leaned against, then supporting steel plate is put The supporting steel plate crawl for entering manipulator (39) piles up mechanism action first piece of supporting steel plate is captured, and captures rear support steel plate Insert mechanical arm (38) and carry and move to setpoint distance on first piece of supporting steel plate elder generation Z-direction and then X-coordinate direction moves to just To the surface of indexable machine frame (23) working face afterwards, then supporting steel plate inserts manipulator (39) Z-direction and is displaced downwardly to first Copper pipe borehole jack on block supporting steel plate is connected on the fin assembly indexing retinue list positioned at air conditioner fin assembly automatic expanding guard system First afterwards on working face of the indexable machine frame (23) of first (2) treat tube expansion fin assembly treat the setting on the copper pipe at tube expansion end away from The supporting steel plate crawl that manipulator (39) is inserted from, supporting steel plate is piled up after mechanism action piles up to first piece of supporting steel plate Original state is reset to, first piece of supporting steel plate of completion is inserted；
By that analogy, sequentially entered after tube expansion fin assembly after supporting steel plate state is inserted, repeat the above steps b, c, d, directly Inserted to the supporting steel plate for completing to need tube expansion fin assembly.
2. fin assembly automatic expanding guard system supporting steel plate according to claim 1 inserts the control method of unit, it is special Sign is that described supporting steel plate code fetch manipulator (37), supporting steel plate are inserted on manipulator (39) and be equipped with range sensor, The industrial control computer of the ECU of air conditioner fin assembly automatic expanding guard system electrically connects with range sensor respectively, empty The industrial control computer of device fin assembly automatic expanding guard system is adjusted to realize accurate crawl and code by the feedback of range sensor Put supporting steel plate.
3. fin assembly automatic expanding guard system supporting steel plate according to claim 2 inserts the control method of unit, it is special Sign is that described supporting steel plate bracket (32) is arranged to more than one piece, and parallel set up of more than one piece supporting steel plate bracket (32) is arranged on material Inside the support frame of storehouse, and horizontal be provided with is in uniform up and down on front and rear two facade of the supporting steel plate bracket (32) of riser structure The more than one piece supporting steel plate of layer structure lift positioning element；More than one piece supporting steel plate bracket (32) is arranged on feed bin branch by setting up Slide rail and detent mechanism on support frame frame connect with the installation of feed bin support frame；This supporting steel plate, which inserts unit (3), also includes branch Steel plate bracket passage detent mechanism and supplementary support steel plate feed bin are supportted, the positioning of supplementary support steel plate feed bin is arranged on feed bin carriage The front or dead astern of frame (31) and supplementary support steel plate feed bin inner support steel plate pile up direction and supporting steel plate bracket (32) supporting steel plate on to pile up direction identical；It is additionally provided with described supporting steel plate code fetch manipulator (37) along left and right horizontal The X-coordinate axle in direction is the A coordinate rotary drive mechanisms of rotary shaft；The electricity of described air conditioner fin assembly automatic expanding guard system The industrial control computer for controlling unit electrically connects with supporting steel plate bracket passage detent mechanism；
Time dead between previous piece of supporting steel plate is inserted and latter piece of supporting steel plate is inserted, air conditioner fin assembly are automatic The industrial control computer of tube expansion system controls the passage detent mechanism action of supporting steel plate bracket by the supporting steel plate of zero load first Bracket (32) is released and positioned, and then controls supporting steel plate code fetch mechanical arm (36) action to make supporting steel plate code fetch manipulator (37) What is be spaced apart after being rotated to an angle successively from after crawl supporting steel plate in supplement supporting steel plate feed bin along A coordinates from two determines Supporting steel plate is sent into different unloaded positioning supporting plate groups by the gap between position supporting plate (33), to the supporting steel plate support of zero load Frame (32) carries out being automatically replenished supporting steel plate, the Industry Control meter of air conditioner fin assembly automatic expanding guard system after complete supplement Fully loaded supporting steel plate bracket (32) is pushed back to initial position simultaneously by the control supporting steel plate bracket passage detent mechanism action of calculation machine Positioning.
4. fin assembly automatic expanding guard system supporting steel plate according to claim 3 inserts the control method of unit, it is special Sign is that described supporting steel plate code fetch mechanical arm (36) also includes the X-coordinate drive mechanism along left and right horizontal direction, described The Z coordinate axle also included on supporting steel plate code fetch manipulator (37) vertically is the C coordinate rotary drive mechanisms of rotary shaft With pattern-recognition sensor, the C coordinates rotary drive mechanism and pattern-recognition sensor point of supporting steel plate code fetch manipulator (37) Industrial control computer not with the ECU of air conditioner fin assembly automatic expanding guard system electrically connects；
When carrying out crawl supporting steel plate on the self-positioning supporting plate group positioning supporting plate (33) of supporting steel plate code fetch manipulator (37) or support Steel plate code fetch manipulator (37) carries out air conditioner fin assembly automatic expanding during crawl supporting steel plate from supplement supporting steel plate feed bin The industrial control computer of guard system according to the feedback founding mathematical models of pattern-recognition sensor, and by the mathematical modeling with it is interior The data model put be compared postindustrial control computer by control C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate drive mechanism captures again after being rectified a deviation to the morpheme of supporting steel plate code fetch manipulator (37).
5. fin assembly automatic expanding guard system supporting steel plate according to claim 2 inserts the control method of unit, it is special Sign is that described supporting steel plate inserts mechanical arm (38) also including the Y-coordinate drive mechanism along anterior-posterior horizontal direction, described Supporting steel plate inserts on manipulator (39) the C coordinate rotary drive mechanisms that the Z coordinate axle also included vertically is rotary shaft With pattern-recognition sensor, supporting steel plate inserts the C coordinates rotary drive mechanism and pattern-recognition sensor point of manipulator (39) Industrial control computer not with the ECU of air conditioner fin assembly automatic expanding guard system electrically connects；
Treat that tube expansion fin assembly treats industry control before tube expansion end when supporting steel plate inserts manipulator (39) and captures supporting steel plate and insert Computer processed enters the mathematical modeling and built-in data model according to the feedback founding mathematical models of pattern-recognition sensor The more postindustrial control computer of row is by controlling C coordinates rotary drive mechanism, X-coordinate drive mechanism and Y-coordinate drive mechanism Supporting steel plate is inserted manipulator (39) morpheme rectify a deviation after insert again.
6. fin assembly automatic expanding guard system supporting steel plate according to claim 1 or 2 inserts the control method of unit, its It is characterised by, described supporting steel plate code fetch manipulator (37) and supporting steel plate insert the supporting steel plate crawl code of manipulator (39) Laying mechanism is negative-pressure adsorption crawl structure, and negative-pressure adsorption crawl structure includes the negative-pressure adsorption mouth set perpendicular to gripping surface, born Pressure adsorption orifice is connected by gas circuit pipeline and vacuum cavitations valve group with negative pressure source, and vacuum cavitations valve group and air conditioner fin assembly are certainly The industrial control computer electrical connection of the ECU of dynamic tube expansion system；
The industrial control computer of air conditioner fin assembly automatic expanding guard system is by controlling the keying of vacuum cavitations valve group to realize Supporting steel plate code fetch manipulator (37) and supporting steel plate insert manipulator (39) absorption crawl or pile up supporting steel plate.
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