CN108687502A - A kind of automatic inserting equipment for U-tube - Google Patents
A kind of automatic inserting equipment for U-tube Download PDFInfo
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- CN108687502A CN108687502A CN201810776243.2A CN201810776243A CN108687502A CN 108687502 A CN108687502 A CN 108687502A CN 201810776243 A CN201810776243 A CN 201810776243A CN 108687502 A CN108687502 A CN 108687502A
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- 238000001514 detection method Methods 0.000 claims abstract description 103
- 238000009826 distribution Methods 0.000 claims abstract description 90
- 238000012546 transfer Methods 0.000 claims abstract description 59
- 230000002745 absorbent Effects 0.000 claims abstract description 30
- 239000002250 absorbent Substances 0.000 claims abstract description 30
- 230000004807 localization Effects 0.000 claims abstract description 23
- 230000008859 change Effects 0.000 claims description 84
- 238000007664 blowing Methods 0.000 claims description 43
- 238000010943 off-gassing Methods 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 21
- 230000008676 import Effects 0.000 claims description 20
- 238000007373 indentation Methods 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 17
- 210000000078 claw Anatomy 0.000 claims description 15
- 210000000056 organ Anatomy 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims description 10
- 210000003734 kidney Anatomy 0.000 claims description 9
- 125000003003 spiro group Chemical group 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 8
- 239000011148 porous material Substances 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 239000002699 waste material Substances 0.000 claims description 3
- 230000001174 ascending effect Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 12
- 238000004458 analytical method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000270666 Testudines Species 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000004378 air conditioning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000017525 heat dissipation Effects 0.000 description 3
- 238000012797 qualification Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/09—Heat pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
A kind of automatic inserting equipment for U-tube, including:Vibrating disc, the first vibrations transfer plate, detection components, third vibrations transfer plate, distribution component, grabbing assembly;Automatic inserting equipment replaces artificial instrumentation operations, reduces labourer's intensity, improves U-tube and inserts efficiency;Detection components substantially increase the accuracy of testing result, reduce detection error rate, ensure the validity of follow-up U-tube distribution, inserting;Distribution component allows multiple U-tube circumferencial direction arranged distributions on the first turntable, multiple U-tube absorbent modules, detection and localization camera realize the disposable crawl of multiple U-tubes on the basis of frontier inspection survey side positions on grabbing assembly sucker, greatly promote crawl efficiency and insert efficiency;Secondary detection operation of the detection function of detection and localization camera before U-tube inserting, further promotes inserting validity, and positioning function ensure that the accuracy of U-tube inserting position, greatly improves U-tube inserting quality.
Description
Technical field
Invention is related to air conditioner heat radiator Program instrumentation field, specially a kind of automatic inserting equipment for U-tube.
Background technology
The structure that air conditioner heat radiator is made of multiple U-tubes made of copper is acted on by the heat transfer of radiator and being completed
Adjusting to indoor temperature.For the instrumentation operations of traditional air conditioner radiator U-tube by manually completing, U-tube manually inserts work
Skill has the following defects:One, manually-operated inefficiency;Two, U-tube needed before inserting by operator carry out quality,
The verification of size, but manual detection efficiency, accuracy are relatively low, and judgment criteria differs, it is difficult to ensure that radiator inserts quality;Three, U
The inserting positional precision of shape pipe leans on the qualification of operator to determine entirely, the limitation of the inserting standard of no specification, insert position with
Machine is larger, it is difficult to ensure the inserting precision of U-tube.Many drawbacks of technique are inserted for traditional U-tube, it would be highly desirable to which one kind is used for
Automatic inserting equipment for U-tube improves the automation, precision, inserting stable quality of U-tube inserting.
Invention content
A kind of automatic inserting equipment for U-tube, the sequence inserted according to U-tube include successively:Vibrating disc 1 is (existing
Technology), first vibrations transfer plate 2, detection components, third vibrations transfer plate 3, distribution component, grabbing assembly;
The outlet 11 of vibrating disc 1 is connect with the input end of the first vibrations transfer plate 2, the outlet end of the first vibrations transfer plate 2
Rear is equipped with detection components;
Detection components include jacking module 4, clamping jaw module 5, detection camera module 6, detection components fixed plate 7, jack mould
Group 4 includes jacking cylinder 41, U-tube positioning plate 42, and U-tube positioning plate 42 is screwed in 41 power output shaft of jacking cylinder vertically
Top end face, the upper end of U-tube positioning plate 42 are machined with the inverted T-shaped locating rack 421 with U-tube shape complementation;Clamping jaw module 5 includes
Turntable 51, clamping jaw 52, scrap collecting tank 53, horizontal pushing cylinder 54;Turntable 51 includes disk 511, shaft 512, motor 513, shaft
512 it is vertical with the base surface of 51 center location of disk be fixedly connected, by being socketed in shaft between shaft 512 and motor 513
512, the belt on motor power output shaft belt wheel is indirectly connected with;513 reverse buckling type of motor is fixed on detection components fixed plate 7
On, the defeated output shaft of shaft 512, motor power both passes through detection components fixed plate 7 and the belt pulley of two shaft ends socket is set
In the lower end spaces of detection components fixed plate 7, shaft 512 realizes the rolling with detection components fixed plate 7 by socket rolling bearing
Motive friction-free formula connects;Fixed board 521 of the clamping jaw 52 including being fixed on 511 base surface of disk, rotation axis 522, rotor plate 523 turn
Movable plate 523 is connect by being socketed with the rotation axis 522 of torsionspring with fixed board 521, the bottom plate of rotor plate 523 and fixed board 521
The medial surface in face enclose U-tube holding tank 524 and without U-tube inside in the case of U-tube holding tank 524 thickness be less than U
The diameter dimension of shape pipe, the upper transverse plane of rotor plate 523 are higher than disk 511 and the edge of rotor plate 523 medial surface and disk 511
It does not contact;It includes annular light source 61, smart camera 62 (being not drawn into figure) to detect camera module 6, is consolidated in detection components fixed plate 7
Surely there is annular light source 61, light through-hole 71, light through-hole 71 are machined in the detection components fixed plate 7 immediately below annular light source 61
Underface smart camera 62 is installed, be mounted with scrap collecting tank 53 in detection components fixed plate 7, the second vibrations transmission
The input end of plate 3 is mounted on the lower section of disk 511, and wherein annular light source 61, scrap collecting tank 53, second shakes transfer plate 3
Input end successively along 511 unidirectional circumferential arrangement of disk, clamping jaw 52 rotated with disk 511 during just past annular light source 61
Center of circle surface, 53 import of scrap collecting tank, second vibrations transfer plate 3 import end position, jacking module 4 be located at U-tube
The underface of holding tank 524;It is mounted on right over the surface of scrap collecting tank 53, the second vibrations 3 input end of transfer plate
The wording depth of horizontal pushing cylinder 54 and horizontal pushing cylinder 54 is located at the upper face of rotor plate 523 in clamping jaw 52;
The outlet end of second vibrations transfer plate 3 and the input end of distribution component connect;
Distribution component includes the distribution component fixed plate 11 of motor 8, rotational distribution module 9, U-tube fixed block 10, rectangle,
Rotational distribution module 9 includes the first turntable 91, the second change 92 for being machined with arch surface notch, third arc ring 93, distribution group
The symmetrical center positions of part fixed plate 11 are machined with the circle center hole 111 that the power output shaft of power supply machine 8 passes through, and distribution component is fixed
One seamed edge center of plate 11 is machined with and the second vibrations fixed rectangle mounting groove 112 in 3 outlet end of transfer plate, distribution group
The upper face of part fixed plate 11 is machined with annular groove 113 and there is part weight in the position of annular groove 113 and rectangle mounting groove 112
It is folded, wherein the second change 92 is placed in annular groove 113 and the position of the straight rib face rectangle mounting groove 112 of arcuate indentation,
The upper face of second change 92 is concordant with the upper face of distribution component fixed plate 11, and the center location of the first turntable 91 is machined with axis
Cover via 911, the upper end of axle sleeve 12 be fixed on the upper surface of 91 bottom bracket axle via 911 of the first turntable, axle sleeve 12 lower end
Across axle sleeve via 911 and it is fixed on the lower face of the first turntable 91, the power output shaft of motor 8 passes through distribution component fixed plate
11 circle center hole 111 is fixed in axle sleeve 12, and U-shaped fixed block installation groove 912, U is machined at the circumferential edges of the first turntable 6
Shape pipe fixed block 10 is screwed in U-shaped fixed block installation groove 912, and support U-shaped is machined in U-tube fixed block 10
The arc locating surface 101 and arc locating surface 101 of pipe are extended out to along the diametric(al) of the first turntable 91 in the second change 92
The surface of plate face at arcuate indentation, the upper arc surface of arc locating surface 101 and upper face at arcuate indentation in the second change 92
Distance be d1, the distance between curved pipe lower arc surface and both sides cylinder lower face d2, d1-d2=0mm~2mm in U-tube;
The race diameter of first turntable 91 is less than the race diameter of the second change 92, and the inner ring diameter of third arc ring 93 is equal to first turn
The race diameter of the race diameter of disk 91 and the race diameter for being less than the second change 92, third arc ring 93 is more than the second change 92
Race diameter, third arc ring 93 is in concentric position and puts with the second change 92, the first turntable 91, third arc ring 93
It is solidly connected positioned at 92 upper face of the second change and with 11 spiral shell of distribution component fixed plate;
The surface of distribution component is equipped with grabbing assembly, and grabbing assembly is mechanical gripper in the prior art, passes through machinery
U-tube in distribution component in arc locating surface 101 in U-tube fixed block 10 is captured and inserts air-conditioning heat dissipation by handgrip
In the U-tube plug-in opening of device;
Wherein, U-tube inserts the switch of each equipment in equipment and is all controlled by PLC controller automatically, and pacifies at needed position
Equipped with the photoelectric sensor being connect with PLC controller, photoelectric sensor can pass the signal to PLC controls after sensing U-tube
The running that device is controlled relevant device by PLC controller realizes that air conditioner heat radiator U-tube inserts automatically, is not referred in patent of the present invention
It can be according to specific needs by known for the necessary mounting plate of automatic inserting equipment of U-tube and supporting rack, related technical personnel
It is chosen in technology.
The operation method of the above-mentioned automatic inserting equipment for U-tube is as follows:Vibrating disc 1 (prior art), the first vibrations
Transfer plate 2, detection components, third vibrations transfer plate 3, distribution component, grabbing assembly;
U-tube is put into vibrating disc 1, by vibrating disc 1 by shaking U-tube marshalling and being sent to vibrating disc 1
Outlet 11 at, outlet 11 at photoelectric sensor sense U-tube after can pass the signal to PLC controller, PLC controller
It opens vibrations equipment and vibrations conveying capacity is passed into the first vibrations transfer plate 2, before U-tube shakes on the first vibrations transfer plate 2
It proceeds in detection components and jacks at module 4, photoelectric sensor passes the signal to PLC controller, PLC controls after sensing U-tube
Device processed, which starts the jacking cylinder 41 in jacking component 4, to be pushed into enter the U of surface on the U-tube of 42 top of U-tube positioning plate
In shape pipe holding tank 524, U-tube causes U-tube holding tank 524 to become larger i.e. rotor plate 523 by torsionspring into membership
Between rotation axis 522 and fixed board 521 relative rotation occurs for stress deformation, under the retraction force effect of torsionspring, U-tube meeting
It is stuck in the U-tube holding tank 524 between fixed board 521, rotor plate 523, photoelectric sensor senses in U-tube holding tank 524
Fixing can pass the signal to PLC controller after having U-tube, and PLC controller, which can open motor 513 and then control turntable 51, to be occurred
U-tube, is gone to the surface of annular light source 61 by rotation, and PLC controller opens annular after receiving the signal of photoelectric sensor
Light source 61, smart camera 62, smart camera 62 take pictures to U-tube and carry out structure by the analysis software in smart camera 62
Integrality, size compatible degree analysis after make the analysis result of " OK " or " NG ", and analysis result is sent to PLC controls
Device, PLC controller, which receives, can start motor 513 after the analysis result of " OK " turntable is made to turn to the second vibrations transfer plate 3
Horizontal pushing cylinder 54 is opened after position directly above makes rotor plate 523 turn outward the upper surface application plane motive force of rotor plate 523
It moves and then the U-tube in U-tube holding tank 524 is made to fall on vibration-type in the second vibrations transfer plate 3 and be transferred to distribution component station,
Motor 513 can be started after the analysis result that PLC controller receives " NG " makes turntable turn to 53 position of scrap collecting tank simultaneously
Start horizontal pushing cylinder 54 U-tube in U-tube holding tank 524 is made to fall in scrap collecting tank 53 and underproof U-tube is avoided to join
With subsequent operation and then the production qualification rate of guarantee air conditioner heat radiator;U-tube shakes transmission, light from the second vibrations transfer plate 3
Electric transducer senses can pass the signal to PLC controller, PLC after U-tube reaches in fixed block 10 in arc locating surface 101
Controller, which can start motor 8, makes the first turntable 91 rotate, after the U-tube on the first turntable 91 is turned to crawl position,
Photoelectric sensor is notified that PLC controller starts grabbing assembly, makes manipulator in grabbing assembly by the U-shaped on the first turntable 91
Pipe is taken away and is inserted in the U-tube plug-in opening of air conditioner heat radiator.
Above-mentioned U-tube inserts equipment instead of artificial cloth, detection, crawl, installation automatically, mitigates the same of hand labor intensity
When greatly improve the efficiency of U-tube inserting, detection components greatly reduce unqualified U-tube to the detection and analysis of U-tube and join
With the possibility of follow-up inserting process, air conditioner heat radiator packaging qualification rate is improved.
Preferably, the automatic inserting equipment for U-tube, second vibrations transfer plate 3 in contacted with U-tube lower face
Support plate upper face height higher than plate at arcuate indentation in the second change 92 upper face 0.5mm~2mm.
Be conducive to U-tube and reach arc positioning in fixed block 10 to U-tube from the outlet end vibrations of the second vibrations transfer plate 3
It will not be hindered by plate face at arcuate indentation in the second change 92 when on face 101.
Preferably, the automatic inserting equipment for U-tube, distribution component further include being located at rectangle in the second change 92
The air blowing block 13 of 112 both sides of mounting groove, the both ends of air blowing block 13 respectively screw be fixed on third arc ring 93 opening plate face,
11 plate face of distribution component fixed plate is wherein machined with the air blowing import 131 being connect with gas blow pipe, blows in the lateral plates of air blowing block 13
The lower face processing of air parcel 13 is parallel to the outgassing groove 132 of 13 lower face of air blowing block, the rear end of outgassing groove 132 and blow into
The front end of mouth 131 enters by the gas that the connection of connecting hole 133 enters from air blowing import 131 by intercommunicating pore 133
Air drain 132 is simultaneously blown out from outgassing groove 132, and outgassing groove 132, which is tightly attached in 93 plate face of third arc ring, makes gas can only be from outlet
The front port of slot 132 is blown out;Photoelectric sensor is installed in both sides air blowing block 13.
Photoelectric sensor in both sides air blowing block 13 senses that U-tube reaches in the second change 92 at arcuate indentation plate face just
Be notified that behind front PLC controller open the gas supply devices such as aspiration pump feed gas into air blowing block 13 and by air blowing into
Mouth 131, connecting hole 133, outgassing groove 132 are simultaneously blown out from the position of U-tube both sides, and U-tube is stablized under the assistance of air blowing enters U
In shape pipe fixed block 10 in arc locating surface 101, i.e., U-tube is moved to by vibration force, air blowing on the first turntable 9.
Preferably, the automatic inserting equipment for U-tube, distribution component further includes being fixed on third arc ring 93
The U-tube of plate face limits claw-plate 94, and it includes that U-tube limits claw-plate ontology 941, setting is limited in U-tube that U-tube, which limits claw-plate 94,
The position-limited claw 942 of circle in claw-plate ontology 941,942 compartment of multiple position-limited claws are distributed in U-tube limit claw-plate ontology 941
The upper face of circle and position-limited claw 942, which is higher than, is distributed in cambered surface 1mm~2.5mm on the U-tube in the first turntable 91.
Position-limited claw 942 in the Z-axis direction limits U-tube in U-tube limit claw-plate 94, avoids being distributed to first turn
During the first turntable 91 rotates bounce occurs for the U-tube on disk 91, and the manipulator in grabbing assembly is in adjacent limit
The interval location of position pawl 942 carries out grasping manipulation.
Preferably, the automatic inserting equipment for U-tube, grabbing assembly includes firm banking 14, first motor 15
(being not drawn into figure), first rotating arm 16, the second motor 17 (being not drawn into figure), the 18 (cavity of inner hollow of the second rotating arm
Structure), third motor 19 (is not drawn into) in figure, the 4th motor 20 (being not drawn into figure), Z axis lead screw 21, sucker 22, and U-tube is inhaled
Attached component 23, wire body pipe 27;
First motor 15 is placed in the inner cavity of firm banking 14, and the power output shaft of first motor 15 passes through firm banking 14
Upper face be fixedly connected with the rear end base surface of first rotating arm 16, first rotating arm 16 under the action of first motor 15
Rotary oscillation is carried out in plane;Second motor 17 is located at the rear end of the second rotating arm 18, the bottom end and first of the second motor 17
The front end plate face of rotating arm 16 is fixedly connected, and the rear end of the power output shaft of the second motor 17 and the second rotating arm 18, which is fixed, to be connected
It connects, the second motor 17 drives the second rotating arm 18 to carry out planar rotational movement;Third motor 19, the 4th motor 20 are respectively positioned on second
Front position in rotating arm 18, third motor 19, the 4th motor 20 power output shaft be nested and fixed gear, the second rotation
The front position of pivoted arm 3 is machined with the Z axis lead screw through-hole 181 being connected to 18 inner cavity of the second rotating arm, and Z axis lead screw 21 is interspersed in Z
In axial filament rod through-hole 181 and the processing of the external cylindrical surface of Z axis lead screw 21 is parallel to the sliding recess 211 of central axial direction, Z axis
It is socketed with that medial surface is machined with matching the first change 212 (being not drawn into figure) of helicitic texture, medial surface is machined on lead screw 21
Match evagination sliding edge the second change 213 (being not drawn into figure), the first change 212, the second change 213 cylindrical outer side be all provided with
There is dentalation, the gear on third motor 19 engages connection with 212 outside dentalation of the first change, on the 4th motor 20
Gear engages connection with the gear outside the second change 213, and third motor 19 drives the first change 212 rotation real in turn after starting
The elevating movement of existing Z axis lead screw 21, the 4th motor 20 drive the second change 213 to rotate and then realize Z axis lead screw 21 after starting
Rotary motion, when third motor 19, the 4th motor 20 operate simultaneously, Z axis lead screw 21 only rotates, when third motor 19
Z axis lead screw 21 realizes the movement lifted in rotation when operating, the 4th motor 20 are static;
U-tube absorbent module 23 is mounted in the plate face of sucker 22, and U-tube absorbent module 23 includes lifting cylinder 231, flower
Key bearing assembly 232, vacuum suction component 233, spline bearing component 232 are sleeved in fixes sleeve 24, spline bearing component 232
Including splined shaft 2321, outer barrel 2322, the cylindrical outer side surface of outer barrel 2322 is machined with a circle groove 23221, adds in groove 23221
Work has multiple positioning spiro pits 23222, the cylindrical side of outer barrel 2322 to be machined with the positioning key groove for passing perpendicularly through groove 23221
23223, the positioning key 23224 of vertical direction is installed, fixes sleeve 24 passes through 22 edge of sucker in positioning key groove 23223
The upper surface of arc gap 221 and fixes sleeve 24 is solid by the upper surface spiral shell of screw and sucker 22, the cylinder of fixes sleeve 24
The kidney slot card slot 241 being connected to inner chamber body is machined on face, fixed positioning key 23224 is stuck in fixation just on outer barrel 2322
Make not relatively rotate between outer barrel 2322 and fixes sleeve 24 in kidney slot card slot 241 in sleeve 24, fixes sleeve 24
Cylindrical surface on be machined with diametric two set screw holes 242, by set screw be sequentially inserted into set screw hole 242,
Fixes sleeve 24 is fixedly connected with outer barrel 2322 in the positioning spiro pit 23222 of outer barrel 2322;The back-off of lifting cylinder 231 is fixed
The circle center hole and power output shaft of fixes sleeve 24 are passed through in the power output shaft of 24 upper face of fixes sleeve and lifting cylinder 231
End be fixedly connected with 2321 upper surface of splined shaft;Vacuum suction component 233 includes negative-pressure gas connector 2331 and negative pressure gas
The U-tube locating cover 2333 of organ type suction nozzle 2332, inner hollow that body connector 2331 connects, 2321 lower face of splined shaft and U
The upper surface of shape pipe locating cover 2333 is fixedly connected, and negative-pressure gas connector 2331 is fixed in U-tube locating cover 2333
In negative pressure connector resettlement groove, the bottom face of U-tube locating cover 2333 is machined with the arch locating slot being connected to hollow cavity body
23331, the lower end of organ type suction nozzle 2332 is located at 23331 centre position of arch locating slot, the lateral plates of U-tube locating cover 2333
It is machined with tracheae via 23332, negative-pressure sucking tracheae passes through tracheae via 23332 and negative-pressure gas connector in vacuum generator
Negative pressure of vacuum suction is transmitted in organ type suction nozzle 2332 by 2331 connections;
The lower face of Z axis lead screw 21 links admittedly with 22 center location spiral shell of sucker, respectively with firm banking 14, the second rotating arm
18 inner cavity is connected to and is fixedly arranged above wire body pipe 27 across firm banking 14, the second rotating arm 18, and wire body pipe 27 is used as four
The wire body cable tray of motor.
The above-mentioned arm apparatus for air conditioner heat radiator U-tube inserting technique is instead of artificial in traditional Program instrumentation
Operation mitigates labourer's intensity, accelerates to ensure that the crawl constant rate of U-tube is constant while inserting speed, is conducive to subsequently insert
Fill the control of frequency.
Preferably, card is nested and fixed in the automatic inserting equipment for U-tube, the lower end screw of Z axis lead screw 21
The notch of same diameter size is inserted into ring 214, the intrinsic notch retainer ring 223 of center location spiral shell of sucker 22,21 lower end of Z axis lead screw
In 223 circle center hole of retainer ring, snap ring 214 is stuck in the upper surface of notch retainer ring 223, the circle of the vertical cut (V. cut) both sides of notch retainer ring 223
Processing is parallel to diametric horizontal threaded bore 2231 on cylinder, is reduced by tightening bolt in horizontal threaded bore 2231
Z axis lead screw 21 is fixed in notch retainer ring 223 by the size of 223 circle center hole of notch retainer ring in turn.
Extruding fixed form between notch retainer ring 223 and Z axis lead screw 21 replaces Z axis lead screw 21 directly fixed with sucker 22
Mode, convenient for the disassembling operations between Z axis lead screw 21 and sucker 22.
Preferably, the automatic inserting equipment for U-tube, sucker 22 are machined with camera location hole 222, detection and localization
The back-off of camera 25 is equipped with 222 lower face of camera location hole in 222 upper surface of camera location hole of sucker 22, sucker 22
Annular light source 26 is wherein equipped with positioning in detection and localization camera 25, detection program (belongs to the prior art, herein no longer huge legendary turtle
It states).
4th motor 20 drives the second change 213 to rotate and then Z axis lead screw 21 is driven to rotate after starting, detection and localization camera
25 also rotate therewith, and immediately below sucker 22 and the U-tube of circular arrangement can be taken pictures simultaneously using detection and localization camera 25
Photo is passed into positioning software, inspection software positions the position of U-tube, detect size, the appearance of U-tube, and will inspection
It surveys result and is transmitted to PLC controller, order is sent out to relevant device according to testing result from PLC controller, will be detected unqualified
U-tube be put into waste product area, the qualified U-tube of detection is implemented into grasping manipulation according to coordinate setting, passes through detection and localization camera
25 setting, convenient for crawl positioning, appearance detection.
Preferably, the automatic inserting equipment for U-tube is machined with the N number of U being angularly distributed on the first turntable 91
Shape fixed block installation groove 912, and the intrinsic U-tube fixed block of spiral shell 10 in each U-shaped fixed block installation groove 912;Sucker 22
On N-1 U-tube absorbent module 23 be installed, the circle of N-1 U-tube absorbent module 23 and detection and localization camera 25 in sucker 22
Circumferential direction is angularly distributed, and the position of N-1 U-tube absorbent module 23 is removed on the first turntable 91 positioned at second turn on sucker 22
N-1 U-tube fixed block 10 in ring 92 at arcuate indentation plate face except U-tube fixed block 10 can be by relatively rotating certain angle
Realize that horizontal plane projected position is identical after degree, correspondingly, being equipped with M clamping jaw 52 and M folder on the disk 511 in detection components
Pawl 52 is angularly distributed, and wherein N, M are the natural number more than or equal to 2.
Preferably, the automatic inserting equipment for U-tube, jacking module 4, annular light source 61, scrap collecting tank 53,
The center of circle angle that the input end of second vibrations transfer plate 3 is formed with disk 511 is 90 °, and there are four U for processing on the first turntable 91
Center of circle angle between shape pipe fixed block 10 and adjacent U-tube fixed block 10 is 90 °, is installed on the disk 511 in detection components
It is 90 ° there are four the central angle between clamping jaw 52 and adjacent jaw 52, U-tube absorbent module 23 there are three installations on sucker 22,
Three U-tube absorbent modules 23 and detection and localization camera 25 are angularly distributed and adjacent center of circle angle in the circumferencial direction of sucker 22
It is 90 °.
Jack the circumferencial direction that module 4, annular light source 61, scrap collecting tank 53, second shake transfer plate 3 around disk 511
Equiangularly arranged, four U-tube fixed blocks 10 on the first turntable 91 are equiangularly arranged, four clamping jaws 52 on disk 511 etc.
Angle arrangement makes four clamping jaws 52 on disk 511 go to successively right over jacking module 4 and clamps a U-tube followed by circle
Disk 511, which will complete 62 photographic analysis of smart camera, after often rotating 90 °, scrap collecting tank 53 collects waste material or directly rotates 180 ° to examine
The qualified U-tube of survey, which is placed directly on the second vibrations transfer plate, participates in subsequent operation, three U-tube absorbent modules on sucker 22
Arrangement mode between 23 and detection and localization camera 25 every 90 ° makes grabbing assembly that can disposably capture three from distribution component
U-tube, the angle that PLC controller is rotated per secondary control are 90 ° of multiple, are convenient for programing work early period of PLC.
Description of the drawings:
Specific implementation mode is further described below in conjunction with the accompanying drawings, wherein:
Fig. 1 is the automatic inserting device structure schematic diagram for U-tube that invention is related to;
Fig. 2 a are the structural schematic diagrams of detection components in the automatic inserting equipment for U-tube that invention is related to;
Fig. 2 b are the structural schematic diagrams of claw in the automatic inserting equipment detection components for U-tube that invention is related to;
Fig. 3 a are distribution component structural schematic diagrams in the automatic inserting equipment for U-tube that invention is related to;
Fig. 3 b are distribution component assembling schematic diagrams in the automatic inserting equipment for U-tube that invention is related to;
Fig. 3 c are distribution component structural schematic diagrams in the automatic inserting equipment for U-tube that invention is related to;
Fig. 3 d-1 are the structural representations of air blowing block in the automatic inserting device distribution component for U-tube that invention is related to
Figure;
Fig. 3 d-2 are the structural representations of air blowing block in the automatic inserting device distribution component for U-tube that invention is related to
Figure;
Fig. 3 e are the structures of U-tube limit claw-plate in the automatic inserting device distribution component for U-tube that invention is related to
Schematic diagram;
Fig. 4 is the overall structure figure of grabbing assembly in the automatic inserting equipment for U-tube that invention is related to;
Fig. 5 a are the part-structure schematic diagrams of grabbing assembly in the automatic inserting equipment for U-tube that invention is related to;
Fig. 5 b are the part-structure schematic diagrams of grabbing assembly in the automatic inserting equipment for U-tube that invention is related to;
Fig. 5 c are the part-structure schematic diagrams of grabbing assembly in the automatic inserting equipment for U-tube that invention is related to;
Fig. 6 is U-tube locating cover internal negative pressure gas in the automatic inserting equipment grabbing assembly for U-tube that invention is related to
Body connector, organ type nozzle structure schematic diagram;
Fig. 7 is the schematic diagram about distance d1, d2 in the automatic inserting equipment for U-tube that invention is related to;Number pair
The concrete structure answered is as follows:
Vibrating disc 1, outlet 11, the first vibrations transfer plate, third shake transfer plate 3, jack module 4, jacking cylinder 41, U
Shape pipe positioning plate 42, inverted T-shaped locating rack 421, clamping jaw module 5, turntable 51, disk 511, shaft 512, motor 513, clamping jaw 52,
Fixed board 521, rotation axis 522, rotor plate 523, U-tube holding tank 524, scrap collecting tank 53, horizontal pushing cylinder 54 detect camera mould
Group 6, annular light source 61, smart camera 62, detection components fixed plate 7, light through-hole 71, motor 8, rotational distribution module 9, first
Turntable 91, axle sleeve via 911, U-shaped fixed block installation groove 912, the second change 92, third arc ring 93, U-tube limit claw-plate
94, U-tube limits claw-plate ontology 941, position-limited claw 942, U-tube fixed block 10, arc locating surface 101, distribution component fixed plate
11, circle center hole 111, rectangle mounting groove 112, annular groove 113, axle sleeve 12, air blowing block 13, air blowing import 131, outgassing groove 132,
Intercommunicating pore 133, firm banking 14, first motor 15, first rotating arm 16, the second motor 17, the second rotating arm 18, Z axis lead screw
Through-hole 181, third motor 19, the 4th motor 20, Z axis lead screw 21, sliding recess 211, the first change 212, the second change 213,
Snap ring 214, sucker 22, arc gap 221, camera location hole 222, notch retainer ring 223, horizontal threaded bore 2231, U-tube absorption
Component 23, lifting cylinder 231, spline bearing component 232, splined shaft 2321, outer barrel 2322, groove 23221, positioning spiro pit
23222, positioning key groove 23223, positioning key 23224, vacuum suction component 233, negative-pressure gas connector 2331, organ type suction nozzle
2332, U-tube locating cover 2333, arch locating slot 23331, tracheae via 23332, fixes sleeve 24, kidney slot card slot 241,
Set screw hole 242, detection and localization camera 25, annular light source 26, wire body pipe 27,
Following specific implementation mode will further illustrate invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Case 1 is embodied:
A kind of automatic inserting equipment for U-tube, the sequence inserted according to U-tube include successively:Vibrating disc 1 is (existing
Technology), first vibrations transfer plate 2, detection components, third vibrations transfer plate 3, distribution component, grabbing assembly;
The outlet 11 of vibrating disc 1 is connect with the input end of the first vibrations transfer plate 2, the outlet end of the first vibrations transfer plate 2
Rear is equipped with detection components;
Detection components include jacking module 4, clamping jaw module 5, detection camera module 6, detection components fixed plate 7, jack mould
Group 4 includes jacking cylinder 41, U-tube positioning plate 42, and U-tube positioning plate 42 is screwed in 41 power output shaft of jacking cylinder vertically
Top end face, the upper end of U-tube positioning plate 42 are machined with the inverted T-shaped locating rack 421 with U-tube shape complementation;Clamping jaw module 5 includes
Turntable 51, clamping jaw 52, scrap collecting tank 53, horizontal pushing cylinder 54;Turntable 51 includes disk 511, shaft 512, motor 513, shaft
512 it is vertical with the base surface of 51 center location of disk be fixedly connected, by being socketed in shaft between shaft 512 and motor 513
512, the belt on motor power output shaft belt wheel is indirectly connected with;513 reverse buckling type of motor is fixed on detection components fixed plate 7
On, the defeated output shaft of shaft 512, motor power both passes through detection components fixed plate 7 and the belt pulley of two shaft ends socket is set
In the lower end spaces of detection components fixed plate 7, shaft 512 realizes the rolling with detection components fixed plate 7 by socket rolling bearing
Motive friction-free formula connects;Fixed board 521 of the clamping jaw 52 including being fixed on 511 base surface of disk, rotation axis 522, rotor plate 523 turn
Movable plate 523 is connect by being socketed with the rotation axis 522 of torsionspring with fixed board 521, the bottom plate of rotor plate 523 and fixed board 521
The medial surface in face enclose U-tube holding tank 524 and without U-tube inside in the case of U-tube holding tank 524 thickness be less than U
The diameter dimension of shape pipe, the upper transverse plane of rotor plate 523 are higher than disk 511 and the edge of rotor plate 523 medial surface and disk 511
It does not contact;It includes annular light source 61, smart camera 62 (being not drawn into figure) to detect camera module 6, is consolidated in detection components fixed plate 7
Surely there is annular light source 61, light through-hole 71, light through-hole 71 are machined in the detection components fixed plate 7 immediately below annular light source 61
Underface smart camera 62 is installed, be mounted with scrap collecting tank 53 in detection components fixed plate 7, the second vibrations transmission
The input end of plate 3 is mounted on the lower section of disk 511, and wherein annular light source 61, scrap collecting tank 53, second shakes transfer plate 3
Input end successively along 511 unidirectional circumferential arrangement of disk, clamping jaw 52 rotated with disk 511 during just past annular light source 61
Center of circle surface, 53 import of scrap collecting tank, second vibrations transfer plate 3 import end position, jacking module 4 be located at U-tube
The underface of holding tank 524;It is mounted on right over the surface of scrap collecting tank 53, the second vibrations 3 input end of transfer plate
The wording depth of horizontal pushing cylinder 54 and horizontal pushing cylinder 54 is located at the upper face of rotor plate 523 in clamping jaw 52;
The outlet end of second vibrations transfer plate 3 and the input end of distribution component connect;
Distribution component includes the distribution component fixed plate 11 of motor 8, rotational distribution module 9, U-tube fixed block 10, rectangle,
Rotational distribution module 9 includes the first turntable 91, the second change 92 for being machined with arch surface notch, third arc ring 93, distribution group
The symmetrical center positions of part fixed plate 11 are machined with the circle center hole 111 that the power output shaft of power supply machine 8 passes through, and distribution component is fixed
One seamed edge center of plate 11 is machined with and the second vibrations fixed rectangle mounting groove 112 in 3 outlet end of transfer plate, distribution group
The upper face of part fixed plate 11 is machined with annular groove 113 and there is part weight in the position of annular groove 113 and rectangle mounting groove 112
It is folded, wherein the second change 92 is placed in annular groove 113 and the position of the straight rib face rectangle mounting groove 112 of arcuate indentation,
The upper face of second change 92 is concordant with the upper face of distribution component fixed plate 11, and the center location of the first turntable 91 is machined with axis
Cover via 911, the upper end of axle sleeve 12 be fixed on the upper surface of 91 bottom bracket axle via 911 of the first turntable, axle sleeve 12 lower end
Across axle sleeve via 911 and it is fixed on the lower face of the first turntable 91, the power output shaft of motor 8 passes through distribution component fixed plate
11 circle center hole 111 is fixed in axle sleeve 12, and U-shaped fixed block installation groove 912, U is machined at the circumferential edges of the first turntable 6
Shape pipe fixed block 10 is screwed in U-shaped fixed block installation groove 912, and support U-shaped is machined in U-tube fixed block 10
The arc locating surface 101 and arc locating surface 101 of pipe are extended out to along the diametric(al) of the first turntable 91 in the second change 92
The surface of plate face at arcuate indentation, the upper arc surface of arc locating surface 101 and upper face at arcuate indentation in the second change 92
Distance be d1, the distance between curved pipe lower arc surface and both sides cylinder lower face d2, d1=d2 in U-tube;First turntable
91 race diameter is less than the race diameter of the second change 92, and the inner ring diameter of third arc ring 93 is equal to the outer of the first turntable 91
The race diameter of loop diameter and the race diameter for being less than the second change 92, third arc ring 93 is straight more than the outer ring of the second change 92
Diameter, third arc ring 93 are in concentric position and put with the second change 92, the first turntable 91, and third arc ring 93 is located at second
It 92 upper face of change and is solidly connected with 11 spiral shell of distribution component fixed plate;
The surface of distribution component is equipped with grabbing assembly, and grabbing assembly is mechanical gripper in the prior art, passes through machinery
U-tube in distribution component in arc locating surface 101 in U-tube fixed block 10 is captured and inserts air-conditioning heat dissipation by handgrip
In the U-tube plug-in opening of device;
Wherein, U-tube inserts the switch of each equipment in equipment and is all controlled by PLC controller automatically, and pacifies at needed position
Equipped with the photoelectric sensor being connect with PLC controller, photoelectric sensor can pass the signal to PLC controls after sensing U-tube
The running that device is controlled relevant device by PLC controller realizes that air conditioner heat radiator U-tube inserts automatically, is not referred in patent of the present invention
It can be according to specific needs by known for the necessary mounting plate of automatic inserting equipment of U-tube and supporting rack, related technical personnel
It is chosen in technology.
Wherein, grabbing assembly includes firm banking 14, and first motor 15 (is not drawn into) in figure, first rotating arm 16, and second
Motor 17 (is not drawn into) in figure, and the second rotating arm 18 (cavity body structure of inner hollow), third motor 19 (is not drawn into) in figure, the
Four motors 20 (being not drawn into figure), Z axis lead screw 21, sucker 22, U-tube absorbent module 23, wire body pipe 27;
First motor 15 is placed in the inner cavity of firm banking 14, and the power output shaft of first motor 15 passes through firm banking 14
Upper face be fixedly connected with the rear end base surface of first rotating arm 16, first rotating arm 16 under the action of first motor 15
Rotary oscillation is carried out in plane;Second motor 17 is located at the rear end of the second rotating arm 18, the bottom end and first of the second motor 17
The front end plate face of rotating arm 16 is fixedly connected, and the rear end of the power output shaft of the second motor 17 and the second rotating arm 18, which is fixed, to be connected
It connects, the second motor 17 drives the second rotating arm 18 to carry out planar rotational movement;Third motor 19, the 4th motor 20 are respectively positioned on second
Front position in rotating arm 18, third motor 19, the 4th motor 20 power output shaft be nested and fixed gear, the second rotation
The front position of pivoted arm 3 is machined with the Z axis lead screw through-hole 181 being connected to 18 inner cavity of the second rotating arm, and Z axis lead screw 21 is interspersed in Z
In axial filament rod through-hole 181 and the processing of the external cylindrical surface of Z axis lead screw 21 is parallel to the sliding recess 211 of central axial direction, Z axis
It is socketed with that medial surface is machined with matching the first change 212 (being not drawn into figure) of helicitic texture, medial surface is machined on lead screw 21
Match evagination sliding edge the second change 213 (being not drawn into figure), the first change 212, the second change 213 cylindrical outer side be all provided with
There is dentalation, the gear on third motor 19 engages connection with 212 outside dentalation of the first change, on the 4th motor 20
Gear engages connection with the gear outside the second change 213, and third motor 19 drives the first change 212 rotation real in turn after starting
The elevating movement of existing Z axis lead screw 21, the 4th motor 20 drive the second change 213 to rotate and then realize Z axis lead screw 21 after starting
Rotary motion, when third motor 19, the 4th motor 20 operate simultaneously, Z axis lead screw 21 only rotates, when third motor 19
Z axis lead screw 21 realizes the movement lifted in rotation when operating, the 4th motor 20 are static;
U-tube absorbent module 23 is mounted in the plate face of sucker 22, and U-tube absorbent module 23 includes lifting cylinder 231, flower
Key bearing assembly 232, vacuum suction component 233, spline bearing component 232 are sleeved in fixes sleeve 24, spline bearing component 232
Including splined shaft 2321, outer barrel 2322, the cylindrical outer side surface of outer barrel 2322 is machined with a circle groove 23221, adds in groove 23221
Work has multiple positioning spiro pits 23222, the cylindrical side of outer barrel 2322 to be machined with the positioning key groove for passing perpendicularly through groove 23221
23223, the positioning key 23224 of vertical direction is installed, fixes sleeve 24 passes through 22 edge of sucker in positioning key groove 23223
The upper surface of arc gap 221 and fixes sleeve 24 is solid by the upper surface spiral shell of screw and sucker 22, the cylinder of fixes sleeve 24
The kidney slot card slot 241 being connected to inner chamber body is machined on face, fixed positioning key 23224 is stuck in fixation just on outer barrel 2322
Make not relatively rotate between outer barrel 2322 and fixes sleeve 24 in kidney slot card slot 241 in sleeve 24, fixes sleeve 24
Cylindrical surface on be machined with diametric two set screw holes 242, by set screw be sequentially inserted into set screw hole 242,
Fixes sleeve 24 is fixedly connected with outer barrel 2322 in the positioning spiro pit 23222 of outer barrel 2322;The back-off of lifting cylinder 231 is fixed
The circle center hole and power output shaft of fixes sleeve 24 are passed through in the power output shaft of 24 upper face of fixes sleeve and lifting cylinder 231
End be fixedly connected with 2321 upper surface of splined shaft;Vacuum suction component 233 includes negative-pressure gas connector 2331 and negative pressure gas
The U-tube locating cover 2333 of organ type suction nozzle 2332, inner hollow that body connector 2331 connects, 2321 lower face of splined shaft and U
The upper surface of shape pipe locating cover 2333 is fixedly connected, and negative-pressure gas connector 2331 is fixed in U-tube locating cover 2333
In negative pressure connector resettlement groove, the bottom face of U-tube locating cover 2333 is machined with the arch locating slot being connected to hollow cavity body
23331, the lower end of organ type suction nozzle 2332 is located at 23331 centre position of arch locating slot, the lateral plates of U-tube locating cover 2333
It is machined with tracheae via 23332, negative-pressure sucking tracheae passes through tracheae via 23332 and negative-pressure gas connector in vacuum generator
Negative pressure of vacuum suction is transmitted in organ type suction nozzle 2332 by 2331 connections;
The lower face of Z axis lead screw 21 links admittedly with 22 center location spiral shell of sucker, respectively with firm banking 14, the second rotating arm
18 inner cavity is connected to and is fixedly arranged above wire body pipe 27 across firm banking 14, the second rotating arm 18, and wire body pipe 27 is used as four
The wire body cable tray of motor.
Further, the height of the upper face of the support plate contacted with U-tube lower face in the second vibrations transfer plate 3 is higher than
In second change 92 at arcuate indentation plate upper face 0.5mm.
Further, distribution component further includes the air blowing block 13 for being located at 112 both sides of rectangle mounting groove in the second change 92, is blown
Screw is fixed on the opening plate face of third arc ring 93,11 plate face of distribution component fixed plate respectively at the both ends of air parcel 13, wherein
Be machined in the lateral plates of air blowing block 13 be machined with the lower face of air blowing import 131, air blowing block 13 that gas blow pipe connects it is parallel
In the outgassing groove 132 of 13 lower face of air blowing block, the rear end of outgassing groove 132 passes through connecting hole with the front end of air blowing import 131
133 connections enter outgassing groove 132 by intercommunicating pore 133 from the gas entered in air blowing import 131 and are blown from outgassing groove 132
Go out, outgassing groove 132, which is tightly attached in 93 plate face of third arc ring, makes gas that can only be blown out from the front port of outgassing groove 132;Two is side-blown
Photoelectric sensor is installed in air parcel 13.
Further, distribution component further includes the U-tube limit claw-plate 94 for being fixed on 93 upper face of third arc ring, U-shaped
Pipe limit claw-plate 94 includes U-tube limit claw-plate ontology 941, the position-limited claw of the circle in U-tube limit claw-plate ontology 941 is arranged
942, it is high that 942 compartment of multiple position-limited claws is distributed in the upper face of circle and position-limited claw 942 in U-tube limit claw-plate ontology 941
In cambered surface 1mm on the U-tube being distributed in the first turntable 91.
Further, snap ring 214 is nested and fixed in the lower end screw of Z axis lead screw 21, and the center location spiral shell of sucker 22 is solid
Jagged retainer ring 223,21 lower end of Z axis lead screw are inserted into 223 circle center hole of notch retainer ring of same diameter size, and snap ring 214 blocks
It is processed in the upper surface of notch retainer ring 223, on the cylindrical surface of the vertical cut (V. cut) both sides of notch retainer ring 223 and is parallel to diametric(al)
Horizontal threaded bore 2231, by tightened in horizontal threaded bore 2231 bolt reduce the size of 223 circle center hole of notch retainer ring into
And Z axis lead screw 21 is fixed in notch retainer ring 223.
Further, sucker 22 is machined with camera location hole 222, phase of the back-off of detection and localization camera 25 mounted on sucker 22
222 upper surface of machine location hole, 222 lower face of camera location hole is equipped with annular light source 26, wherein detection and localization phase in sucker 22
Positioning, detection program (belonging to the prior art, no longer huge legendary turtle is stated herein) are installed in machine 25.
Further, jack module 4, annular light source 61, scrap collecting tank 53, second shake transfer plate 3 input end with
The center of circle angle that disk 511 is formed is 90 °, and that there are four U-tube fixed block 10 and adjacent U-tubes is solid for processing on the first turntable 91
It is 90 ° to determine the center of circle angle between block 10, on the disk 511 in detection components installation there are four clamping jaw 52 and adjacent jaw 52 it
Between central angle be 90 °, there are three U-tube absorbent modules 23, three U-tube absorbent modules 23 to be examined with positioning for installation on sucker 22
Survey camera 25 is angularly distributed in the circumferencial direction of sucker 22 and adjacent center of circle angle is 90 °.
The advantage of the automatic inserting equipment for U-tube involved in this specific embodiment is as follows:Instead of artificial inserting
Operation reduces labourer's intensity, and improving U-tube while realizing U-tube inserting automation inserts efficiency;The setting generation of detection components
U-tube quality, the artificial detection of size have been replaced, the accuracy of testing result is substantially increased, detection error rate has been reduced, after guarantee
The validity of continuous U-tube distribution, inserting;Distribution component drives rotation in vibrations equipment, the air blowing of air blowing block 13 auxiliary, motor 8
Allow multiple U-tube circumferencial direction arranged distributions on the first turntable 91 under collective effect, multiple U-shapeds on grabbing assembly sucker 22
Pipe absorbent module 23, detection and localization camera 25, which can meet to survey on the basis of side positions in frontier inspection, realizes the disposable of multiple U-tubes
Crawl greatly promotes crawl efficiency and inserts efficiency, and the detection function of detection and localization camera 25 can be another before U-tube inserting
It is secondary to be detected operation, the validity of U-tube inserting is further promoted, the positioning function of positioning camera 25 is by inserting U-tube
The positioning function of holding position ensure that the accuracy of U-tube inserting position, greatly improve U-tube inserting quality.
Case 2 is embodied:
A kind of automatic inserting equipment for U-tube, the sequence inserted according to U-tube include successively:Vibrating disc 1 is (existing
Technology), first vibrations transfer plate 2, detection components, third vibrations transfer plate 3, distribution component, grabbing assembly;
The outlet 11 of vibrating disc 1 is connect with the input end of the first vibrations transfer plate 2, the outlet end of the first vibrations transfer plate 2
Rear is equipped with detection components;
Detection components include jacking module 4, clamping jaw module 5, detection camera module 6, detection components fixed plate 7, jack mould
Group 4 includes jacking cylinder 41, U-tube positioning plate 42, and U-tube positioning plate 42 is screwed in 41 power output shaft of jacking cylinder vertically
Top end face, the upper end of U-tube positioning plate 42 are machined with the inverted T-shaped locating rack 421 with U-tube shape complementation;Clamping jaw module 5 includes
Turntable 51, clamping jaw 52, scrap collecting tank 53, horizontal pushing cylinder 54;Turntable 51 includes disk 511, shaft 512, motor 513, shaft
512 it is vertical with the base surface of 51 center location of disk be fixedly connected, by being socketed in shaft between shaft 512 and motor 513
512, the belt on motor power output shaft belt wheel is indirectly connected with;513 reverse buckling type of motor is fixed on detection components fixed plate 7
On, the defeated output shaft of shaft 512, motor power both passes through detection components fixed plate 7 and the belt pulley of two shaft ends socket is set
In the lower end spaces of detection components fixed plate 7, shaft 512 realizes the rolling with detection components fixed plate 7 by socket rolling bearing
Motive friction-free formula connects;Fixed board 521 of the clamping jaw 52 including being fixed on 511 base surface of disk, rotation axis 522, rotor plate 523 turn
Movable plate 523 is connect by being socketed with the rotation axis 522 of torsionspring with fixed board 521, the bottom plate of rotor plate 523 and fixed board 521
The medial surface in face enclose U-tube holding tank 524 and without U-tube inside in the case of U-tube holding tank 524 thickness be less than U
The diameter dimension of shape pipe, the upper transverse plane of rotor plate 523 are higher than disk 511 and the edge of rotor plate 523 medial surface and disk 511
It does not contact;It includes annular light source 61, smart camera 62 (being not drawn into figure) to detect camera module 6, is consolidated in detection components fixed plate 7
Surely there is annular light source 61, light through-hole 71, light through-hole 71 are machined in the detection components fixed plate 7 immediately below annular light source 61
Underface smart camera 62 is installed, be mounted with scrap collecting tank 53 in detection components fixed plate 7, the second vibrations transmission
The input end of plate 3 is mounted on the lower section of disk 511, and wherein annular light source 61, scrap collecting tank 53, second shakes transfer plate 3
Input end successively along 511 unidirectional circumferential arrangement of disk, clamping jaw 52 rotated with disk 511 during just past annular light source 61
Center of circle surface, 53 import of scrap collecting tank, second vibrations transfer plate 3 import end position, jacking module 4 be located at U-tube
The underface of holding tank 524;It is mounted on right over the surface of scrap collecting tank 53, the second vibrations 3 input end of transfer plate
The wording depth of horizontal pushing cylinder 54 and horizontal pushing cylinder 54 is located at the upper face of rotor plate 523 in clamping jaw 52;
The outlet end of second vibrations transfer plate 3 and the input end of distribution component connect;
Distribution component includes the distribution component fixed plate 11 of motor 8, rotational distribution module 9, U-tube fixed block 10, rectangle,
Rotational distribution module 9 includes the first turntable 91, the second change 92 for being machined with arch surface notch, third arc ring 93, distribution group
The symmetrical center positions of part fixed plate 11 are machined with the circle center hole 111 that the power output shaft of power supply machine 8 passes through, and distribution component is fixed
One seamed edge center of plate 11 is machined with and the second vibrations fixed rectangle mounting groove 112 in 3 outlet end of transfer plate, distribution group
The upper face of part fixed plate 11 is machined with annular groove 113 and there is part weight in the position of annular groove 113 and rectangle mounting groove 112
It is folded, wherein the second change 92 is placed in annular groove 113 and the position of the straight rib face rectangle mounting groove 112 of arcuate indentation,
The upper face of second change 92 is concordant with the upper face of distribution component fixed plate 11, and the center location of the first turntable 91 is machined with axis
Cover via 911, the upper end of axle sleeve 12 be fixed on the upper surface of 91 bottom bracket axle via 911 of the first turntable, axle sleeve 12 lower end
Across axle sleeve via 911 and it is fixed on the lower face of the first turntable 91, the power output shaft of motor 8 passes through distribution component fixed plate
11 circle center hole 111 is fixed in axle sleeve 12, and U-shaped fixed block installation groove 912, U is machined at the circumferential edges of the first turntable 6
Shape pipe fixed block 10 is screwed in U-shaped fixed block installation groove 912, and support U-shaped is machined in U-tube fixed block 10
The arc locating surface 101 and arc locating surface 101 of pipe are extended out to along the diametric(al) of the first turntable 91 in the second change 92
The surface of plate face at arcuate indentation, the upper arc surface of arc locating surface 101 and upper face at arcuate indentation in the second change 92
Distance be d1, the distance between curved pipe lower arc surface and both sides cylinder lower face d2, d1-d2=2mm in U-tube;First
The race diameter of turntable 91 is less than the race diameter of the second change 92, and the inner ring diameter of third arc ring 93 is equal to the first turntable 91
Race diameter and race diameter less than the second change 92, the race diameter of third arc ring 93 be more than the outer of the second change 92
Loop diameter, third arc ring 93 are in concentric position and put with the second change 92, the first turntable 91, and third arc ring 93 is located at
It second change, 92 upper face and is solidly connected with 11 spiral shell of distribution component fixed plate;
The surface of distribution component is equipped with grabbing assembly, and grabbing assembly is mechanical gripper in the prior art, passes through machinery
U-tube in distribution component in arc locating surface 101 in U-tube fixed block 10 is captured and inserts air-conditioning heat dissipation by handgrip
In the U-tube plug-in opening of device;
Wherein, U-tube inserts the switch of each equipment in equipment and is all controlled by PLC controller automatically, and pacifies at needed position
Equipped with the photoelectric sensor being connect with PLC controller, photoelectric sensor can pass the signal to PLC controls after sensing U-tube
The running that device is controlled relevant device by PLC controller realizes that air conditioner heat radiator U-tube inserts automatically, is not referred in patent of the present invention
It can be according to specific needs by known for the necessary mounting plate of automatic inserting equipment of U-tube and supporting rack, related technical personnel
It is chosen in technology.
Wherein, grabbing assembly includes firm banking 14, and first motor 15 (is not drawn into) in figure, first rotating arm 16, and second
Motor 17 (is not drawn into) in figure, and the second rotating arm 18 (cavity body structure of inner hollow), third motor 19 (is not drawn into) in figure, the
Four motors 20 (being not drawn into figure), Z axis lead screw 21, sucker 22, U-tube absorbent module 23, wire body pipe 27;
First motor 15 is placed in the inner cavity of firm banking 14, and the power output shaft of first motor 15 passes through firm banking 14
Upper face be fixedly connected with the rear end base surface of first rotating arm 16, first rotating arm 16 under the action of first motor 15
Rotary oscillation is carried out in plane;Second motor 17 is located at the rear end of the second rotating arm 18, the bottom end and first of the second motor 17
The front end plate face of rotating arm 16 is fixedly connected, and the rear end of the power output shaft of the second motor 17 and the second rotating arm 18, which is fixed, to be connected
It connects, the second motor 17 drives the second rotating arm 18 to carry out planar rotational movement;Third motor 19, the 4th motor 20 are respectively positioned on second
Front position in rotating arm 18, third motor 19, the 4th motor 20 power output shaft be nested and fixed gear, the second rotation
The front position of pivoted arm 3 is machined with the Z axis lead screw through-hole 181 being connected to 18 inner cavity of the second rotating arm, and Z axis lead screw 21 is interspersed in Z
In axial filament rod through-hole 181 and the processing of the external cylindrical surface of Z axis lead screw 21 is parallel to the sliding recess 211 of central axial direction, Z axis
It is socketed with that medial surface is machined with matching the first change 212 (being not drawn into figure) of helicitic texture, medial surface is machined on lead screw 21
Match evagination sliding edge the second change 213 (being not drawn into figure), the first change 212, the second change 213 cylindrical outer side be all provided with
There is dentalation, the gear on third motor 19 engages connection with 212 outside dentalation of the first change, on the 4th motor 20
Gear engages connection with the gear outside the second change 213, and third motor 19 drives the first change 212 rotation real in turn after starting
The elevating movement of existing Z axis lead screw 21, the 4th motor 20 drive the second change 213 to rotate and then realize Z axis lead screw 21 after starting
Rotary motion, when third motor 19, the 4th motor 20 operate simultaneously, Z axis lead screw 21 only rotates, when third motor 19
Z axis lead screw 21 realizes the movement lifted in rotation when operating, the 4th motor 20 are static;
U-tube absorbent module 23 is mounted in the plate face of sucker 22, and U-tube absorbent module 23 includes lifting cylinder 231, flower
Key bearing assembly 232, vacuum suction component 233, spline bearing component 232 are sleeved in fixes sleeve 24, spline bearing component 232
Including splined shaft 2321, outer barrel 2322, the cylindrical outer side surface of outer barrel 2322 is machined with a circle groove 23221, adds in groove 23221
Work has multiple positioning spiro pits 23222, the cylindrical side of outer barrel 2322 to be machined with the positioning key groove for passing perpendicularly through groove 23221
23223, the positioning key 23224 of vertical direction is installed, fixes sleeve 24 passes through 22 edge of sucker in positioning key groove 23223
The upper surface of arc gap 221 and fixes sleeve 24 is solid by the upper surface spiral shell of screw and sucker 22, the cylinder of fixes sleeve 24
The kidney slot card slot 241 being connected to inner chamber body is machined on face, fixed positioning key 23224 is stuck in fixation just on outer barrel 2322
Make not relatively rotate between outer barrel 2322 and fixes sleeve 24 in kidney slot card slot 241 in sleeve 24, fixes sleeve 24
Cylindrical surface on be machined with diametric two set screw holes 242, by set screw be sequentially inserted into set screw hole 242,
Fixes sleeve 24 is fixedly connected with outer barrel 2322 in the positioning spiro pit 23222 of outer barrel 2322;The back-off of lifting cylinder 231 is fixed
The circle center hole and power output shaft of fixes sleeve 24 are passed through in the power output shaft of 24 upper face of fixes sleeve and lifting cylinder 231
End be fixedly connected with 2321 upper surface of splined shaft;Vacuum suction component 233 includes negative-pressure gas connector 2331 and negative pressure gas
The U-tube locating cover 2333 of organ type suction nozzle 2332, inner hollow that body connector 2331 connects, 2321 lower face of splined shaft and U
The upper surface of shape pipe locating cover 2333 is fixedly connected, and negative-pressure gas connector 2331 is fixed in U-tube locating cover 2333
In negative pressure connector resettlement groove, the bottom face of U-tube locating cover 2333 is machined with the arch locating slot being connected to hollow cavity body
23331, the lower end of organ type suction nozzle 2332 is located at 23331 centre position of arch locating slot, the lateral plates of U-tube locating cover 2333
It is machined with tracheae via 23332, negative-pressure sucking tracheae passes through tracheae via 23332 and negative-pressure gas connector in vacuum generator
Negative pressure of vacuum suction is transmitted in organ type suction nozzle 2332 by 2331 connections;
The lower face of Z axis lead screw 21 links admittedly with 22 center location spiral shell of sucker, respectively with firm banking 14, the second rotating arm
18 inner cavity is connected to and is fixedly arranged above wire body pipe 27 across firm banking 14, the second rotating arm 18, and wire body pipe 27 is used as four
The wire body cable tray of motor.
Further, the height of the upper face of the support plate contacted with U-tube lower face in the second vibrations transfer plate 3 is higher than
In second change 92 at arcuate indentation plate upper face 1.8mm.
Further, distribution component further includes the air blowing block 13 for being located at 112 both sides of rectangle mounting groove in the second change 92, is blown
Screw is fixed on the opening plate face of third arc ring 93,11 plate face of distribution component fixed plate respectively at the both ends of air parcel 13, wherein
Be machined in the lateral plates of air blowing block 13 be machined with the lower face of air blowing import 131, air blowing block 13 that gas blow pipe connects it is parallel
In the outgassing groove 132 of 13 lower face of air blowing block, the rear end of outgassing groove 132 passes through connecting hole with the front end of air blowing import 131
133 connections enter outgassing groove 132 by intercommunicating pore 133 from the gas entered in air blowing import 131 and are blown from outgassing groove 132
Go out, outgassing groove 132, which is tightly attached in 93 plate face of third arc ring, makes gas that can only be blown out from the front port of outgassing groove 132;Two is side-blown
Photoelectric sensor is installed in air parcel 13.
Further, distribution component further includes the U-tube limit claw-plate 94 for being fixed on 93 upper face of third arc ring, U-shaped
Pipe limit claw-plate 94 includes U-tube limit claw-plate ontology 941, the position-limited claw of the circle in U-tube limit claw-plate ontology 941 is arranged
942, it is high that 942 compartment of multiple position-limited claws is distributed in the upper face of circle and position-limited claw 942 in U-tube limit claw-plate ontology 941
In cambered surface 2.3mm on the U-tube being distributed in the first turntable 91.
Further, snap ring 214 is nested and fixed in the lower end screw of Z axis lead screw 21, and the center location spiral shell of sucker 22 is solid
Jagged retainer ring 223,21 lower end of Z axis lead screw are inserted into 223 circle center hole of notch retainer ring of same diameter size, and snap ring 214 blocks
It is processed in the upper surface of notch retainer ring 223, on the cylindrical surface of the vertical cut (V. cut) both sides of notch retainer ring 223 and is parallel to diametric(al)
Horizontal threaded bore 2231, by tightened in horizontal threaded bore 2231 bolt reduce the size of 223 circle center hole of notch retainer ring into
And Z axis lead screw 21 is fixed in notch retainer ring 223.
Further, sucker 22 is machined with camera location hole 222, phase of the back-off of detection and localization camera 25 mounted on sucker 22
222 upper surface of machine location hole, 222 lower face of camera location hole is equipped with annular light source 26, wherein detection and localization phase in sucker 22
Positioning, detection program (belonging to the prior art, no longer huge legendary turtle is stated herein) are installed in machine 25.
Further, jack module 4, annular light source 61, scrap collecting tank 53, second shake transfer plate 3 input end with
The center of circle angle that disk 511 is formed is 90 °, and that there are six U-tube fixed block 10 and adjacent U-tubes is solid for processing on the first turntable 91
It is 60 ° to determine the center of circle angle between block 10, on the disk 511 in detection components installation there are three clamping jaw 52 and adjacent jaw 52 it
Between central angle be 120 °, there are five U-tube absorbent module 23, five U-tube absorbent modules 23 and positioning for installation on sucker 22
Detection camera 25 is angularly distributed in the circumferencial direction of sucker 22 and adjacent center of circle angle is 60 °.
The advantage of the automatic inserting equipment for U-tube involved in this specific embodiment is as follows:Instead of artificial inserting
Operation reduces labourer's intensity, and improving U-tube while realizing U-tube inserting automation inserts efficiency;The setting generation of detection components
U-tube quality, the artificial detection of size have been replaced, the accuracy of testing result is substantially increased, detection error rate has been reduced, after guarantee
The validity of continuous U-tube distribution, inserting;Distribution component drives rotation in vibrations equipment, the air blowing of air blowing block 13 auxiliary, motor 8
Allow multiple U-tube circumferencial direction arranged distributions on the first turntable 91 under collective effect, multiple U-shapeds on grabbing assembly sucker 22
Pipe absorbent module 23, detection and localization camera 25, which can meet to survey on the basis of side positions in frontier inspection, realizes the disposable of multiple U-tubes
Crawl greatly promotes crawl efficiency and inserts efficiency, and the detection function of detection and localization camera 25 can be another before U-tube inserting
It is secondary to be detected operation, the validity of U-tube inserting is further promoted, the positioning function of positioning camera 25 is by inserting U-tube
The positioning function of holding position ensure that the accuracy of U-tube inserting position, greatly improve U-tube inserting quality.
The several embodiments invented above described embodiment only expresses, the description thereof is more specific and detailed, but not
It can therefore be construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from inventive concept, various modifications and improvements can be made, these belong to the protection domain of invention.Cause
This, the protection domain of patent of invention should be determined by the appended claims.
Claims (9)
1. a kind of automatic inserting equipment for U-tube, the sequence inserted according to U-tube include successively:Vibrating disc, the first vibrations
Transfer plate, detection components, third vibrations transfer plate, distribution component, grabbing assembly;
The outlet of vibrating disc is connect with the input end of the first vibrations transfer plate, and the outlet end rear of the first vibrations transfer plate is equipped with
Detection components;
Detection components include jacking module, clamping jaw module, detection camera module, detection components fixed plate, and jacking module includes top
Cylinder, U-tube positioning plate are risen, U-tube positioning plate is screwed in the top end face of jacking cylinder power output shaft, U-tube positioning vertically
The upper end of plate is machined with the inverted T-shaped locating rack with U-tube shape complementation;Clamping jaw module include turntable, clamping jaw, scrap collecting tank,
Horizontal pushing cylinder;Turntable includes disk, shaft, motor, and shaft is vertical with the base surface of circle disk center position to be fixedly connected, shaft with
Between motor by being socketed in shaft, the belt on motor power output shaft belt wheel is indirectly connected with;Motor reverse buckling type is fixed on
In detection components fixed plate, the defeated output shaft of shaft, motor power both passes through detection components fixed plate and the socket of two shaft ends
Belt pulley is placed in the lower end spaces of detection components fixed plate, and shaft is realized and detection components fixed plate by being socketed rolling bearing
Rolling without frictional connection;Clamping jaw includes the fixed board for being fixed on disc base plate face, rotation axis, rotor plate, and rotor plate passes through set
The rotation axis for being connected to torsionspring is connect with fixed board, and rotor plate and the medial surface of fixed board lower end plate face enclose U-tube holding tank
And without U-tube inside in the case of the thickness of U-tube holding tank to be less than the diameter dimension of U-tube, the upper transverse plane of rotor plate high
It is not contacted with the edge of disk in disk and rotor plate medial surface;Detection camera module includes annular light source, smart camera, detection
It is fixed with annular light source in component fixed plate, light through-hole, light are machined in the detection components fixed plate immediately below annular light source
Smart camera is installed immediately below line three-way hole, scrap collecting tank is mounted in detection components fixed plate, the second vibrations pass
The input end of plate is sent to be mounted below disk, wherein annular light source, scrap collecting tank, second shake the input end of transfer plate successively
Along the unidirectional circumferential arrangement of disk, clamping jaw with disk rotational during just past annular light source the center of circle right over, waste material receive
Header import, the second vibrations transfer plate import end position, jacking module is located at the underface of U-tube holding tank;Garbage collection
The wording depth position of horizontal pushing cylinder and horizontal pushing cylinder is mounted on right over the surface of case, the second vibrations transfer plate input end
The upper face of rotor plate in clamping jaw;The outlet end of second vibrations transfer plate and the input end of distribution component connect;
Distribution component includes the distribution component fixed plate of motor, rotational distribution module, U-tube fixed block, rectangle, rotational distribution mould
Group includes the first turntable, the second change for being machined with arch surface notch, third arc ring, the symmetrical centre of distribution component fixed plate
Position is machined with the circle center hole that the power output shaft of power supply machine passes through, the seamed edge center processing of distribution component fixed plate
Have and is machined with annular groove with the second vibrations fixed rectangle mounting groove in transfer plate outlet end, the upper face of distribution component fixed plate
And the position of annular groove and rectangle mounting groove overlaps, wherein the second change is placed in annular groove and arcuate indentation
The position of straight rib face rectangle mounting groove, the upper face of the second change is concordant with the upper face of distribution component fixed plate, and first
The center location of turntable is machined with axle sleeve via, and the upper end of axle sleeve is fixed on the upper surface of the first turntable bottom bracket axle via, axis
The lower end of set passes through axle sleeve via and is fixed on the lower face of the first turntable, and the power output shaft of motor is solid across distribution component
The circle center hole of fixed board is fixed in axle sleeve, and U-shaped fixed block installation groove is machined at the circumferential edges of the first turntable, and U-tube is solid
Determine block to be screwed in U-shaped fixed block installation groove, the arc positioning of support U-tube is machined in U-tube fixed block
Face and arc locating surface extend out to the surface of plate face at arcuate indentation in the second change along the diametric(al) of the first turntable,
The upper arc surface of arc locating surface at arcuate indentation at a distance from upper face be d1 in the second change, arc under curved pipe in U-tube
The distance between shape face and both sides cylinder lower face d2, d1-d2=0mm~2mm;The race diameter of first turntable is less than second turn
The inner ring diameter of the race diameter of ring, third arc ring is equal to the race diameter of the first turntable and straight less than the outer ring of the second change
Diameter, the race diameter of third arc ring are more than the race diameter of the second change, at third arc ring and the second change, the first turntable
It is put in concentric position, third arc ring is located at the second change upper face and is solidly connected with distribution component fixed plate spiral shell;
The surface of distribution component is equipped with grabbing assembly, and grabbing assembly is mechanical gripper in the prior art, passes through mechanical gripper
U-tube in distribution component in arc locating surface in U-tube fixed block is captured and inserts the U-tube of air conditioner heat radiator
In plug-in opening;
The switch that U-tube inserts each equipment in equipment automatically is all controlled by PLC controller.
2. being used for the automatic inserting equipment of U-tube as described in claim 1, it is characterised in that:Second vibrations transfer plate in U-shaped
The support plate upper face height of pipe lower face contact is higher than plate upper face 0.5mm~2mm at arcuate indentation in the second change.
3. being used for the automatic inserting equipment of U-tube as described in claim 1, it is characterised in that:Distribution component further includes being located at the
The air blowing block of rectangle mounting groove both sides in two changes, screw is fixed on the opening plate of third arc ring respectively for the both ends of air blowing block
Face, distribution component fixed plate plate face, are wherein machined with the air blowing import being connect with gas blow pipe, air blowing block in the lateral plates of air blowing block
Lower face processing be parallel to the outgassing groove of air blowing block lower face, the rear end and the front end of air blowing import of outgassing groove pass through
Connecting hole is connected to, and the gas entered from air blowing import enters outgassing groove by intercommunicating pore and blown out from outgassing groove, and outgassing groove is tight
Being attached on third arc ring flat-plate face makes gas that can only be blown out from the front port of outgassing groove;Photoelectric sensing is installed in both sides air blowing block
Device.
4. being used for the automatic inserting equipment of U-tube as described in the appended claim 1, it is characterised in that:Distribution component further includes fixing
Claw-plate is limited in the U-tube of third arc ring upper face, U-tube limit claw-plate includes U-tube limit claw-plate ontology, is arranged in U
Shape pipe limits the position-limited claw of circle in claw-plate ontology, and multiple position-limited claw compartments are distributed in circle in U-tube limit claw-plate ontology
And the upper face of position-limited claw is higher than being distributed in cambered surface 1mm~2.5mm on the U-tube in the first turntable.
5. being used for the automatic inserting equipment of U-tube as described in claim 1, it is characterised in that:Firm banking, first motor, the
One rotating arm, the second motor, the second rotating arm, third motor, the 4th motor, Z axis lead screw, sucker, U-tube absorbent module, line
Body pipe;
First motor is placed in the inner cavity of firm banking, and the power output shaft of first motor passes through the upper face and the of firm banking
The rear end base surface of one rotating arm is fixedly connected, and first motor drives first rotating arm to carry out rotary oscillation in the plane;Second
Motor is located at the rear end of the second rotating arm, and the bottom end of the second motor is fixedly connected with the front end plate face of first rotating arm, and second
The power output shaft of motor is fixedly connected with the rear end of the second rotating arm, and the second motor drives the second rotating arm to carry out Plane Rotation
Movement;Third motor, the 4th motor are respectively positioned on the front position in the second rotating arm, and third motor, the power of the 4th motor are defeated
Gear is nested and fixed in shaft, and the front position of the second rotating arm is machined with the Z axis lead screw being connected to the second rotating arm inner cavity
Through-hole, Z axis lead screw is interspersed in Z axis lead screw through-hole and the processing of the external cylindrical surface of Z axis lead screw is parallel to central axial direction
Sliding recess, it is outer to be socketed with that medial surface is machined with the first change of matching helicitic texture, medial surface is machined with matching on Z axis lead screw
Second change of convex sliding edge, the first change, the second change cylindrical outer side be equipped with dentalation, the gear on third motor
Connection is engaged with dentalation outside the first change, the gear on the 4th motor engages connection with the gear outside the second change,
It drives the first change to rotate after third electric motor starting and then realizes the elevating movement of Z axis lead screw, the is driven after the 4th electric motor starting
Two changes rotate and then realize the rotary motion of Z axis lead screw, and when third motor, the 4th motor operate simultaneously, Z axis lead screw is only done
Rotary motion, when the operating of third motor, the 4th motor are static, Z axis lead screw realizes the movement lifted in rotation;
U-tube absorbent module is mounted in the plate face of turntable, and U-tube absorbent module includes lifting cylinder, spline bearing component, true
Empty absorbent module, for spline bearing assembly set in fixes sleeve, spline bearing component includes splined shaft, outer barrel, the cylinder of outer barrel
Lateral surface is machined with a circle groove, and multiple positioning spiro pits are machined in groove, and the cylindrical side of outer barrel, which is machined with, to be passed perpendicularly through
The positioning key groove of groove, the positioning key of vertical direction is equipped in positioning key groove, and fixes sleeve passes through the circle of disk edge
The upper surface of arc notch and fixes sleeve is solid by the upper surface spiral shell of screw and turntable, be machined on the cylindrical surface of fixes sleeve with
The kidney slot card slot of inner chamber body connection makes in the kidney slot card slot that fixed positioning key is stuck in just in fixes sleeve on outer barrel outer
It does not relatively rotate between cylinder and fixes sleeve, diametric two set screws is machined on the cylindrical surface of fixes sleeve
Hole, by set screw be sequentially inserted into set screw hole, outer barrel positioning spiro pit in fixes sleeve is fixedly connected with outer barrel;It rises
The back-off of sending down abnormally ascending cylinder is fixed on fixes sleeve upper face and the power output shaft of lifting cylinder passes through the circle center hole of fixes sleeve and moves
The end of power output shaft is fixed with splined shaft upper surface;Vacuum suction component includes negative-pressure gas connector and negative-pressure gas connector
The organ type suction nozzle of connection, the U-tube locating cover of inner hollow, splined shaft lower face and the upper surface of U-tube locating cover are fixed
Connection, negative-pressure gas connector are fixed in the negative pressure connector resettlement groove in U-tube locating cover, the bottom end of U-tube locating cover
Face is machined with the arch locating slot being connected to hollow cavity body, and the lower end of organ type suction nozzle is located at arch locating slot centre position, U
The lateral plates of shape pipe locating cover are machined with tracheae via, and negative-pressure sucking tracheae passes through tracheae via and negative pressure gas in vacuum generator
Negative pressure of vacuum suction is transmitted in organ type suction nozzle by the connection of body connector;
The lower face of Z axis lead screw links admittedly with turntable center location spiral shell, is connected to respectively with the inner cavity of firm banking, the second rotating arm
And it is fixedly arranged above wire body pipe, wire body cable tray of the wire body pipe as four motors across firm banking, the second rotating arm.
6. being used for the automatic inserting equipment of U-tube as claimed in claim 5, it is characterised in that:The lower end screw of Z axis lead screw
Snap ring, the intrinsic notch retainer ring of center location spiral shell of turntable is nested and fixed, Z axis screw lower end portion is inserted into lacking for same diameter size
In the circle center hole of mouth retainer ring, snap ring is stuck in the upper surface of notch retainer ring, adds on the cylindrical surface of the vertical cut (V. cut) both sides of notch retainer ring
Work is parallel to diametric horizontal threaded bore, and the size that bolt reduces notch retainer ring circle center hole is tightened in horizontal threaded bore
And then Z axis lead screw is fixed in notch retainer ring.
7. being used for the automatic inserting equipment of U-tube as claimed in claim 5, it is characterised in that:Sucker is machined with camera positioning
Hole, the back-off of detection and localization camera are equipped with camera location hole lower face in the camera location hole upper surface of sucker, sucker
Annular light source is wherein equipped with positioning, detection program in detection and localization camera.
8. being used for the automatic inserting equipment of U-tube as claimed in claim 5, it is characterised in that:It is machined on first turntable
N number of U-shaped fixed block installation groove of angular distribution, and the intrinsic U-tube fixed block of spiral shell in each U-shaped fixed block installation groove;
N-1 U-tube absorbent module is installed, N-1 U-tube absorbent module is with detection and localization camera in the circumference side of sucker on sucker
To being angularly distributed, on sucker the position of N-1 U-tube absorbent module with lacked on the first turntable except being located at arch in the second change
N-1 U-tube fixed block position at oralia face except U-tube fixed block can be horizontal by realization after relatively rotating by a certain angle
Projected position is identical on face, correspondingly, M clamping jaw is installed and M clamping jaw is angularly distributed on the disk in detection components,
Middle N, M are the natural number more than or equal to 2.
9. being used for the automatic inserting equipment of U-tube as described in any in claim 5~8, it is characterised in that:Jack module, ring
Shape light source, scrap collecting tank, the center of circle angle that the input end of the second vibrations transfer plate is formed with disk are 90 °, the first turntable
Upper processing is 90 ° there are four the center of circle angle between U-tube fixed block and adjacent U-tube fixed block, the disk in detection components
Upper installation is 90 ° there are four the central angle between clamping jaw and adjacent jaw, U-tube absorbent module there are three installations on sucker, three
A U-tube absorbent module is angularly distributed in the circumferencial direction of sucker with detection and localization camera and adjacent center of circle angle is 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810776243.2A CN108687502A (en) | 2018-07-16 | 2018-07-16 | A kind of automatic inserting equipment for U-tube |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810776243.2A CN108687502A (en) | 2018-07-16 | 2018-07-16 | A kind of automatic inserting equipment for U-tube |
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| Publication Number | Publication Date |
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| CN108687502A true CN108687502A (en) | 2018-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810776243.2A Pending CN108687502A (en) | 2018-07-16 | 2018-07-16 | A kind of automatic inserting equipment for U-tube |
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| CN110027004A (en) * | 2019-05-16 | 2019-07-19 | 上海新松机器人自动化有限公司 | Components pick device and pick-up method |
| CN112108884A (en) * | 2019-06-21 | 2020-12-22 | 珠海盾安热工科技有限公司 | Heat exchanger production system |
| CN113118032A (en) * | 2021-04-12 | 2021-07-16 | 万安裕维电子有限公司 | Automatic positioning control system and positioning method for PCB |
| CN113369151A (en) * | 2021-07-28 | 2021-09-10 | 东莞市雅创自动化科技有限公司 | CCD (charge coupled device) detector for automatic feeding and discharging of sheets |
| CN113714764A (en) * | 2021-09-15 | 2021-11-30 | 淄博职业学院 | Automatic change equipment of assembling |
| CN114260670A (en) * | 2021-12-13 | 2022-04-01 | 奥美森智能装备股份有限公司 | Automatic insert elbow machine |
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