CN115504236A - Cooperative production system and production process of oversized coil heavy copper pipe - Google Patents

Abstract

The invention relates to the technical field of copper pipe processing, in particular to a cooperative production system for an oversized coil heavy copper pipe. The invention discloses a cooperative production system for an oversized coil heavy copper pipe, which comprises a pre-processing area and a post-processing area, wherein the pre-processing area comprises a feeding station, a lifting station, a coil stacking station and a tray discharging station which are sequentially arranged; the production process of the copper pipe cooperative production system is also provided, the process flow is simple, the production efficiency and the yield of the copper pipe are greatly improved, and the produced copper pipe has stable quality and reliable performance.

Description

Collaborative production system and production process of super large heavy copper pipe

technical field

The invention relates to the technical field of copper pipe processing, in particular to a cooperative production system and production process of super large heavy copper pipes.

Background technique

At present, the copper pipes routinely used by air-conditioning manufacturers are horizontally wound coils. Generally, the weight of a single coil is about 160kg. Customers need to change the material frequently when using it. At the same time, it is also prone to the industry's chronic problem of "paying out the pipe", which affects production efficiency. . Therefore, a new winding method similar to mosquito coils has been developed. There is no strict positional relationship in the arrangement, which is called large loose coils, and the weight of a single coil can reach 1000kg. Copper tubes produced by this new winding method are hard tubes due to work hardening, and such products must be annealed if they are delivered in a soft state. After the annealing is completed, the large loose-coil copper tube on the bracket is lifted together with the iron bracket by the feeding mechanism and placed on the pallet conveyor, and the finished product is obtained after the protective film is wound and labeled. Since the iron pallet is used as the load-bearing tool for large loose coils during annealing, and the wooden pallet is required for factory delivery, so the finished product needs to be replaced by a wooden pallet with a paper plate through a special disk changing device. The replaced iron tray is picked up by the robot and placed on the iron tray recovery position, the wooden tray is grabbed by the robot and placed on the conveyor, and the paper tray on the wooden tray is placed on the wooden tray by suction.

Since the bulk roll is directly loosely wound into a hollow cylindrical structure by one or more copper tubes, before it is packaged and fixed, any turnover hoisting negligence will easily lead to loose coils or even overturning. At present, there is no production line for copper tubes produced by the new winding method on the market, and it is particularly critical for devices such as feeding, pallet changing and robot grabbing that will affect the quality of copper tubes.

Contents of the invention

The technical problem to be solved by the present invention is to overcome that there is no production line for producing copper tubes in the new winding mode in the prior art, and to provide a collaborative production system for super large heavy copper tubes that can realize the new winding mode.

The technical solution adopted by the present invention to solve the technical problem is: a cooperative production system for super large heavy copper pipes, including:

The pre-processing area, the pre-processing area includes the loading station, lifting station, tray stacking station and pallet discharging station arranged in sequence, as well as pallet conveyors and gantry feeding stations set corresponding to the lifting stations. Machine, loose tray rack conveyor and stacking machine corresponding to the stacking station, the loading station and tray discharging station are respectively set at both ends of the pallet conveyor, and the stacking machine is set at On the pallet conveyor, the bulk rack conveyor is arranged in parallel with the pallet conveyor, and the gantry feeder is arranged between the pallet conveyor and the bulk rack conveyor,

Post-processing area, the post-processing area includes the copper tube blanking station, film winding station, labeling station, turning pallet station, robot grabbing station, and iron plate blanking station, which are arranged in sequence , cardboard feeding station and wooden tray storage station, as well as the pallet conveyor and gantry unloader set corresponding to the copper tube unloading station, the film wrapping machine set corresponding to the film wrapping station, and the corresponding labeling worker The printing and labeling machine set at the position, the pallet turning device set corresponding to the turning pallet station, and the robot grabbing device set corresponding to the robot grabbing station, the gantry unloader is set at the input port of the pallet conveyor, so The above-mentioned film wrapping machine, printing and labeling machine, pallet turning device and robot grabbing device are arranged on one side of the pallet conveyor in sequence.

Further, a copper tube head and tail pretreatment station and a weighing station are set between the copper tube blanking station and the film-coated winding station in the post-processing area, and between the labeling station and the conversion pallet station There is also a visual inspection station in the room.

The copper pipe head and tail pretreatment station cuts off the head and tail of the copper pipe, the weighing station is used to weigh the copper pipe, and the visual inspection station is used to detect the labeling position and label information.

Further, the gantry loading machine includes a gantry frame and a copper pipe handling device slidingly arranged on the gantry frame, and the copper pipe handling device includes a horizontal transmission mechanism, a lifting mechanism and a positioning mechanism that reciprocate along the gantry frame, and the The lifting mechanism is installed on the horizontal transmission mechanism, and the positioning mechanism is arranged below the horizontal transmission mechanism and connected with the lifting mechanism.

The positioning mechanism is used to position the copper pipe, the lifting mechanism is used to lift the copper pipe positioned by the positioning mechanism, and the horizontal transmission mechanism is used to transfer the lifted copper pipe from one conveyor (or station) to another conveyor (or another station) handling.

Furthermore, the gantry is provided with a channel for the movement of the horizontal transmission mechanism, and the horizontal transmission mechanism includes a movable plate, a servo motor, a driving sprocket, a chain, a driven sprocket, a slide rail and a slider. The servo motor is installed at one end of the gantry frame, and its output end is connected with an output shaft, and the two ends of the output shaft are installed with a driving sprocket, and the other end of the gantry frame is movably connected with a driven sprocket, and the driven sprocket is connected to the The driving sprocket is connected, the chain is connected with a movable plate, and the two sides of the movable plate are connected with a slide block, and the slide block is arranged on a slide rail, and the slide rail is fixed on the gantry frame on both sides of the channel.

The output shaft is driven to rotate through the servo motor, so that the driving sprocket rotates, and the driven sprocket is driven to rotate through the chain, so that the movable plate moves back and forth along the slide rail through the slider.

Furthermore, the lifting mechanism includes an electric cylinder, a movable frame, a first guide rod assembly and a second guide rod assembly, the electric cylinder is installed on the movable plate, and the movable frame includes an upper connecting plate and a lower connecting plate, The edge of the upper connecting plate is connected to the first guide rod assembly, the first guide rod assembly partially passes through the movable plate, the edge of the lower connecting plate is connected to the second guide rod assembly, and the second guide rod assembly partially passes through the upper connecting plate , the output end of the electric cylinder is connected to the lower connecting plate through the upper connecting plate, and the bottom of the lower connecting plate is connected to the positioning mechanism.

The lower connecting plate of the movable frame is driven up or down by the electric cylinder, and the up and down movement of a large stroke is realized by the first guide rod assembly and the second guide rod assembly.

Furthermore, the positioning mechanism includes a driving cylinder assembly, a positioning module driven by the driving cylinder assembly to fit on the inner wall of the copper pipe, and a supporting module at the bottom of the positioning module to support the iron bracket. The positioning module includes a central shaft, a telescopic mechanism and A plurality of positioning blocks, one end of the central shaft is fixed on the drive cylinder assembly, the telescopic mechanism is arranged on the outer circumference of the central shaft, the positioning block is an arc plate and connected to the telescopic mechanism, and the outer wall is provided with foam layer;

The telescopic mechanism includes at least one linear guide rail group, a guide block and a connecting rod assembly. A plurality of the linear guide rail groups are distributed from top to bottom. installed directly on the same height of the peripheral wall of the central axis and evenly distributed, each linear guide rail is provided with a guide block that slides up and down along it, and the connecting rod assembly includes a first connecting rod, a second connecting rod and a fixed seat, so One end of the first connecting rod is hinged to the guide block, the other end is pivotally connected to the inner side wall of the positioning block, one end of the second connecting rod is hinged to the middle section of the first connecting rod, and the other end is hinged to the fixing seat. The fixing seat is fixed on the peripheral wall of the central shaft below the linear guide rail,

The drive cylinder assembly includes a cylinder mounting frame and a self-locking cylinder, the cylinder mounting frame is connected to the lower connecting plate, the self-locking cylinder is installed in the cylinder mounting frame, and its output end is connected with a push frame through a floating joint, and the The push frame contacts or separates from the guide block on any linear guide rail in the linear guide rail group arranged at the uppermost part of the central axis,

The supporting module includes a positioning cylinder, a bracket and an adjustment block, the output end of the positioning cylinder is connected to the bracket through the adjustment block, the positioning cylinder is installed at the bottom of the positioning block, and the adjustment block is installed The through hole at the bottom end of the block is slidingly matched with it, and a limiting plate is extended on one side of the bottom end of the adjustment block.

The output end of the self-locking cylinder drives the push frame to move down and then pushes any guide block to slide down along the linear guide rail. The bottom end of the connecting rod moves outward, while the other end of the second connecting rod moves downward, so that the positioning block moves outward until the outer wall of the positioning block fits tightly with the inner peripheral wall of the large loose coiled copper pipe; The output end of the positioning cylinder pushes the adjustment block and then synchronously pushes the bracket to move outward until the bracket completely supports the iron bracket, realizing the clamping of the large loose coil copper pipe by the positioning mechanism.

Further, the tray turning device includes a frame, and the frame is provided with a rotating support mechanism laterally near the middle section, and a copper pipe clamping mechanism is fixed on the rotating support mechanism, and the top of the copper pipe clamping mechanism is set There is a copper pipe pressing mechanism, a transmission mechanism and a tray rotation mechanism located below the transmission mechanism are provided on the frame located in front of the copper pipe clamping mechanism. A first driving member connected with the rotating member is installed on the rear side of the holding mechanism, and a second driving member for driving the rotating support mechanism to rotate is installed on the rear side of the frame.

Furthermore, the rotation support mechanism includes a rotating shaft and a rotating member rotatably connected in the middle of the rotating shaft, the rotating member is mounted on the rotating shaft through a bearing, and the rotating member includes a rotating lug connected with the first driving member and a rotating member connected with the tray rotating mechanism. The connected connecting frame, the rotating shaft is equipped with a rotation angle detection assembly near the end and the rotating part. The rotation angle detection assembly includes a semicircular plate, and several rotation angle detection assemblies are installed on the edge of the semicircular plate. sensor.

The rotating member is driven to rotate around the rotating shaft by the first driving member, thereby driving the tray rotating mechanism connected to the connecting frame of the rotating member to rotate. Two-speed operation and precise stop are realized by the position signal of the rotation angle detection component measured by the rotation angle detection sensor, and the rotation of the shaft and the rotating part is realized by the rotation angle signal measured by the rotation angle sensor on the two rotation angle detection components angle matching.

Furthermore, the copper pipe clamping mechanism includes a mounting frame and an arc-shaped bracket, the front side of the mounting frame is fixed with an arc-shaped bracket, the outer wall of the arc-shaped bracket is provided with a flexible material layer, the mounting frame An installation wing plate is respectively fixed on both sides of the bottom, the installation wing plate has a sleeve sleeved to the end of the rotating shaft, a connecting plate is fixedly arranged on the sleeve, and the connecting plate is connected to the second driving member;

The copper pipe pressing mechanism includes a circular pressing plate on the top of the arc-shaped support and a lifting assembly installed on the mounting frame. The radius of the circular pressing plate is the same as that of the arc-shaped support. The lifting assembly includes a lifting motor, Chain, sprocket I, sprocket II, sliding blocks and sliding guide rails, the lifting motor is installed on the top of the installation frame, its output end is connected to the transmission shaft, and the two ends of the transmission shaft are provided with sprocket I, and the installation The bottom of the frame is equipped with a sprocket II, the sprocket II is connected with the sprocket I through a chain, a connecting frame is connected to the chain, sliding guide rails are installed on both sides of the mounting frame, and the two sliding guide rails are equipped with There is a sliding block sliding up and down along it, and the two sliding blocks are fixed on the connecting frame, and the connecting frame is connected with the circular pressing plate, and a pressure sensor is arranged at the joint of the two.

The axial limit of the copper tube is realized through the arc-shaped bracket, and the flexible material layer serves the purpose of protecting the copper tube; the connecting plate is pushed by the second driving part, and the sleeve is driven to rotate around the rotating shaft, so that the mounting wing plate drives the mounting frame to rotate . The lifting motor starts, drives the transmission shaft to rotate, and drives the connecting frame to move up and down through the driving sprocket, chain and driven sprocket. In order to ensure the stability of the up and down movement, the slider on the connecting frame moves along the slide rail to achieve a circular motion. Lifting of the pressure plate; the pressure sensor can detect the contact pressure between the circular pressure plate and the upper end of the copper tube to ensure a reasonable pressure without damaging the copper tube; the radius of the circular pressure plate is the same as that of the arc bracket to ensure the consistency of clamping.

Furthermore, the pallet rotation mechanism includes a bracket, a jacking electric push rod and a guide column, the jacking electric push rod is installed in the middle of the back of the bracket, the guide column is installed on the upper surface of the bracket, and is connected with the transmission institutional connection;

Described transmission mechanism comprises transmission frame, transmission shaft, transmission chain and servo motor 1, and described servo motor 1 is installed on one side end of transmission frame, and it is connected with transmission shaft, and described transmission shaft is installed on one end of transmission frame, The two ends of the transmission shaft are equipped with transmission sprockets, the top of the transmission frame is provided with a guide frame supporting the transmission chain, and the two ends of the guide frame are provided with sprockets, and the sprockets and the transmission sprocket pass The transmission chain is connected, and the two sides of the transmission frame are fixed with side positioning plates, and the middle section of the side positioning plates is equipped with a downward pressure cylinder.

The positioning plate on the side of the copper tube is connected with the transmission mechanism, and the overall lowering is realized by lifting the electric push rod, which can coordinate the height difference caused by the thickness of the wooden support being greater than that of the iron support. Start by the servo motor 1, drive the transmission shaft to rotate, drive the transmission chain to rotate by the transmission sprocket and the sprocket wheel, realize the iron bracket to escape from the transmission mechanism, and press down the cylinder can be used to fix the iron bracket and the wooden bracket, so as to be convenient to realize their overturning.

Further, the robot grabbing device includes a support plate, at least one set of crossbeam assemblies are fixed on the top of the support plate, gripper assemblies are respectively movably installed at both ends of the crossbeam assemblies, and driving jaw assemblies are installed on the crossbeam assemblies Rotate to realize the drive assembly for clamping, a number of vacuum suction cups are evenly distributed on the bottom surface of the support plate, and a connecting piece connected with the joint robot is arranged in the middle of the support plate. The vacuum suction cup is connected with the vacuum generator, the vacuum generator is installed on the support plate, and the height of the vacuum generator is smaller than that of the connecting piece.

Furthermore, the crossbeam assembly is provided with a set, the crossbeam assembly is composed of two parallel beams, the jaw assembly includes a rotating shaft movably connected under the ends of the two crossbeams, and the rotating shaft is perpendicular to the crossbeam, The rotating shaft is sleeved with a linkage connected to the drive assembly. Symmetrically arranged fingers are installed on both ends of the rotating shaft. The fingers include a finger body with an L-shaped structure. The finger body includes a vertical section and a The transverse section, the free end of the transverse section is provided with a gap, the linkage includes a collar and a connecting plate fixed on the outside of the collar, the collar is tightly fitted with the rotating shaft, and the connecting plate is "7" shape structure;

The drive assembly includes a cylinder mount and a cylinder, the cylinder mount is an L-shaped structure, and it is fixed on the inner wall of the beam, the end of the cylinder is installed on the cylinder mount, and its front end is limited by a limit pin On the beam, so that the cylinder is parallel to the beam, the push rod of the cylinder is pinned to the end of the connecting plate through the connecting head.

The beam is made of aluminum profile, which facilitates the installation and fixation of itself, drive components and jaw components. The driving assembly drives the linkage to drive the rotating shaft to rotate to realize the outward expansion and contraction of the fingers. Since the wooden support is much thicker than the iron support, the edge of the wooden support is directly clamped with the finger body, and the iron support can be clamped by using the gap against its outer peripheral surface. The connecting plate is arranged in a "7"-shaped structure, which can play a role in limiting the rotation angle of the rotation shaft. The cylinder is arranged parallel to the beam and fixed on the inner side of the beam, which saves installation space and does not interfere with the joint robot; the push rod of the cylinder is pinned to the end of the connecting plate, which is convenient for installation.

Furthermore, the beam assembly includes a first beam assembly and a second beam assembly distributed vertically, the first beam assembly is composed of two first beams arranged in parallel, and the second beam assembly is composed of four first beams Composed of two beams, the length of the second beam is smaller than the length of the first beam, two second beams are arranged in parallel and fixed on the outside of one first beam, and the other two second beams are arranged in parallel and fixed on the other first beam outside.

The present invention also mentions a production process of the cooperative production system of super large heavy copper pipes in the above scheme, including the following process steps;

Pre-processing:

(1) The intelligent transportation equipment forks the pallet with the iron bracket and copper pipe in the copper tube preparation area and places it on the pallet conveyor, and the pallet conveyor automatically transports the pallets with goods to the loading of the gantry feeder Location;

(2) The gantry loader automatically lifts the copper pipe with the iron bracket and places it on the loose plate rack conveyor, and enters the heat treatment furnace with the loose plate rack conveyor for tempering;

(3) Empty pallets are transferred to the pallet stacking machine for automatic stacking and dragging. After the stacking and dragging is completed, they enter the pallet discharge station, and the intelligent transportation equipment will take away the stacked pallets;

Post-processing:

(a) After the copper tubes are returned to the furnace, the copper tubes on the loose tray rack together with the iron brackets are lifted and placed on the pallet conveyor by the gantry unloader;

(b) The copper pipes equipped with iron brackets are conveyed by the pallet conveyor. The pallet conveyor is equipped with a section of manual processing of the copper pipe head and tail pretreatment station, and the iron brackets equipped with copper pipes automatically enter this station. After the automatic processing is completed, The pallet conveyor automatically transports the finished product to the next visual inspection station;

(c) After the visual inspection is completed, enter the laminating and winding station. The equipment is first coated and then wound. When winding, it is necessary to ensure that the bottom copper pipe can also be wound and will not be wound on the iron bracket;

(d) Enter the labeling station after the winding is completed, and the printing and labeling machine will automatically paste the label with weight, batch and other information on the outer surface of the finished product package;

(e) After the labeling is completed, the finished product automatically enters the turning and converting wooden tray station. The finished product and the iron tray are put together by the tray turning device. After the turning is completed, the iron tray is replaced with a wooden tray with cardboard. After the replacement is completed, the tray turning device automatically The finished product is reversed to the original position and then transported to the unloading station;

(f) The wooden tray is placed on the pallet conveyor by the robot grabbing device, the replaced iron tray is grabbed by the robot grabbing device and placed at the tray recycling position, and the cardboard on the wooden tray is sucked by the robot grabbing device and placed on the wooden tray.

The beneficial effects of the present invention are:

1. The collaborative production system of the present invention has a reasonable layout, a small footprint, intelligent operation throughout the process, precise control, and high production efficiency;

2. Through the positioning mechanism of the gantry feeding machine, the positioning block is expanded outward to tighten the inner wall of the large loose-coiled copper tube to maintain the shape of the large loose-coiled copper tube, and combined with the supporting mechanism to hold the iron bracket at the bottom of the large loose-coiled copper tube , to achieve stable clamping of large loose-coil copper tubes, to avoid the large loose-coil copper tubes from being skewed or even overturned, through the setting of the horizontal transmission mechanism and the lifting mechanism, to realize the smooth movement of large loose-coil copper tubes during the handling process, In this way, the quality and safety of the large loose-coiled copper tubes are guaranteed; the lifting mechanism ensures the stability of the large loose-coiled copper tubes during the lifting process through the first guide post assembly and the second guide post assembly, and improves the lifting efficiency. The bearing capacity of the mechanism; a foam material layer is set on the outer wall of the positioning block to avoid abrasion caused by the rigid contact between the positioning block and the large loose-coiled copper tube, thereby ensuring the quality of the finished product of the large loose-coiled copper tube;

3. The rotation of the rotating support mechanism is driven by the second driving part on the tray turning device, which in turn drives the copper tube clamping mechanism, the transmission mechanism and the tray rotation mechanism to turn over as a whole, and the rotation of the rotating part is driven by the first driving part, which in turn drives the transmission mechanism And the flipping of the tray rotation mechanism, it is convenient to realize the separation of the iron tray from the transmission mechanism, and it is also convenient to place the wooden tray and cardboard;

4. The gripper assembly is driven by the driving assembly of the robot grabbing device to rotate to realize the gripping action. The structure of the gripper assembly can realize the gripping of the iron tray and the wooden tray at the same time, and the vacuum suction cup can realize the suction of the paper tray;

5. The production process of the copper pipe cooperative production system of the present invention is simple, and has great advantages in improving the production efficiency and yield of copper pipes, and the produced copper pipes have stable quality and reliable performance.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a structural schematic diagram of an embodiment of the present invention.

Fig. 2 is an enlarged structural schematic diagram of the pre-treatment area in Fig. 1 .

FIG. 3 is a schematic diagram of an enlarged structure of the post-processing area in FIG. 1 .

Fig. 4 is a schematic structural view of the gantry loading rack in the present invention.

Fig. 5 is a structural schematic diagram of the horizontal transmission mechanism in the gantry loading rack of the present invention.

Fig. 6 is a structural schematic diagram of the lifting mechanism in the gantry loading rack of the present invention.

Fig. 7 is a structural schematic diagram of the positioning mechanism in the gantry loading rack of the present invention.

Fig. 8 is a cross-sectional view of Fig. 7 along the direction A-A.

FIG. 9 is a top view of FIG. 8 .

Fig. 10 is a schematic structural view of the tray turning device in the present invention.

FIG. 11 is a schematic view of the structure of FIG. 10 along the B direction.

Fig. 12 is a structural schematic diagram of the rotating support mechanism in the tray turning device of the present invention.

Fig. 13 is a structural schematic diagram of the copper tube clamping mechanism and the copper tube pressing mechanism in the tray turning device of the present invention.

FIG. 14 is a schematic view of the structure of FIG. 13 in the direction C.

Fig. 15 is a structural schematic diagram of the tray rotating mechanism in the tray turning device of the present invention.

Fig. 16 is a structural schematic diagram of the transmission mechanism in the tray turning device of the present invention.

FIG. 17 is a schematic diagram of the structure of FIG. 16 in the D direction.

Fig. 18 is a schematic structural view of the robot grabbing device in the present invention.

FIG. 19 is a side view of FIG. 18 .

Fig. 20 is a side view of Fig. 18 from another direction.

FIG. 21 is a top view of FIG. 18 .

Fig. 22 is a schematic structural view of another embodiment of the robot grabbing device in the present invention.

Fig. 23 is a production process flow chart of an embodiment of the present invention.

Fig. 24 is a production process flow chart of another embodiment of the present invention.

In the picture:

1. Pallet conveyor, 2. Gantry loader, 3. Scattered tray conveyor, 5. Pallet conveyor, 6. Gantry unloader, 7. Heat treatment furnace, 9. Tray turning device, 10. Robot grabbing device,

A. Pre-processing area, B. Copper tube material preparation area, C. Post-processing area, D. Copper tube finished product area, E. Feeding station, F. Lifting station, H. Stacking station, J. Tray Discharging station, K. Copper tube blanking station, L. Laminating and winding station, M. Labeling station, N. Turning pallet station, S. Robot grabbing station, P. Iron plate Cutting station, Q. Cardboard feeding station, R. Pallet storage station, T. Copper pipe head and tail pretreatment station, U. Weighing station, W. Visual inspection station,

21. Gantry frame, 211. Channel, 22. Horizontal transmission mechanism, 221. Movable plate, 222. Servo motor, 223. Driving sprocket, 224. Driven sprocket, 225. Slide rail, 226. Slider, 227. Output shaft, 23. lifting mechanism, 231. electric cylinder, 232. movable frame, 233. first guide rod assembly, 234. second guide rod assembly, 2321. upper connecting plate, 2322. lower connecting plate, 24. positioning mechanism , 240. foam material layer, 241. central axis, 242. telescopic mechanism, 2422. guide block, 2421. linear guide rail, 2423. first connecting rod, 2424. second connecting rod, 2425. fixed seat, 243. positioning Block, 244. cylinder installation frame, 245. self-locking cylinder, 246. push frame, 247. positioning cylinder, 248. bracket, 249. adjustment block, 2410. limiting plate,

91. Rack, 911. Bottom frame, 912. First support column, 913. Second support column, 92. Rotation support mechanism, 921. Rotation piece, 9211. Rotation lug, 9212. Connecting frame, 922. Rotating shaft, 923. Rotation angle detection component, 9231. Semicircular plate, 9232. Rotation angle detection sensor, 93. Copper pipe clamping mechanism, 931. Mounting frame, 932. Arc bracket, 933. Mounting wing plate, 9331. Sleeve , 9332. Connecting plate, 94. Copper tube top pressure mechanism, 941. Circular pressure plate, 942. Lifting motor, 943. Sprocket I, 944. Sprocket II, 945. Slider, 946. Slide rail, 947. Transmission Shaft, 948. Connecting frame, 949. Pressure sensor, 95. Transmission mechanism, 951. Transmission frame, 952. Transmission shaft, 953. Servo motor, 954. Transmission sprocket, 955. Guide frame, 956. Sprocket, 957. Side positioning plate, 958. Depressing cylinder, 96. Tray rotation mechanism, 961. Bracket, 962. Jacking electric push rod, 963. Guide column, 98. First driving part, 99. Second driving part,

101. Support plate, 102. Crossbeam, 102'. First crossbeam, 102 ". Second crossbeam, 103. Gripper assembly, 104. Drive assembly, 105. Vacuum sucker, 106. Connector, 1031. Rotation shaft, 1032 .Linkage, 10321. Collar, 10322. Connection plate, 1033. Finger, 10331. Vertical section, 10332. Horizontal section, 103321. Gap, 1041. Cylinder mount, 1042. Cylinder, 1043. Limit pin, 1044 .Connector.

detailed description

The present invention will now be further described in conjunction with the accompanying drawings and preferred embodiments. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

As shown in Figure 1, an implementation of the cooperative production system for super-large heavy copper pipes includes a pre-processing area A, a copper pipe preparation area B, a post-processing area C, and a copper pipe finished product area D that are collectively set up together. There is an outer circulation transmission system on the periphery of the area, and the outer circulation transmission system includes the bulk rack conveyor 3 mentioned below and the furnace-in transfer frame and the furnace-exit transfer frame connected to the bulk rack conveyor 3. The transmission frame and the furnace transmission frame are respectively arranged at the entrance and exit of the heat treatment furnace 7, and an automatic transmission mechanism is arranged in the heat treatment furnace 7, which constitutes a cycle transmission. The heat treatment furnace 7 includes a heating chamber and a cooling chamber;

As shown in Figure 2, the pre-processing area A includes the loading station E, lifting station F, tray stacking station H, and tray discharging station J, as well as the pallet conveyor 1 and the corresponding lifting station. The gantry loader 2, the loose tray conveyor 3 set at position F, and the tray stacker set up at corresponding stacking station H, the loading station E and tray discharging station J are respectively set at pallet conveyor 1 The stacking machine is set on the pallet conveyor 1, the bulk rack conveyor 3 is set in parallel with the pallet conveyor 1, and the gantry loader 2 is set on the pallet conveyor 3 and the bulk rack conveyor Between machine 1;

As shown in Figure 3, the post-processing area includes the copper tube blanking station K, the film winding station L, the labeling station M, the turning and converting station N, the robot grabbing station S, the iron station Tray unloading station P, cardboard feeding station Q and pallet storage station R, as well as the pallet conveyor rear 5 and gantry unloader 6 corresponding to the unloading station K, and the setting of the corresponding film winding station L film wrapping machine, printing and labeling machine corresponding to labeling station M, pallet turning device 9 corresponding to flipping pallet station N, robot grabbing device 10 corresponding to robot grabbing station S, gantry The unloading machine 6 is arranged at the input port of the pallet conveyor 5, and the film wrapping machine, the printing and labeling machine, the pallet turning device 9 and the robot grabbing device 10 are arranged on one side of the pallet conveyor 5 in sequence.

In addition, between the copper tube blanking station K and the film winding station L in the blanking processing area, there are copper tube head and tail pretreatment station T and weighing station U, labeling station M and turning pallet There is also a visual inspection station W between the stations N. Among them, the structure of the gantry loading machine 2 and the gantry unloading machine 6 are the same, and the stacking machine, the film wrapping machine, the printing and labeling machine, the weighing equipment of the weighing station U and the visual inspection device of the visual inspection station W are all Structures in the prior art may be adopted, and details are not repeated here.

As shown in Figure 4, the gantry feeder 2 includes a gantry 21 and a copper pipe handling device that is slidably arranged on the gantry 21, and the copper pipe handling device includes a horizontal transmission mechanism 22 that reciprocates along the gantry 21, a lifting mechanism 23 and The positioning mechanism 24 and the lifting mechanism 23 are installed on the horizontal transmission mechanism 22 , and the positioning mechanism 24 is arranged below the horizontal transmission mechanism 22 and connected with the lifting mechanism 23 . Gantry 21 is provided with the channel 211 that moves for horizontal transmission mechanism, as shown in Figure 2 and Figure 3, horizontal transmission mechanism 22 comprises movable plate 221, servomotor 222, drive sprocket wheel 223, chain (not shown among the figures), Driven sprocket 224, slide rail 225 and slide block 226, servomotor 222 are installed on one end of gantry 21, and its output end is connected with output shaft 227, and the two ends of output shaft 227 are equipped with drive sprocket 223, and gantry 21 The other end movably connected with driven sprocket 224, driven sprocket 224 is connected with driving sprocket 223 by chain, is connected with movable plate 221 on the chain, is connected with slide block 226 on both sides of movable plate 221, and slide block 226 sets On the slide rail 225 , the slide rail 225 is fixed on the gantry 21 on both sides of the channel 211 .

As shown in Figures 5 and 6, the lifting mechanism 23 includes an electric cylinder 231, a movable frame 232, a first guide rod assembly 233 and a second guide rod assembly 234, the electric cylinder 231 is installed on the movable plate 221, and the movable frame 232 includes an upper Connecting plate 2321 and lower connecting plate 2322, the edge of upper connecting plate 2321 is connected with the first guide rod assembly 233, the first guide rod assembly 233 partly passes through movable plate 221, the edge of lower connecting plate 2322 is connected with the second guide rod assembly 234, the second The guide rod assembly 234 partially passes through the upper connecting plate 2321 , the output end of the electric cylinder 231 passes through the upper connecting plate 2321 and is connected with the lower connecting plate 2322 , and the bottom of the lower connecting plate 2322 is connected with the positioning mechanism 24 .

As shown in Figures 7 to 9, the positioning mechanism 24 includes a driving cylinder assembly, a positioning module driven by the driving cylinder assembly to fit the inner wall of the copper pipe, and a supporting module located at the bottom of the positioning module to support the iron bracket. The positioning module includes a central shaft 241, a telescopic Mechanism 242 and some positioning blocks 243, one end of the central shaft 241 is fixed on the drive cylinder assembly, the telescopic mechanism 242 is arranged on the outer circumference of the central shaft 241, and the positioning block 243 is an arc plate and is connected on the telescopic mechanism 242, and its outer wall Be provided with foam material layer 240 (select pearl cotton in this embodiment); Telescopic mechanism 242 comprises at least one linear guide rail group, guide block 2422 and connecting rod assembly, a plurality of linear guide rail groups distribute from top to bottom, each The linear guide rail group is made up of linear guide rails 2421 with the same number as the positioning block 243, and the linear guide rails 2421 are vertically installed on the same height of the peripheral wall of the central axis 241 and are evenly distributed. Guide block 2422, the connecting rod assembly includes a first connecting rod 2423, a second connecting rod 2424 and a fixed seat 2425, one end of the first connecting rod 2423 is hinged with the guide block 2422, and the other end is pivotally connected with the inner side wall of the positioning block 243, the second One end of the second connecting rod 2424 is hinged to the middle section of the first connecting rod 2423, and the other end is hinged to the fixing seat 2425, and the fixing seat 2425 is fixed on the outer peripheral wall of the central axis 241 below the linear guide rail 2421,

Drive cylinder assembly comprises cylinder mounting frame 244 and self-locking cylinder 245, and cylinder mounting frame 244 is connected with lower connecting plate 2322, and self-locking cylinder 245 is installed in the cylinder mounting frame 244, and its output end is connected with push frame 246 by floating joint, push The frame 246 is in contact with or separated from the guide block 2422 on any linear guide rail 2421 in the linear guide rail group at the top of the central axis 241,

The supporting module includes a positioning cylinder 247, a bracket 248 and an adjustment block 249. The output end of the positioning cylinder 247 is connected with the bracket 248 through the adjustment block 249. The positioning cylinder 247 is installed at the bottom of the positioning block 243, and the adjustment block 249 is installed on the bottom of the positioning block 243. A limit plate 2410 is extended from one side of the bottom end of the adjustment block 249 in the through hole at the bottom of the positioning block 243 and is slidingly fitted therewith.

As shown in Figure 10 and Figure 11, the tray turning device 9 includes a frame 91, and the frame 91 is provided with a rotating support mechanism 92 laterally near the middle section, and a copper pipe clamping mechanism 93 is fixed on the rotating support mechanism 92, and the copper pipe clamping mechanism 93 is fixed on the rotating support mechanism 92, and the copper pipe clamping mechanism The top of the mechanism 93 is provided with a copper pipe pressing mechanism 94, and the frame 91 located at the front side of the copper pipe clamping mechanism 93 is provided with a transmission mechanism 95 and a tray rotation mechanism 96 below the transmission mechanism 95. The tray rotation mechanism 96 rotates The piece 921 is connected with the rotating support mechanism 92, the first driver 98 connected with the rotating piece 921 is installed on the rear side of the copper pipe clamping mechanism 93, and the second drive for driving the rotating support mechanism 92 to rotate is installed on the rear side of the frame 91. 99 pieces. Wherein, the bracket 91 includes a bottom frame 911, a first support column 912 and a second support column 913 located on the bottom frame 911, the first support column 912 is equipped with a rotating support mechanism 92, and the second support column 912 is equipped with a second driving member. 99. In this embodiment, the first driving member 98 and the second driving member 99 are preferably hydraulic cylinders.

As shown in Figure 12, the rotating support mechanism 92 includes a rotating shaft 922 and a rotating member 921 rotatably connected in the middle of the rotating shaft 922. The rotating member 921 is mounted on the rotating shaft 922 through a bearing. The ear 9211 and the connecting frame 9212 connected with the tray rotating mechanism 96. A rotation angle detection assembly 923 is provided on the shaft 922 close to the end and the rotating member 921. The rotation angle detection assembly 923 includes a semicircular plate 9231, and a plurality of rotation angle detection sensors 9232 are installed on the edge of the semicircular plate 9231.

As shown in Fig. 10, Fig. 14 and Fig. 15, the copper tube clamping mechanism 93 includes a mounting frame 931 and an arc-shaped support 932, the front side of the mounting frame 931 is fixed with an arc-shaped support 932, and the outer wall of the arc-shaped support 932 is provided with There is a flexible material layer (soft polyurethane material is used in this embodiment), and a mounting wing 933 is respectively fixed on both sides of the bottom of the mounting frame 931. The mounting wing 933 has a sleeve 9331 sleeved to the end of the rotating shaft 922. The sleeve 9331 A connecting plate 9332 is fixedly arranged on the top, and the connecting plate 9332 is connected with the second driving member 99 . The copper pipe pressing mechanism 94 includes a circular pressing plate 941 located at the top of the arc-shaped support 932 (the bottom surface is also provided with a flexible material layer, which is made of soft polyurethane in this embodiment) and a lifting assembly installed on the mounting frame 931. The circular pressing plate 941 The radius of the radius is the same as that of the arc support 932, and the lifting assembly includes a lifting motor 942, a chain (not fully shown in the figure, only a small section is shown), sprocket I943, sprocket II944, sliding block 945 and sliding guide rail 946, lifting Motor 942 is installed on the top of mounting frame 931, and its output end is connected transmission shaft 947, and the two ends of transmission shaft 947 are provided with sprocket wheel I943, and the bottom of mounting frame 931 is equipped with sprocket wheel II944, and sprocket wheel II944 passes chain and sprocket wheel I943 connection, a connecting frame 948 is connected to the chain, sliding guide rails 946 are installed on both sides of the mounting frame 948, and sliding blocks 945 that slide up and down along the sliding rails 946 are provided on the two sliding rails 946, and the two sliding blocks 945 are fixed on the connecting frame 948 , the connecting frame 948 is connected to the circular pressure plate 941, and a pressure sensor 949 is provided at the joint of the two.

As shown in Figure 16, the tray rotation mechanism 96 includes a bracket 961, a jacking electric push rod 962 and a guide column 963, the jacking electric push rod 962 is installed in the middle of the back of the bracket 961, and the guide column 963 is installed on the upper surface of the bracket 961 , and connected with the transmission mechanism 95.

As shown in Figure 17, transmission mechanism 95 comprises transmission frame 951, transmission shaft 952, transmission chain (not shown in the figure, is prior art) and servo motor 1953, and servo motor 1953 is installed on one side end of transmission frame 951, It is connected with the transmission shaft 952, the transmission shaft 952 is installed on one end of the transmission frame 951, the two ends of the transmission shaft 952 are equipped with transmission sprockets 954, the top of the transmission frame 951 is provided with a guide frame 955 supporting the transmission chain, the guide frame 955 Both ends are provided with sprocket wheel 956, and sprocket wheel 956 is connected with transmission sprocket wheel 954 by transmission chain, and the both sides of transmission frame 951 are fixed with side positioning plate 957, and the middle section of side positioning plate 957 is equipped with downpress cylinder 958.

As shown in Figures 18-21, the robot grabbing device 10 includes a support plate 101. In this embodiment, the support plate 101 is disc-shaped, and a group of beam assemblies are fixed on the top of the support plate 101. The beam assembly consists of two parallel beams. 102, preferably, the crossbeam 102 is made of aluminum profile, the two ends of the two crossbeams 102 are respectively equipped with clamping jaw assemblies 103, and the two crossbeams 102 are equipped with a drive assembly 104 for driving the clamping jaw assembly to rotate to achieve clamping, and a support plate Several vacuum suction cups 105 are evenly distributed on the bottom surface of 101 . In the middle of the support plate 101 is provided a connecting piece 106 connected with the articulated robot. The vacuum chuck 105 is connected with a vacuum generator (not shown in the figure, which is prior art), and the vacuum generator is installed on the support plate 101 , and the height of the vacuum generator is smaller than that of the connecting piece 106 .

Wherein, the jaw assembly 103 includes a rotating shaft 1031 movably connected below the ends of the two crossbeams 102. The rotating shaft 1031 is vertically arranged with the crossbeam 102. The rotating shaft 1031 is sleeved with a linkage 1032 connected with the driving assembly 104. The two ends of the rotating shaft 1031 The end is fitted with symmetrically arranged fingers 1033. The finger 1033 includes a finger body with an L-shaped structure. The finger body includes a vertical section 10331 and a transverse section 10332 located at the lower end of the vertical section 10331 . The free end of the transverse section 10332 is provided with a notch 103321 . The linkage 1032 includes a collar 10321 and a connecting plate 10322 fixedly arranged on the outside of the collar 10321. The collar 10321 closely fits with the rotating shaft 1031, and the connecting plate 10322 has a “7”-shaped structure.

The drive assembly 104 includes a cylinder mounting base 1041 and a cylinder 1042. The cylinder mounting base 1041 is in an L-shaped structure and is fixed on the inner side wall of the beam 102. The end of the cylinder 1042 is mounted on the cylinder mounting base 1041, and its front end passes through a limit pin 1043. It is limited on the beam 102 so that the cylinder 1042 is parallel to the beam 102 , and the push rod of the cylinder 1042 is pinned to the end of the connecting plate 10322 through the connecting head 1044 .

As shown in Figure 22, another embodiment of the robot grabbing device: two sets of beam assemblies are fixed on the top of the support plate 101, these two sets of beam assemblies are the first beam assembly and the second beam assembly distributed vertically, the first beam assembly The assembly is made up of two first crossbeams 102' arranged in parallel, and the second crossbeam assembly is made up of four second crossbeams 102 ", and the length of the second crossbeams 102 " is less than the length of the first crossbeams 102 ', and the two second crossbeams 102 "are arranged in parallel and fixed on the outside of one first beam 102', and the other two second beams 102" are arranged in parallel and fixed on the outside of the other first beam 102'. Two sets of such beam assemblies are provided to ensure more stable gripping. In principle, more beam assemblies can be provided, but this will increase manufacturing difficulty and cost.

Cooperative production system for super-large heavy copper pipes, as shown in Figure 23, the intelligent transportation equipment places the pallets with iron brackets and copper pipes on the pallet conveyor 1, and the side of the pallet conveyor 1 is equipped with anti-collision blocks and other auxiliary materials. The positioning device ensures that the intelligent transportation equipment can accurately place the copper tube on the pallet conveyor 1, and transport the pallet with the copper tube to the loading position of the gantry loader 2 (there is a height in front of the gantry loader 2) The detection station automatically detects the height of the copper tube, and provides a signal to the gantry feeder 2, and the gantry loader 2 adjusts the descending and rising stroke of the fixture according to the height of the copper tube), and the loading station of the gantry loader 2 has Positioning device (mechanical positioning based on the iron bracket), the gantry feeder 2 automatically lifts the copper tube with the iron bracket and places it on the loose plate rack (the loose plate rack is provided with a limit block for the iron bracket, and the buyer’s loose plate The rack conveyor 3 needs to be equipped with a mechanical limit device to ensure that the position of the copper tube on the rack conveyor reaches the accuracy range of the supplier's equipment), and the copper tube enters the heat treatment furnace 7 with the rack conveyor for heat treatment and annealing , the empty pallet enters the stacking station H and is automatically stacked and towed by the stacking machine. After the stacking and towing is completed, the stacked pallet will be taken away by the intelligent transport equipment;

After the heat treatment of the copper tubes is released, the copper tubes on the bulk rack together with the iron brackets are lifted by the gantry unloader 6 and placed on the pallet conveyor 5 (the grabbing station of the gantry unloader 6 is equipped with a material height detection photoelectric, which automatically detects the goods Provide signals to the gantry unloader 6, and the gantry unloader 6 automatically adjusts the descending and rising strokes of the fixture according to the height of the goods. The mechanical positioning device is set on the conveyor of the buyer to ensure that the position of the copper pipe reaches the grasping position of the supplier's equipment. accuracy range), the iron tray equipped with copper pipes is conveyed by the pallet conveyor 5, and the tray conveyor 5 is provided with a section of copper pipe head and tail pretreatment station T, and the iron tray equipped with copper pipes enters this station automatically, after the processing is completed Pallet conveyor 5 automatically transports the finished product to the next visual inspection station W (the weight information of the finished product inspection needs to be sent to the instant printing and labeling machine). After the inspection is completed, it enters the lamination and winding station L. Winding. When winding, it is necessary to ensure that the bottom copper pipe can also be wound and not be wound on the iron support. After the winding is completed, the printing and labeling machine will automatically paste the label with weight, batch and other information on the outer surface of the finished product package. After the labeling is completed, the finished product automatically enters the turning and converting wooden pallet station N, and the pallet turning device 9 puts the finished product together with the iron pallet. After the flipping is completed, the iron pallet is replaced with a wooden pallet with cardboard. After the replacement is completed The pallet turning device 9 automatically reverses the finished product to its original position and then transports it to the unloading station. The wooden pallet is grabbed by the robot and placed 10 on the conveyor. The replaced iron pallet is grabbed by the robot and placed 10 to the pallet recycling position. The cardboard on the board is grasped and placed by the robot 10 and sucked and placed on the wooden pallet.

As shown in Figure 24, an implementation of the cooperative production system for super-large and heavy copper pipes is different from the implementation in Figure 1 in that: the cooperative production system for super-large and heavy copper pipes has two pre-processing areas A. Correspondingly, two external circulation transmission systems are set on the periphery of the processing area, that is, the copper pipes from the two pre-processing areas A enter the same post-processing area C from the two external circulation transmission systems for post-processing. On the one hand, it can make overall use of production time and improve production efficiency. On the other hand, compared with the embodiment shown in Figure 1, it can reduce the repeated setting of the copper tube preparation area B, the post-processing area C and the copper tube finished product area D, and reduce the occupied area. In addition, it is also possible to appropriately increase the number of each zone and the number of external circulation systems within the scope of space permitting according to the needs of production capacity, so as to achieve the purpose of expanding production.

The above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention. Substantial equivalent changes or modifications shall fall within the protection scope of the present invention.

Claims (14)

1. The utility model provides an oversized dish heavy copper pipe cooperation production system which characterized in that includes:

the system comprises a prophase processing area, wherein the prophase processing area comprises a feeding station (E), a lifting station (F), a disc stacking station (H) and a tray discharging station (J) which are sequentially arranged, a pallet conveyor (1), a gantry feeding machine (2) which is arranged corresponding to the lifting station (F), a bulk disc material rack conveyor (3) and a disc stacking machine which is arranged corresponding to the disc stacking station (H), wherein the feeding station (E) and the tray discharging station (J) are respectively arranged at two ends of the pallet conveyor (1), the disc stacking machine is arranged on the pallet conveyor (1), the bulk disc material rack conveyor (3) and the pallet conveyor (1) are arranged in parallel, the pallet feeding machine (2) is arranged between the gantry conveyor (1) and the bulk disc material rack conveyor (3),

the post-processing area comprises a copper pipe blanking station (K), a film covering winding station (L), a labeling station (M), a turnover wood changing tray station (N), a robot grabbing station (S), an iron disc blanking station (P), a paperboard feeding station (Q) and a wood tray storage station (R) which are sequentially arranged, a tray conveyor (5) and a gantry unloader (6) which correspond to the copper pipe blanking station (K), a film covering winding machine which corresponds to the film covering winding station (L), a printing and labeling machine which corresponds to the labeling station, a tray turnover device (9) which corresponds to the turnover wood changing tray station (N) and a robot grabbing device (10) which corresponds to the robot grabbing station (S), wherein the gantry unloader (6) is arranged at an input port of the tray conveyor (5), and the film covering winding machine, the printing and labeling machine, the tray turnover device (9) and the robot grabbing device (10) are sequentially arranged on one side of the tray conveyor (5).

2. The cooperative production system for the extra large coil heavy copper pipe as recited in claim 1, wherein: copper pipe head and tail preliminary treatment station (T) and weighing station (U) are equipped with between post processing district's copper pipe unloading station (K) and tectorial membrane winding station (L), still are equipped with visual detection station (W) between subsides mark station (M) and the upset wooden support station (N) of trading.

3. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 1, wherein: the copper pipe conveying device comprises a horizontal transmission mechanism (22), a lifting mechanism (23) and a positioning mechanism (24), wherein the horizontal transmission mechanism (22), the lifting mechanism (23) and the positioning mechanism (24) move back and forth along the portal frame (21), the lifting mechanism (23) is installed on the horizontal transmission mechanism (22), and the positioning mechanism (24) is arranged below the horizontal transmission mechanism (22) and connected with the lifting mechanism (23).

4. The cooperative production system for extra large coil heavy copper pipes as recited in claim 3, wherein: the automatic conveying device is characterized in that a channel (211) for the horizontal conveying mechanism (22) to move is arranged on the portal frame (21), the horizontal conveying mechanism (22) comprises a movable plate (221), a servo motor (222), a driving chain wheel (223), a chain, a driven chain wheel (224), a sliding rail (225) and a sliding block (226), the servo motor (222) is installed at one end of the portal frame (21), an output end of the servo motor is connected with an output shaft (227), the driving chain wheel (223) is installed at two ends of the output shaft (227), the other end of the portal frame (21) is movably connected with the driven chain wheel (224), the driven chain wheel (224) is connected with the driving chain wheel (223) through the chain, the movable plate (221) is connected onto the chain, the sliding blocks (226) are connected to two sides of the movable plate (221), the sliding blocks (226) are arranged on the sliding rail (225), and the sliding rail (225) is fixed onto the portal frame (21) on two sides of the channel (211).

5. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 4, wherein: the lifting mechanism (23) comprises an electric cylinder (231), a movable frame (232), a first guide rod assembly (233) and a second guide rod assembly (234), the electric cylinder (231) is installed on the movable plate (221), the movable frame (232) comprises an upper connecting plate (2321) and a lower connecting plate (2322), the edge of the upper connecting plate (2321) is connected with the first guide rod assembly (233), the part of the first guide rod assembly (233) penetrates through the movable plate (221), the edge of the lower connecting plate (2322) is connected with the second guide rod assembly (234), the part of the second guide rod assembly (234) penetrates through the upper connecting plate (2321), the output end of the electric cylinder (231) penetrates through the upper connecting plate (2321) to be connected with the lower connecting plate (2322), and the bottom of the lower connecting plate (2322) is connected with the positioning mechanism (24).

6. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 3, wherein: the positioning mechanism (24) comprises a driving cylinder assembly, a positioning module which is driven by the driving cylinder assembly to be attached to the inner wall of the copper pipe, and a bearing module which is positioned at the bottom of the positioning module and supports an iron support, wherein the positioning module comprises a central shaft (241), a telescopic mechanism (242) and a plurality of positioning blocks (243), one end of the central shaft (241) is fixed on the driving cylinder assembly, the telescopic mechanism (242) is arranged on the outer circumference of the central shaft (241), the positioning blocks (243) are arc-shaped plates and are connected to the telescopic mechanism (242), and a foaming material layer (240) is arranged on the outer side wall of the positioning block;

the telescopic mechanism (242) comprises at least one linear guide rail group, guide blocks (2422) and a connecting rod assembly, the linear guide rail groups are distributed from top to bottom, each linear guide rail group consists of linear guide rails (2421) with the same number as the positioning blocks (243), the linear guide rails (2421) are vertically arranged at the same height of the outer peripheral wall of the central shaft (241) and are uniformly distributed, each linear guide rail (2421) is provided with a guide block (2422) which slides up and down along the linear guide rail, the connecting rod assembly comprises a first connecting rod (2423), a second connecting rod (2424) and a fixed seat (2425), one end of the first connecting rod (2423) is hinged with the guide block (2422), the other end of the first connecting rod is connected with the inner side wall of the positioning block (243) in a shaft mode, one end of the second connecting rod (2424) is hinged to the middle section of the first connecting rod (2423), the other end of the second connecting rod is hinged with the fixed seat (2425), and the fixed seat (2425) is fixed on the outer peripheral wall of the central shaft (241) below the linear guide rails (2421),

the driving cylinder assembly comprises a cylinder mounting frame (244) and a self-locking cylinder (245), the cylinder mounting frame (244) is connected with a lower connecting plate (2322), the self-locking cylinder (245) is mounted in the cylinder mounting frame (244), the output end of the self-locking cylinder is connected with a pushing frame (246) through a floating joint, the pushing frame (246) is in contact with or separated from a guide block (2422) arranged on any linear guide rail (2421) in the linear guide rail group at the uppermost part of the central shaft (241),

the bearing module includes location cylinder (247), support utensil (248) and regulating block (249), the output of location cylinder (247) passes through regulating block (249) and is connected with support utensil (248), the bottom at locating piece (243) is installed in location cylinder (247), regulating block (249) wear to locate in the through-hole of locating piece (243) bottom and rather than sliding fit, one side of regulating block (249) bottom is extended and is set up a limiting plate (2410).

7. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 1, wherein: tray turning device (9) include frame (91), frame (91) are close to well section portion and transversely are provided with rotatory supporting mechanism (92), be fixed with copper pipe clamp embracing mechanism (93) on rotatory supporting mechanism (91), the top that copper pipe clamp embraced mechanism (93) is equipped with copper pipe roof pressure mechanism (94), is located and is equipped with transmission device (95) and is located tray rotary mechanism (96) of transmission device (95) below on frame (91) of copper pipe clamp embracing mechanism (94) front side, tray rotary mechanism (96) are connected with rotatory supporting mechanism (92) through rotating member (921), installs first driving piece (98) of being connected with rotating member (921) on the trailing flank that copper pipe clamp embraced mechanism (93), and frame (91) rear side is installed and is driven rotatory supporting mechanism (92) pivoted second driving piece (99).

8. The cooperative production system for extra large coil heavy copper pipes as recited in claim 7, wherein: rotatory supporting mechanism (92) are including pivot (922) and rotate and connect revolving part (921) in the middle of pivot (922), revolving part (921) is installed on pivot (922) through the bearing, and revolving part (921) includes rotatory journal stirrup (9211) be connected with first driving piece (98) and link (9212) be connected with tray rotary mechanism (96), be close to tip and revolving part (921) department on pivot (922) and all be equipped with rotation angle detection assembly (923), rotation angle detection assembly (923) include semicircle board (9231), a plurality of rotation angle detection sensor (9232) are installed to the border of semicircle board (9231).

9. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 8, wherein: the copper pipe clamping mechanism (93) comprises a mounting frame (931) and an arc-shaped support (932), the arc-shaped support (932) is fixed to the front side of the mounting frame (931), a flexible material layer is arranged on the outer side wall of the arc-shaped support (932), mounting wing plates (933) are fixed to two sides of the bottom of the mounting frame (931) respectively, each mounting wing plate (933) is provided with a sleeve (9331) sleeved to the end portion of the rotating shaft (922), a connecting plate (9332) is fixedly arranged on each sleeve (9331), and each connecting plate (9332) is connected with a second driving piece (99);

copper pipe top pressure mechanism (94) is including circular clamp plate (941) that is located arc support (932) top and install the lifting unit on mounting bracket (931), the radius of circular clamp plate (941) is the same with the radius of arc support (932), lifting unit includes elevator motor (942), chain, sprocket I (943), sprocket II (944), sliding block (945) and sliding guide (946), elevator motor (942) is installed at the top of mounting bracket (931), and transmission shaft (947) is connected to its output, the both ends of transmission shaft (947) are equipped with sprocket I (943), sprocket II (944) are installed to the bottom of mounting bracket (931), sprocket II (944) are connected with sprocket I (943) through the chain, be connected with a linking bridge (948) on the chain, sliding guide (946) are installed at the both sides border of mounting bracket (931), all are equipped with sliding block (945) along it gliding from top to bottom on two sliding guide (946), and two sliding block (945) are fixed on linking bridge (948), linking bridge (948) and both sides border and circular clamp plate (941) are equipped with pressure sensor (949).

10. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 7, wherein: the tray rotating mechanism (96) comprises a bracket (961), a jacking electric push rod (962) and a guide post (963), wherein the jacking electric push rod (962) is installed in the middle of the back of the bracket (961), and the guide post (963) is installed on the upper surface of the bracket (961) and is connected with the transmission mechanism (95);

transmission mechanism (95) are including transmission frame (951), transmission shaft (952), transmission chain and servo motor I (953), servo motor I (953) are installed at one side tip of transmission frame (951), and it is connected with transmission shaft (952), the one end at transmission frame (951) is installed in transmission shaft (952), transmission sprocket (954) is installed at the both ends of transmission shaft (952), the top of transmission frame (951) is equipped with leading truck (955) of supporting the transmission chain, the both ends of leading truck (955) all are equipped with sprocket (956), sprocket (956) are connected through the transmission chain with transmission sprocket (954), and the both sides of transmission frame (951) are fixed with side locating plate (957), push down cylinder (958) is installed in side locating plate (957) middle section.

11. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 1, wherein: robot grabbing device includes backup pad (101), backup pad (101) top is fixed with at least a set of beam assembly, beam assembly's both ends respectively movable mounting have clamping jaw assembly (103), install drive clamping jaw assembly (103) on the beam assembly and rotate drive assembly (104) that the realization was got and is got, evenly distributed has a plurality of vacuum chuck (105) on backup pad (101) bottom surface, and the centre of backup pad (101) is provided with connecting piece (106) of being connected with joint robot, vacuum chuck (105) are connected with vacuum generator, vacuum generator installs on backup pad (101), and vacuum generator highly is less than the height of connecting piece (106).

12. The cooperative production system for the oversized coil heavy copper pipe as recited in claim 11, wherein: the beam assembly is provided with a group, the beam assembly is composed of two beams (102) arranged in parallel, the clamping jaw assembly (103) comprises a rotating shaft (1031) movably connected below the end portions of the two beams (102), the rotating shaft (1031) is perpendicular to the beams (102), a linkage piece (1032) connected with the driving assembly (104) is sleeved on the rotating shaft (1031), two ends of the rotating shaft (1031) are provided with symmetrically arranged fingers (1033), the fingers (1033) comprise finger bodies of L-shaped structures, each finger body comprises a vertical section (10331) and a transverse section (10332) located at the lower end of the vertical section (10331), the free end portion of the transverse section (10332) is provided with a notch (321), each linkage piece (1032) comprises a sleeve ring (10321) and a connecting plate (10322) fixedly arranged on the outer side of the sleeve ring (10321), the sleeve ring (10321) is tightly matched with the rotating shaft (1031), and the connecting plate (10322) is of a 7-shaped structure;

the driving assembly (104) comprises an air cylinder mounting seat (1041) and an air cylinder (1042), wherein the air cylinder (1042) mounting seat is of an L-shaped structure and is fixed on the inner side wall of the beam (102), the tail end of the air cylinder (1042) is mounted on the air cylinder mounting seat (1041), the front end of the air cylinder (1042) is limited on the beam (102) through a limiting pin (1043) so that the air cylinder (1042) is parallel to the beam (102), and a push rod of the air cylinder (1042) is in pin joint with the end of the connecting plate (10322) through a connector (1044).

13. The cooperative production system for extra large coil heavy copper pipes of claim 11, wherein: the beam assembly comprises a first beam assembly and a second beam assembly which are vertically distributed, the first beam assembly consists of two first beams (102 ') which are arranged in parallel, the second beam assembly consists of four second beams (102'), the length of the second beams (102 ') is smaller than that of the first beams (102'), the two second beams (102 ') are arranged in parallel and fixed on the outer side of one first beam (102'), and the other two second beams (102 ') are arranged in parallel and fixed on the outer side of the other first beam (102').

14. A process for producing an oversized coil heavy copper pipe cooperative production system as claimed in any one of claims 1 to 13, characterised by comprising the process steps of;

pre-treatment:

(1) The intelligent transportation equipment places the tray which is provided with the iron support and the copper pipe and is arranged in the copper pipe preparation area on the pallet conveyor (1), and the pallet conveyor (1) automatically conveys the pallet provided with the copper pipe to the feeding position of the gantry feeding machine (2);

(2) The gantry feeding machine (2) automatically lifts copper pipes with iron holders to be placed on a bulk material rack of the bulk material rack conveyor (3) and enters the heat treatment furnace (7) along with the bulk material rack conveyor (3) for heat annealing treatment;

(3) The empty trays are conveyed to a tray stacking machine for automatic stacking and dragging, the empty trays enter a tray discharging station (J) after stacking and dragging is finished, and intelligent transportation equipment takes the stacked trays away;

post-processing:

(a) After the copper pipe is discharged from the furnace after heat treatment, the copper pipe on the bulk material rack and the iron support are lifted and placed on a tray conveyor (5) by a gantry unloader (6);

(b) The copper pipe provided with the copper tray is conveyed by a tray conveyor (5), the tray conveyor (5) is provided with a section of copper pipe head and tail pretreatment station (T), the copper pipe provided with the copper pipe automatically enters the station, and after the automatic treatment is completed, the tray conveyor (5) automatically conveys a finished product to the next section of visual detection station (W);

(c) After the visual inspection is finished, the copper pipe enters a film covering and winding station (L), the equipment firstly covers the film and then winds the film, and the copper pipe at the bottommost part can be ensured to be wound on the iron support and cannot be wound on the iron support during winding;

(d) After winding, the finished product enters a labeling station (M), and a printing and labeling machine automatically and automatically pastes labels with information such as weight, batch and the like on the outer surface of the finished product package;

(e) After labeling is finished, finished products automatically enter a turning and converting wooden support station (N), the finished products and iron supports are turned together by a tray turning device (9), the iron supports are replaced by the wooden supports with paperboards after turning is finished, and the finished products are automatically turned to the original position in the reverse direction by the tray turning device (9) after replacement and then conveyed to a blanking station;

(f) The wooden support is placed on the tray conveyor (5) by the robot grabbing device (10), the replaced iron support is grabbed by the robot grabbing device (10) and placed at the iron support recovery position, and the paperboard on the wooden support is sucked by the robot grabbing device (10) and placed on the wooden support.

Images