CN204565546U - Fin assembly little U-shaped pipe is unordered grabs cannula system automatically - Google Patents

Abstract

The utility model discloses that a kind of fin assembly little U-shaped pipe is unordered grabs cannula system automatically, comprise mechanical arm (1), manipulator (2), the bracket of circulation-supplied material and little U-shaped pipe bearing tray (3) and electric control gear (4), mechanical arm comprises X-coordinate driving mechanism, Y-coordinate driving mechanism, Z coordinate driving mechanism; Manipulator comprises body (21), gripping refers to (22) and holder fetching (23), and body is connected with mechanical arm tail end by the mount pad (211) being provided with C coordinate driving mechanism; The bracket of circulation-supplied material and little U-shaped pipe bearing tray comprise Multi-layer bracket (31), little U-shaped pipe bearing tray (32), power set (33) and electrical control mechanism (34); Electric control gear comprises industrial control computer, pattern-recognition loop, stirs and disturb loop, the crawl of little U-shaped pipe loop, intubate control loop etc.Native system can realize automation mechanized operation, reduces human factor to the impact of manufacturing schedule.

Description

Fin assembly little U-shaped pipe is unordered grabs cannula system automatically

Technical field

The utility model relates to a kind of fin assembly automatic intubation system, specifically a kind of be applicable to air-conditioner radiator, condenser fin assembly intubate operation fin assembly little U-shaped pipe unorderedly automatically grab cannula system, belong to air-conditioning manufacturing technology field.

Background technology

Usually needing the heat-exchanger rig surface of carrying out heat trnasfer by increasing the stronger sheet metal of thermal conductivity, increase the heat transfer sheet area of heat-exchanger rig, improve heat exchange efficiency, the sheet metal with this function is referred to as fin.

Have two main heat exchanger in air-conditioner, i.e. radiator and condenser, the side working media of this two large heat exchanger is cold-producing medium, opposite side is air, in order to the heat transfer of enhanced heat exchange device, generally take compact Layout heat exchange area in air side, air-conditioner adopts compact fin-tube type heat exchanger mostly.

The fin of compact fin-tube type heat exchanger is generally provided with multiple can with the installing hole of copper pipe major diameter fit, manufacturing process is generally first by fin punch forming, then will grow " U " type copper pipe and penetrate installing hole on multiple fin side by side, finally carry out expand tube in the openend growing " U " type copper pipe, long " U " type copper pipe inside is grafting weld little " U " type copper pipe and be communicated with successively by each long " U " type copper pipe again after drying, and is about to all long " U " type copper pipes and is communicated with into a passage.

Current air-conditioner manufacturer still adopts manual work in a large number in the fin assembly intubate operation of radiator and condenser, the fin assembly pipe end to be inserted being about to good long " U " type copper pipe of string upwards moves up on working position apparatus frame or on streamline conveyer belt, then artificial each length " U " the type copper pipe End little " U " type copper pipe in container in bulk being plugged on one by one fin assembly, completes the fin assembly after artificial intubate and enters next procedure again.

There is following defect in this traditional mode of production:

1. manually carry out intubation owing to adopting, therefore the impact of human factor on manufacturing schedule such as operating personnel's sense of responsibility, mood is larger, and due to front road expand tube operation be undertaken by electric tube expander, efficiency is higher, therefore for meeting normally carrying out of follow-up oven dry welding sequence, often need to arrange many people and carry out artificial intubate operation, labor intensity of operating staff is large, efficiency is low;

2. although front road expand tube operation, rear road are dried welding sequence and are realized automation mechanized operation, but intubate operation still adopts manual operation, therefore often the situation that preceding working procedure accumulates too many output, later process holds up work for lack of material is caused because personnel placement is unreasonable, automation degree of equipment is low, utilization rate of equipment and installations is low, and production capacity can not ensure;

3., because intubate operation adopts manual operation, therefore require higher to the technical ability of operating personnel and qualification, the skilled operation degree of multiple operating personnel is uneven is also affecting manufacturing schedule in varying degrees, and easily causes unstable product quality.

Summary of the invention

For above-mentioned prior art Problems existing, the utility model provides that a kind of fin assembly little U-shaped pipe is unordered grabs cannula system automatically, can realize automation mechanized operation, reduces human factor to the impact of manufacturing schedule, production efficiency is high, can ensure the product quality of intubate operation simultaneously.

To achieve these goals, the unordered cannula system of automatically grabbing of this fin assembly little U-shaped pipe comprises mechanical arm, manipulator, the bracket of circulation-supplied material and little U-shaped pipe bearing tray and electric control gear;

Described mechanical arm fixed installation on the ground, comprises the X-coordinate driving mechanism in left and right horizontal direction, the Y-coordinate driving mechanism in anterior-posterior horizontal direction, the Z coordinate driving mechanism of vertical direction;

Described manipulator comprises body, gripping refers to and hold in the palm fetching, the top of body is connected with the end of mechanical arm by mount pad, C CORDIC structure is provided with in mount pad, the width dimensions of body bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe, and body bottom face is provided with the arc groove I with the pipe external diameter of little U-shaped pipe and U-shaped radian dimensional fits, and body is also provided with position sensor and range sensor; Gripping refers to be set to two pieces, the symmetrical center line of the symmetrical arc groove I in body arranges and is connected with body by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism, transmission connecting mechanism one end that gripping refers to is connected with body, the other end is connected to gripping and refers to, gripping refers to be provided with towards the medial surface of the arc groove I of body the arc groove II coordinated with the pipe outside dimension of little U-shaped pipe, and arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe jointly; L-shaped or the arc of holder fetching, be set to two pieces, front and back are symmetrical in arc groove I setting of body, holder fetching top is articulated and connected in body, finger tip vertical direction is towards arc groove I, holder fetching is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching is connected with holder fetching, the other end is connected with body, holder fetching finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe towards the surface of arc groove I, and arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe;

The bracket of described circulation-supplied material and little U-shaped pipe bearing tray comprise Multi-layer bracket, little U-shaped pipe bearing tray, power set and electrical control mechanism; Multi-layer bracket comprises support body and tray support mechanism, and support body is rectangular frame structure, and its inside along its length front and back is provided with two container cavities interconnected, and the inside of support body is provided with limiting plate in two ends along its length; On the medial surface of two container cavities that tray support mechanism is symmetrical along support body length direction, front and back are evenly arranged in support body, tray support mechanism comprises support vertical beam, support claw, vertical connecting rod I and vertical connecting rod II, supporting vertical beam is the tubular structure vertically arranged, and on the body of support vertical beam, on the medial surface of two container cavities of support body, direction is provided with the pilot hole that support claw can be allowed to stretch out along the same axis; Support claw, vertical connecting rod I and vertical connecting rod II are all arranged on and support in vertical beam, support claw is set to more than one piece, its longitudinal section assumes diamond in shape or triangle, arrange along interval uniform on the length direction of vertical connecting rod I and be articulated and connected with vertical connecting rod I in the middle part of support claw, support claw front end is external part, and support claw rear end and vertical connecting rod II are articulated and connected; Tray support mechanism is divided into fixed point supporting mechanism and movable support mechanism, fixed point supporting mechanism and movable support mechanism are arranged along support body length direction interval, the pilot hole of movable support mechanism is an elongated hole of the uniform size of space summation of support claw, and vertical connecting rod I and the vertical connecting rod II of movable support mechanism all can move up and down; The pilot hole of fixed point supporting mechanism is multiple elongated holes at uniform interval, the uniform interval of pilot hole of fixed point supporting mechanism coordinates with the uniform size of space of support claw, the vertical connecting rod I of fixed point supporting mechanism is fixedly connected with support vertical beam, and the vertical connecting rod II of fixed point supporting mechanism can move up and down; Little U-shaped pipe bearing tray is set to multiple, and layering is erected on the support claw of a container cavity inwall of support body, comprises tray body and bracing frame; Power set comprise support claw pushing handle telescopic control mechanism, pallet passes telescoping mechanism and power control mechanism, support claw pushing handle telescopic control mechanism is arranged on the top supporting vertical beam, vertical connecting rod II top of fixed point supporting mechanism is connected with support claw pushing handle telescopic control mechanism, and the vertical connecting rod I of movable support mechanism is connected with support claw pushing handle telescopic control mechanism with vertical connecting rod II; Pallet passing telescoping mechanism is arranged on correspondence, and from up to down numerical digit is in the position of the little U-shaped pipe bearing tray of ground floor, and its telescopic direction is along support body length direction; Power control mechanism is arranged on support body; Electrical control mechanism is arranged at the outside of Multi-layer bracket, comprise power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack is electrically connected with wireless transmitter module, power train control module and electronic identification chip, and power train control module is electrically connected with power control mechanism;

Described electric control gear comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, the crawl of little U-shaped pipe loop, intubate control loop etc., industrial control computer is electrically connected with the position sensor on manipulator and range sensor, the transmission connecting mechanism that industrial control computer refers to the C CORDIC structure in the X-coordinate driving mechanism of mechanical arm, Y-coordinate driving mechanism and Z coordinate driving mechanism and mount pad, gripping respectively, asks the transmission connecting mechanism of fetching to be electrically connected.

As preferred version of the present utility model, described mechanical arm also comprises support frame, crossbeam and slide rail, support frame is erected at above intubate streamline, ground is fixedly installed in bottom it, its top fore-and-aft direction is provided with the guide rail be arranged in parallel along Y-coordinate direction, on guide rail, X-coordinate direction is added is provided with crossbeam, and crossbeam is provided with driving mechanism;

Crossbeam is provided with slide rail Z-direction direction is arranged on crossbeam, and slide rail is provided with elevating mechanism and horizontal walking mechanism, the top of the body of described manipulator is arranged on the bottom of slide rail;

Bracket and the little U-shaped pipe bearing tray of described circulation-supplied material are arranged at support frame inside;

The industrial control computer of described electric control gear is electrically connected with the driving mechanism of crossbeam, and industrial control computer is electrically connected with the elevating mechanism of slide rail, and industrial control computer is electrically connected with the horizontal walking mechanism of slide rail.

As further improvement of the utility model scheme, also comprise A CORDIC structure or B CORDIC structure in described mount pad, the industrial control computer of described electric control gear is electrically connected with A CORDIC structure or B CORDIC structure.

As further improvement of the utility model scheme, arrange low-frequency vibration mechanism between the tray body of described little U-shaped pipe bearing tray and bracing frame, described electrical control mechanism also comprises low-frequency vibration loop.

As further improvement of the utility model scheme, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching.

As preferred version of the present utility model, described gripping refers to and asks the transmission connecting mechanism of fetching to be cylinder.

As preferred version of the present utility model, telescoping mechanism passed by described support claw pushing handle telescopic control mechanism and pallet is cylinder, and described power control mechanism is electromagnetism-gas-driving valve group.

Compared with prior art, the unordered cannula system of automatically grabbing of this fin assembly little U-shaped pipe captures and grafting unordered little U-shaped pipe owing to adopting mechanical arm and manipulator, substitute artificial intubate, the labour intensity of operating personnel can be reduced, and undertaken supplying little U-shaped pipe by the bracket of circulation-supplied material and little U-shaped pipe bearing tray, can one-time continuous supply multiple little U-shaped pipe bearing tray and little U-shaped pipe bearing tray automatically enumerate, therefore capture with intubate efficiency higher; Can arrange one or more mechanical arm and manipulator according to AOF calculation to capture simultaneously and meet need of production with intubate, automation degree of equipment is high, and utilization rate of equipment and installations is high; This automatic intubation unit runs according to the program set, and can evade the impact of human factor on manufacturing schedule completely, and then realizes ensureing product quality; Because mechanical arm is provided with X-coordinate driving mechanism, Y-coordinate driving mechanism, Z coordinate driving mechanism, C coordinate driving mechanism is provided with in the mount pad on manipulator top, A CORDIC structure or B CORDIC structure coordinate control can also be set as required, therefore manipulator can be made to realize self-adapting grasping and the little U-shaped pipe of grafting according to program setting, the precise manipulation of fin assembly in the process of intubate is ensured while realizing automation, prevent quality accident, ensure product quality.

Accompanying drawing explanation

Structural representation when Fig. 1 is the utility model employing multi-joint centralized Control mechanical arm;

Structural representation when Fig. 2 is the utility model employing frame-type split controller mechanical arm structure;

Fig. 3 is the three-dimensional structure schematic diagram of the utility model robot section;

Fig. 4 is the front view of the utility model manipulator;

Fig. 5 is the left view of Fig. 4;

Fig. 6 is the bracket of circulation-supplied material of the present utility model and the three-dimensional structure schematic diagram of little U-shaped pipe bearing tray;

Fig. 7 is the structural representation of tray support mechanism of the present utility model;

Fig. 8 is the cross-sectional view of holder fetching finger tip of the present utility model.

In figure: 1, mechanical arm, 11, support frame, 12, guide rail, 13, crossbeam, 14, slide rail, 2, manipulator, 21, body, 211, mount pad, 22, gripping refers to, 23, holder fetching, 3, the bracket of circulation-supplied material and little U-shaped pipe bearing tray, 31, Multi-layer bracket, 311, support body, 312, tray support mechanism, 3121, support vertical beam, 3122, support claw, 3123, vertical connecting rod I, 3124, vertical connecting rod II, 32, little U-shaped pipe bearing tray, 33, power set, 331, support claw pushing handle telescopic control mechanism, 332, telescoping mechanism passed by pallet, 333, power control mechanism, 34, electrical control mechanism, 4, electric control gear, 5, little U-shaped pipe.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is described further.

As shown in Figure 1 and Figure 2, this fin assembly little U-shaped pipe is unordered automatically grabs cannula system and comprises mechanical arm 1, manipulator 2, the bracket of circulation-supplied material and little U-shaped pipe bearing tray 3 and electric control gear 4 (describes with left and right horizontal direction as X-coordinate below, with front and back horizontal direction for Y-coordinate, take vertical direction as Z coordinate, with the direction rotated for rotating shaft along left and right horizontal axis for A coordinate, with the direction rotated for rotating shaft along anterior-posterior horizontal axis for B coordinate, with the direction rotated for rotating shaft along vertical axis for C coordinate).

Described mechanical arm 1 fixedly mounts on the ground, comprises the X-coordinate driving mechanism in left and right horizontal direction, the Y-coordinate driving mechanism in anterior-posterior horizontal direction, the Z coordinate driving mechanism of vertical direction.

As shown in Figures 3 to 5, described manipulator 2 comprises body 21, gripping refers to 22 and holder fetching 23;

The top of body 21 is connected with the end of mechanical arm 1 by mount pad 211, C CORDIC structure is provided with in mount pad 211, body 21 can be rotate freely within the scope of 360 °, rotating shaft and locate along the vertical axis in mount pad 211, the width dimensions of body 21 bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe 5, and body 21 bottom face is provided with the arc groove I with the pipe external diameter of little U-shaped pipe 5 and U-shaped radian dimensional fits, the U-shaped top of little U-shaped pipe 5 can snap in arc groove I, and body 21 is also provided with position sensor and range sensor;

Gripping refers to that 22 are set to two pieces, the symmetrical symmetrical center line in body 21 arc groove I is arranged, and be connected with body 21 by guiding mechanism is symmetrical respectively, gripping refers to be provided with transmission connecting mechanism on 22, gripping refers to that transmission connecting mechanism one end of 22 is connected with body 21, the other end is connected to gripping and refers on 22, gripping refers to that 22 can be slided up and down on body 21 by transmission connecting mechanism and guiding mechanism, gripping refers to that 22 are provided with towards the medial surface of body 21 arc groove I arc groove II coordinated with the pipe outside dimension of little U-shaped pipe 5, gripping refers to that 22 when gripping state, arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe 5 jointly,

L-shaped or the arc of holder fetching 23, be set to two pieces, front and back are symmetrical in the setting of body 21 arc groove I, holder fetching 23 top is articulated and connected in body 21, finger tip vertical direction is towards arc groove I, holder fetching 23 is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching 23 is connected with holder fetching 23, the other end is connected with body 21, holder fetching 23 can by transmission connecting mechanism around its interface point Unscrew or closedown, holder fetching 23 finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe 5 towards the surface of arc groove I, arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe 5, during i.e. gripping state, holder fetching 23 can hold the U-shaped end medial surface of little U-shaped pipe 5 towards the surface of arc groove I.

As shown in Figure 6, the bracket of described circulation-supplied material and little U-shaped pipe bearing tray 3 comprise Multi-layer bracket 31, little U-shaped pipe bearing tray 32, power set 33 and electrical control mechanism 34;

Multi-layer bracket 31 comprises support body 311 and tray support mechanism 312, and support body 311 is rectangular frame structures, and its inside along its length front and back is provided with two container cavities interconnected, and the inside of support body 311 is provided with limiting plate in two ends along its length;

Tray support mechanism 312 is symmetrical along support body 311 length direction, front and back are evenly arranged on the medial surface of two container cavities of support body 311, tray support mechanism 312 comprises support vertical beam 3121, support claw 3122, vertical connecting rod I 3123 and vertical connecting rod II 3124, supporting vertical beam 3121 is the tubular structures vertically arranged, and on the body of support vertical beam 3121, on the medial surface of two container cavities of support body 311, direction is provided with the pilot hole that support claw 3122 can be allowed to stretch out along the same axis; Support claw 3122, vertical connecting rod I 3123 and vertical connecting rod II 3124 are all arranged on and support in vertical beam 3121, support claw 3122 is set to more than one piece, its longitudinal section assumes diamond in shape or triangle, arrange along interval uniform on the length direction of vertical connecting rod I 3123 and be articulated and connected with vertical connecting rod I 3123 in the middle part of support claw 3122, support claw 3122 front end (left end as shown in Figure 7) is external part, support claw 3122 rear end and vertical connecting rod II 3124 are articulated and connected, and can control to stretch out or retraction in self-steering hole, support claw 3122 front end by controlling vertical connecting rod II 3124 knee-action; Tray support mechanism 312 is divided into fixed point supporting mechanism and movable support mechanism, fixed point supporting mechanism and movable support mechanism are arranged along support body 311 length direction interval, fixed point supporting mechanism and the difference of movable support mechanism be pilot hole along the number supported on vertical beam 3121 body axial direction, length different with vertical connecting rod I 3123, vertical connecting rod II 3124 fixed form is different, the pilot hole of movable support mechanism is an elongated hole of the uniform size of space summation of support claw 3122, and vertical connecting rod I 3123 and the vertical connecting rod II 3124 of movable support mechanism all can move up and down; The pilot hole of fixed point supporting mechanism is multiple elongated holes at uniform interval, the uniform interval of pilot hole of fixed point supporting mechanism coordinates with the uniform size of space of support claw 3122, the vertical connecting rod I 3123 of fixed point supporting mechanism is fixedly connected with support vertical beam 3121, and the vertical connecting rod II 3124 of fixed point supporting mechanism can move up and down;

Little U-shaped pipe bearing tray 32 is set to multiple, layering is erected on the support claw 3122 of a container cavity inwall of support body 311, comprise tray body and bracing frame, limiting plate can locate little U-shaped pipe bearing tray 32, prevents little U-shaped pipe bearing tray 32 from deviating from from the inside of support body 311;

Power set 33 comprise support claw pushing handle telescopic control mechanism 331, pallet passes telescoping mechanism 332 and power control mechanism 333, support claw pushing handle telescopic control mechanism 331 is arranged on the top supporting vertical beam 3121, vertical connecting rod II 3124 top of fixed point supporting mechanism is connected with support claw pushing handle telescopic control mechanism 331, the vertical connecting rod I 3123 of movable support mechanism is connected with support claw pushing handle telescopic control mechanism 331 with vertical connecting rod II 3124, the support claw 3122 that support claw pushing handle telescopic control mechanism 331 can realize controlling by controlling vertical connecting rod II 3124 action fixed point supporting mechanism stretches, can realize controlling moving on the whole or moving down of the flexible and vertical connecting rod I 3123 of the support claw 3122 of movable support mechanism and vertical connecting rod II 3124 by controlling vertical connecting rod I 3123 and vertical connecting rod II 3124 action, pallet is passed telescoping mechanism 332 and is arranged on corresponding from up to down numerical digit in the position of the little U-shaped pipe bearing tray 32 of ground floor, its telescopic direction is along support body 311 length direction, and pallet is passed telescoping mechanism 332 and the container cavity of the little U-shaped pipe bearing tray 32 of ground floor from support body 311 laterally can be passed in another container cavity, power control mechanism 333 is arranged on support body 311, for controlling support claw pushing handle telescopic control mechanism 331 and pallet passing telescoping mechanism 332,

Electrical control mechanism 34 is arranged at the outside of Multi-layer bracket 31, comprise power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack is electrically connected with wireless transmitter module, power train control module and electronic identification chip, power train control module is electrically connected with power control mechanism 333, wirless transmitting and receiving module is used for carrying out information exchange with the central machine room of digital factory, power train control module completes various actions for controlling power set 33, and electronic identification chip is convenient to this bracket of automatical pilot transportation vehicle identification.

Described electric control gear 4 comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, the crawl of little U-shaped pipe loop, intubate control loop etc., industrial control computer is electrically connected with the position sensor on manipulator 2 and range sensor, industrial control computer refer to the C CORDIC structure in the X-coordinate driving mechanism of mechanical arm 1, Y-coordinate driving mechanism and Z coordinate driving mechanism and mount pad 211, gripping respectively 22 transmission connecting mechanism, ask the transmission connecting mechanism of fetching 23 to be electrically connected.

The unordered operation principle of automatically grabbing cannula system of this fin assembly little U-shaped pipe: with Fig. 1, shown in Fig. 2, mechanical arm 1 is arranged near intubate streamline, the bracket of the circulation-supplied material of fully loaded little U-shaped pipe 5 in bulk and little U-shaped pipe bearing tray 3 are parked station by the automatical pilot transportation vehicle transport setting rested near mechanical arm 1, when gone here and there long U-shaped pipe until intubate fin assembly intubate end upwards in intubate flow line stations by transmission crawler-tread to desired location and locate time, the unordered cannula unit of automatically grabbing of little U-shaped pipe is started working, pass through position sensor feedback, pattern-recognition, location captures the little U-shaped pipe 5 in little U-shaped pipe bearing tray 3, the catheter position of setting is moved to after crawl, to accurate location, intubate is carried out by position sensor feedback automatic fine tuning joint, after intubate completes, manipulator 2 opens, namely the grafting of first little U-shaped pipe is completed, by that analogy, after intubate fin assembly all completes intubate, transmit crawler belt and receive instruction, carry intubate fin assembly to circulate toward next procedure, after the little U-shaped pipe 5 of the ground floor little U-shaped pipe bearing tray 32 being positioned at Multi-layer bracket 31 top all captures, electrical control mechanism 34 sends information to central machine room, namely central machine room sends instruction makes power train control module control power control mechanism 333 according to blas sequentially-operating, first make pallet pass telescoping mechanism 332 action the little U-shaped pipe bearing tray 32 of ground floor container cavity before support body 311 is laterally passed to rear container cavity, be positioned at the ground floor of rear container cavity, then the support claw pushing handle telescopic control mechanism 331 successively action of front container cavity is positioned at, remaining the little U-shaped pipe bearing tray 32 being positioned at front container cavity is made to move one grade on the whole, namely the little U-shaped pipe bearing tray 32 being positioned at the front container cavity second layer rises to the ground floor little U-shaped pipe bearing tray 32 of front container cavity, manipulator 2 can take rise to ground floor the second layer little U-shaped pipe bearing tray 32 in little U-shaped pipe 5 use, simultaneously, the little U-shaped pipe bearing tray 32 being positioned at rear container cavity ground floor moves down one grade under the effect of support claw pushing handle telescopic control mechanism 331 action of rear container cavity, namely the ground floor little U-shaped pipe bearing tray 32 being positioned at rear container cavity drops to the second layer little U-shaped pipe bearing tray 32, by that analogy, until the little U-shaped pipe bearing tray 32 being positioned at front container cavity all moves to rear container cavity, namely the use of the little U-shaped pipe 5 in whole little U-shaped pipe bearing tray 32 is completed, the bracket of circulation-supplied material and little U-shaped pipe bearing tray 3 whole Transporting to little U-shaped pipe 5 are collected wiring and again take up little U-shaped pipe 5 by automatical pilot transportation vehicle again.

When system does not start (during zero position), mechanical arm 1 is located, and manipulator 2 is positioned at directly over intubate streamline, is in the dead state of opening, and namely gripping refers to that 22 are all in the position of the arc groove I away from body 21 with holder fetching 23;

When be transferred into until intubate fin assembly desired location and location after, this fin assembly little U-shaped pipe automatic intubation unit electric power loop based on number bus starts starts working, industrial control computer controls X-coordinate driving mechanism, Y-coordinate driving mechanism and the action of Z coordinate driving mechanism, mechanical arm 1 moves according to preset program and coordinates computed action, manipulator 2 is made to be positioned at directly over the ground floor little U-shaped pipe bearing tray 32 at Multi-layer bracket 31 top, pattern-recognition loop starts, industrial control computer is according to the positional information calculation coordinate of the position sensor feedback on manipulator 2 and send instruction after catching the U-shaped apical position information of little U-shaped pipe 5 and make mechanical arm 1 and C coordinate driving mechanism continue action, manipulator 2 is positioned at mutual grafting does not occur, directly over first little U-shaped pipe 5 that the coordinate of rhampotheca phenomenon sets at random, and the arc groove I of body 21 is just to the U-shaped top of first little U-shaped pipe 5, counting circuit is synchronously started working,

Industrial control computer continues to send the Z coordinate driving mechanism work that instruction makes mechanical arm 1, make manipulator 2 near first little U-shaped pipe 5, when the range sensor feedback information on body 21 is setpoint distance, little U-shaped pipe captures loop starts, industrial control computer controls the transmission connecting mechanism action of holder fetching 23, two are made to ask fetching 23 to snap into setting size, namely two holder fetchings 23 do not engage completely, leave gap, and the U-shaped top of first little U-shaped pipe 5 is connected between two holder fetchings 23 actively, industrial control computer sends the Z coordinate driving mechanism work that instruction makes mechanical arm 1 simultaneously, manipulator 2 is made to be promoted to setpoint distance, now, first little U-shaped pipe 5 under the draw of two holder fetchings 23, depart from little U-shaped pipe bearing tray 3 and because of self gravitation act in the process that manipulator 2 promotes hang down to U-shaped top upwards, the downward vertical state of two ports, after manipulator 2 is promoted to setpoint distance, industrial control computer controls the transmission connecting mechanism action of holder fetching 23, two are made to ask fetching 23 to engage completely, namely the U-shaped top of first little U-shaped pipe 5 snaps in the arc groove I of body 21, industrial control computer controls the transmission connecting mechanism action that gripping refers to 22 simultaneously, two grippings are referred to, and 22 slide down to setpoint distance by guiding mechanism and first little U-shaped pipe 5 is fitted simultaneously on body 21, now first little U-shaped pipe 5 is namely in X-coordinate, respectively by arc groove I on Y-coordinate and Z coordinate direction, arc groove II is spacing towards the surface of arc groove I with holder fetching 23, be positioned on manipulator 2, complete crawl,

After crawl, industrial control computer controller mechanical arm 1 gets back to zero position, now intubate fin assembly just treated by first little U-shaped pipe 5, intubate control loop is started working, industrial control computer is according to setting program coordinates computed and send instruction that mechanical arm 1 is continued is mobile, manipulator 2 is made to be positioned at directly over first plug-in mounting position for the treatment of intubate fin assembly of setting coordinate, position sensor on manipulator 2 catches the positional information of first plug-in mounting position, the i.e. centre coordinate information of first plug-in mounting position, industrial control computer is according to the positional information controller mechanical arm 1 fine motion adjustment location of feedback, then industrial control computer continues to send the Z coordinate driving mechanism work that instruction makes mechanical arm 1, manipulator 2 Vertical dimension first plug-in mounting position is moved, when the range sensor feedback information on manipulator 2 is to setpoint distance, namely first little U-shaped pipe 5 inserts first plug-in mounting position and to set depth, industrial control computer controls the transmission connecting mechanism action of asking the transmission connecting mechanism of fetching 23 and gripping to refer to 22, two are made to ask fetching 23 to be flared to zero position, two grippings refer to 22 by guiding mechanism on body 21 upward sliding to zero position, namely first little U-shaped pipe 5 depart from manipulator 2, industrial control computer controller mechanical arm 1 gets back to zero position, complete the catheterization procedure of first little U-shaped pipe 5, by that analogy, until complete the catheterization procedure of the little U-shaped pipe 5 of last part treated on intubate fin assembly, then transmit crawler belt and receive instruction setting in motion, carry intubate fin assembly to circulate toward next procedure,

In the crawl process of little U-shaped pipe 5, mutual grafting is there is not when the position sensor on body 21 detects in little U-shaped pipe bearing tray 32, after the little U-shaped pipe 5 of rhampotheca phenomenon is all crawled, stir interference loop works, industrial control computer sends the Z coordinate driving mechanism work that instruction makes mechanical arm 1, manipulator 2 is made to drop to setpoint distance, manipulator 2 touches and mutual grafting occurs, the little U-shaped pipe 5 of rhampotheca phenomenon, then industrial control computer sends X-coordinate driving mechanism and/or the work of Y driving mechanism that instruction makes mechanical arm 1, after making manipulator 2 planar mobile along the track of program setting, the work of Z coordinate driving mechanism makes manipulator 2 return to position directly over little U-shaped pipe bearing tray 32 and again catches the U-shaped apical position information of little U-shaped pipe 5, capture again, until the little U-shaped pipe 5 in little U-shaped pipe bearing tray 32 is all captured complete,

After the little U-shaped pipe 5 of the little U-shaped pipe bearing tray 32 being positioned at ground floor is used up, manipulator 2 has sent the information of ground floor work to central machine room, namely central machine room sends instruction makes power train control module control power control mechanism 333 according to blas sequentially-operating: telescoping mechanism 332 first action passed by pallet, little U-shaped pipe bearing tray 32 container cavity before support body 311 being positioned at container cavity top ground floor before support body 311 is laterally passed container cavity to support body 311, under the supporting role of the support claw 3122 of the tray support mechanism 312 bottom little U-shaped pipe bearing tray 32 on the inwall of support body 311 container cavity both sides, after sliding onto on the support claw 3122 of front container cavity pass the traction of telescoping mechanism 332 at pallet under simultaneously container cavity support claw 3122 on, be positioned at the top ground floor of rear container cavity, lean on the limiting plate of rear container cavity end, then pallet passing telescoping mechanism 332 resets,

Then the support claw pushing handle telescopic control mechanism 331 successively action of front container cavity is positioned at, the first action of vertical connecting rod II 3124 of fixed point supporting mechanism, the first retraction of the support claw 3122 of fixed point supporting mechanism is made to support in vertical beam 3121, namely little U-shaped pipe bearing tray 32 is supported on the support claw 3122 of movable support mechanism, then the vertical connecting rod I 3123 of movable support mechanism and vertical connecting rod II 3124 synchronously move to a gear of setting on the whole, then to fix a point vertical connecting rod II 3124 action again of supporting mechanism, make to stretch out in the support claw 3122 self-supporting vertical beam 3121 of fixed point supporting mechanism, hold the little U-shaped pipe bearing tray 32 after moving, then vertical connecting rod II 3124 action of movable support mechanism makes support claw 3122 retraction of movable support mechanism support in vertical beam 3121, on move after little U-shaped pipe bearing tray 32 be namely supported on the support claw 3122 that stretches out of fixed point supporting mechanism, then after the vertical connecting rod I 3123 of movable support mechanism and the retraction state synchronized entirety of vertical connecting rod II 3124 maintenance support claw 3122 move down and are repositioned to former gear positions, the support claw 3122 of movable support mechanism stretches out once again, hold the little U-shaped pipe bearing tray 32 after moving, the little U-shaped pipe bearing tray 32 being positioned at front container cavity completes and moves one grade on the whole, simultaneously, be positioned at the support claw pushing handle telescopic control mechanism 331 also successively action of rear container cavity, principle is same as above, the little U-shaped pipe bearing tray 32 being positioned at rear container cavity completes entirety and moves down one grade, namely after, the ground floor of container cavity inner top remains room, undertaking state, until the little U-shaped pipe bearing tray 32 being positioned at front container cavity is all in layer passed to rear container cavity, complete the use of little U-shaped pipe 5 in whole little U-shaped pipe bearing tray 32,

After manipulator has sent the information of all work to central machine room, described in the same, namely central machine room sends instruction and makes automatical pilot transportation vehicle close and identify this Multi-layer bracket 31, collects dress station again take up little U-shaped pipe 5 by Multi-layer bracket 31 jack-up disengaging ground and together with little U-shaped pipe bearing tray 32 whole Transporting to the little U-shaped pipe 5 that central machine room is planned of sky.

Described mechanical arm 1 can adopt multi-joint centralized Control mechanical arm as shown in Figure 1, also frame-type split controller mechanical arm as shown in Figure 2 can be adopted, or adopt the other forms of mechanical arms such as Delta mechanical arm, because the control of the multi-joint mechanical arm of the first scheme and the Delta mechanical arm of the third scheme is centralized Control, coordinate control is more complicated accurately for it, need be complicated through a large amount of calculating of industrial control computer, software control procedure, and manufacturing cost is higher, conputer controlled burden is heavy, easily breaks down; First scheme employing split controls, and namely several coordinate system controls respectively, controls relatively simple, direct, not easily breaks down, therefore preferred first scheme,

Namely, as preferred version of the present utility model, as shown in Figure 2, described mechanical arm 1 also comprises support frame 11, crossbeam 13 and slide rail 14, and support frame 11 is erected at above intubate streamline, is fixedly installed in ground bottom it, its top fore-and-aft direction is provided with the guide rail 12 be arranged in parallel along Y-coordinate direction, on guide rail 12, X-coordinate direction is added is provided with crossbeam 13, and crossbeam 13 is provided with driving mechanism, and driving mechanism can drive crossbeam 13 movable on guide rail 12;

Crossbeam 13 is provided with the slide rail 14 Z-direction direction is arranged on crossbeam 13, slide rail 14 is provided with elevating mechanism and horizontal walking mechanism, elevating mechanism and horizontal walking mechanism can make slide rail 14 on crossbeam 13, realize moving left and right in oscilaltion campaign in Z-direction and X-direction, and the top of the body 21 of described manipulator 2 is arranged on the bottom of slide rail 14;

It is inner that the bracket of described circulation-supplied material and little U-shaped pipe bearing tray 3 are arranged at support frame 11;

The industrial control computer of described electric control gear 4 is electrically connected with the driving mechanism of crossbeam 13, control the movement of crossbeam 13 on Y-coordinate direction, industrial control computer is electrically connected with the elevating mechanism of slide rail 14, control the lifting of slide rail 14 on Z coordinate direction, industrial control computer is electrically connected with the horizontal walking mechanism of slide rail 14, controls the movement of slide rail 14 on X-coordinate direction.

The position of the little U-shaped pipe 5 of usual fin assembly grafting is levels, for adding the unordered scope of application of automatically grabbing cannula system of university degree fin assembly little U-shaped pipe further, make this automatic intubation unit also can be applicable equally to non-level plug-in position, as improvement project of the present utility model, A CORDIC structure or B CORDIC structure is also comprised in described mount pad 211, mount pad 211 can be rotate freely within the scope of rotating shaft rotates ± 90 ° and locate along horizontal axis, the industrial control computer of described electric control gear 4 is electrically connected with A CORDIC structure or B CORDIC structure, when the position non-horizontal of the little U-shaped pipe 5 of fin assembly grafting, industrial control computer can drive A CORDIC structure or B CORDIC structure to make manipulator 2 turn to the set angle of program before intubate, and then catch catheter position by position sensor, the free degree that A CORDIC structure or B CORDIC structure increase crawl equally in the process capturing little U-shaped pipe 5 is set.

Mutual grafting is there is in order to alleviate little U-shaped pipe 5 further, rhampotheca phenomenon, improve and capture efficiency, as improvement project of the present utility model, between the tray body of described little U-shaped pipe bearing tray 32 and bracing frame, low-frequency vibration mechanism is set, described electrical control mechanism 34 also comprises low-frequency vibration loop, after manipulator 2 captures a little U-shaped pipe 5, carry out in the process of intubate, low-frequency vibration loop works, control low-frequency vibration mechanism carries out low-frequency vibration makes rhampotheca little U-shaped pipe 5 together in little U-shaped pipe bearing tray 32 be scattered, when manipulator 2 captures again, catching position information captures again.

In order to ensure little U-shaped pipe 5 acted on by self gravitation smoothly under the draw of two holder fetchings 23 in the process that manipulator 2 promotes hang down to U-shaped top upwards, the downward vertical state of two ports, the contact area of holder fetching 23 finger tip towards the U-loop inner face of the surface of arc groove I and little U-shaped pipe 5 should be reduced as far as possible, as further improvement of the utility model scheme, as shown in Figure 8, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching 23.

Described gripping refers to that 22 can adopt hydraulic jack with the transmission connecting mechanism of holder fetching 23, also cylinder can be adopted, or adopt pure mechanical transmission mechanism, due to according to hydraulic jack, fuel tank and pump, Fa Deng mechanism must be added, structure is more complicated, according to pure mechanical transmission mechanism, volume can comparatively both bulk, and in fin assembly workshop, source of the gas enriches, and pneumatic control movement response is rapid, therefore preferably pneumatic control, that is, as preferred version of the present utility model, described gripping refer to 22 and holder fetching 23 transmission connecting mechanism be cylinder.

Telescoping mechanism 32 passed by described support claw pushing handle telescopic control mechanism 31 and pallet can adopt hydraulic jack, also cylinder can be adopted, or adopt pure mechanical transmission mechanism, due to according to hydraulic jack, fuel tank and pump must be added, Fa Deng mechanism, corresponding power control mechanism 33 is because adding fuel tank and pump, the mechanism structure such as valve are more complicated, according to pure mechanical transmission mechanism, volume can comparatively both bulk, and source of the gas is generally abundanter in the workshop of digital factory, and pneumatic control movement response is rapid, therefore preferably pneumatic control, namely, as preferred version of the present utility model, described support claw pushing handle telescopic control mechanism 31, telescoping mechanism 32 passed by pallet and limited block pushing handle telescopic control mechanism 34 is cylinders, described power control mechanism 33 is electromagnetism-gas-driving valve groups, during use, by the air inlet of source of the gas and electromagnetism-gas-driving valve group by pipeline connection.

The unordered cannula system of automatically grabbing of this fin assembly little U-shaped pipe is Digital Control unit, can realize concentrating digital management with the number bus seamless link of factory.

The unordered cannula system of automatically grabbing of this fin assembly little U-shaped pipe captures and grafting unordered little U-shaped pipe 5 owing to adopting mechanical arm 1 and manipulator 2, substitute artificial intubate, the labour intensity of operating personnel can be reduced, and undertaken supplying little U-shaped pipe 5 by the bracket of circulation-supplied material and little U-shaped pipe bearing tray 3, can one-time continuous supply multiple little U-shaped pipe bearing tray 32 and little U-shaped pipe bearing tray 32 automatically enumerate, therefore capture with intubate efficiency higher; Can arrange one or more mechanical arm 1 and manipulator 2 according to AOF calculation to capture simultaneously and meet need of production with intubate, automation degree of equipment is high, and utilization rate of equipment and installations is high; This automatic intubation unit runs according to the program set, and can evade the impact of human factor on manufacturing schedule completely, and then realizes ensureing product quality; Because mechanical arm 1 is provided with X-coordinate driving mechanism, Y-coordinate driving mechanism, Z coordinate driving mechanism, C coordinate driving mechanism is provided with in the mount pad 211 on manipulator 2 top, A CORDIC structure or B CORDIC structure coordinate control can also be set as required, therefore manipulator 2 can be made to realize self-adapting grasping and the little U-shaped pipe 5 of grafting according to program setting, the precise manipulation of fin assembly in the process of intubate is ensured while realizing automation, prevent quality accident, ensure product quality.

Claims (7)

1. a fin assembly little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, comprise mechanical arm (1), manipulator (2), the bracket of circulation-supplied material and little U-shaped pipe bearing tray (3) and electric control gear (4);

Mechanical arm (1) fixed installation on the ground, comprises the X-coordinate driving mechanism in left and right horizontal direction, the Y-coordinate driving mechanism in anterior-posterior horizontal direction, the Z coordinate driving mechanism of vertical direction;

Manipulator (2) comprises body (21), gripping refers to (22) and holder fetching (23), the top of body (21) is connected with the end of mechanical arm (1) by mount pad (211), C CORDIC structure is provided with in mount pad (211), the width dimensions of body (21) bottom is less than the outer end width size of the U-shaped opening of little U-shaped pipe (5), and body (21) bottom face is provided with the arc groove I of pipe external diameter with little U-shaped pipe (5) and U-shaped radian dimensional fits, (21) are also provided with position sensor and range sensor to body, gripping refers to, and (22) are set to two pieces, the symmetrical center line of the symmetrical arc groove I in body (21) is arranged, and be connected with body (21) by guiding mechanism is symmetrical respectively, transmission connecting mechanism is provided with on gripping refers to (22), transmission connecting mechanism one end that gripping refers to (22) is connected with body (21), the other end is connected to gripping and refers on (22), gripping refers to (22) is provided with towards the medial surface of the arc groove I of body (21) arc groove II coordinated with the pipe outside dimension of little U-shaped pipe (5), arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe (5) jointly, holder fetching (23) L-shaped or arc, be set to two pieces, the arc groove I that front and back are symmetrical in body (21) is arranged, holder fetching (23) top is articulated and connected in body (21), finger tip vertical direction is towards arc groove I, holder fetching (23) is also provided with transmission connecting mechanism, transmission connecting mechanism one end of holder fetching (23) is connected with holder fetching (23), the other end is connected with body (21), holder fetching (23) finger tip is arranged to the arcuate structure with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe (5) towards the surface of arc groove I, arcuate structure coordinates to the distance size of the bottom land of arc groove I with the pipe diameter dimension of little U-shaped pipe (5),

The bracket of described circulation-supplied material and little U-shaped pipe bearing tray (3) comprise Multi-layer bracket (31), little U-shaped pipe bearing tray (32), power set (33) and electrical control mechanism (34), Multi-layer bracket (31) comprises support body (311) and tray support mechanism (312), support body (311) is rectangular frame structure, its inside along its length front and back is provided with two container cavities interconnected, and the inside of support body (311) is provided with limiting plate in two ends along its length, tray support mechanism (312) is symmetrical along support body (311) length direction, front and back are evenly arranged on the medial surface of two container cavities of support body (311), tray support mechanism (312) comprises support vertical beam (3121), support claw (3122), vertical connecting rod I (3123) and vertical connecting rod II (3124), supporting vertical beam (3121) is the tubular structure vertically arranged, on the body of support vertical beam (3121), on the medial surface of two container cavities of support body (311), direction is provided with the pilot hole that support claw (3122) can be allowed to stretch out along the same axis, support claw (3122), vertical connecting rod I (3123) and vertical connecting rod II (3124) are all arranged on and support in vertical beam (3121), support claw (3122) is set to more than one piece, its longitudinal section assumes diamond in shape or triangle, arrange along interval uniform on the length direction of vertical connecting rod I (3123) and be articulated and connected with vertical connecting rod I (3123) in the middle part of support claw (3122), support claw (3122) front end is external part, and support claw (3122) rear end and vertical connecting rod II (3124) are articulated and connected, tray support mechanism (312) is divided into fixed point supporting mechanism and movable support mechanism, fixed point supporting mechanism and movable support mechanism are arranged along support body (311) length direction interval, the pilot hole of movable support mechanism is an elongated hole of the uniform size of space summation of support claw (3122), and the vertical connecting rod I (3123) of movable support mechanism and vertical connecting rod II (3124) all can move up and down, the pilot hole of fixed point supporting mechanism is multiple elongated holes at uniform interval, the uniform interval of the pilot hole of fixed point supporting mechanism coordinates with the uniform size of space of support claw (3122), the vertical connecting rod I (3123) of fixed point supporting mechanism is fixedly connected with support vertical beam (3121), and the vertical connecting rod II (3124) of fixed point supporting mechanism can move up and down, little U-shaped pipe bearing tray (32) is set to multiple, and layering is erected on the support claw (3122) of a container cavity inwall of support body (311), comprises tray body and bracing frame, power set (33) comprise support claw pushing handle telescopic control mechanism (331), pallet passes telescoping mechanism (332) and power control mechanism (333), support claw pushing handle telescopic control mechanism (331) is arranged on the top supporting vertical beam (3121), vertical connecting rod II (3124) top of fixed point supporting mechanism is connected with support claw pushing handle telescopic control mechanism (331), and the vertical connecting rod I (3123) of movable support mechanism is connected with support claw pushing handle telescopic control mechanism (331) with vertical connecting rod II (3124), pallet passing telescoping mechanism (332) is arranged on correspondence, and from up to down numerical digit is in the position of the little U-shaped pipe bearing tray (32) of ground floor, and its telescopic direction is along support body (311) length direction, power control mechanism (333) is arranged on support body (311), electrical control mechanism (34) is arranged at the outside of Multi-layer bracket (31), comprise power pack, wirless transmitting and receiving module, power train control module and electronic identification chip, power pack is electrically connected with wireless transmitter module, power train control module and electronic identification chip, and power train control module is electrically connected with power control mechanism (333),

Described electric control gear (4) comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stir interference loop, little U-shaped pipe captures loop, intubate control loop etc., industrial control computer is electrically connected with the position sensor on manipulator (2) and range sensor, industrial control computer respectively with the X-coordinate driving mechanism of mechanical arm (1), C CORDIC structure in Y-coordinate driving mechanism and Z coordinate driving mechanism and mount pad (211), the transmission connecting mechanism that gripping refers to (22), the transmission connecting mechanism electrical connection of holder fetching (23).

2. fin assembly according to claim 1 little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, described mechanical arm (1) also comprises support frame (11), crossbeam (13) and slide rail (14), support frame (11) is erected at above intubate streamline, ground is fixedly installed in bottom it, its top fore-and-aft direction is provided with the guide rail (12) be arranged in parallel along Y-coordinate direction, on guide rail (12), X-coordinate direction is added is provided with crossbeam (13), and crossbeam (13) is provided with driving mechanism;

Crossbeam (13) is provided with the slide rail (14) Z-direction direction is arranged on crossbeam (13), slide rail (14) is provided with elevating mechanism and horizontal walking mechanism, the top of the body (21) of described manipulator (2) is arranged on the bottom of slide rail (14);

It is inner that the bracket of described circulation-supplied material and little U-shaped pipe bearing tray (3) are arranged at support frame (11);

The industrial control computer of described electric control gear (4) is electrically connected with the driving mechanism of crossbeam (13), industrial control computer is electrically connected with the elevating mechanism of slide rail (14), and industrial control computer is electrically connected with the horizontal walking mechanism of slide rail (14).

3. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, also comprise A CORDIC structure or B CORDIC structure in described mount pad (211), the industrial control computer of described electric control gear (4) is electrically connected with A CORDIC structure or B CORDIC structure.

4. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, arrange low-frequency vibration mechanism between the tray body of described little U-shaped pipe bearing tray (32) and bracing frame, described electrical control mechanism (34) also comprises low-frequency vibration loop.

5. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, the trapezium structure of circular arc that to be top margin be in the finger tip cross section of described holder fetching (23).

6. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, described gripping refers to that the transmission connecting mechanism of (22) and holder fetching (23) is cylinder.

7. fin assembly according to claim 1 and 2 little U-shaped pipe is unordered grabs cannula system automatically, it is characterized in that, telescoping mechanism (32) passed by described support claw pushing handle telescopic control mechanism (31) and pallet is cylinder, and described power control mechanism (33) is electromagnetism-gas-driving valve group.