CN204565548U - Based on the fin assembly little U-shaped pipe automatic intubation system of number bus - Google Patents

Abstract

The utility model discloses a kind of fin assembly little U-shaped pipe automatic intubation system based on number bus, 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 fixed installation on the ground, 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); 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, electric power loop, pattern-recognition loop, counting circuit, 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, can ensure the product quality of intubate operation.

Description

Based on the fin assembly little U-shaped pipe automatic intubation system of number bus

Technical field

The utility model relates to a kind of fin assembly automatic intubation system, is specifically a kind ofly applicable to the radiator of air-conditioner, the fin assembly little U-shaped pipe automatic intubation system based on number bus of condenser fin assembly intubate operation, belongs 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 a kind of fin assembly little U-shaped pipe automatic intubation system based on number bus, 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, this comprises mechanical arm, manipulator, the bracket of circulation-supplied material and little U-shaped pipe bearing tray and electric control gear based on fin assembly automatic intubation unit of number bus;

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 installed on the end of mechanical arm, 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, the bottom land end of arc groove I is provided with range sensor, and body is also provided with position sensor and range sensor; Gripping refers to be set to two pieces, the symmetrical symmetrical center line in body arc groove I is also connected with body by transmission connecting mechanism, and gripping refers to be provided with towards the medial surface of body arc groove I arc groove II coordinated with the pipe outside dimension of little U-shaped pipe; Holder fetching is arranged on body by transmission connecting mechanism, finger tip vertical direction is towards arc groove I, holder fetching 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, layering is erected on the support claw of a container cavity inwall of support body, little U-shaped pipe bearing tray comprises tray body and is arranged on the multiple little U-shaped plumber position beam arranged in parallel on tray body, the width dimensions of little U-shaped plumber position beam section and the U-shaped A/F dimensional fits of little U-shaped pipe, the top end face of little U-shaped plumber position beam is arranged to the arcwall face with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe, arcwall face is provided with concave through grooves, the width of concave through grooves and depth dimensions are greater than width and the height dimension of gripping finger tip, the position of the annular solder of the corresponding little U-shaped pipe of little U-shaped plumber position beam is provided with spigot surface, 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, 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 X-coordinate driving mechanism of mechanical arm, Y-coordinate driving mechanism and Z coordinate driving mechanism and 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, the top of described body is connected with the end of mechanical arm by mount pad, is provided with C CORDIC structure in mount pad; The industrial control computer of described electric control gear is electrically connected with C CORDIC structure.

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, described Liang Jun one end, multiple little U-shaped plumber position is high, the other end is low, inclination is fixedly installed on tray body, and its low side is as grasping end, and low side top is provided with the position-limit mechanism preventing the landing of little U-shaped pipe.

As further improvement of the utility model scheme, described holder fetching is L-type, and its top is articulated and connected in body, and transmission connecting mechanism one end of holder fetching is connected with body, and the other end is connected in L-type holder fetching.

As further improvement of the utility model scheme, described holder fetching is horizontal U-shaped, horizontal U-shaped one end vertically penetrates in body, the transmission connecting mechanism of holder fetching is parallel to horizontal U-shaped holder fetching and arranges, transmission connecting mechanism one end is connected with body, and the other end is connected to and penetrates in intrinsic horizontal U-shaped holder fetching.

As further improvement of the utility model scheme, described gripping refer to top respectively symmetry be articulated and connected on body, its transmission connecting mechanism one end is connected with body, and the other end is connected to gripping and refers to.

As further improvement of the utility model scheme, described gripping refers to be connected with body by guiding mechanism is symmetrical respectively, and its transmission connecting mechanism is parallel to gripping and refers to arrange, and one end is connected with body, and the other end is connected to gripping and refers to.

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

Compared with prior art, this fin assembly little U-shaped pipe automatic intubation system based on number bus captures and grafting 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, A CORDIC structure, B CORDIC structure or C 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 structure;

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 manipulator;

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 three-dimensional structure schematic diagram of little U-shaped pipe bearing tray of the present utility model;

Fig. 9 is that the I of Fig. 8 is to partial enlarged drawing.

In figure: 1, mechanical arm, 11, support frame, 12, guide rail, 13, crossbeam, 14, slide rail, 2, manipulator, 21, body, 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, 321, tray body, 322, little U-shaped plumber position beam, 3221, concave through grooves, 3222, spigot surface, 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 comprises mechanical arm 1, manipulator 2, the bracket of circulation-supplied material and little U-shaped pipe bearing tray 3 based on fin assembly little U-shaped pipe automatic intubation system of number bus 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 installed on the end of mechanical arm 1, 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 bottom land end of arc groove I is provided with range sensor, 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 also connected with body 21 by transmission connecting 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, and 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 is arranged on body 21 by transmission connecting mechanism, finger tip vertical direction is towards arc groove I, holder fetching 23 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, limiting plate can locate little U-shaped pipe bearing tray 32, prevent little U-shaped pipe bearing tray 32 from deviating from from the inside of support body 311, as Fig. 8, shown in Fig. 9, the multiple little U-shaped plumber position beam 322 arranged in parallel that little U-shaped pipe bearing tray 32 comprises tray body 321 and is arranged on tray body 321, the width dimensions in beam 322 cross section, little U-shaped plumber position and the U-shaped A/F dimensional fits of little U-shaped pipe 5, the top end face of little U-shaped plumber position beam 322 is arranged to the arcwall face with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe 5, arcwall face is provided with concave through grooves 3221, the width of concave through grooves 3221 and depth dimensions are greater than width and the height dimension that gripping refers to 22 finger tips, because the body of two ports of little U-shaped pipe 5 is provided with annular solder, therefore the position of the annular solder of the corresponding little U-shaped pipe 5 of little U-shaped plumber position beam 322 is provided with spigot surface 3222, little U-shaped pipe 5 is stuck on little U-shaped plumber position beam 322 by arcwall face and spigot surface 3222 one by one side by side,

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, 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 X-coordinate driving mechanism of mechanical arm 1, Y-coordinate driving mechanism and Z coordinate driving mechanism and gripping respectively 22 transmission connecting mechanism, ask the transmission connecting mechanism of fetching 23 to be electrically connected.

This is based on the operation principle of the fin assembly little U-shaped pipe automatic intubation system of number bus: as Fig. 1, shown in Fig. 2, mechanical arm 1 is arranged near intubate streamline, fully loaded order arranges the bracket of the circulation-supplied material of little U-shaped pipe 5 and little U-shaped pipe bearing tray 3 is 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, little U-shaped pipe automatic intubation system starts, by the position sensor feedback on manipulator 2, tab order captures the little U-shaped pipe 5 in the bracket of circulation-supplied material and 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 the position sensor feedback automatic fine tuning joint on manipulator 2, 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 is started working based on the fin assembly little U-shaped pipe automatic intubation system power supply loop start of number bus, industrial control computer sends instruction makes little U-shaped pipe capture loop starts: 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 little U-shaped pipe bearing tray 3, pattern-recognition loop starts, industrial control computer is according to the positional information calculation coordinate of the position sensor feedback on the body 21 of manipulator 2 and send instruction that mechanical arm 1 is continued is mobile, manipulator 2 is made to be positioned at directly over first little U-shaped pipe 5 of setting coordinate, 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 in arc groove I is zero, the i.e. arc groove I of manipulator 2 and the U-shaped tip contact of first little U-shaped pipe 5, the U-shaped top of first little U-shaped pipe 5 snaps in arc groove I, and manipulator 2 is located, little U-shaped pipe captures loop starts, industrial control computer controls the transmission connecting mechanism action that gripping refers to 22, two grippings refer to 22 successively engagings, first little U-shaped pipe 5 is made to be positioned in the portion profile space on the U-shaped top that arc groove I and arc groove II surround jointly, then industrial control computer controls the transmission connecting mechanism action of holder fetching 23, holder fetching 23 is made to insert the bottom of the U-shaped end of first little U-shaped pipe 5, now first little U-shaped pipe 5 is 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 the body 21 of 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 the position sensor feedback on body 21, 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 holder fetching 23, holder fetching 23 is extracted out from the bottom of the U-shaped end of first little U-shaped pipe 5, then industrial control computer controls the transmission connecting mechanism action that gripping refers to 22, two grippings refer to that 22 open, 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,

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 along X-direction or along Y direction, namely little U-shaped pipe 5 does not need the anglec of rotation in grafting process, and must ensure that the riding position of little U-shaped pipe bearing tray 32 is correct, can not be crooked, in order to add the scope of application of university degree based on the fin assembly little U-shaped pipe automatic intubation system of number bus, reduce the riding position precision of little U-shaped pipe bearing tray 3, as further improvement of the utility model scheme, the top of described body 21 is connected by the end of mount pad with mechanical arm 1, C CORDIC structure is provided with in mount pad, body 21 can be rotate freely within the scope of 360 °, rotating shaft and locate along the vertical axis in mount pad, the industrial control computer of described electric control gear 4 is electrically connected with C CORDIC structure, when there is deviation in little U-shaped pipe bearing tray 32 riding position, electric control gear 4 pattern-recognition loop can drive C CORDIC structure to make manipulator 2 capture little U-shaped pipe 5 in tram according to the feedback of the position sensor on manipulator 2, equally, in catheterization procedure, electric control gear 4 can drive C CORDIC structure to make manipulator 2 insert little U-shaped pipe 5 in tram, the position of fin assembly grafting little U-shaped pipe 5 had both made to be crooked being suitable for too, increased the scope of application.

The position of the little U-shaped pipe 5 of usual fin assembly grafting is levels, for adding the scope of application of university degree based on the fin assembly little U-shaped pipe automatic intubation system of number bus 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, body 21 can be rotate freely within the scope of rotating shaft ± 90 ° and locate along the horizontal axis in mount pad, 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.

When manipulator 2 captures little U-shaped pipe 5 in U-shaped pipe bearing tray 32 from childhood, if capture by traditional order, its idle stroke can progressively lengthen, therefore in order to reduce idle stroke, improve and capture efficiency, as further improvement of the utility model scheme, described equal one end of multiple little U-shaped plumber position beam 322 is high, the other end is low, tilt to be fixedly installed on tray body 321, its low side is as grasping end, low side top is provided with the position-limit mechanism preventing the landing of little U-shaped pipe 5, after manipulator 2 crawl is positioned at first little U-shaped pipe 5 of little U-shaped plumber position beam 322 low side, remaining the little U-shaped pipe 5 be positioned on little U-shaped plumber position beam 322 can glide because of self gravitation effect entirety, the position of second little U-shaped pipe 5 landing to the first little U-shaped pipe 5, manipulator 2 can capture the little U-shaped pipe 5 being positioned at little U-shaped plumber position beam 322 low side always, until the little U-shaped pipe 5 on little U-shaped plumber position beam 322 is all captured complete, the lower position moving to an other little U-shaped plumber position beam 322 again captures, decrease the idle stroke of manipulator 2, improve and capture efficiency.

As a kind of embodiment of the utility model holder fetching 23, described holder fetching 23 is in L-type, its top is articulated and connected in body 21, its transmission connecting mechanism one end is connected with body 21, the other end is connected in L-type holder fetching 23, and industrial control computer can be realized L-type holder fetching 23 and rotate along its jointed shaft and engage with body 21 bottom or be separated by the transmission connecting mechanism controlling holder fetching 23.

As the another kind of embodiment of the utility model holder fetching 23, described holder fetching 23 is in horizontal U-shaped, horizontal U-shaped one end vertically penetrates in body 21, the transmission connecting mechanism of holder fetching 23 is parallel to horizontal U-shaped holder fetching 23 and arranges, transmission connecting mechanism one end is connected with body 21, the other end is connected in the horizontal U-shaped holder fetching 23 that penetrates in body 21, industrial control computer can realize horizontal U-shaped holder fetching 23 vertically translation by the transmission connecting mechanism controlling holder fetching 23, and then realizes engaging with body 21 bottom or being separated.

A kind of embodiment of 22 is referred to as the utility model gripping, described gripping refer to 22 tops respectively symmetry be articulated and connected on body 21, its transmission connecting mechanism one end is connected with body 21, the other end is connected to gripping and refers on 22, by controlling gripping, industrial control computer can refer to that the transmission connecting mechanism of 22 realizes gripping and refers to that 22 to rotate along its jointed shaft and engage with little U-shaped pipe 5 or be separated.

The another kind of embodiment of 22 is referred to as the utility model gripping, described gripping refers to that 22 are connected with body 21 by guiding mechanism is symmetrical respectively, gripping refers to that 22 can be slided on body 21 by guiding mechanism, its transmission connecting mechanism is parallel to gripping and refers to 22 settings, one end is connected with body 21, the other end is connected to gripping and refers on 22, by controlling gripping, industrial control computer can refer to that the transmission connecting mechanism of 22 realizes gripping and refers to 22 slip movements on body 21, and then realize engaging with little U-shaped pipe 5 or being separated.

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.

This fin assembly little U-shaped pipe automatic intubation system based on number bus is Digital Control unit, can realize concentrating digital management with the number bus seamless link of factory.

This fin assembly little U-shaped pipe automatic intubation system based on number bus captures and grafting 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, A CORDIC structure, B CORDIC structure or C 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 (10)

1. the fin assembly little U-shaped pipe automatic intubation system based on number bus, 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);

Described 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;

Described manipulator (2) comprises body (21), gripping refers to (22) and holder fetching (23), the top of body (21) is installed on the end of mechanical arm (1), 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, the bottom land end of arc groove I is provided with range sensor, and (21) are also provided with position sensor and range sensor to body; Gripping refers to, and (22) are set to two pieces, the symmetrical symmetrical center line in body (21) arc groove I is also connected with body (21) by transmission connecting mechanism, and gripping refers to (22) is 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); Holder fetching (23) is arranged on body (21) by transmission connecting mechanism, finger tip vertical direction is towards arc groove I, holder fetching (23) 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, 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 (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, layering is erected on the support claw (3122) of a container cavity inwall of support body (311), little U-shaped pipe bearing tray (32) comprises tray body (321) and is arranged on multiple little U-shaped plumber position beam (322) arranged in parallel on tray body (321), the width dimensions in beam (322) cross section, little U-shaped plumber position and the U-shaped A/F dimensional fits of little U-shaped pipe (5), the top end face of little U-shaped plumber position beam (322) is arranged to the arcwall face with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe (5), arcwall face is provided with concave through grooves (3221), the width of concave through grooves (3221) and depth dimensions are greater than width and the height dimension that gripping refers to (22) finger tip, the position of the annular solder of the corresponding little U-shaped pipe (5) of little U-shaped plumber position beam (322) is provided with spigot surface (3222), 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, 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 X-coordinate driving mechanism of mechanical arm (1), Y-coordinate driving mechanism and Z coordinate driving mechanism and gripping respectively (22) transmission connecting mechanism, ask the transmission connecting mechanism of fetching (23) to be electrically connected.

2. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1, 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. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1 and 2, it is characterized in that, the top of described body (21) is connected by the end of mount pad with mechanical arm (1), is provided with C CORDIC structure in mount pad; The industrial control computer of described electric control gear (4) is electrically connected with C CORDIC structure.

4. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 3, it is characterized in that, also comprise A CORDIC structure or B CORDIC structure in described mount pad, the industrial control computer of described electric control gear (4) is electrically connected with A CORDIC structure or B CORDIC structure.

5. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 4, it is characterized in that, all one end is high, the other end is low for described multiple little U-shaped plumber position beam (322), inclination is fixedly installed on tray body (321), its low side is as grasping end, and low side top is provided with the position-limit mechanism preventing the landing of little U-shaped pipe (5).

6. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1 and 2, it is characterized in that, described holder fetching (23) is in L-type, its top is articulated and connected in body (21), transmission connecting mechanism one end of holder fetching (23) is connected with body (21), and the other end is connected in L-type holder fetching (23).

7. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1 and 2, it is characterized in that, described holder fetching (23) is in horizontal U-shaped, horizontal U-shaped one end vertically penetrates in body (21), the transmission connecting mechanism of holder fetching (23) is parallel to horizontal U-shaped holder fetching (23) and arranges, transmission connecting mechanism one end is connected with body (21), and the other end is connected on the horizontal U-shaped holder fetching (23) that penetrates in body (21).

8. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1 and 2, it is characterized in that, described gripping refer to (22) top respectively symmetry be articulated and connected on body (21), its transmission connecting mechanism one end is connected with body (21), and the other end is connected to gripping and refers on (22).

9. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1 and 2, it is characterized in that, described gripping refers to that (22) are connected with body (21) by guiding mechanism is symmetrical respectively, its transmission connecting mechanism is parallel to gripping and refers to that (22) are arranged, one end is connected with body (21), and the other end is connected to gripping and refers on (22).

10. the fin assembly little U-shaped pipe automatic intubation system based on number bus according to claim 1 and 2, is characterized in that, described gripping refers to that the transmission connecting mechanism of (22) and holder fetching (23) is cylinder.