CN204689148U - Little U-shaped pipe based on number bus captures sequence and piles up unit - Google Patents

Abstract

The utility model discloses a kind of little U-shaped pipe crawl sequence based on number bus and pile up unit, comprise mechanical arm (1), manipulator (2), bulk cargo weight tray (3), sequentially pile up weight tray (4) and electrical controller (5), mechanical arm fixed installation on the ground, comprises X-coordinate driver train, Y-coordinate driver train, Z coordinate driver train; Manipulator comprises body (21), gripping refers to (22) and holder fetching (23), and body top is connected with the end of mechanical arm by mount pad (211), is provided with C coordinate driver train in mount pad; Body bottom portion and gripping refer to medial surface be equipped with the arc groove coordinated with the U-shaped tip size of little U-shaped pipe (6); Order is piled up weight tray and is comprised tray body (41) and little U-shaped plumber position beam (42).Unit is piled up in this crawl sequence can realize automation mechanized operation, reduces human element to the impact of manufacturing schedule, can ensure the product design of intubate operation.

Description

Little U-shaped pipe based on number bus captures sequence and piles up unit

Technical field

The utility model relates to and a kind of capture sequence and pile up unit, is specifically a kind ofly applicable to the radiator of A/C, the little U-shaped pipe based on number bus of condenser fin assembly intubate operation captures sequence and pile up unit, 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 sheetmetal of permeability of heat, increase the heat transfer sheet area of heat-exchanger rig, improve heat exchange efficiency, the sheetmetal with this function is referred to as fin.

Have two main heat exchanger in A/C, i.e. radiator and condenser, the side working medium of this two large heat exchanger is refrigerant, opposite side is air, in order to the heat transfer of enhanced heat exchange device, generally take compact Layout heat interchanging area in air side, A/C 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 mounting 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 mounting hole on multiple fin side by side, finally carry out expand tube at the open end 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 A/C maker 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 conveyor line belt conveyor, then artificial each length " U " the type copper pipe End little " U " type copper pipe in freight 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: manually carries out intubation owing to adopting, therefore the impact of human element on manufacturing schedule such as operating personal 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; Because intubate operation adopts manual operation, therefore require higher to the technical ability of operating personal and skill level, the skilled operation degree of multiple operating personal is uneven is also affecting manufacturing schedule in varying degrees, and easily causes unstable product quality.

In order to improve plug-in mounting efficiency and plug-in mounting quality, manipulator is adopted to carry out automatic order crawl, the little U-shaped pipe of plug-in mounting, due to little U-shaped pipe be in bulk, be placed in freight container disorderly, little U-shaped pipe there will be the phenomenon of mutual grafting, rhampotheca, therefore manipulator cannot be made to carry out automatic order crawl, ordered arrangement must be carried out little U-shaped pipe in bulk and could realize adopting manipulator to carry out automatic order crawl, the little U-shaped pipe of plug-in mounting; According to manually piling up, efficiency is lower, and labor intensity of operating staff is large, and the human elements such as operating personal sense of responsibility, mood are comparatively large on the impact of manufacturing schedule, requires higher to the technical ability of operating personal and skill level.

Summary of the invention

For above-mentioned prior art Problems existing, the utility model provides a kind of little U-shaped pipe based on number bus to capture sequence and piles up unit, little U-shaped pipe order in bulk can be piled up, and then be convenient to adopt manipulator to carry out automatic order crawl, the little U-shaped pipe of plug-in mounting.

To achieve these goals, this little U-shaped pipe based on number bus captures sequence and piles up that unit comprises mechanical arm, manipulator, bulk cargo weight tray, order pile up weight tray and electrical controller;

Described mechanical arm fixed installation on the ground, comprises the X-coordinate driver train in left and right horizontal direction, the Y-coordinate driver train in anterior-posterior horizontal direction, the Z coordinate driver train 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 transduser and rang 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;

Described bulk cargo weight tray is arranged near mechanical arm, comprises tray body and bracing frame;

Described order is piled up weight tray and is also arranged near mechanical arm, comprise tray body and be arranged on the little U-shaped plumber position beam of multiple strips of the arrangement 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 arc top surface with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe, arc top surface top, arcuately end face axial direction 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 both sides of little U-shaped plumber position beam are also provided with symmetrical two parallel spigot surfaces, width dimensions between two spigot surfaces is less than the span size between two annular solder on the U-shaped home record of little U-shaped pipe,

Described electrical controller comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, little U-shaped pipe crawl loop, little U-shaped pipe to pile up loop, industrial control computer is electrically connected with the position transduser on manipulator and rang sensor, the transmission connecting mechanism that industrial control computer refers to the C CORDIC structure in the X-coordinate driver train of mechanical arm, Y-coordinate driver train and Z coordinate driver train 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 conveyor line, 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 driver train;

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

Described bulk cargo weight tray, order are piled up weight tray and are arranged at support frame inside;

The industrial control computer of described electrical controller is electrically connected with the driver train of crossbeam, and industrial control computer is electrically connected with the lifting mechanism of slide rail, and industrial control computer is electrically connected with the horizontal traveling gear 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 electrical controller 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 bulk cargo weight tray and bracing frame, described electrical controller also comprises low-frequency vibration loop, and industrial control computer is electrically connected with low-frequency vibration mechanism.

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 end is piled up in its high-end conduct, and low side top is provided with the stop gear preventing the landing of little U-shaped pipe.

As further improvement of the utility model scheme, between described little U-shaped plumber position beam and tray body, low-frequency vibration mechanism is also set.

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.

Compared with prior art, this little U-shaped pipe crawl sequence based on number bus is piled up unit and is carried out crawl and pile up in order piling up on weight tray in order to little U-shaped pipe in bulk owing to adopting mechanical arm and manipulator, substitute artificial intubate, the labour intensity of operating personal and manual operation skill level can be reduced on the impact of the progress of piling up, and capture with to pile up efficiency higher; Can arrange one or more mechanical arm and manipulator according to AOF calculation to capture simultaneously and pile up to meet to pile up progress needs, automation degree of equipment is high, and capacity utilization rate is high; This little U-shaped pipe captures sequence and piles up unit according to the program operation set, and can evade the impact of human element on manufacturing schedule completely, and then realizes guarantee and pile up quality; Because mechanical arm is provided with X-coordinate driver train, Y-coordinate driver train, Z coordinate driver train, C coordinate driver train 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 pile up little U-shaped pipe according to program setting, ensure precise manipulation while realizing automation, ensure to pile up 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 controlling machine mechanical arm structure;

Fig. 3 is the three-dimensional structure schematic diagram of manipulator of the present utility model;

Fig. 4 is the front elevation of manipulator of the present utility model;

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

Fig. 6 is the three-dimensional structure schematic diagram that order of the present utility model piles up weight tray;

Fig. 7 is that the I of Fig. 6 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, 211, mount pad, 22, gripping refers to, 23, holder fetching, 3, bulk cargo weight tray, 4, order piles up weight tray, 41, tray body, 42, little U-shaped plumber position beam, 421, arc top surface, 422, concave through grooves, 423, spigot surface, 5, electrical controller, 6, 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 little U-shaped pipe based on number bus captures sequence and piles up that unit comprises mechanical arm 1, manipulator 2, bulk cargo weight tray 3, order piles up weight tray 4 and electrical controller 5 (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 S. A. along left and right horizontal axis for A coordinate, with the direction rotated for S. A. along anterior-posterior horizontal axis for B coordinate, with the direction rotated for S. A. along vertical axis for C coordinate).

Described mechanical arm 1 fixedly mounts on the ground, comprises the X-coordinate driver train in left and right horizontal direction, the Y-coordinate driver train in anterior-posterior horizontal direction, the Z coordinate driver train 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 S. A. 360 ° 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 6, and body 21 bottom face is provided with the arc groove I with the pipe external diameter of little U-shaped pipe 6 and U-shaped radian dimensional fits, the U-shaped top of little U-shaped pipe 6 can snap in arc groove I, body 21 is also provided with position transduser and rang 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 6, 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 6 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 6 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 6, during i.e. gripping state, holder fetching 23 can hold the U-shaped end medial surface of little U-shaped pipe 6 towards the surface of arc groove I.

Described bulk cargo weight tray 3 is arranged near mechanical arm 1, comprises tray body and bracing frame.

Described order is piled up weight tray 4 and is also arranged near mechanical arm 1, as Fig. 6, shown in Fig. 7, comprise tray body 41 and be arranged on the little U-shaped plumber position beam 42 of multiple strips of the arrangement in parallel on tray body 41, the width dimensions in beam 42 cross section, little U-shaped plumber position and the U-shaped A/F dimensional fits of little U-shaped pipe 6, the top end face of little U-shaped plumber position beam 42 is arranged to the arc top surface 421 with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe 6, arc top surface 421 top, arcuately end face 421 axial direction is provided with the concave through grooves 422 being convenient to capture, the width of concave through grooves 422 and depth dimensions are greater than width and the height dimension that gripping refers to 22 finger tips, because on the body of U-shaped two ports of little U-shaped pipe 6, the position of distance port certain distance is provided with annular solder, for the ease of placing little U-shaped pipe 6, the both sides of little U-shaped plumber position beam 42 are also provided with symmetrical two parallel spigot surfaces 423, width dimensions between two spigot surfaces 423 is less than the span size between two annular solder on the U-shaped home record of little U-shaped pipe 6, little U-shaped pipe 6 is stuck on little U-shaped plumber position beam 42 one by one side by side by arc top surface 421 and spigot surface 423.

Described electrical controller 5 comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stirs and disturb loop, little U-shaped pipe crawl loop, little U-shaped pipe to pile up loop etc., industrial control computer is electrically connected with the position transduser on manipulator 2 and rang sensor, industrial control computer refer to the C CORDIC structure in the X-coordinate driver train of mechanical arm 1, Y-coordinate driver train and Z coordinate driver train and mount pad 211, gripping respectively 22 transmission connecting mechanism, ask the transmission connecting mechanism of fetching 23 to be electrically connected.

This little U-shaped pipe based on number bus captures the principle of work that unit is piled up in sequence: as shown in Figure 1, when the bulk cargo weight tray 3 of fully loaded little U-shaped pipe 6 in bulk and vacant order pile up weight tray 4 setting rested in respectively near mechanical arm 1 park on station time, little U-shaped pipe crawl sequence is piled up unit and is started working, pass through position sensor feedback, pattern-recognition, location captures the little U-shaped pipe 6 in bulk cargo weight tray 3, the order moving to setting after crawl piles up weight tray 4 top position, to accurate location, carry out sequence code by position sensor feedback automatic fine tuning joint to put, pile up rear manipulator 2 to open, namely the crawl completing first little U-shaped pipe is piled up, by that analogy, after sequentially piling up weight tray 4 and filling the little U-shaped pipe 6 be sequentially well placed, order is piled up weight tray 4 and is circulated toward next procedure.

When system does not start (during zero position), mechanical arm 1 is located, and manipulator 2 is positioned at order and piles up directly over weight tray 4, 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 the bulk cargo weight tray 3 of fully loaded little U-shaped pipe 6 in bulk and vacant order pile up weight tray 4 setting rested in respectively near mechanical arm 1 park on station time, this little U-shaped pipe based on number bus captures the electric power loop startup of piling up unit of sorting and starts working, industrial control computer controls X-coordinate driver train, Y-coordinate driver train and the action of Z coordinate driver train, mechanical arm 1 moves according to preset program and coordinates computed action, manipulator 2 is made to be positioned at directly over bulk cargo weight 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 after catching the U-shaped apical position coordinate information of little U-shaped pipe 6 and make mechanical arm 1 and C coordinate driver train continue action, manipulator 2 is positioned at mutual grafting does not occur, directly over first little U-shaped pipe 6 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 6, counting circuit is synchronously started working,

Industrial control computer continues to send the Z coordinate driver train work that instruction makes mechanical arm 1, make manipulator 2 near first little U-shaped pipe 6, when the rang 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 6 is connected between two holder fetchings 23 actively, industrial control computer sends the Z coordinate driver train work that instruction makes mechanical arm 1 simultaneously, manipulator 2 is made to be promoted to setpoint distance, now, first little U-shaped pipe 6 under the draw of two holder fetchings 23, depart from bulk cargo weight 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 6 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 6 is fitted simultaneously on body 21, now first little U-shaped pipe 6 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 controlling machine mechanical arm 1 gets back to zero position, now first little U-shaped pipe 6 just piles up weight tray 4 to order, loop starts piled up by little U-shaped pipe, industrial control computer is according to setting program coordinates computed and send instruction that mechanical arm 1 is continued is mobile, directly over first carrying position that manipulator 2 is positioned on the little U-shaped plumber position beam 42 of setting coordinate, then industrial control computer continues to send the Z coordinate driver train work that instruction makes mechanical arm 1, make manipulator 2 Vertical dimension first carry position to move, when rang sensor feedback information on the body 21 of manipulator 2 is to setpoint distance, namely after two ports of first little U-shaped pipe 6 snap in first carrying position, 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 6 depart from manipulator 2, be erected on first carrying position on the little U-shaped plumber position beam 42 of setting coordinate, industrial control computer controlling machine mechanical arm 1 gets back to zero position, what complete first little U-shaped pipe 6 piles up process, by that analogy, until little U-shaped pipe 6 is piled up in the carrying position completed on whole little U-shaped plumber position beams 42, then the order of fully loaded little U-shaped pipe 6 is piled up weight tray 4 and is circulated toward next procedure,

In the crawl process of little U-shaped pipe 6, mutual grafting is there is not when the position transduser on body 21 detects in bulk cargo weight tray 3, after the little U-shaped pipe 6 of rhampotheca phenomenon is all crawled, stir interference loop works, industrial control computer sends the Z coordinate driver train 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 6 of rhampotheca phenomenon, then industrial control computer sends X-coordinate driver train and/or the work of Y driver train that instruction makes mechanical arm 1, Z coordinate driver train work manipulator 2 is returned to U-shaped apical position information that position directly over bulk cargo weight tray 3 catches little U-shaped pipe 6 again after making manipulator 2 planar mobile along the track of program setting, capture again, until the little U-shaped pipe 6 in bulk cargo weight tray 3 is all captured complete.

Described mechanical arm 1 can adopt multi-joint centralized control mechanical arm as shown in Figure 1, also frame-type split controlling machine 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 system of axes 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 conveyor line, 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 driver train, and driver train 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 lifting mechanism and horizontal traveling gear, lifting mechanism and horizontal traveling gear can make slide rail 14 on crossbeam 13, realize the oscilaltion campaign in Z-direction and the sway in X-direction, and the top of the body 21 of described manipulator 2 is arranged on the bottom of slide rail 14;

Described bulk cargo weight tray 3 and order are piled up weight tray 4 and are arranged at support frame 11 inside;

The industrial control computer of described electrical controller 5 is electrically connected with the driver train of crossbeam 13, control the movement of crossbeam 13 on Y-coordinate direction, industrial control computer is electrically connected with the lifting 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 traveling gear of slide rail 14, controls the movement of slide rail 14 on X-coordinate direction.

The position of the little U-shaped pipe 6 of usual fin assembly grafting is levels, capture based on the little U-shaped pipe of number bus the Applicable scope that unit is piled up in sequence for adding university degree 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 S. A. rotates ± 90 ° and locate along horizontal axis, the industrial control computer of described electrical controller 5 is electrically connected with A CORDIC structure or B CORDIC structure, when the position non-horizontal of the little U-shaped pipe 6 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 transduser, the degree of freedom that A CORDIC structure or B CORDIC structure increase crawl equally in the process capturing little U-shaped pipe 6 is set.

Mutual grafting is there is in order to alleviate little U-shaped pipe 6 further, rhampotheca phenomenon, improve and capture efficiency, as improvement project of the present utility model, between the tray body of described bulk cargo weight tray 3 and bracing frame, low-frequency vibration mechanism is set, described electrical controller 5 also comprises low-frequency vibration loop, industrial control computer is electrically connected with low-frequency vibration mechanism, after manipulator 2 captures a little U-shaped pipe 6, carry out in the process of intubate, low-frequency vibration loop works, industrial control computer control low-frequency vibration mechanism carries out low-frequency vibration makes rhampotheca little U-shaped pipe 6 together in bulk cargo weight tray 3 be scattered, when manipulator 2 captures again, catching position information captures again.

Manipulator 2 toward order pile up in weight tray 4 pile up little U-shaped pipe 6 time, if pile up by traditional order, its idle travel can progressively lengthen, therefore in order to reduce idle travel, improve and pile up efficiency, as further improvement of the utility model scheme, described equal one end of multiple little U-shaped plumber position beam 42 is high, the other end is low, tilt to be fixedly installed on tray body 41, end is piled up in its high-end conduct, low side top is provided with the stop gear preventing the landing of little U-shaped pipe 6, pile up first little U-shaped pipe 6 directly over manipulator 2 on the little U-shaped plumber position beam 42 of setting coordinate is high-end first carrying position after, first little U-shaped pipe 6 can slide to the low side of little U-shaped plumber position beam 42 for 421 times and the spacing location of limited mechanism along the arc top surface of little U-shaped plumber position beam 42 automatically because of self gravitation effect, manipulator 2 can pile up little U-shaped pipe 6 directly over first carrying position always on the little U-shaped plumber position beam 42 of setting coordinate is high-end, until little U-shaped plumber position beam 32 will be booked the little U-shaped pipe 6 of setting quantity, the high-end position moving to an other little U-shaped plumber position beam 32 is again piled up, decrease the idle travel of manipulator 2, improve and pile up efficiency.

In order to make little U-shaped pipe 6 because of self gravitation effect automatically the smooth arc top surface along little U-shaped plumber position beam 42 slide to the low side of little U-shaped plumber position beam 42 for 421 times, as further improvement of the utility model scheme, between described little U-shaped plumber position beam 42 and tray body 41, low-frequency vibration mechanism is also set, after manipulator 2 completes and piles up a little U-shaped pipe 6, carry out in the process captured, low-frequency vibration loop works, industrial control computer controls the low side that low-frequency vibration mechanism carries out sliding under low-frequency vibration makes the little U-shaped pipe 6 on little U-shaped plumber position beam 42 smoothly little U-shaped plumber position beam 42.

In order to ensure little U-shaped pipe 6 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 area of contact of holder fetching 23 finger tip towards the clevis eye inner end surface of the surface of arc groove I and little U-shaped pipe 6 should be reduced as far as possible, 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 23.

Described gripping refers to that 22 can adopt hydraulic ram 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 ram, 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 air operated control movement response is rapid, therefore preferred air operated 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.

It is Digital Control unit that unit is piled up in this little U-shaped pipe crawl sequence based on number bus, can realize concentrating digital management with the number bus seamless link of factory.

This little U-shaped pipe crawl sequence based on number bus is piled up unit and is carried out crawl and pile up in order piling up on weight tray 4 in order to little U-shaped pipe 6 in bulk owing to adopting mechanical arm 1 and manipulator 2, substitute artificial intubate, the labour intensity of operating personal and manual operation skill level can be reduced on the impact of the progress of piling up, and capture with to pile up efficiency higher; Can arrange one or more mechanical arm 1 and manipulator 2 according to AOF calculation to capture simultaneously and pile up to meet to pile up progress needs, automation degree of equipment is high, and capacity utilization rate is high; This little U-shaped pipe captures sequence and piles up unit according to the program operation set, and can evade the impact of human element on manufacturing schedule completely, and then realize ensureing product design; Because mechanical arm 1 is provided with X-coordinate driver train, Y-coordinate driver train, Z coordinate driver train, C coordinate driver train 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 pile up little U-shaped pipe 6 according to program setting, ensure precise manipulation while realizing automation, ensure to pile up quality.

Claims (8)

1. the little U-shaped pipe based on number bus captures sequence and piles up unit, it is characterized in that, comprise mechanical arm (1), manipulator (2), bulk cargo weight tray (3), sequentially pile up weight tray (4) and electrical controller (5);

Mechanical arm (1) fixed installation on the ground, comprises the X-coordinate driver train in left and right horizontal direction, the Y-coordinate driver train in anterior-posterior horizontal direction, the Z coordinate driver train 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 (6), and body (21) bottom face is provided with the arc groove I of pipe external diameter with little U-shaped pipe (6) and U-shaped radian dimensional fits, (21) are also provided with position transduser and rang 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 (6), arc groove I and arc groove II surround the portion profile on the U-shaped top of little U-shaped pipe (6) 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 (6) 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 (6),

Described bulk cargo weight tray (3) is arranged near mechanical arm (1), comprises tray body and bracing frame;

Described order is piled up weight tray (4) and is also arranged near mechanical arm (1), comprise tray body (41) and be arranged on little U-shaped plumber position beam (42) of multiple strips of the arrangement in parallel on tray body (41), the width dimensions in beam (42) cross section, little U-shaped plumber position and the U-shaped A/F dimensional fits of little U-shaped pipe (6), the top end face of little U-shaped plumber position beam 42 is arranged to the arc top surface 421 with the U-shaped inner ring dimensional fits of the U-shaped end of little U-shaped pipe 6, arc top surface (421) top, arcuately end face (421) axial direction is provided with concave through grooves (422), the width of concave through grooves (422) and depth dimensions are greater than width and the height dimension that gripping refers to (22) finger tip, the both sides of little U-shaped plumber position beam (42) are also provided with symmetrical two parallel spigot surfaces (423), width dimensions between two spigot surfaces (423) is less than the span size between two annular solder on the U-shaped home record of little U-shaped pipe (6),

Described electrical controller (5) comprises industrial control computer, electric power loop, pattern-recognition loop, counting circuit, stir interference loop, little U-shaped pipe captures loop, loop piled up by little U-shaped pipe, industrial control computer is electrically connected with the position transduser on manipulator (2) and rang sensor, industrial control computer respectively with the X-coordinate driver train of mechanical arm (1), C CORDIC structure in Y-coordinate driver train and Z coordinate driver train and mount pad (211), the transmission connecting mechanism that gripping refers to (22), the transmission connecting mechanism electrical connection of holder fetching (23).

2. the little U-shaped pipe based on number bus according to claim 1 captures sequence and piles up unit, 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 conveyor line, 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 driver train;

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

Described bulk cargo weight tray (3), order are piled up weight tray (4) and are arranged at support frame (11) inside;

The industrial control computer of described electrical controller (5) is electrically connected with the driver train of crossbeam (13), industrial control computer is electrically connected with the lifting mechanism of slide rail (14), and industrial control computer is electrically connected with the horizontal traveling gear of slide rail (14).

3. the little U-shaped pipe based on number bus according to claim 1 and 2 captures sequence and piles up unit, 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 electrical controller (5) is electrically connected with A CORDIC structure or B CORDIC structure.

4. the little U-shaped pipe based on number bus according to claim 1 and 2 captures sequence and piles up unit, it is characterized in that, between the tray body of described bulk cargo weight tray (3) and bracing frame, low-frequency vibration mechanism is set, described electrical controller (5) also comprises low-frequency vibration loop, and industrial control computer is electrically connected with low-frequency vibration mechanism.

5. the little U-shaped pipe based on number bus according to claim 1 and 2 captures sequence and piles up unit, it is characterized in that, as further improvement of the utility model scheme, all one end is high, the other end is low for described multiple little U-shaped plumber position beam (42), inclination is fixedly installed on tray body (41), end is piled up in its high-end conduct, and low side top is provided with the stop gear preventing the landing of little U-shaped pipe (6).

6. the little U-shaped pipe based on number bus according to claim 5 captures sequence and piles up unit, it is characterized in that, as further improvement of the utility model scheme, between described little U-shaped plumber position beam (42) and tray body (41), low-frequency vibration mechanism is also set.

7. the little U-shaped pipe based on number bus according to claim 1 and 2 captures sequence and piles up unit, 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).

8. the little U-shaped pipe based on number bus according to claim 1 and 2 captures sequence and piles up unit, it is characterized in that, described gripping refers to that the transmission connecting mechanism of (22) and holder fetching (23) is cylinder.