CN205200942U - Always grow up intubate device of automatic intubate system of U type pipe intubate unit of fin - Google Patents

Abstract

The utility model discloses an always grow up intubate device of automatic intubate system of U type pipe intubate unit of fin is the fin that adopts the vertical grafting structure of U type pipe the partly of the automatic intubate system of U type pipe that always grow up, sets up directly over braced frame's (1) upper top, supporting platform (82), including U type pipe pressurization manipulator (841) and coordinate control telescopic machanism, U type pipe pressurization manipulator lower part is provided with to open closes control mechanism, and many U type pipe pressurization manipulators and fin group go up correspond that long U type manages many and correspond the cannula hole position, the vertical setting of coordinate control telescopic machanism, fixed mounting are on braced frame. Owing to release long U type pipe in U type pipe retinue frock in adopting that the long U type of U type pipe pressurization manipulator centre gripping pipe U type end is vertical and moving down the U type that penetrates pipe retinue frock, cooperation guide pin pusher jack moves down during the U type of can guaranteeing pipe inserts fin group smoothly in step, and the intubate process is managed to the long U type of two digital ware mills of specially adapted.

Description

The Intubaction device of fin always growth U-tube automatic intubation system cannula unit

Technical field

The utility model relates to a kind of Intubaction device, specifically be applicable to the Intubaction device of fin always growth U-tube automatic intubation system cannula unit for the radiator of air-conditioner, condenser fin always growth U-tube intubate operation, belong to air-conditioner 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 long U-shaped copper pipe is penetrated side by side the installing hole on multiple fin, finally carry out expand tube in the openend of long U-shaped copper pipe, long U-shaped copper pipe inside is grafting weld little U-shaped copper pipe and be communicated with successively by each long U-shaped copper pipe again after drying, and is about to all long U-shaped copper pipes and is communicated with into a passage.

Current air-conditioner manufacturer still adopts manual work in a large number in the fin always growth U-tube intubate operation of radiator and condenser, namely artificial long U-shaped copper pipe to be inserted in the neat fin of piling one by one, complete artificial insert long U-tube after fin assembly enter lower road little U-tube intubate operation again.

The intubation system automatically inserting long U-tube is had, the long U-tube that normally horizontal grafting horizontal or vertical direction is side by side piled up in prior art.

Also there is following defect in the mode of production of this artificial intubate and existing automatic intubation:

1. manually carry out intubation owing to adopting, therefore operating personnel's sense of responsibility, the impact of the human factors such as mood on manufacturing schedule is larger, and due to front road punching press fin operation and copper pipe bending process be all pass through mechanically actuated, efficiency is higher, therefore for meeting normally carrying out of follow-up expand tube operation, often need to arrange many people to carry out manually inserting long U-tube operation simultaneously, labor intensity of operating staff is large, efficiency is low, and often cause preceding working procedure to accumulate too many output because personnel placement is unreasonable, the situation that later process holds up work for lack of material, automation degree of equipment is low, utilization rate of equipment and installations is low, production capacity can not ensure,

2., 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;

3. existing automatic intubation system be that horizontal grafting is horizontal, the horizontal positioned that is arranged side by side or the long U-tube of vertically placing, because long U-tube is usually longer, because of long U-tube self gravitation factor or the impact of putting factor, the insertion method of horizontal long U-tube can cannot ensure that absolutely accurate is inserted in the spliced eye of fins set usually, usually fins set and long U-tube in catheterization procedure can be caused to rub, even damage fin; And fin placement unit, U-tube placement unit and intubate unit normally work in order, work is had to interfere, can not work simultaneously mutually, again carry out subsequent work stream after having needed a workflow, work can not intert to be carried out, and then causes intubate efficiency not high.

Summary of the invention

For above-mentioned prior art Problems existing, the utility model provides a kind of Intubaction device adopting the fin always growth U-tube automatic intubation system cannula unit of vertical intubation way, automation mechanized operation can be realized, reduce human factor to the impact of manufacturing schedule, production efficiency is high, can ensure the product quality of intubate operation simultaneously.

To achieve these goals, the Intubaction device of this fin always growth U-tube automatic intubation system cannula unit is arranged on directly over the top of the upper layer of support frame, support platform, comprises U-tube pressurization manipulator and coordinate control telescoping mechanism;

The described mechanical subordinate portion of U-tube pressurization is provided with opening and closing controlling organization, the top of U-tube pressurization manipulator is connected with the telescopic end of described coordinate control telescoping mechanism, U-tube pressurization manipulator is set to multiple, quantity needs the quantity of the long U-tube of intubate identical with product requirement, multiple U-tube pressurization manipulator is vertically arranged, horizontally, the centre-to-centre spacing between the multipair insertion hole of the centre-to-centre spacing size long U-tube corresponding in fins set between more than one piece U-tube pressurization manipulator is measure-alike and position is corresponding;

Described coordinate control telescoping mechanism is vertically arranged, fixedly mount on the support frame and be electrically connected with the industrial control computer of fin always growth U-tube automatic intubation system.

As embodiment of the present utility model, described U-tube is pressurizeed, and mechanical hand comprises matrix, location refers to refer to gripping; The top connection coordinate of matrix controls the telescopic end of telescoping mechanism; Locate the bottom that the top that refers to is fixedly connected on matrix, its bottom face is provided with the arc groove I of U-shaped end pipe external diameter with long U-tube and U-shaped radian dimensional fits; Gripping refers to that top is articulated and connected in matrix, its bottom is hook-shaped, bottom medial surface is provided with the arc groove II with the U-shaped end pipe external diameter of long U-tube and the U-shaped radian dimensional fits of U-shaped home record, and the arc groove II that when gripping refers to close complete state, gripping refers to and the arc groove I that location refers to surround the space holding the U-shaped end of long U-tube jointly; Described opening and closing control structure is arranged on matrix, and its telescopic end is articulated and connected on gripping refers to.

As further improvement of the utility model scheme, the front end face that described location refers to its arc groove I the cambered surface center of circle between horizontal range be no more than the radius of long U-tube, described gripping refers to be arranged at the rear of locating and referring to.

As preferred version of the present utility model, described opening and closing control structure is cylinder, and cylinder is electrically connected by the industrial control computer of pneumatic operated valve group with fin assembly automatic intubation system electric-controlled unit.

Compared with prior art, the Intubaction device of this fin always growth U-tube automatic intubation system cannula unit is a part for the fin always growth U-tube automatic intubation system adopting the vertical connected structure of U-tube, automation intubate can be realized by the Automatic Control of the industrial control computer of fin always growth U-tube automatic intubation system, therefore automation degree of equipment is high, intubate efficiency is higher, can avoid that the labor intensity of operating staff of artificial intubate is large, efficiency is low completely, personnel arrange unreasonable, the problems such as higher are required to the technical ability of operating personnel and qualification; Because the Intubaction device of this fin always growth U-tube automatic intubation system cannula unit is arranged on directly over the top of the upper layer of support frame, support platform, therefore can avoid interfering with the work of other working cells, the work of guarantee do not interfere with each other, and can work with other working cells simultaneously; Owing to adopting the U-shaped end of the U-tube pressurization long U-tube of manipulator clamping vertically to move down to penetrate in U-tube accompany frock, long U-tube is released in U-tube accompany frock, coordinate guide pin push unit synchronously to move down and can ensure that U-tube is inserted in fins set smoothly, be specially adapted to the long U-tube intubate operation of digitlization Liang Qi factory.

Accompanying drawing explanation

Fig. 1 is that the front optical axis that the utility model is arranged in fin always growth U-tube automatic intubation system measures figure;

Fig. 2 is that the rear optical axis that the utility model is arranged in fin always growth U-tube automatic intubation system measures figure;

Fig. 3 is the top view that the utility model is arranged in fin always growth U-tube automatic intubation system;

Fig. 4 is the bottom view of Fig. 3.

Fig. 5 is the structural representation of the utility model U-tube pressurization manipulator.

In figure: 1, support frame, 2, fin assembly accompany frock transposition working cell, 21, fin assembly accompany frock rotary table, 211, fin assembly accompany frock rotates leading face, and 212, working face after fin assembly accompany frock rotates, 213, pilot pin retractor device, 3, fin assembly captures and piles up unit, 31, fins set bracket, 32, fin assembly bracket, 33, fins set captures and piles up manipulator, 34, fin assembly captures and piles up manipulator, 4, fin assembly accompany frock unit, 41, fin assembly accompany frock track, 42, fin assembly accompany frock, 43, fin assembly accompany frock push-pull device at fixed, 5, U-tube accompany frock transposition working cell, 51, U-tube accompany frock rotary table, 511, U-tube accompany frock rotates leading face, and 512, working face after U-tube accompany frock rotates, 6, U-tube placement unit, 61, U-tube bracket, 62, U-tube grabbing device, 621, U-tube catching robot, 7, U-tube accompany frock unit, 71, U-tube accompany frock track, 72, U-tube accompany frock, 721, U-tube guide pad, 722, U-tube locator card, 73, U-tube accompany frock captures thrust unit, and 731, U-tube accompany frock captures and piles up manipulator, 8, intubate unit, 81, fin assembly accompany frock translation grabbing device, 811, locating clamp plate, 812, coordinate control translation mechanism, 82, support platform, 83, guide pin push unit, 831, guide pin, 832, guide pin guide extension driving mechanism, 84, Intubaction device, 841, U-tube pressurization manipulator, 9, supporting steel plate captures and piles up unit, 91, supporting steel plate bracket, 92, supporting steel plate captures and piles up device, 10, the U-tube mouth of pipe repairs unit, and 101, press down parts, 102, repair hole parts, 1021, guide-localization hole, 1022, repair lancet.

Detailed description of the invention

Below in conjunction with accompanying drawing, the utility model is described further (following description piles up the direction of unit 3 at the Intubaction device place of this fin always growth U-tube automatic intubation system cannula unit for front with the crawl of fin assembly).

As shown in Figures 1 to 5, the Intubaction device 84 of this fin always growth U-tube automatic intubation system cannula unit is arranged on directly over the top of the upper layer of support frame 1, support platform 82, comprises U-tube pressurization manipulator 841 and coordinate control telescoping mechanism.

Described U-tube pressurization manipulator 841 bottom is provided with the opening and closing controlling organization for clamping or unclamp the U-shaped end of long U-tube, the top of U-tube pressurization manipulator 841 is connected with the telescopic end of described coordinate control telescoping mechanism, U-tube pressurization manipulator 841 is set to multiple, quantity and product requirement need the quantity of the long U-tube of intubate identical, multiple U-tube pressurization manipulator 841 is vertically arranged, horizontally, centre-to-centre spacing between the multipair insertion hole of the centre-to-centre spacing size long U-tube corresponding in fins set between more than one piece U-tube pressurization manipulator 841 is measure-alike and position is corresponding.

Described coordinate control telescoping mechanism is vertically arranged, be fixedly mounted on support frame 1 and be electrically connected with the industrial control computer of fin always growth U-tube automatic intubation system, and the groove that the U-tube that U-tube pressurization manipulator 841 vertically can descend shifting movement to make to be positioned at U-tube accompany frock 72 by coordinate control telescoping mechanism is pressed into the groove and fin assembly accompany frock 42 being positioned at locating clamp plate 811 merges the fins set of the spatial accommodation formed.

As a kind of embodiment of the present utility model, as shown in Figure 2, described U-tube is pressurizeed, and manipulator 841 comprises matrix, location refers to refer to gripping; The top connection coordinate of matrix controls the telescopic end of telescoping mechanism; Locate the bottom that the top that refers to is fixedly connected on matrix, its bottom face is provided with the arc groove I of U-shaped end pipe external diameter with long U-tube and U-shaped radian dimensional fits, and the U-shaped end top of long U-tube can snap in arc groove I; Gripping refers to that top is articulated and connected in matrix, its bottom is hook-shaped, bottom medial surface is provided with the arc groove II with the U-shaped end pipe external diameter of long U-tube and the U-shaped radian dimensional fits of U-shaped home record, during gripping state, gripping refers to that the U-shaped home record of the U-shaped end of long U-tube can be hooked in bottom, and the arc groove II that when gripping refers to close complete state, gripping refers to and the arc groove I that location refers to surround the space holding the U-shaped end of long U-tube jointly; Described opening and closing control structure is arranged on matrix, and its telescopic end is articulated and connected on gripping refers to, by the flexible opening and closing that can control gripping and refer to of opening and closing control structure.

Vertically move down to penetrate in U-tube accompany frock 72 process at clamping long U-tube U-shaped end and cause work to interfere to prevent the U-tube manipulator 841 that pressurizes to U-tube accompany frock 72, as further improvement of the utility model scheme, the front end face that described location refers to its arc groove I the cambered surface center of circle between horizontal range be no more than the radius of long U-tube, described gripping refers to be arranged at the rear of locating and referring to.

Described opening and closing control structure can adopt hydraulic cylinder, or employing cylinder, or adopt the stretching structure of pure frame for movement, because workshop source of the gas enriches, and air pressure control structure is arranged comparatively simply, reaction speed is very fast, and therefore preferably air pressure controls, namely, as preferred version of the present utility model, described opening and closing control structure is cylinder, and cylinder is electrically connected by the industrial control computer of pneumatic operated valve group with fin assembly automatic intubation system electric-controlled unit.

This fin always growth U-tube automatic intubation system can avoid the state that holds up work for lack of material of intubate unit 8 opportunity by the revolution rationally arranging fin assembly accompany frock rotary table 21 and U-tube accompany frock rotary table 51, realizes efficient intubate.

Because fin assembly is usually in the majority with double intubate, specifically describe the course of work of the Intubaction device of this fin always growth U-tube automatic intubation system cannula unit below for double intubate fin assembly.

As shown in Figure 1, when the Intubaction device of this fin always growth U-tube automatic intubation system cannula unit does not start (during initial position), three fin assembly accompany frocks 42 are positioned on left section or right section of fin assembly accompany frock track 41 by the fin assembly accompany frock positioner on fin assembly accompany frock track 41, fin assembly accompany frock rotates leading face 211 and fin assembly accompany frock rotates on rear working face 212, the flexible track of fin assembly accompany frock track 41 is in complete retraction state, fin assembly accompany frock auxiliary sliding device is in be positioned at and left section and right section ploughs under state, fin assembly accompany frock rotates leading face 211 face forward, after fin assembly accompany frock rotates, working face 212 is towards rear, the pilot pin of the pilot pin retractor device 213 after fin assembly accompany frock rotates leading face 211 and the rotation of fin assembly accompany frock on working face 212 is in complete retraction state, the fin assembly accompany frock backing device that stretches is in complete retraction state, fin assembly accompany frock rotate leading face 211 and fin assembly accompany frock rotate after the fin assembly accompany frock clamping device of working face 212 be in clamped condition, fins set capture pile up manipulator 33 be positioned at fin assembly accompany frock rotate leading face 211 front, be in rotate leading face 211 towards fin assembly accompany frock open dead state, fin assembly capture pile up manipulator 34 be positioned at the fin assembly accompany frock 42 on left section or right section of accompany frock track 41 front, be in and open dead state towards fin assembly accompany frock 42, U-tube accompany frock rotates leading face 511 face forward, after U-tube accompany frock rotates, working face 512 is towards rear, the U-tube accompany frock that three U-tube accompany frocks 72 are separately positioned on two pieces U-tube accompany frock transposition working cell 5 rotate leading face 511 and U-tube accompany frock rotate after on working face 512, wherein the U-tube accompany frock of a U-tube accompany frock transposition working cell 5 rotates on rear working face 512 and is not with U-tube accompany frock 72, after U-tube accompany frock rotates leading face 511 and the rotation of U-tube accompany frock, the U-tube accompany frock clamping device of the left and right sides of working face 512 is in clamped condition, U-tube accompany frock rotate leading face 511 and U-tube accompany frock rotate after U-tube accompany frock bottom the working face 512 backing device that stretches be in and stretch out the state of lifting, the coordinate control telescoping mechanism of U-tube grabbing device 62 is in complete retraction state, U-tube catching robot 621 be positioned at support frame 1 top of the upper layer position, be in the dead state of opening, the U-tube accompany frock positioner of U-tube accompany frock track 71 is in the state of stretching out, U-tube accompany frock capture pile up manipulator 731 be positioned at U-tube accompany frock track 71 rear, just to U-tube accompany frock rotate after working face 512, be in the dead state of opening, locating clamp plate 811 be in fin assembly accompany frock rotate after the dead astern of working face 212, fin assembly accompany frock rotary table 21 the radius of gyration outside dead state, the fin assembly accompany frock clamping device of locating clamp plate 811 left and right sides is in open configuration, guide pin 831 is in complete retraction state, the coordinate control telescoping mechanism of Intubaction device 84 is in complete retraction state, U-tube pressurization manipulator 841 be positioned at support frame 1 top of the upper layer, be in the dead state of opening, supporting steel plate capture the catching robot piling up device 92 be positioned at support frame 1 upper back, middle level, be in the dead state of opening.

When be loaded with made insertion hole and pile up the fins set bracket 31 of neat fins set, unloaded fin assembly bracket 32 entered into desired location by artificial or automatical pilot transportation vehicle self-supporting frame 1 lower floor front portion and locates, be loaded with pile up neat long U-tube U-tube bracket 61, be loaded with the supporting steel plate bracket 91 of piling up neat supporting steel plate and entered into desired location by artificial or automatical pilot transportation vehicle self-supporting frame 1 lower floor rear portion and behind location, start up system electric power loop, system starts.

Fin assembly captures and piles up control loop and the work of pilot pin expansion control loop, industrial control computer sends instruction makes the pilot pin being positioned at the pilot pin retractor device 213 that fin assembly accompany frock rotates on leading face 211 stretch out, be displaced downwardly to the position of setting, fins set crawl is piled up manipulator 33 and is vertically displaced downwardly in desired location crawl fins set bracket 31, move on vertical after being positioned at anterior first row fins set, crawled first row fins set departs from the pilot pin in fins set bracket 31 in upper process of moving, the pilot pin of pilot pin retractor device 213 is inserted simultaneously, on move to desired location after, be positioned at the fin assembly accompany frock fin assembly accompany frock rotated on the leading face 211 backing device that stretches to stretch out completely, first row fins set namely the pilot pin of pilot pin retractor device 213 and fin assembly accompany frock stretch backing device positioning action under be positioned at and be positioned at the groove that fin assembly accompany frock rotates the fin assembly accompany frock 42 on leading face 211, fins set captures to pile up to withdraw after manipulator 33 unclamps first row fins set to initial position and awaits orders.

While manipulator 33 work is piled up in fins set crawl, U-tube captures control loop work, two sides all synchronously vertically moves down in crawl U-tube bracket 61 with the U-tube catching robot 621 of the side, U-tube accompany frock transposition working cell 5 of U-tube accompany frock 72, move on vertical after being positioned at the first row U-tube at rear portion, penetrate in the process that first row U-tube is moved and be positioned at the U-tube guide pad 721 that U-tube accompany frock rotates the U-tube accompany frock 72 on rear working face 512, after U-tube catching robot 621 moves to desired location, namely first row U-tube is inserted in whole U-tube guide pads 721, first row U-tube is located by U-tube locator card 722, U-tube catching robot 621 unclamps and rear continuation moves to initial position awaits orders, U-tube accompany frock control loop works, the crawl of U-tube accompany frock is piled up manipulator 731 reach under the control capturing coordinate control mechanism and is captured the U-tube accompany frock 72 being loaded with first row U-tube, after firm crawl, after U-tube accompany frock rotates, the U-tube accompany frock clamping device of working face 512 opens, then U-tube accompany frock capture pile up manipulator 731 capture be loaded with the U-tube accompany frock 72 of first row U-tube after move and be placed on U-tube accompany frock track 71, after U-tube accompany frock positioner retraction on U-tube accompany frock track 71, U-tube accompany frock captures and piles up the U-tube accompany frock 72 that manipulator 731 promotes to be loaded with first row U-tube and move to middle part along U-tube accompany frock track 71 level, the U-tube accompany frock 72 being loaded with first row U-tube is passed after to support platform 82, U-tube accompany frock positioner on U-tube accompany frock track 71 stretches out locates the U-tube accompany frock 72 being loaded with first row U-tube, U-tube accompany frock captures to pile up and gets back to initial position after manipulator 731 unclamps and await orders.

While the U-tube accompany frock 72 being loaded with first row U-tube is awaited orders directly over U-tube accompany frock crawl thrust unit 73 horizontal translocation to support platform 82, the U-tube accompany frock rotary table 51 of the U-tube accompany frock transposition working cell 5 of this side rotates 180 ° under the driving of U-tube accompany frock transposition rotating driving device, making the U-tube accompany frock being loaded with unloaded U-tube accompany frock 72 rotate leading face 511 rotates to rear portion, U-tube bracket 61 is backward after stepping step pitch, U-tube catching robot 621 continues to capture in U-tube bracket 61, be positioned at the second row U-tube at rear portion, making second row U-tube be positioned at U-tube accompany frock rotates in the U-tube accompany frock 72 of leading face 511, then entirety is moved and is placed on U-tube accompany frock track 71 after being captured by the U-tube accompany frock crawl thrust unit 73 of awaiting orders and stays where one is, pending further orders, U-tube accompany frock crawl thrust unit 73 is again got back to initial position and is awaited orders.

Then fin assembly accompany frock transposition job control loop works, fin assembly accompany frock transposition rotating driving device drives fin assembly accompany frock rotary table 21 rotate 180 ° and locate, the fin assembly accompany frock 42 that fin assembly accompany frock rotation leading face 211 is carried with first row fins set rotates to rear portion, pilot pin expansion control loop task again, the pilot pin being positioned at the pilot pin retractor device 213 that fin assembly accompany frock rotates on leading face 211 is contracted to initial position, departs from first row fins set, after fin assembly accompany frock rotates, working face 212 carries unloaded fin assembly accompany frock 42 rotation to anterior simultaneously, fins set bracket step motion control loop works, fins set bracket 31 is forward after stepping step pitch, fins set captures piles up in manipulator 33 continuation crawl fins set bracket 31, be positioned at anterior second row fins set, the pilot pin being positioned at the pilot pin retractor device 213 that fin assembly accompany frock rotates on rear working face 212 is stretched out, be positioned at the pilot pin of pilot pin retractor device 213 while second row fins set is accepted by the fin assembly accompany frock fin assembly accompany frock 42 rotated on rear working face 212 to await orders after penetrating.

When the pilot pin being positioned at the pilot pin retractor device 213 that fin assembly accompany frock rotates on leading face 211 is contracted to initial position, after departing from first row fins set, the work of fin assembly handing-over control loop, the locating clamp plate 811 of fin assembly accompany frock translation grabbing device 81 moves forward to after setpoint distance makes its groove and the groove with the fin assembly accompany frock 42 of first row fins set merge under the driving of coordinate control translation mechanism 812, fin assembly accompany frock 42 with first row fins set clamps by the fin assembly accompany frock clamping device action of locating clamp plate 811, then the fin assembly accompany frock clamping device that fin assembly accompany frock rotates on leading face 211 opens, fin assembly accompany frock bottom locating clamp plate 811 stretch backing device stretch out the fin assembly accompany frock 42 accepted with first row fins set after fin assembly accompany frock rotate the fin assembly accompany frock of leading face 211 and stretch the retraction of backing device to initial position, namely handing-over is completed, namely fin assembly accompany frock 42 with first row fins set is firmly clamped on locating clamp plate 811, then the desired location in support platform 82 is moved to after the fin assembly accompany frock 42 that coordinate control translation mechanism 812 action makes locating clamp plate 811 carry with first row fins set, the fin assembly accompany frock detent mechanism action of support platform 82 is awaited orders after making fin assembly accompany frock 42 location with first row fins set.

Then supporting steel plate captures and piles up control loop work, supporting steel plate captures the catching robot piling up device 92 and be vertically displaced downwardly to desired location under the driving of coordinate control driving mechanism, then the action of crawl controlling organization makes first piece of supporting steel plate in catching robot crawl supporting steel plate bracket 91, the desired location higher than first row fins set top is moved on after catching robot captures, then shifted forward in support platform 82 with directly over the fin assembly accompany frock 42 of first row fins set, supporting steel plate is just to the desired location on first row fins set top, then capture controlling organization action make catching robot discharge first piece of supporting steel plate after catching robot get back to initial position and await orders, namely first piece of supporting steel plate be placed on the desired location on first row fins set top.

Then guide pin expansion control loop work, guide pin guide extension driving mechanism 832 drive guide pin 831 vertically on move, penetrate the insertion hole of the first row fins set of the fin assembly accompany frock 42 with first row fins set be arranged in support platform 82, and the insertion hole moved on continuing through supporting steel plate is to the desired location that docks with the first row U-tube bottom of the U-tube accompany frock 72 be positioned at directly over support platform 82, then intubate control loop work, the coordinate control telescoping mechanism action of Intubaction device 84 makes U-tube pressurization manipulator 841 stretch out, grab the U-shaped top being connected on first row U-tube, U-tube pressurization manipulator 841 continues to stretch out and presses down, guide pin guide extension driving mechanism 832 drives guide pin 831 synchronously vertically to move down simultaneously, namely first row U-tube is forced out in U-tube accompany frock 72, through the insertion hole of supporting steel plate under the guide effect of guide pin 831, penetrate in the insertion hole of the first row fins set in the fin assembly accompany frock 42 that is positioned in support platform 82, when U-tube pressurization manipulator 841 extend out to desired location, first row U-tube is inserted in first row fins set completely, U-tube copper pipe End passes first row fins set, complete the intubate work of first row U-tube, U-tube pressurization manipulator 841 unclamp first row U-tube U-shaped top and on move to initial position and await orders.

Then U-tube accompany frock control loop task again, U-tube accompany frock positioner retraction on U-tube accompany frock track 71, one side captures with the U-tube accompany frock of the side, U-tube accompany frock transposition working cell 5 of U-tube accompany frock 72 and piles up manipulator 731 and stretch out and move to medium position and capture and completed the U-tube accompany frock 72 of the zero load of first row U-tube intubate, simultaneously two sides all captures with the U-tube accompany frock of the side, U-tube accompany frock transposition working cell 5 of U-tube accompany frock 72 and piles up manipulator 731 and stretch out the U-tube accompany frock 72 with second row U-tube capturing and stay where one is, pending further orders on U-tube accompany frock track 71, then two pieces U-tube accompany frock captures and piles up manipulator 731 and promote respective U-tube accompany frock 72 and synchronously move to setpoint distance along U-tube accompany frock track 71 to U-tube accompany frock track 71 other end, U-tube accompany frock positioner on U-tube accompany frock track 71 again stretches out and positions U-tube accompany frock 72, namely the U-tube accompany frock 72 having completed the zero load of first row U-tube intubate is positioned at the other end of U-tube accompany frock track 71, U-tube accompany frock 72 with second row U-tube is positioned at directly over support platform 82, the U-tube accompany frock 72 having completed the zero load of first row U-tube intubate is captured thrust unit 73 by U-tube accompany frock and captures and move forward, and after being rotated with the U-tube accompany frock of the U-tube accompany frock transposition working cell 5 of U-tube accompany frock 72 by the one side of this side, working face 512 is accepted.

While U-tube accompany frock control loop again task, fin assembly handing-over control loop also task again, coordinate control translation mechanism 812 can drive according to program setting and be loaded with the fin assembly accompany frock 42 of the first row fins set completing first row U-tube intubate and support platform 82 backward or forward, move to setpoint distance to the left or to the right, the second row insertion hole position making the first row fins set completing first row U-tube intubate just to immediately below guide pin 831 after location, intubate control loop task again, same as above, guide pin guide extension driving mechanism 832 drive guide pin 831 again vertically on move, penetrate complete first row U-tube intubate with in the second row jack in the fin assembly accompany frock 42 of first row fins set, through supporting steel plate jack and after docking with the second row U-tube bottom of the U-tube accompany frock 72 be positioned at directly over support platform 82, U-tube pressurization manipulator 841 stretches out again, after grabbing the U-shaped top being connected on second row U-tube, second row U-tube is extruded, when U-tube pressurization manipulator 841 extend out to desired location, complete the intubate work of second row U-tube, U-tube pressurization manipulator 841 moves to initial position again await orders.

Then fin assembly handing-over control loop task again, fin assembly after double intubate work completes is driven first forward or backward by coordinate control translation mechanism 812, move to the jack position of first row U-tube to the right or left, rotated leading face 211 by fin assembly accompany frock after moving forward to setpoint distance again to accept, then fin assembly accompany frock transposition job control loop task again, fin assembly accompany frock rotary table 21 rotates 180 ° makes fin assembly accompany frock rotate leading face 211 rotation to anterior, then fin assembly accompany frock control loop work, the pushing handle telescopic control mechanism action of fin assembly accompany frock track 41 makes flexible track stretch out completely to make three sections of tracks of fin assembly accompany frock track 41 connect into an integral level track, fin assembly accompany frock auxiliary sliding device control loop work simultaneously, the fin assembly accompany frock auxiliary sliding device in left section or right section front of fin assembly accompany frock track 41 is routed up the fin assembly after double intubate work being completed and is lifted, the fin assembly accompany frock positioner retraction of fin assembly accompany frock track 41, the fin assembly accompany frock clamping device that fin assembly accompany frock rotates leading face 211 opens, the flexible gripping body of fin assembly accompany frock push-pull device at fixed 43 stretch out subsequently and clamp the zero load being positioned at fin assembly accompany frock track 41 left end or right-hand member fin assembly accompany frock 42 and be loaded with double intubate work complete after fin assembly fin assembly accompany frock 42 and promote unloaded fin assembly accompany frock 42 simultaneously and move to middle part along fin assembly accompany frock track 41, pull be loaded with double intubate work complete after the fin assembly accompany frock 42 of fin assembly move along fin assembly accompany frock track 41 to fin assembly accompany frock track 41 other end, fin assembly accompany frock auxiliary sliding device synchronizing moving simultaneously, by be loaded with double intubate work complete after the fin assembly accompany frock 42 of fin assembly move to the other end of fin assembly accompany frock track 41, then the fin assembly accompany frock positioner of fin assembly accompany frock track 41 again stretches out and is located by fin assembly accompany frock 42, then flexible track retraction is to initial position, then fins set bracket 31 is forward again after stepping step pitch, fins set captures piles up in manipulator 33 continuation crawl fins set bracket 31, be positioned at the 3rd anterior row's fins set, the pilot pin being positioned at the pilot pin retractor device 213 that fin assembly accompany frock rotates on leading face 211 is stretched out again, be positioned at the pilot pin of pilot pin retractor device 213 while the 3rd row's fins set is accepted by the fin assembly accompany frock fin assembly accompany frock 42 rotated on leading face 211 to await orders after penetrating, simultaneously, fin assembly captures and piles up manipulator 34 action, capture be positioned at fin assembly accompany frock track 41 other end be loaded with double intubate work complete after the double intubate work of fin assembly accompany frock 42 of fin assembly complete after fin assembly, after firm crawl, fin assembly accompany frock push-pull device at fixed 43 and fin assembly accompany frock auxiliary sliding device are got back to initial position and are awaited orders, fin assembly capture pile up manipulator 34 double intubate work is completed after fin assembly to pile up on fin assembly bracket 32 after fin assembly capture and pile up manipulator 34 and get back to initial position and await orders, complete whole intubate operations of first row fins set.

By that analogy, repeat step same as above, after whole fins set all completes intubate operation, fin assembly bracket 32 circulates to next procedure.

The Intubaction device of this fin always growth U-tube automatic intubation system cannula unit is Digitizing And Control Unit, can realize concentrating digital management with the number bus seamless link of digital plant.

The Intubaction device of this fin always growth U-tube automatic intubation system cannula unit is a part for the fin always growth U-tube automatic intubation system adopting the vertical connected structure of U-tube, automation intubate can be realized by the Automatic Control of the industrial control computer of fin always growth U-tube automatic intubation system, therefore automation degree of equipment is high, intubate efficiency is higher, can avoid that the labor intensity of operating staff of artificial intubate is large, efficiency is low completely, personnel arrange unreasonable, the problems such as higher are required to the technical ability of operating personnel and qualification; Because the Intubaction device 84 of this fin always growth U-tube automatic intubation system cannula unit is arranged on directly over the top of the upper layer of support frame 1, support platform 82, therefore can avoid interfering with the work of other working cells, the work of guarantee do not interfere with each other, and can work with other working cells simultaneously; Clamp the U-shaped end of long U-tube owing to adopting U-tube pressurization manipulator 841 vertically to move down to penetrate in U-tube accompany frock 72 long U-tube is released in U-tube accompany frock 72, coordinate guide pin push unit 83 synchronously to move down and can ensure that U-tube is inserted in fins set smoothly, be specially adapted to the long U-tube intubate operation of digitlization Liang Qi factory.

Claims (4)

1. the Intubaction device of a fin always growth U-tube automatic intubation system cannula unit, it is characterized in that, the Intubaction device (84) of this fin always growth U-tube automatic intubation system cannula unit is arranged on directly over the top of the upper layer of support frame (1), support platform (82), comprises U-tube pressurization manipulator (841) and coordinate control telescoping mechanism;

Described U-tube pressurization manipulator (841) bottom is provided with opening and closing controlling organization, the top of U-tube pressurization manipulator (841) is connected with the telescopic end of described coordinate control telescoping mechanism, U-tube pressurization manipulator (841) is set to multiple, quantity and product requirement need the quantity of the long U-tube of intubate identical, multiple U-tube pressurization manipulator (841) is vertically arranged, horizontally, centre-to-centre spacing between the multipair insertion hole of the centre-to-centre spacing size long U-tube corresponding in fins set between more than one piece U-tube pressurization manipulator (841) is measure-alike and position is corresponding,

Described coordinate control telescoping mechanism is vertically arranged, be fixedly mounted on support frame (1) goes up and is electrically connected with the industrial control computer of fin always growth U-tube automatic intubation system.

2. the Intubaction device of fin according to claim 1 always growth U-tube automatic intubation system cannula unit, is characterized in that, described U-tube pressurization manipulator (841) comprises matrix, location refers to refer to gripping; The top connection coordinate of matrix controls the telescopic end of telescoping mechanism; Locate the bottom that the top that refers to is fixedly connected on matrix, its bottom face is provided with the arc groove I of U-shaped end pipe external diameter with long U-tube and U-shaped radian dimensional fits; Gripping refers to that top is articulated and connected in matrix, its bottom is hook-shaped, bottom medial surface is provided with the arc groove II with the U-shaped end pipe external diameter of long U-tube and the U-shaped radian dimensional fits of U-shaped home record, and the arc groove II that when gripping refers to close complete state, gripping refers to and the arc groove I that location refers to surround the space holding the U-shaped end of long U-tube jointly; Described opening and closing control structure is arranged on matrix, and its telescopic end is articulated and connected on gripping refers to.

3. the Intubaction device of fin according to claim 2 always growth U-tube automatic intubation system cannula unit, it is characterized in that, the front end face that described location refers to its arc groove I the cambered surface center of circle between horizontal range be no more than the radius of long U-tube, described gripping refers to be arranged at the rear of locating and referring to.

4. the Intubaction device of fin according to claim 1 and 2 always growth U-tube automatic intubation system cannula unit, it is characterized in that, described opening and closing control structure is cylinder, and cylinder is electrically connected by the industrial control computer of pneumatic operated valve group with fin assembly automatic intubation system electric-controlled unit.