CN207223322U - Intelligent tubulature equipment - Google Patents
Intelligent tubulature equipment Download PDFInfo
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- CN207223322U CN207223322U CN201721258965.6U CN201721258965U CN207223322U CN 207223322 U CN207223322 U CN 207223322U CN 201721258965 U CN201721258965 U CN 201721258965U CN 207223322 U CN207223322 U CN 207223322U
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Abstract
The utility model discloses a kind of intelligent tubulature equipment, including：For clamping the automatic clamping mechanism of product to be installed；At least one automatic row for auto feed, detection and row's sub-material is in charge of mechanism, and the automatic row, which is in charge of mechanism, includes First look device；The intelligent tubulature mechanism of face automatic clamping mechanism, the intelligence tubulature mechanism include the second sighting device；For the line external standard detent mechanism to calibration thing positioning, second sighting device carries out vision calibration to calibration thing；Control system；The automatic clamping mechanism, automatic row are in charge of mechanism, intelligent tubulature mechanism and line external standard detent mechanism and are connected with the control system.Using demarcate outside line, bend pipe detects automatically, arrange and is in charge of and intelligent tubulature is combined, and improves production efficiency and production quality, the intelligence tubulature equipment is reached advance and primacy in field of central air-conditioning same category of device at home.
Description
Technical field
Central air-conditioning automated production equipment technical field is the utility model is related to, relates more specifically to intelligent tubulature and sets
It is standby.
Background technology
Central air-conditioning is the regular supplies of enterprise, hotel, market and social family, wherein master of the condenser as central air-conditioning
One of component is wanted, otherwise the assembling of small U-tube is to rely on plant operations personnel by small U on currently known condenser of central air conditioner
Type pipe is manually loaded, otherwise it is to be loaded by simple automation equipment.Manual work, labor intensity of operating staff is big, especially
It is that eyes are easily tired, be easy to cause the phenomenon of wrongly installed pipe, and due to the fin in condenser and the design feature of small U-tube,
The defects of often there is fins set deformation in tubulature process, U-tube fractures, card resistance, while manual operation can only once install a small U
Type pipe, there are the problems such as efficiency is low, quality is unstable, high rejection rate.As simple automation equipment comes into operation, condenser
The precision for positioning and installing with small U-tube is difficult to the required precision for meeting actual production work, especially for what is be mounted side by side
Multiple clamping jaws are at the same time in small U-tube loading procedure, and the coherence request of positioning accuracy and small U-tube to condenser is more
Height, and the uniformity of small U-tube in the actual production process is not fine, if simply improving that positioning accuracy also is difficult to will be small
U-tube is encased in condenser like clockwork, therefore can still cause the unqualified and efficiency of assembling of condenser of central air conditioner
The problem of still relatively low, is, it is necessary to be further improved.
Utility model content
In order to solve the deficiencies in the prior art, the utility model provides a kind of high, the efficient intelligence of tubulature precision
Can tubulature equipment.
The utility model technique effect to be reached is realized by following scheme：A kind of intelligence tubulature equipment, the intelligence
Energy tubulature equipment application is on the production line of product to be installed, to be that product to be installed loads bend pipe in working position, including：
Production line side is arranged on, for clamping the automatic clamping mechanism of product to be installed；
Production line opposite side is arranged on, at least one automatic row for auto feed, detection and row's sub-material is in charge of mechanism,
The automatic row, which is in charge of mechanism, includes First look device；
It is arranged on production line opposite side, the intelligent tubulature mechanism of face automatic clamping mechanism, intelligence tubulature mechanism bag
Include the second sighting device；
Production line opposite side is arranged on, for the line external standard detent mechanism to calibration thing positioning, second sighting device
Vision calibration is carried out to calibration thing；
Control system；
The automatic clamping mechanism, automatic row are in charge of mechanism, intelligent tubulature mechanism and line external standard detent mechanism and the control
System connection processed.
Preferably, the line external standard detent mechanism includes demarcating frame outside line, sets online external standard to determine the calibration cylinder on frame
Clamping device and the hand-operated lifting gripping block being arranged on calibration cylinder clamping mechanism, demarcate outside the line on frame place with it is to be installed
The identical calibration thing of bend pipe product type to be installed；The calibration cylinder clamping mechanism includes a pair of of the positioning plate being oppositely arranged, institute
State positioning plate respectively from calibration thing both sides and meanwhile stretch out with clamp demarcate thing lower part；The hand-operated lifting gripping block includes dividing
Be not arranged on calibration cylinder clamping mechanism on and with the telescopic rod of positioning cylinder the same side and the hand being threaded through respectively on telescopic rod
Dynamic gripping block, the top of calibration thing is clamped by tightening by hand hand-operated clamping block.
Preferably, the automatic row, which is in charge of mechanism, includes automatic feeding device, vibrating disk discharge device that order sets, curved
Tube detection device and feeding-distribution device, the vibrating disk discharge device include vibrating disk body and are threaded through vibrating disk intrinsic two
Vibrating disk discharge device is connected by a tube channel, the tube channel with elbow tester；The elbow tester includes two
A bend pipe sense channel, two driver plates, two First look devices, two reject cylinders and two and stir motor, described first
Sighting device is taken pictures by vision, detects the quality for contrasting bend pipe, if bending quality is not up to standard, is rejected cylinder action and is picked
Except the bend pipe；If bending quality reaches standard, stir motor action and drive driver plate to stir bend pipe towards feeding-distribution device movement.
Preferably, the intelligent tubulature mechanism includes robot, the clamping jaw device being fixed in robot and the second vision
Device, the clamping jaw device include the pneumatic clamper of spread configuration；Second sighting device is arranged on the top of clamping jaw device, to
Realize and take pictures to the vision of product upper end bend pipe to be installed to be installed.
Preferably, the automatic clamping mechanism includes lifting gear, bottom pushing device and clamping device, and the bottom pushes away
The lower part that tight device corresponds to product side to be installed is set, and keeps product to be installed product to be installed to be pushed to one side of production line
Point-blank；The clamping device is arranged on the top of bottom pushing device, to determine the upper pinch of product to be installed
Position；The lifting gear is arranged on the side of bottom pushing device and clamping device away from production line, to according to product to be installed
Model or height adjust clamping device height.
Preferably, the bottom pushing device includes the first photoelectric sensor and bottom push-tight cylinder, first photoelectricity
The quantity of sensor is identical with the quantity of working position, to sense whether product to be installed enters working position.
Preferably, the feeding-distribution device includes sub-material motor, belt conveyor and the stop gauge being arranged on belt conveyor,
The stop gauge makes bend pipe be arranged in into two rows on belt conveyor；The both sides of each bend pipe are corresponded to, are gone back on the stop gauge
It is respectively equipped with the second photoelectric sensor, whether in place second photoelectric sensor sensing bend pipe；The feeding-distribution device is also
Sensing cylinder including being separately positioned on the outside of stop gauge two, the sensing cylinder be arranged on tactic two bend pipes it
Between, the sensing cylinder stretches out the bend pipe to stop behind corresponding bend pipe, makes bend pipe into equidistant arrangement.
Preferably, the quantity of the working position is 8.
The utility model has the following advantages：
1st, by setting calibrating device outside line, robot demarcates calibration thing position and carries out calibration training herein obtains coordinate
With tubulature mode, then positioned by the second sighting device, directly the product to be installed of other same models is carried out in the production line
Tubulature, convenient operation, improves efficiency and tubulature precision；The line external standard detent mechanism is arranged on outside production line, can be while giving birth to
Production（Manually production）, while carrying out calibration operation, the production schedule of factory is not influenced；
2nd, elbow tester is set by being in charge of in automatic row in mechanism, is taken pictures using First look device, detects and go
Except below standard accurate bend pipe, reduce bad bend pipe and be loaded into product to be installed, improve the qualification rate of product to be installed；
3rd, height, the position of product to be installed are made by the mating reaction of lifting gear, bottom pushing device and clamping device
It is consistent, taken pictures using the second sighting device to product upper end to be installed vision, then bend pipe is grabbed by six-joint robot, fills bend pipe
Action, can accomplish accurate tubulature, the shape requirement of product to be installed is substantially reduced.
Brief description of the drawings
Fig. 1 is the stereogram of the utility model intelligence tubulature equipment；
Fig. 2 is the schematic diagram of automatic clamping mechanism in Fig. 1；
Fig. 3 is the schematic diagram that automatic row is in charge of mechanism in Fig. 1；
Fig. 4 is the schematic diagram of elbow tester and feeding-distribution device in Fig. 3；
Fig. 5 is that the schematic diagram that bend pipe is rejected is shown in Fig. 3；
Fig. 6 is the schematic diagram of intelligent tubulature mechanism in Fig. 1；
Fig. 7 is the schematic diagram of Fig. 1 center line external standard detent mechanisms.
Embodiment
The utility model is described in detail with reference to the accompanying drawings and examples, the example of the embodiment is in attached drawing
In show, wherein same or similar label represents same or similar element or has the function of same or like from beginning to end
Element.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to for explaining the utility model, without being understood that
For the limitation to the utility model.
In the description of the utility model, it is to be understood that term " length ", " width ", " on ", " under ", " preceding ",
The orientation or position relationship of the instruction such as " rear ", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on
Orientation shown in the drawings or position relationship, are for only for ease of description the utility model and simplify description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the utility model.
In addition, term " first ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or implying phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second ", " the 3rd " are defined
One or more this feature can be expressed or be implicitly included to feature.In the description of the utility model, " multiples' " contains
Justice is two or more, unless otherwise specifically defined.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
Calmly ", the term such as " setting " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；
Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, may be used also
To be the interaction relationship of connection inside two elements or two elements.For the ordinary skill in the art,
Concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.
The product to be installed 1 that the utility model embodiment is related to includes, but are not limited to condenser, and 1 specification of product to be installed is preferred
For width 210mm, height about 400 ~ 2000mm, thickness about 22 ~ 66mm, but not limited to this；Bend pipe 3 includes, but are not limited to U
Type pipe or half bend pipe 3；Preferably, applicable bend pipe 3 is R8.24U φ 7 × 0.5 and R10.5U φ 7 × 0.5, but is not limited to
This.
Fig. 1 is refer to, which show a kind of intelligent tubulature equipment, which can be directly applied to the condenser of central air-conditioning
On production line 2 etc. product 1 to be installed, to load bend pipe 3 for product 1 to be installed, including：
It is preferably disposed on 2 left side of production line and is used for the self-holding automatic clamping mechanism 100 of product 1 to be installed on production line 2；
Two automatic rows that the right of production line 2 is preferably disposed on for auto feed, detection and row's sub-material are in charge of mechanism
200, the automatic row, which is in charge of mechanism 200, includes First look device 233, to the quality of vision-based detection bend pipe 3；
Be preferably disposed on two automatic rows be in charge of between mechanism 200, the intelligent tubulature mechanism of face automatic clamping mechanism 100
300, the intelligence tubulature mechanism 300 includes the second sighting device 330, to determine the position in the hole 11 on product 1 to be installed；
It is preferably disposed on the right of production line 2 and is used for the model to product 1 to be installed, the line external standard detent mechanism 400 of positioning, institute
Line external standard detent mechanism 400 is stated using 330 vision calibration of the second sighting device product 1 to be installed and records data；
The control system 500 that automatic row is in charge of the outside of mechanism 200 is preferably disposed on, the control system 500 includes intelligence
System, vision system and PLC system；
The automatic clamping mechanism 100, automatic row are in charge of mechanism 200, intelligent tubulature mechanism 300 and line external standard detent mechanism
400 are connected with the control system 500.
The intelligence tubulature equipment first passes through line external standard detent mechanism 400 to the model before tubulature is carried out to product 1 to be installed
Product 1 to be installed carries out vision positioning, and automatic clamping mechanism 100 carries out the product to be installed 1 on production line 2 according to the data of positioning
Clamping and positioning；Automatic row is in charge of mechanism 200 to the progress of bend pipe 3 vision-based detection, rejecting, sub-material at the same time, then passes through intelligent tube filling machine
The position in the hole 11 on 300 vision positioning of structure product 1 to be installed, finally carries out tubulature action.The intelligent tubulature of the utility model is set
For by vision calibration product 1 to be installed and vision positioning product 1 to be installed outside auto feed, vision-based detection and row's sub-material, line
High accuracy 1 tubulature of product to be installed is realized in hole 11, make the technology reach at home in field of central air-conditioning same category of device it is advanced and
Primacy.
Referring to Fig. 2, the automatic clamping mechanism 100 includes lifting gear 110, bottom pushing device 120 and clamps dress
Put 130.The bottom pushing device 120 is arranged on the left side of production line 2, the lower part of corresponding 1 side of product to be installed, that will treat
One side that dress product 1 pushes production line 2 to makes product 1 to be installed keep point-blank.The clamping device 130 is arranged on bottom
The top of pushing device 120, to the middle and upper part clamping and positioning to product 1 to be installed.The lifting gear 110 is arranged on bottom and pushes away
The tight side of device 120 and clamping device 130 away from production line 2, rises to the model according to product 1 to be installed or height adjustment
The height of clamping device 130 is dropped, facilitates clamping device 130 to clamp product 1 to be installed.
The corresponding production line 2 of the automatic clamping mechanism 100 is equipped with least two working position, the utility model embodiment
In be preferably provided with 8 working positions, working position is too many or is all unfavorable for improving production efficiency very little.8 products 1 to be installed
Movement respectively enters 8 working positions on production line 2, and each 1 liang of side lower part of product to be installed is equipped with positioning plate 12 so as to be installed
Product 1 keeps vertical state.
The lifting gear 110 includes lift servo motor 111 and gantry electric cylinders module 112, gantry electric cylinders module
112 include a pair of of the fluctuating orbit 1121 being vertically arranged and the hoistable platform 1122 being slidably arranged on fluctuating orbit 1121.Institute
State after automatic clamping mechanism 100 receives 1 model of product to be installed instruction, lift servo motor 111 starts, band driven portal electric cylinders module
Clamping device 130 is elevated to corresponding height by 112 hoistable platform 1122 in fluctuating orbit 1121, so that clamping device 130
The clamping to product 1 to be installed is realized in the middle and upper part of product 1 to be installed.The principle of the lifting gear 110 is answered compared with technology
It is consistent with the principle that hoistable platform realizes object up-down with fluctuating orbit, therefore do not illustrate too much herein.
The bottom pushing device 120 corresponds to 8 working positions and preferably includes 8 the first photoelectric sensors 121 and 4 bottoms
Push-tight cylinder 122, first photoelectric sensor 121 and bottom push-tight cylinder 122 are arranged on production line 2 by stent, institute
The first photoelectric sensor 121 is stated to sense whether product 1 to be installed enters working position.It is preferably every in the utility model embodiment
One bottom push-tight cylinder 122, each 122 front of bottom push-tight cylinder are set between two the first photoelectric sensors 121
Push-tight plate 123 is equipped with close to 1 side of product to be installed, the positioning plate 12 of the push-tight plate 123 product 1 relatively to be installed is set.It is described
First photoelectric sensor 121 is respectively induced the number that product 1 to be installed enters working position, and the bottom push-tight cylinder 122 is stretched respectively
Go out to push push-tight plate 123 and then promotion product 1 to be installed is close to one side of production line 2（Side away from lifting gear 110）, make to treat
Dress product 1 keeps point-blank, ensureing the uniformity of 1 position of product to be installed.
8 the first cylinders 131 and 16 that the clamping device 130 corresponds to that 8 working positions preferably include that connection sets the
Two cylinders 132.The clamping device 130 is preferably provided between lifting gear 110 and production line 2, bottom pushing device 120
Top, and the clamping device 130 is fixedly connected with lifting gear 110.Second cylinder 132 is located at 131 He of the first cylinder
Between product 1 to be installed, first cylinder 131 is to promote the second cylinder 132 to be moved horizontally towards product 1 to be installed, and described
The outside of two cylinder 132 is respectively equipped with a clamping plate 133 so that the clamping plate 133 of the second cylinder of each two 132 occurs to move in opposite directions
It is dynamic.After bottom push-tight is completed, 8 first cylinders 131 stretch out so that the second cylinder 132 is horizontal towards product 1 to be installed
Mobile, each product 1 to be installed is embedded into two clamping plates 133, and then the second cylinder 132 is retracted respectively makes each two
Clamping plate 133 clamps a product 1 to be installed, is finally completed the clamping and positioning of product 1 to be installed, product 1 to be installed during with civilian dress bend pipe 3
It will not rock, is mobile.First cylinder 131 described in the utility model embodiment and the second cylinder 132 preferably with lifting gear 110
Connection is set, and drives the first cylinder 131 and the second cylinder 132 to work by lift servo motor 111.After tubulature is completed, institute
Stating the second cylinder 132 and stretching out makes clamping plate 133 unclamp product 1 to be installed, and first cylinder 131 retracts and is finally completed product to be installed
1 release, product 1 to be installed can be delivered to subsequent processing.It is described it should be appreciated that 131 and second cylinder of the first cylinder
132 can also drive its work by the motor in addition added.
During specific implementation, automatic clamping mechanism 100 receives 1 model of product instruction to be installed, and lift servo motor 111 starts,
Clamping device 130 is elevated to certain altitude by the hoistable platform 1122 with driven portal electric cylinders module 112 in fluctuating orbit 1121；
Then, product 1 to be installed enters working position, and the first photoelectric sensor 121 of bottom pushing device 120 senses product 1 to be installed and enters
The quantity of working position, the bottom push-tight cylinder 122 of bottom pushing device 120 move towards product 1 to be installed and then promote production to be installed
Product 1 are close to one side of production line 2, product 1 to be installed is kept point-blank；Then, the first cylinder of clamping device 130
131 stretch out the second cylinder 132 of promotion moves horizontally towards product 1 to be installed, when product 1 to be installed is embedded into the folder of the second cylinder 132
After plate plate, the second cylinder 132, which is retracted, makes each two clamping plate 133 clamp a product 1 to be installed, is finally completed product 1 to be installed
Clamping and positioning.
The utility model sets 8 working positions, can improve production efficiency, working position is too many or does not all reach highest very little
Efficiency.For the product to be installed 1 of different height, clamped by lift servo motor 111 and the automatic adjustment of gantry electric cylinders module 112
The height of device 130, ensures the product to be installed 1 of the different height stability on lower part and top when filling bend pipe 3.
Referring to Fig. 3, the automatic row, which is in charge of mechanism 200, includes automatic feeding device 210, the vibrating disk row that order is set
Device 220, elbow tester 230 and feeding-distribution device 240 are expected, to realize the automatic detection of bend pipe 3 and spread configuration.
The automatic feeding device 210 includes loading hopper 211, bend pipe conveying device 212, the charging motor that order is set
213 and material-falling hopper 214, the overall loading hopper 211 is in back taper, and the top of loading hopper 211 is feed inlet, loading hopper 211
Lower part is discharge port, and the bend pipe conveying device 212 is inclined between loading hopper 211 and material-falling hopper 214, wherein relatively low
One end is connected with discharge port, and higher one end is connected with material-falling hopper 214.The bend pipe conveying device 212 includes charging skin
Band（Do not shown in figure）Belt Conveying bend pipe 3 feed from relatively low one end to higher end, later falls into material-falling hopper 214.This reality
Automatic feeding device 210 is used with new embodiment, reduces the number of hand stock, mitigates hand labor intensity, is improved artificial
Work efficiency.
The vibrating disk discharge device 220 includes vibrating motor（Do not shown in figure）, vibrating disk body 221 and being threaded through shakes
Two tube channels 222 in Moving plate body 221, the tube channel 222 is by vibrating disk discharge device 220 and elbow tester
230 connections.Bend pipe 3 in material-falling hopper 214 drops into after vibrating disk body 221, and the vibrating motor drives vibrating disk body 221
Vibration makes bend pipe 3 sequentially arrange from two tube channels 222 respectively to enter elbow tester 230.The utility model embodiment
The vibrating disk discharge device 220 faster, facilitates discharge to combine using 3 technology of binary channels auto arrangement bend pipe, feeding speed.
As shown in figure 4, the elbow tester 230 preferably include two bend pipe sense channels, 231, two driver plates 232,
Two 233, two, First look devices reject cylinder 234 and two are stirred motor 235.The driver plate 232 is arranged on bend pipe inspection
The top of passage 231 is surveyed, four is preferably included and stirs protrusion, the outside drive driver plate stirred motor 235 and be arranged on driver plate 232
232 rotate and then make to stir raised rotation, and the rotation for stirring protrusion drives bend pipe 3 to be moved towards feeding-distribution device 240.Described first
Sighting device 233 includes first camera, is separately positioned on the both sides of bend pipe sense channel 231, is taken pictures by vision, detects contrast
The quality of bend pipe 3.As shown in figure 5, the side rejected cylinder 234 and be separately positioned on First look device 233, the bend pipe
Sense channel 231 further respectively has notch 2311, if 3 mass of bend pipe is not up to standard, rejects cylinder 234 and acts, promote curved
The notch 2311 of pipe sense channel 231 is opened, and bend pipe 3 is dropped from the notch 2311 of bend pipe sense channel 231, reaches removal not
The purpose of good bend pipe 3, if 3 mass of bend pipe reaches standard, the notch 2311 of bend pipe sense channel 231 is closed state, is stirred
The action of motor 235 drives driver plate 232 to stir bend pipe 3 and is moved towards feeding-distribution device 240.It should be appreciated that the bend pipe 3 picks
Except that can also have other embodiment, the present embodiment is preferred embodiment, be should not be taken as to the utility model general plotting
Limitation.Bend pipe 3 is carried out vision-based detection by the utility model embodiment, is reduced bad bend pipe 3 and is loaded into product 1 to be installed, is improved
The qualification rate of product 1 to be installed.
The feeding-distribution device 240 includes sub-material motor 241, belt conveyor 242 and the backgauge being arranged on belt conveyor 242
Device 243, the stop gauge 243 make bend pipe 3 be arranged in into two rows on belt conveyor 242, the both sides of corresponding each bend pipe 3,
The second photoelectric sensor 244 is further respectively had on the stop gauge 243, second photoelectric sensor 244 is curved to sense
In place whether, i.e., whether bend pipe 3 arranges pipe 3 from elbow tester 230 into feeding-distribution device 240 in order.The sub-material dress
Put 240 and further include the sensing cylinder 245 for being separately positioned on 243 liang of outsides of stop gauge, the sensing cylinder 245 is respectively to acting in accordance with
Set between two bend pipes 3 of sequence arrangement, the sensing cylinder 245 includes the sensing telescopic rod 2451 for wearing stop gauge 243
It should stretch away from the countercheck rod 2452 for sensing cylinder 245, sensing 245 dynamic of cylinder with sensing telescopic rod 2451 is arranged on
Bar 2451 moves and then countercheck rod 2452 is stretched out to stop bend pipe 3 below, makes bend pipe 3 into equidistant arrangement.Bend pipe 3 passes through
Belt conveyor 242 conveys, when each second photoelectric sensor 244 senses the bend pipe 3 of correspondence position, the sensing cylinder
245 stretch out to stop that bend pipe 3 below makes 3 equidistant arrangement of bend pipe, are finally completed the sub-material of bend pipe 3.The utility model is implemented
The sub-material mode that example employs the second photoelectric sensor 244, sensing cylinder 245 and belt conveyor 242 are combined, effective
Order arrangement bend pipe 3, reaches the spacing needed for tubulature.
During specific implementation, bend pipe 3 is added in loading hopper 211, drives charging Belt Conveying curved by bend pipe conveying device 212
Pipe 3 is from the discharge port of loading hopper 211 into material-falling hopper 214.Bend pipe 3 in material-falling hopper 214 drops into vibrating disk body 221, institute
State vibrating motor and drive the vibration of vibrating disk body 221 bend pipe 3 sequentially arrange from two tube channels 222 respectively and enter bend pipe and examine
Survey device 230.Then, taken pictures by 233 vision of First look device, detect the quality for contrasting bend pipe 3, if 3 mass of bend pipe is not
Reach standard, then reject cylinder 234 and act, promote the notch 2311 of bend pipe sense channel 231 to open, bend pipe 3 is examined from bend pipe
The notch 2311 for surveying passage 231 drops；If 3 mass of bend pipe reaches standard, the notch 2311 of bend pipe sense channel 231 is closing
State, stirs the action of motor 235 and drives driver plate 232 to stir bend pipe 3 and moved towards feeding-distribution device 240.Finally, bend pipe 3 is through undue
The belt conveyor 242 of material device 240 conveys, when each second photoelectric sensor 244 of feeding-distribution device 240 senses correspondence position
Bend pipe 3 when, it is described sensing cylinder 245 stretch out to stop that bend pipe 3 below makes 3 equidistant arrangement of bend pipe, be finally completed bend pipe 3
Sub-material.
As shown in fig. 6, the intelligence tubulature mechanism 300 includes robot 310, the clamping jaw being fixed in robot 310 dress
Put 320 and second sighting device 330.The clamping jaw device 320 includes pneumatic clamper 321, is moved to capture the luggage pipe of going forward side by side of bend pipe 3
Make.The arrangement mode and quantity of the pneumatic clamper 321 need to fill the arrangement of bend pipe 3 on the different model product 1 to be installed according to client
Depending on mode.Preferably, according to the data of production run, 321 1 row of pneumatic clamper sets 5, altogether the arrangement mode of 2 rows,
Peak efficiency is can reach, does not all reach peak efficiency using less than 4 or more than 6.Each pneumatic clamper 321 can be controlled individually
System, you can realize the crawl and tubulature of optional position bend pipe 3.Second sighting device 330 is arranged on the upper of clamping jaw device 320
Side, second sighting device 330 include second camera, to realize the vision bat to 1 upper end of product bend pipe 3 to be installed to be installed
According to.
During specific implementation, after the positioning for completing product 1 to be installed, second sighting device 330 is moved on product 1 to be installed
Side takes pictures, and determines the position in the hole 11 on product 1 to be installed, then the positional information in hole 11 is transmitted to robot 310, robot 310
The bend pipe 3 for controlling clamping jaw device 320 to capture on feeding-distribution device 240 after processing data loads in the hole 11 on product 1 to be installed.
Robot 310 described in the utility model embodiment uses six axis drive manners, before can easily realizing,
Afterwards, upper and lower, left and right are moved.Occurred using machinery positioning in the prior art, to the shape requirement of product 1 to be installed just very
Height, dimensional tolerances will be within 0.1mm, but client does not accomplish, and the tubulature position of manipulator be it is fixed, so
Bend pipe 3 can misplace when putting into the hole 11 of product 1 to be installed.Intelligence tubulature mechanism 300 provided by the utility model uses vision
Positioning and 310 combined technology of robot, the second sighting device 330 photographed the position where hole 11, and robot 310 can be moved to
Corresponding position carries out tubulature, can thus accomplish accurate tubulature, the shape requirement of product 1 to be installed is greatly lowered.
As shown in fig. 7, the line external standard detent mechanism 400 includes demarcating frame 410 outside line, sets online external standard to determine frame 410
On calibration cylinder clamping mechanism 420 and be arranged on calibration cylinder clamping mechanism 420 on hand-operated lifting gripping block 430.It is described
Demarcated outside line and the calibration thing 440 identical with bend pipe 3 to be installed 1 model of product to be installed is placed on frame 410, the calibration cylinder clamping dress
420 a pair of of the positioning plates 12 for including being oppositely arranged are put, the positioning plate 12 is stretched out to press from both sides at the same time from the both sides of calibration thing 440 respectively
The lower part of tight calibration thing 440.The hand-operated lifting gripping block 430 include be separately positioned on calibration cylinder clamping mechanism 420 on and
With the telescopic rod 431 of positioning cylinder the same side and the hand-operated clamping block 432 being threaded through respectively on telescopic rod 431, twisted by using hand
Tight hand-operated clamping block 432 demarcates the top of thing 440 to clamp.432 collective effect of the positioning plate 12 and hand-operated clamping block is with solid
Fixed whole calibration thing 440, it is described to demarcate the height, direction one that the product 1 to be installed of bend pipe 3 to be installed is placed on thing 440 and production line 2
Cause, the line external standard detent mechanism 400 to for product 1 to be installed provide height, tubulature mode calibration, make product 1 to be installed with
Height, the tubulature mode for demarcating thing 440 are consistent.
During specific implementation, calibration thing 440 is placed into online external standard and is determined on frame 410, demarcates the positioning of cylinder clamping mechanism 420
Plate 12 is stretched out to clamp the lower part of calibration thing 440 from the both sides of calibration thing 440 are opposite at the same time, and hand-operated lifting gripping block 430 is stretched
Contracting bar 431 extend out to the top of calibration thing 440, tightens by hand hand-operated clamping block 432 to clamp the top of calibration thing 440.It is fixed
After demarcating thing 440, the bend pipe 3 that robot 310 is captured on feeding-distribution device 240 loads in the hole 11 on calibration thing 440, passes through second
Sighting device 330 takes pictures positioning this calibration thing 440, then calibration training, completes to demarcate this height, the tubulature side of thing 440
Program, is input to control system 500 by determining for formula, and then product 1 to be installed is carried out with demarcating thing 440 on production line 2 again
The identical tubulature work of tubulature mode.
By robot 310 to calibration thing 440 demarcate herein position carry out calibration train obtain coordinate and tubulature mode, so
Positioned afterwards by the second sighting device 330, tubulature is carried out to the product to be installed 1 of other same models directly on production line 2, it is convenient
Operation, improves efficiency and tubulature precision.The detent mechanism of line external standard described in the utility model embodiment 400 is arranged on production line 2
Outside, can be while producing（Manually production）, while carrying out calibration operation, the production schedule of factory is not influenced.
The control system 500 includes intelligence system, vision system and PLC system, may be provided at automatic row and is in charge of mechanism
200 outside.Vision system control First look device 233 and the second sighting device 330 take pictures after image by regarding
Feel that software processing passes to intelligence system, intelligence system software receives relevant information, and the dynamic of robot 310 is determined by calculation
Make, control robot 310 moves to relevant position, completes corresponding tubulature action.It should be appreciated that control of the present invention
The control principle of system 500 is the prior art, and those skilled in the art can be according to the course of work of complete equipment by routine
Technological means can draw the control method for controlling the equipment, therefore not illustrate excessively.
Such as vision can be passed to by sensor trigger signal during vision system specific works described in the embodiment of the present invention
Software, vision software send out photographing signals, subsequent First look device 233 to 233 and second sighting device 330 of First look device
Take pictures with the second sighting device 330, image is back to vision software after the completion of taking pictures and the image of standard form is contrasted, from
And carry out visual determination.Wherein the foundation of standard form can by carrying out image range setting and parameter setting over the display,
It is stored in computer, in case calling at any time.Vision software judges the positional information of product to be installed and passes to robot 310,
Software processing control robot 310 by robot system carries out tubulature action；Vision software judges whether bend pipe 3 meets mark
Standard, and NG or OK information is sent to PLC system, PLC system controls execution to reject whether cylinder 234 rejects bend pipe 3 again.
It is secondary such as during the intelligence system specific works, by taking condenser as an example, same type of product, main program is identical
Program then inserts bend pipe mode for the difference of such product, as long as therefore complete the calibration training of robot, change over the display
Parameter can complete writing for secondary program, such as the calibration of condenser is trained general 30 minutes and can completed, and demarcate
Good product program can store, and subsequent production can directly recall use.
The PLC control system 500 and intelligence system by communication, make motor, cylinder, vibrating disk, robot 310 it is dynamic
Make perfect adaptation, complete the whole that product 1 to be installed is filled needed for bend pipe 3 and act.Intelligence system, vision system and PLC system are at this
Perfect adaptation in intelligent tubulature equipment, can replace manually, alleviating labor intensity, improving efficiency, improve operation quality, shut out
The phenomenon in the wrongly installed hole 11 of bend pipe 3 absolutely, makes the products 1 to be installed such as the condenser on central air-conditioning, evaporator fill 3 technology of bend pipe automatically
Advanced and primacy is reached in same category of device at home.
A kind of intelligence tubulature technique, comprises the following steps：
（1）The calibration thing 440 consistent with 1 model of product to be installed is determined into line external standard.
Calibration thing 440 is placed online external standard and determine on frame 410, the positioning plate 12 of calibration cylinder clamping mechanism 420 is from calibration
The both sides of thing 440 are opposite at the same time to be stretched out to clamp the lower part of calibration thing 440, and the telescopic rod 431 of hand-operated lifting gripping block 430 stretches out
To the top of calibration thing 440, hand-operated clamping block 432 is tightened by hand to clamp the top of calibration thing 440.After fixed calibration thing 440,
The bend pipe 3 that robot 310 is captured on feeding-distribution device 240 loads in the hole 11 on calibration thing 440, passes through the second sighting device 330
Take pictures positioning to this calibration thing 440, then calibration training, complete the height to this calibration thing 440, tubulature mode it is definite,
Program is input to control system 500.
（2）By 1 clamping and positioning of product to be installed of workspace.
Automatic clamping mechanism 100 receives 1 model of product instruction to be installed, and lift servo motor 111 starts, band driven portal electric cylinders
Clamping device 130 is elevated to certain altitude by the hoistable platform 1122 of module 112 in fluctuating orbit 1121；Then, production to be installed
Product 1 enter working position, and the first photoelectric sensor 121 of bottom pushing device 120 senses the number that product 1 to be installed enters working position
Amount, the bottom push-tight cylinder 122 of bottom pushing device 120 move towards product 1 to be installed and then promote product 1 to be installed to be close to production
One side of line 2, makes product 1 to be installed keep point-blank；Then, the first cylinder 131 of clamping device 130, which stretches out, promotes the
Two cylinders 132 are moved horizontally towards product 1 to be installed, after product 1 to be installed is embedded into the cleat plate of the second cylinder 132, the second gas
Cylinder 132, which is retracted, makes each two clamping plate 133 clamp a product 1 to be installed, is finally completed the clamping and positioning of product 1 to be installed.
（3）Bend pipe 3 is detected automatically, arranges and is in charge of
Bend pipe 3 is added in loading hopper 211, and charging Belt Conveying bend pipe 3 is driven from loading hopper by bend pipe conveying device 212
211 discharge port is into material-falling hopper 214.Bend pipe 3 in material-falling hopper 214 drops into vibrating disk body 221, the vibrating motor band
The dynamic vibration of vibrating disk body 221 makes bend pipe 3 sequentially arrange from two tube channels 222 respectively to enter elbow tester 230.Connect
, the quality for contrast bend pipe 3 of being taken pictures, detected by 233 vision of First look device, if 3 mass of bend pipe is not up to standard, is picked
Except cylinder 234 acts, promote the notch 2311 of bend pipe sense channel 231 to open, make the lacking from bend pipe sense channel 231 of bend pipe 3
Mouth 2311 drops；If 3 mass of bend pipe reaches standard, the notch 2311 of bend pipe sense channel 231 is closed state, stirs motor
235 actions drive driver plate 232 to stir bend pipe 3 and are moved towards feeding-distribution device 240.Finally, bend pipe 3 is by the defeated of feeding-distribution device 240
Belt 242 is sent to convey, when each second photoelectric sensor 244 of feeding-distribution device 240 senses the bend pipe 3 of correspondence position, institute
State sensing cylinder 245 and stretch out to stop that bend pipe 3 below makes 3 equidistant arrangement of bend pipe, be finally completed the sub-material of bend pipe 3.
（4）Intelligent tubulature is carried out according to the data of calibration thing 440
Second sighting device 330 is moved to the top of product 1 to be installed and takes pictures, and determines the position in the hole 11 on product 1 to be installed
Put, then the positional information in hole 11 is transmitted to robot 310, robot 310 handles data and according to the tubulature mode of calibration thing 440
The bend pipe 3 that control clamping jaw device 320 is captured on feeding-distribution device 240 loads in the hole 11 on product 1 to be installed.
The utility model embodiment using demarcate outside line, bend pipe detects automatically, arrange and is in charge of and intelligence tubulature is combined, pass through
First look device takes pictures and takes pictures with tubulature surely into line external standard, accurate to control tubulature mode and tubulature action, improves production effect
Rate, carries out accurate 3 rejecting of bend pipe not up to standard by the second sighting device and acts, further improve production quality, fill the intelligence
Tube apparatus reaches advanced and primacy in field of central air-conditioning same category of device at home.
It is last it should be noted that above example is only illustrating the technical solution of the utility model embodiment rather than right
It is limited, although the utility model embodiment is described in detail with reference to preferred embodiment, this area it is common
Technical staff should be understood still can to the technical solution technical scheme is modified or replaced equivalently of the utility model embodiment, and this
A little scopes changed or equivalent substitution cannot also make amended technical solution depart from the utility model embodiment technical solution.
Claims (8)
1. a kind of intelligence tubulature equipment, the intelligence tubulature equipment application is on the production line of product to be installed, to for production to be installed
Product load bend pipe in working position, it is characterised in that including：
Production line side is arranged on, for clamping the automatic clamping mechanism of product to be installed；
Production line opposite side is arranged on, at least one automatic row for auto feed, detection and row's sub-material is in charge of mechanism, described
Automatic row, which is in charge of mechanism, includes First look device；
It is arranged on production line opposite side, the intelligent tubulature mechanism of face automatic clamping mechanism, the intelligence tubulature mechanism includes the
Two sighting devices；
Production line opposite side is arranged on, for the line external standard detent mechanism to calibration thing positioning, second sighting device is to mark
Earnest carries out vision calibration；
Control system；
The automatic clamping mechanism, automatic row are in charge of mechanism, intelligent tubulature mechanism and line external standard detent mechanism
System connection.
2. intelligence tubulature equipment as claimed in claim 1, it is characterised in that the line external standard detent mechanism includes demarcating outside line
Frame, the hand-operated lifting folder for setting online external standard to determine the calibration cylinder clamping mechanism on frame and be arranged on calibration cylinder clamping mechanism
Tight block, the line are demarcated the calibration thing identical with bend pipe to be installed product type to be installed is placed on frame outside；The calibration cylinder clamping
Device includes a pair of of the positioning plate being oppositely arranged, and the positioning plate is stretched out to clamp calibration thing at the same time from the both sides of calibration thing respectively
Lower part；The hand-operated lifting gripping block include be separately positioned on calibration cylinder clamping mechanism on and with positioning cylinder the same side
Telescopic rod and the hand-operated clamping block being threaded through respectively on telescopic rod, the upper of calibration thing is clamped by tightening by hand hand-operated clamping block
Portion.
3. intelligence tubulature equipment as claimed in claim 1, it is characterised in that the automatic row is in charge of mechanism and is set including order
Automatic feeding device, vibrating disk discharge device, elbow tester and feeding-distribution device, the vibrating disk discharge device include shake
Moving plate body detects vibrating disk discharge device and bend pipe with intrinsic two tube channels of vibrating disk, the tube channel is threaded through
Device connects；The elbow tester include two bend pipe sense channels, two driver plates, two First look devices, two
Reject cylinder and two are stirred motor, the First look device is taken pictures by vision, detects the quality for contrasting bend pipe, if bend pipe
Quality is not up to standard, then rejects cylinder action and reject the bend pipe；If bending quality reaches standard, stir motor action drive and dial
Disk is stirred bend pipe and is moved towards feeding-distribution device.
4. intelligence tubulature equipment as claimed in claim 1, it is characterised in that the intelligence tubulature mechanism includes robot, solid
The clamping jaw device and the second sighting device being scheduled in robot, the clamping jaw device include the pneumatic clamper of spread configuration；Described second
Sighting device is arranged on the top of clamping jaw device, takes pictures to realize to the vision of product upper end bend pipe to be installed to be installed.
5. intelligence tubulature equipment as claimed in claim 1, it is characterised in that the automatic clamping mechanism include lifting gear,
Bottom pushing device and clamping device, the lower part that the bottom pushing device corresponds to product side to be installed is set, to will be to be installed
One side that product pushes production line to makes product to be installed keep point-blank；The clamping device is arranged on bottom pushing device
Top, to the upper pinch of product to be installed position；The lifting gear is arranged on bottom pushing device and clamping device
Side away from production line, the height of clamping device is adjusted to the model according to product to be installed or height.
6. intelligence tubulature equipment as claimed in claim 5, it is characterised in that the bottom pushing device includes the first photoelectric transfer
Sensor and bottom push-tight cylinder, the quantity of first photoelectric sensor is identical with the quantity of working position, to sense production to be installed
Whether product enter working position.
7. intelligence tubulature equipment as claimed in claim 3, it is characterised in that the feeding-distribution device includes sub-material motor, conveying
Belt and the stop gauge being arranged on belt conveyor, the stop gauge make bend pipe be arranged in into two rows on belt conveyor；It is right
The both sides of each bend pipe are answered, the second photoelectric sensor is further respectively had on the stop gauge, second photoelectric sensor is used
Whether in place to sense bend pipe；The feeding-distribution device further includes the sensing cylinder for being separately positioned on the outside of stop gauge two, described
Sensing cylinder is arranged between tactic two bend pipes, and the sensing cylinder stretches out curved behind corresponding bend pipe to stop
Pipe, makes bend pipe into equidistant arrangement.
8. the intelligent tubulature equipment as described in claim 1-7 is any, it is characterised in that the quantity of the working position is 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721258965.6U CN207223322U (en) | 2017-09-28 | 2017-09-28 | Intelligent tubulature equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721258965.6U CN207223322U (en) | 2017-09-28 | 2017-09-28 | Intelligent tubulature equipment |
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| CN207223322U true CN207223322U (en) | 2018-04-13 |
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| CN201721258965.6U Active CN207223322U (en) | 2017-09-28 | 2017-09-28 | Intelligent tubulature equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520590A (en) * | 2017-09-28 | 2017-12-29 | 深圳市捷牛智能装备有限公司 | Intelligent tubulature equipment and its tubulature technique |
| CN110893534A (en) * | 2018-09-13 | 2020-03-20 | 宝山钢铁股份有限公司 | Metallurgical technology probe plugging calibration method based on visual measurement and plugging system thereof |
| CN113640312A (en) * | 2021-07-02 | 2021-11-12 | 帕萨思汽车零部件（苏州）有限公司 | Automobile pipeline visual inspection equipment |
-
2017
- 2017-09-28 CN CN201721258965.6U patent/CN207223322U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520590A (en) * | 2017-09-28 | 2017-12-29 | 深圳市捷牛智能装备有限公司 | Intelligent tubulature equipment and its tubulature technique |
| CN107520590B (en) * | 2017-09-28 | 2023-10-20 | 深圳市捷牛智能装备有限公司 | Intelligent tubing equipment and tubing process thereof |
| CN110893534A (en) * | 2018-09-13 | 2020-03-20 | 宝山钢铁股份有限公司 | Metallurgical technology probe plugging calibration method based on visual measurement and plugging system thereof |
| CN113640312A (en) * | 2021-07-02 | 2021-11-12 | 帕萨思汽车零部件（苏州）有限公司 | Automobile pipeline visual inspection equipment |
| CN113640312B (en) * | 2021-07-02 | 2024-04-26 | 帕萨思汽车零部件（苏州）有限公司 | Automobile pipeline vision inspection equipment |
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