A sorting and placing system for small u-shaped tubes based on digital bus

Abstract

The invention discloses a digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system. The digital-bus-based small-U-shaped-pipe grabbing and sequential stacking system comprises a mechanical arm (1), a mechanical hand (2), a scattered material bearing tray (3), a bracket and small U-shaped pipe bearing tray assembly (4) capable of supplying small U-shaped pipes circularly and an electric control device (5). The mechanical arm comprises an X-coordinate driving mechanism, a Y-coordinate driving mechanism and a Z-coordinate driving mechanism. The mechanical hand comprises a body (21), clamping fingers (22) and a supporting finger (23), and the body is connected with the tail end of the mechanical arm via a mounting seat (211) which is provided with a C-coordinate driving mechanism. The bracket and small U-shaped pipe bearing tray assembly capable of supplying the small U-shaped pipes circularly comprises a multilayer bracket (41), small U-shaped pipe bearing trays (42), a power device (43) and an electric control mechanism (44). The electric control device comprises an industrial control computer, a mode identification loop, a stirring interference loop, a grabbing and sequential stacking loop and the like. The digital-bus-based small-U-shaped-pipe grabbing and sequential stacking unit has the advantages that automatic operation can be achieved, and influence of human factors on production progress is reduced.

Description

technical field [0001] The invention relates to a grabbing, sorting, and stacking system, in particular to a small U-shaped tube grabbing, sorting, and stacking system based on a digital bus, which is suitable for the tube insertion process of radiators and condenser fin assemblies of air conditioners, and belongs to air-conditioning manufacturing technology field. Background technique [0002] Usually, metal sheets with strong thermal conductivity are added on the surface of the heat exchange device that requires heat transfer to increase the heat exchange surface area of ​​the heat exchange device and improve the heat exchange efficiency. The metal sheets with this function are called fins. [0003] There are two main heat exchangers in the air conditioner, namely the radiator and the condenser. The working medium of these two heat exchangers is refrigerant on one side and air on the other side. In order to enhance the heat transfer of the heat exchanger, generally The he...

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Problems solved by technology

[0006] This traditional production method has the following defects: due to the manual intubation operation, human factors such as the operator's sense of responsibility and emotion have a greater impact on the production progress, and because the previous tube expansion process is carried out through the tube expander, The efficiency is high, so in order to meet the normal progress of the subsequent drying and welding process, it is often necessary to set up multiple people to perform the manual intubation process. The skill and proficiency requirements are high, and the uneven operation proficiency of multiple operators also affects the production progress to varying degrees, and easily causes unstable product quality

[0007] In order to improve the efficiency and quality of the insertion, the robot is used to automatically grab and insert the small U-shaped tubes in an orderly manner. Since the small U-shaped tubes are placed in bulk and disorderly in the container, the small U-shaped tubes will be inserted into each other. Therefore, the manipulator cannot be automatically and orderly grasped, and the small U-shaped tubes in bulk must be arranged in an orderly manner to realize automatic and orderly grasping and insertion of the small U-shaped tubes by the manipulator; if using Manual stacking has low efficiency, and the labor intensity of the operators is high. Human factors such as the operator's sense of responsibility and emotion have a greater impact on the production progress, and the requirements for the skills and proficiency of the operators are relatively high.

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