Fin carrying device and tube expansion production line
By designing a fin handling device, which utilizes a liftable conveyor surface and a robotic arm to automatically transfer fins, the problem of fin deformation and damage during the fin insertion and expansion process is solved, achieving efficient and damage-free fin transfer.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-05
- Publication Date
- 2026-04-03
AI Technical Summary
During the process of inserting the fins into the tube, there is a problem of deformation and damage, which affects product quality.
A fin handling device was designed, including a fin threading platform and a movable first conveyor line. The fins are supported by a liftable conveyor surface and directly conveyed to the tube expander by a second handling mechanism, avoiding manual handling and using a robotic arm and grippers for automated transfer.
This reduces manual handling, avoids deformation and damage to the fins during transfer, and improves production efficiency and product quality.
Smart Images
Figure CN121776356A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of fin processing technology, and in particular to a fin handling device and a tube expansion production line. Background Technology
[0002] After the air conditioner fins are threaded, they need to be transferred to an expander for expansion. During the process of transporting the fins to the expander, the fins may deform, which will affect the quality of the fins. Summary of the Invention
[0003] The main objective of this invention is to provide a fin handling device and a tube expansion production line, which aims to prevent fins from deforming and being damaged during the transfer process.
[0004] To achieve the above objectives, the present invention proposes a fin handling device for use in a tube expansion production line, the tube expansion production line including a tube expander, characterized in that the fin handling device comprises: A first conveying mechanism includes a fin threading table and a first conveyor line movably disposed on the fin threading table. The fin threading table is used for threading fins through tubes. The first conveyor line has a first conveying surface extending along a first direction. The first conveyor line is capable of lifting and lowering along a second direction so that the first conveying surface has a picking position not lower than that of the fin threading table. At the picking position, the first conveying surface is used to receive fins on the fin threading table and convey the fins along the first direction. The second direction intersects with the first direction. The second transport mechanism is located on one side of the first transport mechanism. The second transport mechanism is used to receive the fins transported by the first transport line and transfer the fins to the tube expander.
[0005] In one embodiment, the fin threading station includes at least two support plates movably arranged along a third direction. A first conveyor line is provided between adjacent support plates. The at least two support plates have threading stations that are spliced together along a third direction and transfer stations that are separated from each other along a third direction. The at least two support plates are used to form the fin threading station for threading fins through tubes when the fin threading stations are in the threading stations. The first conveyor line is used to rise along a second direction when the at least two support plates are in the transfer stations to move the fins that have been threaded through tubes on the at least two support plates to the first conveying surface. The first direction, the second direction, and the third direction intersect each other.
[0006] In one embodiment, the first conveyor line includes a first conveying track and a lifting drive, the first conveying track having the first conveying surface, and the lifting drive being used to drive the first conveying track to reciprocate along a second direction.
[0007] In one embodiment, the first conveying mechanism further includes a limiting component disposed on the fin threading stage. The limiting component includes a movable bracket and a limiting member disposed on the movable bracket. The movable bracket is used to move in a first direction so that the limiting member abuts against the fin on the opposite side of the fin threading tube. The limiting member is used to move away from the fin threading stage in a second direction so as to form an movable gap between the limiting member and the fin threading stage for the fin after threading to move out in the first direction.
[0008] In one embodiment, the first conveying mechanism further includes a positioning component, which is disposed on at least one side of the finning stage along a third direction. The positioning component includes a positioning member and a positioning drive member. The positioning drive member is used to drive the positioning member to reciprocate along the third direction to push the fin after tube insertion to a preset position. The first direction, the second direction, and the third direction intersect each other.
[0009] In one embodiment, the second conveying mechanism includes a second conveyor line having a second conveying surface extending along a first direction, the second conveying surface being used to receive fins from the first conveying surface; The second conveyor line body is provided in at least two. The second conveying mechanism also includes a first frame and a first adjustment drive assembly. At least two second conveyor lines body are spaced apart on the first frame along a third direction. The first adjustment drive assembly is used to drive each second conveyor line body to move closer or further away from each other along a third direction to adjust the spacing between adjacent second conveyor lines body. The first direction, the second direction, and the third direction intersect each other.
[0010] In one embodiment, there are two second conveyor lines, and the second conveying mechanism further includes a lifting assembly disposed between the two second conveyor lines. The lifting assembly is used to lift the fins located on the two second conveyor lines.
[0011] In one embodiment, the lifting assembly includes a lifting drive and a top plate extending along a first direction, the lifting drive being used to drive the top plate to reciprocate along a second direction.
[0012] In one embodiment, the second handling mechanism further includes a robotic arm, which includes a multi-axis drive module and a gripping mechanism. The multi-axis drive module is used to drive the gripping mechanism to move between the second conveyor line and the tube expander. The gripping mechanism is used to grip fins on the second conveyor line and to place fins on the tube expander.
[0013] In one embodiment, the gripping mechanism includes a second frame, a second adjustment drive assembly, and at least three gripper assemblies, wherein the at least three gripper assemblies are spaced apart from each other on the second frame, and the at least three gripper assemblies are used to grip or release the fins; The at least three gripper assemblies include a first gripper assembly and a second gripper assembly. The first gripper assembly is disposed on one side of the second frame, and the second gripper assembly is disposed on the other side of the second frame. The second adjustment drive assembly is used to drive the first gripper assembly and the second gripper assembly to move closer or further apart.
[0014] In one embodiment, each gripper assembly includes two opposing grippers and two gripping drivers corresponding to each gripper, each gripping driver being used to drive the corresponding gripper to move closer to or further away from the other gripper.
[0015] In one embodiment, the fin handling device further includes a transfer mechanism disposed between the first handling mechanism and the second handling mechanism. The transfer mechanism has a third conveying surface extending along a first direction. The third conveying surface is used to receive fins from the first conveying surface and to convey the fins to the second conveying surface.
[0016] The present invention also proposes a tube expansion production line, comprising: The fin conveying device as described above; and A tube expander is located on one side of the second transport mechanism of the fin transport device.
[0017] The technical solution of the present invention includes a fin handling device comprising a first handling mechanism, which includes a fin threading platform and a first conveyor line. The fin threading platform performs the fin threading operation, and the first conveyor line has a first conveying surface extending in a first direction. The first conveying surface is capable of rising and falling in a second direction, so that it can rise to receive the fins after threading on the fin threading platform and simultaneously convey the fins in the first direction to a second handling mechanism. The second handling mechanism moves the fins to a tube expander for tube expansion. Thus, after the fins are threaded, there is no need for manual handling; the fins are transferred to the conveying equipment and conveyed toward the tube expander, saving manpower and avoiding deformation and damage to the fins due to shaking, friction, or uneven force during manual transfer. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0019] Figure 1 A schematic diagram of a finned tube expansion production line according to an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of one embodiment of the first conveying mechanism; Figure 3 for Figure 2 Another structural diagram of the first handling mechanism in the middle; Figure 4 for Figure 2 A schematic diagram of the first handling mechanism from another angle; Figure 5 for Figure 4 A magnified view of a portion at point A; Figure 6 for Figure 1 A schematic diagram of the structure of one embodiment of the grasping mechanism; Figure 7 for Figure 6 A magnified view of the area at point B; Figure 8 for Figure 6 Another structural diagram of the gripping mechanism; Figure 9 for Figure 8 A magnified view of the area at point C; Figure 10 for Figure 1 A schematic diagram of the structure of one embodiment of the second conveyor line; Figure 11 for Figure 10 A magnified view of a portion at point D.
[0020] Explanation of icon numbers: 1000. Tube expansion production line; 100. Fin handling device; 200. Tube expander; 300. Transfer vehicle; 10. First conveying mechanism; 11. Plate threading table; 111. Support plate; 112. Fourth frame; 113. Sliding guide rail; 114. Support plate drive component; 12. First conveyor line; 12a. First conveyor surface; 121. First conveyor track; 122. Lifting drive component; 123. Belt drive assembly; 124. Track drive component; 13. Limiting assembly; 131. Movable bracket; 132. Limiting component; 133. Second limiting drive component; 134. First limiting drive component; 14. Positioning assembly; 141. Positioning component; 142. Positioning drive component; 20. Second handling mechanism; 21. Robotic arm; 211. Multi-axis drive module; 212. Gripping mechanism; 2121. Gripper assembly; 2121a. First gripper assembly; 2121b. Second gripper assembly; 21211. Gripper; 21212. Gripping drive component; 21213. Gripper transmission component; 21213a. Third toothed belt; 21213b. Third meshing component; 21213c. Third transmission wheel; 2122 2123, Second frame; 21231, Second motor; 21232, Second meshing element; 21233, Second toothed belt; 22, Second conveyor line; 22a, Second conveyor surface; 23, First frame; 24, First adjustment drive assembly; 241, First transmission wheel; 242, First toothed belt; 243, First meshing element; 25, Lifting assembly; 251, Lifting drive element; 252, Top plate; 30. Transfer mechanism; 31. Third frame; 32. First transfer line; 33. Second transfer line.
[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0023] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0024] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.
[0025] The fins inside central air conditioning units are relatively large (approximately 1.4 to 3 meters long and 0.5 to 1.3 meters wide), weighing up to 60 kg or even more. They also come in many different models, making manual handling extremely strenuous and prone to worker injuries. Furthermore, because the fins are not rigid components, the middle of the fins tends to sag when handled from both ends. Currently, from the manual fin insertion process to the subsequent tube expansion and unloading, there are multiple manual handling operations, resulting in inefficiency and negatively impacting product quality.
[0026] This invention proposes a fin handling device for a tube expansion production line, wherein the tube expansion production line includes a tube expander.
[0027] Please see Figures 1 to 11 In one embodiment of the present invention, the fin handling device includes a first handling mechanism 10 and a second handling mechanism 20: the first handling mechanism 10 includes a fin threading platform 11 and a first conveyor line 12 movably disposed on the fin threading platform 11. The fin threading platform 11 is used for threading fins through tubes. The first conveyor line 12 has a first conveying surface 12a extending along a first direction. The first conveyor line can be raised and lowered along a second direction so that the first conveying surface 12a has a picking position not lower than that of the fin threading platform. At the picking position, the first conveying surface is used to receive fins on the fin threading platform 11 and convey fins along the first direction. The second direction intersects with the first direction. The second handling mechanism 20 is disposed on one side of the first handling mechanism 10. The second handling mechanism is used to pick up the fins conveyed by the first conveyor line and transfer the fins to the tube expander.
[0028] The fin handling device 100 of the present invention can be used in a fin expansion production line 1000, wherein the fin expansion production line 1000 may include a tube expander 200, which is used to expand the fins after tube insertion, so that the heat exchange tube inserted on the fins expands and deforms and is fixed to the fins. Before tube expansion, the heat exchange tube can be inserted into the holes on the fins by manual operation on the tube insertion table 11.
[0029] In this invention, the first conveyor line 12 can be configured as a crawler conveyor assembly or a belt conveyor assembly, and the first conveying surface 12a can be the upper end surface of a belt or a crawler. To ensure the supporting force of the first conveyor line 12 on the fins, the first conveyor line 12 can be configured as a crawler conveyor assembly. The fin threading table 111 can be provided with a fin threading operation position for operators to perform fin threading operations on one side along the first direction, and the fin threading operation position is located at the conveying start end of the first conveyor line 12.
[0030] The second direction can be vertical, and the first direction can be horizontal. The fin threading table 11 can be provided with an movable gap for the first conveyor line 12 to rise. When the first conveyor line 12 rises from the movable gap, the first conveying surface 12a of the first conveyor line 12 is not lower than the fin threading working surface of the fin threading table 11, so that the fin can fit against the first conveying surface 12a. When the first conveyor line 12 is running, it can convey the fin along the first direction toward the second conveying mechanism 20. When the first conveyor line 12 falls from the movable gap, the conveying surface of the first conveyor line 12 is lower than the fin threading working surface of the fin threading table 11. At this time, the operator performs the fin threading operation on the fin threading table 11. In this way, after the fin is threaded, there is no need to remove the fin from the fin threading table 11 and move it to the corresponding conveying mechanism, saving the intermediate manual handling process and avoiding the situation where the middle of the fin sags due to excessive weight caused by manually handling the two ends of the fin.
[0031] It is understandable that the first conveyor line 12 can be configured to extend along the first direction, so that the first conveying surface 12a of the first conveyor line 12 extends along the first direction, thereby forming an overall support for the fins along the first direction. This not only supports the two ends of the fins that pass through the tube, but also supports the middle position of the fins through the first conveying surface 12a. This prevents the fins from sagging in the middle due to excessive weight when they are conveyed along the first direction by the first conveyor line 12.
[0032] In addition, multiple first conveyor lines 12 can be set, with multiple conveyor lines arranged at intervals along a third direction, which can be the front-to-back direction. For this purpose, the fin-passing stage 11 is set with multiple movable gaps, which are respectively set for multiple first conveyor lines 12. Thus, multiple first conveying surfaces 12a can be formed by multiple first conveyor lines 12 arranged along a third direction. When conveying fins, multiple support positions are formed in the fin width direction, forming a multi-position support for the fins, which can further prevent deformation during the fin transfer process.
[0033] The technical solution of the present invention includes a fin handling device 100 comprising a first handling mechanism 10, which includes a fin threading platform 11 and a first conveyor line 12. The fin threading platform 11 performs the fin threading operation, and the first conveyor line 12 has a first conveying surface 12a extending in a first direction. The first conveying surface 12a is movable in a second direction so that it can rise to receive the fins after threading on the fin threading platform 11. At the same time, it can convey the fins in the first direction to a second handling mechanism 20, which moves the fins to a tube expander 200 for tube expansion. Thus, after the fins are threaded, there is no need for manual handling; the fins are transferred to the conveying equipment and conveyed to the tube expander 200, saving manpower and avoiding deformation and damage to the fins due to shaking, friction, or uneven force during manual transfer.
[0034] like Figure 2 , Figure 3 , Figure 4 As shown, in one embodiment, the fin threading stage 11 includes at least two support plates 111 movably arranged along a third direction. A first conveyor line 12 is provided between adjacent support plates 111. The at least two support plates 111 have threading stations that are spliced together along a third direction and transfer stations that are separated from each other along a third direction. The at least two support plates 111 are used to form the fin threading stage 11 for fin threading when they are in the threading station. The first conveyor line 12 is used to rise along a second direction when the at least two support plates 111 are in the transfer station to move the fins located on the at least two support plates 111 to the first conveying surface 12a. The first direction, the second direction, and the third direction intersect each other.
[0035] The fin threading table 11 may further include a fourth frame 112, which is provided with a sliding guide rail 113 extending in a third direction. At least two support plates 111 can be two or more support plates 111, which are slidably mounted on the sliding guide rail 113 in a third direction. The fin threading table 11 also includes a support plate drive member 114, which can drive each support plate 111 to reciprocate along the sliding guide rail 113. During the fin threading operation, at least two support plates 111 can be joined together to form the fin threading table 11. The top surface of the fin threading table 11 is also the top surface of each support plate 111. The top surface is connected and fitted, and it is used as a fin threading station. Operators can perform fin threading operations at the fin threading station. When the fins are transferred, at least two support plates 111 can be separated from each other. An movable gap can be formed between two adjacent support plates 111 for the first conveyor line 12 to reciprocate and rise in the second direction. At this time, each support plate 111 is separated from each other, the support plate 111 is in the transfer station, and the first conveyor line 12 can rise from the movable gap between the two support plates 111 in the second direction to transfer the fins placed on multiple support plates 111 after threading to the first conveying surface 12a of the first conveyor line 12.
[0036] With this setup, when performing fin threading operations on the fin threading table 11, a complete fin threading operation plane can be formed by splicing together the various support plates 111, which can be used as a fin threading station to facilitate the positioning of the fins, thereby making it easier for operators to thread the fins.
[0037] The structure of the first conveyor line 12 is described below, such as... Figure 2 , Figure 3 , Figure 4 As shown, in one embodiment, the first conveyor line 12 includes a first conveyor track 121 and a lifting drive 122. The first conveyor track 121 has a first conveyor surface 12a, and the lifting drive 122 is used to drive the first conveyor track 121 to reciprocate along a second direction.
[0038] The first conveying track 121 can be configured as a tracked conveyor structure. The first conveyor line 12 further includes a track drive component 124 and a belt drive assembly 123. The track drive component 124 drives the pulleys of the tracked conveyor structure to rotate through the belt drive assembly 123, thereby driving the track to rotate and enabling the track to convey the fins along the first direction. The first conveying track 121 can be configured in two or more sets. When the first conveying track 121 is configured in two or more sets, the first conveyor line 12 can further include a transmission rod. The transmission rod can respectively drive and connect to the track wheels of each of the first conveying tracks 121, thereby driving the track wheels of each first conveying track 121 to rotate synchronously.
[0039] Thus, only one track drive unit 124 is needed to drive multiple first conveying tracks 121 to operate synchronously.
[0040] In addition, the first conveyor line 12 may also include a second frame 2122, and multiple first conveyor tracks 121 may be arranged side by side on the second frame 2122. The lifting drive 122 may be configured as a cylinder, a hydraulic cylinder, or a motor and ball screw driven. The lifting drive 122 drives the second frame 2122 to rise and fall in the second direction, thereby driving the multiple first conveyor tracks 121 to rise and fall synchronously in the second direction.
[0041] When operators insert heat exchange tubes into the fin holes on the tube insertion table, the tubes need to be inserted. During insertion, there is a possibility of the fins moving. To ensure proper fin positioning and provide a reference surface for the tube insertion, such as… Figure 2 , Figure 3 As shown, in one embodiment, the first conveying mechanism 10 further includes a limiting component 13 disposed on the finning stage 11. The limiting component 13 includes a movable support 131 and a limiting member 132 disposed on the movable support 131. The movable support 131 is used to move along a first direction so that the limiting member 132 abuts against the fin on the opposite side of the finning tube. The limiting member 132 is used to move away from the finning stage 11 along a second direction so as to form an active gap between the limiting member 132 and the finning stage 11 for the fin after tube insertion to move out along the first direction.
[0042] It is understandable that by moving the movable support 131 along the first direction, it abuts against the opposite side of the fins during tube insertion, ensuring that the fins do not move with the heat exchange tube during insertion. Furthermore, since different models of fins have different expansion heights, the length of the fins along the first direction varies when the operator inserts the fins. To enable the operator to accurately position the heat exchange tube against the insertion position on the fins, a limiting component 13 can be further provided, including a first limiting drive 134. The first limiting drive 134 drives the movable support 131 to move along the first direction. When the fins are low in expansion height, the limiting component 132 can push the fins towards the beginning of the first conveyor line 12, bringing the insertion end of the fins closer to the operator, thus facilitating tube insertion.
[0043] In addition, when the fins are completed and transported to the next station via the first conveyor line 12, in order to avoid the limiting member 132 interfering with the fin transport by the first conveyor line 12, a limiting component 13 including a second limiting drive member 133 can be set. The second limiting drive member 133 can drive the limiting member 132 to reciprocate along the second direction, so that an active gap can be formed between the limiting member 132 and the fin-passing table 11 for the output of the fins after passing through the tube.
[0044] like Figure 2 As shown, in one embodiment, the first conveying mechanism 10 further includes a positioning component 14, which is disposed on at least one side of the finning stage 11 along a third direction. The positioning component 14 includes a positioning member 141 and a positioning drive member 142. The positioning drive member 142 is used to drive the positioning member 141 to reciprocate along the third direction to push the fin after tube insertion to a preset position. The first direction, the second direction, and the third direction intersect each other.
[0045] It is understandable that when multiple support plates 111 are in the threading station, after the operator performs the threading operation, the multiple support plates 111 move away from each other towards the transfer station, which will cause the fins on the support plates 111 to move, making the fins unable to be in the preset position. When the first conveyor line 12 is raised, the fins that are not in the preset position may not be accurately transferred to the first conveying surface 12a. For this reason, the first handling mechanism 10 also includes a positioning component 14. The positioning component 14 is set on at least two sides of the threading table 11 along the third direction. The positioning component 14 can be set on both sides of the threading table 11 along the third direction. The positioning drive 142 drives the positioning component 141 to reciprocate along the third direction, pushing the threaded fins to the preset position, so as to avoid the fins not being accurately transferred to the first conveying surface 12a after the first conveyor line 12 is raised.
[0046] Alternatively, a positioning component 14 can be set only on one side of the threading stage 11 along a third direction. In this case, multiple support plates 111, including a reference plate and a movable plate, can be set. The reference plate is set on the opposite side of the positioning component 14. The movable plate moves towards the reference plate and splices with the reference plate, so that the multiple support plates 111 are in the threading station. When the movable plate moves towards the positioning component 14 and separates from the reference plate, it will drive the fins to move towards the positioning component 14. The fins will be closer to the positioning component 14. Therefore, the fins can be placed in the preset position by simply moving the fins through the positioning component 14 here, and there is no need to set two sets of positioning components 14.
[0047] like Figure 1 , Figure 9 As shown, in one embodiment, the second conveying mechanism includes a second conveying line 22, the second conveying line 22 having a second conveying surface 22a extending along a first direction, the second conveying surface 22a being used to receive fins from the first conveying surface 12a; At least two second conveyor lines 22 are provided. The second conveying mechanism 20 also includes a first frame 23 and a first adjustment drive assembly 24. At least two second conveyor lines 22 are spaced apart on the first frame 23 along a third direction. The first adjustment drive assembly 24 is used to drive each second conveyor line 22 to move closer or further away from each other along a third direction to adjust the spacing between adjacent second conveyor lines 22. The first direction, the second direction, and the third direction intersect each other.
[0048] It is understandable that the second conveyor line 22 can adopt a similar conveying structure to the first conveyor line 12, such as a crawler conveyor, with the second conveying surface 22a set as the top conveying surface of the crawler. In this way, the second conveyor line 22 can provide support for the fins, preventing the fins from sagging and deforming due to excessive weight.
[0049] The second conveyor line 22 can be configured as two. With this configuration, the two second conveyor lines 22 can be driven to move closer or further away in a third direction by the first adjustment drive component 24. By adjusting the distance between the two second conveyor lines 22, they can cooperate to support fins with different expansion heights, thereby improving the adaptability to conveying fins with different expansion heights.
[0050] Furthermore, while adapting fins of different heights by adjusting the spacing of the second conveyor line 22, each second conveyor line 22 can be driven to move along a third direction by the first adjustment drive assembly 24, so that at least two second conveyor lines 22 can be aligned and accurately pick up fins from the first conveyor line 12, preventing the second conveyor line 22 from shifting and preventing the paper from being transferred from the first conveyor line 12 to the second conveyor line 22.
[0051] Moreover, since each second conveyor line 22 can be driven to move along a third direction by the first adjustment drive assembly 24, the two sides of the fins along the third direction can be exposed with approximately equal gaps, which facilitates the gripper 21211 of the subsequent robot arm 21 to grasp.
[0052] like Figure 10 , Figure 11 As shown, in one embodiment, there are two second conveyor lines 22, and the second conveying mechanism 20 further includes a lifting component 25, which is disposed between the two second conveyor lines 22. The lifting component 25 is used to lift the fins located on the two second conveyor lines 22.
[0053] When two second conveyor lines 22 are provided, the first adjusting drive assembly 24 can be configured as a first transmission wheel 241, a first toothed belt 242, a first motor, and a first engaging member 243. The first engaging member 243 is located on the second conveyor line 22. Multiple first transmission wheels 241 can be provided, and these multiple first transmission wheels 241 are spaced apart along a third direction on the first frame 23. The first toothed belt 242 is sleeved between the multiple first transmission wheels 241. The first motor drives any one of the first transmission wheels 241, driving the first toothed belt 242 to drive. The first engaging member 243 engages with the first toothed belt 242. When the first toothed belt 242 is driven, it can drive the second conveyor line 22 to reciprocate along a third direction. It can be understood that since the toothed belt has two opposing driving belt sections with opposite driving directions, it can drive the two second conveyor lines 22 to move closer or further away simultaneously.
[0054] It is understandable that the fins can be lifted by the lifting assembly 25 set between the two second conveyor lines 22, so that the fins are suspended on both sides along the third direction. When the fins are raised too little, this will prevent the fins from being suspended on both sides along the third direction above the two second conveyor lines 22, and the gripper 21211 of the robot arm 21 will not be able to grasp them accurately.
[0055] The structure of the lifting assembly 25 will be further described below, such as... Figure 10 As shown, in one embodiment, the lifting assembly 25 includes a lifting drive 251 and a top plate 252 extending along a first direction. The lifting drive 251 is used to drive the top plate 252 to reciprocate along a second direction.
[0056] It is understood that multiple lifting components 25 can be provided, and multiple lifting components 25 are spaced apart along the first direction on the first frame 23. The multiple lifting components 25 are distributed from one end of the first frame 23 to the other end of the first frame 23. Each lifting component 25 includes a lifting drive component 251 and a top plate 252 extending along the first direction. When the lifting components 25 are working, the top plates 252 of multiple lifting components 25 can be raised synchronously to support the fins along the first direction, so that the sides of the fins are exposed for easy clamping, while avoiding the fins from sagging and deforming in the middle due to excessive weight.
[0057] To enable the second conveying mechanism to accurately transport the fins to the tube expander for tube expansion, optionally, such as Figure 1 As shown, the second handling mechanism further includes a robotic arm 21, which includes a multi-axis drive module 211 and a gripping mechanism 212. The multi-axis drive module 211 is used to drive the gripping mechanism 212 to move between the second conveyor line 22 and the tube expander. The gripping mechanism 212 is used to grip fins on the second conveyor line 22 and to place fins on the tube expander.
[0058] Understandably, the multi-axis drive module 211 may include an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly. The multi-axis drive assembly can drive the robot arm 21 to move along the X, Y, and Z axes, and can also drive the gripping mechanism 212 to rotate around the X, Y, and Z axes. This allows the gripping mechanism 212 to accurately position itself with the fins on the second conveyor line 22, facilitating the gripping mechanism 212's gripping of the fins and enabling it to accurately place the gripped fins at the feeding station of the tube expander 200. This configuration eliminates the need for manual feeding of the tube expander 200, reducing the fin handling process during the final feeding step, thus reducing labor costs and avoiding fin deformation and damage caused by manual handling.
[0059] The following is an introduction to the grabbing mechanism 212, such as... Figures 6 to 9 As shown, in one embodiment, the gripping mechanism 212 includes a second frame 2122, a second adjustment drive assembly 2123, and at least three gripper assemblies 2121. The at least three gripper assemblies 2121 are spaced apart from each other on the second frame 2122, and the at least three gripper assemblies 2121 are used to grip or release the fins. At least three gripper assemblies 2121 include a first gripper assembly 2121a and a second gripper assembly 2121b. The first gripper assembly 2121a is disposed on the side near the second frame 2122, and the second gripper assembly 2121b is disposed on the other side near the second frame 2122. The second adjustment drive assembly 2123 is used to drive the first gripper assembly 2121a and the second gripper assembly 2121b to move closer or further apart.
[0060] Understandably, when the gripping mechanism 212 includes at least three third gripper assemblies 2121, the gripper assembly 2121 located in the middle position can provide support for the middle part of the fin, preventing the middle part of the fin from drooping and deforming when the gripping mechanism 212 grips the fin. When the first gripper assembly 2121a and the second gripper assembly 2121b are configured to be driven by the second adjustment drive assembly 2123 to move closer or further apart, the gripping mechanism 212 can adapt to gripping fins with different expansion dimensions.
[0061] The second adjustment drive assembly 2123 can be configured as a second motor 21231, a second meshing member 21232, a second toothed belt 21233, and a second transmission wheel. Multiple second transmission wheels are arranged sequentially from one side of the second frame 2122 to the other side. The second toothed belt 21233 is sleeved between the multiple second transmission wheels. Two second meshing members 21232 are provided. The two second meshing members 21232 are respectively provided with a first gripper assembly 2121a and a second gripper assembly 2121b, and respectively mesh with the two belt portions of the toothed belt. The second motor 21231 drives any second transmission wheel to rotate, causing the two belt portions of the toothed belt to move in opposite directions, thereby causing the two meshing members to move in opposite directions, thereby causing the first gripper assembly 2121a and the second gripper assembly 2121b to move closer to or further away from each other.
[0062] The structure of the gripper assembly 2121 will be further described below, such as... Figure 6 Each of the gripper assemblies 2121 includes two grippers 21211 arranged opposite to each other and two gripping drive members 21212 arranged corresponding to each gripper. Each gripping drive member 21212 is used to drive the corresponding gripper 21211 to move closer to or away from the other gripper 21211.
[0063] The gripper assembly 2121 may further include a gripper drive component 21213 and a mounting bracket. The gripper drive component 21213 is provided corresponding to each gripping drive component 21212. The grippers 21211 are provided at opposite ends of the mounting bracket. The gripper drive component 21213 may include a third toothed belt 21213a, a third meshing component 21213b, and a third drive wheel 21213c. Multiple third drive wheels 21213c are provided, and the multiple third drive wheels 21213c are spaced apart along the extension direction of the mounting bracket. The cloth, the third toothed belt 21213a is sleeved between multiple third transmission wheels 21213c, the third meshing member 21213b is provided on the corresponding jaw 21211 and meshes with the third toothed belt 21213a, the clamping drive member 21212 can be set as a third motor, the third motor is driven connected to the third transmission wheel 21213c of the corresponding jaw transmission member 21213, driving the third toothed belt 21213a to move, thereby driving the jaw 21211 to move relatively closer to or away from another jaw 21211.
[0064] It is understandable that since the two grippers 21211 are driven by their respective gripping drive units 21212, they can move closer to or further away from the other gripper 21211 on their own. This allows the two grippers 21211 to adjust their bias position when gripping the fins, thus preventing the gripping mechanism 212 from failing to grip the fins properly if they are not placed in the predetermined position on the second conveyor line 22.
[0065] like Figure 1As shown, in one embodiment, the fin handling device further includes a transfer mechanism 30, which is disposed between the first handling mechanism 10 and the second handling mechanism 20. The transfer mechanism 30 has a third conveying surface extending along a first direction. The third conveying surface is used to receive fins from the first conveying surface 12a and to convey the fins to the second conveying surface 22a.
[0066] Understandably, given the large size of the tube expander 200 and the significant movement of the robotic arm 21, to prevent the fin insertion point from being too close to the robotic arm 21 and the tube expander 200, a transfer mechanism 30 can be provided between the first conveying mechanism 10 and the second conveying mechanism 20. This transfer mechanism 30 has a third conveying surface to receive the fins from the first conveying surface 12a and convey them to the second conveying surface 22a. The transfer mechanism 30 can employ a conveying structure similar to the first conveying line 12 and the second conveying line 22, i.e., a tracked conveying structure, which can provide effective support for the fins and prevent fin deformation.
[0067] like Figure 1 As shown, in one embodiment, the first conveying mechanism 10 is provided with at least two sets, and the at least two sets of the first conveying mechanism 10 are arranged at intervals along a third direction, wherein the first direction, the second direction, and the third direction intersect each other; The transfer mechanism 30 includes a third frame 31, a first transfer line 32, and a second transfer line 33. The first transfer line 32 and the second transfer line 33 are provided with the third conveying surface. The third frame 31 is located close to the first handling mechanism 10. The first transfer line 32 is located between the third frame 31 and the second handling mechanism 20. The second transfer line 33 is movably located on the third frame 31 along a third direction to connect with the first transfer line 32 and at least one of the first handling mechanisms 10.
[0068] The first transfer line 32 and the second transfer line 33 can adopt a tracked conveyor structure, which can provide effective support for the fins and prevent fin deformation. The second transfer line 33 is movably mounted on the third frame 31 along a third direction, and can be connected to any one of the multiple first handling mechanisms 10, so as to receive fins after tube insertion on any fin insertion table 11. At the same time, the second transfer line 33 can be connected to the first transfer line 32, so that the fins can be transferred to the first transfer line 32 and then conveyed to the second handling mechanism 20 through the first transfer line 32.
[0069] Understandably, the speed of fin threading is relatively slow compared to the speed of fin handling. By setting multiple first handling mechanisms 10, parallel threading operations can be performed on multiple threading stations 11 simultaneously, thereby improving threading efficiency. Furthermore, a second transfer line 33 is set to move along a third direction and dock with any of the first handling mechanisms 10, enabling a single fin handling device 100 to handle fins at multiple fin stations, ensuring the efficiency of fin handling device 100 in transporting fins.
[0070] This invention also proposes a tube expansion production line 1000, which includes a tube expander 200 and a fin handling device 100. The specific structure of the fin handling device 100 is as described in the above embodiments. Since this tube expansion production line 1000 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The tube expander 200 is located on one side of the second handling mechanism 20 of the fin handling device 100.
[0071] In addition, the tube expansion production line 1000 may also include a transfer vehicle 300. The transfer vehicle 300 can be set close to the second handling mechanism 20. After the tube expander 200 completes the tube expansion operation on the fins, the robot arm 21 can grab the fins from the tube expander 200 and place the fins on the transfer vehicle 300. This eliminates the need for manual removal of the expanded fins from the tube expander 200, further reducing manpower consumption.
[0072] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.
Claims
1. A fin handling device for a tube expansion production line, the tube expansion production line comprising a tube expander, characterized in that, The fin transport device includes: A first conveying mechanism includes a fin threading table and a first conveyor line movably disposed on the fin threading table. The fin threading table is used for threading fins through tubes. The first conveyor line has a first conveying surface extending along a first direction. The first conveyor line is capable of lifting and lowering along a second direction so that the first conveying surface has a picking position not lower than that of the fin threading table. At the picking position, the first conveying surface is used to receive fins on the fin threading table and convey the fins along the first direction. The second direction intersects with the first direction. The second transport mechanism is located on one side of the first transport mechanism. The second transport mechanism is used to receive the fins transported by the first transport line and transfer the fins to the tube expander.
2. The fin conveying device as described in claim 1, characterized in that, The fin threading station includes at least two support plates movably arranged along a third direction. A first conveyor line is provided between adjacent support plates. The at least two support plates have threading stations that are spliced together along a third direction and transfer stations that are separated from each other along a third direction. The at least two support plates are used to form the fin threading station for threading fins through tubes when they are in the threading stations. The first conveyor line is used to rise along a second direction when the at least two support plates are in the transfer stations to move the fins that have been threaded through tubes on the at least two support plates to the first conveying surface. The first direction, the second direction, and the third direction intersect each other.
3. The fin handling device as described in claim 2, characterized in that, The first conveyor line includes a first conveying track and a lifting drive. The first conveying track has the first conveying surface, and the lifting drive is used to drive the first conveying track to reciprocate along a second direction.
4. The fin handling device as described in claim 2, characterized in that, The first conveying mechanism further includes a limiting component disposed on the fin threading stage. The limiting component includes a movable bracket and a limiting member disposed on the movable bracket. The movable bracket is used to move along a first direction so that the limiting member abuts against the fin on the opposite side of the fin threading tube. The limiting member is used to move away from the fin threading stage along a second direction so as to form an movable gap between the limiting member and the fin threading stage for the fin after threading to move out along the first direction.
5. The fin handling device as described in claim 1, characterized in that, The first conveying mechanism further includes a positioning component, which is disposed on at least one side of the finning stage along a third direction. The positioning component includes a positioning element and a positioning drive element. The positioning drive element is used to drive the positioning element to reciprocate along the third direction to push the fin after tube insertion to a preset position. The first direction, the second direction, and the third direction intersect each other.
6. The fin handling device as described in claim 1, characterized in that, The second conveying mechanism includes a second conveyor line, the second conveyor line having a second conveying surface extending along a first direction, the second conveying surface being used to receive fins from the first conveying surface; The second conveyor line body is provided in at least two. The second conveying mechanism also includes a first frame and a first adjustment drive assembly. At least two second conveyor lines body are spaced apart on the first frame along a third direction. The first adjustment drive assembly is used to drive each second conveyor line body to move closer or further away from each other along a third direction to adjust the spacing between adjacent second conveyor lines body. The first direction, the second direction, and the third direction intersect each other.
7. The fin handling device as described in claim 6, characterized in that, The second conveyor line is provided in two parts, and the second conveying mechanism further includes a lifting assembly, which is located between the two second conveyor lines and is used to lift the fins located on the two second conveyor lines.
8. The fin handling device as described in claim 7, characterized in that, The lifting assembly includes a lifting drive and a top plate extending along a first direction. The lifting drive is used to drive the top plate to reciprocate along a second direction.
9. The fin handling device as described in claim 7, characterized in that, The second handling mechanism further includes a robotic arm, which includes a multi-axis drive module and a gripping mechanism. The multi-axis drive module is used to drive the gripping mechanism to move between the second conveyor line and the tube expander. The gripping mechanism is used to grip fins on the second conveyor line and to place fins on the tube expander.
10. The fin handling device as described in claim 9, characterized in that, The gripping mechanism includes a second frame, a second adjustment drive assembly, and at least three gripper assemblies. The at least three gripper assemblies are spaced apart on the second frame and are used to grip or release the fins. The at least three gripper assemblies include a first gripper assembly and a second gripper assembly. The first gripper assembly is disposed on one side of the second frame, and the second gripper assembly is disposed on the other side of the second frame. The second adjustment drive assembly is used to drive the first gripper assembly and the second gripper assembly to move closer or further apart.
11. The fin conveying device as claimed in claim 10, characterized in that, Each gripper assembly includes two oppositely arranged grippers and two gripping drive members corresponding to each gripper. Each gripping drive member is used to drive the corresponding gripper to move closer to or further away from the other gripper.
12. The fin conveying device according to any one of claims 1 to 11, characterized in that, The fin handling device further includes a transfer mechanism, which is disposed between the first handling mechanism and the second handling mechanism. The transfer mechanism has a third conveying surface extending along a first direction. The third conveying surface is used to receive fins from the first conveying surface and to convey the fins to the second conveying surface.
13. A tube expansion production line, characterized in that, include: The fin handling device as described in any one of claims 1 to 12; as well as A tube expander is located on one side of the second transport mechanism of the fin transport device.