1. The automatic grabbing clamp for the heat exchanger fins is characterized by comprising a frame body (1), a conveying unit (2), a grabbing unit (5) and a transferring unit (6), wherein the conveying unit (2), the grabbing unit (5) and the transferring unit (6) are all located inside the frame body (1), and a robot (4) is arranged on one side of the grabbing unit (5);

the grabbing unit (5) comprises a connecting shaft (51), a supporting rod (52) and a clamping adaptive mechanism, the connecting shaft (51) is fixedly connected between the robot (4) and the supporting rod (52), and the clamping adaptive mechanism is located at two ends of the supporting rod (52);

the clamping adaptive mechanisms comprise electric cylinders (56), gears (55), racks (54), clamping plates (53) and connecting frames (57), the number of the clamping adaptive mechanisms is two, the electric cylinders (56) are fixedly connected inside the connecting frames (57), the connecting frames (57) are fixedly connected to one end face of the supporting rod (52), the racks (54) penetrate through the supporting rod (52) in a sliding mode, the number of the racks (54) is two, the clamping plates (53) are fixedly connected to the lower end faces of the two racks (54), contact pads are fixedly connected to the lower end faces of the clamping plates (53), the racks (54) are located on two sides of the gears (55), and the racks (54) are meshed with the gears (55) and are not separated from the gears (55) all the time;

conveying unit (2) is including motor B (21), drive sprocket (22), driven sprocket (29), chain (23) and moving mechanism, motor B (21) fixed connection is in framework (1) top end face, the output shaft and drive sprocket (22) fixed connection of motor B (21), driven sprocket (29) are located one side of drive sprocket (22), chain (23) set up the outside at driven sprocket (29) and drive sprocket (22), moving mechanism is located the lower extreme of drive sprocket (22) and driven sprocket (29).

2. The automatic grabbing clamp for the heat exchanger fin according to claim 1, is characterized in that: the moving mechanism comprises a contact plate (24), a connecting rod (28), a sliding groove (291) and a supporting plate (27), the contact plate (24) is fixedly connected to the lower end face of the chain (23), two end faces of the supporting plate (27) are fixedly connected with the inner wall of the frame body (1), the contact plate (24) is located at the upper end of the supporting plate (27), the connecting rod (28) is fixedly connected to the lower end face of the contact plate (24), and the connecting rod (28) penetrates through the inner portion of the sliding groove (291).

3. The automatic grabbing clamp for the heat exchanger fin as claimed in claim 2, wherein: fixedly connected with spliced pole between the intermediate position of backup pad (27) and the top of framework (1), the inside at backup pad (27) is seted up in spout (291), be sliding contact between the inner wall of spout (291) and connecting rod (28).

4. The automatic grabbing clamp for the heat exchanger fin as claimed in claim 2, wherein: the lower end face of the contact plate (24) is not contacted with the support plate (27) all the time, the lower end position in the contact plate (24) is embedded with a ball (25), and the lower end face of the ball (25) is contacted with the support plate (27).

5. The automatic grabbing clamp for the heat exchanger fin as claimed in claim 2, wherein: the connecting rod (28) is L-shaped, and fins (8) are arranged outside the transverse rod body at the lower end of the connecting rod (28).

6. The automatic grabbing clamp for the heat exchanger fin as claimed in claim 2, wherein: the vertical sections of the chain (23) and the contact plate (24) are T-shaped, and the contact plate (24) is made of deformable materials.

7. The automatic grabbing clamp for the heat exchanger fin according to claim 1, is characterized in that: the output end of the electric cylinder (56) is connected with the gear (55), the two sides of the gear (55) are fixedly connected with a shaft body, and the shaft body is inserted into an output shaft of the electric cylinder (56).

8. The automatic grabbing clamp for the heat exchanger fin according to claim 1, is characterized in that: transfer unit (6) including conveyer belt and motor A (7), motor A (7) are the output power source of conveyer belt, transfer unit (6), pick and be the triangle between unit (5) and the conveying unit (2) and set up the position relation.

9. The automatic grabbing clamp for the heat exchanger fin according to claim 1, is characterized in that: the motor B (21) runs, the motor B (21) can drive the driving sprocket (22) to rotate, the chain (23) drives the driven sprocket (29) to rotate, the chain (23) can drive the contact plate (24) to rotate, the connecting rod (28) at the lower end of the contact plate (24) can move inside the sliding groove (291), the contact plate (24) moves at the upper end of the supporting plate (27) through the balls (25), the supporting plate (27) is located at the inner part and the outer part, the distance between the two parts is the sliding groove (291), the fins (8) are sleeved outside the connecting rod (28), namely the fins (8) are hung, the fins (8) rotate and are transferred to the inside of the frame body 1;

the robot (4) runs to drive the grabbing unit (5) to move, the electric cylinder (56) runs, an output shaft of the electric cylinder (56) can drive the gear (55) to move towards a position close to the support rod (52), when the clamping plate (53) is clamped and contacted with the fin (8), the clamping plate (53) can be contacted with the fin (8) through the contact pad, the two clamping plates (53) can be adjusted in adaptability according to the shape of the fin (8), when the clamping is not in the position of the planar fin (8), the two racks (54) can be adjusted rapidly through the gear (55), and further the clamping surface shape of the fin (8) is adapted;

snatch unit (5) and place fin (8) on transfer unit (6), motor A (7) drive the conveyer belt and remove and carry out the transfer of position with fin (8), and the staff can get into inside of framework (1) and carry out a series of processing operations to fin (8).

10. The utility model provides an automatic grasping system of heat exchanger fin which characterized in that: comprises a control unit (3), a power supply module, a pressure sensor, a buzzer, a weighing sensor (26) and the automatic heat exchanger fin grabbing clamp as claimed in any one of claims 1 to 9; the power supply module is used for providing electric energy for the transfer unit (6), the grabbing unit (5), the conveying unit (2) and the control unit (3), the control unit (3) is used for controlling the behaviors of the transfer unit (6), the grabbing unit (5) and the conveying unit (2), the control unit (3) is used for driving a motor B (21) to drive a driving chain wheel (22) to rotate, the control unit (3) is matched with pressure data fed back by a pressure sensor to drive an electric cylinder (56) to operate, the clamping force on the fins (8) can be controlled through the pressure sensor in the clamping plate (53), and the control unit (3) is used for controlling a driving motor A (7) to drive the conveying belt to operate;

weighing sensor (26) fixed connection is on connecting rod (28), and weighing sensor (26) are arranged in weighing the weight of fin (8) and transmit weighing data to the control unit (3), weighing data is in the error band of the weight of qualified fin 8, conveying unit (2) continues to operate, weighing data is not in the error band of the weight of qualified fin 8, control unit (3) control conveying unit (2) stop operation, and the warning of calling one's voice of bee calling organ is carried out on connecting rod (28) of the unqualified fin of corresponding transportation (6).

Background

The heat exchanger fin is used in an air conditioner and mainly comprises a refrigeration host, a water pump, a fan and a pipeline system. The end device is responsible for specifically processing the air state by utilizing the cold and heat quantity from the transmission and distribution so as to enable the air parameters of the target environment to meet the requirements. The heat exchanger is an important component of an air conditioner and generally comprises a heat exchange pipeline and fins arranged on the heat exchange pipeline.

For example, chinese patent application No. CN201911129875.0 is an automatic heat exchanger fin gripping clamp and system, the specific contents of which are: the automatic heat exchange fin grabbing clamp comprises a clamp frame, an upper positioning mechanism, a lower positioning mechanism, an upper profiling gripper and a lower profiling gripper, and can automatically position a heat exchanger fin under the control of a robot, clamp an auxiliary steel pin inserted in the heat exchanger fin through the upper profiling gripper and the lower profiling gripper, automatically carry the heat exchanger without carrying by using manpower, greatly reduce the labor intensity, save the production time and improve the production operation efficiency, simultaneously avoid damaging the heat exchanger fin in the carrying process through the matching between each positioning mechanism and the profiling gripper, ensure the product quality, comprise the upper positioning mechanism, the lower positioning mechanism, the upper profiling gripper and the lower profiling gripper, automatically position the heat exchanger fin under the control of the robot, and clamp the auxiliary steel pin inserted in the heat exchanger fin through the upper profiling gripper and the lower profiling gripper, the heat exchanger is automatically conveyed without manual conveying, so that the labor intensity is greatly reduced, the production time is saved, the production operation efficiency is improved, and meanwhile, the heat exchanger fins can be prevented from being damaged in the conveying process through the matching of each positioning mechanism and the profiling grippers, and the product quality is ensured. On the other hand, the automatic heat exchanger fin grabbing system provided by the invention can carry the heat exchanger fins and simultaneously pull out the auxiliary steel bars inserted in the heat exchanger fins, and the automation degree is high.

When the clamp on the automatic grabbing clamp and the system for the heat exchanger fin clamps the fin, the adaptive quick contact adjustment is difficult to carry out according to the surface of the fin, a good contact clamping area is not available when the clamp faces an uneven position, the fin needs to be moved manually in a control transfer system for clamping the fin, the effect of automatically transferring the fin is not good, the qualification of the fin can be judged according to the weight reference of the fin in the production of the fin, the existing grabbing device has no good monitoring means for unqualified products, the probability of unqualified products is difficult to reduce, and the defect exists in use.

Disclosure of Invention

The invention aims to provide an automatic grabbing clamp and an automatic grabbing system for a heat exchanger fin, which aim to solve the problems that the prior art cannot perform adaptive quick contact adjustment according to the surface of the fin, a good contact clamping area is not available when the heat exchanger fin faces an uneven position, and in a control transfer system for clamping the fin, the fin needs to be moved manually, and a good effect of automatically transferring the fin is not available.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic grabbing clamp for heat exchanger fins comprises a frame body, a conveying unit, a grabbing unit and a transferring unit, wherein the conveying unit, the grabbing unit and the transferring unit are all located inside the frame body, and a robot is arranged on one side of the grabbing unit;

the grabbing unit comprises a connecting shaft, a supporting rod and a clamping adaptive mechanism, the connecting shaft is fixedly connected between the robot and the supporting rod, and the clamping adaptive mechanism is positioned at two ends of the supporting rod;

the clamping adaptive mechanisms comprise electric cylinders, gears, racks, clamping plates and connecting frames, the number of the clamping adaptive mechanisms is two, the electric cylinders are fixedly connected inside the connecting frames, the connecting frames are fixedly connected to one end face of the supporting rod, the racks penetrate through the inside of the supporting rod in a sliding mode, the number of the racks is two, the clamping plates are fixedly connected to the lower end faces of the two racks, the contact pads are fixedly connected to the lower end faces of the clamping plates, the racks are located on the two sides of the gears, the racks are meshed with the gears, and the racks are not separated from the gears all the time;

the conveying unit comprises a motor B, a driving chain wheel, a driven chain wheel, a chain and a moving mechanism, the motor B is fixedly connected to the top end face of the frame body, an output shaft of the motor B is fixedly connected with the driving chain wheel, the driven chain wheel is located on one side of the driving chain wheel, the chain is arranged on the outer side of the driven chain wheel and the outer side of the driving chain wheel, and the moving mechanism is located at the lower end of the driving chain wheel and the lower end of the driven chain wheel.

Preferably, the moving mechanism comprises a contact plate, a connecting rod, a sliding groove and a supporting plate, the contact plate is fixedly connected to the lower end face of the chain, the two end faces of the supporting plate are fixedly connected to the inner wall of the frame body, the contact plate is located at the upper end of the supporting plate, the connecting rod is fixedly connected to the lower end face of the contact plate, and the connecting rod penetrates through the sliding groove.

Preferably, a connecting column is fixedly connected between the middle position of the supporting plate and the top end of the frame body, the sliding groove is formed in the supporting plate, and the inner wall of the sliding groove is in sliding contact with the connecting rod.

Preferably, the lower end surface of the contact plate is not in contact with the support plate all the time, a ball is embedded in the lower end position in the contact plate, and the lower end surface of the ball is in contact with the support plate.

Preferably, the connecting rod is L-shaped, and fins are arranged outside the transverse rod body at the lower end of the connecting rod.

Preferably, the vertical cross sections of the chain and the contact plate are T-shaped, and the contact plate is made of deformable materials.

Preferably, electric cylinder's output and gear connection, the both sides fixedly connected with axis body of gear, the axis body is pegged graft on electric cylinder's output shaft.

Preferably, the transfer unit comprises a conveyor belt and a motor A, the motor A is an output power source of the conveyor belt, and the transfer unit, the grabbing unit and the transfer unit are in a triangular arrangement position relationship.

Preferably, the motor B runs, the motor B can drive the driving sprocket to rotate, the driven sprocket is driven to rotate through the chain, then the chain can drive the contact plate to rotate, the connecting rod at the lower end of the contact plate can move inside the sliding groove, the contact plate moves at the upper end of the supporting plate through the balls, the supporting plate is located at the inner part and the outer part, the distance between the two parts is the sliding groove, the fins are sleeved outside the connecting rod, namely the fins are hung, and the fins rotate and are transferred to the inner part of the frame body;

the robot runs to drive the grabbing unit to move, the electric cylinder runs, an output shaft of the electric cylinder can drive the gear to move to a position close to the supporting rod, when the clamping plates clamp and contact the fins, the clamping plates can contact the fins through the contact pads, the two clamping plates can be adjusted in adaptability according to the shapes of the fins, and when the positions of the fins which are not planar are clamped, the two racks can be adjusted rapidly through the gear to further adapt to the shapes of clamping surfaces of the fins;

the grabbing unit places the fins on the transferring unit, the motor A drives the conveying belt to move to transfer the fins, and a worker can enter the frame body to perform a series of processing operations on the fins.

An automatic grabbing clamp system for fins of a heat exchanger comprises a control unit, a power supply module, a pressure sensor, a buzzer and a weighing sensor, wherein the power supply module is used for providing electric energy for a transfer unit, a grabbing unit, a conveying unit and the control unit;

weighing sensor fixed connection is on the connecting rod, and weighing sensor is arranged in weighing the weight of fin and will weigh data transfer to the control unit, the data of weighing is in the error band of the weight of qualified fin, the transfer unit continues to operate, the data of weighing is not in the error band of the weight of qualified fin, the control unit control transfer unit stop operation, and carry out buzzer on the connecting rod of the unqualified fin of transportation that corresponds and cry the warning, better monitoring effect has on the weight of product, can effectively reduce the defective rate of product, improve the production quality of fin greatly, and is relatively practical.

Compared with the prior art, the invention has the beneficial effects that: the grabbing unit comprises a connecting shaft, a supporting rod and a clamping adaptive mechanism, the connecting shaft is fixedly connected between the robot and the supporting rod, and the clamping adaptive mechanism is positioned at two ends of the supporting rod; the clamping adaptive mechanism comprises an electric cylinder, a gear, racks, clamping plates and a connecting frame, the number of the clamping adaptive mechanism is two, the electric cylinder is fixedly connected inside the connecting frame, the connecting frame is fixedly connected on one end surface of a supporting rod, the racks are slidably penetrated inside the supporting rod, the number of the racks is two, the lower end surfaces of the two racks are both fixedly connected with the clamping plates, the lower end surfaces of the clamping plates are fixedly connected with contact pads, the racks are positioned on two sides of the gear, the racks are mutually meshed with the gear and are not separated from the gear all the time, when the position of the fin which is not a plane is clamped, the two racks can be rapidly adjusted through the gear to adapt to the shape of the clamping surface of the fin, the contact area of the clamping fin is increased, the stability of clamping and transferring the fin is increased, the safety of the transferring fin is ensured, and the clamping force to, the situation that the fins fall off or deform due to the force problem is avoided, and the fin fixing device is practical;

the conveying unit comprises a motor B, a driving chain wheel, a driven chain wheel, a chain and a moving mechanism, the motor B is fixedly connected to the top end face of the frame body, an output shaft of the motor B is fixedly connected with the driving chain wheel, the driven chain wheel is located on one side of the driving chain wheel, the chain is arranged on the outer side of the driven chain wheel and the driving chain wheel, the moving mechanism is located at the lower end of the driving chain wheel and the lower end of the driven chain wheel, the right fins can be moved in an annular transfer mode, and the conveying unit is more stable and orderly and is convenient to feed and unload.

The moving mechanism comprises a contact plate, a connecting rod, a weighing sensor, a sliding groove and a support plate, wherein the contact plate is fixedly connected to the lower end face of the chain, the two end faces of the support plate are fixedly connected with the inner wall of the frame body, the contact plate is positioned at the upper end of the support plate, the connecting rod is fixedly connected to the lower end face of the contact plate, the weighing sensor is fixedly connected to the connecting rod, the connecting rod penetrates through the sliding groove, a connecting column is fixedly connected between the middle position of the support plate and the top end of the frame body, the sliding groove is arranged in the support plate, the inner wall of the sliding groove is in sliding contact with the connecting rod, the lower end face of the contact plate is not in contact with the support plate all the time, balls are embedded in the lower end position in the contact plate, the lower end faces of the balls are in contact with the support plate, the vertical section of the chain and the contact plate is in a T shape, the contact plate is made of a deformable material, the movement of the contact plate at the bending position can be realized firstly, and the fins can rotate, the fin ring is transferred into the frame body, so that orderly and stable fin ring transfer can be realized, more fin transfer can be borne, and the device is safe, efficient and practical;

the control unit firstly controls a motor B to operate, the motor B can drive a driving sprocket to rotate, a driven sprocket is driven to rotate through a chain, then the chain can drive a contact plate to rotate, a connecting rod at the lower end of the contact plate can move in a sliding groove, the contact plate moves at the upper end of a supporting plate through a ball, the supporting plate is positioned at the inner part and the outer part, the distance between the two parts is the sliding groove, a fin is sleeved outside the connecting rod, namely the fin is hung, clamping of the fin is more stable and ordered through ordered control of a system, and operation efficiency can be guaranteed;

weighing sensor is arranged in weighing and will weighing the data transmission to the control unit to the weight of fin, the data of weighing is in the error band of the weight of qualified fin, the transfer unit continues to operate, the data of weighing is not in the error band of the weight of qualified fin, the stop operation of control unit control transfer unit, and carry out buzzer on the connecting rod of the unqualified fin of transportation that corresponds and cry the warning, better monitoring effect has above the weight of product, can effectively reduce the disqualification rate of product, improve the production quality of fin greatly, and is relatively practical.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the grasping unit according to the present invention;

FIG. 3 is a schematic view of a partial structure of a grasping unit according to the present invention;

FIG. 4 is a top view of the structure of the transfer unit of the present invention;

FIG. 5 is a partial schematic view of a transfer unit according to the present invention;

FIG. 6 is a schematic view of the overall structure of the transfer unit of the present invention;

FIG. 7 is a view of the chain in combination with the contact plate of the present invention;

FIG. 8 is a diagram of the overall system control frame of the present invention;

FIG. 9 is a system block diagram of a transfer unit of the present invention;

FIG. 10 is a system block diagram of a capture unit of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a frame body; 2. a transfer unit; 21. motors B and 22 and a driving chain wheel; 23. a chain; 24. a contact plate; 25. a ball bearing; 26. a weighing sensor; 27. a support plate; 28. a connecting rod; 29. a driven sprocket; 291. a chute; 3. a control unit; 4. a robot; 5. a grasping unit; 51. a connecting shaft; 52. a support bar; 53. a clamping plate; 54. a rack; 55. a gear; 56. an electric cylinder; 57. a connecting frame; 6. a transfer unit; 7. a motor A; 8. and a fin.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 10, the present invention provides an automatic grabbing clamp and system for heat exchanger fins, which comprises: an automatic grabbing clamp and system for heat exchanger fins comprise a frame body 1, a conveying unit 2, a control unit 3, a grabbing unit 5 and a transferring unit 6, wherein the conveying unit 2, the control unit 3, the grabbing unit 5 and the transferring unit 6 are all located in the frame body 1, a robot 4 is arranged on one side of the grabbing unit 5, the transferring unit 6 comprises a conveyor belt and a motor A7, the motor A7 is an output power source of the conveyor belt, and a triangular arrangement position relationship is formed among the transferring unit 6, the grabbing unit 5 and the conveying unit 2;

the grabbing unit 5 comprises a connecting shaft 51, a supporting rod 52 and a clamping adaptive mechanism, the connecting shaft 51 is fixedly connected between the robot 4 and the supporting rod 52, and the clamping adaptive mechanism is positioned at two ends of the supporting rod 52;

the clamping adaptive mechanisms comprise electric cylinders 56, gears 55, racks 54, clamping plates 53 and connecting frames 57, the number of the clamping adaptive mechanisms is two, the electric cylinders 56 are fixedly connected inside the connecting frames 57, the connecting frames 57 are fixedly connected to one end face of the supporting rod 52, the racks 54 penetrate through the supporting rod 52 in a sliding mode, the number of the racks 54 is two, the clamping plates 53 are fixedly connected to the lower end faces of the two racks 54, contact pads are fixedly connected to the lower end faces of the clamping plates 53, the racks 54 are located on two sides of the gears 55, the racks 54 are meshed with the gears 55 and cannot be separated from the gears 55 all the time, the output ends of the electric cylinders 56 are connected with the gears 55, shaft bodies are fixedly connected to two sides of the gears 55, and the shaft bodies are inserted into output shafts of the electric cylinders 56;

the conveying unit 2 comprises a motor B21, a driving sprocket 22, a driven sprocket 29, a chain 23 and a moving mechanism, wherein a motor B21 is fixedly connected to the top end face of the frame body 1, an output shaft of a motor B21 is fixedly connected with the driving sprocket 22, the driven sprocket 29 is positioned on one side of the driving sprocket 22, the chain 23 is arranged on the outer sides of the driven sprocket 29 and the driving sprocket 22, the moving mechanism is positioned at the lower ends of the driving sprocket 22 and the driven sprocket 29, the moving mechanism comprises a contact plate 24, a connecting rod 28, a weighing sensor 26, a sliding groove 291 and a supporting plate 27, the contact plate 24 is fixedly connected to the lower end face of the chain 23, two end faces of the supporting plate 27 are fixedly connected with the inner wall of the frame body 1, the contact plate 24 is positioned at the upper end of the supporting plate 27, the connecting rod 28 is fixedly connected to the lower end face of the contact plate 24, the weighing sensor 26 is fixedly connected to the connecting rod 28, the connecting rod 28 penetrates through the sliding groove 291, a connecting column is fixedly connected between the middle position of the supporting plate 27 and the top end of the frame body 1, the sliding groove 291 is arranged in the supporting plate 27, the inner wall of the sliding groove 291 is in sliding contact with the connecting rod 28, the lower end face of the contact plate 24 is not in contact with the supporting plate 27 all the time, the ball 25 is embedded in the lower end position in the contact plate 24, the lower end face of the ball 25 is in contact with the supporting plate 27, the connecting rod 28 is in an L shape, the fin 8 is arranged outside the transverse rod body at the lower end of the connecting rod 28, the vertical section of the chain 23 and the vertical section of the contact plate 24 are in a T shape, and the contact plate 24 is made of deformable materials.

An automatic grabbing clamp system for heat exchanger fins further comprises a power supply module, wherein the power supply module is used for supplying power to a transfer unit 6, a grabbing unit 5, a conveying unit 2 and a control unit 3, the control unit 3 is used for controlling behaviors of the transfer unit 6, the grabbing unit 5 and the conveying unit 2, the control unit 3 firstly controls a motor B21 to operate, a motor B21 can drive a driving chain wheel 22 to rotate, a driven chain wheel 29 is driven to rotate through a chain 23, then the chain 23 can drive a contact plate 24 to rotate, a connecting rod 28 at the lower end of the contact plate 24 can move inside a sliding groove 291, the contact plate 24 moves at the upper end of a supporting plate 27 through balls 25, the supporting plate 27 is located at the inner part and the outer part, the distance between the two parts is the sliding groove 291, fins 8 are sleeved outside the connecting rod 28, namely the fins 8 are hung, and the fins 8 are rotated, the fins 8 can be orderly and stably transferred by transferring the fins into the frame body 1, so that more fins 8 can be loaded for transferring, and the method is safe, efficient and practical;

then the robot 4 operates to drive the grabbing unit 5 to move, the control unit 3 drives the electric cylinder 56 to operate, the output shaft of the electric cylinder 56 can drive the gear 55 to move to a position close to the support rod 52, when the clamping plate 53 clamps and contacts the fin 8, the clamping plate 53 can contact with the fin 8 through the contact pad, the two clamping plates 53 can be adaptively adjusted according to the shape of the fin 8, when the position of the fin 8 which is not a plane is clamped, the two racks 54 can be rapidly adjusted through the gear 55 to further adapt to the shape of the clamping surface of the fin 8, the clamping force on the fin 8 can be controlled through the pressure sensor in the clamping plate 53, the phenomenon that the fin 8 drops or deforms due to the force problem is avoided, the contact area of the clamping fin 8 is increased, the stability of clamping and transferring the fin 8 is improved, and the safety of transferring the fin 8 is ensured, the utility model is more practical;

the grabbing unit 5 then places the fin 8 on the transfer unit 6, the control unit 3 controls the driving motor a7, and the conveyor belt moves to transfer the fin 8, so that a worker can enter the frame 1 to perform a series of processing operations on the fin 8.

One specific application of this embodiment is: the control unit 3 firstly controls the motor B21 to operate, the motor B21 can drive the driving sprocket 22 to rotate, the chain 23 drives the driven sprocket 29 to rotate, the chain 23 can drive the contact plate 24 to rotate, the connecting rod 28 at the lower end of the contact plate 24 can move in the sliding groove 291, the contact plate 24 moves at the upper end of the supporting plate 27 through the balls 25, the supporting plate 27 is positioned in the inner part and the outer part, the distance between the two parts is the sliding groove 291, the fins 8 are sleeved outside the connecting rod 28, namely the fins 8 are suspended, the fins 8 rotate and are transferred into the frame 1, ordered and stable fin 8 transfer can be realized, more fins 8 transfer can be borne, and the device is safe, efficient and practical;

then the robot 4 operates to drive the grabbing unit 5 to move, the control unit 3 drives the electric cylinder 56 to operate, the output shaft of the electric cylinder 56 can drive the gear 55 to move to a position close to the support rod 52, when the clamping plate 53 clamps and contacts the fin 8, the clamping plate 53 can contact with the fin 8 through the contact pad, the two clamping plates 53 can be adaptively adjusted according to the shape of the fin 8, when the position of the fin 8 which is not a plane is clamped, the two racks 54 can be rapidly adjusted through the gear 55 to further adapt to the shape of the clamping surface of the fin 8, the clamping force on the fin 8 can be controlled through the pressure sensor in the clamping plate 53, the phenomenon that the fin 8 drops or deforms due to the force problem is avoided, the contact area of the clamping fin 8 is increased, the stability of clamping and transferring the fin 8 is improved, and the safety of transferring the fin 8 is ensured, the utility model is more practical;

the device comprises a control unit 3, a power supply module, a pressure sensor, a buzzer and a weighing sensor 26, wherein the power supply module is used for providing electric energy for a transfer unit 6, a grabbing unit 5, a conveying unit 2 and the control unit 3, the control unit 3 is used for controlling the behaviors of the transfer unit 6, the grabbing unit 5 and the conveying unit 2, the control unit 3 is used for driving a motor B21 to drive a driving chain wheel 22 to rotate, the control unit 3 is matched with pressure data fed back by the pressure sensor to drive an electric cylinder 56 to operate, the clamping force on a fin 8 can be controlled through the pressure sensor in a clamping plate 53, and the control unit 3 is used for controlling a driving motor A7 to drive a conveying belt to operate;

weighing sensor 26 fixed connection is on connecting rod 28, and weighing sensor 26 is arranged in weighing and will weighing data transmission to the control unit 3 to fin 8's weight, weighing data is in the error range of qualified fin 8's weight, transfer unit 2 continues the operation, weighing data is not in the error range of qualified fin 8's weight, 2 stop operation of control unit 3 control transfer unit, and carry out buzzer's warning of chirping on the connecting rod 28 of the unqualified fin 6 of transportation that corresponds, better monitoring function has above the weight of product, can effectively reduce the defective rate of product, the production quality of fin is greatly improved, and is relatively practical.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.