FORONI, Alberto (Via Molini 9, Villafranca di Verona, I-37069, IT)
ROSATI, Giulio (Via G. Leopardi 43, Padova, I-35126, IT)
ROSSI, Aldo (Via A. Fusinato 26, Padova, I-35137, IT)
RIELLO, Valerio, Giordano (Via Spaltin Alto 1, Legnago, I-37045, IT)
FORONI, Alberto (Via Molini 9, Villafranca di Verona, I-37069, IT)
ROSATI, Giulio (Via G. Leopardi 43, Padova, I-35126, IT)
ROSSI, Aldo (Via A. Fusinato 26, Padova, I-35137, IT)
| CLAIMS 1. Method for the insertion of bends in pipes for fluid of a heat exchanger according to an assembly scheme, said method comprising the steps of: - providing a heat exchanger (100) having a first side (112a) and a second side (112b) opposite said first side (112a), wherein said heat exchanger (100) has, on said second side (1 12b), a plane (112c) and a plurality of terminal ends (113a, 113b) of pipes (113), projecting along its own axis from said plane (112c) and intended to receive a plurality of bends (114), - providing an apparatus (50) for the insertion of bends (114) in the terminal ends (113a, 113b) of the pipes (113) of the heat exchanger (100) according to said assembly scheme, - generating at least one light radiation to light up said second side (112b) of the heat exchanger (100), - acquiring a first image (imgj) representing the second side (112b) of the exchanger (100), when said second side (112b) is lit up by said at least one light radiation, - image processing said first acquired image (img to define first pixels (p corresponding to a graphical representation of the terminal ends (113a, 113b) of the pipes (113) in said first acquired image (imgi), - calculating, with respect to a reference system, the coordinates of the axis of said terminal ends (1 13a, 113b) as a function of said first pixels (p ) identified, - generating a control signal (sc) and sending said control signal (sc) to said apparatus (50) as a function of the value of said calculated coordinates to control the movement of said apparatus (50) along said second side (112b) of the heat exchanger (100) in order to insert said plurality of bends (114) in said terminal ends (113a, 113b) of the pipes (113) of the heat exchanger (100). 2. Method according to claim 1, wherein said step of generating at least one light radiation comprises the steps of: - generating, through a first lighting group (21), a first light radiation directed towards said second side (112b) of the heat exchanger (100) along a direction substantially perpendicular to said plane (112c) of the second side (1 12b), - generating, through a second lighting group (22), a second light radiation directed towards said second side (112b) of the heat exchanger (100) along a direction substantially parallel to said plane (112c) of the second side (112b), said first and said second light radiation being generated simultaneously. 3. Method according to claim 2, also comprising the steps of: - generating, through said second lighting group (22), a light radiation directed towards said second side (1 12b) of the heat exchanger (100) along a direction substantially parallel to said plane (112c) of the second side (112b), - acquiring a second image (img2) representing said second side (112b) of the exchanger (100). 4. Method according to claim 3, also comprising the steps of: - defining, in said first acquired image (img and/or in said second acquired image (img2), groups of pixels adjacent to one another, - generating, for each group of pixels identified, a corresponding geometric figure representing said terminal ends (113a, 1 13b) of the pipes (113), - identifying, in said first acquired image (imgi) and/or in said second acquired image (img2), the coordinates of the axis of each terminal end (113a, 1 13b) of pipe (113). 5. Method according to any one of claims 1 to 4, also comprising the steps of: - check, as a function of said first acquired image (img , for the presence of bends (114) inserted in said terminal ends (113a, 113b) of the pipes (113) of the heat exchanger (100), - comparing the position and orientation of the bends (114) inserted in said terminal ends (113a, 1 13b) with said assembly scheme, if the step of checking for the presence of bends (114) has a positive outcome, - generating an error signal if said comparing step has a negative outcome. 6. Method according to any one of claims 1 to 5, also comprising the steps of checking, as a function of said first acquired image (imgi), for the presence of defects in said terminal ends (113a, 1 13b) of the pipes (113), wherein said geometric figure has a border defined by a plurality of border pixels, said step of checking for defects comprising the steps of: - calculating the distance of each border pixel with respect to the axis of each terminal end (113a, 113b), - processing the values of said calculated distances to identify possible defects in the terminal ends (113a, 113b) of said pipes (113). 7. Method according to claim 5 or 6, wherein said step of checking for the presence of bends (114) comprises the steps of: - identifying, in said first acquired image (imgt), groups of pixels adjacent to one another, - generating, for each group of pixels identified, a corresponding geometric figure representing said bends (114), - identifying, in said first acquired image (img , the coordinates of the axis of each bend (114) inserted in said terminal ends (113a, 113b) of the pipes (113), - calculating the position and orientation of each elbow connection (114) inserted, - processing the position and orientation of each elbow connection (114) inserted to identify the terminal ends (113a, 113b) of the pipes (1 13) in which the elbow connection (114) is inserted, - calculating an insertion sequence to control the movement of said apparatus (50) with respect to said second side (112b) of the exchanger (100), said insertion sequence being calculated in order to carry out the smallest number of movements of said apparatus (50) for the insertion of all of the bends (114) in the pipes for fluid of said heat exchanger (100). 8. Method according to any one of claims 1 to 7, also comprising the steps of: - generating, through said first lighting group (21), a light radiation directed towards said second side (112b) of the heat exchanger (100) along a direction substantially perpendicular to said plane ( 112c) of the second side (112b), - acquiring a third image (img3) representing said second side (112b) of the assembled exchanger (100), - comparing the position of all of the bends (114) inserted in the pipes for fluid of said heat exchanger (100) with said assembly scheme, - generating an error signal if said comparing step has a negative outcome. |
The present invention refers to a method for the insertion of bends in pipes for fluid of a heat exchanger.
A typical heat exchanger comprises a finned pack inside which one or more circuits of copper pipes are mounted. The circuit is made from a plurality of pipes bent into a U (so-called "hairpins") and inserted into the finned pack. In order to create a single path for the fluid through the pipes of the heat exchanger it is necessary to connect together the pairs of pipes according to a theoretical scheme. Such insertion is carried out through C-union elements commonly known by the name bends.
Currently, the insertion of each bend in the corresponding ends of the pipes of the heat exchanger is carried out manually. In practice, a worker takes care of inserting each bend into the terminal end of the pipes of the finned pack.
Considering the above, the purpose of the present invention is to provide a method for the automated insertion of bends so as to optimise the assembly and speed up the production process of heat exchangers.
Such a purpose is accomplished by a method for the insertion of bends in pipes for fluid of a heat exchanger in accordance with claim 1.
Further characteristics and advantages of the method according to the present invention will become clear from the following description of preferred embodiments thereof, given for indicating and not limiting purposes, with reference to the attached figures, in which:
- figure 1 represents a perspective view of an apparatus for the insertion of bends on heat exchangers;
- figure 2 represents a side view of the assembly station of figure 1 ;
- figure 3 represents a block diagram representing an embodiment of the method for the insertion of bends in accordance with the present invention,
- figure 4 represents a perspective view of a heat exchanger,
- figure 5 represents a side view of an apparatus for the insertion of bends and of a heat exchanger,
- figures 6 and 7 represent two examples of acquired images of the side of a heat exchanger,
- figures 8, 9 and 10 represent block diagrams of a preferred embodiment of the assembly method in accordance with the invention.
With reference to the attached figures, reference numeral 1 globally indicates an assembly station for the insertion of bends on heat exchangers, for example the heat exchanger 100.
As illustrated in figure 4, the heat exchanger 100 comprises a plurality of fins 111 arranged parallel to one another and spaced apart from one another so as to form a finned pack 112. Each fin 111 has a plurality of through holes with axis perpendicular to the plane of the fin 111 itself. Each hole of a fin is aligned with corresponding holes of the fins parallel to it so as to define a plurality of aligned passages for the mounting of one or more circuits of pipes for fluid. Each circuit of pipes comprises a plurality of hairpins 113 each comprising two parallel pipes and a U-shaped connection portion of the two pipes and made from a pipe bent into a U at its middle area. Each hairpin 113 extends through the finned pack 112 from a first side 112a to a second side 112b, opposite the first side 1 12a. In the example, the U-shaped connection portion is positioned at the first side 112a of the finned pack 112 whereas, from the plane 1 12c of the second side 112b, project the connection ends 113a, 113b of the two pipes constituting each hairpin 113. As illustrated in figures 4 and 5, each connection end 113a,l 13b of the two pipes projects along its own axis from the plane 1 12c of the heat exchanger 100.
In order to create a single circuit for fluid through the hairpins 113 mounted in the finned pack 112 of the heat exchanger 100, it is necessary to connect together the hairpins 113 according to an assembly scheme.
Such a connection is made through C-union elements 114, commonly known by the name bends.
A bend 114 comprises a C-shaped pipe having two connection ends 114a, 114b intended to insert in the corresponding connection ends of two pipes belonging to two hairpins 113 of the heat exchanger 100.
The bend 114 can comprise a copper ring fixed around the two connection ends
114a, 114b and intended to be used for braze- welding the bend 114 to the connection end of the pipes of the heat exchanger 100.
The insertion of the bends 114 in the pipes for fluid of the heat exchanger 100 is carried out through an apparatus 50 for the insertion of bends.
In accordance with an embodiment, the heat exchanger 100 is supported by support means 3 that comprise a horizontal support plane to support the first side 112a of the exchanger 100. In this way, the second side 112b lies on a substantially horizontal plane.
The assembly station 1 comprises a viewing apparatus 10. In the rest of the present description, the expression "viewing apparatus" indicates an apparatus suitable for acquiring and processing images.
In an embodiment, the viewing apparatus 10 can be mounted directly on board the apparatus 50. Alternatively, the apparatus 10 can be connected to the same base to which the support means 3 of the heat exchanger 100 are connected.
In one version, the assembly station 1 can comprise two viewing apparatuses 10 in which a first viewing apparatus is mounted on the assembly station and a second viewing apparatus (not illustrated in the figures) is mounted on board the apparatus 50.
The assembly station 1 comprises lighting means 20 to generate a light radiation suitable for lighting up the heat exchanger 100, and more specifically the second side 1 12b of the exchanger 100.
In an embodiment, the assembly station 1 comprises a support structure 60 suitable for supporting the viewing apparatus 10 and the lighting means 20. A plate 12 of the viewing apparatus 10 is connected to a horizontal upright positioned at an upper end of the support structure 60.
The viewing apparatus 10 comprises an image sensor 11 fixed to the plate 12 and a lens 15 fixed to the image sensor 11 that receives the light radiation reflected by the heat exchanger 100 so as to acquire an image representing the second side 112b of the heat exchanger 100.
In accordance with an embodiment, the lighting means 20 comprise a first lighting group 21 and a second lighting group 22 to light up the side 1 12b of the heat exchanger 100 from which the connection ends 113a,l 13b of the pipes 113 project.
In particular, the first lighting group 21 is installed so as to generate a first light radiation directed towards the second side 112b of the exchanger 100 along a direction substantially perpendicular with respect to the plane 112c of the second side 1 12b.
The second lighting group 22 is installed so as to generate a second light radiation directed towards the second side 112b of the exchanger 100 along a direction substantially parallel with respect to the plane 112c of the second side 112b.
In a preferred embodiment, the first and the second light radiation are generated simultaneously in order to acquire the image representing the second side 112b of the heat exchanger 100. In a further embodiment, it is foreseen to generate a light radiation through the use of just the second lighting group 22 in order to acquire a further image representing the second side 112b of the exchanger 100.
As will be explained in detail in the rest of the present description, the images acquired as a function of the simultaneous lighting of the first 21 and of the second lighting group 22 (or else as a function of the lighting of just the second lighting group 22) are images that are processed and used to identify a series of information relative to the connection ends 113a,l 13b of the pipes 113 and/or to the bends 114 already present in the assembly scheme. Preferably, the images can be processed in high and/or low resolution according to requirements.
In accordance with a preferred embodiment, the first lighting group 21 comprises six lighting devices 21a,21b,21c,21d,21e,21f each connected between two horizontal uprights of the support structure 60. The lighting devices 21a,21b,21c,21d,21e,21f can comprise high-frequency neon.
In accordance with an embodiment, the second lighting group 22 comprises four lighting devices 22a,22b,22c,22d each connected to a corresponding vertical upright of the support structure 60. The lighting devices 22a,22b,22c,22d can comprise energy-saving bulbs.
The viewing apparatus 10 comprises a lens 15 to focus the reflected light radiation coming from the side 112b of the heat exchanger 100 and directed towards the image sensor 11 onto the image sensor 11 itself.
The lens is provided with first and second adjustment means to respectively adjust the focusing and the amount of light/the depth of field of the viewing apparatus 10. The second calibration means preferably act on a diaphragm of the lens. It should be noted that the first and the second calibration means can comprise ring nuts able to be actuated manually by a user, or else motorised ring nuts able to be adjusted through suitable control devices.
The assembly station 1 comprises processing means 30 to receive and graphically process the acquired images. The assembly station also comprises storage means 35 for storing the acquired images.
As illustrated in the example of figure 3, the storage means 35 are in signal communication with the processing means 30 and have an assembly scheme in the form of data suitable for representing information relative to the heat exchangers to be assembled. For the sake of easy understanding, in the rest of the present description the data corresponding to a heat exchanger to be assembled will be identified as "theoretical assembly data". In particular, for each exchanger 100, the theoretical assembly data can comprise information concerning:
- the diameter of the terminal ends 1 13a, 113b of pipes 113,
- the number of rows of terminal ends 113a,113b of pipes 113,
- the number of terminal ends 113a, 113b per row,
- the distance between centres of the terminal ends 113a, 113b of pipes 113,
- the number of bends 114 to be assembled,
- the pair of terminal ends 113a, 113b to be connected for each bend 114.
It should be remembered that the acquired images are graphically processed through suitable software algorithms suitable for generating a series of numerical values like, for example, a matrix or a set of points (or pixels).
The graphical processing is suitable for converting each pixel of the acquired image into a binary black and white representation on 2 levels. In accordance with an embodiment, the processing is carried out through filtering means having a specific sampling threshold that can be configured so that the luminosity values below such a threshold are set at binary level 1 (equivalent to white) whereas the luminosity values above such a threshold are set at binary level 0 (equivalent to black) or vice-versa.
The processing means 30 process the acquired images so that binary level 1 corresponds to the light regions relative to the plane 112c of the finned pack 112 and binary level 0 corresponds to the dark regions relative to the ends 113a, 113b of the pipes 113 of the heat exchanger 100 or to the possible bends 114 already mounted on the exchanger.
The processing is also suitable for identifying a plurality of pixels adjacent to one another that identify corresponding groups of pixels. Such groups of pixels identify geometric figures that represent the terminal ends 113a, 113b of the pipes 113 or the bends 114 to be assembled in the heat exchanger 100. The geometric figures relative to the ends 113a, 113b and to the bends 114 are generated for example as a function of the pixel/mm ratio of the relative images and based on a comparison between the calculated areas and threshold values. In this way it is possible to determine whether the dark areas of the calculated figures correspond to the ends 113a,l 13b of the pipes 113 or else to the bends 114.
In a preferred embodiment, the processing means 30 process the acquired images to identify the geometric characteristics of the geometric figures representing the terminal ends 113a, 113b or the bends 114 to be assembled.
In an embodiment, the processing means 30 are suitable for calculating the position of the barycentre of each geometric figure representing the terminal ends 113a, 113b of the pipes 113. It should be noted that the calculated barycentre identifies, with good approximation, the coordinates of the axis of each terminal end 113a, 113b of the pipes 113.
In an alternative embodiment, the processing means 30 are suitable for calculating the coordinates of the axis of each terminal end 113a, 113b of the pipes 1 13 according to the following procedure:
- identifying the border of the geometric figure representing the terminal ends,
- from each point of the border tracing a circumference having a radius equal to the nominal radius of the pipes 113,
- calculating the coordinates of the point of the plane in which the greatest number of traced circumferences intersect.
In any case it should be noted that other methods for identifying the coordinates of the axis of each terminal end can also be advantageously used.
Once the geometric figures obtained from the processing of the acquired images have been identified it is possible, thanks also to the comparison with the theoretical assembly data, to calculate a series of data representing the second side 112b of the heat exchanger 100 positioned on the support means 3 ready for assembly. In particular, such data can comprise information concerning:
- the coordinates that identify the position of the axis of each of the terminal ends 113a, 113b of the pipes 113,
- the diameter of the terminal ends 113a, 113b of the pipes 113,
- the number of rows of the terminal ends 113a, 113b of the pipes 113,
- the number of terminal ends 113a,113b per row,
- the distance between centres of the terminal ends 113a, 113b of pipes 113,
- the number of bends 114 possibly already present in the assembly scheme,
- the pair of terminal ends 113a, 113b connected by each bend 114 already present in the assembly scheme,
- the number of bends 114 that are still to be inserted in the corresponding terminal ends 113a, 113b of the pipes 113, - the pair of terminal ends 113a, 113b to be connected with each bend 114.
In the rest of the present description, the data listed above can correspond to a heat exchanger that is assembled or being assembled and it will by identified as "real assembly data".
In an embodiment, the processing means 30 generate a control signal s c as a function of the value of the coordinates of the axis of the terminal ends 113a, 113b calculated to control the movement of the apparatus 50 -along the second side 112b of the exchanger 100 in order to insert the bends 114 in the corresponding terminal ends 1 13a,113b of the pipes 113.
With reference to the image illustrated in the example of figure 1 and 2, the assembly station 1 comprises actuator means 40 in signal communication with the processing means 30 to receive the control signal s c and control the movement of the apparatus 50.
In practice, the actuator means 40 control the movement of the apparatus 50 based on the value of the coordinates of the axis of the terminal ends 113a, 113b calculated so that the bend is inserted correctly in the ends 113a, 113b. In accordance with an embodiment, the actuator means 40 are mounted on board the apparatus 50.
It should be noted that the heat exchangers 100 can substantially differ from one another for a series of factors such as dimensions, geometric arrangement of the holes in the fins, diameter of the pipes, type and number of pipes, etc. in order to reduce possible errors due to the processing of the acquired image, the processing means 30, in signal communication with the lighting groups 21,22, are suitable for adjusting the lighting of the lighting groups 21,22. For example, it is possible to activate/deactivate the lighting groups 21,22 in a selective manner or according to a predetermined combination in order to better emphasise the differences between the light areas and the dark areas of the acquired image.
In a version, the viewing apparatus 10 can be associated with a personal computer or with a PLC that, through suitable management software, allows the detected images to be displayed, saved and processed.
With reference to the block diagram illustrated in figures 8, 9 and 10, a preferred embodiment of the method for the insertion of bends in pipes for fluid of a heat exchanger in accordance with the present invention will now be described.
Initially, the viewing apparatus 10 is positioned a predetermined distance from the support plane 3 and the lighting means 20 are switched on.
Thereafter, the lens is adjusted through the adjustment means to focus the image of the heat exchanger 100 on which the bends must be inserted. Such an operation can be carried out by a user who, through a personal computer, can observe the detected image and adjust the focus of the image. Alternatively, the adjustment of the focus can be carried out automatically through software.
Then the calibration of the viewing apparatus 10 is carried out. Such a step foresees the positioning through the apparatus 50 and/or through the actuator means 40 of one or more comparison objects, for example a white plate, on the support plane 3 and switching on the viewing apparatus 10 and the lighting means 20 to detect one or more sample images, so as to allow the processing means to identify a series of information that allows the correct positioning of the apparatus 50 as a function of the detected image coordinates.
In particular, such information can comprise:
- the scale factor of the detect image with respect to the physical dimensions of the objects pictured;
- the parameters that allow the image coordinates to be put in relation with the coordinates of the actuation system 40;
- the characteristic dimensional parameters of the apparatus 50 used.
It should be noted that in the version with two viewing apparatuses 10, it is possible to simplify the calibration operations since the image that supplies the coordinates of the axes of the terminal ends 113a, 113b can be obtained directly by the viewing apparatus mounted on board the apparatus 50. In this way, it is possible to acquire low resolution images from both viewing apparatuses since the viewing apparatus installed on board the apparatus 50 can frame a narrower area of the second side 112b of the exchanger 100 since it is positioned closer to the exchanger 100.
After calibration, the processing means 30 foresee the calculation of an optimised insertion sequence to control the movement of the apparatus 50 with respect to the second side 112b of the exchanger 100. In particular, the optimised insertion sequence is calculated in order to carry out the least number of movements of the apparatus 50 for the insertion of all of the bends 114 in the pipes for fluid of the exchanger 100. Preferably, the optimised insertion sequence is calculated as a function of the theoretical assembly data of the assembly scheme.
After the calculation of the insertion sequence, it is foreseen to simultaneously generate, through the first 21 and the second lighting group 22, a first and a second light radiation directed towards the second side 112b of the exchanger 100.
A first image irngi is thus acquired and the same image img ! is processed, through the processing means 30, in order to reduce its resolution. In this way, the processing means 30 can carry out quicker computing operations advantageously reducing the processing time.
Then it is foreseen to generate, through just the second lighting group 22, a light radiation directed towards the second side 112b and to acquire a second image img 2 representing the second side 1 12b.
Once the second image img 2 has been acquired, the method in accordance with the invention foresees to process the acquired images imgi and img 2 to identify first pixels pi corresponding to a binary representation of the terminal ends 113a, 113b of the pipes 113 and of the bends 114 possibly already present in the exchanger.
In a version, the processing of the acquired images imgi and img 2 is suitable for identifying a container 115 of each geometric figure corresponding to the terminal end 113a, 113b of pipe 113. The container 115 can be defined as the area of the image containing all of the pixels representing the single geometric figures under examination (cf. figures 6,7).
With reference to the examples of figure 7 and figure 8, once the first pixels pi corresponding to the terminal ends 113a, 113b have been identified it is possible to carry out a plurality of operations on the images imgi and img 2 in order to identify for example the diameter of the terminal ends 113a,l 13b of pipes 113, the number of rows of the terminal ends 113a,l 13b of pipes 113, the number of terminal ends 113a,l 13b per row, and the distance between centres of the terminal ends 113a, 113b of pipes 113.
The aforementioned data is compared with the theoretical assembly data corresponding to a heat exchanger to be assembled to initially check whether the exchanger 100 present on the support plane 3 is the exchanger that is intended to be assembled. If the check has a negative outcome, the exchanger 100 is then removed from the support plane.
The method in accordance with the invention comprises the step of processing the image imgi to check for the presence of bends 114 possibly already inserted in the terminal ends 113a, 113b of the exchanger 100. In the case in which there are one or more bends 114, it is foreseen to check whether the position of the bends is in accordance with the theoretical assembly scheme. If the position of the bends does not coincide with the theoretical assembly scheme, the exchanger 100 is then removed from the support plane. In the case in which the check has had a positive outcome, the steps described hereafter are carried out.
As illustrated in the example of figure 9, in the case in which the exchanger 100 to be assembled has one or more bends 1 14, it is foreseen for there to be a further calculation of the optimised insertion sequence to control the movement of the apparatus 50 as a function of the position and/or the orientation of the bends 114 already inserted in the exchanger 100. In the case in which, on the other hand, there are no bends 114 in the exchanger 100, the insertion sequence defined initially based on the data of the theoretical assembly scheme will be used.
Then in a step, one goes back to the processing of the first image img t for the analysis of the pair of containers 115 corresponding to the pairs of terminal ends 113a, 113b to be connected with the first bend 114 foreseen by the insertion sequence.
In a version, the processing of the first image img ! takes place using 100% of the available resolution for that image.
The analysis on the image imgi makes it possible to check for defects in the countersinks of the terminal ends 113a, 113b of pipes 113. If the analysis shows up defects at the countersinks that would not allow the insertion of the bend 114 in the terminal ends 113a, 113b, the method in accordance with the preferred embodiment foresees the insertion of the next bend.
If no defects are found in the countersinks, it is foreseen to process the second image img 2 in order to identify the coordinates of the axes of the terminal ends 113a, 113b of the pipes 113. Preferably, such processing is carried out taking into consideration the pair of containers 115 corresponding to the pairs of terminal ends 113a,l 13b to be connected.
It should be noted that the coordinates of said axes are converted into the corresponding coordinates of the actuation system 40, in order to allow the correct positioning of the apparatus 50. Such a conversion is carried out in accordance with the results of the calibration of the viewing system.
Then the apparatus 50 is positioned for the insertion of the bend 114 as a function of the calculated coordinates.
Once the insertion of the first bend 114 has ended, one moves on to the next bend 114 according to the order foreseen by the optimised insertion sequence. The process is repeated until the entire sequence is complete.
It should be noted that during the movement of the apparatus 50 for the insertion of an nth bend 1 14 (indicated in the block diagram of figure 9 by the variable n), the processing means 30 advantageously foresee the processing of the acquired image in order to identify the defects of the countersinks and the coordinates of the axis of each terminal end 1 13a, 113b for the insertion of the next bend 114 (n+1). In this way, it is possible to optimise the assembly time since during the movement of the apparatus 50 the processing means 30 constantly process the assembly data for the insertion of all of the bends 114 in the exchanger 100.
Preferably, at the end of the insertion of all of the bends 114 in the heat exchanger 100, the method foresees a control step to check the presence, the positioning, the orientation and the total number of the bends 114 as a function of the theoretical assembly scheme. It should be noted that in figure 9 "N" indicates the total number of bends 114 to be assembled on the exchanger 100 equal to the difference between the number of bends 114 foreseen by the theoretical assembly scheme and the number of bends 114 already present in the real exchanger at the start of the assembly operations.
In order to check the assembly of the exchanger, it is foreseen to generate for example a further light radiation through the first lighting group 21 and the second lighting group 22 in order to acquire a third image img 3 representing the second side 112b of the assembled exchanger 100.
In one version, the checking of the assembly of the exchanger takes place using just the first lighting group 21 or just the second lighting group 22.
Then the processing means 30 proceed to analyse the third image img 3 to check whether the positioning and the orientation of the bends is in accordance with the theoretical assembly scheme. In the case in which the outcome of such a check is negative the assembled exchanger 100 is discarded, otherwise it is removed from the support plane 3 to send it to the subsequent work steps. Once this step is complete, another heat exchanger 100 is then assembled.
As can be appreciated from what has been described, the method according to the present invention allows the requirements to be satisfied and allows the drawbacks referred to in the introductory part of the present description with reference to the prior art to be overcome.
Of course, a man skilled in the art, in order to satisfy contingent and specific requirements, can bring numerous modifications and variants to the method according to the invention described above, all of which are in any case covered by the scope of protection of the invention as defined by the following claims.
For example, in an embodiment, all of the analysis and processing described above can be carried out without distinction on the first, on the second and on the third acquired image.
In an alternative embodiment, the method can foresee the analysis and processing of a single image, advantageously allowing shorter overall processing times.
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