An automatic insertion device for U-shaped tubes

Abstract

An automatic insertion device for U-shaped tubes, comprising: a vibrating disk, a first vibrating conveyor plate, a detection component, a third vibrating conveyor plate, a distribution component, and a grasping component; the automatic insertion device replaces manual insertion operations, reduces labor intensity, and improves the insertion efficiency of U-shaped tubes; the detection component greatly improves the accuracy of detection results, reduces the detection error rate, and ensures the effectiveness of subsequent U-shaped tube distribution and insertion; the distribution component allows multiple U-shaped tubes to be arranged and distributed circumferentially on the first turntable, and the grasping component realizes the one-time grasping of multiple U-shaped tubes on the basis of edge detection and positioning by multiple U-shaped tube adsorption components and positioning detection cameras on the suction cups, greatly improving the grasping efficiency and insertion efficiency; the detection function of the positioning detection camera performs a secondary detection operation before the insertion of U-shaped tubes, further improving the insertion effectiveness, and the positioning function ensures the accuracy of the insertion position of U-shaped tubes, greatly improving the insertion quality of U-shaped tubes.

Description

Technical Field

[0001] The invention relates to the technical field of inserting and mounting of air conditioner radiators, and specifically to an automatic inserting and mounting device for U-shaped tubes. Background Art

[0002] An air conditioner radiator is a structure composed of multiple copper U-shaped tubes, and the indoor temperature is regulated through the heat transfer of the radiator. The insertion operation of the traditional U-shaped tubes of the air conditioner radiator is manually completed by workers. The manual insertion process of the U-shaped tubes has the following defects: First, the efficiency of manual operation is low; Second, before the U-shaped tubes are inserted, the operator needs to check the quality and dimensions, but the efficiency and accuracy of manual inspection are low, the evaluation criteria are not unified, and it is difficult to ensure the insertion quality of the radiator; Third, the insertion position accuracy of the U-shaped tubes entirely depends on the proficiency of the operator, there is no standardized insertion standard for restriction, and the randomness of the insertion position is relatively large, making it difficult to ensure the insertion accuracy of the U-shaped tubes. In view of the many drawbacks of the traditional U-shaped tube insertion process, there is an urgent need for an automatic insertion and mounting device for U-shaped tubes to improve the automation, precision, and stable insertion quality of U-shaped tubes. Summary of the Invention

[0003] An automatic inserting and mounting device for U-shaped tubes sequentially includes, according to the insertion sequence of the U-shaped tubes: a vibrating disc 1 (prior art), a first vibrating conveyor plate 2, a detection component, a second vibrating conveyor plate 3, a distribution component, and a grasping component;

[0004] The outlet of the vibrating disc 1 is connected to the inlet end of the first vibrating conveyor plate 2, and a detection component is installed behind the outlet end of the first vibrating conveyor plate 2;

[0005] The detection component includes a jacking module 4, a jaw module 5, a detection camera module 6, and a detection component fixing plate 7. The jacking module 4 includes a jacking cylinder 41 and a U-shaped tube positioning plate 42. The U-shaped tube positioning plate 42 is vertically and fixedly screwed to the top surface of the power output shaft of the jacking cylinder 41. An inverted T-shaped positioning frame 421 complementary to the shape of the U-shaped tube is machined at the upper end of the U-shaped tube positioning plate 42. The jaw module 5 includes a turntable 51, jaws 52, a waste collection box 53, and a horizontal push cylinder 54. The turntable 51 includes a disc 511, a rotating shaft 512, and a motor 513. The rotating shaft 512 is vertically and fixedly connected to the bottom plate surface at the center of the disc 511. The rotating shaft 512 and the motor 513 are indirectly connected through a belt sleeved on the belt pulleys of the rotating shaft 512 and the power output shaft of the motor. The motor 513 is fixed to the detection component fixing plate 7 in an inverted manner. The rotating shaft 512 and the power output shaft of the motor both pass through the detection component fixing plate 7, and the belt pulleys sleeved on the two shaft ends are both located in the lower space of the detection component fixing plate 7. The rotating shaft 512 is connected to the detection component fixing plate 7 through a sleeved rolling bearing to achieve a rolling and frictionless connection. The jaws 52 include a fixed plate 521 fixed to the bottom plate surface of the disc 511, a rotating shaft 522, and a rotating plate 523. The rotating plate 523 is connected to the fixed plate 521 through a rotating shaft 522 sleeved with a torsion spring. The rotating plate 523 and the inner side surface of the lower plate surface of the fixed plate 521 enclose a U-shaped tube receiving groove 524. In the case of no U-shaped tube inside, the thickness of the U-shaped tube receiving groove 524 is smaller than the diameter of the U-shaped tube, the upper plane of the rotating plate 523 is higher than the disc 511, and the inner side surface of the rotating plate 523 does not contact the edge of the disc 511. The detection camera module 6 includes an annular light source 61 and an intelligent camera 62. The annular light source 61 is fixed to the detection component fixing plate 7. A light through hole 71 is machined on the detection component fixing plate 7 directly below the annular light source 61. An intelligent camera 62 is installed directly below the light through hole 71. A waste collection box 53 is installed and fixed on the detection component fixing plate 7. The inlet end of the second vibration conveyor plate 3 is installed below the disc 511. Among them, the annular light source 61, the waste collection box 53, and the inlet end of the second vibration conveyor plate 3 are arranged in sequence along the one-way circumference of the disc 511. During the rotation of the jaws 52 with the disc 511, they just pass directly above the center of the annular light source 61, the inlet of the waste collection box 53, and the inlet end of the second vibration conveyor plate 3. The jacking module 4 is located directly below the U-shaped tube receiving groove 524. Above the waste collection box 53 and above the inlet end of the second vibration conveyor plate 3, horizontal push cylinders 54 are installed, and the acting height of the horizontal push cylinders 54 is located on the upper plate surface of the rotating plate 523 in the jaws 52;

[0006] The outlet end of the second vibration conveyor plate 3 is connected to the inlet end of the distribution component;

[0007] The distribution component includes a motor 8, a rotating distribution module 9, a U-shaped tube fixing block 10, and a rectangular distribution component fixing plate 11. The rotating distribution module 9 includes a first turntable 91, a second rotating ring 92 with an arcuate surface notch, and a third arcuate ring 93. A central hole 111 for the power output shaft of the motor 8 to pass through is machined at the symmetric center position of the distribution component fixing plate 11. A rectangular installation groove 112 fixed to the outlet end of the second vibration transfer plate 3 is machined at the center position of one edge of the distribution component fixing plate 11. An annular groove 113 is machined on the upper plate surface of the distribution component fixing plate 11, and the annular groove 113 partially overlaps with the position of the rectangular installation groove 112. The second rotating ring 92 is placed in the annular groove 113, and the straight edge of the arcuate notch faces the position of the rectangular installation groove 112. The upper plate surface of the second rotating ring 92 is flush with the upper plate surface of the distribution component fixing plate 11. A sleeve through hole 911 is machined at the center position of the first turntable 91. The upper end of the sleeve 12 is fixed to the upper end surface of the sleeve through hole 911 in the first turntable 91, and the lower end of the sleeve 12 passes through the sleeve through hole 911 and is fixed to the lower end surface of the first turntable 91. The power output shaft of the motor 8 passes through the central hole 111 of the distribution component fixing plate 11 and is fixed in the sleeve 12. A U-shaped fixing block installation groove 912 is machined at the peripheral edge of the first turntable 91. The U-shaped tube fixing block 10 is fixed in the U-shaped fixing block installation groove 912 by screws. An arcuate positioning surface 101 for supporting the U-shaped tube is machined in the U-shaped tube fixing block 10, and the arcuate positioning surface 101 extends outward along the diameter direction of the first turntable 91 to directly above the plate surface at the arcuate notch of the second rotating ring 92. The distance between the upper arcuate surface of the arcuate positioning surface 101 and the upper plate surface at the arcuate notch of the second rotating ring 92 is d1, and the distance between the lower arcuate surface of the arcuate tube in the U-shaped tube and the lower end surfaces of the two cylinders on both sides is d2, where d1 - d2 = 0 mm to 2 mm. The outer diameter of the first turntable 91 is smaller than the outer diameter of the second rotating ring 92. The inner diameter of the third arcuate ring 93 is equal to the outer diameter of the first turntable 91 and smaller than the outer diameter of the second rotating ring 92. The outer diameter of the third arcuate ring 93 is larger than the outer diameter of the second rotating ring 92. The third arcuate ring 93 is placed concentrically with the second rotating ring 92 and the first turntable 91, and the third arcuate ring 93 is located on the upper plate surface of the second rotating ring 92 and is screwed to the distribution component fixing plate 11;

[0008] A grasping component is provided directly above the distribution component. The grasping component is a mechanical gripper in the prior art. The U-shaped tube located on the arcuate positioning surface 101 in the U-shaped tube fixing block 10 in the distribution component is grasped by the mechanical gripper and inserted into the U-shaped tube insertion hole of the air conditioner radiator;

[0009] Among them, the switches of each device in the U-shaped tube automatic insertion device are controlled by a PLC controller, and photoelectric sensors connected to the PLC controller are installed at necessary positions. After the photoelectric sensors sense the U-shaped tubes, they will transmit signals to the PLC controller, and the PLC controller controls the operation of relevant devices to achieve the automatic insertion of U-shaped tubes in the air-conditioning radiator. The necessary mounting plates and support frames for the U-shaped tube automatic insertion device are not mentioned in this invention patent, and relevant technical personnel can select them from well-known technologies according to specific needs.

[0010] The operation method of the above-mentioned automatic insertion device for U-shaped tubes is as follows: a vibrating disk 1 (prior art), a first vibrating conveyor plate 2, a detection component, a second vibrating conveyor plate 3, a distribution component, and a grasping component;

[0011] Place the U-shaped tube into the vibrating bowl 1. The vibrating bowl 1 arranges the U-shaped tubes neatly through vibration and conveys them to the outlet of the vibrating bowl 1. After the photoelectric sensor at the outlet senses the U-shaped tube, it will transmit a signal to the PLC controller. The PLC controller activates the vibrating device and transmits the vibration conveying force to the first vibrating conveyor plate 2. The U-shaped tube vibrates forward on the first vibrating conveyor plate 2 to the lifting module 4 in the detection assembly. After the photoelectric sensor senses the U-shaped tube, it transmits a signal to the PLC controller. The PLC controller starts the lifting cylinder 41 in the lifting assembly 4 to push up the U-shaped tube above the U-shaped tube positioning plate 42 into the U-shaped tube receiving groove 524 directly above. The entry of the U-shaped tube causes the U-shaped tube receiving groove 524 to expand, that is, the rotating plate 523 rotates relative to the fixed plate 521 around the rotating shaft 522 under the force deformation of the torsion spring. Under the action of the retraction force of the torsion spring, the U-shaped tube is stuck in the U-shaped tube receiving groove 524 between the fixed plate 521 and the rotating plate 523. After the photoelectric sensor senses that the U-shaped tube is firmly fixed in the U-shaped tube receiving groove 524, it will transmit a signal to the PLC controller. The PLC controller will activate the motor 513 to control the rotation of the turntable 51, and turn the U-shaped tube to directly above the annular light source 61. After receiving the signal from the photoelectric sensor, the PLC controller activates the annular light source 61 and the intelligent camera 62. The intelligent camera 62 takes pictures of the U-shaped tube and analyzes the structural integrity and dimensional fit by the analysis software in the intelligent camera 62 to obtain an analysis result of "OK" or "NG", and transmits the analysis result to the PLC controller. After receiving the "OK" analysis result, the PLC controller will activate the motor 513 to rotate the turntable to a position directly above the second vibrating conveyor plate 3 and then activate the horizontal push cylinder 54 to apply a planar pushing force to the upper end surface of the rotating plate 523, so that the rotating plate 523 rotates outward, and thus the U-shaped tube in the U-shaped tube receiving groove 524 falls into the second vibrating conveyor plate 3 and is vibrationally conveyed to the distribution assembly station. When the PLC controller receives the "NG" analysis result, it will activate the motor 513 to rotate the turntable to the position of the waste collection box 53 and activate the horizontal push cylinder 54 to make the U-shaped tube in the U-shaped tube receiving groove 524 fall into the waste collection box 53 to prevent unqualified U-shaped tubes from participating in subsequent operations, thereby ensuring the production qualification rate of the air conditioner radiator; the U-shaped tube is vibrationally conveyed on the second vibrating conveyor plate 3. After the photoelectric sensor senses that the U-shaped tube is conveyed to the arc-shaped positioning surface 101 in the fixed block 10, it will transmit a signal to the PLC controller. The PLC controller will activate the motor 8 to rotate the first turntable 91. After rotating the U-shaped tube on the first turntable 91 to the grasping position, the photoelectric sensor will notify the PLC controller to activate the grasping assembly, so that the manipulator in the grasping assembly takes away the U-shaped tube on the first turntable 91 and inserts it into the U-shaped tube insertion hole of the air conditioner radiator.

[0012] The above U-shaped tube automatic insertion equipment replaces manual cloth feeding, detection, grasping, and installation, reducing the labor intensity of workers while greatly improving the efficiency of U-shaped tube insertion. The detection component's detection and analysis of U-shaped tubes greatly reduce the possibility of unqualified U-shaped tubes participating in subsequent insertion processes, improving the assembly qualification rate of air conditioner radiators.

[0013] Preferably, for the automatic insertion equipment for U-shaped tubes, the upper plate surface of the support plate in the second vibration transfer plate 3 that contacts the lower end surface of the U-shaped tube is 0.5 mm to 2 mm higher than the upper plate surface of the plate at the arcuate notch in the second rotating ring 92.

[0014] It is beneficial for the U-shaped tube to vibrate from the outlet end of the second vibration transfer plate 3 to the arcuate positioning surface 101 in the fixed block 10 without being obstructed by the plate surface at the arcuate notch in the second rotating ring 92.

[0015] Preferably, for the automatic insertion equipment for U-shaped tubes, the distribution component further includes air blowing blocks 13 located on both sides of the rectangular installation groove 112 in the second rotating ring 92. The two ends of the air blowing blocks 13 are respectively fixed to the plate surface at the opening of the third arcuate ring 93 and the plate surface of the distribution component fixing plate 11 by screws. Among them, an air blowing inlet 131 connected to an air blowing pipe is processed on the side plate surface of the air blowing block 13, and an air outlet groove 132 parallel to the lower plate surface of the air blowing block 13 is processed on the lower plate surface of the air blowing block 13. The rear end of the air outlet groove 132 is communicated with the front end of the air blowing inlet 131 through a connection hole 133, that is, the gas entering from the air blowing inlet 131 enters the air outlet groove 132 through the communication hole 133 and is blown out from the air outlet groove 132. The air outlet groove 132 is closely attached to the plate surface of the third arcuate ring 93 so that the gas can only be blown out from the front port of the air outlet groove 132; photoelectric sensors are installed in the two air blowing blocks 13.

[0016] After the photoelectric sensors in the two air blowing blocks 13 sense that the U-shaped tube reaches directly in front of the plate surface at the arcuate notch in the second rotating ring 92, they will notify the PLC controller to turn on gas supply devices such as an air extraction pump to send gas into the air blowing blocks 13 and pass through the air blowing inlet 131, connection hole 133, and air outlet groove 132 and be blown out from the positions on both sides of the U-shaped tube. With the assistance of the blowing, the U-shaped tube stably enters the arcuate positioning surface 101 in the U-shaped tube fixing block 10, that is, the U-shaped tube moves to the first turntable 9 through vibration and blowing.

[0017] Preferably, for the automatic insertion equipment for U-shaped tubes, the distribution component further includes a U-shaped tube limiting claw plate 94 fixed to the upper plate surface of the third arcuate ring 93. The U-shaped tube limiting claw plate 94 includes a U-shaped tube limiting claw plate body 941 and limiting claws 942 arranged in a circle inside the U-shaped tube limiting claw plate body 941. A plurality of limiting claws 942 are distributed at intervals in the circle inside the U-shaped tube limiting claw plate body 941, and the upper plate surface of the limiting claws 942 is 1 mm to 2.5 mm higher than the upper arc surface of the U-shaped tubes distributed in the first turntable 91.

[0018] The limiting claw 942 in the U-shaped tube limiting claw plate 94 limits the U-shaped tube in the Z-axis direction, preventing the U-shaped tubes distributed on the first turntable 91 from bouncing during the rotation of the first turntable 91. The manipulator in the grasping assembly performs the grasping operation at the interval positions between adjacent limiting claws 942.

[0019] Preferably, for the automatic insertion device of U-shaped tubes, the grasping assembly includes a fixed base 14, a first motor, a first rotating arm 16, a second motor, a second rotating arm 18 (a cavity structure with a hollow interior), a third motor, a fourth motor, a Z-axis lead screw 21, a suction cup 22, a U-shaped tube adsorption assembly 23, and a wire tube 27;

[0020] The first motor is placed in the inner cavity of the fixed base 14. The power output shaft of the first motor passes through the upper plate surface of the fixed base 14 and is fixedly connected to the rear bottom plate surface of the first rotating arm 16. The first rotating arm 16 rotates and swings on a plane under the action of the first motor. The second motor is located at the rear end of the second rotating arm 18. The bottom end of the second motor is fixedly connected to the front plate surface of the first rotating arm 16. The power output shaft of the second motor is fixedly connected to the rear end of the second rotating arm 18. The second motor drives the second rotating arm 18 to perform a planar rotation motion. The third motor and the fourth motor are both located at the front end position inside the second rotating arm 18. The power output shafts of the third motor and the fourth motor are both sleeved and fixed with gears. A Z-axis lead screw through hole 181 communicating with the inner cavity of the second rotating arm 18 is machined at the front end position of the second rotating arm 18. The Z-axis lead screw 21 is inserted into the Z-axis lead screw through hole 181, and a sliding groove 211 parallel to the central axis direction is machined on the outer cylindrical surface of the Z-axis lead screw 21. A first rotating ring with a matching thread structure machined on its inner side and a second rotating ring with a matching outward convex sliding edge machined on its inner side are sleeved on the Z-axis lead screw 21. Tooth-like structures are provided on the outer sides of the cylinders of the first rotating ring and the second rotating ring. The gear on the third motor meshes with the external tooth-like structure of the first rotating ring, and the gear on the fourth motor meshes with the external gear of the second rotating ring. After the third motor is started, it drives the first rotating ring to rotate, thereby realizing the lifting movement of the Z-axis lead screw 21. After the fourth motor is started, it drives the second rotating ring to rotate, thereby realizing the rotational movement of the Z-axis lead screw 21. When the third motor and the fourth motor operate simultaneously, the Z-axis lead screw 21 only performs rotational movement. When the third motor operates and the fourth motor is stationary, the Z-axis lead screw 21 realizes the movement of rotating and lifting simultaneously;

[0021] The U-shaped tube adsorption assembly 23 is installed on the plate surface of the suction cup 22. The U-shaped tube adsorption assembly 23 includes a lifting cylinder 231, a spline bearing assembly 232, and a vacuum adsorption assembly 233. The spline bearing assembly 232 is sleeved in the fixed sleeve 24. The spline bearing assembly 232 includes a spline shaft 2321 and an outer cylinder 2322. A circle of grooves 23221 is machined on the cylindrical outer side surface of the outer cylinder 2322. A plurality of positioning threaded holes 23222 are machined in the grooves 23221. A positioning key groove 23223 perpendicular to the grooves 23221 is machined on the cylindrical side surface of the outer cylinder 2322. A vertical positioning key 23224 is installed in the positioning key groove 23223. The fixed sleeve 24 passes through the arc notch 221 at the edge of the suction cup 22, and the upper end surface of the fixed sleeve 24 is screwed to the upper end surface of the suction cup 22 with screws. A waist-shaped hole slot 241 communicating with the inner cavity is machined on the cylindrical surface of the fixed sleeve 24. The positioning key 23224 fixed on the outer cylinder 2322 just fits into the waist-shaped hole slot 241 in the fixed sleeve 24 so that there is no relative rotation between the outer cylinder 2322 and the fixed sleeve 24. Two anti-loosening screw holes 242 in the diameter direction are machined on the cylindrical surface of the fixed sleeve 24. The anti-loosening screws are sequentially inserted into the anti-loosening screw holes 242 and the positioning threaded holes 23222 of the outer cylinder 2322 to fixedly connect the fixed sleeve 24 and the outer cylinder 2322. The lifting cylinder 231 is reversely fixed on the upper plate surface of the fixed sleeve 24, and the power output shaft of the lifting cylinder 231 passes through the central hole of the fixed sleeve 24, and the end of the power output shaft is fixedly connected to the upper end surface of the spline shaft 2321. The vacuum adsorption assembly 233 includes a negative pressure gas joint 2331, a bellows suction nozzle 2332 connected to the negative pressure gas joint 2331, and a U-shaped tube positioning cover 2333 with a hollow interior. The lower end surface of the spline shaft 2321 is fixedly connected to the upper end surface of the U-shaped tube positioning cover 2333. The negative pressure gas joint 2331 is clamped and fixed in the negative pressure joint placement groove in the U-shaped tube positioning cover 2333. An arched positioning groove 23331 communicating with the hollow inner cavity is machined on the bottom end surface of the U-shaped tube positioning cover 2333. The lower end of the bellows suction nozzle 2332 is located in the middle of the arched positioning groove 23331. An air pipe through hole 23332 is machined on the side plate surface of the U-shaped tube positioning cover 2333. The negative pressure suction air pipe in the vacuum generator passes through the air pipe through hole 23332 and is connected to the negative pressure gas joint 2331 to transmit the vacuum negative pressure suction to the bellows suction nozzle 2332;

[0022] The lower end surface of the Z-axis lead screw 21 is screwed and connected to the center position of the suction cup 22. The wire body pipe 27 is respectively communicated with the inner cavities of the fixed base 14 and the second rotating arm 18 and is fixed above the fixed base 14 and the second rotating arm 18. The wire body pipe 27 serves as a wire routing channel for four motors.

[0023] The above-mentioned arm device for the U-shaped tube insertion process of the air conditioner radiator replaces the manual operation in the traditional insertion technology, reduces the labor intensity, speeds up the insertion speed, and ensures that the grasping rate of the U-shaped tube remains constant, which is beneficial to the control of the subsequent insertion frequency.

[0024] Preferably, for the automatic insertion device for U-shaped tubes, a snap ring 214 is fixedly sleeved on the lower end of the Z-axis lead screw 21 by screws. A notch snap ring 223 is screwed at the center position of the suction cup 22. The lower end of the Z-axis lead screw 21 is inserted into the central hole of the notch snap ring 223 with the same diameter. The snap ring 214 is stuck on the upper end surface of the notch snap ring 223. Horizontal threaded holes 2231 parallel to the diameter direction are machined on the cylindrical surfaces on both sides of the vertical notch of the notch snap ring 223. By tightening bolts in the horizontal threaded holes 2231, the size of the central hole of the notch snap ring 223 is reduced, and thus the Z-axis lead screw 21 is fixed in the notch snap ring 223.

[0025] The extrusion and fixation method between the notch snap ring 223 and the Z-axis lead screw 21 replaces the direct fixation method between the Z-axis lead screw 21 and the suction cup 22, facilitating the disassembly and assembly operations between the Z-axis lead screw 21 and the suction cup 22.

[0026] Preferably, for the automatic insertion device for U-shaped tubes, the suction cup 22 is machined with a camera positioning hole 222. The positioning and detection camera 25 is reversely installed on the upper end surface of the camera positioning hole 222 of the suction cup 22. An annular light source 26 is installed on the lower end surface of the camera positioning hole 222 in the suction cup 22. A positioning and detection program (which belongs to the prior art and will not be elaborated here) is installed in the positioning and detection camera 25.

[0027] After the fourth motor is started, it drives the second rotating ring to rotate, and then drives the Z-axis lead screw 21 to rotate. The positioning and detection camera 25 also rotates accordingly. The U-shaped tubes arranged in a circular pattern directly below the suction cup 22 can be photographed by the positioning and detection camera 25, and the photos are transmitted to the positioning software and the detection software to position the U-shaped tubes, detect the size and appearance of the U-shaped tubes, and transmit the detection results to the PLC controller. The PLC controller issues commands to relevant devices according to the detection results, puts the unqualified U-shaped tubes into the waste area, and performs the grasping operation on the qualified U-shaped tubes according to the coordinate positioning. Through the setting of the positioning and detection camera 25, it is convenient for grasping positioning and appearance detection.

[0028] Preferably, in the automatic insertion device for U-shaped tubes, N U-shaped fixed block mounting grooves 912 are machined on the first turntable 91 and are equally angularly distributed, and a U-shaped tube fixing block 10 is screwed in each U-shaped fixed block mounting groove 912; N-1 U-shaped tube adsorption components 23 are mounted on the suction cup 22, and the N-1 U-shaped tube adsorption components 23 and the positioning detection camera 25 are equally angularly distributed in the circumferential direction of the suction cup 22. The positions of the N-1 U-shaped tube adsorption components 23 on the suction cup 22 and the N-1 U-shaped tube fixing blocks 10 on the first turntable 91, except for the U-shaped tube fixing block 10 at the arcuate notch plate surface in the second rotating ring 92, can achieve the same horizontal projection position after relative rotation by a certain angle. Correspondingly, M clamping jaws 52 are mounted on the disc 511 in the detection component and the M clamping jaws 52 are equally angularly distributed, where N and M are natural numbers greater than or equal to 2.

[0029] Preferably, in the automatic insertion device for U-shaped tubes, the central angles formed by the lifting module 4, the annular light source 61, the waste collection box 53, and the inlet end of the second vibrating conveyor plate 3 and the disc 511 are all 90°. Four U-shaped tube fixing blocks 10 are machined on the first turntable 91, and the central angle between adjacent U-shaped tube fixing blocks 10 is 90°. Four clamping jaws 52 are mounted on the disc 511 in the detection component, and the central angle between adjacent clamping jaws 52 is 90°. Three U-shaped tube adsorption components 23 are mounted on the suction cup 22, and the three U-shaped tube adsorption components 23 and the positioning detection camera 25 are equally angularly distributed in the circumferential direction of the suction cup 22 and the adjacent central angles are 90°.

[0030] The lifting module 4, the annular light source 61, the waste collection box 53, and the second vibrating conveyor plate 3 are equally angularly arranged in the circumferential direction of the disc 511. The four U-shaped tube fixing blocks 10 on the first turntable 91 are equally angularly arranged. The four clamping jaws 52 on the disc 511 are equally angularly arranged so that the four clamping jaws 52 on the disc 511 are successively rotated directly above the lifting module 4, clamp a U-shaped tube, and then complete the intelligent camera 62 taking pictures and analyzing, the waste collection box 53 collecting waste or directly rotating 180° to directly place the qualified U-shaped tube on the second vibrating conveyor plate to participate in subsequent operations every time the disc 511 rotates 90°. The arrangement method of the three U-shaped tube adsorption components 23 on the suction cup 22 and the positioning detection camera 25 at intervals of 90° enables the grasping component to grasp three U-shaped tubes at one time from the distribution component. The angle of each rotation controlled by the PLC controller is a multiple of 90°, which is convenient for the preliminary programming work of the PLC. Description of the Drawings

[0031] The following further explains the specific implementation manners in conjunction with the drawings, where:

[0032] Figure 1 is a schematic structural diagram of the automatic insertion device for U-shaped tubes involved in the invention;

[0033] Figure 2a It is a schematic structural diagram of the detection component in the automatic insertion device for U-shaped tubes involved in the invention;

[0034] Figure 2b It is a schematic structural diagram of the clamping jaw in the detection component of the automatic insertion device for U-shaped tubes involved in the invention;

[0035] Figure 3a It is a schematic structural diagram of the distribution component in the automatic insertion device for U-shaped tubes involved in the invention;

[0036] Figure 3b It is a schematic assembly diagram of the distribution component in the automatic insertion device for U-shaped tubes involved in the invention;

[0037] Figure 3c It is a schematic structural diagram of the distribution component in the automatic insertion device for U-shaped tubes involved in the invention;

[0038] Figure 3d-1 It is a schematic structural diagram of the air blowing block in the distribution component of the automatic insertion device for U-shaped tubes involved in the invention;

[0039] Figure 3d-2 It is a schematic structural diagram of the air blowing block in the distribution component of the automatic insertion device for U-shaped tubes involved in the invention;

[0040] Figure 3e It is a schematic structural diagram of the U-shaped tube limiting claw plate in the distribution component of the automatic insertion device for U-shaped tubes involved in the invention;

[0041] Figure 4 It is an overall structure diagram of the grasping component in the automatic insertion device for U-shaped tubes involved in the invention;

[0042] Figure 5a It is a partial structure diagram of the grasping component in the automatic insertion device for U-shaped tubes involved in the invention;

[0043] Figure 5b It is a partial structure diagram of the grasping component in the automatic insertion device for U-shaped tubes involved in the invention;

[0044] Figure 5c It is a partial structure diagram of the grasping component in the automatic insertion device for U-shaped tubes involved in the invention;

[0045] Figure 6 It is a schematic structural diagram of the internal negative pressure gas joint and the bellows suction nozzle in the U-shaped tube positioning cover of the grasping component in the automatic insertion device for U-shaped tubes involved in the invention;

[0046] Figure 7It is a schematic diagram of distances d1 and d2 in the automatic insertion device for U-shaped tubes involved in the invention; the specific structures corresponding to the numbers are as follows:

[0047] Vibrating disk 1, outlet, first vibrating conveyor plate, second vibrating conveyor plate 3, lifting module 4, lifting cylinder 41, U-shaped tube positioning plate 42, inverted T-shaped positioning frame 421, jaw module 5, turntable 51, disk 511, rotating shaft 512, motor 513, jaws 52, fixed plate 521, rotating shaft 522, rotating plate 523, U-shaped tube receiving groove 524, waste collection box 53, horizontal pushing cylinder 54, detection camera module 6, annular light source 61, intelligent camera 62, detection component fixing plate 7, light through hole 71, motor 8, rotating distribution module 9, first turntable 91, bushing through hole 911, U-shaped fixing block installation groove 912, second rotating ring 92, third arc ring 93, U-shaped tube limiting claw plate 94, U-shaped tube limiting claw plate body 941, limiting claw 942, U-shaped tube fixing block 10, arc positioning surface 101, distribution component fixing plate 11, center hole 111, rectangular installation groove 112, annular groove 113, bushing 12, air blowing block 13, air blowing inlet 131, air outlet groove 132, communication hole 133, fixed base 14, first motor, first rotating arm 16, second motor, second rotating arm 18, Z-axis screw through hole 181, third motor, fourth motor, Z-axis screw 21, sliding groove 211, first rotating ring, second rotating ring, snap ring 214, suction cup 22, arc notch 221, camera positioning hole 222, notch snap ring 223, horizontal threaded hole 2231, U-shaped tube adsorption component 23, lifting cylinder 231, spline bearing component 232, spline shaft 2321, outer cylinder 2322, groove 23221, positioning threaded hole 23222, positioning key groove 23223, positioning key 23224, vacuum adsorption component 233, negative pressure gas joint 2331, bellows suction nozzle 2332, U-shaped tube positioning cover 2333, arched positioning groove 23331, air pipe through hole 23332, fixed sleeve 24, waist-shaped hole card slot 241, check screw hole 242, positioning detection camera 25, annular light source 26, wire tube 27,

[0048] The following specific embodiments will further illustrate the invention in conjunction with the above-mentioned drawings. Specific embodiments

[0049] Specific implementation case 1:

[0050] An automatic insertion device for U-shaped tubes sequentially includes, in the order of U-shaped tube insertion: a vibrating disk 1 (prior art), a first vibrating conveyor plate 2, a detection component, a second vibrating conveyor plate 3, a distribution component, and a grasping component;

[0051] The outlet of the vibrating disk 1 is connected to the inlet end of the first vibrating conveyor plate 2, and a detection component is installed behind the outlet end of the first vibrating conveyor plate 2;

[0052] The detection component includes a lifting module 4, a clamping jaw module 5, a detection camera module 6, and a detection component fixing plate 7. The lifting module 4 includes a lifting cylinder 41 and a U-shaped tube positioning plate 42. The U-shaped tube positioning plate 42 is vertically and fixedly screwed to the top surface of the power output shaft of the lifting cylinder 41. An inverted T-shaped positioning frame 421 complementary to the shape of the U-shaped tube is machined at the upper end of the U-shaped tube positioning plate 42. The clamping jaw module 5 includes a turntable 51, clamping jaws 52, a waste collection box 53, and a horizontal pushing cylinder 54. The turntable 51 includes a disk 511, a rotating shaft 512, and a motor 513. The rotating shaft 512 is perpendicularly and fixedly connected to the bottom plate surface at the center of the disk 511. The rotating shaft 512 and the motor 513 are indirectly connected through a belt sleeved on the belt pulleys of the rotating shaft 512 and the power output shaft of the motor. The motor 513 is fixed to the detection component fixing plate 7 in an inverted manner. Both the rotating shaft 512 and the power output shaft of the motor pass through the detection component fixing plate 7, and the belt pulleys sleeved on the two shaft ends are both placed in the lower space of the detection component fixing plate 7. The rotating shaft 512 is connected to the detection component fixing plate 7 through a sleeved rolling bearing to achieve a rolling and frictionless connection. The clamping jaw 52 includes a fixed plate 521 fixed to the bottom plate surface of the disk 511, a rotating shaft 522, and a rotating plate 523. The rotating plate 523 is connected to the fixed plate 521 through a rotating shaft 522 sleeved with a torsion spring. The rotating plate 523 and the inner side surface of the lower plate surface of the fixed plate 521 enclose a U-shaped tube receiving groove 524. When there is no U-shaped tube inside, the thickness of the U-shaped tube receiving groove 524 is less than the diameter of the U-shaped tube, the upper plane of the rotating plate 523 is higher than the disk 511, and the inner side surface of the rotating plate 523 does not contact the edge of the disk 511. The detection camera module 6 includes an annular light source 61 and an intelligent camera 62. The annular light source 61 is fixed to the detection component fixing plate 7. A light through hole 71 is machined on the detection component fixing plate 7 directly below the annular light source 61. An intelligent camera 62 is installed directly below the light through hole 71. A waste collection box 53 is installed and fixed on the detection component fixing plate 7. The inlet end of the second vibrating conveyor plate 3 is installed below the disk 511. Among them, the annular light source 61, the waste collection box 53, and the inlet end of the second vibrating conveyor plate 3 are arranged in sequence along the one-way circumference of the disk 511. During the rotation of the clamping jaw 52 with the disk 511, it just passes directly above the center of the annular light source 61, the inlet of the waste collection box 53, and the inlet end of the second vibrating conveyor plate 3. The lifting module 4 is located directly below the U-shaped tube receiving groove 524. Horizontal pushing cylinders 54 are installed directly above the waste collection box 53 and directly above the inlet end of the second vibrating conveyor plate 3, and the acting height of the horizontal pushing cylinders 54 is located on the upper plate surface of the rotating plate 523 in the clamping jaw 52;

[0053] The outlet end of the second vibrating conveyor plate 3 is connected to the inlet end of the distribution component;

[0054] The distribution component includes a motor 8, a rotating distribution module 9, a U-shaped tube fixing block 10, and a rectangular distribution component fixing plate 11. The rotating distribution module 9 includes a first turntable 91, a second rotating ring 92 with an arcuate surface notch, and a third arcuate ring 93. A central hole 111 for the power output shaft of the motor 8 to pass through is machined at the symmetric center position of the distribution component fixing plate 11. A rectangular installation groove 112 fixed to the outlet end of the second vibration transfer plate 3 is machined at the center position of one edge of the distribution component fixing plate 11. An annular groove 113 is machined on the upper plate surface of the distribution component fixing plate 11, and part of the position of the annular groove 113 overlaps with the rectangular installation groove 112. The second rotating ring 92 is placed in the annular groove 113, and the straight edge of the arcuate notch faces the position of the rectangular installation groove 112. The upper plate surface of the second rotating ring 92 is flush with the upper plate surface of the distribution component fixing plate 11. A bushing through-hole 911 is machined at the center position of the first turntable 91. The upper end of the bushing 12 is fixed to the upper end surface of the bushing through-hole 911 in the first turntable 91, and the lower end of the bushing 12 passes through the bushing through-hole 911 and is fixed to the lower end surface of the first turntable 91. The power output shaft of the motor 8 passes through the central hole 111 of the distribution component fixing plate 11 and is fixed in the bushing 12. A U-shaped fixing block installation groove 912 is machined at the peripheral edge of the first turntable 91. The U-shaped tube fixing block 10 is fixed in the U-shaped fixing block installation groove 912 by screws. An arcuate positioning surface 101 for supporting the U-shaped tube is machined in the U-shaped tube fixing block 10, and the arcuate positioning surface 101 extends outward along the diameter direction of the first turntable 91 to directly above the plate surface at the arcuate notch of the second rotating ring 92. The distance between the upper arcuate surface of the arcuate positioning surface 101 and the upper plate surface at the arcuate notch of the second rotating ring 92 is d1, and the distance between the lower arcuate surface of the arcuate tube in the U-shaped tube and the lower end surfaces of the two cylinders on both sides is d2, and d1 = d2. The outer diameter of the outer ring of the first turntable 91 is smaller than the outer diameter of the outer ring of the second rotating ring 92. The inner diameter of the inner ring of the third arcuate ring 93 is equal to the outer diameter of the outer ring of the first turntable 91 and smaller than the outer diameter of the outer ring of the second rotating ring 92. The outer diameter of the outer ring of the third arcuate ring 93 is larger than the outer diameter of the outer ring of the second rotating ring 92. The third arcuate ring 93 is placed concentrically with the second rotating ring 92 and the first turntable 91, and the third arcuate ring 93 is located on the upper plate surface of the second rotating ring 92 and is fixedly connected to the distribution component fixing plate 11 by screws;

[0055] A grasping component is provided directly above the distribution component. The grasping component is a mechanical gripper in the prior art. The U-shaped tube located on the arcuate positioning surface 101 in the U-shaped tube fixing block 10 in the distribution component is grasped by the mechanical gripper and inserted into the U-shaped tube insertion hole of the air conditioner radiator;

[0056] Among them, the switches of each device in the U-shaped tube automatic insertion equipment are all controlled by a PLC controller, and photoelectric sensors connected to the PLC controller are installed at necessary positions. After the photoelectric sensors sense the U-shaped tubes, they will transmit signals to the PLC controller, and the PLC controller controls the operation of related devices to realize the automatic insertion of U-shaped tubes in the air-conditioning radiator. The necessary mounting plates and support frames for the U-shaped tube automatic insertion equipment are not mentioned in this invention patent, and relevant technicians can select them from well-known technologies according to specific needs.

[0057] Among them, the grasping assembly includes a fixed base 14, a first motor, a first rotating arm 16, a second motor, a second rotating arm 18 (a cavity structure with a hollow interior), a third motor, a fourth motor, a Z-axis lead screw 21, a suction cup 22, a U-shaped tube adsorption assembly 23, and a wire tube 27;

[0058] The first motor is placed in the inner cavity of the fixed base 14, and the power output shaft of the first motor passes through the upper plate surface of the fixed base 14 and is fixedly connected to the rear bottom plate surface of the first rotating arm 16. The first rotating arm 16 rotates and swings on a plane under the action of the first motor; the second motor is located at the rear end of the second rotating arm 18, the bottom end of the second motor is fixedly connected to the front plate surface of the first rotating arm 16, and the power output shaft of the second motor is fixedly connected to the rear end of the second rotating arm 18. The second motor drives the second rotating arm 18 to perform a planar rotation motion; the third motor and the fourth motor are both located at the front end position inside the second rotating arm 18. The power output shafts of the third motor and the fourth motor are both sleeved and fixed with gears. A Z-axis lead screw through hole 181 communicating with the inner cavity of the second rotating arm 18 is machined at the front end position of the second rotating arm 18. The Z-axis lead screw 21 is inserted into the Z-axis lead screw through hole 181, and a sliding groove 211 parallel to the central axis direction is machined on the outer cylindrical surface of the Z-axis lead screw 21. A first rotating ring with a matching thread structure machined on its inner side and a second rotating ring with a matching outer convex sliding edge machined on its inner side are sleeved on the Z-axis lead screw 21. Tooth-like structures are provided on the outer sides of the cylinders of the first rotating ring and the second rotating ring. The gear on the third motor is meshed and connected to the outer tooth-like structure of the first rotating ring, and the gear on the fourth motor is meshed and connected to the gear on the outer side of the second rotating ring. After the third motor is started, it drives the first rotating ring to rotate, thereby realizing the lifting movement of the Z-axis lead screw 21. After the fourth motor is started, it drives the second rotating ring to rotate, thereby realizing the rotational movement of the Z-axis lead screw 21. When the third motor and the fourth motor operate simultaneously, the Z-axis lead screw 21 only makes a rotational movement. When the third motor operates and the fourth motor is stationary, the Z-axis lead screw 21 realizes a movement of rotating and lifting at the same time;

[0059] The U-shaped tube adsorption assembly 23 is installed on the plate surface of the suction cup 22. The U-shaped tube adsorption assembly 23 includes a lifting cylinder 231, a spline bearing assembly 232, and a vacuum adsorption assembly 233. The spline bearing assembly 232 is sleeved in the fixed sleeve 24. The spline bearing assembly 232 includes a spline shaft 2321 and an outer cylinder 2322. A circle of grooves 23221 is machined on the cylindrical outer side surface of the outer cylinder 2322. A plurality of positioning threaded holes 23222 are machined in the grooves 23221. A positioning key groove 23223 perpendicular to the cylindrical side surface of the outer cylinder 2322 and passing through the grooves 23221 is machined on the cylindrical side surface of the outer cylinder 2322. A vertical positioning key 23224 is installed in the positioning key groove 23223. The fixed sleeve 24 passes through the arc notch 221 at the edge of the suction cup 22, and the upper end surface of the fixed sleeve 24 is screwed to the upper end surface of the suction cup 22 by screws. A waist-shaped hole slot 241 communicating with the inner cavity is machined on the cylindrical surface of the fixed sleeve 24. The positioning key 23224 fixed on the outer cylinder 2322 just fits into the waist-shaped hole slot 241 in the fixed sleeve 24 so that there is no relative rotation between the outer cylinder 2322 and the fixed sleeve 24. Two anti-loosening screw holes 242 in the diameter direction are machined on the cylindrical surface of the fixed sleeve 24. The anti-loosening screws are sequentially inserted into the anti-loosening screw holes 242 and the positioning threaded holes 23222 of the outer cylinder 2322 to fixedly connect the fixed sleeve 24 and the outer cylinder 2322. The lifting cylinder 231 is reversely fixed on the upper plate surface of the fixed sleeve 24, and the power output shaft of the lifting cylinder 231 passes through the central hole of the fixed sleeve 24, and the end of the power output shaft is fixedly connected to the upper end surface of the spline shaft 2321. The vacuum adsorption assembly 233 includes a negative pressure gas joint 2331, a bellows suction nozzle 2332 connected to the negative pressure gas joint 2331, and a U-shaped tube positioning cover 2333 with a hollow interior. The lower end surface of the spline shaft 2321 is fixedly connected to the upper end surface of the U-shaped tube positioning cover 2333. The negative pressure gas joint 2331 is clamped and fixed in the negative pressure joint placement groove in the U-shaped tube positioning cover 2333. An arched positioning groove 23331 communicating with the hollow inner cavity is machined on the bottom end surface of the U-shaped tube positioning cover 2333. The lower end of the bellows suction nozzle 2332 is located at the middle position of the arched positioning groove 23331. A trachea through hole 23332 is machined on the side plate surface of the U-shaped tube positioning cover 2333. The negative pressure suction trachea in the vacuum generator passes through the trachea through hole 23332 and is connected to the negative pressure gas joint 2331 to transmit the vacuum negative pressure suction to the bellows suction nozzle 2332;

[0060] The lower end surface of the Z-axis lead screw 21 is screwed and connected to the center position of the suction cup 22. A wire tube 27 is respectively communicated with the inner cavities of the fixed base 14 and the second rotating arm 18 and is fixed above the fixed base 14 and the second rotating arm 18. The wire tube 27 serves as a wire routing channel for four motors.

[0061] Further, the upper plate surface of the support plate in the second vibration transfer plate 3 that contacts the lower end surface of the U-shaped tube is 0.5 mm higher than the upper plate surface of the plate at the arcuate notch in the second rotating ring 92.

[0062] Further, the distribution component further includes blowing blocks 13 located on both sides of the rectangular installation groove 112 in the second swivel ring 92. The two ends of the blowing blocks 13 are respectively fixed to the plate surfaces at the openings of the third arc ring 93 and the plate surface of the distribution component fixing plate 11 by screws. The side plate surface of the blowing block 13 is processed with a blowing inlet 131 connected to the blowing pipe, and the lower plate surface of the blowing block 13 is processed with an air outlet groove 132 parallel to the lower plate surface of the blowing block 13. The rear end of the air outlet groove 132 is communicated with the front end of the blowing inlet 131 through a connecting hole 133, that is, the gas entering from the blowing inlet 131 enters the air outlet groove 132 through the communication hole 133 and is blown out from the air outlet groove 132. The air outlet groove 132 is closely attached to the plate surface of the third arc ring 93 so that the gas can only be blown out from the front port of the air outlet groove 132; photoelectric sensors are installed in the two blowing blocks 13.

[0063] Further, the distribution component further includes a U-shaped tube limiting claw plate 94 fixed to the upper plate surface of the third arc ring 93. The U-shaped tube limiting claw plate 94 includes a U-shaped tube limiting claw plate body 941 and limiting claws 942 arranged in a circle inside the U-shaped tube limiting claw plate body 941. A plurality of limiting claws 942 are distributed at intervals in the circle inside the U-shaped tube limiting claw plate body 941, and the upper plate surface of the limiting claws 942 is 1 mm higher than the upper arc surface of the U-shaped tube distributed in the first turntable 91.

[0064] Further, a snap ring 214 is fixed to the lower end of the Z-axis lead screw 21 by screwing and sleeving. A notch snap ring 223 is screwed at the center position of the suction cup 22. The lower end of the Z-axis lead screw 21 is inserted into the center hole of the notch snap ring 223 with the same diameter size. The snap ring 214 is stuck on the upper end surface of the notch snap ring 223. Horizontal threaded holes 2231 parallel to the diameter direction are processed on the cylindrical surfaces on both sides of the vertical notch of the notch snap ring 223. By tightening bolts in the horizontal threaded holes 2231, the size of the center hole of the notch snap ring 223 is reduced, and thus the Z-axis lead screw 21 is fixed in the notch snap ring 223.

[0065] Further, the suction cup 22 is processed with a camera positioning hole 222. The positioning and detecting camera 25 is reversely installed on the upper end surface of the camera positioning hole 222 of the suction cup 22. An annular light source 26 is installed on the lower end surface of the camera positioning hole 222 in the suction cup 22. A positioning and detecting program (which belongs to the prior art and will not be elaborated here) is installed in the positioning and detecting camera 25.

[0066] Further, the central angles formed by the lifting module 4, the annular light source 61, the waste collection box 53, and the inlet end of the second vibrating conveyor plate 3 with the disk 511 are all 90°. Four U-shaped tube fixing blocks 10 are machined on the first turntable 91, and the central angle between adjacent U-shaped tube fixing blocks 10 is 90°. Four clamping jaws 52 are installed on the disk 511 in the detection assembly, and the central angle between adjacent clamping jaws 52 is 90°. Three U-shaped tube adsorption assemblies 23 are installed on the suction cup 22. The three U-shaped tube adsorption assemblies 23 and the positioning detection camera 25 are equally angularly distributed in the circumferential direction of the suction cup 22, and the adjacent central angles are 90°.

[0067] The advantages of the automatic insertion device for U-shaped tubes involved in this specific embodiment are as follows: It replaces manual insertion operations, reduces labor intensity, realizes the automation of U-shaped tube insertion, and improves the insertion efficiency of U-shaped tubes; the setting of the detection assembly replaces the manual detection of the quality and size of U-shaped tubes, greatly improves the accuracy of the detection results, reduces the detection error rate, and ensures the effectiveness of the subsequent distribution and insertion of U-shaped tubes; under the combined action of the vibration device, the blowing of the blowing block 13, and the rotation driven by the motor 8, the distribution assembly allows multiple U-shaped tubes to be arranged and distributed circumferentially on the first turntable 91. Multiple U-shaped tube adsorption assemblies 23 and the positioning detection camera 25 on the suction cup 22 of the grasping assembly can satisfy the one-time grasping of multiple U-shaped tubes on the basis of edge detection and positioning, greatly improving the grasping efficiency and insertion efficiency. The detection function of the positioning detection camera 25 can perform another detection operation before the insertion of U-shaped tubes, further improving the effectiveness of U-shaped tube insertion. The positioning function of the positioning camera 25 ensures the accuracy of the insertion position of U-shaped tubes through the positioning function of the insertion position of U-shaped tubes, and greatly improves the insertion quality of U-shaped tubes.

[0068] Specific Embodiment Case 2:

[0069] An automatic insertion device for U-shaped tubes sequentially includes, in the order of U-shaped tube insertion: a vibrating disk 1 (prior art), a first vibrating conveyor plate 2, a detection assembly, a second vibrating conveyor plate 3, a distribution assembly, and a grasping assembly;

[0070] The outlet of the vibrating disk 1 is connected to the inlet end of the first vibrating conveyor plate 2, and a detection assembly is installed behind the outlet end of the first vibrating conveyor plate 2;

[0071] The detection component includes a lifting module 4, a jaw module 5, a detection camera module 6, and a detection component fixing plate 7. The lifting module 4 includes a lifting cylinder 41 and a U-shaped tube positioning plate 42. The U-shaped tube positioning plate 42 is vertically screwed to the top surface of the power output shaft of the lifting cylinder 41. An inverted T-shaped positioning frame 421 complementary to the shape of the U-shaped tube is machined at the upper end of the U-shaped tube positioning plate 42. The jaw module 5 includes a turntable 51, jaws 52, a waste collection box 53, and a horizontal pushing cylinder 54. The turntable 51 includes a disc 511, a rotating shaft 512, and a motor 513. The rotating shaft 512 is perpendicularly and fixedly connected to the bottom plate surface at the center of the disc 511. The rotating shaft 512 and the motor 513 are indirectly connected through a belt sleeved on the belt pulleys of the rotating shaft 512 and the power output shaft of the motor. The motor 513 is fixed to the detection component fixing plate 7 in an inverted manner. Both the rotating shaft 512 and the power output shaft of the motor pass through the detection component fixing plate 7, and the belt pulleys sleeved on the ends of the two shafts are both located in the lower space of the detection component fixing plate 7. The rotating shaft 512 is connected to the detection component fixing plate 7 through a sleeved rolling bearing to achieve a rolling and frictionless connection. The jaws 52 include a fixed plate 521 fixed to the bottom plate surface of the disc 511, a rotating shaft 522, and a rotating plate 523. The rotating plate 523 is connected to the fixed plate 521 through a rotating shaft 522 sleeved with a torsion spring. The rotating plate 523 and the inner side surface of the lower plate surface of the fixed plate 521 enclose a U-shaped tube receiving groove 524. When there is no U-shaped tube inside, the thickness of the U-shaped tube receiving groove 524 is smaller than the diameter of the U-shaped tube. The upper plane of the rotating plate 523 is higher than the disc 511, and the inner side surface of the rotating plate 523 does not contact the edge of the disc 511. The detection camera module 6 includes an annular light source 61 and an intelligent camera 62. The annular light source 61 is fixed to the detection component fixing plate 7. A light through hole 71 is machined on the detection component fixing plate 7 directly below the annular light source 61. An intelligent camera 62 is installed directly below the light through hole 71. A waste collection box 53 is installed and fixed on the detection component fixing plate 7. The inlet end of the second vibration conveyor plate 3 is installed below the disc 511. Among them, the annular light source 61, the waste collection box 53, and the inlet end of the second vibration conveyor plate 3 are arranged in sequence along the one-way circumference of the disc 511. During the rotation of the jaws 52 with the disc 511, they exactly pass directly above the center of the annular light source 61, the inlet of the waste collection box 53, and the inlet end of the second vibration conveyor plate 3. The lifting module 4 is located directly below the U-shaped tube receiving groove 524. Above the waste collection box 53 and above the inlet end of the second vibration conveyor plate 3, horizontal pushing cylinders 54 are installed, and the acting height of the horizontal pushing cylinders 54 is located on the upper plate surface of the rotating plate 523 in the jaws 52;

[0072] The outlet end of the second vibration conveyor plate 3 is connected to the inlet end of the distribution component;

[0073] The distribution component includes a motor 8, a rotating distribution module 9, a U-shaped tube fixing block 10, and a rectangular distribution component fixing plate 11. The rotating distribution module 9 includes a first turntable 91, a second rotating ring 92 with an arcuate surface notch, and a third arcuate ring 93. A central hole 111 for the power output shaft of the motor 8 to pass through is machined at the symmetric center position of the distribution component fixing plate 11. A rectangular mounting groove 112 fixed to the outlet end of the second vibration transfer plate 3 is machined at the center position of one edge of the distribution component fixing plate 11. An annular groove 113 is machined on the upper plate surface of the distribution component fixing plate 11, and part of the position of the annular groove 113 overlaps with the rectangular mounting groove 112. The second rotating ring 92 is placed in the annular groove 113, and the straight edge of the arcuate notch faces the position of the rectangular mounting groove 112. The upper plate surface of the second rotating ring 92 is flush with the upper plate surface of the distribution component fixing plate 11. A bushing through-hole 911 is machined at the center position of the first turntable 91. The upper end of the bushing 12 is fixed to the upper end surface of the bushing through-hole 911 in the first turntable 91, and the lower end of the bushing 12 passes through the bushing through-hole 911 and is fixed to the lower end surface of the first turntable 91. The power output shaft of the motor 8 passes through the central hole 111 of the distribution component fixing plate 11 and is fixed in the bushing 12. A U-shaped fixing block mounting groove 912 is machined at the peripheral edge of the first turntable 91. The U-shaped tube fixing block 10 is fixed in the U-shaped fixing block mounting groove 912 by screws. An arcuate positioning surface 101 for supporting the U-shaped tube is machined in the U-shaped tube fixing block 10, and the arcuate positioning surface 101 extends outward along the diameter direction of the first turntable 91 to the position directly above the plate surface at the arcuate notch in the second rotating ring 92. The distance between the upper arcuate surface of the arcuate positioning surface 101 and the upper plate surface at the arcuate notch in the second rotating ring 92 is d1, and the distance between the lower arcuate surface of the arcuate tube in the U-shaped tube and the lower end surfaces of the two cylinders on both sides is d2, and d1 - d2 = 2 mm. The outer diameter of the first turntable 91 is smaller than the outer diameter of the second rotating ring 92. The inner diameter of the third arcuate ring 93 is equal to the outer diameter of the first turntable 91 and smaller than the outer diameter of the second rotating ring 92. The outer diameter of the third arcuate ring 93 is larger than the outer diameter of the second rotating ring 92. The third arcuate ring 93 is placed concentrically with the second rotating ring 92 and the first turntable 91, and the third arcuate ring 93 is located on the upper plate surface of the second rotating ring 92 and is fixedly connected to the distribution component fixing plate 11 by screws;

[0074] A grasping component is provided directly above the distribution component. The grasping component is a mechanical gripper in the prior art. The U-shaped tube located on the arcuate positioning surface 101 in the U-shaped tube fixing block 10 in the distribution component is grasped by the mechanical gripper and inserted into the U-shaped tube insertion hole of the air conditioner radiator;

[0075] Among them, the switches of each device in the U-shaped tube automatic insertion device are controlled by a PLC controller, and photoelectric sensors connected to the PLC controller are installed at necessary positions. After the photoelectric sensors sense the U-shaped tubes, they will transmit signals to the PLC controller, and the PLC controller controls the operation of relevant devices to realize the automatic insertion of U-shaped tubes in the air-conditioning radiator. The necessary mounting plates and support frames for the U-shaped tube automatic insertion device are not mentioned in this invention patent, and relevant technical personnel can select them from well-known technologies according to specific needs.

[0076] Among them, the grasping component includes a fixed base 14, a first motor, a first rotating arm 16, a second motor, a second rotating arm 18 (a cavity structure with a hollow interior), a third motor, a fourth motor, a Z-axis lead screw 21, a suction cup 22, a U-shaped tube adsorption component 23, and a wire tube 27;

[0077] The first motor is placed in the inner cavity of the fixed base 14. The power output shaft of the first motor passes through the upper plate surface of the fixed base 14 and is fixedly connected to the rear bottom plate surface of the first rotating arm 16. The first rotating arm 16 rotates and swings on a plane under the action of the first motor; the second motor is located at the rear end of the second rotating arm 18. The bottom end of the second motor is fixedly connected to the front plate surface of the first rotating arm 16. The power output shaft of the second motor is fixedly connected to the rear end of the second rotating arm 18. The second motor drives the second rotating arm 18 to perform a planar rotational motion; the third motor and the fourth motor are both located at the front end position inside the second rotating arm 18. The power output shafts of the third motor and the fourth motor are both sleeved and fixed with gears. A Z-axis lead screw through hole 181 communicating with the inner cavity of the second rotating arm 18 is machined at the front end position of the second rotating arm 18. The Z-axis lead screw 21 is inserted into the Z-axis lead screw through hole 181, and a sliding groove 211 parallel to the central axis direction is machined on the outer cylindrical surface of the Z-axis lead screw 21. A first rotating ring with a matching thread structure machined on its inner side and a second rotating ring with a matching outward convex sliding edge machined on its inner side are sleeved on the Z-axis lead screw 21. Tooth-like structures are provided on the outer sides of the cylinders of the first rotating ring and the second rotating ring. The gear on the third motor meshes with the external tooth-like structure of the first rotating ring, and the gear on the fourth motor meshes with the external gear of the second rotating ring. After the third motor is started, it drives the first rotating ring to rotate, thereby realizing the lifting movement of the Z-axis lead screw 21. After the fourth motor is started, it drives the second rotating ring to rotate, thereby realizing the rotational movement of the Z-axis lead screw 21. When the third motor and the fourth motor operate simultaneously, the Z-axis lead screw 21 only performs a rotational movement. When the third motor operates and the fourth motor is stationary, the Z-axis lead screw 21 realizes a movement of rotating and lifting at the same time;

[0078] The U-shaped tube adsorption assembly 23 is installed on the plate surface of the suction cup 22. The U-shaped tube adsorption assembly 23 includes a lifting cylinder 231, a spline bearing assembly 232, and a vacuum adsorption assembly 233. The spline bearing assembly 232 is sleeved in the fixed sleeve 24. The spline bearing assembly 232 includes a spline shaft 2321 and an outer cylinder 2322. A circle of grooves 23221 is machined on the cylindrical outer side surface of the outer cylinder 2322. A plurality of positioning threaded holes 23222 are machined in the grooves 23221. A positioning key groove 23223 vertically passing through the grooves 23221 is machined on the cylindrical side surface of the outer cylinder 2322. A vertical positioning key 23224 is installed in the positioning key groove 23223. The fixed sleeve 24 passes through the arc notch 221 at the edge of the suction cup 22, and the upper end surface of the fixed sleeve 24 is screwed to the upper end surface of the suction cup 22 by screws. A waist-shaped hole slot 241 communicating with the inner cavity is machined on the cylindrical surface of the fixed sleeve 24. The positioning key 23224 fixed on the outer cylinder 2322 just fits into the waist-shaped hole slot 241 in the fixed sleeve 24 so that there is no relative rotation between the outer cylinder 2322 and the fixed sleeve 24. Two anti-loosening screw holes 242 in the diameter direction are machined on the cylindrical surface of the fixed sleeve 24. The anti-loosening screws are sequentially inserted into the anti-loosening screw holes 242 and the positioning threaded holes 23222 of the outer cylinder 2322 to fixedly connect the fixed sleeve 24 and the outer cylinder 2322. The lifting cylinder 231 is reversely fixed on the upper plate surface of the fixed sleeve 24, and the power output shaft of the lifting cylinder 231 passes through the central hole of the fixed sleeve 24, and the end of the power output shaft is fixedly connected to the upper end surface of the spline shaft 2321. The vacuum adsorption assembly 233 includes a negative pressure gas joint 2331, a bellows suction nozzle 2332 connected to the negative pressure gas joint 2331, and a U-shaped tube positioning cover 2333 with a hollow interior. The lower end surface of the spline shaft 2321 is fixedly connected to the upper end surface of the U-shaped tube positioning cover 2333. The negative pressure gas joint 2331 is snap-fixed in the negative pressure joint placement groove in the U-shaped tube positioning cover 2333. An arched positioning groove 23331 communicating with the hollow inner cavity is machined on the bottom end surface of the U-shaped tube positioning cover 2333. The lower end of the bellows suction nozzle 2332 is located at the middle position of the arched positioning groove 23331. A trachea through hole 23332 is machined on the side plate surface of the U-shaped tube positioning cover 2333. The negative pressure suction trachea in the vacuum generator passes through the trachea through hole 23332 and is connected to the negative pressure gas joint 2331 to transmit the vacuum negative pressure suction force to the bellows suction nozzle 2332;

[0079] The lower end surface of the Z-axis lead screw 21 is screwed and connected to the center position of the suction cup 22. A wire tube 27 is fixed across the upper part of the fixed base 14 and the second rotating arm 18, which is respectively communicated with the inner cavities of the fixed base 14 and the second rotating arm 18. The wire tube 27 serves as a wire routing channel for four motors.

[0080] Further, the upper plate surface of the support plate in the second vibration transfer plate 3 that contacts the lower end surface of the U-shaped tube is 1.8 mm higher than the upper plate surface at the arched notch in the second rotating ring 92.

[0081] Further, the distribution component further includes blowing blocks 13 located on both sides of the rectangular mounting groove 112 in the second swivel ring 92. The two ends of the blowing blocks 13 are respectively fixed to the plate surfaces at the openings of the third arc ring 93 and the plate surface of the distribution component fixing plate 11 by screws. A blowing inlet 131 connected to the blowing pipe is machined on the side plate surface of the blowing block 13, and an air outlet groove 132 parallel to the lower plate surface of the blowing block 13 is machined on the lower plate surface of the blowing block 13. The rear end of the air outlet groove 132 is communicated with the front end of the blowing inlet 131 through a connecting hole 133, that is, the gas entering from the blowing inlet 131 enters the air outlet groove 132 through the communication hole 133 and is blown out from the air outlet groove 132. The air outlet groove 132 is closely attached to the plate surface of the third arc ring 93 so that the gas can only be blown out from the front port of the air outlet groove 132. Photoelectric sensors are installed in the two blowing blocks 13.

[0082] Further, the distribution component further includes a U-shaped pipe limiting claw plate 94 fixed to the upper plate surface of the third arc ring 93. The U-shaped pipe limiting claw plate 94 includes a U-shaped pipe limiting claw plate body 941 and limiting claws 942 arranged in a circle inside the U-shaped pipe limiting claw plate body 941. A plurality of limiting claws 942 are distributed at intervals in the circle inside the U-shaped pipe limiting claw plate body 941, and the upper plate surface of the limiting claws 942 is 2.3 mm higher than the upper arc surface of the U-shaped pipe distributed in the first turntable 91.

[0083] Further, a snap ring 214 is fixed to the lower end of the Z-axis lead screw 21 by screwing. A notch snap ring 223 is screwed at the center position of the suction cup 22. The lower end of the Z-axis lead screw 21 is inserted into the center hole of the notch snap ring 223 with the same diameter size. The snap ring 214 is stuck on the upper end surface of the notch snap ring 223. Horizontal threaded holes 2231 parallel to the diameter direction are machined on the cylindrical surfaces on both sides of the vertical notch of the notch snap ring 223. By tightening bolts in the horizontal threaded holes 2231, the size of the center hole of the notch snap ring 223 is reduced, and thus the Z-axis lead screw 21 is fixed in the notch snap ring 223.

[0084] Further, the suction cup 22 is machined with a camera positioning hole 222. The positioning and detection camera 25 is reversely installed on the upper end surface of the camera positioning hole 222 of the suction cup 22. An annular light source 26 is installed on the lower end surface of the camera positioning hole 222 in the suction cup 22. A positioning and detection program (which belongs to the prior art and will not be elaborated here) is installed in the positioning and detection camera 25.

[0085] Further, the central angles formed by the jacking module 4, the annular light source 61, the waste collection box 53, and the inlet end of the second vibration conveyor plate 3 with the disk 511 are all 90°. Six U-shaped tube fixing blocks 10 are machined on the first turntable 91, and the central angle between adjacent U-shaped tube fixing blocks 10 is 60°. Three jaws 52 are installed on the disk 511 in the detection assembly, and the central angle between adjacent jaws 52 is 120°. Five U-shaped tube adsorption assemblies 23 are installed on the suction cup 22. The five U-shaped tube adsorption assemblies 23 and the positioning detection camera 25 are equally angularly distributed in the circumferential direction of the suction cup 22, and the adjacent central angles are 60°.

[0086] The advantages of the automatic insertion device for U-shaped tubes involved in this specific embodiment are as follows: It replaces manual insertion operations, reduces labor intensity, realizes the automation of U-shaped tube insertion, and improves the insertion efficiency of U-shaped tubes at the same time; the setting of the detection assembly replaces the manual detection of the quality and dimensions of U-shaped tubes, greatly improves the accuracy of the detection results, reduces the detection error rate, and ensures the effectiveness of the subsequent distribution and insertion of U-shaped tubes; under the combined action of the vibration device, the blowing block 13 for blowing assistance, and the rotation driven by the motor 8, the distribution assembly allows multiple U-shaped tubes to be arranged and distributed in the circumferential direction on the first turntable 91. The multiple U-shaped tube adsorption assemblies 23 and the positioning detection camera 25 on the suction cup 22 of the grasping assembly can meet the one-time grasping of multiple U-shaped tubes on the basis of edge detection and positioning, greatly improving the grasping efficiency and the insertion efficiency. The detection function of the positioning detection camera 25 can perform a detection operation again before the insertion of U-shaped tubes, further improving the effectiveness of U-shaped tube insertion. The positioning function of the positioning camera 25 ensures the accuracy of the insertion position of U-shaped tubes through the positioning function of the insertion position of U-shaped tubes, and greatly improves the insertion quality of U-shaped tubes.

[0087] The above-described embodiments merely represent several implementation manners of the invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the inventive concept, several modifications and improvements can still be made, and these all belong to the protection scope of the invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

1. An automatic insertion device for U-shaped tubes, characterized in that: In the order of U-shaped tube insertion and installation, it successively includes: a vibrating disk, a first vibrating conveyor plate, a detection component, a third vibrating conveyor plate, a distribution component, and a grasping component; The outlet of the vibrating disk is connected to the inlet end of the first vibrating conveyor plate, and a detection component is installed behind the outlet end of the first vibrating conveyor plate; The detection component includes a lifting module, a clamping jaw module, a detection camera module, and a detection component fixing plate. The lifting module includes a lifting cylinder and a U-shaped tube positioning plate. The U-shaped tube positioning plate is vertically screwed and fixed on the top surface of the power output shaft of the lifting cylinder. An inverted T-shaped positioning frame complementary to the shape of the U-shaped tube is machined at the upper end of the U-shaped tube positioning plate; The clamping jaw module includes a turntable, clamping jaws, a waste collection box, and a horizontal push cylinder; The turntable includes a disk, a rotating shaft, and a motor. The rotating shaft is perpendicularly and fixedly connected to the bottom plate surface at the center of the disk. The rotating shaft and the motor are indirectly connected through a belt sleeved on the belt pulleys of the rotating shaft and the power output shaft of the motor; The motor is fixed upside down on the detection component fixing plate. The rotating shaft and the power output shaft of the motor both pass through the detection component fixing plate, and the belt pulleys sleeved at the ends of the two shafts are both located in the lower space of the detection component fixing plate. The rotating shaft is connected to the detection component fixing plate through a sleeved rolling bearing to achieve rolling and frictionless connection; The clamping jaw includes a fixed plate fixed on the bottom plate surface of the disk, a rotating shaft, and a rotating plate. The rotating plate is connected to the fixed plate through a rotating shaft sleeved with a torsion spring. The rotating plate and the inner side surface of the lower plate surface of the fixed plate enclose a U-shaped tube accommodation groove, and when there is no U-shaped tube inside, the thickness of the U-shaped tube accommodation groove is smaller than the diameter of the U-shaped tube, the upper plane of the rotating plate is higher than the disk, and the inner side surface of the rotating plate does not contact the edge of the disk; The detection camera module includes an annular light source and an intelligent camera. The annular light source is fixed on the detection component fixing plate. A light passing hole is machined on the detection component fixing plate directly below the annular light source, and an intelligent camera is installed directly below the light passing hole. A waste collection box is installed and fixed on the detection component fixing plate. The inlet end of the second vibrating conveyor plate is installed below the disk. Among them, the annular light source, the waste collection box, and the inlet end of the second vibrating conveyor plate are arranged in sequence along the one-way circumference of the disk. During the rotation of the turntable, the clamping jaw just passes directly above the center of the annular light source, the inlet of the waste collection box, and the inlet end of the second vibrating conveyor plate. The lifting module is located directly below the U-shaped tube accommodation groove; Horizontal push cylinders are installed directly above the waste collection box and directly above the inlet end of the second vibrating conveyor plate, and the acting height of the horizontal push cylinders is located on the upper plate surface of the rotating plate in the clamping jaw; The outlet end of the second vibrating conveyor plate is connected to the inlet end of the distribution component; The distribution component includes a motor, a rotating distribution module, a U-shaped tube fixing block, and a rectangular distribution component fixing plate. The rotating distribution module includes a first turntable, a second rotating ring with an arcuate notch, and a third arcuate ring. A central hole for the power output shaft of the motor to pass through is machined at the symmetric center position of the distribution component fixing plate. A rectangular installation groove fixed to the outlet end of the second vibration transfer plate is machined at the center position of one edge of the distribution component fixing plate. An annular groove is machined on the upper plate surface of the distribution component fixing plate, and the annular groove partially overlaps with the rectangular installation groove. The second rotating ring is placed in the annular groove, and the straight edge of the arcuate notch faces the position of the rectangular installation groove. The upper plate surface of the second rotating ring is flush with the upper plate surface of the distribution component fixing plate. A bushing through-hole is machined at the center position of the first turntable. The upper end of the bushing is fixed to the upper end surface of the bushing through-hole in the central axis of the first turntable, and the lower end of the bushing passes through the bushing through-hole and is fixed to the lower end surface of the first turntable. The power output shaft of the motor passes through the central hole of the distribution component fixing plate and is fixed in the bushing. A U-shaped fixing block installation groove is machined at the peripheral edge of the first turntable. The U-shaped tube fixing block is fixed in the U-shaped fixing block installation groove by screws. An arcuate positioning surface for supporting the U-shaped tube is machined in the U-shaped tube fixing block, and the arcuate positioning surface extends outward along the diameter direction of the first turntable to directly above the plate surface at the arcuate notch of the second rotating ring. The distance between the upper arcuate surface of the arcuate positioning surface and the upper plate surface at the arcuate notch of the second rotating ring is d1, and the distance between the lower arcuate surface of the arcuate tube in the U-shaped tube and the lower end surfaces of the two cylinders on both sides is d2, where d1 - d2 = 0 mm to 2 mm; the outer diameter of the outer ring of the first turntable is smaller than the outer diameter of the outer ring of the second rotating ring, the inner diameter of the inner ring of the third arcuate ring is equal to the outer diameter of the outer ring of the first turntable and smaller than the outer diameter of the outer ring of the second rotating ring, and the outer diameter of the outer ring of the third arcuate ring is larger than the outer diameter of the outer ring of the second rotating ring. The third arcuate ring is placed concentrically with the second rotating ring and the first turntable, and the third arcuate ring is located on the upper plate surface of the second rotating ring and is fixedly connected to the distribution component fixing plate by screws; A grasping component is provided directly above the distribution component. The grasping component is a mechanical gripper, and the U-shaped tube located on the arcuate positioning surface in the U-shaped tube fixing block in the distribution component is grasped by the mechanical gripper and inserted into the U-shaped tube insertion hole of the air conditioner radiator; The switches of each device in the U-shaped tube automatic insertion device are all controlled by a PLC controller.

2. The automatic insertion device for U-shaped tubes according to claim 1, characterized in that: The height of the upper plate surface of the support plate in the second vibration transfer plate that contacts the lower end surface of the U-shaped tube is 0.5 mm to 2 mm higher than the upper plate surface at the arcuate notch of the second rotating ring.

3. The automatic insertion device for U-shaped tubes according to claim 1, characterized in that: The distribution component further includes air blowing blocks located on both sides of the rectangular installation groove in the second rotating ring. The two ends of the air blowing blocks are respectively fixed to the plate surface at the opening of the third arcuate ring and the plate surface of the distribution component fixing plate by screws. An air blowing inlet connected to an air blowing pipe is machined on the side plate surface of the air blowing block, and an air outlet groove parallel to the lower plate surface of the air blowing block is machined on the lower plate surface of the air blowing block. The rear end of the air outlet groove is communicated with the front end of the air blowing inlet through a communication hole. The gas entering from the air blowing inlet enters the air outlet groove through the communication hole and is blown out from the air outlet groove. The air outlet groove is closely attached to the plate surface of the third arcuate ring so that the gas can only be blown out from the front port of the air outlet groove; photoelectric sensors are installed in the two air blowing blocks.

4. The automatic insertion device for U-shaped tubes as described in claim 1, characterized in that: The distribution component further includes a U-shaped tube limiting claw plate fixed on the upper plate surface of the third arc ring. The U-shaped tube limiting claw plate includes a U-shaped tube limiting claw plate body and limiting claws arranged in a circle inside the U-shaped tube limiting claw plate body. The multiple limiting claws are distributed at intervals in the inner circle of the U-shaped tube limiting claw plate body, and the upper plate surface of the limiting claws is 1 mm to 2.5 mm higher than the upper arc surface of the U-shaped tube distributed in the first turntable.

5. The automatic insertion device for U-shaped tubes according to claim 1, characterized in that: The grasping component includes: a fixed base, a first motor, a first rotating arm, a second motor, a second rotating arm, a third motor, a fourth motor, a Z-axis lead screw, a suction cup, a U-shaped tube adsorption component, and a wire tube; The first motor is placed in the inner cavity of the fixed base. The power output shaft of the first motor passes through the upper plate surface of the fixed base and is fixedly connected to the rear bottom plate surface of the first rotating arm. The first motor drives the first rotating arm to rotate and swing on a plane. The second motor is located at the rear end of the second rotating arm. The bottom end of the second motor is fixedly connected to the front plate surface of the first rotating arm. The power output shaft of the second motor is fixedly connected to the rear end of the second rotating arm. The second motor drives the second rotating arm to perform a planar rotation motion. The third motor and the fourth motor are both located at the front end position inside the second rotating arm. The power output shafts of the third motor and the fourth motor are both sleeved and fixed with gears. A Z-axis lead screw through hole communicating with the inner cavity of the second rotating arm is machined at the front end position of the second rotating arm. The Z-axis lead screw is inserted into the Z-axis lead screw through hole, and a sliding groove parallel to the central axis direction is machined on the outer cylindrical surface of the Z-axis lead screw. A first rotating ring with a matching thread structure machined on its inner side and a second rotating ring with a matching outward convex sliding edge machined on its inner side are sleeved on the Z-axis lead screw. Tooth-like structures are provided on the outer sides of the cylinders of the first rotating ring and the second rotating ring. The gear on the third motor is meshed and connected with the external tooth-like structure of the first rotating ring. The gear on the fourth motor is meshed and connected with the external gear of the second rotating ring. After the third motor is started, it drives the first rotating ring to rotate, thereby realizing the lifting motion of the Z-axis lead screw. After the fourth motor is started, it drives the second rotating ring to rotate, thereby realizing the rotational motion of the Z-axis lead screw. When the third motor and the fourth motor operate simultaneously, the Z-axis lead screw only performs a rotational motion. When the third motor operates and the fourth motor is stationary, the Z-axis lead screw realizes a motion of rotating and lifting at the same time; The U-shaped tube adsorption assembly is installed on the plate surface of the turntable. The U-shaped tube adsorption assembly includes a lifting cylinder, a spline bearing assembly, and a vacuum adsorption assembly. The spline bearing assembly is sleeved in a fixed sleeve. The spline bearing assembly includes a spline shaft and an outer cylinder. A circle of grooves is machined on the cylindrical outer side of the outer cylinder, and a plurality of positioning threaded holes are machined in the grooves. A positioning key groove perpendicular to the grooves is machined on the cylindrical side of the outer cylinder, and a vertical positioning key is installed in the positioning key groove. The fixed sleeve passes through the arc notch at the edge of the turntable, and the upper end surface of the fixed sleeve is screwed to the upper end surface of the turntable by screws. A kidney-shaped hole slot communicating with the inner cavity is machined on the cylindrical surface of the fixed sleeve. The positioning key fixed on the outer cylinder just fits into the kidney-shaped hole slot in the fixed sleeve so that there is no relative rotation between the outer cylinder and the fixed sleeve. Two anti-loosening screw holes in the diameter direction are machined on the cylindrical surface of the fixed sleeve. The anti-loosening screws are sequentially inserted into the anti-loosening screw holes and the positioning threaded holes of the outer cylinder to fixedly connect the fixed sleeve and the outer cylinder; the lifting cylinder is reversely fixed on the upper plate surface of the fixed sleeve, and the power output shaft of the lifting cylinder passes through the central hole of the fixed sleeve, and the end of the power output shaft is fixed to the upper end surface of the spline shaft; the vacuum adsorption assembly includes a negative pressure gas joint, a bellows suction nozzle connected to the negative pressure gas joint, and a U-shaped tube positioning cover with a hollow interior. The lower end surface of the spline shaft is fixedly connected to the upper end surface of the U-shaped tube positioning cover. The negative pressure gas joint is clamped and fixed in the negative pressure joint placement groove in the U-shaped tube positioning cover. An arched positioning groove communicating with the hollow inner cavity is machined on the bottom end surface of the U-shaped tube positioning cover. The lower end of the bellows suction nozzle is located at the middle position of the arched positioning groove. A trachea through hole is machined on the side plate surface of the U-shaped tube positioning cover. The negative pressure suction trachea in the vacuum generator passes through the trachea through hole and is connected to the negative pressure gas joint to transmit the vacuum negative pressure suction to the bellows suction nozzle; The lower end surface of the Z-axis lead screw is screwed and connected to the center position of the turntable. A wire tube is respectively communicated with the inner cavities of the fixed base and the second rotating arm and is fixed above the fixed base and the second rotating arm. The wire tube serves as the wire routing channel for four motors.

6. The automatic insertion device for U-shaped tubes as described in claim 5, characterized in that: A snap ring is screwed and sleeved at the lower end of the Z-axis lead screw. A notch snap ring is screwed at the center position of the turntable. The lower end of the Z-axis lead screw is inserted into the central hole of the notch snap ring with the same diameter. The snap ring is stuck on the upper end surface of the notch snap ring. Horizontal threaded holes parallel to the diameter direction are machined on the cylindrical surfaces on both sides of the vertical notch of the notch snap ring. Bolts are tightened in the horizontal threaded holes to reduce the size of the central hole of the notch snap ring, thereby fixing the Z-axis lead screw in the notch snap ring.

7. The automatic insertion device for U-shaped tubes as described in claim 5, characterized in that: The suction cup is machined with a camera positioning hole. The positioning detection camera is reversely installed on the upper end surface of the camera positioning hole of the suction cup. An annular light source is installed on the lower end surface of the camera positioning hole in the suction cup. A positioning and detection program is installed in the positioning detection camera.

8. The automatic insertion device for U-shaped tubes as described in claim 7, characterized in that: The first turntable is processed with N U-shaped fixed block mounting grooves distributed at equal angles, and a U-shaped pipe fixed block is screwed in each U-shaped fixed block mounting groove; N-1 U-shaped pipe adsorption components are installed on the suction cup, and the N-1 U-shaped pipe adsorption components and the positioning detection camera are distributed at equal angles in the circumferential direction of the suction cup. The positions of the N-1 U-shaped pipe adsorption components on the suction cup and the positions of the N-1 U-shaped pipe fixed blocks on the first turntable except for the U-shaped pipe fixed block at the arcuate notch plate surface in the second rotating ring can achieve the same projected position on the horizontal plane after relative rotation by a certain angle. Correspondingly, M clamping jaws are installed on the disc in the detection component and the M clamping jaws are distributed at equal angles, where N and M are natural numbers greater than or equal to 2.

9. The automatic insertion device for U-shaped tubes as described in claim 8, characterized in that: The central angles formed by the lifting module, the annular light source, the waste collection box, and the inlet end of the second vibration conveyor plate and the disc are all 90°. Four U-shaped pipe fixed blocks are processed on the first turntable, and the central angle between adjacent U-shaped pipe fixed blocks is 90°. Four clamping jaws are installed on the disc in the detection component, and the central angle between adjacent clamping jaws is 90°. Three U-shaped pipe adsorption components are installed on the suction cup, and the three U-shaped pipe adsorption components and the positioning detection camera are distributed at equal angles in the circumferential direction of the suction cup and the adjacent central angles are 90°.

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