U-shaped tube handling equipment and automated production line

Abstract

The application provides a U-shaped tube conveying device and an automatic production line. The U-shaped tube conveying device comprises a material taking and transferring device, the material taking and transferring device comprises a transferring control mechanism, a transferring seat and a material taking mechanism, the material taking mechanism comprises a first material taking assembly, the first material taking assembly comprises two first clamping plates, a first material returning block, a first material returning control mechanism, a first material receiving plate and a first material receiving control mechanism, the two first clamping plates are arranged side by side on the transferring seat, the first material returning control mechanism can control the first material returning block to move in the vertical direction, the first material receiving control mechanism can control the first material receiving plate to be inserted between the two first clamping plates, a first limiting area can be formed between the two first clamping plates, the first material returning block and the first material receiving plate, and the opposite two tube arms of the U-shaped tube pass through the first limiting area. The application can stably convey the U-shaped tube for feeding operation, meanwhile, the product quality of the U-shaped tube in the conveying and feeding process is ensured, so that the production quality is improved, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production equipment, and in particular to a U-shaped tube handling device and an automated production line having the U-shaped tube handling device. Background Art

[0002] The automated production process for heat exchangers in the air conditioning industry requires a fully automated process that includes punching fins, removing fins, threading tubes, expanding tubes, drying, inserting small elbows, welding, descaling, and finally rolling off the production line. Automated fin threading, the most technically complex step in the middle, is a key step in the automated production of air conditioning heat exchangers. However, this automated fin threading process requires a continuous supply of U-shaped copper tubes.

[0003] In order to continuously supply U-shaped copper tubes to the fin automatic tube threading process, it is necessary to set up U-shaped copper tube handling equipment. The existing U-shaped copper tube handling equipment includes a frame, on which a driving structure and a first moving structure that moves along the Y axis are provided, the first moving structure is provided with a second moving structure that moves along the X axis and the Z axis, and the second moving structure is provided with a clamping assembly. The driving structure drives the movement of the first moving structure and the second moving structure to move the clamping assembly to the storage position of the U-shaped copper tube, thereby realizing automatic clamping of the U-shaped copper tube. After that, the driving structure drives the movement of the first moving structure and the second moving structure to enable the clamping assembly to transport the clamped U-shaped copper tube to the fin automatic tube threading process, thereby supplying the U-shaped copper tube to the fin automatic tube threading process.

[0004] The U-shaped copper tube is easily grasped by the user, and the U-shaped copper tube is easily deformed and damaged by the clamping force of the clamping assembly. Summary of the Invention

[0005] In order to achieve the first purpose of the present invention, the present invention provides a U-shaped tube handling equipment, which can stably transport U-shaped tubes for feeding operations, while ensuring the product quality of the U-shaped tubes during the transportation and feeding process, thereby improving production quality and improving production efficiency.

[0006] In order to achieve the second object of the present application, the present application provides an automatic production line with the U-shaped tube conveying device.

[0007] In order to achieve the first object of the present application, the present application provides a U-shaped tube conveying device, comprising a material taking and transferring device, the material taking and transferring device comprising a transferring control mechanism, a transferring seat and a material taking mechanism, the transferring control mechanism being capable of controlling the transferring seat to move in a horizontal direction and a vertical direction, the material taking mechanism comprising a first material taking assembly, the first material taking assembly comprising two first clamping plates, a first material retreating block, a first material retreating control mechanism, a first material receiving plate and a first material receiving control mechanism, the two first clamping plates being arranged side by side on the transferring seat in the horizontal direction, the first material retreating block being located between the two first clamping plates, the first material retreating control mechanism being capable of controlling the first material retreating block to move in the vertical direction, the first material receiving plate being located below the first material retreating block in the vertical direction, the first material receiving control mechanism being capable of controlling the first material receiving plate to move in the horizontal direction to be inserted between the two first clamping plates, a first limiting area being formed between the two first clamping plates, the first material retreating block and the first material receiving plate, and the opposite two tube arms of the U-shaped tube passing through the first limiting area.

[0008] As can be seen from the above solution, the transferring control mechanism of the material taking and transferring device controls the transferring seat to move in the horizontal direction and the vertical direction, so that the two first clamping plates are respectively located on the two sides of the opposite two tube arms of the U-shaped tube in the horizontal direction, then the first material retreating control mechanism of the material taking and transferring device controls the first material retreating block to move in the vertical direction so that the first material retreating block abuts against the upper side of the U-shaped tube, the first material receiving control mechanism of the material taking and transferring device controls the first material receiving plate to move in the horizontal direction to be inserted between the two first clamping plates, so that the first material receiving plate is located below the U-shaped tube, and then the U-shaped tube is limited in the first limiting area formed between the two first clamping plates, the first material retreating block and the first material receiving plate, i.e. the opposite two tube arms of the U-shaped tube pass through the first limiting area formed between the two first clamping plates, the first material retreating block and the first material receiving plate, and then the transferring control mechanism controls the transferring seat to move in the horizontal direction and the vertical direction, so that the U-shaped tube limited in the first limiting area formed between the two first clamping plates, the first material retreating block and the first material receiving plate can be conveyed and fed, so that the U-shaped tube can be stably conveyed and fed. Compared with the existing multiple clamping jaws clamping the U-shaped tube to be conveyed and fed, the material taking and transferring device of the present application limits the U-shaped tube in the first limiting area formed between the two first clamping plates, the first material retreating block and the first material receiving plate to be conveyed and fed, and the two first clamping plates, the first material retreating block and the first material receiving plate do not clamp the U-shaped tube, so as to prevent the U-shaped tube from being deformed and damaged, thereby ensuring the product quality of the U-shaped tube in the conveying and feeding process, improving the production quality and the production efficiency.

[0009] A further solution is that the first material picking assembly also includes a first material guide needle, the first end of the first material guide needle is arranged on the first material return block, and the second end of the first material guide needle extends in the vertical direction and can be inserted between the two opposite tube arms of the U-shaped tube; and / or, the inner side surface of the bottom feeding end of each first clamping plate located below the first material return block in the vertical direction is a first inclined surface.

[0010] A further solution is that the material picking mechanism also includes a second material picking component, which is arranged side by side with the first material picking component in the horizontal direction, and the second material picking component includes two second clamping plates, a second material return block, a second material return control mechanism, a second material receiving plate and a second material receiving control mechanism, the two second clamping plates are arranged side by side on the transfer seat in the horizontal direction, the second material return block is located between the two second clamping plates, the second material return control mechanism can control the second material return block to move in the vertical direction, the second material receiving plate is located below the second material return block in the vertical direction, the second material receiving control mechanism can control the second material receiving plate to move in the horizontal direction to be inserted between the two second clamping plates, and a second limiting area can be formed between the two second clamping plates, the second material return block and the second material receiving plate, the second end of the tube arm passes through the second limiting area, and the first end of the tube arm passes through the first limiting area.

[0011] A further solution is that the material picking mechanism also includes an adjustment control mechanism and an adjustment seat, the adjustment control mechanism is arranged on the transfer seat and can control the adjustment seat to move in the horizontal direction, and the first material picking component or the second material picking component is arranged on the adjustment seat; or, the material picking mechanism also includes an adjustment control mechanism, and the adjustment control mechanism can control the first material picking component and the second material picking component to move toward or away from each other.

[0012] A further solution is that the second material picking assembly also includes a second material guide needle, the first end of the second material guide needle is arranged on the second material return block, and the second end of the second material guide needle extends in the vertical direction and can be inserted between the two opposite tube arms of the U-shaped tube; and / or, the inner side surface of the bottom feeding end of each second clamping plate located below the second material return block in the vertical direction is a second inclined surface.

[0013] A further solution is that the U-shaped tube handling equipment also includes a material receiving and flipping device, which includes a flipping control mechanism, a horizontal rotating shaft and two first positioning plates. The flipping control mechanism can control the horizontal rotating shaft to rotate around the horizontal direction. The mounting ends of the two first positioning plates are fixed on the horizontal rotating shaft, and the two first positioning plates are arranged relative to each other in the circumferential direction of the horizontal rotating shaft to form a first positioning area. The two opposite tube arms of the U-shaped tube pass through the first positioning area, and the material picking and transferring device is used to receive the U-shaped tube on the material receiving and flipping device.

[0014] A further solution is that the U-shaped tube handling equipment also includes a tube pushing and tightening device, which includes a moving control mechanism, a moving seat, a rotation control mechanism, a support seat and a tube pushing rod. The moving control mechanism can control the moving seat to move in the horizontal direction. The rotation control mechanism is arranged on the moving seat and can control the support seat to rotate around the horizontal direction. The first end of the tube pushing rod is fixed on the support seat. When the first positioning plate rotates to extend in the horizontal direction, the second end of the tube pushing rod rotates to extend in the vertical direction and forces the U-shaped tube passing through the first positioning area to move in the horizontal direction toward the horizontal rotation axis.

[0015] A further solution is that the U-shaped tube handling equipment also includes a jacking and loading device, which includes a transfer control mechanism, a transfer plate, a clamping control mechanism, a claw assembly and at least two limit blocks. The transfer control mechanism can control the transfer plate to move in the horizontal and vertical directions. Multiple limit blocks are arranged side by side on the transfer plate in the horizontal direction. A clamping gap is formed between two adjacent limit blocks to allow the U-shaped tube to pass through. The claw assembly includes clamping claws corresponding to the clamping gaps one by one. The clamping claws can form two clamping positioning holes between the side walls of an adjacent limit block. The two clamping positioning holes are arranged side by side in the vertical direction. The clamping control mechanism can control the claw assembly to move in the horizontal direction so that the two opposite tube arms of the U-shaped tube are respectively clamped in the two clamping positioning holes, and the two opposite tube arms of the U-shaped tube on the jacking and loading device can pass through the first positioning area.

[0016] A further solution is that the U-shaped tube handling equipment also includes a material collection and receiving device, which includes a lifting control mechanism, a lifting plate, a drive control mechanism and multiple mounting plates. The lifting control mechanism can control the lifting plate to move in the vertical direction, and multiple mounting plates are arranged side by side on the lifting plate in the horizontal direction. The drive control mechanism can control one mounting plate to move in the horizontal direction. Two adjacent mounting plates are connected by a hinge. Each mounting plate is provided with a first guide plate, a second guide plate and a clamp control mechanism. The first guide plate is provided with a first clamp on the side close to the second guide plate, and the second guide plate is provided with a second clamp on the side close to the first guide plate. The clamp control mechanism can control the first clamp and the second clamp to move toward or away from each other. When the first clamp and the second clamp move toward each other, two limit grooves are formed. The two limit grooves are arranged side by side in the vertical direction. The two opposite tube arms of the U-shaped tube pass through the two limit grooves respectively, and the clamping gap can receive the U-shaped tube on the material collection and receiving device.

[0017] In order to achieve the second purpose of the present invention, the present invention provides an automated production line, including U-shaped tube handling equipment, and the U-shaped tube handling equipment is the above-mentioned U-shaped tube handling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a first partial structural diagram of an embodiment of the U-tube handling equipment of the present invention.

[0019] Figure 2 It is a side view of the first partial structure of an embodiment of the U-tube handling equipment of the present invention.

[0020] Figure 3 It is a second partial structural schematic diagram of an embodiment of the U-tube handling equipment of the present invention.

[0021] Figure 4 It is a side view of the second partial structure of the U-tube handling equipment embodiment of the present invention.

[0022] Figure 5 It is a top view of the second partial structure of the U-tube handling equipment embodiment of the present invention.

[0023] Figure 6 yes Figure 4 Enlarged view at point A.

[0024] Figure 7 yes Figure 4 Enlarged view at B.

[0025] Figure 8 It is a schematic diagram of the cooperation between the material receiving and turning device and the tube pushing and tightening device in the embodiment of the U-tube handling equipment of the present invention.

[0026] Figure 9 It is a structural diagram of the tube pushing and tightening device in an embodiment of the U-shaped tube handling equipment of the present invention.

[0027] Figure 10 This is a structural diagram of the first working state of the material receiving and turning device in the embodiment of the U-tube handling equipment of the present invention.

[0028] Figure 11 This is a structural diagram of the second working state of the material receiving and turning device in the embodiment of the U-tube handling equipment of the present invention.

[0029] Figure 12 This is a structural diagram of the working state of the material receiving and turning device and the tube pushing and tightening device in the embodiment of the U-tube handling equipment of the present invention.

[0030] Figure 13 It is a side view of the working state of the material receiving and turning device and the tube pushing and tightening device in the embodiment of the U-tube handling equipment of the present invention.

[0031] Figure 14 It is a structural schematic diagram of the cooperation between the material taking and transferring device and the material receiving and turning device in the embodiment of the U-tube handling equipment of the present invention.

[0032] Figure 15 This is a structural diagram of the cooperation between the material retrieving and transferring device and the material storage vehicle in an embodiment of the U-tube handling equipment of the present invention.

[0033] Figure 16 It is a structural diagram of the material taking and transferring device in an embodiment of the U-tube handling equipment of the present invention.

[0034] Figure 17 1 is a structural diagram of the horizontal control mechanism in an embodiment of the U-shaped tube handling equipment of the present invention.

[0035] Figure 18 It is a structural diagram of the material taking mechanism in an embodiment of the U-shaped tube handling equipment of the present invention.

[0036] Figure 19 It is a side view of the material taking mechanism in the embodiment of the U-shaped tube handling equipment of the present invention.

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0038] See also Figures 1 to 19 , this embodiment discloses a U-shaped tube handling equipment, including a frame 11, a material collecting and receiving device 12, a jacking and loading device 13, a material receiving and turning device 14, a tube pushing and tightening device 15 and a material picking and transferring device 16, the material collecting and receiving device 12, the jacking and loading device 13, the material receiving and turning device 14, the tube pushing and tightening device 15 and the material picking and transferring device 16 are respectively arranged on the frame 11, and the jacking and loading device 13 is used to receive the U-shaped tube 18 on the material collecting and receiving device 12, the material receiving and turning device 14 is used to receive the U-shaped tube 18 on the jacking and loading device 13 and rotate the U-shaped tube 18 90°, the tube pushing and tightening device 15 is used to gather and collect multiple U-shaped tubes 18 on the material receiving and turning device 14 before they are rotated 90°, and the material picking and transferring device 16 is used to receive the U-shaped tube 18 on the material receiving and turning device 14 after it is rotated 90° and transport the U-shaped tube 18 to a storage vehicle 17 or other process positions of the automated production line.

[0039] Combine Figures 3 to 7The aggregate collecting device 12 of the embodiment comprises a lifting control mechanism, a lifting plate 122, a driving control mechanism, and a plurality of mounting plates 1210. The lifting control mechanism can control the lifting plate 122 to move in the vertical direction. The plurality of mounting plates 1210 are arranged side by side on the lifting plate 122 in the horizontal direction. The driving control mechanism can control one mounting plate 1210 to move in the horizontal direction. Adjacent two mounting plates 1210 are connected through a hinge 126. Each mounting plate 1210 is provided with a first guide plate 124, a second guide plate 125, and a clamp control mechanism. The first guide plate 124 is provided with a first clamp 127 on the side close to the second guide plate 125. The second guide plate 125 is provided with a second clamp 128 on the side close to the first guide plate 124. The clamp control mechanism can control the first clamp 127 and the second clamp 128 to move towards or away from each other. When the first clamp 127 and the second clamp 128 move towards each other, two limiting grooves 129 are formed. The two limiting grooves 129 are arranged side by side in the vertical direction. The opposite two pipe arms of the U-shaped pipe 18 respectively pass through the two limiting grooves 129. The clamping gap of the jacking and feeding device 13 can receive the U-shaped pipe 18 on the aggregate collecting device 12.

[0040] The lifting control mechanism of the aggregate receiving device 12 controls the lifting plate 122 to move in the vertical direction to the U-shaped tube 18 receiving position, the driving control mechanism controls one mounting plate 1210 to move in the horizontal direction away from the adjacent mounting plate 1210, because the adjacent two mounting plates 1210 are connected through the hinge 126, so that the adjacent two mounting plates 1210 move away from each other, that is, the adjacent two mounting plates 1210 are in the open state, when the hinge 126 drives the opening angle of the adjacent two mounting plates 1210 to reach the maximum, the driving control mechanism stops driving, and waits for the receiving gap between the first guide plate 124 and the second guide plate 125 to receive the U-shaped tube 18, and then the U-shaped tube 18 is fed into the receiving gap between the first guide plate 124 and the second guide plate 125, and then the clamp control mechanism controls the first clamp 127 and the second clamp 128 to move towards each other, so that the opposite two tube arms of the U-shaped tube 18 are respectively limited in the two limiting grooves 129 formed between the first clamp 127 and the second clamp 128. Because the two limiting grooves 129 are arranged side by side in the vertical direction, so that the opposite two tube arms of the U-shaped tube 18 received by the aggregate receiving device 12 are arranged side by side in the vertical direction, then the driving control mechanism controls one mounting plate 1210 to move in the horizontal direction close to the adjacent mounting plate 1210, so that the adjacent two mounting plates 1210 move close to each other, that is, the adjacent two mounting plates 1210 are in the tight state, and then the spacing between the adjacent two U-shaped tubes 18 on the aggregate receiving device 12 is consistent with the spacing between the two clamping gaps of the jacking feeding device 13, so as to facilitate the jacking feeding device 13 to receive the U-shaped tube 18 on the aggregate receiving device 12. The aggregate receiving device 12 of the embodiment can accurately adjust the spacing of the receiving gap formed between the adjacent two mounting plates 1210 through the hinge 126, so as to adjust the spacing between the adjacent two U-shaped tubes 18 on the aggregate receiving device 12, meet the U-shaped tube 18 receiving and feeding operation, and work stably and reliably. It should be noted that the first clamp 127 and the second clamp 128 of the embodiment do not clamp the tube arms of the U-shaped tube 18, so as to prevent damage to the tube arms.

[0041] Specifically, the lifting control mechanism of the embodiment is a lifting cylinder 121, the driving control mechanism of the embodiment includes a driving motor 123 and a driving screw 110, the driving screw 110 drives one mounting plate 1210 to move in the horizontal direction while the driving motor 123 controls the driving screw 110 to rotate, and the clamp control mechanism of the embodiment is a pneumatic finger cylinder.

[0042] The lifting and feeding device 13 of the embodiment comprises a moving control mechanism, a moving plate 132, a clamping control mechanism, a jaw assembly and at least two limiting blocks 134. The moving control mechanism can control the moving plate 132 to move in the horizontal direction and the vertical direction. The plurality of limiting blocks 134 are arranged side by side on the moving plate 132 in the horizontal direction, and a clamping gap capable of allowing the U-shaped tube 18 to pass through is formed between adjacent two limiting blocks 134. The jaw assembly comprises a clamping jaw 135 corresponding to the clamping gap. The clamping jaw 135 can form two clamping positioning holes 136 between the side wall of its adjacent limiting block 134. The two clamping positioning holes 136 are arranged side by side in the vertical direction. The clamping control mechanism can control the jaw assembly to move in the horizontal direction so that the opposite two tube arms of the U-shaped tube 18 are clamped in the two clamping positioning holes 136 respectively. The opposite two tube arms of the U-shaped tube 18 on the lifting and feeding device 13 can pass through the first positioning area of the receiving and turning device 14.

[0043] The moving control mechanism of the lifting and feeding device 13 of the embodiment controls the moving plate 132 to move in the horizontal direction and the vertical direction, so that the clamping gap of the lifting and feeding device 13 is located directly below and corresponds to the receiving gap of the receiving device 12 in the vertical direction. Then the clamping control mechanism controls the jaw assembly to move in the horizontal direction so that the clamping jaw 135 moves away from the adjacent limiting block 134, i.e. the clamping jaw 135 is separated from the side wall of the adjacent limiting block 134. Then the moving control mechanism controls the moving plate 132 to move upward in the vertical direction, so that the clamping gap of the lifting and feeding device 13 receives the U-shaped tube 18 limited by the receiving gap of the receiving device 12. Then the clamping control mechanism controls the jaw assembly to move in the horizontal direction so that the clamping jaw 135 moves towards the adjacent limiting block 134, i.e. the clamping jaw 135 forms two clamping positioning holes 136 with the side wall of the adjacent limiting block 134, so that the opposite two tube arms of the U-shaped tube 18 are clamped in the two clamping positioning holes 136 respectively, ensuring the straightness of the opposite two tube arms of the U-shaped tube 18, thereby improving the production quality and improving the production efficiency. Then the moving control mechanism controls the moving plate 132 to move in the horizontal direction and the vertical direction, so that the U-shaped tube 18 on the lifting and feeding device 13 is transported to the first positioning area of the receiving and turning device 14.

[0044] In order to further improve the production efficiency, the number of clamping gaps of the jacking and feeding device 13 is multiple, the multiple clamping gaps are arranged side by side in the moving direction of the claw assembly, and the number of clamping gaps of the jacking and feeding device 13 is the same as the number of receiving gaps of the receiving and feeding device 12, so that one clamping gap receives one U-shaped tube 18 limited by one receiving gap. Specifically, the moving and carrying control mechanism of the present embodiment includes a vertical driving cylinder 131 and a horizontal driving mechanism composed of a motor, a gear and a synchronous belt, and the clamping control mechanism is a clamping cylinder 133.

[0045] In combination Figures 8 to 13 , the receiving and overturning device 14 includes an overturning control mechanism 141, a horizontal rotating shaft 142 and two first positioning plates 143, the overturning control mechanism 141 can control the horizontal rotating shaft 142 to rotate around the horizontal direction, the mounting ends of the two first positioning plates 143 are fixed on the horizontal rotating shaft 142, and the two first positioning plates 143 are oppositely arranged to form a first positioning area in the circumferential direction of the horizontal rotating shaft 142, the opposite two tube arms of the U-shaped tube 18 pass through the first positioning area, and the first positioning area of the receiving and overturning device 14 is used for receiving the U-shaped tube 18 on the jacking and feeding device 13, and the taking and transferring device 16 is used for receiving the U-shaped tube 18 on the receiving and overturning device 14.

[0046] The overturning control mechanism 141 of the receiving and overturning device 14 of the present embodiment controls the horizontal rotating shaft 142 to rotate around the horizontal direction, so that the first positioning plate 143 rotates to extend along the horizontal direction, as shown in Figure 8 and Figure 10 , then the moving and carrying control mechanism of the jacking and feeding device 13 controls the moving and carrying plate 132 to move in the horizontal direction, so that the U-shaped tube 18 on the jacking and feeding device 13 is transported into the first positioning area of the receiving and overturning device 14, then the clamping control mechanism of the jacking and feeding device 13 controls the claw assembly to move in the horizontal direction to make the clamping claw 135 away from the limiting block 134 adjacent to it, that is, to make the clamping claw 135 separate from the side wall of the limiting block 134 adjacent to it, so that the U-shaped tube 18 is completely placed into the first positioning area of the receiving and overturning device 14, at this time, the opposite two tube arms of the U-shaped tube 18 are arranged side by side in the vertical direction, then the moving and carrying control mechanism controls the moving and carrying plate 132 to move in the vertical direction and the horizontal direction to be separated from the receiving and overturning device 14 of the present embodiment, then the overturning control mechanism 141 of the receiving and overturning device 14 controls the horizontal rotating shaft 142 to rotate 90° around the horizontal direction, so that the first positioning plate 143 rotates to extend along the vertical direction, as shown in Figure 11As shown, at this time, the two opposite tube arms of the U-shaped tube 18 are arranged side by side in the horizontal direction to facilitate the feeding transfer device 16 to carry the U-shaped tube 18 for feeding operation. Since the jacking feeding device 13 has a plurality of U-shaped tubes 18 in the embodiment, after the plurality of U-shaped tubes 18 are transported to the first positioning area of the receiving and overturning device 14, the plurality of U-shaped tubes 18 can be stacked in rows in the radial direction of the horizontal rotating shaft 142 of the receiving and overturning device 14, and the automatic row forming operation of the U-shaped tube 18 can be completed, which effectively avoids manual row forming feeding operation, improves production efficiency, and reduces manual labor intensity.

[0047] Specifically, the tube pushing and tightening device 15 includes a moving control mechanism, a moving seat 152, a rotating control mechanism, a supporting seat 154, and a tube pushing rod 155. The moving control mechanism can control the moving seat 152 to move in the horizontal direction. The rotating control mechanism is arranged on the moving seat 152 and can control the supporting seat 154 to rotate around the horizontal direction. The first end of the tube pushing rod 155 is fixed on the supporting seat 154. When the first positioning plate 143 is rotated to extend along the horizontal direction, the second end of the tube pushing rod 155 is rotated to extend along the vertical direction and forces the U-shaped tube 18 passing through the first positioning area to move in the horizontal direction towards the horizontal rotating shaft 142, as shown in Figure 12 and Figure 13 As shown, when the second end of the tube pushing rod 155 is rotated to extend along the vertical direction, the moving control mechanism controls the moving seat 152 to move in the horizontal direction, so that the second end of the tube pushing rod 155 forces the U-shaped tube 18 passing through the first positioning area to move in the horizontal direction towards the horizontal rotating shaft 142 for tightening. During the control of the rotation of the U-shaped tube 18 by 90°, the deformation and damage of the U-shaped tube 18 caused by the excessive reaction force when the U-shaped tube 18 falls to the horizontal rotating shaft 142 under the action of its own gravity due to the spacing between the U-shaped tube 18 and the horizontal rotating shaft 142 can be avoided, thereby improving production quality and production efficiency.

[0048] Further, the rack 11 is provided with a sliding rail 156, and the moving seat 152 is provided with a sliding block 157 which is slidably matched with the sliding rail 156, thereby improving the stability and reliability of the movement of the moving seat 152 in the horizontal direction. In the embodiment, the moving control mechanism is a moving cylinder 151, and the rotating control mechanism is a rotating cylinder 153.

[0049] In order to facilitate the reception of the U-shaped tube 18 on the jacking and loading device 13, the material receiving and turning device 14 of this embodiment also includes two second positioning plates 145. The mounting ends of the two second positioning plates 145 are fixed on the horizontal rotating shaft 142, and the two second positioning plates 145 are arranged relative to each other in the circumferential direction of the horizontal rotating shaft 142 to form a second positioning area. The second positioning area and the first positioning area are arranged side by side in the axial direction of the horizontal rotating shaft 142. The second end of the tube arm passes through the second positioning area, and the first end of the tube arm passes through the first positioning area, so that the two ends of the tube arm of the U-shaped tube 18 are stably restricted in the first positioning area formed by the two first positioning plates 143 and the second positioning area formed by the two second positioning plates 145, thereby improving working reliability and stability.

[0050] In order to ensure that the two opposite tube arms of the U-shaped tube 18 are arranged side by side in the horizontal direction or the vertical direction, the material receiving and turning device 14 of this embodiment also includes a first positioning column 144 and a second positioning column 146. The first positioning column 144 is located between the two first positioning plates 143 and is used to pass between the two opposite tube arms of the U-shaped tube 18. The second positioning column 146 is located between the two second positioning plates 145 and is used to pass between the two opposite tube arms of the U-shaped tube 18. Therefore, the first positioning column 144 and the second positioning column 146 position the two opposite tube arms of the U-shaped tube 18 and achieve the function of guiding multiple U-shaped tubes 18, so as to facilitate the alignment of multiple U-shaped tubes 18 and improve the neatness of the U-shaped tube 18 grouping.

[0051] In order to facilitate the U-shaped tube 18 to smoothly enter the first positioning area formed by the two first positioning plates 143 and the second positioning area formed by the two second positioning plates 145, in this embodiment, the inner side surface of each first positioning plate 143 away from the feed end of the horizontal rotation axis 142 is a third inclined surface, and the inner side surface of each second positioning plate 145 away from the feed end of the horizontal rotation axis 142 is a fourth inclined surface. In addition, in order to further improve the neatness of the U-shaped tube 18 grouping, the material receiving and turning device 14 of this embodiment also includes an end positioning plate 147 and a positioning control mechanism 148. The end positioning plate 147 is located on the side of the first positioning area away from the second positioning area in the axial direction of the horizontal rotating shaft 142, or the end positioning plate 147 is located on the side of the second positioning area away from the first positioning area in the axial direction of the horizontal rotating shaft 142. The positioning control mechanism 148 can control the end positioning plate 147 to move in the axial direction of the horizontal rotating shaft 142 so that the end positioning plate 147 is pressed against one end of the U-shaped tube 18, thereby adjusting the U-shaped tube 18 to a preset position to facilitate the material picking and transferring device 16 to carry the U-shaped tube 18 on the material receiving and turning device 14 for feeding operations.

[0052] Combine Figures 14 to 19The material retrieving and transferring device 16 of this embodiment includes a transfer control mechanism, a transfer seat 165, and a material retrieving mechanism 166. The transfer control mechanism can control the transfer seat 165 to move horizontally and vertically. The material retrieving mechanism 166 of this embodiment includes a first material retrieving assembly, which includes two first clamping plates 1661, a first material return block 1662, a first material return control mechanism, a first material receiving plate 1665, and a first material receiving control mechanism. The two first clamping plates 1661 are arranged side by side in the horizontal direction on the transfer seat 165. In addition, in this embodiment, the first material return block 1662 is located between the two first clamps 1661, the first material return control mechanism can control the first material return block 1662 to move in the vertical direction, the first material receiving plate 1665 is located below the first material return block 1662 in the vertical direction, the first material receiving control mechanism can control the first material receiving plate 1665 to move in the horizontal direction to be inserted between the two first clamps 1661, and a first limiting area can be formed between the two first clamps 1661, the first material return block 1662 and the first material receiving plate 1665, and the two opposite tube arms of the U-shaped tube 18 pass through the first limiting area.

[0053] When the flipping control mechanism 141 of the material receiving and flipping device 14 controls the horizontal rotation axis 142 to rotate 90° around the horizontal direction, so that the two opposite tube arms of the U-shaped tube 18 are arranged side by side in the horizontal direction, the transfer control mechanism of the material picking and transferring device 16 of this embodiment controls the transfer seat 165 to move in the horizontal and vertical directions, so that the two first clamping plates 1661 are respectively located on both sides of the two opposite tube arms of the U-shaped tube 18 on the material receiving and flipping device 14 in the horizontal direction, then the two opposite tube arms of the U-shaped tube 18 on the material receiving and flipping device 14 are embedded between the two first clamping plates 1661, and then the first material returning control mechanism of the material picking and transferring device 16 controls the first material returning block 1662 to move in the vertical direction so that the first material returning block 1662 abuts against the top of the U-shaped tube 18, and the first material receiving control mechanism of the material picking and transferring device 16 controls the first material receiving plate 1665 in the horizontal direction The U-shaped tube 18 is moved upward to be inserted between the two first clamps 1661, so that the first material receiving plate 1665 is located below the U-shaped tube 18, and then the U-shaped tube 18 is restricted in the first limiting area formed between the two first clamps 1661, the first material return block 1662 and the first material receiving plate 1665 of the material picking and transferring device 16, that is, the two opposite tube arms of the U-shaped tube 18 pass through the first limiting area formed between the two first clamps 1661, the first material return block 1662 and the first material receiving plate 1665, and then the transfer control mechanism controls the transfer seat 165 to move in the horizontal and vertical directions, so that the U-shaped tube 18 restricted in the first limiting area of ​​the material picking and transferring device 16 on the material receiving and flipping device 14 can be transported and fed, so that the U-shaped tube 18 can be transported and fed to the storage vehicle or other process positions of the automated production line. Compared with the existing multiple clamps that clamp the U-shaped tube 18 for transportation and feeding operations, the material picking and transfer device 16 of this embodiment restricts the U-shaped tube 18 to the first limiting area formed between the two first clamps 1661, the first return block 1662 and the first receiving plate 1665 for transportation and feeding operations. The two first clamps 1661, the first return block 1662 and the first receiving plate 1665 do not clamp the U-shaped tube 18 to prevent deformation and damage to the U-shaped tube 18, thereby ensuring the product quality of the U-shaped tube 18 during the transportation and feeding process, thereby improving production quality and improving production efficiency.

[0054] In order to facilitate the reception of the U-shaped tube 18 on the material receiving and turning device 14, and to improve the stability and reliability of the material handling and feeding operation, the material picking mechanism 166 of this embodiment also includes a second material picking component, and the second material picking component is arranged side by side with the first material picking component in the horizontal direction. The second material picking component includes two second clamping plates 1666, a second material return block 1667, a second material return control mechanism, a second material receiving plate 16610 and a second material receiving control mechanism. The two second clamping plates 1666 are arranged side by side on the transfer seat 165 in the horizontal direction, and the second material return block 1667 is located between the two second clamping plates 1666. The second material return control mechanism can control the second material return block 1667 to move in the vertical direction. The second material receiving plate 16610 is located in the second return direction. Below the material block 1667, the second material receiving control mechanism can control the second material receiving plate 16610 to move in the horizontal direction to insert between the two second clamps 1666. A second limiting area can be formed between the two second clamps 1666, the second material return block 1667 and the second material receiving plate 16610. The second end of the tube arm passes through the second limiting area, and the first end of the tube arm passes through the first limiting area, so that the two ends of the tube arm of the U-shaped tube 18 are stably restricted in the first limiting area formed between the two first clamps 1661, the first material return block 1662 and the first material receiving plate 1665 and the second limiting area formed between the two second clamps 1666, the second material return block 1667 and the second material receiving plate 16610, thereby improving the reliability and stability of the work.

[0055] In order to enable the material picking and transfer device 16 to stably and reliably transport U-shaped tubes 18 of different lengths for feeding operations, the material picking mechanism 166 of this embodiment also includes an adjustment control mechanism and an adjustment seat 16613. The adjustment control mechanism is arranged on the transfer seat 165 and can control the adjustment seat 16613 to move in the horizontal direction. The first material picking assembly or the second material picking assembly is arranged on the adjustment seat 16613, so as to adjust the spacing between the first material picking assembly and the second material picking assembly according to the different lengths of the U-shaped tube 18, so that the two ends of the U-shaped tube 18 of different lengths are stably restricted in the first limiting area formed between the two first clamps 1661, the first material return block 1662 and the first material receiving plate 1665 and the second limiting area formed between the two second clamps 1666, the second material return block 1667 and the second material receiving plate 16610 for carrying and feeding operations. Specifically, the adjustment control mechanism of this embodiment is an adjustment cylinder 16612. Alternatively, the material picking mechanism 166 of this embodiment also includes an adjustment control mechanism, which can control the first material picking component and the second material picking component to move toward or away from each other, so that the distance between the first material picking component and the second material picking component can be adjusted according to the different lengths of the U-shaped tube 18, so that the two ends of the U-shaped tube 18 of different lengths are stably restricted in the first limiting area formed between the two first clamps 1661, the first material return block 1662 and the first material receiving plate 1665 and the second limiting area formed between the two second clamps 1666, the second material return block 1667 and the second material receiving plate 16610 for conveying and feeding operations.

[0056] In order to ensure that the two opposite tube arms of the U-shaped tube 18 are restricted side by side in the horizontal direction in the first limiting area formed between the two first clamping plates 1661, the first material stripping block 1662 and the first material receiving plate 1665, and the second limiting area formed between the two second clamping plates 1666, the second material stripping block 1667 and the second material receiving plate 16610, the first material picking assembly of this embodiment further includes a first material guide needle and a second material guide needle 16611, the first end of the first material guide needle is set on the first material stripping block 1662, and the second end of the first material guide needle is in the vertical direction. It extends upward and can be inserted between the two opposite tube arms of the U-shaped tube 18, and the first end of the second guide needle 16611 is set on the second material return block 1667, and the second end of the second guide needle 16611 extends in the vertical direction and can be inserted between the two opposite tube arms of the U-shaped tube 18, so that the first guide needle and the second guide needle 16611 are inserted between the two opposite tube arms of the U-shaped tube 18 for positioning, and achieve the function of guiding multiple U-shaped tubes 18, so as to facilitate the alignment of multiple U-shaped tubes 18 and improve the neatness of the U-shaped tube 18 grouping.

[0057] In order to facilitate the U-shaped tube 18 to smoothly enter the first limiting area formed between the two first clamps 1661, the first return block 1662 and the first receiving plate 1665, and the second limiting area formed between the two second clamps 1666, the second return block 1667 and the second receiving plate 16610, the inner side surface of the bottom feeding end of each first clamp 1661 in this embodiment located below the first return block 1662 in the vertical direction is a first inclined surface, and the inner side surface of the bottom feeding end of each second clamp 1666 in this embodiment located below the second return block 1667 in the vertical direction is a second inclined surface.

[0058] Specifically, the transfer control mechanism of this embodiment includes a horizontal control mechanism, a linkage seat 163 and a vertical control mechanism. The horizontal control mechanism can control the linkage seat 163 to move in the horizontal direction. The vertical control mechanism is arranged on the linkage seat 163 and can control the transfer seat 165 to move in the vertical direction. Among them, the horizontal control mechanism of this embodiment includes a horizontal motor 162, a gear and a rack 161. The horizontal motor 162 is arranged on the linkage seat 163. The gear is sleeved on the drive shaft of the horizontal motor 162. The rack 161 extends in the horizontal direction and meshes with the gear. In addition, the vertical control mechanism of this embodiment includes a vertical motor 164, a vertical screw and a screw screw. The vertical screw extends in the vertical direction and can be supported on the linkage seat 163 rotatably around the vertical direction. The vertical motor 164 is arranged on the linkage seat 163 and can control the vertical screw to rotate around the vertical direction. The screw screw is arranged on the transfer seat 165 and sleeved on the vertical screw. Furthermore, in this embodiment, the first material return control mechanism is the first material return cylinder 1663 , the first material receiving control mechanism is the first material receiving cylinder 1664 , the second material return control mechanism is the second material return cylinder 1668 , and the second material receiving control mechanism is the second material receiving cylinder 1669 .

[0059] The above embodiments are only preferred examples of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made based on the structure, features and principles of the patent application scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. U-shaped tube handling equipment, comprising a material retrieving and transferring device, the material retrieving and transferring device comprising a transfer control mechanism, a transfer seat, and a material retrieving mechanism, the transfer control mechanism being capable of controlling the transfer seat to move horizontally and vertically, and characterized in that: The material taking mechanism includes a first material taking assembly, which includes two first clamping plates, a first material returning block, a first material returning control mechanism, a first material receiving plate and a first material receiving control mechanism, and the two first clamping plates are arranged side by side on the transfer seat in a horizontal direction; The first material stripping block is located between the two first clamping plates, the first material stripping control mechanism can control the first material stripping block to move in a vertical direction, the first material receiving plate is located below the first material stripping block in the vertical direction, and the first material receiving control mechanism can control the first material receiving plate to move in a horizontal direction to be inserted between the two first clamping plates; A first limiting area may be formed between the two first clamping plates, the first stripping block and the first receiving plate, and two opposite tube arms of the U-shaped tube pass through the first limiting area; The U-shaped tube handling equipment further includes a material receiving and flipping device, which includes a flipping control mechanism, a horizontal rotation axis, and two first positioning plates. The flipping control mechanism can control the horizontal rotation axis to rotate around the horizontal direction. The mounting ends of the two first positioning plates are fixed to the horizontal rotation axis, and the two first positioning plates are arranged opposite to each other in the circumferential direction of the horizontal rotation axis to form a first positioning area. The two opposite tube arms of the U-shaped tube pass through the first positioning area. The material taking and transferring device is used to receive the U-shaped tube on the material receiving and turning device; The U-shaped tube handling equipment further includes a tube pushing and tightening device, which includes a movement control mechanism, a moving seat, a rotation control mechanism, a support seat, and a tube pushing rod. The movement control mechanism can control the movement of the moving seat in the horizontal direction. The rotation control mechanism is arranged on the moving seat and can control the support seat to rotate around the horizontal direction. The first end of the tube pushing rod is fixed to the support seat. When the first positioning plate rotates to extend in the horizontal direction, the second end of the tube pushing rod rotates to extend in the vertical direction and forces the U-shaped tube passing through the first positioning area to move horizontally toward the horizontal rotation axis.

2. The U-shaped tube handling equipment according to claim 1, characterized in that: The first material picking assembly further includes a first material guiding needle, wherein a first end of the first material guiding needle is disposed on the first material stripping block, and a second end of the first material guiding needle extends in a vertical direction and can be inserted between the two opposite tube arms of the U-shaped tube; And / or, the inner side surface of the bottom feeding end of each first clamping plate located below the first stripping block in the vertical direction is a first inclined surface.

3. The U-shaped tube handling equipment according to claim 1, characterized in that: The material taking mechanism further comprises a second material taking component, wherein the second material taking component and the first material taking component are arranged side by side in the horizontal direction; The second material picking assembly includes two second clamping plates, a second material stripping block, a second material stripping control mechanism, a second material receiving plate and a second material receiving control mechanism. The two second clamping plates are arranged side by side on the transfer seat in the horizontal direction. The second material stripping block is located between the two second clamping plates. The second material stripping control mechanism can control the second material stripping block to move in the vertical direction. The second material receiving plate is located below the second material stripping block in the vertical direction. The second material receiving control mechanism can control the second material receiving plate to move in the horizontal direction to be inserted between the two second clamping plates. A second limiting area may be formed between the two second clamping plates, the second stripping block and the second receiving plate. The second end of the tube arm passes through the second limiting area, and the first end of the tube arm passes through the first limiting area.

4. The U-shaped tube handling equipment according to claim 3, characterized in that: The material taking mechanism further comprises an adjustment control mechanism and an adjustment seat, wherein the adjustment control mechanism is arranged on the transfer seat and can control the adjustment seat to move in the horizontal direction, and the first material taking component or the second material taking component is arranged on the adjustment seat; Alternatively, the material taking mechanism further includes an adjustment control mechanism, which can control the first material taking component and the second material taking component to move toward or away from each other.

5. The U-shaped tube handling equipment according to claim 3, characterized in that: The second material picking assembly further includes a second material guiding needle, wherein a first end of the second material guiding needle is disposed on the second material stripping block, and a second end of the second material guiding needle extends in a vertical direction and can be inserted between the two opposite tube arms of the U-shaped tube; And / or, the inner side surface of the bottom feeding end of each second clamping plate located below the second material stripping block in the vertical direction is a second inclined surface.

6. The U-shaped tube handling equipment according to any one of claims 1 to 5, characterized in that: The U-shaped tube handling equipment further includes a lifting and loading device, which includes a transfer control mechanism, a transfer plate, a clamping control mechanism, a claw assembly, and at least two limit blocks. The transfer control mechanism can control the transfer plate to move in the horizontal and vertical directions. A plurality of limit blocks are arranged side by side on the transfer plate in the horizontal direction, and a clamping gap is formed between two adjacent limit blocks to allow the U-shaped tube to pass through. The clamping jaw assembly includes clamping jaws corresponding to the clamping gaps one by one, and the clamping jaws can form two clamping positioning holes between the side walls of one of the adjacent limit blocks, the two clamping positioning holes being arranged side by side in the vertical direction, and the clamping control mechanism can control the clamping jaw assembly to move in the horizontal direction so that the two opposite tube arms of the U-shaped tube are respectively clamped in the two clamping positioning holes; The two opposite tube arms of the U-shaped tube on the jacking and loading device can pass through the first positioning area.

7. The U-shaped tube handling equipment according to claim 6, characterized in that: The U-shaped tube handling equipment further includes a material collecting and receiving device, which includes a lifting control mechanism, a lifting plate, a drive control mechanism, and a plurality of mounting plates. The lifting control mechanism can control the lifting plate to move in a vertical direction, and the plurality of mounting plates are arranged side by side on the lifting plate in a horizontal direction. The drive control mechanism can control one of the mounting plates to move in the horizontal direction, and two adjacent mounting plates are connected by a hinge, and each mounting plate is provided with a first guide plate, a second guide plate and a clamp control mechanism; A first clamp is provided on a side of the first guide plate close to the second guide plate, and a second clamp is provided on a side of the second guide plate close to the first guide plate. The clamp control mechanism can control the first clamp and the second clamp to move toward or away from each other. When the first clamp and the second clamp move toward each other, two limiting grooves are formed. The two limiting grooves are arranged side by side in the vertical direction, and the two opposite tube arms of the U-shaped tube respectively pass through the two limiting grooves. The clamping gap can receive the U-shaped tube on the material collecting and receiving device.

8. Automated production line, including U-tube handling equipment, characterized by: The U-shaped tube transporting equipment is the U-shaped tube transporting equipment according to any one of claims 1 to 7.

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