Tube inserting efficient circulating transferring device for fins in refrigeration field

Abstract

The invention discloses an efficient circulating transfer device for insertion tubes of fins in the refrigeration field, which comprises a single insertion tube unit, and the single insertion tube unit comprises a guide needle, a guide needle insertion mechanism, a manipulator part, a pushing device, a fixing tool and a tool positioning and jacking mechanism; the fixing tool can clamp and fix the fin set. The tool positioning and jacking mechanism is used for positioning the fixed tool and can support the fixed tool to lift up and down; the guide needle inserting mechanism inserts the front end of the guide needle into the mounting hole; the manipulator component grabs the U-shaped copper pipe to be in butt joint with the tail end of the guide needle, so that the U-shaped copper pipe is inserted into the mounting hole along with the guide needle; the pushing device comprises a pushing mechanism, a driving mechanism and a torque feedback linear module. The pushing mechanism abuts against the bent pipe part of the U-shaped copper pipe. The driving mechanism comprises a power source and a reciprocating transmission mechanism, and the power source drives the reciprocating transmission mechanism to drive the pushing mechanism to perform reciprocating vibration in the pipe inserting direction; the torque feedback linear module drives the pushing mechanism and the driving mechanism to move in the pipe inserting direction. Automatic pipe insertion is achieved, the assembly precision is guaranteed, the product consistency is improved, the pipe insertion efficiency is improved, and the bottleneck procedure of a heat exchanger production line is overcome.

Description

Technical Field

[0001] The invention relates to the technical field of refrigeration equipment, and in particular to a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field. Background Art

[0002] Usually, metal sheets with strong thermal conductivity are added to the surface of the heat exchange device where heat transfer is required to increase the heat exchange surface area and improve the heat exchange efficiency. The metal sheets with this function are called fins.

[0003] There are two main heat exchangers in common household air conditioners, namely the evaporator in the indoor unit and the condenser in the outdoor unit. The working medium on one side of these two heat exchangers is the refrigerant, and on the other side is air. In order to enhance the heat transfer of the heat exchanger, the heat exchange area is generally arranged compactly on the air side. Most household air conditioners use compact tube-fin heat exchangers.

[0004] The fins of a compact tube-fin heat exchanger are generally provided with a plurality of mounting holes that can match the outer diameter of the U-shaped copper tube. The manufacturing process is generally to first punch the fins into shape using a stamping machine, then insert the U-shaped copper tubes side by side into the mounting holes on the fin group to form a fin assembly, and finally expand the open end of the U-shaped copper tube. After the inside of the U-shaped copper tube is dried, the U-shaped copper elbow is inserted and welded to connect each U-shaped copper tube in sequence, that is, to connect all the U-shaped copper tubes into one channel.

[0005] At present, air-conditioning manufacturers still use a lot of manual work when inserting the fins of compact tube-fin heat exchangers, that is, manually inserting U-shaped copper tubes one by one into the neatly stacked fin group, and then the fin assembly obtained by manually inserting the U-shaped copper tubes is subjected to the tube expansion process and the U-shaped copper bend insertion and welding process in sequence.

[0006] This manual insertion production method is affected by human factors such as the operator's proficiency, sense of responsibility, and emotions, and has a great impact on the production progress. In addition, since the previous fin stamping process, copper tube bending process, and subsequent tube expansion process are all mechanically operated, the efficiency is relatively high. Therefore, the insertion process has become the bottleneck process of the production line, and it is necessary to design an automated equipment to achieve automatic insertion. Summary of the invention

[0007] The present invention provides a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field, so as to solve the above technical problems.

[0008] In order to achieve the above object, the technical solution of the present invention is:

[0009] A high-efficiency cyclic transfer device for inserting fins in the refrigeration field, comprising a single inserting unit, wherein the single inserting unit comprises: a guide pin, a guide pin inserting mechanism, a manipulator component, a pushing device, a fixed tool and a tool positioning and lifting mechanism; the fixed tool can clamp a fixed fin group; the tool positioning and lifting mechanism can position the fixed tool and can lift the fixed tool to lift; after the fixed tool is lifted, the guide pin inserting mechanism can insert the front end of the guide pin into the mounting hole at the end of the fin group, and the guide pin inserting mechanism can be moved away to make way; the machine The manipulator component is used to grab the U-shaped copper tube and connect it to the tail end of the guide pin, so that the U-shaped copper tube can follow the guide pin to insert into the mounting hole at the end of the fin group; the pushing device is used to push the U-shaped copper tube for insertion; the pushing device includes: a pushing mechanism, a driving mechanism and a torque feedback linear module; the pushing mechanism abuts the curved tube part of the U-shaped copper tube; the driving mechanism includes a power source and a reciprocating transmission mechanism, the power source drives the reciprocating transmission mechanism and then drives the pushing mechanism to reciprocate and vibrate in the direction of insertion; the torque feedback linear module drives the pushing mechanism and the driving mechanism to move in the direction of insertion.

[0010] Beneficial effects:

[0011] The present application discloses an efficient circulation and transfer device for inserting fins in the refrigeration field, which realizes automatic inserting by setting a single inserting unit, thereby ensuring assembly accuracy, improving product consistency, and improving inserting efficiency, thus overcoming the bottleneck process of the heat exchanger production line, and being able to increase the production capacity of the production line and reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0013] Figure 1 It is a structural schematic diagram of a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field disclosed by the present invention;

[0014] Figure 2 The present invention discloses a single tube inserting unit for a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field. Figure 1 ;

[0015] Figure 3 The present invention discloses a single tube inserting unit for a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field. Figure 2 ;

[0016] Figure 4It is a top view of a single tube inserting unit of a tube inserting and efficient circulation transfer device for fins in the refrigeration field disclosed by the present invention;

[0017] Figure 5 It is a structural schematic diagram of a guide needle of a high-efficiency circulation transfer device for inserting a tube for fins in the refrigeration field disclosed by the present invention;

[0018] Figure 6 The present invention discloses a structure diagram of a push device for a high-efficiency circulation transfer device for fins in the refrigeration field. Figure 1 ;

[0019] Figure 7 The present invention discloses a structure diagram of a push device for a high-efficiency circulation transfer device for fins in the refrigeration field. Figure 2 ;

[0020] Figure 8 It is a front view of a pushing device of a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0021] Fig. 9 It is a left view of a pushing device of a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0022] Fig.10 It is a structural schematic diagram of a pushing mechanism and a driving mechanism assembly of a pushing device of a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0023] Fig.11 It is a structural schematic diagram of a guide needle insertion mechanism of a high-efficiency circulation transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0024] Fig.12 It is a front view of a guide needle insertion mechanism of a high-efficiency circulation transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0025] Fig.13 for Fig.12 A partial enlarged view of middle A;

[0026] Fig.14 It is a structural schematic diagram of a storage bin assembly of a high-efficiency circulation transfer device for fins in the refrigeration field disclosed by the present invention;

[0027] Fig.15 It is a cross-sectional view of a storage bin assembly of a high-efficiency circulation transfer device for inserting pipes used in the refrigeration field disclosed by the present invention;

[0028] Fig.16 The present invention discloses a schematic diagram of the structure of the manipulator components of a high-efficiency cyclic transfer device for inserting pipes of fins in the refrigeration field. Figure 1 ;

[0029] Fig.17 The present invention discloses a schematic diagram of the structure of the manipulator components of a high-efficiency cyclic transfer device for inserting pipes of fins in the refrigeration field. Figure 2 ;

[0030] Fig.18 It is a structural schematic diagram of a single-unit tube insertion unit of a tube insertion high-efficiency circulation transfer device for fins in the refrigeration field disclosed by the present invention, after the guide needle insertion mechanism, the manipulator component, the pushing device, and the fixing tooling are hidden;

[0031] Fig.19 The present invention discloses a structure diagram of a fixing tool for a high-efficiency circulating transfer device for fins in the refrigeration field. Figure 1 ;

[0032] Fig. 20 The present invention discloses a structure diagram of a fixing tool for a high-efficiency circulating transfer device for fins in the refrigeration field. Figure 2 ;

[0033] Fig.21 It is a front view of a fixing tool for a high-efficiency circulating transfer device for inserting pipes used in the refrigeration field disclosed by the present invention;

[0034] Fig. 22 It is a top view of a fixing tool of a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field disclosed by the present invention;

[0035] Fig.23 It is a bottom view of a fixing tool of a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field disclosed by the present invention;

[0036] Fig.24 It is a left view of a fixing tool of a high-efficiency circulating transfer device for inserting pipes used in the refrigeration field disclosed by the present invention;

[0037] Fig.25 It is a structural schematic diagram of a tooling plate of a fixing tooling of a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field disclosed by the present invention;

[0038] Fig.26 It is a structural schematic diagram of a tooling positioning and lifting mechanism of a high-efficiency circulating transfer device for inserting pipes of fins in the refrigeration field disclosed by the present invention;

[0039] Fig. 27 It is a structural schematic diagram of a first lifting mechanism of a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0040] Fig.28It is a front view of the first lifting mechanism of a high-efficiency circulating transfer device for inserting tubes of fins in the refrigeration field disclosed by the present invention;

[0041] Fig.29 The present invention discloses a schematic structural diagram of a steel needle extraction station of a tube insertion and efficient circulation transfer device for fins in the refrigeration field.

[0042] 1. Guide pin; 11. Insertion end; 12. Butt end; 13. Ball clamping groove; 2. Guide pin insertion mechanism; 21. Slide rail frame; 22. Horizontal drive; 23. Longitudinal drive; 24. Insertion component; 241. Guide pin storage bin; 2411. Ball plunger; 2412. Ball plunger sleeve; 2413. Guide pin sleeve; 2414. Boss mounting portion; 2415. First guide groove structure; 2416. First sphere; 2417. First connecting hole structure; 2418. Assembly hole structure; 2419. Second guide groove structure; 2420. Second connecting hole structure; 2421. Second sphere; 242. Push assembly; 243. Base plate; 244. Press plate; 245. Longitudinal push drive; 246. Horizontal push drive 247, push seat; 248, push rod; 25, slide seat; 26, clamping mechanism; 3, manipulator parts; 31, intubation robot; 32, head angle rotation mechanism; 33, intubation clamping mechanism; 331, front clamping claw; 332, rear clamping claw; 4, tool positioning and lifting mechanism; 41, support frame; 42, support plate; 43, positioning pin; 44, elevator drive; 45, height positioning plate; 5, pushing device; 511, push mechanism mounting seat; 5111, first plate; 5112, second plate; 512, guide sleeve; 513, guide column; 514, elastic member; 515, contoured push block; 516, limit plate; 517, first adjusting screw; 518, second adjusting screw; 521, drive mechanism mounting plate; 522 , drive motor; 5231, rotating shaft; 5232, eccentric wheel; 5233, cam sleeve; 5235, rotating pin; 5236, bearing pressure plate; 5237, straight rod; 5238, L-shaped member; 524, drive motor mounting plate; 525, coupling; 526, rotating shaft support plate; 527, first linear guide; 53, torque feedback linear module; 541, lifting mechanism mounting seat; 542, linear drive; 543, reinforcement mounting plate; 544, rib plate; 545, guide fork; 546, guide mounting plate; 547, roller; 548, second linear guide; 549, guide rail mounting seat; 6, transmission device; 61, cylinder lifting mechanism; 62, belt transmission mechanism; 631, horizontally open cylinder; 632, longitudinal To open the cylinder; 641, the material blocking cylinder; 642, the non-return assembly; 7, the fixed tool; 71, the tool plate; 711, the connecting seat; 712, the fixed plate; 713, the first notch; 714, the first opening; 715, the third boss; 721, the first fixed clamp; 722, the first movable clamp; 7231, the first sliding plate; 7232, the first spring; 7233, the pin Ⅰ; 7234, the pin Ⅱ; 7235, the first guide assembly; 7236, the connecting plate; 7237, the stopper; 724, the first fixed seat; 731, the second fixed clamp; 7311, the first fixed jaw; 7312, the second fixed jaw; 732, the second movable clamp; 7321, the first movable jaw; 7322, the second movable jaw;7331, second sliding plate; 7332, second spring; 7333, pin III; 7334, pin IV; 7335, second guide assembly; 7336, first mounting plate; 7337, second mounting plate; 7338, second positioning sleeve; 7339, third movable clamp; 741, support plate; 742, roller; 743, positioning plate; 744, third positioning sleeve; 745, baffle plate; push plate 746; 8, visual camera; 91, first stand; 92, second stand; 93, third stand; 10, steel needle extraction station; 101, steel needle extraction horizontal linear module; 102, steel needle extraction vertical linear module; 103, steel needle extraction clamp; 104, steel needle extraction clamping mechanism. ; DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] A high-efficiency circulating transfer device for inserting fins in the refrigeration field, combined with Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, it includes a single intubation unit, which includes: a guide needle 1, a guide needle insertion mechanism 2, a manipulator component 3, a pushing device 5, a fixed tool 7 and a tool positioning and lifting mechanism 4; the fixed tool 7 can clamp the fixed fin group; the tool positioning and lifting mechanism 4 can position the fixed tool 7 and can lift the fixed tool 7 to rise and fall; after the fixed tool 7 is lifted, the guide needle insertion mechanism 2 can insert the front end of the guide needle 1 into the mounting hole at the end of the fin group, and the guide needle insertion mechanism 2 can be moved away to make way; the manipulator component 3 is used to Grab the U-shaped copper tube and connect it to the tail end of the guide needle 1, so that the U-shaped copper tube can follow the guide needle 1 to be inserted into the mounting hole at the end of the fin group; the pushing device 5 is used to push the U-shaped copper tube for insertion; the pushing device 5 includes: a pushing mechanism, a driving mechanism and a torque feedback linear module 53; the pushing mechanism abuts the curved part of the U-shaped copper tube; the driving mechanism includes a power source and a reciprocating transmission mechanism, the power source drives the reciprocating transmission mechanism and then drives the pushing mechanism to reciprocate and vibrate along the insertion direction; the torque feedback linear module 53 drives the pushing mechanism and the driving mechanism to move along the insertion direction.

[0045] The fin group to be inserted is placed on the fixed fixture 7, and the fixed fixture 7 clamps and fixes the fin group so that the mounting holes of the fin group can be fixed and basically aligned. The fixture positioning and lifting mechanism 4 positions the fixed fixture 7 and lifts the fixed fixture 7 to the insertion height. The guide needle insertion mechanism 2 inserts the front end of the guide needle 1 used to guide the U-shaped copper tube into the mounting hole at the end of the fin group, and the guide needle insertion mechanism 2 moves away to make way for the insertion. The manipulator component 3 grabs the U-shaped copper tube and docks it to the tail end of the guide needle 1. The manipulator component 3 grabs the U-shaped copper tube and moves along the insertion direction, so that the front end of the U-shaped copper tube follows the guide needle 1 to insert into the mounting hole at the end of the fin group. The manipulator component 3 inserts the front ends of all U-shaped copper tubes into the mounting holes at the end of the fin group in turn. The pushing device 5 pushes all U-shaped copper tubes for insertion. The push mechanism abuts against the curved part of the U-shaped copper tube, and the torque feedback linear module 53 drives the push mechanism and the drive mechanism to move in the direction of the insertion, and the guide pin 1 at the front end of the U-shaped copper tube gradually penetrates into the mounting hole of the fin; in the process of the push mechanism pushing forward, the drive mechanism drives the push mechanism to reciprocate along the direction of the insertion, and the reciprocating vibration of the push mechanism plays an adjustment role, so that the guide pin 1 can be better introduced into the mounting hole of the fin and will not be directly stuck on the fin. The torque is monitored by the torque feedback linear module 53 to prevent the guide pin 1 and the U-shaped copper tube from being damaged by excessive force when the push mechanism moves and reciprocates along the direction of the insertion.

[0046] The cooperation of the driving mechanism and the torque feedback linear module 53 realizes the process of simulating manual intubation; the torque feedback linear module 53 monitors the situation of large resistance during intubation, and the driving mechanism drives the pusher mechanism to reciprocate and vibrate to simulate the action of manual shaking adjustment. The device can realize self-adjustment, overcome the problem that some U-shaped copper tubes cannot be inserted into the mounting holes of the fins due to the opening of the U-shaped copper tube, the processing error of the U-shaped copper tube, and the uneven force, and avoid damage to the U-shaped copper tube and the fin.

[0047] In summary, the device can realize automatic intubation, ensure assembly accuracy, improve product consistency, improve intubation efficiency, overcome the bottleneck process of the heat exchanger production line, and can increase the production capacity of the production line and reduce production costs.

[0048] Specifically, the torque feedback linear module 53 adopts a standard screw module, and the motor adopts a motor with torque feedback.

[0049] Preferably, combined Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the driving mechanism also includes a driving mechanism mounting plate 521, the power source includes a driving motor 522, the reciprocating transmission mechanism includes a cam mechanism and a first guide mechanism, the torque feedback linear module 53 drives the driving mechanism mounting plate 521, the driving motor 522 is installed on the driving mechanism mounting plate 521, the driving motor 522 drives the cam mechanism, and the torque feedback linear module 53 drives the driving mechanism mounting plate 521 to drive the driving motor 522, the cam mechanism and the pushing mechanism to reciprocate along the insertion direction. The cam mechanism drives the pushing mechanism to reciprocate along the insertion direction, and the first guide mechanism guides the pushing mechanism. The cam mechanism can achieve a small vibration of the pushing mechanism, so that the guide needle 1 can be better introduced into the mounting hole of the fin group. In addition, the cam mechanism can control the motion law of the pushing mechanism, which is convenient for designing the speed, acceleration and displacement of the pushing mechanism, thereby realizing the control of the force of the pushing mechanism during the pushing process and avoiding a large impact on the U-shaped copper tube.

[0050] Preferably, the cam mechanism comprises: a rotating shaft 5231, an eccentric wheel 5232 and a cam sleeve 5233; the axis of the rotating shaft 5231 is perpendicular to the movement direction of the pusher mechanism, the eccentric wheel 5232 is eccentrically and fixedly sleeved on the rotating shaft 5231, and the driving motor 522 drives the rotating shaft 5231 and the eccentric wheel 5232 to rotate synchronously; the cam sleeve 5233 is rotatably sleeved on the eccentric wheel 5232, and the cam sleeve 5233 is rotatably connected to the pusher mechanism mounting seat 511 on which the pusher mechanism is installed, and the rotation axes of the cam sleeve 5233 and the pusher mechanism mounting seat 511 are parallel to the axis of the rotating shaft 5231. The driving motor 522 drives the rotating shaft 5231 and the eccentric wheel 5232 to rotate synchronously, and the cam sleeve 5233 as a driven member moves with the rotation of the eccentric wheel 5232, and the cam sleeve 5233 thereby drives the pusher mechanism mounting seat 511 and the pusher mechanism to vibrate back and forth along the set motion law.

[0051] Specifically, the cannulation direction is preferably horizontal. The drive mechanism mounting plate 521 is horizontally arranged, and a drive motor mounting plate 524 is arranged below the drive mechanism mounting plate 521. The drive motor mounting plate 524 is parallel to the drive mechanism mounting plate 521 and is fixedly connected through four first support columns. The housing of the drive motor 522 is fixed to the lower surface of the drive motor mounting plate 524, and the output shaft of the drive motor 522 passes through the drive motor mounting plate 524 and is connected to the rotating shaft 5231 through a coupling 525.

[0052] Specifically, a rotating shaft support plate 526 is arranged above the drive mechanism mounting plate 521, and the rotating shaft support plate 526 is parallel to the drive mechanism mounting plate 521 and fixedly connected through two second support columns. The rotating shaft 5231 and the eccentric wheel 5232 are integrally formed, and the cam sleeve 5233 is plate-shaped. One end of the rotating shaft 5231 is rotatably connected to the rotating shaft support plate 526, and the other end passes downward through the cam sleeve 5233 and the drive mechanism mounting plate 521 in sequence and then connects to the coupling 525. The rotating shaft support plate 526 and the drive mechanism mounting plate 521 support the rotating shaft 5231 to rotate stably and reliably, avoiding the shaking of the rotating shaft 5231 due to insufficient rigidity. The two second support columns are located on both sides of the cam sleeve 5233 perpendicular to the insertion direction to avoid the two second support columns interfering with the movement of the cam sleeve 5233.

[0053] Specifically, bearings are installed between the rotating shaft 5231 and the rotating shaft support plate 526, between the rotating shaft 5231 and the driving mechanism mounting plate 521, and between the eccentric wheel 5232 and the cam sleeve 5233 to ensure smooth rotation between them. The upper and lower surfaces of the cam sleeve 5233 are installed with bearing pressure plates 5236 to achieve axial positioning of the bearing and prevent the bearing from moving.

[0054] Preferably, the cam sleeve 5233 and the pusher mechanism mounting seat 511 are further provided with a connecting piece, one end of the connecting piece is fixed to the pusher mechanism mounting seat 511, and the other end is rotatably connected to the cam sleeve 5233 through a rotating pin 5235. The additional connecting piece can facilitate installation and adjustment, ensure that the axis of the rotating pin 5235 is parallel to the axis of the rotating shaft 5231, and ensure that the pusher mechanism mounting seat 511 can move smoothly with the cam sleeve 5233.

[0055] Specifically, the rotating pin 5235 is detachably connected to the connecting member. The connecting member includes a straight rod 5237 and an L-shaped member 5238. One end of the straight rod 5237 is fixed to the push mechanism mounting seat 511 by a first set of countersunk screws, and the other end extends horizontally to the outside of the push mechanism mounting seat 511. The end of a straight section of the L-shaped member 5238 is fixedly connected to the straight rod 5237 by a second set of countersunk screws, and the other straight section of the L-shaped member 5238 is parallel to the straight rod 5237 and its end is away from the push mechanism mounting seat 511. The cam sleeve 5233 extends between the straight rod 5237 and the L-shaped member 5238, and the rotating pin 5235 passes through the straight rod 5237 and then passes through the cam sleeve 5233 and the L-shaped member 5238 in sequence. The two ends of the rotating pin 5235 are limited by shaft retaining springs, and a bearing is provided between the rotating pin 5235 and the cam sleeve 5233. The straight rod 5237 is fixedly provided with a first boss on the side facing the cam sleeve 5233, and the L-shaped member 5238 is fixedly provided with a second boss on the side facing the cam sleeve 5233. The first boss and the second boss limit the axial positioning of the bearing on the outer periphery of the rotating pin 5235.

[0056] Specifically, the pusher mechanism mounting seat 511 includes a first flat plate 5111 and a second flat plate 5112 disposed above the drive mechanism mounting plate 521, the first flat plate 5111 is parallel to the drive mechanism mounting plate 521, and the second flat plate 5112 is perpendicular to the first flat plate 5111 and is located at an end of the first flat plate 5111 away from the cam sleeve 5233. The first flat plate 5111 and the second flat plate 5112 are integrally formed, and the straight rod 5237 is connected to the first flat plate 5111. The first guide mechanism includes two sets of first linear guide rails 527 disposed in parallel, and the first linear guide rails 527 are located between the first flat plate 5111 and the drive mechanism mounting plate 521. A portion of the first linear guide rail 527 is fixedly connected to the drive mechanism mounting plate 521, and the other portion is fixedly connected to the first flat plate 5111 as a sliding member.

[0057] Preferably, the pushing mechanism also includes: at least two guide sleeves 512, guide columns 513 corresponding to each other and passing through the guide sleeves 512, an elastic member 514, and a contoured push block 515 abutting against the curved portion of the U-shaped copper tube; the contoured push block 515 is located on the side of the pushing mechanism mounting seat 511 away from the cam mechanism, the guide sleeve 512 is installed on the pushing mechanism mounting seat 511, one end of the guide column 513 is connected to the contoured push block 515, and the other end passes through the guide sleeve 512, the elastic member 514 is arranged between the contoured push block 515 and the guide sleeve 512, and the elastic member 514 has a tendency to hinder the contoured push block 515 from approaching the guide sleeve 512. The setting of the elastic member 514 can make the profiling push block 515 superimpose vibration on the reciprocating vibration of the entire pushing mechanism; in the return stroke of the pushing mechanism, the profiling push block 515 is temporarily separated from the curved tube part of the U-shaped copper tube, so as to prevent the guide needle 1 that is not aligned with the fin mounting hole to be passed through from being directly stuck on the fin to be passed through; after the guide needle 1 is temporarily separated from the fin to be passed through, the guide needle 1 can adjust its position under the action of vibration; the profiling push block 515 rebounds under the elastic force of the elastic member 514, thereby providing a force for the U-shaped copper tube, so that the guide needle 1 penetrates into the fin mounting hole to be passed through.

[0058] At the same time, there is a buffer distance between the contoured push block 515 and the push mechanism mounting seat 511. During the movement of the push mechanism, it can play a good buffering and correction function when the U-shaped copper tube is subjected to uneven force or excessive force, thereby avoiding damage to the U-shaped copper tube and the fins.

[0059] Specifically, there are four guide sleeves 512, which are located at four corners of the second plate 5112 and pass through the second plate 5112. The elastic member 514 can be a compression spring, which is sleeved on the guide column 513, and the two ends of the compression spring abut against the contoured push block 515 and the guide sleeve 512 respectively.

[0060] Preferably, the guide post 513 passes through the guide sleeve 512 and is connected to a limit plate 516 , and the limit plate 516 limits the sliding of the guide post 513 to prevent the guide post 513 from sliding out of the guide sleeve 512 , thereby limiting the maximum distance between the contoured push block 515 and the second flat plate 5112 .

[0061] Specifically, a first adjusting screw 517 is installed on the side of the limiting plate 516 facing the second plate 5112, and the first adjusting screw 517 adjusts the distance between the limiting plate 516 and the second plate 5112. A second adjusting screw 518 is installed on the second plate 5112 to abut against the first adjusting screw 517. In this embodiment, the second adjusting screw 518 is threadedly connected to the second plate 5112, and the first adjusting screw 517 is threadedly connected to the limiting plate 516. By screwing the first adjusting screw 517, the distance between the limiting plate 516 and the second plate 5112 is adjusted, that is, the maximum distance between the profiling push block 515 and the second plate 5112 is adjusted; and then the deformation amount of the pre-compression of the elastic member 514 can be adjusted, so as to adjust the amplitude of the vibration superimposed on the reciprocating vibration of the profiling push block 515 on the basis of the entire pushing mechanism, so as to facilitate debugging so that the profiling push block 515 can push the U-shaped copper tube and the guide pin 1 to smoothly and accurately penetrate into the fin installation hole to be passed through.

[0062] Preferably, a profiling limit groove is provided on one side of the profiling push block 515 away from the push mechanism mounting seat 511, and the bottom of the profiling limit groove is a curved surface, which matches the curved surface with the curved tube portion of the U-shaped copper tube, and the number of the profiling limit grooves corresponds to the number of U-shaped copper tubes on the fin assembly. The curved surface matches the curved tube portion of the U-shaped copper tube, which can better apply force to the U-shaped copper tube, avoid the profiling push block 515 and the curved tube portion of the U-shaped copper tube in line and surface contact, and prevent the U-shaped copper tube from being subjected to uneven force.

[0063] Preferably, a lifting mechanism is further provided between the driving mechanism and the torque feedback linear module 53, and the lifting mechanism comprises: a lifting mechanism mounting seat 541 connected to the torque feedback linear module 53 and a linear drive 542 mounted on the lifting mechanism mounting seat 541, the torque feedback linear module 53 drives the lifting mechanism mounting seat 541 to move along the intubation direction, and the linear drive 542 drives the driving mechanism and the pushing mechanism to lift and lower in the vertical plane along the direction perpendicular to the intubation direction. The lifting mechanism can adjust the position of the pushing mechanism in the vertical direction to align it with the U-shaped copper tube in the horizontal direction, so that the pushing mechanism can push the U-shaped copper tube horizontally, which is conducive to intubation.

[0064] Specifically, the linear drive 542 uses a slide cylinder. In this embodiment, the slide cylinder uses a double-axis precision slide cylinder. The body of the slide cylinder is installed on the lifting mechanism mounting seat 541, and the slider of the slide cylinder is connected to the drive mechanism mounting plate 521.

[0065] Specifically, a reinforcement mounting plate 543 is installed on the side of the body of the slide cylinder, and the reinforcement mounting plate 543 is vertically fixed on the lifting mechanism mounting seat 541. A rib plate 544 is provided at a right angle between the reinforcement mounting plate 543 and the lifting mechanism mounting seat 541. The reinforcement mounting plate 543 and the rib plate 544 together reinforce the slide cylinder.

[0066] Preferably, a second guide mechanism is installed on the lifting mechanism mounting seat 541, and the second guide mechanism guides the linear drive 542 to ensure the accuracy of the vertical movement of the driving mechanism and the pushing mechanism.

[0067] Specifically, the second guide mechanism includes: a guide fork 545, a guide mounting plate 546 and a roller 547. The guide fork 545 is vertically fixed to the lifting mechanism mounting seat 541, and the guide fork 545 is located on the side of the slide cylinder away from the reinforcement mounting plate 543. The guide mounting plate 546 is installed on the slider of the slide cylinder and is located between the slider of the slide cylinder and the guide fork 545. The roller 547 is rotatably installed on the guide mounting plate 546, and a vertical guide groove is provided on the guide fork 545. The roller 547 is arranged in the guide groove and rolls along the guide groove.

[0068] Preferably, a third guide mechanism is connected to the lifting mechanism mounting seat 541, and the third guide mechanism guides the lifting mechanism mounting seat 541 to ensure the accuracy of the movement of the driving mechanism and the pushing mechanism along the insertion direction.

[0069] Specifically, the third guiding mechanism includes two sets of second linear guide rails 548, the sliders of the second linear guide rails 548 are connected to the lifting mechanism mounting seat 541, the guide rails of the second linear guide rails 548 are installed on a plurality of guide rail mounting seats 549 arranged at intervals, and the guide rail mounting seats 549 are installed on the support platform of the insertion system for automatically inserting U-shaped copper tubes.

[0070] Specifically, Figure 5 As shown, the guide needle 1 includes a cylindrical main needle body, an insertion end 11 is provided at the front end of the main needle body, and a docking end 12 is provided at the rear end of the main needle body, wherein the front end of the guide needle 1 is the end that is first inserted into the mounting hole. The insertion end 11 of the guide needle 1 is a conical structure, and its diameter gradually increases from front to back, that is, the end with a smaller diameter of the insertion end 11 is first inserted into the mounting hole. During the insertion process, even if the mounting holes of each fin in the fin group are slightly uneven, they can be corrected by the conical structure of the insertion end 11; the docking end 12 of the guide needle 1 includes a connected cylindrical part and a conical part, and the conical part, the cylindrical part and the main needle body are connected in sequence; the outer diameter of the cylindrical part matches the inner diameter of the U-shaped copper tube, and the diameter of the conical part gradually decreases in the direction away from the insertion end 11, so as to facilitate the guidance when the U-shaped copper tube is docked with the docking end 12.

[0071] Because the U-shaped copper tube is guided by the guide pin 1 before entering the mounting hole at the end of the fin group, the U-shaped copper tube can be inserted accurately.

[0072] Preferably, combined Figure 2 , Figure 5 , Fig.11 , Fig.12 and Fig.13 As shown, the guide needle insertion mechanism 2 includes a slide rail frame 21 located above the fin group to be inserted, and a transverse drive 22 and a longitudinal drive 23 are provided on the slide rail frame 21. The transverse drive 22 drives the insertion component 24 to move along the insertion direction, and the longitudinal drive 23 drives the insertion component 24 to move perpendicular to the insertion direction; the insertion component 24 can clamp the guide needle 1, and the transverse drive 22 and the longitudinal drive 23 drive the insertion component 24 to align the guide needle 1 with the mounting hole at the end of the fin group, and the insertion component 24 pushes the front end of the guide needle 1 to insert into the mounting hole at the end of the fin group. The insertion component 24 clamps the guide pin 1, the transverse drive 22 drives the insertion component 24 to move along the insertion direction to one end of the fin group, the longitudinal drive 23 drives the insertion component 24 to move perpendicular to the insertion direction so that the guide pin 1 is aligned with the mounting hole at the end of the fin group, and then the insertion component 24 pushes the front end of the guide pin 1 to insert into the mounting hole at the end of the fin group, and the transverse drive 22 and the longitudinal drive 23 drive the insertion component 24 to move away, so that the butt end 12 of the guide pin 1 leaks out, and the guide pin 1 is placed. In this embodiment, the transverse drive 22 and the longitudinal drive 23 can use linear modules that can be precisely controlled, such as electric cylinders or standard screw modules.

[0073] Specifically, the slide rail frame 21 includes two columns and a cross beam, and the two columns support the cross beam. The transverse drive 22 is installed on the cross beam, and the transverse drive 22 drives the slide 25 to move along the insertion direction. The longitudinal drive 23 is installed on the slide 25, and the longitudinal drive 23 is connected to the insertion component 24.

[0074] Specifically, a clamping mechanism 26 is also provided on the crossbeam of the slide rail frame 21, and the clamping mechanism 26 is used to press on the fin group to prevent the fin from shaking up and down during the insertion of the tube and affecting the insertion of the tube. The clamping mechanism 26 includes a clamping driver and a pressing plate, and the clamping driver drives the pressing plate to move up and down. In this embodiment, the clamping driver can be a cylinder, which is conducive to reducing the volume.

[0075] Preferably, the insertion component 24 includes a guide needle storage bin 241 and a pushing assembly 242; the guide needle storage bin 241 has a receiving hole corresponding one-to-one to the mounting hole at the end of the fin group, and the guide needle 1 is clamped in the receiving hole; the pushing assembly 242 can align the guide needle 1 clamped in the receiving hole, and push the guide needle 1 out of the receiving hole along the insertion direction, so as to push the front end of the guide needle 1 into the mounting hole.

[0076] Specifically, during the intubation process, the fin group is located between the two columns and below the crossbeam. After the insertion component 24 inserts the front end of the guide pin 1 into the mounting hole at one end of the fin group, the insertion component 24 is moved to the other end of the fin group by the transverse drive 22 and the longitudinal drive 23, and the guide pin 1 pushed out from the other end of the fin group can be received.

[0077] Specifically, the guide pin storage bin 241 includes: a base plate 243, a plurality of storage bin components and a pressing plate 244. One end of the base plate 243 is connected to a mounting seat driven by the longitudinal drive 23, and the other end extends out of the mounting seat. A plurality of storage bin components are mounted on the base plate 243 and arranged according to the positions of the mounting holes of the fin group, and the pressing plate 244 presses the storage bin components. A plurality of clearance holes are provided on the base plate 243 and the pressing plate 244 to facilitate the guide pin 1 to pass in and out.

[0078] Specifically, combined Figure 2 , Figure 5 , Fig.11 , Fig.13 , Fig.14 and Fig.15 As shown, the storage bin assembly includes a ball plunger 2411, a ball plunger sleeve 2412 and a guide needle sleeve 2413 for storing the guide needle 1, and a ball clamping groove 13 is opened in the circumference of the guide needle 1.

[0079] A boss mounting portion 2414 is provided on the periphery of the guide needle sleeve 2413, and a first guide groove structure 2415 is provided on the top end of the boss mounting portion 2414, a first sphere 2416 is provided in the first guide groove structure 2415, and a first connecting hole structure 2417 connected to the inside of the guide needle sleeve 2413 is provided at the bottom end of the first guide groove structure 2415, the ball head plunger sleeve 2412 is fixedly connected to the boss mounting portion 2414, an assembly hole structure 2418 is provided on the top end of the ball head plunger sleeve 2412, the ball head plunger 2411 is fixedly connected to the ball head plunger sleeve 2412 through an external thread arranged on the periphery and an internal thread arranged in the assembly hole structure 2418, and is fixed by a hexagonal nut.

[0080] The ball head plunger 2411 is provided with a second guide groove structure 2419, and a second connecting hole structure 2420 connected to the first guide groove structure 2415 is opened at the bottom end of the second guide groove structure 2419, and the bottom end of the second guide groove structure 2419 is arranged opposite to the top end of the first guide groove structure 2415, and a second sphere 2421 is arranged in the second guide groove structure 2419; the bottom end of the second sphere 2421 abuts against the top end of the first sphere 2416 through the second connecting hole structure 2420, the diameter of the first guide groove structure 2415 / the second guide groove structure 2419 is the same as the diameter of the first sphere 2416 / the second sphere 2421, and the first sphere 2416 / the second sphere 2421 is specifically a steel ball with a diameter of 2.5 mm, which ensures that the first sphere 2416 / the second sphere 2421 can move vertically in the first guide groove structure 2415 / the second guide groove structure 2419.

[0081] The diameter of the first connecting hole structure 2417 / the second connecting hole structure 2420 is smaller than the diameter of the first sphere 2416 / the second sphere 2421. The bottom end of the first sphere 2416 passes through the first connecting hole structure 2417 and is located inside the guide needle sleeve 2413 to prevent the first sphere 2416 from detaching from the first guide groove structure 2415 when there is no guide needle 1 moving inside the guide needle sleeve 2413. The sphere engaging groove 13 is specifically an arc groove structure; and the arc groove structure is adapted to the bottom end of the first sphere 2416, and the depth of the arc groove structure is smaller than the radius of the first sphere 2416; the first guide groove structure 2415, the second guide groove structure 2419, the first connecting hole structure 2417 are and the straight line where the central axis of the second connecting hole structure 2420 is located; it ensures that the plane where the horizontal tangent of the bottom end of the first sphere 2416 / the second sphere 2421 is located is respectively below the top of the first connecting hole structure 2417 / the second connecting hole structure 2420, so as to ensure that when the guide needle 1 moves in the guide needle sleeve 2413, the top surface of the guide needle 1 can contact and drive the first sphere 2416 to move vertically along the first guide groove structure 2415, and then the vertical movement of the first sphere 2416 drives the second sphere 2421 to move vertically along the second guide groove structure 2419 until the first sphere 2416 is engaged with the sphere engaging groove 13 to achieve the limit locking of the guide needle 1. In this embodiment, by changing the force direction inside the ball plunger, the ball plunger is only subjected to the vertical force and is not subjected to the horizontal impact force of the spherical structure, which reduces the damage to the ball plunger and greatly improves the service life of the ball plunger.

[0082] Specifically, the push assembly 242 includes: a longitudinal push drive 245, a transverse push drive 246, a push seat 247, and a plurality of push rods 248. The plurality of push rods 248 correspond to the plurality of guide needle storage bins 241 one by one, and the plurality of push rods 248 are mounted on the push seat 247. The longitudinal push drive 245 is mounted on the side of the mounting seat, and the longitudinal push drive 245 drives the transverse push drive 246 to move longitudinally, and the transverse push drive 246 drives the push seat 247 to drive the push rod 248 to move along the insertion direction. The longitudinal push drive 245 adjusts the position of the push rod 248 so that it is aligned with the guide pin 1 in the storage bin assembly. The transverse push drive 246 drives the push rod 248 to push the guide pin 1, so that the ball clamping groove 13 drives the first ball 2416 to move vertically along the first guide groove structure 2415, so that the guide pin 1 is separated from the guide pin sleeve 2413. The push rod 248 is inserted into the guide pin sleeve 2413 to push the guide pin 1 out so that the front end of the guide pin 1 is inserted into the mounting hole of the fin group. After the transverse drive 22 and the longitudinal drive 23 move the insertion component 24 to the other end of the fin group, when the guide pin 1 passes through the fin group, the guide pin 1 passes into the corresponding storage bin assembly; the guide pin 1 slides in the guide pin sleeve 2413, and when the top surface of the guide pin 1 contacts the first ball 2416, the guide pin 1 continues to move to drive the first ball 2416 to move vertically along the first guide groove structure 2415. As the first ball 2416 moves, the second ball 2421 abutting against it is driven along The second guide groove structure 2419 moves vertically until the ball engaging groove 13 is located at the bottom of the first connecting hole structure 2417. The first sphere 2416 falls and engages with the bottom end of the sphere engaging groove 13. At this time, the second sphere 2421 moves vertically downward along the second guide groove structure 2419 and re-engages with the top of the first sphere 2416. Finally, the insertion component 24 separates the guide needle 1 from the U-shaped copper tube to achieve the limit locking of the guide needle 1, thereby completing the recovery of the guide needle 1.

[0083] Specifically, combined Figure 2 , Figure 3 , Figure 5 , Fig.11 , Fig.16 and Fig.17 As shown, Fig.16 and Fig.17The diagram shows that the head angle rotation mechanism 32 drives the cannula clamping mechanism 33 to deflect to two front and rear positions at a certain angle. The manipulator component 3 has a cannula robot 31, and the end of the cannula robot 31 rotates around the vertical axis and is connected to the head angle rotation mechanism 32, and the rotation output end of the head angle rotation mechanism 32 is connected to the cannula clamping mechanism 33. The cannula clamping mechanism 33 includes a front clamping jaw 331 and a rear clamping jaw 332, and the rear clamping jaw 332 can move in a direction close to or away from the front clamping jaw 331 (i.e., the cannula direction), and the inner diameter of the clamping hole of the front clamping jaw 331 is slightly larger than the outer diameter of the U-shaped copper tube, and the rear clamping jaw 332 can clamp the U-shaped copper tube and move in a direction close to the front clamping jaw 331, and the position of the front clamping jaw 331 remains fixed. In this embodiment, the cannula robot 31 adopts a horizontal multi-joint robot. The head angle rotation mechanism 32 can drive the tube clamping mechanism 33 to swing to a certain angle, so that the manipulator component 3 can drive the U-shaped copper tube to tilt, and the tilt angle can be controlled to meet the fin group's requirements for inserting the U-shaped copper tube in an inclined state, thereby improving applicability.

[0084] Specifically, the device also includes a visual camera 8, which is used to locate the docking end 12 of the guide pin 1 so that the U-shaped copper tube can be accurately docked with the docking end 12 of the guide pin 1; the visual camera 8 is connected to the controller of the production line, and the image of the docking end 12 of the guide pin 1 is collected by the visual camera 8 and transmitted to the controller, and the docking end 12 of the guide pin 1 is located by the corresponding visual software in the controller to ensure that the U-shaped copper tube can be accurately docked with the guide pin 1.

[0085] Specifically, the visual camera 8 is driven to rise and fall by the camera lifting mechanism, so as to adjust the visual camera 8 up and down to face the docking end 12 of the guide needle 1 .

[0086] Specifically, an illumination light source may be provided on the two upright posts of the slide rail frame 21 for illumination in insufficient light conditions, so as to facilitate the visual camera 8 to capture images.

[0087] Preferably, combined Figure 2 , Figure 3 and Fig.18 As shown, the single-body intubation unit further includes a conveying device 6, which is used to convey the fixing tool 7 along a horizontal plane perpendicular to the intubation direction, so as to convey the fin group of the previous process to the single-body intubation unit for intubation.

[0088] Specifically, the conveying device 6 includes a material blocking mechanism, which blocks the fixed tooling 7 from being transported, so that the fixed tooling 7 is initially positioned along the transport direction. The tooling positioning and lifting mechanism 4 then accurately positions the fixed tooling 7 with the fin group to be inserted to a specified height for insertion.

[0089] Specifically, the conveying device 6 uses a double-speed chain line for conveying.

[0090] Preferably, combined Figure 2 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22 and Fig.23 As shown, the fixing tool 7 includes: a tool plate 71, a first clamping mechanism, a second clamping mechanism and a connecting component;

[0091] The first clamping mechanism is installed on the tooling plate 71, and is used to clamp the fin group in a direction perpendicular to the stacking direction of the heat exchanger fin group (i.e., the insertion direction); the first clamping mechanism includes a first clamping plate component and a first clamping component, the first clamping component provides a clamping force for the first clamping plate component, and the first clamping plate component clamps the fin group;

[0092] The second clamping mechanism is installed on the tooling plate 71, and is used to clamp the fin group along the stacking direction of the heat exchanger fin group; the second clamping mechanism includes a second clamping plate component and a second clamping component, the second clamping component provides a clamping force for the second clamping plate component, and the second clamping plate component clamps the fin group;

[0093] The connecting component is used to cooperate with the conveying device 6 to transport the tooling plate 71 .

[0094] The fin group before the insertion is placed on the tooling plate 71, the first clamping mechanism and the second clamping mechanism clamp the fin group from two directions, the connecting component cooperates with the conveying device 6 to transport the tooling plate 71, and the fin group is transported along with the tooling plate 71. The fin assembly after the insertion is clamped by the first clamping mechanism and the second clamping mechanism and then transported along with the tooling plate 71.

[0095] Preferably, the first clamping plate component includes a first fixed clamping plate 721 and a first movable clamping plate 722, and the first clamping component provides clamping force for the first movable clamping plate 722; the first fixed clamping plate 721 is fixed on the tooling plate 71, the first fixed clamping plate 721 and the first movable clamping plate 722 are arranged opposite to each other, and the first clamping component installed on the tooling plate 71 is connected to the first movable clamping plate 722; the first clamping component drives the first movable clamping plate 722 to approach the first fixed clamping plate 721 to clamp the fin group or the fin assembly. In the stacking direction of the fin group, the length of the first fixed clamping plate 721 and the first movable clamping plate 722 is greater than or equal to the length of the fin group, so that the fins of the fin group or the fin assembly can be clamped.

[0096] Specifically, the first fixed clamping plate 721 and the first movable clamping plate 722 are made of profiles, a plurality of first fixing seats 724 are fixed to the tooling plate 71 by a first set of screws, and the first fixing seats 724 fix the first fixed clamping plate 721 by a second set of screws and T-nuts.

[0097] Preferably, the first clamping component includes: a first sliding plate 7231 capable of sliding in a direction perpendicular to the stacking direction of the fin group, a first spring 7232, a pin I 7233 fixedly connected to the tooling plate 71, a pin II 7234 installed on the first sliding plate 7231, and a first guide assembly 7235; the first sliding plate 7231 is connected to the first movable clamping plate 722, and the first guide assembly 7235 is used for guiding the first sliding plate 7231; one end of the first spring 7232 is connected to the pin I 7233 and the other end is connected to the pin II 7234, and the elastic force provided by the first spring 7232 drives the first sliding plate 7231 and then drives the first movable clamping plate 722 to clamp the fin group.

[0098] Specifically, two parallel connection seats 711 are fixed to the bottom of the tooling plate 71 by a third set of screws, and the first sliding plate 7231 is connected to the connection seat 711 by a first guide assembly 7235. Pin I 7233 is installed on the fixed plate 712 by threaded connection, and the fixed plate 712 is parallel to the first movable clamping plate 722 and is located on one side of the first sliding plate 7231. The two ends of the fixed plate 712 are respectively fixed to the two connection seats 711 by a fourth set of screws. Pin II 7234 is installed on the side surface of the first sliding plate 7231 facing the fixed plate 712 by threaded connection.

[0099] Specifically, the first guide assembly 7235 uses two sets of linear guide rails, and the two sets of linear guide rails are respectively installed on two connecting seats 711. The guide rails can be fixedly installed on the connecting seats 711, and the slider is fixedly installed on the first sliding plate 7231.

[0100] Specifically, a connecting plate 7236 is fixedly installed on a side surface of the first sliding plate 7231 away from the fixed plate 712 , and the connecting plate 7236 and the first movable clamping plate 722 are fixed by a fifth set of screws and T-nuts.

[0101] Specifically, combined Figure 2 , Fig.19 , Fig. 20 , Fig. 22 , Fig.23 and Fig.24 As shown, a first notch 713 is provided on the tooling plate 71, and the connecting plate 7236 passes from the bottom of the tooling plate 71 through the first notch 713 to the top of the tooling plate 71 to connect with the first movable clamping plate 722 and can move in the first notch 713 in a direction perpendicular to the stacking direction of the fin group. The first notch 713 plays a role of giving way, so that the connecting plate 7236 can drive the first movable clamping plate 722 to move.

[0102] Specifically, a limiter 7237 is provided between the connecting plate 7236 and the tooling plate 71, and the limiter 7237 is used to limit the position of the connecting plate 7236 moving in a direction perpendicular to the stacking direction of the fin group, thereby limiting the minimum distance between the first fixed clamping plate 721 and the first movable clamping plate 722, and avoiding excessive clamping force between the first fixed clamping plate 721 and the first movable clamping plate 722 to damage the fins.

[0103] Specifically, the limiter 7237 is made of flexible materials such as rubber, and achieves a certain buffering effect when the first spring 7232 applies a force or the entire flexible fixing tool is positioned and stopped during the conveying process.

[0104] Specifically, when the first sliding plate 7231 is located on the side of the connecting plate 7236 facing the first fixed clamping plate 721 , the first spring 7232 is a tension spring; when the first sliding plate 7231 is located on the side of the connecting plate 7236 away from the first fixed clamping plate 721 , the first spring 7232 is a compression spring.

[0105] Preferably, combined Figure 2 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22 and Fig.23 As shown, the second clamping plate component includes a second fixed clamping plate 731 and a second movable clamping plate 732, and the second clamping component provides clamping force for the second movable clamping plate 732; the second fixed clamping plate 731 is fixed on the tooling plate 71, the second fixed clamping plate 731 and the second movable clamping plate 732 are arranged opposite to each other, and the second clamping component installed on the tooling plate 71 is connected to the second movable clamping plate 732. The second clamping component drives the second movable clamping plate 732 to approach the second fixed clamping plate 731, and the second fixed clamping plate 731 and the second movable clamping plate 732 clamp the fin group or fin assembly.

[0106] Preferably, the second clamping component includes: a second sliding plate 7331 capable of sliding along the stacking direction of the fin group, a second spring 7332, a pin III 7333 fixedly connected to the tooling plate 71, a pin IV 7334 installed on the second sliding plate 7331, and a second guide assembly 7335; the second sliding plate 7331 is connected to the second movable clamping plate 732, and the second guide assembly 7335 is used for guiding the second movable clamping plate 732; one end of the second spring 7332 is connected to the pin III 7333 and the other end is connected to the pin IV 7334, and the elastic force provided by the second spring 7332 drives the second sliding plate 7331 and then drives the second movable clamping plate 732 to clamp the fin group.

[0107] Preferably, combined Figure 2 , Fig.19 , Fig. 20 , Fig. 22 and Fig.25As shown, the second fixed clamping plate 731 includes a first fixed clamping jaw 7311 and a second fixed clamping jaw 7312 spaced apart and perpendicular to the stacking direction of the fin group, and the second movable clamping plate 732 includes a first movable clamping jaw 7321 and a second movable clamping jaw 7322; the first movable clamping jaw 7321 corresponds to the first fixed clamping jaw 7311 and clamps the area between the mounting holes of the fins at both ends of the fin group; the second movable clamping jaw 7322 corresponds to the second fixed clamping jaw 7312 and clamps the area between the mounting holes of the fins at both ends of the fin group. The first fixed clamping jaw 7311, the second fixed clamping jaw 7312, the first movable clamping jaw 7321 and the second movable clamping jaw 7322 avoid blocking the mounting holes of the fins at both ends of the fin group to ensure the insertion of the U-shaped copper tube.

[0108] Specifically, when the second sliding plate 7331 is located on the side of the pin III 7333 away from the second fixed clamping plate 731, the second spring 7332 is a tension spring; when the second sliding plate 7331 is located between the pin III 7333 and the second fixed clamping plate 731, the second spring 7332 is a compression spring.

[0109] Preferably, the first movable jaw 7321, the first fixed jaw 7311, the second movable jaw 7322 and the second fixed jaw 7312 are all provided with arc-shaped notches at their upper ends; the arc-shaped notches of the first movable jaw 7321 and the first fixed jaw 7311 respectively hold up the two ends of a U-shaped copper tube inserted into the lowest mounting hole of the fin group, and the arc-shaped notches of the second movable jaw 7322 and the second fixed jaw 7312 respectively hold up the two ends of another U-shaped copper tube inserted into the lowest mounting hole of the fin group. The first movable jaw 7321, the first fixed jaw 7311, the second movable jaw 7322 and the second fixed jaw 7312 hold up the fin assembly.

[0110] Specifically, the first movable jaw 7321 is aligned with the arc-shaped notch of the first fixed jaw 7311 , and the second movable jaw 7322 is aligned with the arc-shaped notch of the second fixed jaw 7312 , so that the fin assembly remains horizontal.

[0111] Specifically, two arc-shaped notches are formed at the upper ends of the first movable clamping jaw 7321 and the second movable clamping jaw 7322 , and the two arc-shaped notches correspond to two straight line parts supporting a U-shaped copper tube.

[0112] Specifically, the first movable clamp 7321 and the second movable clamp 7322 are mounted on the first mounting plate 7336, and the first mounting plate 7336 is fixed to the second sliding plate 7331 by two first positioning sleeves and first positioning screws, so as to realize the positioning and installation of the first mounting plate 7336. The position where the first movable clamp 7321 and the second movable clamp 7322 are mounted on the first mounting plate 7336 is finely processed, so as to ensure the installation accuracy of the first movable clamp 7321 and the second movable clamp 7322, and avoid the first movable clamp 7321 and the second movable clamp 7322 from being misaligned along the direction perpendicular to the stacking direction of the fin group, thereby avoiding the fin group from being unevenly stressed along the direction perpendicular to the stacking direction of the fin group and causing the fins to be tilted, and preventing the installation holes of the fin group from being misaligned and affecting the insertion tube.

[0113] Specifically, the second sliding plate 7331 is further provided with a plurality of second mounting plates 7337, which are fixed to the second sliding plate 7331 by two second positioning sleeves 7338 and second positioning screws. Two third movable jaws 7339 are installed on the second mounting plate 7337, and the third movable jaws 7339 are consistent in shape and size with the second movable jaws 7322, and the third movable jaws 7339 are inserted between the fins and then support the U-shaped copper tube.

[0114] Specifically, combined Figure 2 , Fig.19 , Fig. 20 , Fig. 22 , Fig.23 and Fig.24 As shown, a first opening 714 is opened on the tooling plate 71 , and the second sliding plate 7331 corresponds to the first opening 714 , so that the upper ends of the first movable jaw 7321 , the second movable jaw 7322 and the third movable jaw 7339 pass through the first opening 714 to the upper surface of the tooling plate 71 .

[0115] Specifically, a third boss 715 protruding into the first opening 714 is fixedly provided on the tooling plate 71, and the third boss 715 is located between the first mounting plate 7336 and the second fixed clamping plate 731. The first mounting plate 7336 extends the second sliding plate 7331 in a direction perpendicular to the stacking direction of the fin group, and the free end of the first mounting plate 7336 is opposite to the third boss 715. When the second sliding plate 7331 moves along the clamping direction, the free end of the first mounting plate 7336 abuts against the third boss 715 to limit the second sliding plate 7331.

[0116] Specifically, the second guide assembly 7335 adopts four sets of linear guide rails, and the guide rails of the four sets of linear guide rails can be fixedly installed on the second sliding plate 7331, and the sliders are fixedly installed on the tooling plate 71.

[0117] Preferably, the connecting component includes two support plates 741 fixedly mounted under the tooling plate 71, the two support plates 741 are arranged opposite to each other, and the lower surface of the support plate 741 is used to cooperate with the speed chain body of the conveying device 6; each support plate 741 is provided with two rotatable rollers 742, and the four rollers 742 are grouped into two, and the two groups of rollers 742 roll along one side of the two sides of the speed chain body for positioning.

[0118] Preferably, the connecting component further comprises a positioning plate 743 fixedly arranged below the tooling plate 71 , and the positioning plate 743 is used for cooperating with the positioning mechanism of the conveying device 6 to perform positioning along the conveying direction.

[0119] Specifically, two positioning plates 743 are provided at intervals along the length direction of the tooling plate 71, that is, along the stacking direction of the fin groups. Since the tooling plate 71 is relatively long, the two positioning plates 743 can avoid twisting after contacting the positioning mechanism.

[0120] Preferably, four third positioning sleeves 744 are fixedly provided below the tooling plate 71 , and the four third positioning sleeves 744 cooperate with the tooling positioning and lifting mechanisms 4 installed on both sides of the conveying device 6 to lift the flexible fixed tooling and detach it from the conveying device 6 .

[0121] Specifically, baffles 745 are installed at both ends of the tooling plate 71, and the baffles 745 are used to cooperate with the tooling positioning and lifting mechanism 4 to achieve height positioning.

[0122] Specifically, the connecting plate 7236 protrudes downward from the first sliding plate 7231 , and the push plate 746 is fixedly mounted on the second sliding plate 7331 .

[0123] Specifically, combined Figure 2 , Fig. 20 and Fig.26 As shown, the tooling positioning and lifting mechanism 4 includes two groups of elevators, and the two groups of elevators are located on both sides of the double-speed chain line body. The two groups of elevators lift the fixed tooling 7 from both ends. The elevator includes: a support frame 41, a support plate 42, a positioning pin 43, an elevator drive 44 and a height positioning plate 45. The support frame 41 is installed on one side of the double-speed chain line body, and the elevator drive 44 is installed on the support frame 41. The elevator drive 44 drives the support plate 42 to rise and fall. The two positioning pins 43 are fixedly installed on the support plate 42, and the positioning pins 43 cooperate with the third positioning sleeve 744 for precise positioning. The height positioning plate 45 is fixedly installed on the support frame 41. When the fixed tooling 7 rises to the insertion height, the upper surface of the baffle 745 of the fixed tooling 7 is against the lower surface of the height positioning plate 45, so as to realize the height positioning of the fixed tooling 7.

[0124] Specifically, combined Figure 1 , Figure 2 , Figure 3 , Fig.19 , Fig. 20 , Fig. 27 and Fig.28 As shown, the device comprises a plurality of single intubation units connected in sequence along the conveying direction of the fixed tool 7. Figure 1 Six monomer intubation units are used as an example for explanation. The monomer intubation units are connected by their own conveying devices 6 to realize the transportation of the fixed tooling 7 from front to back. After the tooling positioning and lifting mechanism 4 lifts up the fixed tooling 7, the subsequent fixed tooling 7 can pass from below it without affecting the loading of each monomer intubation unit. Since the intubation process time of a single fin group is relatively long, intubation by multiple monomer intubation units at the same time can shorten the process time, increase the output of the intubation process, and thus increase the production capacity of the production line.

[0125] Specifically, the speed chain line of the conveying device 6 includes a conveying speed chain and a return speed chain. The conveying speed chain is located above the return speed chain. The input end of the conveying speed chain and the output end of the return speed chain are located at the same end, and the output end of the conveying speed chain and the input end of the return speed chain are located at the same end. The conveying speed chains of the six monomer intubation units are connected in sequence, and the return speed chains are connected in sequence. A first lifting mechanism is set at the front end of the six monomer intubation units, and a second lifting mechanism is set at the rear end. A plurality of fixed toolings 7 are transported along the conveying direction on the conveying speed chain. After the fixed toolings 7 are transported to the second lifting mechanism at the rear end of the six monomer intubation units, the unloading robot arm takes out the inserted fin assembly from the fixed tooling 7. The second lifting mechanism is used to move the empty fixed tooling 7 to the input of the return speed chain. The empty fixed tooling 7 is transported back to the front end of the six single-body insertion units along the return speed chain, and the empty fixed tooling 7 is moved to the input end of the conveying speed chain by the first lifting mechanism to realize the cyclic transportation of the fixed tooling 7.

[0126] Specifically, the first lifting mechanism and the second lifting mechanism have the same structure. Taking the first lifting mechanism as an example, the first lifting mechanism is provided with a cylinder lifting mechanism 61 and a belt conveyor mechanism 62. The belt conveyor mechanism 62 can take the fixed tooling 7 from the return speed link. The cylinder lifting mechanism 61 is used to drive the belt conveyor mechanism 62 and the fixed tooling 7 to rise and fall. After the cylinder lifting mechanism 61 is lifted to align the belt conveyor mechanism 62 with the conveying speed chain, the belt conveyor mechanism 62 can convey the fixed tooling 7 to the conveying speed chain.

[0127] Specifically, the first lifting mechanism is also provided with a fixed tooling opening mechanism, which is also driven to rise and fall by the cylinder lifting mechanism 61. After the cylinder lifting mechanism 61 is lifted to align the belt conveying mechanism 62 with the conveying speed chain, the fixed tooling opening mechanism opens the first clamping mechanism and the second clamping mechanism of the fixed tooling 7, and the fin set with two steel needles inserted is placed on the fixed tooling 7 in the previous process. The fixed tooling opening mechanism is reset so that the fixed tooling 7 clamps and fixes the fin set through the first clamping mechanism and the second clamping mechanism. Then the fixed tooling 7 with the fin set is conveyed to the conveying speed chain by the belt conveying mechanism 62.

[0128] Specifically, the fixed tool opening mechanism includes a transverse opening cylinder 631 and a longitudinal opening cylinder 632. The output end of the transverse opening cylinder 631 pushes the push plate 746, so that the push plate 746 drives the second sliding plate 7331 and then the second movable clamping plate 732 moves in a direction away from the second fixed clamping plate 731, thereby realizing the opening of the second clamping mechanism. The output end of the longitudinal opening cylinder 632 pushes the portion of the connecting plate 7236 protruding from the first sliding plate 7231, so that the connecting plate 7236 drives the first sliding plate 7231 and then the first movable clamping plate 722 moves in a direction away from the first fixed clamping plate 721, thereby realizing the opening of the first clamping mechanism.

[0129] Specifically, combined Figure 1 , Figure 2 , Figure 3 , Fig.18 and Fig.29 As shown, the material blocking mechanism includes multiple material blocking groups arranged along the conveying direction of the fixed tooling 7, each material blocking group includes two material blocking cylinders 641 arranged perpendicular to the conveying direction of the fixed tooling 7 (i.e., along the insertion direction), and the two material blocking cylinders 641 can resist the two positioning plates 743 of the fixed tooling 7 after they are raised, preventing the fixed tooling 7 from continuing to be conveyed with the double-speed chain. The material blocking mechanism also includes a non-return assembly 642, which is located in front of the two material blocking cylinders 641 and is used to prevent the fixed tooling 7 from being blocked by the two material blocking cylinders 641.

[0130] Specifically, the device further includes a first stand 91, on which the guide needle insertion mechanism 2, the tool positioning and lifting mechanism 4, and the conveying speed chain and the return speed chain of the conveying device 6 are fixed. A second stand 92 and a third stand 93 are arranged side by side on the intubation side of the first stand 91, the manipulator component 3 is mounted on the second stand 92, the pushing device 5 is mounted on the third stand 93, the camera lifting mechanism and the visual camera 8 are mounted on the third stand 93, and the camera lifting mechanism and the visual camera 8 are located on the side of the pushing device 5 away from the conveying device 6.

[0131] Specifically, a steel needle extraction station 10 is provided between the front end of the six single tube insertion units and the first lifting mechanism. The steel needle extraction station 10 is also provided with a conveying device 6 and is connected to the conveying device 6 of the six single tube insertion units. The steel needle extraction station 10 is also provided with a tool positioning and lifting mechanism 4, which is used to position and lift the fixed tool 7 of the fin group equipped with the steel needle to be extracted.

[0132] Specifically, a mounting frame is provided on the steel needle extraction station 10, and the mounting frame spans the double-speed chain line body. A steel needle extraction transverse linear module 101 is installed on the mounting frame, and the steel needle extraction transverse linear module 101 drives the steel needle extraction longitudinal linear module 102 to reciprocate along the direction of the insertion tube, and the steel needle extraction longitudinal linear module 102 drives the steel needle extraction claw 103 to move in the vertical direction. The steel needle extraction transverse linear module 101 makes the steel needle extraction claw 103 close to the part where the steel needle is exposed from the fin group, and the steel needle extraction longitudinal linear module 102 drives the steel needle extraction claw 103 to adjust the position in the vertical direction. After the steel needle extraction claw 103 clamps the steel needle, the steel needle extraction transverse linear module 101 drives the steel needle extraction claw 103 to extract the steel needle.

[0133] Specifically, two groups of the steel needle extracting transverse linear module 101, the steel needle extracting longitudinal linear module 102 and the steel needle extracting clamp 103 are provided to extract two steel needles at the same time.

[0134] Specifically, a steel needle clamping mechanism 104 is also provided on the mounting frame, and the steel needle clamping mechanism 104 includes: a clamping seat, a steel needle clamping drive mechanism and a clamping connecting plate. The steel needle clamping drive mechanism is installed on the mounting frame, and the steel needle clamping drive mechanism drives the clamping connecting plate to move vertically. The clamping seat is installed below the clamping connecting plate. Four clamping guide pillars are installed on the clamping seat, and the clamping guide pillars pass through the clamping guide sleeve installed on the clamping connecting plate. Every two clamping guide pillars pass through the clamping guide sleeve and are connected to the clamping limit plate. A clamping elastic member is installed between the clamping connecting plate and the clamping seat. In this embodiment, the clamping elastic member adopts a compression spring, and the compression spring sleeve is arranged on the clamping guide pillar.

[0135] Specifically, a buffer station is provided between the rearmost ends of the six single tube insertion units and the second lifting mechanism for caching the fixed tooling 7 containing the fin assembly with completed tube insertion.

[0136] The workflow of this application device:

[0137] 1. The first lifting mechanism lifts the fixed tool 7, and the fixed tool opening mechanism opens the fixed tool 7. The fin group with the steel needle inserted in the front is placed on the fixed tool 7 at the first lifting mechanism. The fixed tool opening mechanism is reset, and the fixed tool 7 fixes the fin group. The fin group is transported to the conveying device 6 along with the fixed tool 7 by the first lifting mechanism for transportation.

[0138] 2. After the fixed tooling 7 is transported to the corresponding single-body intubation unit, the material blocking mechanism blocks the fixed tooling 7, and the tooling positioning and lifting mechanism 4 is positioned and then lifted to the intubation height.

[0139] 3. The guide needle insertion mechanism 2 inserts all the guide needles 1 into the corresponding installation holes, and then the guide needle insertion mechanism 2 moves from above the fixed tooling 7 to the other end to collect the guide needles 1.

[0140] 4. The visual camera 8 is used in conjunction with the visual software to locate the docking end 12 of the guide pin 1 to ensure that the U-shaped copper tube can be accurately docked with the guide pin 1.

[0141] 5. The manipulator component 3 drives the U-shaped copper tube to dock with the docking end 12 of the guide pin 1, and sends the front end of the U-shaped copper tube into the fin assembly mounting hole along with the guide pin 1, so that the front part of the U-shaped copper tube enters the fin assembly mounting hole.

[0142] 6. The robot arm component 3 takes out the next U-shaped copper tube, and the uninserted part of the previous U-shaped copper tube is pushed in by the pushing device 5.

[0143] 7. After the insertion is completed, the fin assembly is transported to the second lifting mechanism along with the fixed tooling 7 via the conveying device 6, and the unloading robot arm takes the inserted fin assembly out of the fixed tooling 7.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-efficiency circulating transfer device for inserting fins in the refrigeration field, characterized in that: The invention comprises a single intubation unit, wherein the single intubation unit comprises: a guide needle (1), a guide needle insertion mechanism (2), a manipulator component (3), a pushing device (5), a fixing tool (7) and a tool positioning and lifting mechanism (4); The fixing tool (7) is capable of clamping and fixing the fin group; The tool positioning and lifting mechanism (4) is capable of positioning the fixed tool (7) and lifting the fixed tool (7); After the fixing tool (7) is raised, the guide needle insertion mechanism (2) can insert the front end of the guide needle (1) into the mounting hole at the end of the fin group, and the guide needle insertion mechanism (2) can be moved away to make way; The manipulator component (3) is used to grab the U-shaped copper tube and connect it to the tail end of the guide pin (1), so that the U-shaped copper tube can follow the guide pin (1) and be inserted into the mounting hole at the end of the fin group; The pushing device (5) is used to push the U-shaped copper tube for insertion; the pushing device (5) comprises: a pushing mechanism, a driving mechanism and a torque feedback linear module (53); The pushing mechanism abuts against the curved tube portion of the U-shaped copper tube; The driving mechanism includes a power source and a reciprocating transmission mechanism, wherein the power source drives the reciprocating transmission mechanism and then drives the pushing mechanism to reciprocate and vibrate along the direction of the insertion pipe; The torque feedback linear module (53) drives the pushing mechanism and the driving mechanism to move along the insertion direction.

2. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 1 is characterized in that: The driving mechanism also includes a driving mechanism mounting plate (521), the power source includes a driving motor (522), the reciprocating transmission mechanism includes a cam mechanism and a first guide mechanism, the torque feedback linear module (53) drives the driving mechanism mounting plate (521), the driving motor (522) is installed on the driving mechanism mounting plate (521), the driving motor (522) drives the cam mechanism, the cam mechanism drives the pushing mechanism to reciprocate and vibrate along the insertion direction, and the first guide mechanism guides the pushing mechanism.

3. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 2 is characterized in that: The cam mechanism comprises: a rotating shaft (5231), an eccentric wheel (5232) and a cam sleeve (5233); the axis of the rotating shaft (5231) is perpendicular to the movement direction of the pushing mechanism, the eccentric wheel (5232) is eccentrically and fixedly sleeved on the rotating shaft (5231), and the driving motor (522) drives the rotating shaft (5231) and the eccentric wheel (5232) to rotate synchronously; the cam sleeve (5233) is rotatably sleeved on the eccentric wheel (5232), and the cam sleeve (5233) is rotatably connected to a pushing mechanism mounting seat (511) on which the pushing mechanism is mounted, and the rotation axes of the cam sleeve (5233) and the pushing mechanism mounting seat (511) are parallel to the axis of the rotating shaft (5231).

4. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 3 is characterized in that: The cam sleeve (5233) and the push mechanism mounting seat (511) are also provided with a connecting piece, one end of which is fixed on the push mechanism mounting seat (511) and the other end of which is rotatably connected to the cam sleeve (5233) via a rotating pin (5235).

5. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 3 is characterized in that: The push mechanism further comprises: at least two guide sleeves (512), guide posts (513) corresponding to each other and passing through the guide sleeves (512), an elastic member (514), and a profiled push block (515) abutting against the curved pipe portion of the U-shaped copper pipe; the profiled push block (515) is located on a side of the push mechanism mounting seat (511) away from the cam mechanism; the guide sleeve (512) is mounted on the push mechanism mounting seat (511); one end of the guide post (513) is connected to the profiled push block (515) and the other end passes through the guide sleeve (512); the elastic member (514) is arranged between the profiled push block (515) and the guide sleeve (512); the elastic member (514) has a tendency to prevent the profiled push block (515) from approaching the guide sleeve (512).

6. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 1 is characterized in that: A lifting mechanism is also provided between the driving mechanism and the torque feedback linear module (53), and the lifting mechanism comprises: a lifting mechanism mounting seat (541) connected to the torque feedback linear module (53) and a linear drive (542) mounted on the lifting mechanism mounting seat (541); the torque feedback linear module (53) drives the lifting mechanism mounting seat (541) to move along the insertion direction, and the linear drive (542) drives the driving mechanism and the pushing mechanism to lift and lower in a vertical plane in a direction perpendicular to the insertion direction.

7. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 1 is characterized in that: The guide needle insertion mechanism (2) includes a slide rail frame (21) located above the fin group to be inserted, and a transverse drive (22) and a longitudinal drive (23) are provided on the slide rail frame (21). The transverse drive (22) drives the insertion component (24) to move along the insertion direction, and the longitudinal drive (23) drives the insertion component (24) to move perpendicular to the insertion direction; the insertion component (24) can clamp the guide needle (1), and the transverse drive (22) and the longitudinal drive (23) drive the insertion component (24) to make the guide needle (1) align with the mounting hole at the end of the fin group, and the insertion component (24) pushes the front end of the guide needle (1) to insert into the mounting hole at the end of the fin group.

8. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 7 is characterized in that: The insertion component (24) comprises a guide needle storage bin (241) and a push assembly (242); the guide needle storage bin (241) has a receiving hole corresponding to the mounting hole at the end of the fin group, and the guide needle (1) is clamped in the receiving hole; the push assembly (242) can align the guide needle (1) clamped in the receiving hole, and push the guide needle (1) out of the receiving hole along the insertion direction.

9. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 1 is characterized in that: The single intubation unit further comprises a conveying device (6), wherein the conveying device (6) is used to convey the fixing tool (7) along a horizontal plane perpendicular to the intubation direction.

10. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 9, characterized in that: The fixing tool (7) comprises: a tool plate (71), a first clamping mechanism, a second clamping mechanism and a connecting component; The first clamping mechanism is mounted on the tooling plate (71) and is used to clamp the fin group in a direction perpendicular to the stacking direction of the heat exchanger fin group; the first clamping mechanism comprises a first clamping plate component and a first clamping component, the first clamping component provides a clamping force for the first clamping plate component, and the first clamping plate component clamps the fin group; The second clamping mechanism is mounted on the tooling plate (71) and is used to clamp the fin group along the stacking direction of the heat exchanger fin group; the second clamping mechanism comprises a second clamping plate component and a second clamping component, the second clamping component provides a clamping force for the second clamping plate component, and the second clamping plate component clamps the fin group; The connecting component is used to cooperate with the conveying device (6) to transport the tooling plate (71).

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