An efficient circulation transfer device with inserted pipes for fins in the refrigeration field

Abstract

The invention discloses a high-efficiency cyclic transfer device for inserting pipes of fins in the field of refrigeration, including a single pipe inserting unit, which includes: a guide pin, a guide pin insertion 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 positions the fixed tool and can lift the fixed tool; the guide pin insertion mechanism inserts the front end of the guide pin into the mounting hole; the manipulator component grabs the U-shaped copper tube to dock the tail end of the guide pin, so that the U-shaped copper tube follows the guide pin to insert into the mounting hole; the pushing device includes: a pushing mechanism, a driving mechanism and a torque feedback linear module; the pushing mechanism abuts against the curved pipe portion 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 pipe inserting direction; the torque feedback linear module drives the pushing mechanism and the driving mechanism to move along the pipe inserting direction. The invention realizes automatic pipe inserting, ensures assembly accuracy, improves product consistency, improves pipe inserting efficiency, and overcomes the bottleneck process of the heat exchanger production line.

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] An efficient cyclic transfer device for inserting tubes into fins in the refrigeration field, comprising a single-tube inserting unit. The single-tube inserting unit includes: a guiding needle, a guiding needle inserting mechanism, a manipulator component, a pushing device, a fixing tooling and a tooling positioning and lifting mechanism; the fixing tooling can clamp and fix a fin group; the tooling positioning and lifting mechanism can position the fixing tooling and can lift the fixing tooling for lifting and lowering; after the fixing tooling is lifted, the guiding needle inserting mechanism can insert the front end of the guiding needle into the mounting hole at the end of the fin group, and the guiding needle inserting mechanism can move away to make way; the manipulator component is used to grab a U-shaped copper tube and dock it to the tail end of the guiding needle, so that the U-shaped copper tube can follow the guiding needle and be inserted into the mounting hole at the end of the fin group; the pushing device is used to push the U-shaped copper tube for tube insertion; the pushing device includes: a pushing mechanism, a driving mechanism and a torque feedback linear module; the pushing mechanism abuts against the bent part of the U-shaped copper tube; the driving mechanism includes a power source and a reciprocating transmission mechanism, and the power source drives the reciprocating transmission mechanism to drive the pushing mechanism to vibrate reciprocally along the tube insertion direction; the torque feedback linear module drives the pushing mechanism and the driving mechanism to move along the tube insertion direction.

[0010] Beneficial effects:

[0011] The efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed in this application realizes automatic tube insertion by setting a single-tube inserting unit, ensures the assembly accuracy, improves the product consistency, increases the tube insertion efficiency, overcomes the bottleneck process of the heat exchanger production line, and can improve the production capacity of the production line and reduce the production cost. Description of the drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0013] Figure 1 It is a schematic structural diagram of an efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed in the present invention;

[0014] Figure 2 It is a schematic structural diagram of a single-tube inserting unit of an efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed in the present invention Figure 1 ;

[0015] Figure 3 It is a schematic structural diagram of a single-tube inserting unit of an efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed in the present invention Figure 2 ;

[0016] Figure 4Top view of the single tube inserting unit of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0017] Figure 5 Schematic structural diagram of the guiding pin of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0018] Figure 6 Schematic structure of the pushing device of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention Figure 1 ;

[0019] Figure 7 Schematic structure of the pushing device of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention Figure 2 ;

[0020] Figure 8 Front view of the pushing device of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0021] Figure 9 Left view of the pushing device of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0022] Figure 10 Schematic structural diagram of the combination of the pushing mechanism and the driving mechanism of the pushing device of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0023] Figure 11 Schematic structural diagram of the guiding pin inserting mechanism of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0024] Figure 12 Front view of the guiding pin inserting mechanism of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0025] Figure 13 is Figure 12 Partial enlarged view of A in

[0026] Figure 14 Schematic structural diagram of the storage bin assembly of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0027] Figure 15 Cross-sectional view of the storage bin assembly of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0028] Figure 16 Schematic structure of the manipulator component of the efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present inventionFigure 1 ;

[0029] Figure 17 Structural schematic of the manipulator component of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention Figure 2 ;

[0030] Figure 18 Structural schematic of a single inserted tube unit of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention after hiding the guide pin insertion mechanism, manipulator component, pushing device, and fixing tooling

[0031] Figure 19 Structural schematic of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention Figure 1 ;

[0032] Figure 20 Structural schematic of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention Figure 2 ;

[0033] Figure 21 Front view of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0034] Figure 22 Top view of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0035] Figure 23 Bottom view of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0036] Figure 24 Left view of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0037] Figure 25 Structural schematic of the tooling plate of the fixing tooling of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0038] Figure 26 Structural schematic of the tooling positioning and lifting mechanism of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0039] Figure 27 Structural schematic of the first lifting mechanism of an efficient cyclic transfer device with inserted tubes for fins in the refrigeration field disclosed by the present invention

[0040] Figure 28The front view of the first lifting mechanism of an efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention;

[0041] Figure 29 The structural schematic diagram of the steel needle extraction station of an efficient cyclic transfer device for inserting tubes into fins in the refrigeration field disclosed by the present invention.

[0042] 1. Guide needle; 11. Insertion end; 12. Docking end; 13. Sphere clamping groove; 2. Guide needle insertion mechanism; 21. Slide rail frame; 22. Lateral drive; 23. Longitudinal drive; 24. Insertion component; 241. Guide needle storage bin; 2411. Ball plunger; 2412. Ball plunger sleeve; 2413. Guide needle sleeve; 2414. Boss mounting part; 2415. First guide groove structure; 2416. First sphere; 2417. First communication hole structure; 2418. Assembly hole structure; 2419. Second guide groove structure; 2420. Second communication hole structure; 2421. Second sphere; 242. Thrust assembly; 243. Substrate; 244. Pressure plate; 245. Longitudinal thrust drive; 246. Lateral thrust drive; 247. Thrust seat; 248. Thrust rod; 25. Slide block; 26. Clamping mechanism; 3. Manipulator component; 31. Intubation robot; 32. Head angle rotation mechanism; 33. Intubation clamping mechanism; 331. Front clamping jaw; 332. Rear clamping jaw; 4. Tooling positioning and lifting mechanism; 41. Support frame; 42. Support plate; 43. Positioning pin; 44. Lift drive; 45. Height positioning plate; 5. Pushing device; 511. Pushing mechanism mounting seat; 5111. First flat plate; 5112. Second flat plate; 512. Guide sleeve; 513. Guide post; 514. Elastic part; 515. Profiled pushing 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 part; 524. Drive motor mounting plate; 525. Coupling; 526. Rotating shaft support plate; 527. First linear guide rail; 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 rail; 549. Guide rail mounting seat; 6. Conveying device; 61. Cylinder lifting mechanism; 62. Belt conveying mechanism; 631. Lateral expanding cylinder; 632. Longitudinal expanding cylinder; 641. Material blocking cylinder; 642. Check component; 7. Fixed tooling; 71. Tooling plate; 711. Connecting seat; 712. Fixed plate; 713. First notch; 714. First opening; 715. Third boss; 721. First fixed clamping plate; 722. First movable clamping plate; 7231. First sliding plate; 7232. First spring; 7233. Pin Ⅰ; 7234. Pin Ⅱ; 7235. First guiding component; 7236. Connecting plate; 7237. Limiter; 724. First fixed seat; 731. Second fixed clamping plate; 7311. First fixed clamping jaw; 7312. Second fixed clamping jaw; 732. Second movable clamping plate; 7321. First movable clamping jaw; 7322. Second movable clamping jaw;7331. Second sliding plate; 7332. Second spring; 7333. Pin III; 7334. Pin IV; 7335. Second guiding component; 7336. First mounting plate; 7337. Second mounting plate; 7338. Second positioning sleeve; 7339. Third movable clamping jaw; 741. Support plate; 742. Roller; 743. Positioning plate; 744. Third positioning sleeve; 745. Baffle; Pusher plate 746; 8. Vision camera; 91. First pedestal; 92. Second pedestal; 93. Third pedestal; 10. Steel needle extraction station; 101. Steel needle extraction transverse linear module; 102. Steel needle extraction longitudinal linear module; 103. Steel needle extraction clamping jaw; 104. Steel needle extraction pressing mechanism.; Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] An efficient cyclic transfer device for inserting tubes into fins in the refrigeration field, in combination with Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 as shown, includes a single-tube inserting unit, and the single-tube inserting unit includes: a guiding needle 1, a guiding needle inserting mechanism 2, a manipulator component 3, a pushing device 5, a fixing fixture 7 and a fixture positioning and lifting mechanism 4; the fixing fixture 7 can clamp and fix a fin group; the fixture positioning and lifting mechanism 4 can position the fixing fixture 7 and can lift the fixing fixture 7 for lifting and lowering; after the fixing fixture 7 is lifted, the guiding needle inserting mechanism 2 can insert the front end of the guiding needle 1 into the mounting hole at the end of the fin group, and the guiding needle inserting mechanism 2 can move away for yielding; the manipulator component 3 is used to grab a U-shaped copper tube and dock it to the tail end of the guiding needle 1 so that the U-shaped copper tube can follow the guiding needle 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 tube insertion; the pushing device 5 includes: a pushing mechanism, a driving mechanism and a torque feedback linear module 53; the pushing mechanism abuts against the bent portion of the U-shaped copper tube; the driving mechanism includes a power source and a reciprocating transmission mechanism, and the power source drives the reciprocating transmission mechanism to drive the pushing mechanism to vibrate reciprocally along the tube insertion direction; the torque feedback linear module 53 drives the pushing mechanism and the driving mechanism to move along the tube insertion direction.

[0045] Place the fin group to be inserted with tubes on the fixing fixture 7. The fixing fixture 7 clamps and fixes the fin group, so that the mounting holes of the fin group can be fixed and basically aligned. The tooling positioning and lifting mechanism 4 positions the fixing fixture 7 and lifts the fixing fixture 7 to the tube insertion height. The guiding pin insertion mechanism 2 inserts the front end of the guiding pin 1 for guiding the U-shaped copper tube into the mounting hole at the end of the fin group. The guiding pin insertion mechanism 2 moves away to make way for tube insertion. The manipulator component 3 grabs the U-shaped copper tube and docks it to the tail end of the guiding pin 1. The manipulator component 3 grabs the U-shaped copper tube and moves along the tube insertion direction, so that the front end of the U-shaped copper tube follows the guiding pin 1 and inserts into the mounting hole at the end of the fin group. The manipulator component 3 sequentially inserts the front ends of all the U-shaped copper tubes into the mounting holes at the end of the fin group. The pushing device 5 pushes all the U-shaped copper tubes for tube insertion. The pushing mechanism abuts against the bent part of the U-shaped copper tube. The torque feedback linear module 53 drives the pushing mechanism and the driving mechanism to move along the tube insertion direction. The guiding pin 1 at the front end of the U-shaped copper tube gradually penetrates into the mounting hole of the fin; during the process of the pushing mechanism pushing forward, the driving mechanism drives the pushing mechanism to vibrate reciprocally along the tube insertion direction. The reciprocal vibration of the pushing mechanism plays an adjusting role, so that the guiding pin 1 can be better guided into the mounting hole of the fin and will not directly jam against the fin. And the torque is monitored by the torque feedback linear module 53 to avoid damage to the U-shaped copper tube and the fin due to excessive acting force when the guiding pin 1 and the U-shaped copper tube move and vibrate reciprocally along the tube insertion direction by the pushing mechanism.

[0046] The cooperation of the driving mechanism and the torque feedback linear module 53 realizes the process of simulating manual tube insertion; when a situation with relatively large resistance is encountered during the tube insertion process, the driving mechanism is used to drive the pushing mechanism to vibrate reciprocally to simulate the action of manual shaking and adjustment. This device can achieve self-adjustment, overcome the problems 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 tubes, machining errors of the U-shaped copper tubes, uneven force, etc., and avoid damage to the U-shaped copper tubes and the fins.

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

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

[0049] Preferably, combined with Figure 2 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10As shown in the figure, the drive mechanism further includes a drive mechanism mounting plate 521, the power source includes a drive motor 522, the reciprocating transmission mechanism includes a cam mechanism and a first guiding mechanism. The torque feedback linear module 53 drives the drive mechanism mounting plate 521, the drive motor 522 is mounted on the drive mechanism mounting plate 521, the drive motor 522 drives the cam mechanism, and the torque feedback linear module 53 drives the drive mechanism mounting plate 521, thereby driving the drive motor 522, the cam mechanism and the material pushing mechanism to reciprocate along the direction of the insertion tube. The cam mechanism drives the material pushing mechanism to reciprocate and vibrate along the direction of the insertion tube, and the first guiding mechanism guides the material pushing mechanism. The cam mechanism can realize small-amplitude vibration of the material pushing mechanism, so that the guiding needle 1 can be better inserted into the mounting hole of the fin group. And the cam mechanism can control the motion law of the material pushing mechanism, which is convenient for designing the speed, acceleration and displacement of the material pushing mechanism, so as to control the acting force of the material pushing mechanism during the pushing stroke and avoid large impact on the U-shaped copper tube.

[0050] Preferably, the cam mechanism includes: a rotating shaft 5231, an eccentric wheel 5232 and a cam sleeve 5233; the axis of the rotating shaft 5231 is perpendicular to the moving direction of the material pushing mechanism, the eccentric wheel 5232 is eccentric and fixedly sleeved on the rotating shaft 5231, and the drive 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, the cam sleeve 5233 is rotatably connected to the material pushing mechanism mounting seat 511 for mounting the material pushing mechanism, and the rotation axis of the cam sleeve 5233 and the material pushing mechanism mounting seat 511 is parallel to the axis of the rotating shaft 5231. The drive motor 522 drives the rotating shaft 5231 and the eccentric wheel 5232 to rotate synchronously, the cam sleeve 5233 moves as a driven member with the rotation of the eccentric wheel 5232, and the cam sleeve 5233 thus drives the material pushing mechanism mounting seat 511 and the material pushing mechanism to reciprocate and vibrate along the set motion law.

[0051] Specifically, the direction of the insertion tube is preferably the horizontal direction. The drive mechanism mounting plate 521 is horizontally arranged, a drive motor mounting plate 524 is arranged below the drive mechanism mounting plate 521, the drive motor mounting plate 524 and the drive mechanism mounting plate 521 are parallel and fixedly connected by four first support columns. The housing of the drive motor 522 is fixed on 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 provided above the driving mechanism mounting plate 521. The rotating shaft support plate 526 is parallel to the driving mechanism mounting plate 521 and fixedly connected by two second support columns. The rotating shaft 5231 and the eccentric wheel 5232 are integrally machined. 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 through the cam sleeve 5233 and the driving mechanism mounting plate 521 downward in sequence and then connects to the coupling 525. The rotating shaft support plate 526 and the driving mechanism mounting plate 521 support the stable and reliable rotation of the rotating shaft 5231, avoiding the shaking of the rotating shaft 5231 caused by insufficient rigidity. The two second support columns are located on both sides of the cam sleeve 5233 along the direction perpendicular to the insertion tube, avoiding the interference of the two second support columns with the movement of the cam sleeve 5233.

[0053] Specifically, bearings are respectively 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. Bearing pressing plates 5236 are installed on the upper and lower surfaces of the cam sleeve 5233 to achieve axial positioning of the bearings and prevent the bearings from moving axially.

[0054] Preferably, a connecting member is further provided between the cam sleeve 5233 and the pusher mechanism mounting seat 511. One end of the connecting member is fixed on the pusher mechanism mounting seat 511, and the other end is rotatably connected to the cam sleeve 5233 through a rotating pin 5235. Adding the connecting member 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 member 5237 and an L-shaped member 5238. One end of the straight rod member 5237 is fixed on the pusher mechanism mounting seat 511 through a first set of countersunk head screws, and the other end extends horizontally outside the pusher mechanism mounting seat 511. One end of a straight section of the L-shaped member 5238 is fixedly connected to the straight rod member 5237 through a second set of countersunk head screws. The other straight section of the L-shaped member 5238 is parallel to the straight rod member 5237 and its end is far from the pusher mechanism mounting seat 511. The cam sleeve 5233 extends between the straight rod member 5237 and the L-shaped member 5238. The rotating pin 5235 passes through the straight rod member 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 rings. A bearing is provided between the rotating pin 5235 and the cam sleeve 5233. A first boss is fixedly provided on the side of the straight rod member 5237 facing the cam sleeve 5233, and a second boss is fixedly provided on the side of the L-shaped member 5238 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 mounting seat 511 of the material pushing mechanism includes a first flat plate 5111 and a second flat plate 5112 arranged above the driving mechanism mounting plate 521. The first flat plate 5111 is parallel to the driving mechanism mounting plate 521, and the second flat plate 5112 is perpendicular to the first flat plate 5111 and is located at one 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 machined, and the straight rod 5237 is connected to the first flat plate 5111. The first guiding mechanism includes two groups of parallel first linear guide rails 527, and the first linear guide rails 527 are located between the first flat plate 5111 and the driving mechanism mounting plate 521. A part of the first linear guide rail 527 is fixedly connected to the driving mechanism mounting plate 521, and another part is used as a sliding member and is fixedly connected to the first flat plate 5111.

[0057] Preferably, the material pushing mechanism further includes: at least two guide sleeves 512, guide posts 513 corresponding one by one and passing through the guide sleeves 512, an elastic member 514, and a profiling push block 515 abutting against the bent pipe portion of the U-shaped copper pipe; the profiling push block 515 is located on the side of the mounting seat 511 of the material pushing mechanism away from the cam mechanism, the guide sleeves 512 are installed on the mounting seat 511 of the material pushing mechanism, one end of the guide post 513 is connected to the profiling push block 515, and the other end passes through the guide sleeve 512. The elastic member 514 is arranged between the profiling push block 515 and the guide sleeve 512, and the elastic member 514 has a tendency to prevent the profiling push block 515 from approaching the guide sleeve 512. The arrangement of the elastic member 514 enables the profiling push block 515 to superimpose vibrations on the basis of the reciprocating vibration of the entire material pushing mechanism; during the return stroke of the material pushing mechanism, the profiling push block 515 is briefly separated from the bent pipe portion of the U-shaped copper pipe, avoiding the guiding needle 1 that is not aligned with the fin mounting hole to be directly jammed against the fin to be penetrated; after the guiding needle 1 is briefly separated from the fin to be penetrated, the guiding 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 pipe and enabling the guiding needle 1 to penetrate into the fin mounting hole to be penetrated.

[0058] Meanwhile, there is a buffer distance between the profiling push block 515 and the mounting seat 511 of the material pushing mechanism. During the movement of the material pushing mechanism, it can play a good buffering and correction function in the case of uneven or excessive force on the U-shaped copper pipe, avoiding damage to the U-shaped copper pipe and the fins.

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

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

[0061] Specifically, a first adjusting screw 517 is installed on the side of the limit plate 516 facing the second flat plate 5112. The first adjusting screw 517 adjusts the distance between the limit plate 516 and the second flat plate 5112. A second adjusting screw 518 that abuts against the first adjusting screw 517 is installed on the second flat plate 5112. In this embodiment, the second adjusting screw 518 is threadedly connected to the second flat plate 5112, and the first adjusting screw 517 is threadedly connected to the limit plate 516. By turning the first adjusting screw 517, the distance between the limit plate 516 and the second flat plate 5112 is adjusted, that is, the maximum distance between the profiling push block 515 and the second flat plate 5112 is adjusted. Furthermore, the pre-compression deformation amount of the elastic member 514 can be adjusted, thereby realizing the adjustment of the amplitude of the vibration superimposed on the reciprocating vibration of the profiling push block 515 in the entire feeding mechanism, which is convenient for debugging to enable the profiling push block 515 to smoothly and accurately push the U-shaped copper tube and the guide pin 1 into the fin mounting holes to be penetrated.

[0062] Preferably, a profiling limit groove is provided on the surface of the profiling push block 515 away from the feeding mechanism mounting seat 511. The bottom of the profiling limit groove is a curved surface, and the curved surface matches the bent portion of the U-shaped copper tube. The number of profiling limit grooves corresponds to the number of U-shaped copper tubes on the fin group. The matching of the curved surface with the bent portion of the U-shaped copper tube can better apply a force to the U-shaped copper tube, prevent the profiling push block 515 from contacting the bent portion of the U-shaped copper tube in a line-plane form, and prevent the U-shaped copper tube from being unevenly stressed.

[0063] Preferably, a lifting mechanism is further provided between the driving mechanism and the torque feedback linear module 53. The lifting mechanism includes a lifting mechanism mounting seat 541 connected to the torque feedback linear module 53 and a linear drive 542 installed on the lifting mechanism mounting seat 541. The torque feedback linear module 53 drives the lifting mechanism mounting seat 541 to move along the direction of the insertion tube, and the linear drive 542 drives the driving mechanism and the feeding mechanism to lift in the vertical plane perpendicular to the direction of the insertion tube. The lifting mechanism can adjust the position of the feeding mechanism in the vertical direction to align with the U-shaped copper tube in the horizontal direction, enabling the feeding mechanism to horizontally push the U-shaped copper tube, which is beneficial for tube insertion.

[0064] Specifically, the linear drive 542 uses a slide cylinder. In this embodiment, a double-axis precision slide cylinder is selected for the 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 driving mechanism mounting plate 521.

[0065] Specifically, a reinforcement mounting plate 543 is mounted on the side of the body of the slide table cylinder, and the reinforcement mounting plate 543 is vertically fixed to the lifting mechanism mounting seat 541. A rib plate 544 is provided at the 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 table cylinder.

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

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

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

[0069] Specifically, the third guiding mechanism includes two groups of second linear guide rails 548. The sliders of the second linear guide rails 548 are connected to the lifting mechanism mounting seat 541, and the guide rails of the second linear guide rails 548 are mounted on a plurality of spaced guide rail mounting seats 549. The guide rail mounting seats 549 are mounted on the support table of the insertion tube system for automatically inserting U-shaped copper tubes.

[0070] Specifically, as Figure 5 shown, the guiding 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. Among them, the front end of the guiding needle 1 is the end that first inserts into the mounting hole. The insertion end 11 of the guiding 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 first inserts into the mounting hole. During the insertion process, even if there are slight unevenness in the mounting holes of the fins in the fin group, it can be corrected by the conical structure of the insertion end 11; the docking end 12 of the guiding 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 along the direction away from the insertion end 11 to facilitate guiding when the U-shaped copper tube is docked with the docking end 12.

[0071] Since there is a guiding needle 1 guiding in front before the U-shaped copper tube enters the mounting hole at the end of the fin group, the U-shaped copper tube can be accurately inserted.

[0072] Preferably, as shown in Figure 2 , Figure 5 , Figure 11 , Figure 12 and Figure 13 , the guiding needle insertion mechanism 2 includes a slide rail frame 21 located above the fin group to be inserted. A transverse drive 22 and a longitudinal drive 23 are arranged on the slide rail frame 21. The transverse drive 22 drives the insertion component 24 to move along the tube insertion direction, and the longitudinal drive 23 drives the insertion component 24 to move along a direction perpendicular to the tube insertion direction; the insertion component 24 can clamp the guiding needle 1, and the transverse drive 22 and the longitudinal drive 23 drive the insertion component 24 to align the guiding needle 1 with the mounting hole at the end of the fin group, and the insertion component 24 pushes the front end of the guiding needle 1 into the mounting hole at the end of the fin group. The insertion component 24 clamps the guiding needle 1, the transverse drive 22 drives the insertion component 24 to move along the tube insertion direction to one end of the fin group, the longitudinal drive 23 drives the insertion component 24 to move along a direction perpendicular to the tube insertion direction to align the guiding needle 1 with the mounting hole at the end of the fin group, then the insertion component 24 pushes the front end of the guiding needle 1 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 docking end 12 of the guiding needle 1 is exposed, realizing the placement of the guiding needle 1. In this embodiment, the transverse drive 22 and the longitudinal drive 23 can adopt electric cylinders or standard lead screw modules and other linear modules that can be accurately controlled.

[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 block 25 to move along the tube insertion direction. The longitudinal drive 23 is installed on the slide block 25, and the longitudinal drive 23 is connected to the insertion component 24.

[0074] Specifically, a pressing mechanism 26 is further arranged on the cross beam of the slide rail frame 21. The pressing mechanism 26 is used to press on the fin group to prevent the fins from shaking up and down during tube insertion, which affects tube insertion. The pressing mechanism 26 includes a pressing driver and a pressing plate, and the pressing driver drives the pressing plate to move up and down. In this embodiment, the pressing driver can adopt an air cylinder, which is beneficial to reducing the volume.

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

[0076] Specifically, during the intubation process, the fin group is located between the two columns and below the cross beam. When the insertion member 24 inserts the front end of the guiding needle 1 into the mounting hole at one end of the fin group, the insertion member 24 can be moved to the other end of the fin group through the lateral drive 22 and the longitudinal drive 23, and can receive the guiding needle 1 pushed out from the other end of the fin group.

[0077] Specifically, the guiding needle 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 the mounting seat driven by the longitudinal drive 23, and the other end extends out of the mounting seat. The 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 relief holes are provided on the base plate 243 and the pressing plate 244 to facilitate the penetration and withdrawal of the guiding needle 1.

[0078] Specifically, in combination with Figure 2 , Figure 5 , Figure 11 , Figure 13 , Figure 14 and Figure 15 as shown, the storage bin component includes a ball plunger 2411, a ball plunger sleeve 2412, and a guiding needle sleeve 2413 for storing the guiding needle 1. A spherical engagement groove 13 is provided in the circumferential direction of the guiding needle 1.

[0079] The outer periphery of the guiding needle sleeve 2413 is provided with a boss mounting portion 2414, and a first guiding groove structure 2415 is provided at the top of the boss mounting portion 2414. A first sphere 2416 is provided in the first guiding groove structure 2415. A first communication hole structure 2417 communicating with the inside of the guiding needle sleeve 2413 is provided at the bottom of the first guiding groove structure 2415. The ball plunger sleeve 2412 is fixedly connected to the boss mounting portion 2414. An assembly hole structure 2418 is provided at the top of the ball plunger sleeve 2412. The ball plunger 2411 is fixedly connected to the ball plunger sleeve 2412 through the external thread provided on the outer periphery and the internal thread provided in the assembly hole structure 2418, and is fixed by a hexagon nut.

[0080] The ball head plunger 2411 is provided with a second guide groove structure 2419. A second communication hole structure 2420 communicating with the first guide groove structure 2415 is opened at the bottom end of the second guide groove structure 2419. The bottom end of the second guide groove structure 2419 is disposed opposite to the top end of the first guide groove structure 2415, and a second sphere 2421 is provided 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 communication hole structure 2420. The diameters of the first guide groove structure 2415 / the second guide groove structure 2419 are the same as the diameters 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, ensuring that the first sphere 2416 / the second sphere 2421 can vertically move in the first guide groove structure 2415 / the second guide groove structure 2419.

[0081] The diameters of the first communication hole structure 2417 / the second communication hole structure 2420 are smaller than the diameters of the first sphere 2416 / the second sphere 2421. The bottom end of the first sphere 2416 passes through the first communication hole structure 2417 and is located inside the guide needle sleeve 2413, preventing the first sphere 2416 from detaching from the first guide groove structure 2415 when the guide needle 1 moves inside the guide needle sleeve 2413 without a guide needle. The sphere clamping 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 straight lines where the central axes of the first guide groove structure 2415, the second guide groove structure 2419, the first communication hole structure 2417, and the second communication hole structure 2420 are located coincide; ensuring that the planes where the horizontal tangents of the bottom ends of the first sphere 2416 / the second sphere 2421 are located are respectively below the tops of the first communication hole structure 2417 / the second communication hole structure 2420, so as to ensure that when the guide needle 1 moves inside the guide needle sleeve 2413, the top surface of the guide needle 1 can contact and drive the first sphere 2416 to vertically move along the first guide groove structure 2415. Furthermore, the vertical movement of the first sphere 2416 drives the second sphere 2421 to vertically move along the second guide groove structure 2419 until the first sphere 2416 is clamped with the sphere clamping groove 13 to realize the limit locking of the guide needle 1. In this embodiment, by changing the force direction inside the ball head plunger, the ball head plunger only receives the force in the vertical direction and is not affected by the impact force in the horizontal direction due to the sphere structure, reducing the damage to the ball head plunger and greatly improving the service life of the ball head plunger.

[0082] Specifically, the pushing component 242 includes: a longitudinal pushing drive 245, a transverse pushing drive 246, a pushing seat 247, and a plurality of push rods 248. The plurality of push rods 248 correspond to the plurality of guide pin storage bins 241 one by one, and the plurality of push rods 248 are installed on the pushing seat 247. The longitudinal pushing drive 245 is installed on the side of the mounting seat. The longitudinal pushing drive 245 drives the transverse pushing drive 246 to move vertically. The transverse pushing drive 246 drives the pushing seat 247 and then drives the push rods 248 to move along the direction of the insertion tube. The longitudinal pushing drive 245 adjusts the position of the push rods 248 to align them with the guide pins 1 in the storage bin assembly. The transverse pushing drive 246 drives the push rods 248 to push the guide pins 1, so that the spherical body clamping groove 13 drives the first spherical body 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 out the guide pin 1, 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 penetrates into the corresponding storage bin assembly; the guide pin 1 slides in the guide pin sleeve 2413. When the top surface of the guide pin 1 contacts the first spherical body 2416, continue to move the guide pin 1 to drive the first spherical body 2416 to move vertically along the first guide groove structure 2415. As the first spherical body 2416 moves, it further drives the second spherical body 2421 in contact with it to move vertically along the second guide groove structure 2419 until when the spherical body clamping groove 13 is located at the bottom end of the first communication hole structure 2417, the first spherical body 2416 drops, and its bottom end is clamped with the spherical body clamping groove 13. At this time, the second spherical body 2421 moves vertically downward along the second guide groove structure 2419 and abuts against the top end of the first spherical body 2416 again. Finally, the insertion component 24 separates the guide pin 1 from the U-shaped copper tube to realize the limit locking of the guide pin 1, and then completes the recovery of the guide pin 1.

[0083] Specifically, in combination with Figure 2 、 Figure 3 、 Figure 5 、 Figure 11 、 Figure 16 and Figure 17 shown, where Figure 16 and Figure 17Figure 0 shows the front and rear positions where the head angle rotation mechanism 32 drives the cannula clamping mechanism 33 to swing by a certain angle. The manipulator component 3 has a cannula robot 31. The end of the cannula robot 31 is rotatably connected to the head angle rotation mechanism 32 around the vertical axis. 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 jaw 331 and a rear jaw 332. The rear jaw 332 can move in a direction close to or away from the front jaw 331 (i.e., the cannula insertion direction). The inner diameter of the clamping hole of the front jaw 331 is slightly larger than the outer diameter of the U-shaped copper tube. The rear jaw 332 can clamp the U-shaped copper tube and move it in a direction close to the front jaw 331, while the position of the front jaw 331 remains fixed. In this embodiment, the cannula robot 31 is a horizontal multi-joint robot. The head angle rotation mechanism 32 can drive the cannula clamping mechanism 33 to swing by 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 need for inserting the U-shaped copper tube in an inclined state into the fin group, improving the applicability.

[0084] Specifically, the device further includes a vision camera 8. The vision camera 8 is used to position the docking end 12 of the guiding needle 1, so that the U-shaped copper tube can be accurately docked on the docking end 12 of the guiding needle 1. The vision camera 8 is connected to the controller of the production line. The image of the docking end 12 of the guiding needle 1 is collected by the vision camera 8 and transmitted to the controller, and the docking end 12 of the guiding needle 1 is positioned by the corresponding vision software in the controller to ensure that the U-shaped copper tube can be accurately docked with the guiding needle 1.

[0085] Specifically, the vision camera 8 is driven by a camera lifting mechanism to move up and down, so as to adjust the vision camera 8 up and down to face the docking end 12 of the guiding needle 1.

[0086] Specifically, lighting sources can also be provided on the two columns of the slide rail frame 21 for lighting in case of insufficient light, which is convenient for the vision camera 8 to collect images.

[0087] Preferably, as shown in Figure 2 、 Figure 3 and Figure 18 , the single cannula unit further includes a conveying device 6. The conveying device 6 is used to convey the fixing tooling 7 perpendicular to the cannula insertion direction in the horizontal plane, so as to convey the fin group of the previous process to the single cannula unit for cannulation.

[0088] Specifically, the conveying device 6 includes a stop mechanism. The stop mechanism blocks the conveying of the fixing tooling 7, so that the fixing tooling 7 is initially positioned along the conveying direction. Then, after precise positioning by the tooling positioning and lifting mechanism 4, the fixing tooling 7 loaded with the fin group to be cannulated is lifted to a specified height for cannulation.

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

[0090] Preferably, as shown in Figure 2 , Figure 19 , Figure 20 , Figure 21 , Figure 22 and Figure 23 , the fixing fixture 7 includes: a fixture plate 71, a first clamping mechanism, a second clamping mechanism and a connecting component;

[0091] The first clamping mechanism is installed on the fixture plate 71 and is used to clamp the fin group along the direction perpendicular to the stacking direction of the heat exchanger fin group (i.e., the inserting tube direction); the first clamping mechanism includes a first clamping plate component and a first clamping component, and 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 fixture 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, and 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 convey the fixture plate 71.

[0094] Place the fin group before inserting the tube on the fixture 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 convey the fixture plate 71, and the fin group is conveyed along with the fixture plate 71. After the fin assembly after inserting the tube is clamped by the first clamping mechanism and the second clamping mechanism, it is conveyed along with the fixture 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 a clamping force for the first movable clamping plate 722; the first fixed clamping plate 721 is fixedly arranged on the fixture plate 71, the first fixed clamping plate 721 and the first movable clamping plate 722 are arranged oppositely, and the first clamping component installed on the fixture 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 lengths of the first fixed clamping plate 721 and the first movable clamping plate 722 are 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 fixed seats 724 are fixed on the fixture plate 71 by a first set of screws, and the first fixed clamping plate 721 is fixed by a second set of screws and T-shaped nuts through the first fixed seats 724.

[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 , Figure 19 , Figure 20 , Figure 22 , Figure 23 and Figure 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 stopper 7237 is provided between the connecting plate 7236 and the tooling plate 71. The stopper 7237 is used to limit the position of the connecting plate 7236 moving along the direction perpendicular to the fin stack direction, thereby defining the minimum distance between the first fixed clamping plate 721 and the first movable clamping plate 722, and avoiding damage to the fins due to excessive clamping force between the first fixed clamping plate 721 and the first movable clamping plate 722.

[0103] Specifically, the stopper 7237 is made of flexible materials such as rubber to achieve a certain buffering effect when the first spring 7232 applies a force or when the entire flexible fixing tooling is positioned and stopped during transportation.

[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, in combination Figure 2 、 Figure 19 、 Figure 20 、 Figure 21 、 Figure 22 and Figure 23 As shown, the second clamping plate component includes a second fixed clamping plate 731 and a second movable clamping plate 732. The second clamping component provides a 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 oppositely, 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 the fin assembly.

[0106] Preferably, the second clamping component includes: a second sliding plate 7331 capable of sliding along the fin stack direction, 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 guiding component 7335; the second sliding plate 7331 is connected to the second movable clamping plate 732, and the second guiding component 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. 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, in combination Figure 2 、 Figure 19 、 Figure 20 、 Figure 22 and Figure 25As shown, the second fixed clamping plate 731 includes a first fixed clamping jaw 7311 and a second fixed clamping jaw 7312 that are spaced apart along a direction perpendicular to the stacking direction of the fin groups. 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, arc-shaped notches are provided at the upper ends of the first movable clamping jaw 7321, the first fixed clamping jaw 7311, the second movable clamping jaw 7322, and the second fixed clamping jaw 7312. The arc-shaped notches of the first movable clamping jaw 7321 and the first fixed clamping jaw 7311 respectively hold up the two ends of a U-shaped copper tube inserted into the mounting holes of the lowermost layer of the fin group. The arc-shaped notches of the second movable clamping jaw 7322 and the second fixed clamping jaw 7312 respectively hold up the two ends of another U-shaped copper tube inserted into the mounting holes of the lowermost layer of the fin group. The first movable clamping jaw 7321, the first fixed clamping jaw 7311, the second movable clamping jaw 7322, and the second fixed clamping jaw 7312 lift up the fin assembly.

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

[0111] Specifically, two arc-shaped notches are provided at the upper ends of both the first movable clamping jaw 7321 and the second movable clamping jaw 7322, and the two arc-shaped notches correspondingly hold up the two straight parts of 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 , Figure 19 , Figure 20 , Figure 22 , Figure 23 and Figure 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 arranged under the tooling plate 71. The two support plates 741 are arranged oppositely, and the lower surface of the support plate 741 is used to cooperate with the double-speed chain body of the conveying device 6; two rotatable rollers 742 are arranged on each support plate 741. The four rollers 742 are divided into two groups, and the two groups of rollers 742 roll along one side of the two sides of the double-speed chain body respectively for positioning.

[0118] Preferably, the connecting component further includes a positioning plate 743 fixedly arranged under the tooling plate 71. The positioning plate 743 is used to cooperate with the positioning mechanism of the conveying device 6 for positioning along the conveying direction.

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

[0120] Preferably, four third positioning sleeves 744 are fixedly arranged under the tooling plate 71. The four third positioning sleeves 744 cooperate with the tooling positioning lifting mechanism 4 installed on both sides of the conveying device 6 to lift the flexible fixing tooling away from the conveying device 6.

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

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

[0123] Specifically, in combination with Figure 2 、 Figure 20 and Figure 26 As shown, the tooling positioning lifting mechanism 4 includes two groups of elevators. The two groups of elevators are located on both sides of the double-speed chain body, and 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 body, the elevator drive 44 is installed on the support frame 41, and the elevator drive 44 drives the support plate 42 to lift and lower. Two positioning pins 43 are fixedly installed on the support plate 42, and the positioning pins 43 cooperate with the third positioning sleeves 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 intubation height, the upper surface of the baffle 745 of the fixed tooling 7 abuts against the lower surface of the height positioning plate 45 to achieve the height positioning of the fixed tooling 7.

[0124] Specifically, in combination with Figure 1 、 Figure 2 、 Figure 3 、 Figure 19 、Figure 20 , Figure 27 and Figure 28 As shown in Figure 1 and , the device includes a plurality of single-tube inserting units connected in sequence along the conveying direction of the fixed tooling 7. Six single-tube inserting units are taken as an example for illustration in Figure 1 . The single-tube inserting units are connected by their respective conveying devices 6 to realize the front-to-back conveying of the fixed tooling 7. After the tooling positioning and lifting mechanism 4 lifts the fixed tooling 7, the subsequent fixed tooling 7 can pass below it without affecting the feeding of each single-tube inserting unit. Since the tube inserting process time for a single fin group is relatively long, simultaneous tube inserting by multiple single-tube inserting units can shorten the process time, increase the output of the tube inserting process, and thus improve the production capacity of the production line. Figure 1 Specifically, the double-speed chain body of the conveying device 6 includes a conveying double-speed chain and a return double-speed chain. The conveying double-speed chain is located above the return double-speed chain. The input end of the conveying double-speed chain and the output end of the return double-speed chain are at the same end, and the output end of the conveying double-speed chain and the input end of the return double-speed chain are at the same end. The conveying double-speed chains of the six single-tube inserting units are connected in sequence, and the return double-speed chains are connected in sequence. A first lifting mechanism is provided at the front end of the six single-tube inserting units, and a second lifting mechanism is provided at the rear end. A plurality of fixed toolings 7 are conveyed along the conveying direction on the conveying double-speed chain. After the fixed tooling 7 is conveyed to the second lifting mechanism at the rear end of the six single-tube inserting units, the fin assembly after tube inserting is taken out from the fixed tooling 7 by the blanking robotic arm. The second lifting mechanism is used to move the empty fixed tooling 7 to the input of the return double-speed chain. The empty fixed tooling 7 is conveyed back to the front end of the six single-tube inserting units along with the return double-speed chain, and the first lifting mechanism moves the empty fixed tooling 7 to the input end of the conveying double-speed chain for input, realizing the circular conveying of the fixed tooling 7.

[0125] Specifically, the first lifting mechanism and the second lifting mechanism have the same structure. Taking the first lifting mechanism as an example, a cylinder lifting mechanism 61 and a belt conveying mechanism 62 are provided on the first lifting mechanism. The belt conveying mechanism 62 can pick up the fixed tooling 7 from the return double-speed chain. The cylinder lifting mechanism 61 is used to drive the belt conveying mechanism 62 and the fixed tooling 7 to lift. After the cylinder lifting mechanism 61 rises to align the belt conveying mechanism 62 with the conveying double-speed chain, the belt conveying mechanism 62 can convey the fixed tooling 7 onto the conveying double-speed chain.

[0126]

[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 , Figure 18 and Figure 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; The driving mechanism further comprises a driving mechanism mounting plate (521), the power source comprises a driving motor (522), the reciprocating transmission mechanism comprises 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 mounted 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; 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); 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); 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).

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 cam sleeve (5233) and the material pushing mechanism mounting seat (511) are also provided with a connecting piece, one end of which is fixed to the material pushing mechanism mounting seat (511) and the other end of which is rotatably connected to the cam sleeve (5233) via a rotating pin (5235).

3. 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 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).

4. 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), the lifting mechanism comprising: 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 move up and down in a vertical plane in a direction perpendicular to the insertion direction.

5. 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) comprises 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.

6. The high-efficiency circulating transfer device for inserting tubes of fins used in the refrigeration field according to claim 5 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) is capable of aligning the guide needle (1) clamped in the receiving hole, and pushing the guide needle (1) out of the receiving hole along 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 single-body 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.

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 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 plate 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 plate 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 convey the tooling plate (71).

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