Automatic U-tube inserting equipment for condenser

Abstract

The invention relates to the technical field of condenser production, and provides condenser automatic U-pipe inserting equipment which comprises a large bottom plate, a U-pipe feeding part, a U-pipe transition shaping part, a U-pipe separation part after shaping, a manipulator, a condenser incoming material production line and the like. The bottom surface of the large bottom plate is fixedly connected with a case; one side of the upper surface of the large bottom plate is fixedly connected with a U-shaped pipe feeding part; a U-shaped pipe transition shaping part fixed on the surface of the large bottom plate is arranged on the right side of the U-shaped pipe feeding part; the rear side of the U-shaped pipe transition shaping part is provided with a U-shaped pipe post-shaping separation part fixed on the surface of the large bottom plate; a condenser incoming material production line placed on the ground is arranged on the rear side of the case; according to the automatic U-pipe inserting machine, U-pipes are automatically fed through the vibration disc, the shapes of the U-pipes are shaped, the U-pipes are automatically inserted into the condenser through the mechanical arm, the inserting efficiency can be greatly improved, the production cost can be reduced, and meanwhile the stability of the inserting quality of the U-pipes can be guaranteed.

Description

Technical Field

[0001] The invention relates to automatic U-tube inserting equipment for a condenser, belonging to the technical field of condenser production. Background Art

[0002] The condenser is a component of the refrigeration system and a type of heat exchanger. It can convert gas or steam into liquid and transfer the heat in the tube to the air near the tube in a very fast way. During the processing of the condenser, the U-shaped tube needs to be plugged into the interface of the condenser. The interfaces on the condenser are grouped in pairs, and the two ends of the U-shaped tube are respectively plugged into a group of interfaces that match each other. The Chinese utility model patent with patent number CN202221802508.X discloses an automobile condenser with an anti-collision function. A U-shaped bracket is set at each end of the plate frame. The U-shaped bracket Two triangular support structures are provided at the bottom end, and the two triangular support structures are symmetrically arranged on both sides of the plate frame, which can provide firm support for the plate frame from both ends of the plate frame, which is safe and reliable. In addition, the split structural design is convenient for disassembly and replacement; the Chinese utility model patent with patent number CN202021234266.X discloses a short U-tube automatic sleeve pipe mouth shaping structure for a tube-fin condenser, which fixes the short U-tube through a clamping assembly, avoiding the shaking of the short U-tube when the shaping part is working, thereby improving the processing accuracy of the short U-tube, and does not require experienced operators.

[0003] However, the prior art has the following problems: In the prior art, the U-shaped tube is mostly inserted into the interface manually, which is inefficient, costly, and has low assembly precision and cannot meet the needs of mass production. Therefore, improvements are needed. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an automatic U-tube insertion device for a condenser, which can fully automatically install the U-tube with high installation efficiency.

[0005] The present invention is achieved through the following technical solutions.

[0006] A condenser automatic U-tube insertion device comprises a large base plate, a chassis, a U-tube feeding component, a U-tube transition shaping component, a U-tube separation component after shaping, a base, a manipulator, an end fixture and a condenser incoming material production line; the bottom surface of the large base plate is fixedly connected to the chassis; the chassis is placed on the ground through casters; a U-tube feeding component is fixedly connected to one side of the upper surface of the large base plate; a U-tube transition shaping component fixed to the surface of the large base plate is provided on the right side of the U-tube feeding component; a U-tube separation component fixed to the surface of the large base plate is provided on the rear side of the U-tube transition shaping component; a base fixed to the surface of the large base plate is provided on the left side of the U-tube separation component; a manipulator is fixedly connected to the surface of the base; a telescopic shaft at the end of the manipulator is fixedly connected to the end fixture; a condenser incoming material production line placed on the ground is provided on the rear side of the chassis.

[0007] The U-tube feeding component includes a vibration disk component, an incoming material conveying track component, a transfer positioning component and an outer ring shaping and handling component; the bottom surface of the vibration disk component is fixed to the surface of the large bottom plate; the end of the vibration disk component is provided with an incoming material conveying track component; the end of the incoming material conveying track component is provided with a transfer positioning component fixed to the surface of the large bottom plate; one side of the transfer positioning component is provided with an outer ring shaping and handling component fixed to the surface of the large bottom plate; the incoming material conveying track component includes a conveying track and a height shield; the side of the conveying track is fixedly connected to the height shield; the bottom of the conveying track is provided with a track bottom plate, and the middle of the track bottom plate surface is provided with a guide protrusion; outer ring avoidance grooves are symmetrically provided on both sides of the guide protrusion; the edge of the guide protrusion surface is provided with an avoidance chamfer for the inner side of the U tube.

[0008] The transfer positioning component includes a transfer frame, a clamping cylinder, an L-shaped connecting plate, a stop plate, a push rod lifting cylinder, a circular push rod, a transfer plate fixing block, a transfer plate, a sensor fixing plate and an incoming material detection sensor; the bottom surface of the transfer frame is fixed to the surface of the large bottom plate; the upper surface of the transfer frame is fixedly connected with a clamping cylinder; the moving parts on both sides of the clamping cylinder are symmetrically fixedly connected with the L-shaped connecting plate; the side of the L-shaped connecting plate is fixedly connected with a stop plate; the side of the transfer frame is fixedly connected with a push rod lifting cylinder; the moving end of the push rod lifting cylinder is fixedly connected with an array of circular push rods through a connecting plate; transfer plate fixing blocks fixed to the side of the transfer frame are symmetrically arranged on both sides of the push rod lifting cylinder; the upper surface of the transfer plate fixing block is fixedly connected with the transfer plate; the side of the transfer plate is fixedly connected with the sensor fixing plate; the surface of the sensor fixing plate is threadedly connected with the incoming material detection sensor.

[0009] The transfer plate includes a U-shaped notch, an arc-shaped protrusion and a limit baffle; an array of U-shaped notches is arranged in the middle of the transfer plate surface; arc-shaped protrusions are arranged between the U-shaped notches; a limit baffle is arranged on the side of the arc-shaped protrusion; an arc-shaped notch is arranged on the end face of the stop plate; and the end face of the circular top rod is conical.

[0010] The outer ring shaping and handling components include an outer shape shaping and handling frame, a handling cylinder, a handling linear rail, a suction cylinder mounting seat, a suction cylinder, a suction U-tube assembly fixing plate, a suction U-tube assembly, an outer ring shaping jig fixing plate and an outer ring shaping jig; the bottom surface of the outer shape shaping and handling frame is fixed to the surface of the large base plate; the surface of the outer shape shaping and handling frame is fixedly connected with the handling cylinder; the end of the telescopic shaft of the handling cylinder is fixedly connected to the suction cylinder mounting seat through a floating joint; the suction cylinder mounting seat is slidably connected to the handling linear rail through a slider; the bottom array of the suction cylinder mounting seat is fixedly connected with the suction cylinder; the end surface of the moving end of the suction cylinder is fixedly connected with the suction U-tube assembly fixing plate; the side of the suction U-tube assembly fixing plate is fixedly connected with the suction U-tube assembly; the bottom surface of the handling linear rail is fixed to the surface of the outer shape shaping and handling frame; the upper surface of the outer shape shaping jig fixing plate is fixedly connected with the outer ring shaping jig; the upper surface of the outer ring shaping jig fixing plate is fixedly connected with the outer ring shaping jig.

[0011] The U-tube suction assembly includes an outer shape positioning cover, a T-shaped suction rod, a quick connector and a vacuum suction; the inner cavity of the outer shape positioning cover is slidably connected to the T-shaped suction rod; the bottom surface of the T-shaped suction rod is fixedly connected to the vacuum suction; the side of the T-shaped suction rod is threadedly connected to the quick connector; an array of rectangular through grooves are provided inside the outer shape positioning cover; a contoured notch is provided at the end of the side of the rectangular through groove; an arched notch is provided between adjacent rectangular through grooves; a release notch perpendicular to the arched notch is provided on the surface of the outer shape positioning cover; a transverse vent is provided inside the T-shaped suction rod; the vertical vent runs vertically through the transverse vent; the outer ring shaping fixture includes a shaping ring and a release groove; an array of shaping rings is provided on the surface of the outer ring shaping fixture; a release groove is provided in the middle of the shaping ring.

[0012] The U-tube transition shaping component includes a transition shaping frame, a rotating cylinder, a conversion plate, a U-tube lifting component, a station switching motor, a rotating shaft, a cross rotating plate, a pneumatic rotary joint, a defective product box and a camera defect detection component; the bottom surface of the transition shaping frame is fixed to the surface of the large bottom plate; the upper surface of the transition shaping frame is fixedly connected to the rotating cylinder; the surface of the rotating part of the rotating cylinder is fixedly connected to the conversion plate; one side of the rotating cylinder is provided with a U-tube lifting component fixed to the side of the transition shaping frame; after the output shaft of the station switching motor passes through the through hole of the transition shaping frame, The coupling is fixedly connected to the rotating shaft; the rotating shaft is rotatably connected to the transition shaping frame through a bearing; a cross-turn plate is fixedly connected to the end of the rotating shaft; the lower surface of the cross-turn plate is connected to the suction U-tube assembly through a circumferential array of connecting blocks; a pneumatic rotary joint is fixedly connected to the middle of the upper surface of the cross-turn plate; a camera defect detection component fixed to the side of the transition shaping frame is provided below one end of the cross-turn plate; a defective product box placed on the surface of the large bottom plate is provided at the other end of the cross-turn plate; positioning countersunk holes are symmetrically provided at both ends of the surface of the conversion plate; an array of top rod through holes are provided on the bottom surface of the positioning countersunk holes.

[0013] The U-tube shaping post-separation component comprises a U-tube straight vibration component, a second U-tube lifting component and a material distribution rotating disk component; the bottom surface of the U-tube straight vibration component is fixed to the surface of the large bottom plate; one end of the U-tube straight vibration component is provided with a second U-tube lifting component fixed to the surface of the large bottom plate, and the other end is provided with a material distribution rotating disk component fixed to the surface of the large bottom plate; the material distribution rotating disk component comprises a rotating component frame, a material distribution disk reduction motor, a material distribution rotating shaft, a material distribution disc, a material distribution positioning step, a turntable outer ring, a turntable edge guard, a turntable feed transition block, a second sensor mounting plate and a second sensor; the bottom surface of the rotating component frame is fixed to the surface of the large bottom plate; the output shaft of the material distribution disk reduction motor passes through the rotating component After the frame is through-hole, it is fixedly connected to the material distribution shaft through a coupling; a material distribution disc is fixedly connected to the end of the material distribution shaft; a material distribution positioning step is fixedly arranged in an array on the surface of the material distribution disc in a circumferential direction; a turntable outer ring fixed to the surface of the rotating component frame is provided at the edge of the material distribution disc; a turntable edge guard is fixedly connected to the upper surface of the turntable outer ring; a turntable feed transition block is fixedly connected to the surface of the notch of the turntable outer ring; a second sensor mounting plate fixed in an array on the surface of the rotating component frame is provided around the outer ring of the turntable; a second sensor is fixedly connected to the surface of the second sensor mounting plate; a material distribution positioning step positioning groove is arranged circumferentially on the surface of the material distribution disc; U-tube through holes are arranged on both sides of the positioning groove of the material distribution positioning step.

[0014] The end fixture comprises an end disc, a camera positioning component, a U-tube mounting cylinder, a second suction U-tube assembly fixing plate, a vertical linear rail and a vertical linear rail mounting plate; the upper end of the end disc is fixedly connected to the telescopic shaft of the manipulator; the side of the end disc is fixedly connected to the camera positioning component; the surface array of the end disc is fixedly connected to the U-tube mounting cylinder; after the telescopic shaft of the U-tube mounting cylinder passes through the through hole of the end disc, it is fixedly connected to the second suction U-tube assembly fixing plate through a floating joint; the bottom surface of the second suction U-tube assembly fixing plate is slidably connected to the vertical linear rail through a slider; the bottom surface of the vertical linear rail is fixed to the side of the vertical linear rail mounting plate; the upper surface of the vertical linear rail mounting plate is fixed to the lower surface of the end disc; the surface of the second suction U-tube assembly fixing plate is fixedly connected to the suction U-tube assembly.

[0015] The condenser incoming material production line includes a condenser conveying component and a condenser clamping and positioning component; the bottom surface of the condenser conveying component is placed on the ground; the end of the condenser conveying component is provided with a condenser clamping and positioning component placed on the ground; the condenser clamping and positioning component is located at the rear side of the chassis; the condenser clamping and positioning component includes a conveyor frame, a conveyor, a guide frame, a condenser clamping cylinder, a limit cylinder mounting plate, a limit cylinder, a limit plate and a clamping cylinder fixing bracket; the upper part of the conveyor frame is fixedly connected to the conveyor; guide frames fixed to the conveyor frame are provided on both sides of the conveyor; a clamping cylinder fixing bracket fixed to the conveyor frame is provided on the inner side of the guide frame; an array of condenser clamping cylinders are provided on the surface of the clamping cylinder fixing bracket; the side of one end of the conveyor frame is fixedly connected to the limit cylinder mounting plate; the side of the limit cylinder mounting plate is fixedly connected to the limit cylinder; the end face of the moving end of the limit cylinder is fixedly connected to the limit plate.

[0016] The beneficial effects of the present invention are: automatically feeding U-tubes through a vibration plate, shaping the U-tube shape, and automatically inserting U-tubes into a condenser using a robot, which can greatly improve the insertion efficiency, reduce production costs, and at the same time ensure the stability of the U-tube insertion quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall structure diagram of the present invention; Figure 2 is a U-tube to be assembled in the present invention; Figure 3 yes Figure 1 Structure diagram of the middle U tube feeding components; Figure 4 yes Figure 3 Structure diagram of the incoming material conveying track components; Figure 5 yes Figure 4 Structure diagram of the middle conveyor track; Figure 6 yes Figure 3 Structure diagram of the transfer positioning components; Figure 7 yes Figure 6 Structure diagram of the transfer board; Figure 8 yes Figure 3 Structural diagram of the middle and outer ring shaping and handling components; Fig. 9 yes Figure 8 Structure diagram of the middle and outer ring shaping jig; Fig.10 yes Figure 8 Structure diagram of the middle suction U-tube assembly; Fig.11 yes Fig.10 Structure diagram of the middle profile positioning cover; Fig.12 yes Fig.10 Cross-sectional view of the middle T-shaped suction rod structure; Fig.13 yes Figure 1 Structure diagram of the middle U-tube transition shaping component; Fig.14 yes Fig.13 Structure diagram of the intermediate conversion board; Fig.15 yes Figure 1 The structure diagram of the separated parts after the middle U tube is reshaped; Fig.16 yes Fig.15 The structural diagram of the center material distribution rotating disc components; Fig.17 yes Fig.16 Structure diagram of the center material dividing disc; Fig.18 yes Figure 1 Structure diagram of the middle and end fixtures; Fig.19 yes Figure 1 Structure diagram of the incoming material production line for the medium condenser; Fig. 20 yes Fig.19 Structural diagram of the clamping and positioning components of the middle condenser.

[0018] In the figure: 1. large base plate; 2. chassis; 3. U-tube feeding component; 31. vibration plate component; 32. incoming material conveying track component; 321. conveying track; 3211. track base plate; 3212. guide protrusion; 3213. outer ring avoidance groove; 3214. U-tube inner side avoidance chamfer; 322. height shield; 33. transfer positioning component; 331. transfer frame; 332. clamping cylinder; 333. L-shaped connecting plate; 334. stop plate; 3341. arc-shaped notch; 335. ejector cylinder; 336. round ejector; 337. transfer plate fixing block; 338. transfer plate; 3381. U-shaped notch; 3382. arc-shaped protrusion; 3383. limit baffle; 339. sensor fixing plate; 3310. Incoming material detection sensor; 34, outer ring shaping and handling components; 341, shape shaping and handling frame; 342, handling cylinder; 343, handling linear rail; 344, suction cylinder mounting seat; 345, suction cylinder; 346, suction U-tube assembly fixing plate; 347, suction U-tube assembly; 3471, shape positioning cover; 34711, rectangular through groove; 34712, contour notch; 34713, arched notch; 34714, card release notch; 3472, T-type suction rod; 34721, horizontal vent; 34722, vertical vent; 3473, quick connector; 3474, vacuum suction; 348, outer ring shaping fixture fixing plate; 349, outer ring shaping fixture; 3491, shaping ring; 3492, card release slot; 4, U-tube transition shaping component; 41, transition shaping frame; 42, rotating cylinder; 43, conversion plate; 431, positioning countersunk hole; 432, ejector through hole; 44, U-tube lifting component; 45, station switching motor; 46, rotating shaft; 47, cross turntable; 48, pneumatic rotary joint; 49, defective box; 410, camera defect detection component; 5, U-tube post-shaping separation component; 51, U-tube direct vibration component; 52, second U-tube lifting component; 53, material distribution rotating disk component; 531, rotating component frame; 532, material distribution disk reduction motor; 533, material distribution rotating shaft; 534, material distribution disc; 5341, material distribution positioning step positioning slot; 5342, U-tube perforation; 535, material distribution positioning step; 536, rotating Disk outer ring; 537, turntable edge guard; 538, turntable feed transition block; 539, second sensor mounting plate; 5310, second sensor; 6, base; 7, manipulator; 8, end fixture; 81, end disc; 82, camera positioning component; 83, U-tube mounting cylinder; 84, second suction U-tube assembly fixing plate; 85, vertical straight rail; 86, vertical straight rail mounting plate; 9, condenser incoming material production line; 91, condenser conveying component; 92, condenser clamping and positioning component; 921, conveyor frame; 922, conveyor; 923, guide frame; 924, condenser clamping cylinder; 925, limit cylinder mounting plate; 926, limit cylinder; 927, limit plate; 928, clamping cylinder fixing bracket; 10, U tube. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0020] The first embodiment of the present invention relates to Figure 1-20 The condenser automatic U-tube insertion device shown in the figure comprises a large base plate 1, a chassis 2, a U-tube feeding component 3, a U-tube transition shaping component 4, a U-tube post-shaping separation component 5, a base 6, a manipulator 7, an end fixture 8 and a condenser incoming material production line 9; the bottom surface of the large base plate 1 is fixedly connected to the chassis 2; the chassis 2 is placed on the ground through casters; a U-tube feeding component 3 is fixedly connected to one side of the upper surface of the large base plate 1; a U-tube transition shaping component 4 fixed to the surface of the large base plate 1 is provided on the right side of the U-tube feeding component 3; a U-tube post-shaping separation component 5 fixed to the surface of the large base plate 1 is provided on the rear side of the U-tube transition shaping component 4; a base 6 fixed to the surface of the large base plate 1 is provided on the left side of the U-tube post-shaping separation component 5; a manipulator 7 is fixedly connected to the surface of the base 6; the manipulator 7 The end telescopic shaft is fixedly connected with the end fixture 8; the rear side of the chassis 2 is provided with a condenser incoming material production line 9 placed on the ground; the large base plate 1 is the supporting plane of the entire equipment; the chassis 2 is used to install electronic control components; the U-tube loading component 3 is used to automatically load the U-tube; the U-tube transition shaping component 4 shapes the U-tube port to facilitate the subsequent smooth insertion into the condenser interface; the U-tube post-shaping separation component 5 is mainly used to disperse the U-tube after the outer ring is shaped, so as to facilitate the rapid grasping of the robot; the base 6 is used to fix the robot 7; the robot 7 is used to transport the U-tube 10 from the position of the U-tube post-shaping separation component 5 to the position of the condenser incoming material production line 9; the end fixture 8 is used to pick and place the U-tube 10; the condenser incoming material production line 9 is used for conveying incoming materials of the condenser.

[0021] The second embodiment of the present invention is basically the same as the first embodiment, mainly in that the scheme of the U-tube feeding component is optimized. The U-tube feeding component 3 includes a vibration disk component 31, an incoming material conveying track component 32, a transfer positioning component 33 and an outer ring shaping and conveying component 34; the bottom surface of the vibration disk component 31 is fixed to the surface of the large bottom plate 1; the end of the vibration disk component 31 is provided with an incoming material conveying track component 32; the end of the incoming material conveying track component 32 is provided with a transfer positioning component 33 fixed to the surface of the large bottom plate 1; one side of the transfer positioning component 33 is provided with an outer ring shaping and conveying component 34 fixed to the surface of the large bottom plate 1; the incoming material conveying track component 32 includes a conveying track 321 and a height shield 322; the side of the conveying track 321 is fixedly connected with the height shield 322; the bottom of the conveying track 321 is provided with a track bottom plate 3211, and the middle of the surface of the track bottom plate 3211 is provided with a guide protrusion 3212; the outer ring avoidance grooves 3213 are symmetrically provided on both sides of the guide protrusion 3212; the guide protrusion 3212 The surface edge is provided with an avoidance chamfer 3214 on the inner side of the U tube; the vibration disk component 31 can vibrate the U tube 10 out in an orderly manner; the incoming material conveying track component 32 can string the U tubes 10 coming out of the vibration disk component 31 together and move them forward in an orderly manner; the transfer positioning component 33 is the transfer position for positioning the U tube 10; the outer ring shaping and conveying component 34 is used to shape the end shape of the U tube 10 to ensure smooth subsequent insertion; the conveying track 321 mainly guides the movement of the U tube 10; the height shield 322 ensures that the U tube 10 is not vibrated out of the conveying track 321; the track bottom plate 3211 is used to support the force of the U tube 10; the guide protrusion 3212 is used to guide the U tube 10; the outer ring avoidance groove 3213 is used to avoid the protrusion on the end surface of the U tube 10; the U tube inner side avoidance chamfer 3214 is mainly used to avoid the arc surface on the inner side of the U tube 10.

[0022] The transfer positioning component 33 includes a transfer frame 331, a clamping cylinder 332, an L-shaped connecting plate 333, a stop plate 334, a push rod lifting cylinder 335, a round push rod 336, a transfer plate fixing block 337, a transfer plate 338, a sensor fixing plate 339 and an incoming material detection sensor 3310; the bottom surface of the transfer frame 331 is fixed to the surface of the large bottom plate 1; the upper surface of the transfer frame 331 is fixedly connected with a clamping cylinder 332; the two ends of the clamping cylinder 332 are fixedly connected to the bottom plate 1; The side moving part is symmetrically fixedly connected with an L-shaped connecting plate 333; the side of the L-shaped connecting plate 333 is fixedly connected with a stop plate 334; the side of the transfer frame 331 is fixedly connected with a push rod lifting cylinder 335; the moving end of the push rod lifting cylinder 335 is fixedly connected with an array of circular push rods 336 through a connecting plate; the two sides of the push rod lifting cylinder 335 are symmetrically provided with transfer plate fixing blocks 337 fixed to the side of the transfer frame 331; the upper surface of the transfer plate fixing block 337 A transfer plate 338 is fixedly connected; a sensor fixing plate 339 is fixedly connected to the side of the transfer plate 338; an incoming material detection sensor 3310 is threadedly connected to the surface of the sensor fixing plate 339; the transfer frame 331 is the supporting base of the transfer positioning component 33; the clamping cylinder 332 is used to provide power for clamping the stop plate 334; the L-shaped connecting plate 333 is used to transmit the clamping force of the clamping cylinder 332 to the stop plate 334; the push rod lifting cylinder 335 is used to provide power for lifting the circular push rod 336; the circular push rod 336 can loosen the U-tube 10 first when it is sucked up, so as to facilitate the subsequent suction; the transfer plate fixing block 337 is used to install and fix the transfer plate 338; the transfer plate 338 is used to transfer and place the U-tube 10; the sensor fixing plate 339 is used to fix the incoming material detection sensor 3310; the incoming material detection sensor 3310 is used to detect whether the U-tube 10 is placed at the transfer plate 338.

[0023] The transfer plate 338 includes a U-shaped notch 3381, an arc-shaped protrusion 3382 and a limit baffle 3383; an array of U-shaped notches 3381 is provided in the middle of the surface of the transfer plate 338; arc-shaped protrusions 3382 are provided between the U-shaped notches 3381; a limit baffle 3383 is provided on the side of the arc-shaped protrusion 3382; an arc-shaped notch 3341 is provided on the end face of the stop plate 334; the end face of the circular push rod 336 is conical, which can be quickly inserted into the inner cavity of the end of the U-tube 10 to lift it up; the U-shaped notch 3381 facilitates the U-tube 10 to slide into the surface of the arc-shaped protrusion 3382; the arc-shaped protrusion 3382 is mainly used to support and hold up the U-tube 10; the limit baffle 3383 is used to prevent the U-tube 10 from being strung out of the transfer plate 338; the arc-shaped notch 3341 can more smoothly block the U-tube 10.

[0024] The outer ring shaping and transporting component 34 includes a shape shaping and transporting frame 341, a transport cylinder 342, a transport linear rail 343, a suction cylinder mounting seat 344, a suction cylinder 345, a suction U-tube assembly fixing plate 346, a suction U-tube assembly 347, an outer ring shaping fixture fixing plate 348 and an outer ring shaping fixture 349; the bottom surface of the shape shaping and transporting frame 341 is fixed to the surface of the large base plate 1; the surface of the shape shaping and transporting frame 341 is fixedly connected with a transport cylinder 342; the transport cylinder 345 is fixedly connected to the surface of the large base plate 1; the transport cylinder 342 ... The end of the telescopic shaft of the cylinder 342 is fixedly connected to the suction cylinder mounting seat 344 through a floating joint; the suction cylinder mounting seat 344 is slidably connected to the transport line rail 343 through a slider; the bottom surface array of the suction cylinder mounting seat 344 is fixedly connected to the suction cylinder 345; the end surface of the moving end of the suction cylinder 345 is fixedly connected to the suction U-tube assembly fixing plate 346; the side of the suction U-tube assembly fixing plate 346 is fixedly connected to the suction U-tube assembly 347; the bottom surface of the transport line rail 343 is fixed on the shape shaping and transport The outer ring shaping jig fixing plate 348 is fixedly connected to the upper surface of the shape shaping and transport frame 341; the outer ring shaping jig fixing plate 348 is fixedly connected to the outer ring shaping jig 349 on the upper surface; the shape shaping and transport frame 341 is a tidying force-bearing platform for the outer ring shaping and transport component 34; the transport cylinder 342 can provide power for the horizontal movement of the suction cylinder mounting seat 344; the transport linear rail 343 can guide the movement of the suction cylinder mounting seat 344; the suction The cylinder mounting seat 344 is used to install and fix the suction cylinder 345; the suction cylinder 345 is used to provide power for the movement of the suction U-tube assembly 347; the suction U-tube assembly fixing plate 346 is used to install and fix the suction U-tube assembly 347; the suction U-tube assembly 347 is used to suck and release the U-tube 10; the outer ring shaping jig fixing plate 348 is used to install and fix the outer ring shaping jig 349; the outer ring shaping jig 349 can shape the outer diameter of the port of the U-tube 10 to the design range value.

[0025] The suction U-tube assembly 347 includes an outer shape positioning cover 3471, a T-shaped suction rod 3472, a quick connector 3473 and a vacuum suction 3474; the inner cavity of the outer shape positioning cover 3471 is slidably connected to the T-shaped suction rod 3472; the bottom surface of the T-shaped suction rod 3472 is fixedly connected to the vacuum suction 3474; the side of the T-shaped suction rod 3472 is threadedly connected to the quick connector 3473; the inner surface of the outer shape positioning cover 3471 is provided with an array of rectangular through grooves 34711; the rectangular through grooves A profiling notch 34712 is provided at the side end of 34711; an arched notch 34713 is provided between adjacent rectangular through grooves 34711; a release notch 34714 perpendicular to the arched notch 34713 is provided on the surface of the outer positioning cover 3471; a transverse vent 34721 is provided inside the T-shaped suction rod 3472; a vertical vent 34722 vertically penetrates the transverse vent 34721; the outer ring shaping fixture 349 includes a shaping ring 349 1 and a release card groove 3492; the outer ring shaping fixture 349 is provided with an array of shaping rings 3491 on the surface; a release card groove 3492 is provided in the middle of the shaping ring 3491; the outer shape positioning cover 3471 is used to guide the T-shaped suction rod 3472; the up and down movement of the T-shaped suction rod 3472 can ensure that the U tube 10 is smoothly sucked up and released; the quick connector 3473 is used to quickly connect the air pipe; the vacuum suction 3474 is used to generate vacuum suction to suck up the U tube 10; the rectangular through groove 34711 is the channel for the T-shaped suction rod 3472 to move; the contoured notch 34712 is used to limit the U-tube 10; the arched notch 34713 is used to bear the pressure when the U-tube 10 is reshaped; the unblocking notch 34714 is used to loosen the U-tube 10 by external force when it is stuck under the pressure of the reshaped shape; the horizontal vent 34721 and the vertical vent 34722 are both air intake channels for compressed air.

[0026] The third embodiment of the present invention is basically the same as the first embodiment, mainly in further optimization. The U-tube transition shaping component 4 includes a transition shaping frame 41, a rotating cylinder 42, a conversion plate 43, a U-tube lifting component 44, a station switching motor 45, a rotating shaft 46, a cross rotating plate 47, a pneumatic rotary joint 48, a defective product box 49 and a camera defect detection component 410; the bottom surface of the transition shaping frame 41 is fixed to the surface of the large base plate 1; the upper surface of the transition shaping frame 41 is fixedly connected to the rotating cylinder 42; the surface of the rotating part of the rotating cylinder 42 is fixedly connected to the conversion plate 43; one side of the rotating cylinder 42 is provided with a U-tube lifting component 44 fixed to the side of the transition shaping frame 41; After the output shaft of the station switching motor 45 passes through the through hole of the transition shaping frame 41, it is fixedly connected to the rotating shaft 46 through a coupling; the rotating shaft 46 is rotatably connected to the transition shaping frame 41 through a bearing; a cross rotating plate 47 is fixedly connected to the end of the rotating shaft 46; the lower surface of the cross rotating plate 47 is connected to the suction U-tube assembly 347 through a circumferential array of connecting blocks; a pneumatic rotating joint 48 is fixedly connected to the middle of the upper surface of the cross rotating plate 47; a camera defect detection component 410 fixed to the side of the transition shaping frame 41 is provided below one end of the cross rotating plate 47; a cross rotating plate 47 is provided at the other end thereof. The defective product box 49 is arranged on the surface of the plate 1; positioning countersunk holes 431 are symmetrically arranged at both ends of the surface of the conversion plate 43; the bottom surface of the positioning countersunk holes 431 is provided with an array of push rod through holes 432; the transition shaping frame 41 is the force-bearing platform of the entire U-tube transition shaping component 4; the rotating cylinder 42 is used to provide power for the rotation of the conversion plate 43; the conversion plate 43 is used to rotate and switch the position of the U-tube 10; the U-tube lifting component 44 is used to lift or loosen the U-tube 10 in advance; the station switching motor 45 is used to provide power for the rotation of the cross rotating plate 47; the rotating shaft 46 is used to transmit the torque of the station switching motor 45 Provide a cross-turn plate 47; the cross-turn plate 47 is used to switch the workstations of the suction U-tube assembly 347; the pneumatic rotary joint 48 can ensure that the air pipe connected to the suction U-tube assembly 347 does not get tangled as the cross-turn plate 47 rotates; the defective product box 49 is mainly used to collect the U-tubes 10 that fail to meet the requirements of shape shaping; the camera defect detection component 410 is used to detect whether the U-tubes 10 are qualified after shape shaping; the positioning countersunk hole 431 is used for rough positioning when the suction U-tube assembly 347 contacts with the conversion plate 43; the push rod through hole 432 is the through hole for the push rod to pass through the conversion plate 43 and lift up the U-tube 10.

[0027] The U-tube shaping post-separation component 5 includes a U-tube straight vibration component 51, a second U-tube lifting component 52 and a material distribution rotating disk component 53; the bottom surface of the U-tube straight vibration component 51 is fixed on the surface of the large bottom plate 1; one end of the U-tube straight vibration component 51 is provided with a second U-tube lifting component 52 fixed on the surface of the large bottom plate 1, and the other end is provided with a material distribution rotating disk component 53 fixed on the surface of the large bottom plate 1; the material distribution rotating disk component 53 includes a rotating component frame 531, a material distribution disk reduction motor 532, a material distribution rotating shaft 533, a material distribution disc 534, a material distribution positioning step 535, a turntable outer ring 536, a turntable edge guard 537, a turntable feeding transition block 538, a second sensor mounting plate 539 and a second sensor 5310; the bottom surface of the rotating component frame 531 is fixed on the large bottom plate 1 surface; after the output shaft of the distribution plate reduction motor 532 passes through the through hole of the rotating component frame 531, it is fixedly connected to the distribution shaft 533 through a coupling; a distribution disc 534 is fixedly connected to the end of the distribution shaft 533; a distribution positioning step 535 is fixedly arranged in a circumferential array on the surface of the distribution disc 534; a turntable outer ring 536 fixed to the surface of the rotating component frame 531 is arranged at the edge of the distribution disc 534; a turntable edge guard 537 is fixedly connected to the upper surface of the turntable outer ring 536; a turntable feed transition block 538 is fixedly connected to the surface of the notch of the turntable outer ring 536; a second sensor mounting plate 539 is arranged in an array around the turntable outer ring 536 and fixed to the surface of the rotating component frame 531; a second sensor mounting plate 539 is fixedly connected to the surface of the second sensor mounting plate 539 Sensor 5310; a distribution disc 534 is provided with a distribution positioning step positioning groove 5341 on its circumferential surface; U-tube perforations 5342 are provided on both sides of the distribution positioning step positioning groove 5341; the U-tube straight vibration component 51 is a channel for the U-tube 10 to enter the distribution rotating disc component 53 from the U-tube transition shaping component 4; the second U-tube lifting component 52 is mainly used to lift or loosen the U-tube 10 in advance; the distribution rotating disc component 53 is mainly used to disperse and position the U-tube 10 to meet the rapid grasping requirements of the manipulator 7; the rotating component frame 531 is a force-bearing support platform for the distribution rotating disc component 53; the distribution disc reduction motor 532 is used to provide power for the rotation of the distribution disc 534; the distribution shaft 533 is used to transmit the torque of the distribution disc reduction motor 532 Feeding distribution disc 534; distribution disc 534 can place 5 positioned U-tubes 10 at the same time; distribution positioning step 535 is used to position and place U-tube 10; turntable outer ring 536 is used to install and fix turntable edge guard 537; turntable edge guard 537 can ensure that U-tube 10 is not thrown out when distribution disc 534 rotates; turntable feeding transition block 538 is the transition channel for U-tube 10 to enter distribution rotating disc component 53 from U-tube straight vibration component 51; second sensor mounting plate 539 is used to fix and install second sensor 5310; second sensor 5310 is used to detect whether U-tube 10 is placed on distribution positioning step 535; distribution positioning step positioning groove 5341 is used to locate the installation position of distribution positioning step 535;The U-tube perforation 5342 can ensure that the U-tube 10 can slide smoothly from the turntable feeding transition block 538 to the material distribution positioning step 535. ;

[0028] The end fixture 8 includes an end disc 81, a camera positioning component 82, a U-tube mounting cylinder 83, a second suction U-tube assembly fixing plate 84, a vertical straight rail 85 and a vertical straight rail mounting plate 86; the upper end of the end disc 81 is fixedly connected to the telescopic shaft of the manipulator 7; the side of the end disc 81 is fixedly connected to the camera positioning component 82; the surface array of the end disc 81 is fixedly connected to the U-tube mounting cylinder 83; after the telescopic shaft of the U-tube mounting cylinder 83 passes through the through hole of the end disc 81, it is fixedly connected to the second suction U-tube assembly fixing plate 84 through a floating joint; the bottom surface of the second suction U-tube assembly fixing plate 84 is slidably connected to the vertical straight rail 85 through a slider; the bottom surface of the vertical straight rail 85 is fixed to the vertical straight rail mounting plate 8 6 side; the upper surface of the vertical straight rail mounting plate 86 is fixed to the lower surface of the terminal disc 81; the surface of the second suction U-tube assembly fixing plate 84 is fixedly connected with the suction U-tube assembly 347; the terminal disc 81 is the mounting base of the terminal fixture 8; the camera positioning component 82 is mainly used to visually locate the installation position of the condenser where the U-tube 10 needs to be installed; the U-tube mounting cylinder 83 is used to provide power for the movement of the second suction U-tube assembly fixing plate 84; the second suction U-tube assembly fixing plate 84 is used to fix and install the suction U-tube assembly 347; the vertical straight rail 85 is used to guide the movement of the second suction U-tube assembly fixing plate 84; the vertical straight rail mounting plate 86 is used to fix and install the vertical straight rail 85.

[0029] The condenser material production line 9 includes a condenser conveying component 91 and a condenser clamping and positioning component 92; the bottom surface of the condenser conveying component 91 is placed on the ground; the end of the condenser conveying component 91 is provided with a condenser clamping and positioning component 92 placed on the ground; the condenser clamping and positioning component 92 is located at the rear side of the chassis 2; the condenser clamping and positioning component 92 includes a conveyor frame 921, a conveyor 922, a guide frame 923, a condenser clamping cylinder 924, a limit cylinder mounting plate 925, a limit gas Cylinder 926, limit plate 927 and clamping cylinder fixing bracket 928; the conveyor frame 921 is fixedly connected to the conveyor 922 on the upper part; the conveyor 922 is provided with guide frames 923 fixed on the conveyor frame 921 on both sides; the inner side of the guide frame 923 is provided with a clamping cylinder fixing bracket 928 fixed on the conveyor frame 921; the surface of the clamping cylinder fixing bracket 928 is provided with an array of condenser clamping cylinders 924; the side of one end of the conveyor frame 921 is fixedly connected to the limit cylinder fixing bracket The mounting plate 925; the side of the limit cylinder mounting plate 925 is fixedly connected to the limit cylinder 926; the end surface of the limit cylinder 926 is fixedly connected to the limit plate 927; the condenser conveying component 91 is mainly used to convey the condenser that needs to be installed with the U tube 10; the condenser clamping and positioning component 92 is mainly used to clamp and fix the condenser that needs to be installed with the U tube 10, which is convenient for assembly; the conveyor frame 921 is used to install and fix the conveyor 922; the conveyor 922 is used to convey the condenser The guide frame 923 is used to guide the condenser entering the condenser clamping and positioning component 92; the condenser clamping cylinder 924 pushes from both sides to clamp and fix the condenser; the limit cylinder mounting plate 925 is used to install and fix the limit cylinder 926; the limit cylinder 926 is used to provide power for pushing out the limit plate 927; the limit plate 927 is used to prevent the condenser from moving further forward; the clamping cylinder fixing bracket 928 is used to install and fix the condenser clamping cylinder 924.

[0030] Based on this, a typical working process of the present invention is as follows: When the present invention is implemented, Figure 1-20As shown, the vibration plate component 31 vibrates the U-tube 10 to the conveying track 321 in an orderly manner. The conveying track 321 vibrates the U-tube 10 forward to the arc-shaped protrusion 3382 under the drive of direct vibration. The limit baffle 3383 can prevent the U-tube 10 on the arc-shaped protrusion 3382 from moving forward further; the clamping cylinder 332 drives the stop plate 334 to clamp, and the arc-shaped notch 3341 just blocks the U-tube 10 on the conveying track 321 from moving forward; the incoming material detection sensor After the sensor 3310 detects that there is a U-tube 10 on the arc-shaped protrusion 3382, the transport cylinder 342 drives the suction cylinder mounting seat 344 to retract backward along the transport line rail 343, and the suction cylinder 345 drives the suction U-tube assembly 347 to move downward, so that the profiling notch 34712 and the arched notch 34713 fit the shape of the U-tube 10; the push rod lifting cylinder 335 drives the circular push rod 336 to move upward, and the U-tube 10 is relative to the arc-shaped protrusion 3382. The vacuum suction 3474 acts to suck the upper outer surface of the U tube 10; the suction cylinder 345 retracts, and the telescopic rod of the transport cylinder 342 extends; the U tube 10 is transported to the top of the outer ring shaping fixture 349; the telescopic rod of the suction cylinder 345 extends, and the entire outer circle of the U tube 10 port is placed in the inner cavity of the shaping ring 3491. During the process of extending the telescopic rod of the suction cylinder 345, the T-shaped suction rod 3472 moves relative to the outer shape positioning cover 3471. Move upward until the plane of the U-tube 10 port contacts the bottom plane of the shaping ring 3491. During this process, if the outer diameter of the U-tube 10 port is slightly larger than the inner diameter of the shaping ring 3491, the U-tube 10 will be supported by the profiling notch 34712 and the arched notch 34713, and under the power of the suction cylinder 345, the slightly larger diameter of the U-tube 10 port will be shaped to a qualified size. If the outer diameter of the U-tube 10 port is too large, the U-tube 10 port will be crushed.

[0031] The three suction cylinders 345 can carry the U-tube 10 from the transfer plate 338 to the outer ring shaping fixture 349 and the conversion plate 43 in sequence. The rotating cylinder 42 drives the conversion plate 43 to rotate 180°, and rotates one end of the conversion plate 43 on which the U-tube 10 has been placed to the bottom of the cross-turn plate 47; the U-tube lifting component 44 passes through the ejector rod through hole 432 to lift the U-tube 10 into the suction U-tube assembly 347 and be sucked; the station switching motor 45 drives the cross-turn plate 47 to rotate 90°, and the camera defect detection component 410 takes a photo of the shaped end of the U-tube 10 for identification. If the identification result is unqualified, the station switching motor 45 drives the ten-pointer motor 410 to rotate 90°. The cross turn plate 47 continues to rotate 90°, the vacuum suction 3474 is turned off, and the unqualified U-tube 10 will fall into the unqualified product box 49 for collection. If it is qualified, the station switching motor 45 drives the cross turn plate 47 to continue to rotate 90°, and the U-tube 10 is located directly above the U-tube direct vibration component 51. The vacuum suction 3474 is turned off, and the qualified U-tube 10 will be slowly placed on the U-tube direct vibration component 51 and move forward with the direct vibration; the U-tube 10 vibrating forward passes through the turntable feeding transition block 538 and enters the distribution positioning step 535 for positioning and placement; the distribution plate reduction motor 532 drives the distribution disc 534 to rotate 72° each time.

[0032] The condenser is transported to the condenser conveying component 91, moves forward in sequence, reaches the condenser clamping and positioning component 92, and continues to move forward under the drive of the conveyor 922 and the guidance of the guide frame 923 until it is blocked by the limit plate 927 driven by the limit cylinder 926 and stops moving; the telescopic shafts of the condenser clamping cylinders 924 on both sides of the condenser are extended to clamp and fix the condenser; the robot 7 drives the end fixture 8 to the top of the condenser to be assembled, and drives the camera positioning component 82 to move from one end of the condenser to the other end to take pictures, and identify the position coordinates of each interface to be assembled on the condenser.

[0033] After the second sensor 5310 detects that there is a U-tube 10 on the material distribution positioning step 535, the robot 7 drives the end fixture 8 to the top of the U-tube 10, and the U-tube installation cylinder 83 drives the U-tube suction assembly 347 to move downward along the vertical straight rail 85 until the profiling notch 34712 and the arched notch 34713 are engaged with the shape of the U-tube 10, and the vacuum suction 3474 is actuated to suck the upper outer surface of the U-tube 10, and the U-tube installation cylinder 83 retracts, and the robot 7 drives the end fixture 8 to the top of the clamped condenser on the condenser clamping positioning component 92, and according to the coordinate point previously identified by the camera positioning component 82, the U-tube 10 is placed in the assembly interface above the condenser to complete the assembly of the condenser and the U-tube, and the above actions are repeated in sequence.

Claims

1. A condenser automatic U-tube insertion device, characterized in that: The invention comprises a large base plate (1), a chassis (2), a U-tube feeding component (3), a U-tube transition shaping component (4), a U-tube post-shaping separation component (5), a base (6), a manipulator (7), an end fixture (8) and a condenser material production line (9); the bottom surface of the large base plate (1) is fixedly connected to the chassis (2); the chassis (2) is placed on the ground via casters; one side of the upper surface of the large base plate (1) is fixedly connected to the U-tube feeding component (3); the right side of the U-tube feeding component (3) is provided with a U-tube transition shaping component (4) fixed to the surface of the large base plate (1); the rear side of the U-tube transition shaping component (4) is provided with a U-tube post-shaping separation component (5) fixed to the surface of the large base plate (1); the left side of the U-tube post-shaping separation component (5) is provided with a base (6) fixed to the surface of the large base plate (1); the surface of the base (6) is fixedly connected to the manipulator (7); the telescopic shaft at the end of the manipulator (7) is fixedly connected to the end fixture (8); A condenser material production line (9) placed on the ground is provided on the rear side of the chassis (2).

2. The condenser automatic U-tube insertion device according to claim 1, characterized in that: The U-tube feeding component (3) comprises a vibration plate component (31), a material conveying track component (32), a transfer positioning component (33) and an outer ring shaping and conveying component (34); the bottom surface of the vibration plate component (31) is fixed to the surface of the large bottom plate (1); the end of the vibration plate component (31) is provided with a material conveying track component (32); the end of the material conveying track component (32) is provided with a transfer positioning component (33) fixed to the surface of the large bottom plate (1); one side of the transfer positioning component (33) is provided with an outer ring shaping and conveying component (34) fixed to the surface of the large bottom plate (1) A transport component (34); the incoming material conveying track component (32) comprises a conveying track (321) and a height shield (322); the side of the conveying track (321) is fixedly connected to the height shield (322); a track bottom plate (3211) is provided at the bottom of the conveying track (321); a guide protrusion (3212) is provided in the middle of the surface of the track bottom plate (3211); outer ring avoidance grooves (3213) are symmetrically provided on both sides of the guide protrusion (3212); and a U-tube inner side avoidance chamfer (3214) is provided on the surface edge of the guide protrusion (3212).

3. The automatic U-tube insertion device for condensers according to claim 2, characterized in that: The transfer positioning component (33) comprises a transfer frame (331), a clamping cylinder (332), an L-shaped connecting plate (333), a stop plate (334), a push rod lifting cylinder (335), a round push rod (336), a transfer plate fixing block (337), a transfer plate (338), a sensor fixing plate (339) and an incoming material detection sensor (3310); the bottom surface of the transfer frame (331) is fixed to the surface of the large bottom plate (1); the clamping cylinder (332) is fixedly connected to the upper surface of the transfer frame (331); the moving parts on both sides of the clamping cylinder (332) are symmetrically fixedly connected to the L-shaped connecting plates (333); the L-shaped connecting plates (3310) are fixedly connected to the moving parts on both sides of the clamping cylinder (332 ... 3) A stop plate (334) is fixedly connected to the side; a push rod lifting cylinder (335) is fixedly connected to the side of the transfer frame (331); the movable end of the push rod lifting cylinder (335) is fixedly connected to an array of circular push rods (336) through a connecting plate; transfer plate fixing blocks (337) fixed to the side of the transfer frame (331) are symmetrically provided on both sides of the push rod lifting cylinder (335); a transfer plate (338) is fixedly connected to the upper surface of the transfer plate fixing block (337); a sensor fixing plate (339) is fixedly connected to the side of the transfer plate (338); and an incoming material detection sensor (3310) is threadedly connected to the surface of the sensor fixing plate (339).

4. The automatic U-tube insertion device for condensers according to claim 3, characterized in that: The transfer plate (338) comprises a U-shaped notch (3381), an arc-shaped protrusion (3382) and a limit baffle (3383); an array of U-shaped notches (3381) are provided in the middle of the surface of the transfer plate (338); arc-shaped protrusions (3382) are provided between the U-shaped notches (3381); a limit baffle (3383) is provided on the side of the arc-shaped protrusion (3382); an arc-shaped notch (3341) is provided on the end surface of the stop plate (334); and the end surface of the circular top rod (336) is tapered.

5. The automatic U-tube insertion device for condensers according to claim 2, characterized in that: The outer ring shaping and transporting component (34) comprises an outer shape shaping and transporting frame (341), a transport cylinder (342), a transport linear rail (343), a suction cylinder mounting seat (344), a suction cylinder (345), a suction U-tube assembly fixing plate (346), a suction U-tube assembly (347), an outer ring shaping jig fixing plate (348) and an outer ring shaping jig (349); the bottom surface of the outer shape shaping and transporting frame (341) is fixed to the surface of the large bottom plate (1); the surface of the outer shape shaping and transporting frame (341) is fixedly connected to the transport cylinder (342); the end of the telescopic shaft of the transport cylinder (342) is fixedly connected to the suction cylinder mounting seat (344) via a floating joint; the suction The cylinder mounting seat (344) is slidably connected to the transport linear rail (343) via a slider; the bottom surface array of the suction cylinder mounting seat (344) is fixedly connected to the suction cylinder (345); the end surface of the moving end of the suction cylinder (345) is fixedly connected to the suction U-tube assembly fixing plate (346); the side surface of the suction U-tube assembly fixing plate (346) is fixedly connected to the suction U-tube assembly (347); the bottom surface of the transport linear rail (343) is fixed to the surface of the shape shaping and transport frame (341); the upper surface of the shape shaping and transport frame (341) is fixedly connected to the outer ring shaping fixture fixing plate (348); the upper surface of the outer ring shaping fixture fixing plate (348) is fixedly connected to the outer ring shaping fixture (349).

6. The automatic U-tube inserting device for condensers according to claim 5, characterized in that: The suction U-tube assembly (347) comprises an outer shape positioning cover (3471), a T-shaped suction rod (3472), a quick connector (3473) and a vacuum suction (3474); the inner cavity of the outer shape positioning cover (3471) is slidably connected to the T-shaped suction rod (3472); the bottom surface of the T-shaped suction rod (3472) is fixedly connected to the vacuum suction (3474); the side surface of the T-shaped suction rod (3472) is threadedly connected to the quick connector (3473); the inner surface of the outer shape positioning cover (3471) is provided with an array of rectangular through grooves (34711); the side ends of the rectangular through grooves (34711) are provided with profiling notches (34712); adjacent rectangular through grooves (34711) are connected to the vacuum suction (3474); the vacuum suction (3474) is fixedly connected to the bottom surface of the T-shaped suction rod (3472); the quick connector (3473) is threadedly connected to the side surface of the T-shaped suction rod (3472); the inner surface of the outer shape positioning cover (3471) is provided with an array of rectangular through grooves (34711); the side ends of the rectangular through grooves (34711) are provided with profiling notches (34712); adjacent rectangular through grooves (34711) are connected to the vacuum suction (3474); the vacuum suction (3474) is fixedly connected to the bottom surface of the T-shaped suction rod (3472 ... 4711); a release notch (34714) perpendicular to the arch notch (34713) is provided on the surface of the shape positioning cover (3471); a transverse vent (34721) is provided inside the T-shaped suction rod (3472); the vertical vent (34722 vertically penetrates the transverse vent (34721); the outer ring shaping jig (349) comprises a shaping ring (3491) and a release groove (3492); an array of shaping rings (3491) is provided on the surface of the outer ring shaping jig (349); and a release groove (3492) is provided in the middle of the shaping ring (3491).

7. The automatic U-tube insertion device for condensers according to claim 1, characterized in that: The U-tube transition shaping component (4) comprises a transition shaping frame (41), a rotary cylinder (42), a conversion plate (43), a U-tube lifting component (44), a station switching motor (45), a rotating shaft (46), a cross rotating plate (47), a pneumatic rotary joint (48), a defective product box (49) and a camera defect detection component (410); the bottom surface of the transition shaping frame (41) is fixed to the surface of the large bottom plate (1); the upper surface of the transition shaping frame (41) is fixedly connected to the rotary cylinder (42); the surface of the rotating part of the rotary cylinder (42) is fixedly connected to the conversion plate (43); one side of the rotary cylinder (42) is provided with a U-tube lifting component (44) fixed to the side of the transition shaping frame (41); the output shaft of the station switching motor (45) passes through the through hole of the transition shaping frame (41) and then , fixedly connected to the rotating shaft (46) through a coupling; the rotating shaft (46) is rotatably connected to the transition shaping frame (41) through a bearing; a cross-turn plate (47) is fixedly connected to the end of the rotating shaft (46); the lower surface of the cross-turn plate (47) is connected to the suction U-tube assembly (347) through a circumferential array of connecting blocks; a pneumatic rotary joint (48) is fixedly connected to the middle of the upper surface of the cross-turn plate (47); a camera defect detection component (410) fixed to the side of the transition shaping frame (41) is provided below one end of the cross-turn plate (47); a defective product box (49) placed on the surface of the large bottom plate (1) is provided at the other end of the cross-turn plate (47); positioning countersunk holes (431) are symmetrically provided at both ends of the surface of the conversion plate (43); and an array of top rod through holes (432) are provided on the bottom surface of the positioning countersunk holes (431).

8. The automatic U-tube insertion device for condensers according to claim 1, characterized in that: The U-tube post-shaping separation component (5) comprises a U-tube straight-vibration component (51), a second U-tube lifting component (52) and a material distribution rotating disk component (53); the bottom surface of the U-tube straight-vibration component (51) is fixed to the surface of the large bottom plate (1); one end of the U-tube straight-vibration component (51) is provided with a second U-tube lifting component (52) fixed to the surface of the large bottom plate (1), and the other end is provided with a material distribution rotating disk component (53) fixed to the surface of the large bottom plate (1); the material distribution rotating disk component (53) comprises a rotating component The rotating component frame (531) includes a frame (531), a material distribution plate reduction motor (532), a material distribution rotating shaft (533), a material distribution disc (534), a material distribution positioning step (535), a turntable outer ring (536), a turntable edge guard (537), a turntable feed transition block (538), a second sensor mounting plate (539) and a second sensor (5310); the bottom surface of the rotating component frame (531) is fixed to the surface of the large bottom plate (1); the output shaft of the material distribution disc reduction motor (532) passes through the rotating component frame (531) 531) through hole, and is fixedly connected to the material distribution shaft (533) through a coupling; a material distribution disc (534) is fixedly connected to the end of the material distribution shaft (533); a material distribution positioning step (535) is fixedly arranged in a circumferential array on the surface of the material distribution disc (534); a turntable outer ring (536) fixed to the surface of the rotating component frame (531) is provided on the edge of the material distribution disc (534); a turntable edge guard (537) is fixedly connected to the upper surface of the turntable outer ring (536); the turntable outer ring (536) is not A turntable feeding transition block (538) is fixedly connected to the surface of the opening; a second sensor mounting plate (539) is arranged in an array and fixed on the surface of the rotating component frame (531) around the outer ring (536); a second sensor (5310) is fixedly connected to the surface of the second sensor mounting plate (539); a material distribution disc (534) is provided with a material distribution positioning step positioning groove (5341) in the circumferential direction of the surface; and U-tube through holes (5342) are arranged on both sides of the material distribution positioning step positioning groove (5341).

9. The automatic U-tube inserting device for condensers according to claim 1, characterized in that: The end fixture (8) comprises an end disc (81), a camera positioning component (82), a U-tube mounting cylinder (83), a second suction U-tube assembly fixing plate (84), a vertical straight rail (85) and a vertical straight rail mounting plate (86); the upper end of the end disc (81) is fixedly connected to the telescopic shaft of the manipulator (7); the side of the end disc (81) is fixedly connected to the camera positioning component (82); the surface array of the end disc (81) is fixedly connected to the U-tube mounting cylinder (83); the U-tube mounting cylinder (83) After the telescopic shaft passes through the through hole of the end disk (81), it is fixedly connected to the second suction U-tube assembly fixing plate (84) through a floating joint; the bottom surface of the second suction U-tube assembly fixing plate (84) is slidably connected to the vertical straight rail (85) through a slider; the bottom surface of the vertical straight rail (85) is fixed to the side surface of the vertical straight rail mounting plate (86); the upper surface of the vertical straight rail mounting plate (86) is fixed to the lower surface of the end disk (81); and the surface of the second suction U-tube assembly fixing plate (84) is fixedly connected to the suction U-tube assembly (347).

10. The automatic U-tube inserting device for condensers according to claim 1, characterized in that: The condenser material production line (9) comprises a condenser conveying component (91) and a condenser clamping and positioning component (92); the bottom surface of the condenser conveying component (91) is placed on the ground; the end of the condenser conveying component (91) is provided with a condenser clamping and positioning component (92) placed on the ground; the condenser clamping and positioning component (92) is located at the rear side of the chassis (2); the condenser clamping and positioning component (92) comprises a conveyor frame (921), a conveyor (922), a guide frame (923), a condenser clamping cylinder (924), a limit cylinder mounting plate (925), a limit cylinder (926), a limit plate (927) and a clamping cylinder fixing bracket (928); The upper part of the machine frame (921) is fixedly connected to a conveyor (922); guide frames (923) fixed to the conveyor frame (921) are provided on both sides of the conveyor (922); a clamping cylinder fixing bracket (928) fixed to the conveyor frame (921) is provided on the inner side of the guide frame (923); an array of condenser clamping cylinders (924) are provided on the surface of the clamping cylinder fixing bracket (928); a side surface of one end of the conveyor frame (921) is fixedly connected to a limit cylinder mounting plate (925); a side surface of the limit cylinder mounting plate (925) is fixedly connected to a limit cylinder (926); and a movable end surface of the limit cylinder (926) is fixedly connected to a limit plate (927).

Images