Automatic copper pipe penetrating equipment for two devices of air conditioner

Abstract

The invention discloses automatic copper pipe penetrating equipment for two devices of an air conditioner. The automatic copper pipe penetrating equipment comprises a synchronous conveying line, the copper pipe grabbing part is provided with a copper pipe clamp mounting plate for grabbing the condenser copper pipe to the walking part; the synchronous pipe penetrating part is used for positioning the condenser and the condenser copper pipe on the conveying line part and the walking part and penetrating the condenser copper pipe into the condenser; seamless synchronization of material flowing and copper pipe penetrating in the pipe penetrating process of the condenser and the copper pipe is achieved, the continuity of a production line and the equipment utilization rate are improved, precise positioning of the copper pipe and the condenser is guaranteed through the special high-precision positioning part, errors and deviation are avoided, and the heat exchange efficiency and the equipment stability are improved. The servo clamping jaw and the industrial robot are adopted for control, efficient grabbing and accurate positioning of a large number of copper pipes at multiple positions are achieved, the working state of equipment is optimized, accurate control and efficient operation of the automatic pipe penetrating process are ensured, and the automation level of a production line is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic copper tube threading equipment, in particular to automatic copper tube threading equipment for two devices of an air conditioner. Background Art

[0002] The two components of the air conditioner achieve heating or cooling effects through the circulation of refrigerant. The air conditioning system uses the refrigerant to flow repeatedly in the refrigerant circuit to exchange heat through processes such as evaporation, compression, condensation and expansion, thereby achieving the purpose of regulating the indoor temperature. In order to achieve this process, a refrigerant circulation circuit unit must be designed and established, which is usually composed of multiple refrigerant circuits.

[0003] At present, the existing process technology generally adopts inserting copper tubes into aluminum fins and connecting multiple copper tubes through a one-way bending opening design. This design helps to insert and position the copper tubes, so that the refrigerant can flow efficiently in the condenser. The specific process includes inserting the copper tube into the opening hole of the aluminum fin, and through a series of mechanical processes such as bending, welding or fixing steps, a stable heat exchange interface is formed between the copper tube and the fin. Through such a process, each copper tube can be in close contact with multiple aluminum fins, thereby improving the heat exchange efficiency.

[0004] Since the condenser components are usually composed of multiple refrigerant circuit units, the number of copper tubes is large and densely arranged, so the copper tube configuration requirements in the entire process are high. In order to meet the design requirements, the copper tube insertion design inside the condenser has the characteristics of multiple tubes side by side and compact space, which leads to a technical problem: the installation process of the copper tube requires high precision and high labor intensity. Due to the large number of copper tubes and their close locations, the existing copper tube insertion process is completely completed manually, the operation process is cumbersome and complicated, the labor intensity is high, and manual operation is prone to errors or deviations. In addition, manual operation also leads to higher production costs and higher manpower input.

[0005] Therefore, how to reduce manual labor intensity and improve production efficiency while maintaining the copper tube insertion accuracy has become a major technical difficulty in the current manufacturing process of the two-device components of air conditioners. Summary of the invention

[0006] In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide an automatic copper tube threading device for two devices of an air conditioner.

[0007] The technical solution adopted by the present invention to solve the technical problem is: an automatic copper tube threading device for two air conditioners, comprising:

[0008] Synchronous conveyor line: including conveyor line parts and running parts. The conveyor line parts are installed on the side of the running parts in parallel. The condenser is pierced and conveyed with the copper tube of the running parts in the conveyor line parts.

[0009] Copper tube grabbing component: equipped with a copper tube clamp mounting plate to grab the condenser copper tube to the moving component;

[0010] Synchronous pipe threading components: including condenser positioning components, rake plate components, copper tube guide components and copper tube pushing components, positioning the condenser and condenser copper tubes on the conveyor line components and the walking components and threading the condenser copper tubes into the condenser.

[0011] As a further improvement of the present invention: the copper tube grasping component includes a grasping robot, the grasping robot is installed on a robot mounting base, a copper tube clamp mounting plate is provided on the flange of the grasping robot, the copper tube clamp mounting plate is provided with a plurality of grasping cylinders, the grasping cylinders are connected to a servo clamp, and the output end of the servo clamp is provided with two symmetrical and parallel copper tube mounting clamps.

[0012] As a further improvement of the present invention: the conveyor line component is a belt conveyor line, the condenser positioning component is installed on the conveyor line component, and 6 groups are arranged horizontally, the condenser positioning component is symmetrically installed by two condenser positioning blocks, and the condenser positioning connecting plate passes through the condenser positioning component through the screw hole and is fixed on the conveyor line component. The conveyor line component cooperates with the condenser positioning component to transport the un-tubed condenser and the tubed condenser.

[0013] As a further improvement of the present invention: the rake tooth plate component, the copper tube guide component and the copper tube propulsion component are installed on the component mounting plate of the traveling component, and the conveyor line component is installed on the side of the traveling component in a parallel manner.

[0014] As a further improvement of the present invention: the rake plate component includes a rake plate mounting frame, a rake plate cylinder, a rake plate upper plate, a rake plate lower plate and a cylinder connecting plate; the rake plate upper plate and the rake plate lower plate are provided with copper tube positioning grooves corresponding to the copper tube, the rake plate cylinder is fixed on the rake plate mounting frame, and the rake plate cylinder is respectively connected to the rake plate upper plate and the rake plate lower plate through the cylinder connecting plate.

[0015] As a further improvement of the present invention: the condenser positioning component is arranged on the upper surface of the left side of the conveying line component, and the condenser positioning component is composed of two condenser positioning blocks that are symmetrically installed.

[0016] As a further improvement of the present invention: the copper tube guide component includes a first guide plate, a second guide plate, a first guide plate cylinder, a second guide plate cylinder and a linear module, the first guide plate and the second guide plate are provided with a copper tube fixing groove, the first guide plate cylinder and the second guide plate cylinder are sequentially installed on the cylinder mounting seat, the cylinder mounting seat is fixedly installed on the power platform of the linear module, the first guide plate cylinder and the second guide plate cylinder are respectively connected to the first guide plate and the second guide plate.

[0017] As a further improvement of the present invention: the first guide plate and the second guide plate are respectively provided with linear bearings, the cylinder mounting seat is provided with a guide column, the upper surface of the mounting seat of the guide column coincides with the upper surface of the cylinder mounting seat, the guide column concentrically passes through the linear bearing, and the guide column is installed in the matching mounting holes of the first guide plate and the second guide plate.

[0018] As a further improvement of the present invention: the number of the copper tube guide components is 4, and the 4 copper tube guide components are all symmetrically installed and have the same structure.

[0019] As a further improvement of the present invention: the copper tube propulsion component includes a copper tube propulsion plate, a copper tube propulsion cylinder, a copper tube propulsion cylinder mounting seat and a copper tube propulsion linear module, the copper tube propulsion plate is installed on the copper tube propulsion cylinder, the copper tube propulsion cylinder is symmetrically installed and fixed on the upper surface of the copper tube propulsion cylinder mounting seat with the copper tube propulsion cylinder mounting seat, the copper tube propulsion cylinder mounting seat is fixedly installed on the copper tube propulsion linear module, and the copper tube propulsion linear module is installed on the component mounting plate.

[0020] As a further improvement of the present invention, it also includes a copper tube car component, the main body of the copper tube car component is composed of a copper tube car, and the copper tube positioning needles are horizontally arranged and installed on the bottom plate of the copper tube car, and the copper tube positioning needles position the condenser copper tubes.

[0021] As a further improvement of the present invention: the walking components include a walking frame column, a walking frame crossbeam, a linear slider group, a gear rack group, a component mounting plate, a slider mounting plate, a right-angle reducer and a servo motor. The lower bottom surface of the walking frame column is horizontally fixed to the ground by means of screw holes, the walking frame crossbeam is fixed to the walking frame column by means of screw holes, the linear slider group is installed on the walking frame crossbeam, the linear slider group linear rail is fixed to the walking frame crossbeam by screw holes, the slider of the linear slider group is fixed to the inner side of the slider mounting plate, the component mounting plate is horizontally and vertically installed on the front and rear two slider mounting plates, the gear rack is installed on the walking frame crossbeam, the rack of the gear rack group is fixed to the front side of the walking frame crossbeam by screw holes, the gear output end of the gear rack group is concentrically installed and connected to the output shaft of the right-angle reducer and meshes with the rack of the gear rack group, and the output end of the servo motor is concentrically installed and connected to the input hole of the right-angle reducer.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) By designing synchronous conveying lines, copper tube grabbing components, and synchronous tube threading components, the material flow of the condenser during the tube threading process and the copper tube threading can be synchronized; the transmission, positioning, and tube threading operations of the condenser and the copper tube can be seamlessly connected to ensure that no downtime is required during the production process; by optimizing the collaborative work of the equipment, the condenser assembly line can operate continuously, improving the overall production efficiency, avoiding downtime and waiting time in manual operation, and improving production continuity and equipment utilization;

[0024] (2) In order to ensure high-precision positioning during the automatic tube insertion process, especially at the connection part between the copper tube and the condenser assembly, a special high-precision positioning component is designed; it can accurately position the copper tube and the condenser relative to each other, thereby avoiding errors or deviations in the insertion process of the copper tube; through this precise positioning, not only the accuracy of the tube insertion can be guaranteed, but also the tight connection of each refrigerant circuit of the condenser can be ensured, thereby improving the heat exchange efficiency and the long-term stability of the equipment;

[0025] (3) A special copper tube clamp was designed. Through the flexibility of the servo gripper, the copper tube can be efficiently grasped by the grasping robot and accurately positioned. The high flexibility of the servo gripper enables it to adapt to copper tubes of different sizes and models. When automatically grasping and loading condenser copper tubes, it can handle a large number of copper tubes in multiple positions. The high-precision positioning control of the industrial robot further improves the stability and reliability of the gripping process, thereby significantly reducing the labor intensity of production employees and reducing errors and deviations in manual operations.

[0026] (4) By designing the control of synchronous operation of the equipment and combining it with a fully closed-loop control structure, a high degree of coordination between the various modules of the automatic pipe threading equipment can be ensured; the control system can not only realize the precise control of automatic pipe threading, but also monitor various parameters in real time during the production process, thereby ensuring the stability and consistency of the process; the fully closed-loop control system can self-adjust and optimize the working state of the equipment, realize high-precision and multi-position automation of the condenser pipe threading process, greatly improve the automation level of the production line, reduce human intervention, thereby improving the overall production efficiency and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution, the drawings required for use in the implementation will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 It is a schematic diagram of the structure of the present invention.

[0029] Figure 2It is a schematic structural diagram of the copper tube grabbing component of the present invention.

[0030] Figure 3 It is a schematic structural diagram of the conveyor line component of the present invention.

[0031] Figure 4 for Figure 3 Partial schematic diagram of part A in the middle.

[0032] Figure 5 It is a structural schematic diagram of the rake tooth plate component of the present invention.

[0033] Figure 6 It is a structural schematic diagram of the copper tube guide component of the present invention.

[0034] Figure 7 It is a structural schematic diagram of the copper tube propulsion component of the present invention.

[0035] Figure 8 It is a structural schematic diagram of the copper tube turning component of the present invention.

[0036] Fig. 9 It is a schematic structural diagram of the walking component of the present invention.

[0037] Fig.10 It is a structural schematic diagram of the condenser copper tube of the present invention.

[0038] Fig.11 It is a schematic diagram of the structure of a non-tube condenser and a tube condenser in the present invention.

[0039] Figure numerals: 1, copper tube grabbing component, 2, conveyor line component, 3, condenser positioning component, 4, fin, 5, rake plate component, 6, copper tube guide component, 7, copper tube propulsion component, 8, copper tube vehicle component, 9, walking component, 101, robot mounting base, 102, grabbing robot, 103, copper tube fixture mounting plate, 104, grabbing cylinder, 105, servo clamp, 106, copper tube clamp, 301, condenser positioning block, 302, condenser positioning connecting plate, 401, unpipe condenser, 402, pipe condenser, 501, rake plate mounting frame, 502, rake plate cylinder, 503, rake plate upper plate, 504, cylinder connecting plate, 505, rake plate lower plate, 601, first guide plate, 602, 02. Second guide plate, 603. Cylinder mounting seat, 604. Linear bearing, 605. First guide column, 606. First guide plate cylinder, 607. Second guide column, 608. Second guide plate cylinder, 609. Linear module, 701. Copper tube push plate, 702. Copper tube push cylinder, 703. Copper tube push cylinder mounting seat, 704. Copper tube push linear module, 801. Copper tube car positioning frame, 802. Copper tube car, 803. Copper tube positioning needle, 804 Condenser copper tube, 901. Traveling frame column, 902. Traveling frame beam, 903. Linear slider group, 904. Gear rack group, 905. Component mounting plate, 906. Slider mounting plate, 907. Right angle reducer, 908. Servo motor. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] The two components of the air conditioner achieve heating or cooling effects through the circulation of refrigerant, and are the core components of the air conditioning system. The working principle of the air conditioning system is based on the physical properties of the refrigerant. The refrigerant flows repeatedly in the refrigerant circuit, and after evaporation, compression, condensation and expansion, it gradually completes the heat exchange and finally achieves the effect of regulating the indoor temperature. Specifically, the refrigerant absorbs heat through the evaporator at low temperature and low pressure, and is compressed to a high temperature and high pressure state by the compressor after becoming a gas. It then releases heat through the condenser and finally enters the evaporator through the expansion valve to continue absorbing heat. The core of this process is the circulation of the refrigerant, and in order to efficiently complete the heat exchange, an efficient refrigerant circulation loop unit must be designed and established.

[0043] As part of the refrigerant circulation loop, the condenser component is usually composed of multiple refrigerant circuit units. Each circuit includes the copper tube and aluminum fin of the condenser. The copper tube is used to carry the flowing refrigerant, while the aluminum fin increases the surface area of ​​heat exchange and helps to dissipate excess heat. In the existing manufacturing process, the copper tube usually needs to be inserted into the aluminum fin. This process usually involves inserting the copper tube into the opening hole of the aluminum fin and connecting multiple copper tubes through a one-way bend. A stable heat exchange interface can be formed between the copper tube and the aluminum fin to ensure efficient flow and heat exchange performance of the refrigerant.

[0044] During the installation of copper tubes, close contact between copper tubes and aluminum fins is crucial for heat exchange efficiency. Since each condenser component needs to be composed of multiple copper tubes, the position of each copper tube needs to be placed very accurately, and the copper tube configuration design inside the condenser is usually multiple tubes side by side and arranged closely. Therefore, the insertion, fixing and connection of copper tubes in the entire process require extremely high precision. However, due to the large number of copper tubes and their relatively close positions, all copper tube installation and insertion processes are still completely completed manually in the existing process. This operation is not only complicated and cumbersome, but also requires workers to have a high level of skills to ensure the precise fit between the copper tubes and the fins, otherwise errors are prone to occur, affecting the heat exchange effect of the condenser.

[0045] Another problem with manual operation is the high labor intensity. Since there are many copper tubes in the condenser and they are densely located, workers need to perform repetitive operations for a long time, which not only increases the labor cost in the production process, but also easily causes worker fatigue, thus affecting production efficiency and product quality. In addition, manual operation itself also has a greater risk of production deviation, such as the bending angle and position deviation of the copper tube, which may lead to poor sealing of the refrigerant circuit, thereby affecting the heat exchange performance of the condenser and the overall stability of the system.

[0046] Therefore, how to improve the accuracy of the copper tube insertion process, reduce manual intervention, improve production efficiency and reduce production costs is a major technical challenge in the current manufacturing process of air conditioner components. In order to meet this challenge, automation technology, intelligent production processes, precision equipment and accurate control systems have become key technical directions.

[0047] The present invention is further described with reference to the accompanying drawings and embodiments: Figure 1 The device for automatically threading copper tubes for two air conditioners shown in the figure comprises a copper tube grabbing component 1, a conveying line component 2, a condenser positioning component 3, a fin 4, a rake plate component 5, a copper tube guide component 6, a copper tube pushing component 7, a copper tube vehicle component 8 and a traveling component 9, wherein the conveying line component 2 and the traveling component 9 are synchronous conveying lines, the copper tube grabbing component 1 is arranged on one side of the traveling component 9, the condenser positioning component 3, the rake plate component 5, the copper tube guide component 6 and the copper tube pushing component 7 are synchronous tube threading components, the copper tube grabbing component 1 grabs the condenser copper tube 804 to the traveling component 9, and the synchronous tube threading component positions the condenser and the condenser copper tube 804 on the conveying line component 2 and the traveling component 9 and inserts the condenser copper tube 804 into the condenser.

[0048] Through the synchronous conveying line, copper tube grabbing mechanism and synchronous tube threading components, the material flow and copper tube threading during the condenser threading process can be carried out synchronously; high-precision copper tube positioning components, condenser positioning components and copper tube and condenser joint positioning components are equipped to achieve high-precision positioning of components in the automated tube threading process.

[0049] As an embodiment of the present invention, Figure 2 As shown, the copper tube grasping component 1 includes a grasping robot 102, and the grasping robot 102 is installed on a robot mounting base 101. A copper tube clamp mounting plate 103 is provided on the flange of the grasping robot 101. The copper tube clamp mounting plate 103 is provided with a plurality of grasping cylinders 104. The grasping cylinders 104 are connected to a servo clamp 105. The output end of the servo clamp 105 is provided with two symmetrical and parallel copper tube mounting clamps 106.

[0050] Furthermore, the grabbing cylinders 104 are horizontally arrayed in 2 rows and 14 columns, and the mounting ends of the grabbing cylinders 104 are directly connected and fixed to the bottom surface of the copper tube fixture mounting plate 103 .

[0051] The positions and quantity of the copper tube clamps 106 correspond to the positions of the copper tubes to be inserted into the condenser.

[0052] As an embodiment of the present invention, Figure 3-4As shown, the conveyor line component 2 is a belt conveyor line, and the condenser positioning component 3 is installed on the conveyor line component 2. The condenser positioning components 3 are arranged horizontally in 6 groups. The condenser positioning components 3 are symmetrically installed by two condenser positioning blocks 301. The condenser positioning connecting plate 302 passes through the condenser positioning component 3 through the screw hole and is fixed on the conveyor line component 2. The conveyor line component 2 cooperates with the condenser positioning component 3 to transport the unpipelined condenser 401 and the piped condenser 402.

[0053] The use of the belt conveyor line component 2 can efficiently transfer the condenser, ensuring the continuous flow and precise positioning of the condenser in the production line. The design of the belt conveyor line enables the condenser to be smoothly and stably transported throughout the production process. The installation of the condenser positioning component 3 on the conveyor line ensures that the unpipelined condenser 401 and the piped condenser 402 can be accurately aligned and positioned during the production process. Through 6 groups of horizontally arranged condenser positioning components 3, each group of positioning components ensures the uniform distribution of multiple condensers during the transportation process, and can effectively prevent the condenser from lateral displacement, avoiding subsequent processing problems caused by inaccurate positioning. The combination of the conveyor line system and the condenser positioning component can flexibly respond to the different process requirements of unpipelined and piped condensers. The unpipelined condenser is ensured to be in the correct position in the subsequent pipe-penetrating operation through the positioning component during the transmission process.

[0054] As an embodiment of the present invention, Figure 5 As shown, the tooth plate component 5 includes a tooth plate mounting frame 501, a tooth plate cylinder 502, a tooth plate upper plate 503, a tooth plate lower plate 505 and a cylinder connecting plate 504; the tooth plate component 5 uses the tooth plate mounting frame 501 as a mounting base, and a fixing seat below the tooth plate mounting frame 501 is fixed to one end of the component mounting plate 905 close to the conveyor line component 2 by screw connection. The two tooth plate cylinders 502 are symmetrical about the center plane of the tooth plate mounting frame 501 and are fixed above the tooth plate mounting frame 501 through screw holes. The output end of the tooth plate cylinder 502 is connected to the upper surface of the fixed cylinder connecting plate 504, and the side of the cylinder connecting plate 504 is aligned and fixed with the upper end surface of the tooth plate upper plate 503. The lower surface of the cylinder connecting plate 504 of the lower plate 505 of the rake tooth plate is fixedly mounted on the component mounting plate 905 by means of screw holes, and the side surface of the cylinder connecting plate 504 is connected and fixed to the mounting end of the rake tooth plate cylinder 502.

[0055] The fixing mode of the mounting frame ensures the overall stability of the rake plate components, avoiding the deviation or loosening caused by vibration or external force during operation. The rake plate mounting frame 501 is fixed on the component mounting plate 905 by screw connection mode, which ensures that the structure of the entire assembly is firm. The two rake plate cylinders 502 arranged symmetrically are adopted to make the entire rake plate components evenly stressed during operation, thereby improving the stability and accuracy of operation. The rake plate components controlled by the cylinder can accurately and quickly complete the transfer and sorting tasks of materials. The efficient pneumatic control system enables the production line to achieve continuous and high-speed material processing during operation.

[0056] As an embodiment of the present invention, Figure 6 As shown, the copper tube guide component 6 includes a first guide plate 601, a second guide plate 602, a first guide plate cylinder 606, a second guide plate cylinder 608 and a linear module 609, the first guide plate 604 and the second guide plate 602 are provided with copper tube fixing grooves, the first guide plate cylinder 606 and the second guide plate cylinder 608 are sequentially installed on the cylinder mounting seat 603, the cylinder mounting seat 603 is fixedly installed on the power platform of the linear module 609, the first guide plate cylinder 606 and the second guide plate cylinder 608 are respectively connected to the first guide plate 601 and the second guide plate 602. The first guide plate 601 and the second guide plate 602 are provided with linear bearings 604 respectively, and the first guide column 605 is installed in the cylinder mounting seat 603 matching mounting hole. During the installation process, the upper surface of the first guide column A605 mounting seat coincides with the upper surface of the cylinder mounting seat 603, and the first guide column 605 concentrically passes through the linear bearing 604 and can slide up and down normally. The second guide column 607 is installed in the first guide plate 601 matching mounting hole. During the installation process, the upper surface of the second guide column 607 mounting seat coincides with the upper surface of the first guide plate 601, and the second guide column 607 concentrically passes through the linear bearing 604 and can slide up and down normally. The number of the copper tube guide components is 4, and the 4 copper tube guide components are all symmetrically installed and have the same structure.

[0057] The copper tube guide component 6 achieves accurate guidance of the copper tube through the copper tube fixing grooves on the first guide plate 601 and the second guide plate 602. The design of the cylinder enables the two guide plates to move up and down accurately through pneumatic control, ensuring accurate adjustment of the copper tube during operation. The action of the cylinder drives the guide plate so that the copper tube can be automatically guided under accurate control.

[0058] As an embodiment of the present invention, Figure 7As shown, the copper tube propulsion component 7 includes a copper tube propulsion plate 701, a copper tube propulsion cylinder 702, a copper tube propulsion cylinder mounting seat 703 and a copper tube propulsion linear module 704. The copper tube propulsion plate 701 is installed on the copper tube propulsion cylinder 702. The copper tube propulsion cylinder 702 is symmetrically installed and fixed on the upper surface of the copper tube propulsion cylinder mounting seat 703 with the copper tube propulsion cylinder mounting seat 703. The copper tube propulsion cylinder mounting seat 703 is fixedly installed on the copper tube propulsion linear module 704. The copper tube propulsion linear module 704 is installed on a component mounting plate 905. Two groups of copper tube propulsion components 7 are provided on the component mounting plate 905. The two groups of copper tube propulsion components 7 are symmetrically installed on the center plane of the component mounting plate 905 and have the same structure.

[0059] As an embodiment of the present invention, Figure 8 As shown, it also includes a copper tube cart component 8. The main body of the copper tube cart component 8 is composed of a copper tube cart 802. Copper tube positioning pins 803 are horizontally arranged and installed on the bottom plate of the copper tube cart 802. According to different models of un-tubed condensers 401, 32 layers of condenser copper tubes 804 are vertically arranged in corresponding columns. The copper tube cart positioning frame 801 is horizontally installed on the ground. The installation position of the copper tube cart component 8 is determined according to the walking component 9 and the copper tube grabbing component 1.

[0060] As an embodiment of the present invention, Fig. 9 As shown, the walking component 9 includes a walking frame column 901, a walking frame crossbeam 902, a linear slider group 903, a gear rack group 904, a component mounting plate 905, a slider mounting plate 906, a right-angle reducer 907 and a servo motor 908. The lower surfaces of the two walking frame columns 901 are horizontally fixed to the ground by screw holes, the walking frame crossbeam 902 is fixed to the upper surface of the walking frame column 901 by screw holes, the linear slider group 903 is installed on the front and rear positioning mounting bosses of the walking frame crossbeam 902, the linear slider group 903 linear rail is fixed to the walking frame crossbeam 902 by screw holes, and the slider of the linear slider group 903 is fixed to the inner side of the slider mounting plate 906. The front and rear sides are installed in the same way, and the components slide linearly. The component mounting plate 905 is horizontally and vertically installed on the upper surfaces of the front and rear two slider mounting plates 906 and fixed by screw holes. The rack and pinion set 904 is installed on the positioning mounting boss on the front side of the walking frame cross beam 902. The rack of the rack and pinion set 904 is fixed to the front side of the walking frame cross beam 902 with a screw hole. The output end of the rack and pinion set 904 is concentrically installed and connected to the output shaft of the right-angle reducer 907 and is meshed with the rack of the rack and pinion set 904. The output end of the servo motor 908 is concentrically installed and connected to the input hole of the right-angle reducer 907.

[0061] The walking frame column 901 is fixed horizontally to the ground to ensure the stability of the entire walking system and avoid deviation or instability caused by vibration or external impact. The installation of the linear slider group 903 ensures that the walking components can move smoothly on the track, reducing friction and movement resistance. The combination of the gear rack group 904, the right-angle reducer 907, and the servo motor 908 ensures efficient driving and precise control of the walking components. The deceleration function of the right-angle reducer 907 ensures that the system can start and stop smoothly. The combination of the linear slider group 903 and the slider mounting plate 906 enables the component mounting plate 905 to slide smoothly along the predetermined track. The front and rear sides are installed in the same way to ensure that the components maintain consistent linear motion during operation. The linear slider group 903 is evenly installed on the front and rear sides of the walking frame beam 902. The symmetrical design ensures that the entire walking system is evenly stressed during movement.

[0062] The working principle of the automatic copper tube threading device for two air conditioners of the present invention is as follows:

[0063] Prepare the materials of the untubed condenser 401 and the condenser copper tube 804. The untubed condenser 401 needs to be placed on the conveyor line component 2 to ensure that the untubed condenser 401 and the condenser positioning component 3 are correctly matched and the untubed condenser 401 flows normally on the conveyor line component 2. The condenser copper tube 804 should be sorted in advance and placed in the copper tube cart component 8 to ensure sufficient materials.

[0064] The equipment is powered on and started, the copper tube grabbing component 1 returns to the Home point to wait, and the conveyor line component 2 is paused; the copper tube car component 8 is placed in place, and the walking component 9, the servo motor 908 is actuated to transmit the kinetic energy to the gear rack set 904 through the right-angle reducer 907, and drives the component mounting plate 905 to move to the origin of the copper tube car component 8 near the copper tube car component; during the process of the walking component 9 returning to the origin, the rake plate cylinders in the upper and lower parts of the rake plate component 5 are retracted, driving the upper plate 503 and the lower plate 505 of the rake plate to open, and the linear module 609 in the copper tube guide component 6 is actuated, and the cylinder mounting seat 603 is driven by the sliding block of the linear module 609 to retract from the center surface of the component mounting plate 905 to the left and right directions at the same time to the origin of the linear module 609, and during the retraction process, the second guide plate cylinder 608 is retracted and the first guide plate cylinder 606 is pushed out, and the copper tube guide component 6 is in the initial state. The linear module 609 sliding block in the copper tube propulsion component 7 drives the copper tube propulsion cylinder mounting seat 703 to return to the origin. During the return process, the copper tube propulsion cylinder 702 returns, and the copper tube propulsion component 7 is in its initial state as a whole.

[0065] The overall return to zero of the equipment is completed, and the conveyor line component 2 starts to move. The unpipe condenser 401 starts to move at a constant speed from right to left on the conveyor line component 2. At the same time, the grabbing robot 102 drives the copper tube clamp mounting plate 103 to the grabbing point of the condenser copper tube 804. During the movement of the grabbing robot 102, the grabbing cylinder 104 is pushed out, and the servo clamp 105 drives the copper tube clamp 106 to an open state. The grabbing robot 102 runs to the grabbing point of the condenser copper tube 804 and pauses. The servo clamp 105 drives the copper tube clamp 106 to a clamped state to clamp the condenser copper tube 804. The grabbing robot 1 02 runs to the top of the origin of the walking component 9, and continues to move after it is in place. At the same time, the copper tube pushing cylinder 702 is pushed out until the condenser copper tube 804 is placed in the groove of the copper tube pushing plate 701. The grasping robot 102 pauses, and the linear module 609 in the copper tube guide component 6 moves. The cylinder mounting seat 603 is driven by the sliding block of the linear module 609 to push toward the center surface of the component mounting plate 905 from both the left and right directions at the same time. After it is in place, the second guide plate cylinder 608 is pushed out and the first guide plate cylinder 606 is retracted, and the copper tube guide component 6 is in a clamped state (the left and right groups have the same actions but opposite directions). Wait for the unpipelined condenser 401 to move uniformly from right to left on the conveyor line component 2 to the starting point of pipe insertion. After the unpipelined condenser 401 moves into place, the rake plate cylinder 502 in the upper and lower parts of the rake plate component 5 is pushed out, and the rake plate upper plate 503 and the rake plate lower plate 505 are clamped. At the same time, the condenser copper tube 804 and the unpipelined condenser 401 are clamped, and the servo clamp 105 drives the copper tube clamp 106 to be in an open state, the grabbing cylinder 104 retreats, and the grabbing robot 102 first retreats to the grabbing waiting point of the condenser copper tube 804.During the retraction of the grasping robot 102, the conveyor line component 2 and the walking component 9 move at the same time with synchronized speeds. The servo motor 908 moves to transmit kinetic energy to the gear rack set 904 through the right-angle reducer 907, driving the component mounting plate 905 and the un-tubed condenser 401 to move uniformly from right to left on the conveyor line component 2 in the same direction. During the movement, the linear module 609 sliding block in the copper tube propulsion component 7 drives the copper tube propulsion cylinder mounting seat 703 forward, and reaches the first propulsion point during the propulsion process. The linear module 609 in the first group of copper tube guide components 6 moves, and drives the cylinder mounting seat 603 to retreat to the linear module 609 origin from the center of the component mounting plate 905 to the left and right directions at the same time through the linear module 609 sliding block, and reaches the second propulsion point during the propulsion process. The linear module 609 in the second group of copper tube guide components 6 moves, and drives the cylinder mounting seat 603 to retreat to the left and right directions from the center of the component mounting plate 905 to the left and right directions through the linear module 609 sliding block. The two directions simultaneously return to the origin of the linear module 609, the copper tube propulsion component 7 continues to advance, and the linear module 609 sliding block drives the copper tube propulsion cylinder mounting seat 703 to move forward. When the copper tube propulsion component 7 is close to the edge of the rake plate component 5, the copper tube propulsion component 7 moves, and the linear module 609 sliding block drives the copper tube propulsion cylinder mounting seat 703 to move backward. When the tail of the condenser copper tube 804 is tangent to the copper tube propulsion plate 701, the linear module 609 sliding block pauses, and the copper tube pusher Intake cylinder 702 retreats, copper tube propulsion component 7 moves, linear module 609 slide blocks drive copper tube propulsion cylinder mounting seat 703 to move forward, until the tail of condenser copper tube 804 and the edge of rake tooth plate component 5 are about 2cm, copper tube propulsion component 7 pauses, linear module 609 slide blocks drive copper tube propulsion cylinder mounting seat 703 to move backward, copper tube propulsion component 7 waits to the origin, and copper tube propulsion component 7 is in the initial state (this process is the same as the copper tube propulsion component 7 zero return process). In the copper tube propulsion component 7 to the origin process, the rake tooth plate cylinder 502 retreats in the upper and lower parts of the rake tooth plate component 5, and the rake tooth plate upper plate 503 and the rake tooth plate lower plate 505 are opened, and the rake tooth plate component 5 is in the initial state. During the process of the copper tube pushing component 7 to the origin, the walking component 9 moves, and the servo motor 908 moves to transmit the kinetic energy to the gear rack set 904 through the right-angle reducer 907, driving the component mounting plate 905 to move right to the origin. The equipment completes a single cycle, and the subsequent process is the same as the first cycle until the copper tube 804 of the copper tube cart component 8 condenser is used up and the equipment pauses.

[0066] The main functions of the present invention are:

[0067] By designing synchronous conveying lines, copper tube grabbing components and synchronous tube threading components, the material flow and copper tube threading of the condenser and copper tube are seamlessly synchronized during the tube threading process, which improves the continuity of the production line and equipment utilization, and avoids downtime and waiting time. In addition, dedicated high-precision positioning components ensure the precise positioning of the copper tube and the condenser, avoid errors and deviations, and improve heat exchange efficiency and equipment stability. The use of servo grippers and industrial robot control realizes efficient grabbing and precise positioning of large quantities and multi-position copper tubes, significantly reducing the labor intensity of employees and reducing operating errors. Through the coordinated operation of the full closed-loop control system, the working state of the equipment is optimized, ensuring the precise control and efficient operation of the automatic tube threading process, improving the automation level of the production line, and reducing production costs.

[0068] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the present invention without creative mental work, which all fall within the scope of protection of the present invention.

Claims

1. An automatic copper tube threading device for two air conditioners, characterized in that: include: Synchronous conveyor line: including conveyor line parts and running parts. The conveyor line parts are installed on the side of the running parts in parallel. The condenser is pierced and conveyed with the copper tube of the running parts in the conveyor line parts. Copper tube grabbing component: equipped with a copper tube clamp mounting plate to grab the condenser copper tube to the traveling component; synchronous tube threading component: including condenser positioning component, rake plate component, copper tube guide component and copper tube pushing component, to position the condenser and condenser copper tube on the conveying line component and the traveling component and to thread the condenser copper tube into the condenser.

2. The automatic copper tube threading equipment for two air conditioners according to claim 1 is characterized in that: The rake tooth plate component, the copper tube guide component and the copper tube propulsion component are mounted on the component mounting plate of the walking component.

3. The automatic copper tube threading equipment for two air conditioners according to claim 2 is characterized in that: The tooth plate component comprises a tooth plate mounting frame, a tooth plate cylinder, a tooth plate upper plate, a tooth plate lower plate and a cylinder connecting plate; the tooth plate upper plate and the tooth plate lower plate are provided with copper tube positioning grooves corresponding to the copper tubes, the tooth plate cylinder is fixed on the tooth plate mounting frame, and the tooth plate cylinder is respectively connected to the tooth plate upper plate and the tooth plate lower plate through the cylinder connecting plate.

4. The automatic copper tube threading equipment for two air conditioners according to claim 1 is characterized in that: The condenser positioning component is arranged on the upper surface of the left side of the conveying line component, and the condenser positioning component is composed of two condenser positioning blocks that are symmetrically installed.

5. The automatic copper tube threading equipment for two air conditioners according to claim 1 is characterized in that: The copper tube guide component includes a first guide plate, a second guide plate, a first guide plate cylinder, a second guide plate cylinder and a linear module. The first guide plate and the second guide plate are provided with copper tube fixing grooves. The first guide plate cylinder and the second guide plate cylinder are sequentially installed on the cylinder mounting seat. The cylinder mounting seat is fixedly installed on the power platform of the linear module. The first guide plate cylinder and the second guide plate cylinder are respectively connected to the first guide plate and the second guide plate.

6. The automatic copper tube threading equipment for two air conditioners according to claim 5 is characterized in that: The first guide plate and the second guide plate are respectively provided with linear bearings, and the cylinder mounting seat is provided with a guide column. The upper surface of the mounting seat of the guide column coincides with the upper surface of the cylinder mounting seat, and the guide column concentrically passes through the linear bearing. The guide column is installed in the matching mounting holes of the first guide plate and the second guide plate.

7. The automatic copper tube threading equipment for two air conditioners according to claim 2 is characterized in that: The copper tube propulsion component includes a copper tube propulsion plate, a copper tube propulsion cylinder, a copper tube propulsion cylinder mounting seat and a copper tube propulsion linear module. The copper tube propulsion plate is installed on the copper tube propulsion cylinder. The copper tube propulsion cylinder is symmetrically installed and fixed on the upper surface of the copper tube propulsion cylinder mounting seat with the copper tube propulsion cylinder mounting seat. The copper tube propulsion cylinder mounting seat is fixedly installed on the copper tube propulsion linear module. The copper tube propulsion linear module is installed on the component mounting plate.

8. The automatic copper tube threading equipment for two air conditioners according to claim 1 is characterized in that: It also includes a copper tube car component. The main body of the copper tube car component is composed of a copper tube car. The copper tube positioning pins are horizontally arranged and installed on the bottom plate of the copper tube car. The copper tube positioning pins position the condenser copper tubes.

9. The automatic copper tube threading equipment for two air conditioners according to claim 1, characterized in that: The walking components include a walking frame column, a walking frame crossbeam, a linear slider group, a gear rack group, a component mounting plate, a slider mounting plate, a right-angle reducer and a servo motor. The lower bottom surface of the walking frame column is horizontally fixed to the ground by means of screw holes, the walking frame crossbeam is fixed to the walking frame column by means of screw holes, the linear slider group is installed on the walking frame crossbeam, the linear slider group linear rail is fixed to the walking frame crossbeam by screw holes, the slider of the linear slider group is fixed to the inner side of the slider mounting plate, the component mounting plate is horizontally and vertically installed on the front and rear two slider mounting plates, the gear rack is installed on the walking frame crossbeam, the rack of the gear rack group is fixed to the front side of the walking frame crossbeam by screw holes, the gear output end of the gear rack group is concentrically installed and connected to the output shaft of the right-angle reducer and meshes with the rack of the gear rack group, and the output end of the servo motor is concentrically installed and connected to the input hole of the right-angle reducer.

10. The automatic copper tube threading equipment for two air conditioners according to claim 1, characterized in that: The copper tube grasping component includes a grasping robot, which is installed on a robot mounting base. A copper tube clamp mounting plate is provided on the flange of the grasping robot. The copper tube clamp mounting plate is provided with a grasping cylinder. The grasping cylinder is connected to a servo clamp. The output end of the servo clamp is provided with two symmetrical and parallel copper tube mounting clamps.

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