Automatic pipe inserting equipment for air conditioner heat exchanger

Abstract

The invention discloses automatic pipe inserting equipment for an air conditioner heat exchanger, and relates to the technical field of air conditioner accessory machining, the automatic pipe inserting equipment for the air conditioner heat exchanger comprises a pipe inserting device and a conveying device, the pipe inserting device comprises a rack, a mounting table arranged on the rack and a pipe inserting mechanism arranged on the mounting table, and the rack is provided with a pipe inserting station corresponding to the pipe inserting mechanism; the conveying device is used for conveying the heat exchanger to the multiple stations, the multiple stations comprise the pipe inserting station, the mounting table is movably arranged on the rack in the first direction, and the height of the pipe inserting mechanism can be adjusted to adapt to heat exchangers with different heights; the pipe inserting mechanism comprises a driving mechanism and a clamping assembly in driving connection with the driving mechanism, the clamping assembly is used for clamping the connecting pipe, and the driving mechanism is used for driving the clamping assembly to do spatial multi-axis movement so as to insert the connecting pipe onto the heat exchanger and further driving the clamping assembly to rotate around a first axis; and the angle of the connecting pipe on the clamping assembly relative to the heat exchanger is adjusted, so that the compatibility of the heat exchanger is improved.

Description

Technical Field

[0001] This invention relates to the field of air conditioner parts processing technology, and in particular to an automatic tube insertion device and tube insertion apparatus for an air conditioner heat exchanger. Background Technology

[0002] In related technologies, copper tubes on the heat exchangers (condensers and evaporators) of air conditioners need to be connected by U-shaped tubes to form a passage. Currently, the equipment used to install U-shaped tubes has a simple structure and cannot be adapted to heat exchangers of different specifications. Summary of the Invention

[0003] The main objective of this invention is to propose an automatic tube insertion device for air conditioning heat exchangers, which aims to solve the problem that existing equipment cannot adapt to heat exchangers of different specifications.

[0004] To achieve the above objectives, the automatic tube insertion device for air conditioning heat exchangers proposed in this invention includes: The intubation device includes a frame, a mounting platform disposed on the frame and movable between a first position and a second position along a first direction, and an intubation mechanism disposed on the mounting platform. The frame is provided with an intubation station corresponding to the intubation mechanism. A conveying device for transferring the heat exchanger to multiple stations, including the tube insertion station; The tube insertion mechanism includes a drive mechanism and a clamping assembly drivenly connected to the drive mechanism. The clamping assembly is used to clamp the connecting tube. The drive mechanism is used to drive the clamping assembly to perform multi-axis spatial movement to insert the connecting tube into the heat exchanger, and is also used to drive the clamping assembly to rotate around a first axis to adjust the angle of the connecting tube clamped by the clamping assembly relative to the heat exchanger.

[0005] In one embodiment, the cannulation device includes a plurality of clamping assemblies configured to clamp connecting tubes of the same or different sizes. The plurality of clamping assemblies are respectively driven connected to the driving mechanism, which is used to drive any one of the clamping assemblies to move along the first direction and to drive any one of the clamping assemblies to rotate about a first axis.

[0006] In one embodiment, the driving mechanism includes a bracket and at least one first driving component disposed on the bracket. A plurality of clamping components are movably disposed on the bracket. Each first driving component is drivenly connected to two clamping components to drive the two clamping components to move synchronously in opposite directions in the first direction.

[0007] In one embodiment, the driving mechanism further includes at least one second driving component disposed on the bracket, each second driving component being drivenly connected to at least one of the clamping components to drive at least one of the clamping components to rotate about the first axis.

[0008] In one embodiment, a plurality of the clamping components are disposed on the bracket and arranged in two rows; Each of the first drive components is drive-connected to two opposite clamping components in the two rows; And / or, the drive mechanism includes two second drive components, which are respectively driven connected to the two rows of clamping components.

[0009] In one embodiment, the driving mechanism further includes a movable module disposed on the mounting platform, the bracket being disposed on the movable module, and the movable module being used to drive the bracket to move along a second direction and a third direction, wherein the first direction, the second direction, and the third direction intersect each other.

[0010] In one embodiment, the clamping assembly includes a first driver and two clamping blocks driven by the first driver. At least one of the two clamping blocks is provided with an arc-shaped groove. A positioning groove is provided on the groove wall of the arc-shaped groove facing the other clamping block. An elastic element is provided in the arc-shaped groove of the clamping block, and at least a portion of the elastic element is provided in the positioning groove. And / or, the insertion device further includes a vision positioning module disposed on the drive mechanism, the vision positioning module being used to detect the position information of the heat exchanger, and the insertion mechanism being used to perform a preset insertion operation based on the information.

[0011] In one embodiment, the cannulation device further includes a feeding mechanism and a first lifting mechanism. The feeding mechanism is disposed on the mounting platform for conveying the connecting tube to the cannulation mechanism. The first lifting mechanism is disposed on the frame and drivenly connected to the mounting platform for driving the mounting platform to move along the first direction to adjust the height of the mounting platform.

[0012] In one embodiment, the first lifting mechanism includes a second driver, a first transmission assembly, and a plurality of lead screws. The plurality of lead screws pass through the mounting platform and are threadedly connected to the mounting platform. The second driver is driven by the plurality of lead screws through the first transmission assembly.

[0013] In one embodiment, the feeding mechanism includes a vibratory feeder, a transfer mechanism, and multiple material channels. One end of each material channel is located near the vibratory feeder, and the other end is located near the insertion mechanism. The transfer mechanism is located above the vibratory feeder to transfer the connecting tube on the vibratory feeder to the multiple material channels. The material channels are used to transport the connecting tube to the insertion mechanism.

[0014] In one embodiment, the feeding mechanism further includes a material distribution and positioning mechanism, which is located at one end of the material channel near the insertion device. The material distribution and positioning mechanism is used to sequentially remove the connecting tubes on the material channel and position them to a preset position for the clamping component to grip.

[0015] In one embodiment, the device is characterized by further comprising a tube-tapping device disposed on one side of the conveying device and located downstream of the tube insertion station. The tube-tapping device includes a second lifting mechanism and a tube-tapping mechanism. The second lifting mechanism is configured to drive the tube-tapping mechanism to move up and down along the first direction. The tube-tapping mechanism is used to tap the connecting tube on the heat exchanger so that the connecting tube is assembled with the heat exchanger in place.

[0016] In one embodiment, the tube-flicking mechanism includes a plurality of tube-flicking components; Multiple of the aforementioned tube components are arranged along the conveying direction of the conveying device; And / or, the tweezers mechanism further includes a rotary motor, an eccentric wheel, and a second transmission assembly. The plurality of tweezers are disposed on the second transmission assembly. The rotary motor is driven to the first transmission assembly through the eccentric wheel, so as to drive the plurality of tweezers to reciprocate along the first direction.

[0017] The automatic tube insertion device for air conditioning heat exchangers proposed in this invention includes a tube insertion device and a conveying device. The tube insertion device includes a frame, a mounting platform on the frame, and a tube insertion mechanism on the mounting platform. The frame has tube insertion stations corresponding to the tube insertion mechanism. The conveying device is used to convey the heat exchanger to multiple stations, including the tube insertion station. The mounting platform is movable and switchable on the frame along a first direction and between a first position and a second position. The height of the tube insertion mechanism can be adjusted to adapt to heat exchangers of different heights, thereby improving compatibility with heat exchanger sizes. Furthermore, the tube insertion mechanism includes a driving mechanism and a clamping assembly driven and connected to the driving mechanism. The clamping assembly is used to clamp the connecting tube. The driving mechanism is used to drive the clamping assembly to perform multi-axis spatial movement to insert the connecting tube into the heat exchanger, and also drives the clamping assembly to rotate around a first axis, thereby adjusting the angle of the connecting tube on the clamping assembly relative to the heat exchanger, so that the automatic tube insertion device for air conditioning heat exchangers can adapt to different tube insertion requirements, further improving compatibility with heat exchangers of different specifications. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of an embodiment of the automatic tube insertion device for air conditioning heat exchangers provided by the present invention. Figure 2 A structural diagram of the frame in one embodiment of the automatic tube insertion device for air conditioning heat exchangers provided by the present invention; Figure 3 This is a schematic diagram of the feeding mechanism and the tube insertion mechanism in one embodiment of the automatic tube insertion device for air conditioner heat exchangers provided by the present invention. Figure 4 A partial structural schematic diagram of the tube insertion mechanism in one embodiment of the automatic tube insertion device for air conditioning heat exchangers provided by the present invention; Figure 5 A partial structural schematic diagram of the tube insertion mechanism in another embodiment of the automatic tube insertion device for air conditioning heat exchangers provided by the present invention; Figure 6 A schematic diagram of the structure of the clamping component assembling the connecting pipe in one embodiment of the automatic tube insertion device for air conditioner heat exchangers provided by the present invention; Figure 7 A schematic diagram of the feeding mechanism in one embodiment of the automatic tube insertion device for air conditioner heat exchangers provided by the present invention; Figure 8 for Figure 7 A magnified view of the location indicated by arrow A in the middle; Figure 9 A schematic diagram of the tube-feeding device in one embodiment of the automatic tube-insertion device for air conditioning heat exchangers provided by the present invention; Figure 10 A schematic diagram of the disassembled structure of the tube-feeding mechanism in one embodiment of the automatic tube-feeding device for air conditioning heat exchangers provided by the present invention; Figure 11 A schematic diagram of the clamping component in one embodiment of the automatic tube insertion device for air conditioning heat exchangers provided by the present invention.

[0020] Explanation of icon numbers: 100. Insertion device; 110. Connecting pipe; 1. Frame; 11. Mounting platform; 12. First lifting mechanism; 121. Second driver; 122. First transmission assembly; 123. Lead screw; 13. Base plate; 14. Top plate; 15. Guide column; 2. Insertion mechanism; 21. Drive mechanism; 211. Bracket; 212. First drive assembly; 2121. First motor; 2122. First transmission belt; 2123. First pulley; 213. Second drive assembly; 2131. Second motor 2132. Second transmission belt; 2133. Second pulley; 2134. Rotating shaft; 2135. Tensioner wheel; 214. Moving module; 215. Guide rail; 216. Connecting part; 22. Clamping assembly; 221. First driver; 222. Clamping block; 222a. Arc groove; 222b. Positioning groove; 2221. Elastic element; 23. Vision positioning module; 3. Feeding mechanism; 31. Vibratory feeder; 32. Transfer mechanism; 33. Material channel; 34. Material distribution and positioning mechanism; 35. Hopper; 200. Conveying device; 210. Heat exchanger; 300. Pipe-tapping device; 4. Second lifting mechanism; 5. Pipe-tapping mechanism; 51. Pipe-tapping component; 52. Rotary motor; 53. Eccentric wheel; 54. Second transmission assembly; 541. Movable block; 542. Mounting base.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0024] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A or solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] This invention proposes an automatic tube insertion device for air conditioning heat exchangers.

[0026] Please see Figures 1 to 4 In one embodiment of the present invention, the automatic tube insertion device for air conditioning heat exchangers includes a tube insertion device 100 and a conveying device 200. The tube insertion device 100 includes a frame 1, a mounting platform 11 disposed on the frame 1, and a tube insertion mechanism 2 disposed on the mounting platform 11. The frame 1 is provided with a tube insertion station corresponding to the tube insertion mechanism 2. The conveying device 200 is used to convey the heat exchanger 210 to multiple stations, including the tube insertion station. The mounting platform 11 is movable and switchable on the frame 1 along a first direction and between a first position and a second position. Further, the tube insertion mechanism 2 includes a driving mechanism 21 and a clamping assembly 22 drivenly connected to the driving mechanism 21. The clamping assembly 22 is used to clamp the connecting tube 110. The driving mechanism 21 is used to drive the clamping assembly 22 to perform multi-axis spatial movement to insert the connecting tube 110 into the heat exchanger 210, and also drives the clamping assembly 22 to rotate around a first axis, thereby adjusting the angle of the connecting tube 110 on the clamping assembly 22 relative to the heat exchanger 210.

[0027] It should be noted that in this embodiment, the first direction is defined as the vertical direction along the z-axis. The conveying device 200 is located below the mounting platform 11. The first position is the highest point of the mounting platform 11 on the frame 1, and the second position is the lowest point of the mounting platform 11 on the frame 1. The distance between the mounting platform 11 and the conveying device 200 can be adjusted by raising and lowering the mounting platform 11 in the vertical direction. In some other embodiments of the present invention, the first direction can be a horizontal direction or other directions, which are not specifically limited here. Furthermore, in this embodiment, the specific structure of the conveying device 200 is not limited. For example, the conveying device 200 can be a conveyor line, a railcar, or other structures. Multiple workstations can include drying workstations, welding workstations, tube insertion workstations, tube tapping workstations, etc., and each workstation corresponds to different processing equipment. The conveying device 200 is used to drive the heat exchanger 210 to move between different workstations.

[0028] In addition, in this embodiment, the structure of the drive mechanism 21 and the clamping assembly 22 is not limited. For example, the drive mechanism 21 can be configured as a device with the function of moving along the x, y, and z directions, such as a cantilever structure: the load is completely suspended on the z-axis supported on one side, the z-axis is mounted on a slide that can move along the y-axis, and the y-axis is mounted on a base that can move along the x-axis; another example is a gantry structure: the z-axis is mounted on a crossbeam (gantry beam) that can move along the y-axis, and the entire gantry frame can move along the guide rail of the x-axis; or similar to the gantry structure, but the moving part is a moving column structure of the entire column (i.e., the column supporting the z-axis), which can be adapted and set according to requirements.

[0029] In addition to moving the clamping assembly 22 along the x, y, and z directions, the drive mechanism 21 also drives the clamping assembly 22 to rotate around a first axis. The first axis is set along the z-axis, which can adjust the insertion angle of the connecting tube 110. The drive mechanism 21 can be equipped with components such as a rotary motor for driving, and no specific limitation is made here. The first axis can be set on the clamping assembly 22 or located outside the clamping assembly 22, as long as the angle of the connecting tube 110 can be adjusted, and no limitation is made here.

[0030] The clamping component 22 can be configured as a mechanical gripper, for example, by controlling the opening and closing of two clamping parts to clamp the connecting tube 110; or by using a fixed V-groove block that matches the outer diameter of the connecting tube 110, in conjunction with a movable pressure block that also has a V-groove or arc surface for clamping. Its structure is not specifically limited and can be adapted to the shape of the connecting tube 110.

[0031] Furthermore, the connecting pipe 110 in this solution includes a U-shaped pipe with two openings, and also includes a shaped pipe (not shown) with a third opening between the two openings of the U-shaped pipe. Its specific structure is not limited here and can be selected according to requirements. Further references Figure 6Taking the connecting pipe 110 as a U-shaped pipe as an example, when the connecting pipe 110 is inserted into the heat exchanger 210, it can be inserted horizontally, that is, the line connecting the two pipe openings of the connecting pipe 110 is parallel to the length direction of the heat exchanger 210, or the connecting pipe 110 is inserted obliquely into the heat exchanger 210, that is, the line connecting the two pipe openings forms an angle with the length direction of the heat exchanger 210.

[0032] This configuration allows the height of the insertion mechanism 2 to be adjusted to accommodate heat exchangers 210 of different heights by controlling the movement of the mounting platform 11 between the first and second positions. For example, it can accommodate heat exchangers 210 with an expansion range of 415mm-1685mm, thereby improving compatibility with the dimensions of the heat exchangers 210 and facilitating rapid equipment changeovers. This eliminates the need for multiple sets of equipment for different specifications of heat exchangers 210, saving costs. Furthermore, the drive mechanism 21 controls the movement and rotation of the clamping assembly 22, enabling the automatic insertion equipment for air conditioning heat exchangers to adapt to different insertion requirements, such as horizontal and oblique insertion, further enhancing compatibility with different specifications of heat exchangers 210 and increasing the automation rate of the entire process.

[0033] In one implementation, such as Figures 3 to 5 As shown, the cannulation device 100 includes multiple clamping assemblies 22, which are configured to clamp connecting tubes 110 of the same or different sizes. Each clamping assembly 22 is motive-connected to a drive mechanism 21. The drive mechanism 21 drives any clamping assembly 22 to move along a first direction and to rotate around a first axis. Figure 6 As can be seen, the heat exchanger 210 is used to assemble connecting pipes 110 of a single or multiple sizes. To improve the pipe insertion efficiency, in this embodiment, multiple clamping components 22 are provided to clamp multiple connecting pipes 110 at once. The multiple clamping components 22 can be set to the same specification to clamp connecting pipes 110 of the same size, or they can be set to different specifications to clamp connecting pipes 110 of multiple different sizes. They can be adapted according to requirements, and no specific limitation is made here. For example, the multiple clamping components 22 are compatible with clamping and inserting three types of pipes: 7*17mm, 7*21mm, and 7*34.2mm.

[0034] Furthermore, to avoid interference between multiple clamping components 22 during insertion, the drive mechanism 21 is configured to drive any one of the clamping components 22 to move along a first direction and rotate around a first axis. This allows for individual insertion and angle adjustment operations to be performed on the connecting tube 110 held by each clamping component 22, thereby improving the working efficiency of the insertion mechanism 2. The drive mechanism 21 can be equipped with independent moving and rotating devices for each clamping component 22; its structure is not specifically limited here.

[0035] In one implementation, such as Figure 4 and Figure 5As shown, the drive mechanism 21 includes a bracket 211 and at least one first drive assembly 212 disposed on the bracket 211. Multiple clamping assemblies 22 are movably disposed on the bracket 211. Each first drive assembly 212 is drivenly connected to two clamping assemblies 22 to drive the two clamping assemblies 22 to move synchronously in opposite directions in a first direction. It should be noted that in this embodiment, the structure of the first drive assembly 212 is not limited. For example, the first drive assembly 212 includes a first motor 2121, a first transmission belt 2122, and a first pulley 2123. The first transmission belt 2122 is wound around the first pulley 2123 and drivenly connected to the first motor 2121. The first transmission belt 2122 extends along a first direction. The two clamping assemblies 22 are disposed on opposite sides of the first transmission belt 2122 and connected to it. When the first motor 2121 drives the first transmission belt 2122 to rotate, the two clamping assemblies 22 move in opposite directions in the first direction.

[0036] Furthermore, each pair of clamping components 22 corresponds to a first driving component 212, which allows one of the multiple clamping components 22 to extend downwards to facilitate the insertion of the connecting tube 110 and avoid interference from the multiple clamping components 22. Of course, as Figure 4 and Figure 5 As shown, the number of the first transmission belt 2122 and the first pulley 2123 can be multiple, and can be adaptively set according to the arrangement position of the first motor 2121 and the power transmission path, with the aim of driving the two clamping components 22 to move in opposite directions along the first direction. No specific limitation is made here. In some other embodiments of the present invention, the first driving component 212 can also be equipped with a motor that works in conjunction with a gear and rack, and the two clamping components 22 can be connected to the gears on the motor via two racks, which can also achieve the two clamping components 22 moving in opposite directions along the first direction.

[0037] The use of multiple first transmission belts 2122 and multiple first pulleys 2123 helps optimize space occupancy and reduce the number of motors. Furthermore, the bracket 211 is also equipped with multiple guide rails 215 extending along a first direction, with each clamping assembly 22 mounted on one guide rail 215, such as... Figure 5 As shown, the clamping assembly 22 is provided with a connecting part 216, which is slidably connected to the guide rail 215 and connected to the first transmission belt 2122. When the first transmission belt 2122 rotates, it can drive the clamping assembly 22 to move along the guide rail 215 in a first direction. In addition to using the guide rail 215 to constrain the movement direction of the clamping assembly 22, a shaft-fitting bushing structure can also be provided, which is not specifically limited here.

[0038] In one implementation, such as Figure 5As shown, the drive mechanism 21 also includes at least one second drive assembly 213 disposed on the bracket 211. Each second drive assembly 213 is drivenly connected to at least one clamping assembly 22 to drive at least one clamping assembly 22 to rotate around the first axis. It should be noted that in this embodiment, the structure of the second drive assembly 213 is not limited. For example, the second drive assembly 213 includes a second motor 2131, a second transmission belt 2132, a plurality of rotating shafts 2134 arranged along the first direction, and a second pulley 2133 disposed on each rotating shaft 2134. One end of each rotating shaft 2134 is connected to a clamping assembly 22. The second transmission belt 2132 is drivenly connected to the second motor 2131 and is wound around at least one second pulley 2133, which can drive at least one clamping assembly 22 to rotate around the corresponding rotating shaft 2134, thereby adjusting the angle of the connecting pipe 110 on the clamping assembly 22 relative to the heat exchanger 210.

[0039] Of course, in some other embodiments of the present invention, the second drive assembly 213 may include a rotating shaft 2134 and a second motor 2131. Each second motor 2131 is directly connected to a clamping assembly 22 via a rotating shaft 2134, and can drive the clamping assembly 22 to rotate around the first axis independently. No specific limitation is made here. However, the structure of using a second transmission belt 2132, a second pulley 2133, and multiple rotating shafts 2134 can save installation space and reduce the number of motors, which is beneficial to simplifying the structure and controlling manufacturing costs.

[0040] In one implementation, such as Figure 4 and Figure 5 As shown, multiple clamping components 22 are disposed on the bracket 211 and arranged in two rows. Each first driving component 212 is drivenly connected to two opposite clamping components 22 in the two rows. In this embodiment, the number of clamping components 22 and first driving components 212 is not limited. For example, the number of clamping components 22 is set to 6 and evenly divided into two rows. The two rows of clamping components 22 are disposed on guide rails 215 on opposite sides of the bracket 211. There are 3 first driving components 212. Each first driving component 212 drives two opposite clamping components 22 to move in opposite directions along a first direction through a first motor 2121, a first transmission belt 2122, and a first pulley 2123.

[0041] In one implementation, such as Figure 4 and Figure 5As shown, multiple clamping components 22 are disposed on the bracket 211 and arranged in two rows. The driving mechanism 21 includes two second driving components 213, which are respectively drivenly connected to the two rows of clamping components 22. In this embodiment, the number of second driving components 213 is not limited. For example, two second driving components 213 are provided. Each second driving component 213 includes one second motor 2131, one second transmission belt 2132, three rotating shafts 2134, and three second pulleys 2133. The second transmission belt 2132 is wound around the second motor 2131 and the three second pulleys 2133. The two second driving components 213 are used to drive the two rows of clamping components 22 to rotate synchronously around their respective rotating shafts 2134 to adjust the angle of the corresponding connecting tube 110.

[0042] This configuration allows for simultaneous adjustment of the angles of multiple clamping components 22 using a single motor, reducing structural complexity. Furthermore, to improve the stability of angle adjustment, the second drive assembly 213 includes multiple tension rollers 2135, which abut against the second transmission belt 2132 to ensure stable connection between the second transmission belt 2132 and each of the second pulleys 2133. Further, the second drive assembly 213, in conjunction with the first drive assembly 212, can drive the two clamping components 22 to move in opposite directions in a first direction, causing one of the clamping components 22 to extend downwards to perform the insertion operation, and can also drive the clamping component 22 to rotate around the corresponding pivot 2134 to adjust the angle, greatly enhancing the adaptability of the insertion mechanism 2 to different insertion requirements.

[0043] In one implementation, such as Figure 3 As shown, the drive mechanism 21 also includes a movable module 214 disposed on the mounting platform 11. A bracket 211 is disposed on the movable module 214. The movable module 214 is used to drive the bracket 211 to move along a second direction and a third direction. The first direction, the second direction, and the third direction intersect each other. It should be noted that in this embodiment, the movable module 214 is configured as a gantry structure, which is beneficial for improving the structural load-bearing capacity. The movable module 214 is used to drive the bracket 211 to move on a horizontal plane along the second direction and the third direction. The first direction is set along the z-axis, the second direction is set along the x-axis, and the third direction is set along the y-axis. The first direction, the second direction, and the third direction are perpendicular to each other.

[0044] In one implementation, such as Figure 11As shown, the clamping assembly 22 includes a first driver 221 and two clamping blocks 222 driven by the first driver 221. At least one of the two clamping blocks 222 is provided with an arc-shaped groove 222a. The groove wall of the arc-shaped groove 222a facing the other clamping block 222 is provided with a positioning groove 222b. An elastic member 2221 is provided in the arc-shaped groove 222a of the clamping block 222. At least a portion of the elastic member 2221 is provided in the positioning groove 222b. It should be noted that the arc-shaped groove 222a has an overall U-shaped structure, which matches the shape of the connecting pipe 110. The positioning groove 222b provided in the arc-shaped groove 222a is U-shaped, and the two edges of the groove opening are used to abut against the outer wall of the connecting pipe 110 to position the connecting pipe 110. Furthermore, the elastic element 2221 is provided in the arc-shaped groove 222a and is at least partially located in the positioning groove 222b. When the two clamping blocks 222 clamp the connecting pipe 110, the elastic element 2221 abuts against the connecting pipe 110, which can improve the success rate of clamping and prevent it from falling off.

[0045] One of the two clamping blocks 222 can be equipped with an arc-shaped groove 222a, a positioning groove 222b, and an elastic element 2221, or both can be equipped with these. The first driver 221 can be a cylinder, a motor, a hydraulic mechanism, etc. The elastic element 2221 can be made of rubber, silicone, plastic, etc., and is not specifically limited here; it can be set according to actual needs. For example, both clamping blocks 222 are equipped with an arc-shaped groove 222a, a positioning groove 222b, and an elastic element 2221. The four elastic elements 2221 provide a clamping preload of 0.5mm, which solves the problem of slippage and lateral displacement of the clamping assembly 22 when clamping the connecting tube 110 at high speed. The positioning groove 222b limits the arc center of the connecting tube 110 in the first direction, improving the consistency of the insertion height.

[0046] In one embodiment, the insertion device 100 further includes a vision positioning module 23 disposed on the drive mechanism 21. The vision positioning module 23 is used to detect the position information of the heat exchanger 210, and the insertion mechanism 2 is used to perform a preset insertion operation based on the information. It should be noted that when the conveying device 200 conveys the heat exchanger 210 to the insertion station, the vision positioning module 23 needs to scan the positioning structures at both ends of the heat exchanger 210 to obtain the position information of the mounting holes on the heat exchanger 210 for the insertion of the connecting pipe 110. After positioning is completed, the insertion mechanism 2 can automatically perform the insertion operation. Furthermore, the automatic insertion device for air conditioning heat exchangers also includes a control system electrically connected to the insertion device 100 and the conveying device 200. The model of the heat exchanger 210 to be inserted can be preset in the control system. After the vision positioning module 23 completes the positioning, the insertion mechanism 2 can quickly insert the pipe without repeatedly scanning the positioning mounting holes, thereby improving efficiency.

[0047] In one implementation, such as Figures 1 to 3As shown, the tube insertion device 100 also includes a feeding mechanism 3 and a first lifting mechanism 12. The feeding mechanism 3 is located on the mounting platform 11 for feeding the connecting tube 110 to the tube insertion mechanism 2. The first lifting mechanism 12 is located on the frame 1 and drivenly connected to the mounting platform 11, for moving the mounting platform 11 along a first direction to adjust the height of the mounting platform 11. It can be understood that by lifting the mounting platform 11 through the first lifting mechanism 12, the feeding mechanism 3 and the tube insertion mechanism 2 can be moved synchronously. During this process, the relative positions of the tube insertion mechanism 2 and the feeding mechanism 3 will not change, so that the material picking position of the clamping component 22 on the feeding mechanism 3 remains unchanged. This enables rapid changeover of the heat exchanger 210 without the need to adjust the feeding mechanism 3 and the tube insertion mechanism 2, which helps to reduce the difficulty of changeover.

[0048] In this embodiment, the structure of the first lifting mechanism 12 is not limited. For example, the first lifting mechanism 12 can be configured as a motor lead screw 123 mechanism, or as a gear and rack mechanism, chain / belt drive mechanism, worm gear mechanism, or wire rope / cable winch mechanism, and can be adapted according to requirements. In addition, the frame 1 includes a base plate 13, a guide column 15 disposed on the base plate 13, and a top plate 14 disposed on the side of the mounting platform 11 away from the base plate 13. The top plate 14 is connected to the guide column 15. The base plate 13 and the mounting platform 11 are spaced apart to form a tube insertion station. The mounting platform 11 is movably disposed on the guide column 15 along a first direction. The first lifting mechanism 12 is used to adjust the distance between the base plate 13 and the mounting platform 11.

[0049] In one implementation, such as Figure 2 As shown, the first lifting mechanism 12 includes a second driver 121, a first transmission assembly 122, and multiple lead screws 123. The lead screws 123 pass through the mounting platform 11 and are threadedly connected to it. The second driver 121 is driven by the multiple lead screws 123 through the first transmission assembly 122. It should be noted that, to improve control precision, the second driver 121 is configured as a servo motor. Due to the large weight of the entire feeding mechanism 3 and the tube insertion mechanism 2, multiple lead screws 123 are threaded through the mounting platform 11. The second driver 121 and the first transmission assembly 122 are mounted on the top plate 14. The first transmission assembly 122 includes multiple transmission links and couplings, enabling the second driver 121 to be driven by the multiple lead screws 123 through the first transmission assembly 122, thereby driving the mounting platform 11 to rise and fall. This configuration allows for precise control of the lifting distance of the mounting platform 11 and provides a large driving force, ensuring the stability and safety of the lifting process.

[0050] In one implementation, such as Figure 7As shown, the feeding mechanism 3 includes a vibratory feeder 31, a transfer mechanism 32, and multiple material channels 33. One end of each material channel 33 is located near the vibratory feeder 31, and the other end is located near the insertion mechanism 2. The transfer mechanism 32 is positioned above the vibratory feeder 31 to transfer the connecting tubes 110 on the vibratory feeder 31 to the multiple material channels 33. The material channels 33 are used to transport the connecting tubes 110 to the insertion mechanism 2. It can be understood that during the insertion operation, the connecting tubes 110 can be placed in batches on the vibratory feeder 31, and the robotic arm of the transfer mechanism 32 will transfer the connecting tubes 110 of the corresponding size to the corresponding material channel 33. The material channel 33 will transport the connecting tubes 110 to a predetermined position so that the clamping assembly 22 of the insertion mechanism 2 can grip them.

[0051] Furthermore, in some other embodiments of the present invention, the feeding mechanism 3 also includes a hopper 35, which can pour the incoming material of the connecting tube 110 into the hopper 35, and the hopper 35 can transport the connecting tube 110 to the vibrating plate 31. This can realize multiple steps of screening, sorting and conveying the connecting tube 110 by the tube insertion device 100, and further improve the automation efficiency.

[0052] In one implementation, such as Figure 8 As shown, the feeding mechanism 3 also includes a material separating and positioning mechanism 34. The material separating and positioning mechanism 34 is located at one end of the material channel 33 near the tube insertion device 100. It is used to sequentially remove the connecting tubes 110 on the material channel 33 and position them to a preset position for the clamping component 22 to grip. It can be understood that when the material channel 33 conveys the connecting tubes 110 to the material separating and positioning mechanism 34, the material separating and positioning mechanism 34 separates the connecting tubes 110 from the connecting tubes 110 on the material channel 33 and moves them to the preset position for positioning. The clamping component 22 can directly grasp the connecting tubes 110 when it moves to the preset position without repeated positioning. Moreover, the separation of the two connecting tubes 110 will not cause interference, thus improving the success rate of the clamping component 22 in picking up materials.

[0053] In this embodiment, the specific structure of the material distribution and positioning mechanism 34 is not limited. For example, the material distribution and positioning mechanism 34 can be configured as a clamp with a moving function. When the material channel 33 outputs the connecting pipe 110, the material distribution and positioning mechanism 34 clamps the connecting pipe 110 and moves it away from the material channel 33. This can separate the two connecting pipes 110 in the front and rear and also achieve positioning. Its structure can be adapted and set according to actual needs.

[0054] In one implementation, such as Figure 9 and Figure 10As shown, the feature is that it also includes a tube-tapping device 300 located on one side of the conveying device 200 and downstream of the tube insertion station. The tube-tapping device 300 includes a second lifting mechanism 4 and a tube-tapping mechanism 5. The second lifting mechanism is configured to drive the tube-tapping mechanism 5 to move up and down in a first direction. The tube-tapping mechanism 5 is used to tap the connecting pipe 110 on the heat exchanger 210 so that the connecting pipe 110 is assembled with the heat exchanger 210.

[0055] It should be noted that when inserting the connecting pipe 110 into the heat exchanger 210, there may be cases where the connecting pipe 110 is not inserted properly, which will affect the subsequent welding steps. In order to solve this problem, a pipe-tapping device 300 is set downstream of the pipe insertion station. Its second lifting mechanism 4 drives the pipe-tapping mechanism 5 to rise and fall, which can match heat exchangers 210 of different heights for pipe tapping. After the pipe insertion device 100 completes the pipe insertion operation, the conveying device 200 transports the heat exchanger 210 to the pipe-tapping station. The pipe-tapping mechanism 5 taps the connecting pipe 110 on the heat exchanger 210 to install it in place, thereby improving the yield rate of subsequent welding steps.

[0056] In addition, in this embodiment, the specific structure of the second lifting mechanism 4 and the striking tube mechanism 5 is not limited. For example, the second lifting mechanism 4 can be set as a motor lead screw 123 mechanism, or it can be set as a gear and rack mechanism, chain / belt drive mechanism, worm gear mechanism, or wire rope / cable winch mechanism; while the striking tube mechanism 5 can be set as a drive component with a customized tool rod and impact head, or a high-frequency impactor, etc., which can be adapted and set according to actual needs.

[0057] In one implementation, such as Figure 10 As shown, the tube-tapping mechanism 5 includes multiple tube-tapping components 51, which are arranged along the conveying direction of the conveying device 200. It can be understood that the tube-tapping components 51 are configured as impact head structures, and the multiple tube-tapping components 51 are arranged sequentially along the conveying direction of the conveying device 200 so that the multiple tube-tapping components 51 can tap synchronously and increase the single-tapping area, ensuring that connecting pipes 110 of different sizes can be tapped and assembled into place.

[0058] In one implementation, such as Figure 10As shown, the flapping mechanism 5 also includes a rotary motor 52, an eccentric wheel 53, and a second transmission assembly 54. Multiple flapping tube components 51 are mounted on the second transmission assembly 54. The rotary motor 52 is connected to the first transmission assembly 122 via the eccentric wheel 53, driving the multiple flapping tube components 51 to reciprocate along a first direction. It is understood that the second transmission assembly 54 includes a movable block 541 and a mounting base 542. The eccentric wheel 53 is rotatably mounted on the movable block 541 and connected to the output shaft of the rotary motor 52. The mounting base 542 is provided with a horizontal rail and a vertical rail. The movable block 541 is slidably mounted within the horizontal rail. The second lifting mechanism 4 is also provided with a slide rail, which is located on the vertical rail of the mounting base 542. The multiple flapping tube components 51 are located on the side of the mounting base 542 away from the movable block 541.

[0059] When the rotary motor 52 rotates, it drives the eccentric wheel 53 to rotate. The eccentric wheel 53 drives the movable block 541 to reciprocate on the horizontal track of the mounting base 542. The movable block 541 also drives the mounting base 542 to reciprocate along the vertical track, so that the tapping tube component 51 taps the connecting pipe 110 on the heat exchanger 210 at a high frequency. For example, using the tapping tube mechanism 5 with this structure, a tapping frequency of 0.1 seconds / time can be achieved, effectively improving the assembly effect.

[0060] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. An automatic tube insertion device for an air conditioning heat exchanger, characterized in that, The application relates to a plug-in device for heat exchangers, comprising a rack, a mounting table arranged on the rack and movable along a first direction between a first position and a second position, a plug-in mechanism arranged on the mounting table, and a plurality of work stations arranged on the rack and corresponding to the plug-in mechanism. The application further relates to a conveying device for heat exchangers, comprising a plurality of work stations, wherein the plug-in mechanism is arranged on the conveying device. The plug-in mechanism comprises a driving mechanism and a clamping assembly connected to the driving mechanism, the clamping assembly is used for clamping a connecting pipe, the driving mechanism is used for driving the clamping assembly to move in a space in a plurality of axes to insert the connecting pipe into the heat exchanger, and the driving mechanism is also used for driving the clamping assembly to rotate around a first axis to adjust the angle of the connecting pipe clamped by the clamping assembly relative to the heat exchanger. The plug-in device comprises a plurality of clamping assemblies, the clamping assemblies are configured to clamp connecting pipes of the same or different sizes, and the clamping assemblies are respectively connected to the driving mechanism, the driving mechanism is used for driving any clamping assembly to move along the first direction and driving any clamping assembly to rotate around the first axis.

2. The automatic plugging device for the heat exchanger of an air conditioner according to claim 1, wherein The driving mechanism comprises a support and at least one first driving assembly arranged on the support, the clamping assemblies are movably arranged on the support, and each first driving assembly is connected to two clamping assemblies to drive the two clamping assemblies to synchronously and reversely move along the first direction.

3. The automatic plugging device for the heat exchanger of an air conditioner according to claim 2, wherein The driving mechanism further comprises at least one second driving assembly arranged on the support, each second driving assembly is connected to at least one clamping assembly to drive the at least one clamping assembly to rotate around the first axis.

4. The automatic plugging device for the heat exchanger of an air conditioner according to claim 3, wherein The clamping assemblies are arranged on the support and divided into two rows.

5. The automatic plugging device for the heat exchanger of an air conditioner according to claim 4, wherein Each first driving assembly is connected to two clamping assemblies in opposite rows. The driving mechanism comprises two second driving assemblies, and the two driving assemblies are respectively connected to the clamping assemblies in the two rows. The driving mechanism further comprises a moving module arranged on the mounting table, the support is arranged on the moving module, the moving module is used for driving the support to move along a second direction and a third direction, and the first direction, the second direction and the third direction intersect with each other.

6. The automatic plugging device for the heat exchanger of an air conditioner according to claim 3, wherein The clamping assembly comprises a first driver and two clamping blocks driven by the first driver, at least one of the clamping blocks is provided with an arc-shaped groove, the arc-shaped groove is provided with a positioning groove on a groove wall of the other clamping block, the arc-shaped groove of the clamping block is provided with an elastic element, and at least part of the elastic element is arranged in the positioning groove.

7. The automatic plugging device for the heat exchanger of an air conditioner according to claim 1, wherein The plug-in device further comprises a visual positioning module arranged on the driving mechanism, the visual positioning module is used for detecting position information of the heat exchanger, and the plug-in mechanism is used for performing a preset plug-in operation according to the information. ​ 8. The automatic plugging device for the heat exchanger of an air conditioner according to claim 1, wherein The insertion device further comprises a feeding mechanism arranged on the mounting table for feeding the connecting pipe to the insertion mechanism, and a first lifting mechanism arranged on the frame and drivingly connected with the mounting table for driving the mounting table to move along the first direction to adjust the height of the mounting table.

9. The automatic plugging device for the heat exchanger of an air conditioner according to claim 8, wherein The first lifting mechanism comprises a second driver, a first transmission assembly, and a plurality of lead screws, the plurality of lead screws are arranged in the mounting table and threadedly connected with the mounting table, and the second driver is drivingly connected with the plurality of lead screws through the first transmission assembly.

10. The automatic plugging device for the heat exchanger of an air conditioner according to claim 8, wherein The feeding mechanism comprises a vibrating disc, a transfer mechanism, and a plurality of channels, one end of the channel is arranged close to the vibrating disc and the other end is arranged close to the insertion mechanism, the transfer mechanism is arranged above the vibrating disc for transferring the connecting pipe on the vibrating disc to the plurality of channels, and the channel is used for feeding the connecting pipe to the insertion mechanism.

11. The automatic plugging device of an air conditioner heat exchanger according to claim 10, wherein The feeding mechanism further comprises a distribution positioning mechanism arranged at the end of the channel close to the insertion device for sequentially taking out the connecting pipe on the channel and positioning it to a preset position for the clamping assembly to clamp.

12. The automatic plugging device of an air conditioner heat exchanger according to any one of claims 1 to 11, wherein The insertion device further comprises a pipe striking device arranged on one side of the conveying device and downstream of the insertion station, the pipe striking device comprises a second lifting mechanism and a pipe striking mechanism, the second lifting mechanism is configured to drive the pipe striking mechanism to lift along the first direction, and the pipe striking mechanism is used for striking the connecting pipe on the heat exchanger to make the connecting pipe and the heat exchanger assembled in place.

13. The automatic plugging device of an air conditioner heat exchanger according to claim 12, wherein The pipe striking mechanism comprises a plurality of pipe striking members; The plurality of pipe striking members are arranged along the conveying direction of the conveying device; And / or, the pipe striking mechanism further comprises a rotary motor, an eccentric wheel, and a second transmission assembly, the plurality of pipe striking members are arranged on the second transmission assembly, the rotary motor is drivingly connected with the first transmission assembly through the eccentric wheel to drive the plurality of pipe striking members to reciprocate along the first direction.

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