U-shaped pipe integrating device and automatic U-shaped pipe machining system

Abstract

The invention provides a U pipe integration device and an automatic U pipe machining system, and relates to the technical field of air conditioner production, and the U pipe integration device comprises a rack, a guide mechanism, a plurality of bearing units, a driving mechanism and a plurality of connecting mechanisms. The guide mechanism is mounted on the rack and is provided with a guide path; the plurality of bearing units are sequentially arranged along the guide path, are movably arranged on the guide mechanism and are respectively used for bearing the U-shaped pipes; the output end of the driving mechanism is in transmission connection with at least one bearing unit; the multiple bearing units are sequentially connected in series through at least one connecting mechanism, and the connecting mechanism is used for adjusting the distance between the bearing units when the bearing units move. By arranging the movable bearing unit and the connecting mechanism with the distance changing function, the problems that in the prior art, U-shaped pipes are collected disorderly, and the distance cannot be automatically integrated are solved.

Description

Technical Field

[0001] This invention relates to the field of air conditioning manufacturing technology, and in particular to a U-tube integration device and an automated U-tube processing system. Background Technology

[0002] U-shaped tubes (such as U-shaped copper tubes) are common components in equipment such as heat exchangers. In existing U-shaped tube processing production lines, after the U-shaped tubes have completed the forming process, they are usually dropped directly from the forming machine into a receiving box or collection bin. This method results in the U-shaped tubes being stacked randomly and haphazardly in the collection box, without a centralized shaping and orderly arrangement device.

[0003] This disorderly dropping and stacking method has the following obvious drawbacks: the stacked U-shaped tubes are difficult to grasp by automated robotic arms, and usually require manual sorting and arrangement, which greatly reduces production efficiency and increases labor costs; the lack of an automatic adjustment mechanism for the spacing of the U-shaped tubes makes it impossible to directly cooperate with subsequent automatic loading or whole-row material picking processes, resulting in a break in the automation link of the production line.

[0004] Therefore, it is necessary to improve the existing U-tube integration technology to overcome its shortcomings. Summary of the Invention

[0005] To overcome the problems existing in related technologies, the purpose of this invention is to provide a U-tube integration device. This U-tube integration device overcomes the problems of disordered U-tube material collection and inability to automatically integrate spacing in the prior art by setting a movable bearing unit and a connecting mechanism with variable pitch function.

[0006] A U-tube integration device, comprising: frame; A guiding mechanism, mounted on the frame, has a guiding path; Multiple support units are arranged sequentially along the guide path and movably mounted on the guide mechanism, each used to support a U-shaped tube; A drive mechanism, the output end of which is connected in a transmission manner to at least one of the bearing units; Multiple connecting mechanisms are provided, and multiple carrier units are connected in series through at least one of the connecting mechanisms. The connecting mechanisms are used to adjust the spacing between the carrier units when the carrier units move.

[0007] Furthermore, the connecting mechanism includes at least two rigid connecting members that are pivotally connected to each other; The rigid connectors located at both ends are respectively connected to the two adjacent load-bearing units.

[0008] If a flexible rope / chain is used for a variable-pitch connection, it can only withstand tension, not compression, making precise push-reset impossible. This solution employs a structure with at least two rigid connecting members pivotally connected (similar to a hinge or folding rod). The rigid members have the dual capacity to withstand both tensile and thrust forces, and the pivot connection gives the connection mechanism a foldable degree of freedom. When the load-bearing units approach each other, the connecting members rotate around their axis and fold away; when the load-bearing units move away from each other, the connecting members unfold and form a rigid limit. This structure is compact, achieving reliable traction (unfolding and limiting) and pushing (folding and retracting) between multiple units, while avoiding the complexity of scissor lift mechanisms, significantly reducing manufacturing costs and failure rates, and ensuring the smoothness of the variable-pitch process.

[0009] Furthermore, two adjacent support units are connected by two connecting mechanisms, which are distributed on both sides of the drive mechanism along the length of the support unit.

[0010] When the drive mechanism pulls or pushes the load-bearing unit, a unilateral connection will generate an eccentric torque, causing the load-bearing unit to tilt or jam on the guide mechanism. A symmetrically distributed connection mechanism on both sides can balance the traction force and reaction force, eliminating the eccentric torque. This effectively prevents the load-bearing unit from jamming or shaking during movement, improves the smoothness of movement, reduces wear on the guide mechanism, and extends the service life of the equipment.

[0011] Furthermore, the carrying unit includes: A sliding seat body is slidably connected to the guide mechanism. The sliding seat body is provided with a positioning groove, which is used to accommodate and limit the U-shaped tube. The length direction of the positioning groove is perpendicular to the sliding direction of the sliding seat body. A clamping assembly is provided on the sliding seat body for clamping the U-shaped tube located in the positioning groove.

[0012] The positioning grooves utilize the geometry of the U-shaped tubes for physical positioning (X / Y axis direction). The vertically distributed design allows the U-shaped tubes to be tightly arranged (side-by-side) during integration. Combined with the Z-axis fixation of the clamping components, all degrees of freedom of the tubes are restricted. This ensures the stability of the U-shaped tubes during high-speed variable-pitch integration, preventing them from scattering or tilting, and provides a precise positional reference for subsequent automated material handling.

[0013] Furthermore, the clamping assembly includes a clamping trigger, a gripper, and a clamping cylinder; The clamping trigger is located in the positioning groove and is used to detect whether the U-shaped tube in the positioning groove is placed in place. One end of the gripper is connected to the output end of the gripping cylinder, and the other end extends into the positioning groove for gripping the U-shaped tube located in the positioning groove. A clamping cylinder is mounted on the sliding seat and electrically connected to the clamping trigger. It is used to drive the gripper to perform a clamping motion after the clamping trigger detects that the U-shaped tube has been placed in place.

[0014] Traditional continuous clamping or passive clamping without detection can damage the fixture if the cylinder clamps without material at the workstation, or cause deformation of the copper tube if the material is not properly positioned and forced into clamping. This solution introduces a linkage control between the clamping trigger (sensor) and the clamping cylinder. The clamping cylinder only activates when the U-tube falls correctly into the positioning slot and triggers the detection switch. This establishes a closed-loop logic of clamping only when there is a material in place. This avoids energy waste and equipment wear caused by empty clamping, while preventing workpiece scrap caused by forced clamping due to improper placement of the tube, thus improving the fault tolerance and safety of automated production.

[0015] Furthermore, the drive mechanism includes a drive motor and a transmission assembly; The transmission assembly is connected between the drive motor and a load-bearing unit located at the end; The driving mechanism is used to drive the corresponding bearing unit located at the end to move, and to drive the remaining bearing units to move through the connecting mechanism.

[0016] Each load-bearing unit would require an independent motor (extremely high cost and complex control), or a complex variable-pitch lead screw (difficult to manufacture). This solution uses a drive mechanism connected to only one load-bearing unit at the end, using the connecting mechanism to drive the remaining units. Utilizing the series characteristic of the aforementioned connecting mechanism, power is transmitted to all units by driving the movement of one unit, much like "playing an accordion." This greatly simplifies the drive control system (only one axis needs to be controlled), significantly reduces hardware costs and energy consumption, and naturally ensures the synchronization of all unit movements.

[0017] Furthermore, the U-tube integration device also includes a buffer; The buffer is mounted on the guide mechanism or the frame and is located at the end of the retraction stroke of the bearing unit, and is used to absorb motion impact when multiple bearing units retract to the minimum spacing state.

[0018] Rigid limiters or unbuffered designs can cause hard collisions between metal components during high-speed retraction (integration). A buffer is installed at the end of the retraction stroke. When multiple load-bearing units rapidly approach to their minimum spacing under drive, the buffer absorbs kinetic energy and provides flexible damping. This effectively eliminates impact noise and vibration at the retraction point, prevents damage to load-bearing units due to inertial impact, protects internal precision components, and improves the operational stability of the equipment.

[0019] The second objective of this invention is to provide an automated U-tube processing system, including the U-tube integration device as described above, and the automated U-tube processing system further includes a material receiving mechanism; The receiving mechanism is located adjacent to the U-tube integration device and is used to transfer the integrated U-shaped tube from the carrying unit.

[0020] Even with only the integration device, subsequent manual handling or the use of a general-purpose robotic arm is still required. The integration device completes the posture adjustment and dense arrangement of the U-tubes, and the receiving mechanism then docks and transfers them, realizing a continuous flow of "loose material, aligned, and removed". This enables unmanned operation in the later stages of U-tube processing, significantly improving production efficiency, reducing manual labor intensity, and achieving a closed loop in the automated production line.

[0021] Furthermore, the receiving mechanism includes a transfer drive assembly and an interleaving material picking assembly; The transfer drive assembly is connected to the insert material picking assembly, and the transfer drive assembly is used to drive the insert material picking assembly to move relative to the carrier unit; The inserting and picking component is used to align the opening of the integrated U-shaped tube and insert or withdraw it from the internal space of the U-shaped tube, thereby transferring the U-shaped tube from the carrying unit for output.

[0022] Traditional external gripping (robotic grippers holding the tube wall) struggles to penetrate the tiny gaps between U-shaped tubes when they are tightly closed (integrated), and can easily damage the surface of the soft copper tubes. A new method uses an insertable material handling assembly that inserts into the U-shaped opening of the U-tube. Even when tubes are densely arranged, the internal space remains open. The guide rod inserted internally not only eliminates the need for external gripping gaps but also allows for the simultaneous connection of multiple tubes. This perfectly adapts to tightly integrated working conditions, solving the problem of gripping densely arranged workpieces; simultaneously, it avoids hard contact damage to the outer wall of the copper tube, ensuring product appearance quality.

[0023] Furthermore, the transfer drive assembly includes a first drive unit and a second drive unit; The material picking assembly includes a guide seat and a picking rod, the picking rod being slidably connected to the guide seat, and the picking rod extending in a direction parallel to the guide path; The driving end of the first driving unit is connected to the guide seat; The drive end of the second drive unit is connected to the material picking rod; The first driving unit is used to drive the interlocking material picking assembly to move in a direction perpendicular to the guide path, and the second driving unit is used to drive the picking rod to move in a direction parallel to the guide path.

[0024] It employs an orthogonal combination of a first drive unit (vertical guide path) and a second drive unit (parallel guide path). The first drive is responsible for alignment / removal (Y-axis), and the second drive is responsible for insertion / removal (X-axis). This dedicated Cartesian coordinate structure is simple and has good rigidity.

[0025] The beneficial effects of this invention are as follows: This invention provides a U-tube integration device. This device utilizes multiple movable support units mounted on a guide mechanism of a frame, and through the cooperation of a drive mechanism and a connecting mechanism, achieves automatic integration and pitch variation of U-shaped tubes. The connecting mechanism connects multiple support units in series. When the drive mechanism moves the connected support unit, the connecting mechanism synchronously moves the remaining series-connected support units along the guide path. During movement, the connecting mechanism can adjust the spacing between the support units (e.g., from a dispersed spacing during receiving to a converged spacing during unloading). This multi-station linkage pitch variation enables the automatic integration of dispersed U-shaped tubes into a neat and compact arrangement. This not only avoids messy stacking of U-shaped tubes but also provides a standardized position and spacing basis for subsequent automated unloading of entire rows, thereby significantly improving the automation level and production efficiency of the U-shaped tube processing production line. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the U-tube integration device provided in an embodiment of the present invention; Figure 2 This is a partial side view of the cooperation between the bearing unit and the connecting mechanism in an embodiment of the present invention; Figure 3 This is a top view of the U-tube integrated device provided in an embodiment of the present invention; Figure 4 This is a partial bottom view of the supporting unit in an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall structure of the U-tube automated processing system provided in this embodiment of the invention; Figure 6 This is a schematic diagram of the material receiving mechanism in an embodiment of the present invention; Figure 7 This is a schematic diagram of the receiving mechanism from another perspective in an embodiment of the present invention.

[0027] 100. Rack; 200. Guiding mechanism; 300, Bearing unit; 310, Sliding seat; 311, Positioning groove; 320, Clamping assembly; 321, Gripper; 322, Clamping cylinder; 400. Connecting mechanism; 410. Rigid connecting component; 500. Drive mechanism; 510. Drive motor; 520. Transmission assembly; 600, buffer; 700. Receiving mechanism; 710. Transfer drive assembly; 711. First drive unit; 712. Second drive unit; 720. Insertion and picking assembly; 721. Guide seat; 722. Picking rod; 800, U-shaped tube. Detailed Implementation

[0028] Preferred embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0029] Example 1 like Figures 1 to 7 As shown, this embodiment provides a U-tube integration device, mainly used in air conditioning or heat exchanger production lines, for receiving scattered U-shaped tubes 800 from upstream processes and integrating them into a tightly arranged state to facilitate subsequent batch handling or transfer. The U-tube integration device includes: 100 racks; A guide mechanism 200 is mounted on the frame 100 and has a guide path; Multiple support units 300 are arranged sequentially along the guide path and movably mounted on the guide mechanism 200, each used to support the U-shaped tube 800; A drive mechanism 500, the output end of which is connected in transmission to at least one of the bearing units 300; Multiple connecting mechanisms 400 are used to connect multiple support units 300 in series via at least one connecting mechanism 400. The connecting mechanism 400 is used to adjust the spacing between the support units 300 when the support units 300 move.

[0030] Specifically, the main structure of the U-tube integration device is built on a sturdy frame 100. The frame 100, serving as the supporting foundation for the entire device, can be welded from metal profiles or plates to ensure sufficient rigidity and stability during operation. A guide mechanism 200 is installed on the top of the frame 100. This guide mechanism 200 defines a specific movement trajectory. In this embodiment, the guide mechanism 200 is specifically a linear guide rail, and its straight extension direction is the path direction for the integration and retraction of the U-shaped tube 800.

[0031] To support the U-shaped tube 800, multiple support units 300 are installed on the guide mechanism 200. These support units 300 are arranged sequentially and are all movably mounted on the guide mechanism 200, restricted to linear reciprocating motion only along the guide path. Each support unit 300 has a space above it for placing the U-shaped tube 800.

[0032] To achieve automatic adjustment of the spacing between multiple support units 300, the device includes a drive mechanism 500 and a connecting mechanism 400. The output of the drive mechanism 500 does not need to be connected to every single support unit 300, but only establishes a transmission connection with at least one of the support units 300 (typically the one located at the very end or very beginning of the queue). The connecting mechanism 400 is responsible for connecting adjacent support units 300 in series. This connecting mechanism 400 is designed as a retractable or foldable structure, such as a rigid linkage or hinge structure connected by a pivot.

[0033] In this embodiment, the working logic of the device is as follows: When the system is in the receiving state, the drive mechanism 500 drives the carrier unit 300 connected to it to move away from other units. Through the traction of the connecting mechanism 400, the remaining carrier units 300 are deployed in sequence.

[0034] At this point, the connecting mechanism 400 extends to its maximum length, so that each carrying unit 300 maintains a large and equal distance, which is usually matched with the discharge distance of the upstream equipment, so as to accurately receive the falling U-shaped tube 800.

[0035] Once all the support units 300 have carried the U-shaped tube 800, they need to be integrated. At this time, the drive mechanism 500 moves in the opposite direction, pushing the support unit 300 connected to it to retract inward.

[0036] During the shrinkage process, the connecting mechanism 400 folds or retracts, causing the distance between adjacent bearing units 300 to gradually decrease until all bearing units 300 are closely close together.

[0037] Through this "point-driven, cascaded response" approach, the device efficiently achieves automatic switching from a dispersed material receiving state to a densely integrated state, solving the problem that traditional equipment cannot automatically align scattered copper tubes.

[0038] In this embodiment, the above structure can also be implemented in the following ways: for example, in addition to using a linear guide rail and a slider, the guide mechanism 200 can also use an optical axis and a linear bearing, or a dovetail slide structure; in addition to using a servo motor and a lead screw and nut pair for precision drive, the drive mechanism 500 can also use a cylinder for direct push and pull, or use a pulley module or a gear and rack mechanism for drive; in addition to using a hinge or a folding link, the connecting mechanism 400 can also use a flexible chain with a limiting function, a wire rope, or a scissor-type telescopic frame.

[0039] Example 2 like Figures 1 to 7 As shown, this embodiment provides a U-tube integration device. This embodiment is a further elaboration based on embodiment 1. In actual industrial automated production, in order to ensure the stability and accuracy of the U-tube 800 integration process, this embodiment has optimized the structural design of the drive mechanism 500 and the connecting mechanism 400.

[0040] Furthermore, in this embodiment, the connecting mechanism 400 of the U-tube integration device includes at least two rigid connectors 410, which are pivotally connected to each other. The rigid connectors 410 located at both ends are respectively connected to the two adjacent bearing units 300.

[0041] Two adjacent support units 300 are connected by two connecting mechanisms 400, which are distributed on both sides of the drive mechanism 500 along the length of the support unit 300.

[0042] The drive mechanism 500 includes a drive motor 510 and a transmission assembly 520; The transmission assembly 520 is connected between the drive motor 510 and a bearing unit 300 located at the end; The driving mechanism 500 is used to drive the corresponding bearing unit 300 located at the end to move, and drives the other bearing units 300 to move through the connecting mechanism 400.

[0043] The U-tube integration device also includes a buffer 600; The buffer 600 is disposed on the guide mechanism 200 or the frame 100 and is located at the end of the retraction stroke of the bearing unit 300, and is used to absorb motion impact when the multiple bearing units 300 retract to the minimum spacing state.

[0044] In this embodiment, the drive mechanism 500 specifically adopts a transmission method using a servo motor and a ball screw assembly. The servo motor is fixed to one end of the frame 100 and connected to the ball screw via a coupling. The ball screw is arranged parallel to the guide mechanism 200. To simplify the control logic and reduce costs, the screw nut seat on the ball screw is not connected to each of the bearing units 300, but is only fixedly connected to the bearing unit 300 located at the very end of the queue. This design makes the last bearing unit 300 the only active unit, while the remaining bearing units 300 act as driven units.

[0045] To achieve reliable power transmission from the driving unit to the driven unit, the connecting mechanism 400 in this embodiment is specially designed. The connecting mechanism 400 uses rigid connectors 410, specifically stainless steel connecting rods or industrial hinges. These rigid connectors 410 are pivotally connected by pins, giving the connecting mechanism 400 an accordion-like folding and unfolding capability.

[0046] To address the issue of eccentric torque potentially causing the slider to jam on the guide rail due to unilateral drive, this embodiment incorporates two sets of connecting mechanisms 400 between adjacent support units 300. These two sets of connecting mechanisms 400 are symmetrically distributed on both sides of the drive mechanism 500 (i.e., the center line of the guide rail) along the length of the support unit 300. This symmetrical layout balances traction and thrust, ensuring that the support unit 300 maintains an upright posture during movement, eliminating the risk of friction self-locking, and guaranteeing smoothness during high-speed pitch changes.

[0047] Furthermore, considering that multiple support units 300 will rapidly converge within a short period of time during the retraction and integration process, a buffer protection mechanism is introduced in this embodiment to eliminate the rigid impact caused by motion inertia. A hydraulic buffer 600 is installed at the end of the retraction stroke of the guide mechanism 200 (i.e., the position where the support units 300 are closest). When the drive mechanism 500 pushes the support units 300 to retract to the minimum spacing state, the support unit 300 at the foremost position will contact and compress the hydraulic buffer 600, thereby flexibly absorbing the kinetic energy of the motion system.

[0048] In summary, the working process of this embodiment is as follows: The servo motor drives the ball screw to rotate, which in turn moves the last bearing unit 300 along the guide rail. Due to the series action of the rigid connection mechanism 400 on both sides, the last unit will precisely pull or push the other units to move synchronously.

[0049] When stretched outwards, the connecting rods on both sides unfold, confining all units to equally spaced receiving positions; When retracting inward, the connecting rods on both sides fold synchronously, smoothly pushing all units into a tightly arranged state, and finally stopping the movement with the buffer 600. This structure not only ensures the high precision of the U-tube 800 integration, but also greatly extends the service life of the equipment.

[0050] In addition to the implementation methods mentioned above, this embodiment can also be implemented in the following ways: For applications with low precision requirements or light loads, the drive mechanism 500 can use a trapezoidal screw drive to reduce costs and increase self-locking; or a synchronous belt linear module can be used to achieve high-speed reciprocating drive using pulleys and synchronous belts; for long-stroke applications, a gear and rack drive mechanism can be used; for explosion-proof or low-cost environments, rodless cylinders or multi-stage telescopic cylinders can be used as the power source; in high-precision applications, linear motors can also be used directly for drive.

[0051] The connecting mechanism 400 can use flexible connecting components, such as using fixed-length steel wire ropes, nylon belts, or chains to connect adjacent bearing units 300. The maximum spacing is limited by using flexible components to tighten them, and the minimum spacing is achieved by using mechanical limiting blocks between the bearing units 300. Alternatively, a scissor-type telescopic mechanism (diamond frame) can be used to connect to the bottom of the bearing unit 300 to ensure absolutely equal spacing movement. In terms of connection position, in addition to double-sided distribution, a single-row connection method can also be used, such as setting it at the bottom center or top center of the bearing unit 300, with wide guide rails to resist eccentric torque. It can even use magnetic coupling, using the repulsive force of like-pole magnets in conjunction with limiting cables to achieve spacing adjustment.

[0052] The guide mechanism 200 can use a double optical axis guide rod with linear bearing, or a dovetail groove sliding table, or a V-type roller with a V-type guide rail to adapt to environments with more dust or different load requirements.

[0053] The buffer 600 can be made of a strong spring (such as a mold spring), a polyurethane rubber buffer block, an air cushion buffer device, or a non-contact buffer 600 made using the principle of magnetic repulsion.

[0054] The output of the drive mechanism 500 can also be connected to the frontmost support unit 300 to switch to a push-pull mode; or drive a support unit 300 in the middle position to drive the units on both sides to extend and retract synchronously; or even be configured with dual drive sources to drive the first and last support units 300 of the queue respectively to achieve stronger power output.

[0055] Example 3 like Figures 1 to 7 As shown, this embodiment provides a U-tube integration device. This embodiment further elaborates on the above embodiments, focusing on describing a carrier unit 300 structure with intelligent detection and self-locking functions.

[0056] Furthermore, in this embodiment, two adjacent support units 300 of the U-tube integration device are connected by two connecting mechanisms 400, and the two connecting mechanisms 400 are distributed on both sides of the drive mechanism 500 along the length direction of the support unit 300.

[0057] The carrier unit 300 includes: The sliding seat 310 is slidably connected to the guide mechanism 200. The sliding seat 310 is provided with a positioning groove 311, which is used to accommodate and limit the U-shaped tube 800. The length direction of the positioning groove 311 is perpendicular to the sliding direction of the sliding seat 310. The clamping assembly 320 is disposed on the sliding seat 310 and is used to clamp the U-shaped tube 800 located in the positioning groove 311.

[0058] In this embodiment, the supporting unit 300 mainly consists of a sliding seat 310 and a clamping assembly 320 integrated on the sliding seat 310. The sliding seat 310 is the base of the entire unit. Considering that the U-shaped tube 800 (usually a copper tube) is relatively soft and easily scratched, the sliding seat 310 is preferably made of engineering plastics such as nylon, which has good wear resistance and self-lubricating properties, and can also protect the surface of the copper tube. The bottom structure of the sliding seat 310 matches the guide mechanism 200 (such as the slider interface of a linear guide), enabling it to slide with low resistance along the guide path.

[0059] A positioning groove 311 is provided on the top of the sliding seat 310. The shape of the positioning groove 311 is adapted to the bottom contour of the U-shaped tube 800 to be processed, and is usually in the shape of a U-shaped groove. The length direction of the positioning groove 311 is designed to be perpendicular to the sliding direction of the sliding seat 310. This design allows the U-shaped tubes 800 located in each positioning groove 311 to be arranged closely side by side when multiple bearing units 300 are retracted under the action of the drive mechanism 500, so as to minimize the space occupation, which is the so-called "integrated state".

[0060] To prevent the U-shaped tube 800 from bouncing and falling off due to inertia during high-speed movement or sudden stop of the bearing unit 300, this embodiment integrates a clamping assembly 320 on the sliding seat 310. Unlike traditional normally closed or indiscriminate clamping, this embodiment employs an intelligent logic that combines presence / absence detection with active clamping. Specifically, the clamping assembly 320 includes a clamping trigger, a gripper 321, and a clamping cylinder 322.

[0061] The clamping trigger is located on the inner bottom surface or side wall of the positioning groove 311. It can be a miniature mechanical touch switch, a photoelectric sensor, or a proximity switch. Its function is to monitor in real time whether the U-shaped tube 800 is placed in the positioning groove 311 and whether the U-shaped tube 800 is in place. The clamping cylinder 322, as the actuating element, is installed below or to the side of the sliding seat 310, and its output end is connected to the gripper 321. The end of the gripper 321 extends into the internal space of the positioning groove 311.

[0062] The working principle of the bearing unit 300 is as follows: When the upstream equipment places the U-tube 800 into the positioning groove 311 of the sliding seat 310, the weight of the U-tube 800 or the tube wall will trigger the clamping trigger. The clamping trigger sends a signal (either directly or via PLC) to control the clamping cylinder 322 to move. The clamping cylinder 322 drives the gripper 321 to close or extend, pressing the U-shaped tube 800 tightly against the inner wall of the positioning groove 311 to achieve locking. This design not only ensures the reliability of the fixation but also avoids energy waste or equipment wear caused by cylinder malfunction in an unloaded state. When the integration device completes the conveying and needs to unload the material, the clamping cylinder 322 retracts, releasing the U-shaped tube 800.

[0063] In addition to the implementation methods mentioned above, this embodiment can also be implemented in the following ways: In this embodiment, the drive mechanism 500 employs a servo motor coupled with a ball screw transmission to achieve high-precision position control. However, in applications where high precision is not required, the drive mechanism 500 can be replaced with a cylinder drive assembly, directly using the piston rod of a long-stroke cylinder to move the first load-bearing unit 300; alternatively, a belt-driven transmission module (synchronous belt) can be used, with a motor driving the belt to drive the load-bearing unit 300 in high-speed reciprocating motion; or a gear and rack mechanism can be used, where a rotary motor drives the gears to travel on a rack fixed beside the guide rail. For high-end ultra-high-speed applications, a linear motor can also be used for direct drive. Furthermore, if applied to semi-automated equipment, the drive mechanism 500 can even be simplified to a manually operated handle or push rod, allowing the operator to manually push the load-bearing unit 300 for integration.

[0064] While this embodiment preferably employs a pivotally connected rigid link or hinge assembly to achieve pitch variation, this is not the only option. The connecting mechanism 400 can also be replaced with a scissor-type telescopic mechanism (i.e., a diamond-shaped telescopic frame), utilizing its geometric characteristics to ensure strict uniformity of the spacing between each unit; or flexible connectors (such as steel wire ropes, chains, or nylon straps) can be used to connect adjacent bearing units 300, and in conjunction with a return spring or magnetic repulsion assembly, when the driving force is removed or reversed, the spring force or magnetic force assists the bearing unit 300 in resetting or retracting; or a sleeve-type telescopic rod can be used, i.e., adjacent units are connected by multi-stage sleeves, and the maximum spacing is determined by the travel limit of the sleeves.

[0065] The sliding seat 310 of the bearing unit 300 is not limited to nylon; it can also be made of aluminum alloy, stainless steel, or other metals, and its surface can be coated with Teflon (PTFE) or covered with rubber pads to protect the U-tube 800. For the clamping method, in addition to the pneumatic gripper 321, an electric gripper 321, an electromagnetic chuck (for ferromagnetic tubing), or a vacuum chuck (for large flat tubing) can also be used. In a low-cost solution, the clamping assembly 320 can be designed as a mechanical spring clip, automatically locking when the U-tube 800 is pressed in using spring force, and opening by external force during unloading; or a gravity eccentric structure can be used, where the U-tube 800 locks itself due to its own weight after insertion. As for the detection elements, in addition to photoelectric sensors and microswitches, a visual recognition system (CCD camera) or a pneumatic back pressure detection circuit (to detect whether the air vents are blocked) can also be used to determine whether the workpiece is in place.

[0066] Although this embodiment demonstrates a dedicated interleaving material handling mechanism, in more versatile production lines, the receiving mechanism 700 can be replaced by a multi-axis industrial robot (such as a six-axis manipulator) with pneumatic fingers to directly grip the integrated U-shaped tube 800 from the outside; or a gantry manipulator with an electromagnetic chuck can be used for top-level picking. For the drive mechanism of interleaving material handling, in addition to the combination of a slide cylinder and a pen-shaped cylinder, a dual-axis servo module (XY-axis manipulator) can also be used to achieve more complex material handling trajectory planning.

[0067] The guiding mechanism 200 is not limited to linear guide rails. It can also use optical shafts with linear bearings, dovetail slides, V-type roller guide rails, and even arc-shaped guide rails in certain specific process paths to achieve curved integrated conveying of U-shaped tubes 800.

[0068] Example 4 like Figures 1 to 7 As shown, this embodiment provides an automated U-tube processing system, which includes the U-tube integration device as described in the above embodiment, and further includes a receiving mechanism 700. The receiving mechanism 700 is located adjacent to the U-tube integration device and is used to transfer the integrated U-tube 800 from the carrying unit 300.

[0069] The receiving mechanism 700 includes a transfer drive assembly 710 and an inserting and picking assembly 720; The transfer drive assembly 710 is connected to the insert material picking assembly 720, and the transfer drive assembly 710 is used to drive the insert material picking assembly 720 to move relative to the carrier unit 300. The inserting and picking component 720 is used to align the opening position of the integrated U-shaped tube 800 and insert or withdraw from the internal space of the U-shaped tube 800, thereby transferring and outputting the U-shaped tube 800 from the carrying unit 300.

[0070] The transfer drive assembly 710 includes a first drive unit 711 and a second drive unit 712; The inserting material picking assembly 720 includes a guide seat 721 and a picking rod 722. The picking rod 722 is slidably connected to the guide seat 721 and extends along a direction parallel to the guide path. The driving end of the first driving unit 711 is connected to the guide seat 721; The driving end of the second driving unit 712 is connected to the material picking rod 722; The first driving unit 711 is used to drive the inserting material picking assembly 720 to move in a direction perpendicular to the guide path, and the second driving unit 712 is used to drive the picking rod 722 to move in a direction parallel to the guide path.

[0071] The system is mainly composed of two parts working together: one part is the U-tube integration device described in the previous embodiment, which is used to complete the reception and pitch integration of the U-tube 800; the other part is the adjacent material receiving mechanism 700, which is used to automatically transfer and output the integrated U-tube 800 from the bearing unit 300.

[0072] In actual production, when the U-tube integration device completes its operation, i.e., all the supporting units 300 are retracted to their minimum spacing, multiple U-shaped tubes 800 are arranged closely side by side. At this time, ordinary external robotic grippers have difficulty reaching into the tiny gaps between the tubes to grasp them. Therefore, the material receiving mechanism 700 in this embodiment adopts a unique interlocking material receiving design.

[0073] The receiving mechanism 700 mainly consists of a transfer drive assembly 710 and an insertion picking assembly 720. The transfer drive assembly 710, as a primary drive mechanism 500, is responsible for driving the entire picking assembly to reciprocate in a direction perpendicular to the guide path, achieving alignment and removal. In this embodiment, the transfer drive assembly 710 is specifically manifested as a slide cylinder or linear module fixed to the mounting base plate.

[0074] The material handling assembly 720 is mounted on the moving end of the transfer drive assembly 710. It includes a second-stage drive unit and material handling rods 722. The second-stage drive unit is specifically a small pen-shaped cylinder or a miniature electric actuator, whose direction of movement is parallel to the axis of the U-tube 800. The material handling rods 722 are mounted at the front end of the second-stage drive unit. Their diameter is slightly smaller than the inner diameter of the U-tube 800, and their number matches the number of U-tubes 800 integrated at one time (e.g., two long rods, or multiple short rods corresponding to multiple tube openings).

[0075] The system's operating logic is as follows: First, the U-tube consolidation device actuates, gathering and consolidating the scattered U-tubes 800 into place. Then, the transfer drive assembly 710 of the receiving mechanism 700 actuates, moving the insertion and picking assembly 720 to the front of the consolidated U-tubes 800, ensuring the picking rod 722 is precisely aligned with the opening of the U-tube 800. Next, the second-stage drive unit actuates, pushing the picking rod 722 out and inserting it into the internal space of the U-tube 800, stringing together multiple closely arranged U-tubes 800 like a string of candied hawthorns. After insertion, the transfer drive assembly 710 moves in the opposite direction, causing the picking rod 722 and the U-tubes 800 hanging on it to be removed from the consolidation device and transported to the next workstation or loading container. Finally, the second-stage drive unit retracts, the picking rod 722 withdraws, and unloading is completed.

[0076] In addition to the implementation methods mentioned above, this embodiment can also be implemented in the following ways: The power source for the transfer drive assembly 710 and the insertion and picking assembly 720 does not necessarily have to be a pneumatic component. In situations where higher precision is required or where air supply is inconvenient, an electric linear module can be used, such as a servo motor or stepper motor driving a ball screw, synchronous belt, or rack and pinion to achieve linear reciprocating motion; an electric actuator or linear motor can also be used for direct drive. In addition, the above-mentioned two-axis orthogonal motion structure can also be replaced by a multi-axis industrial robot, such as a six-axis articulated robot or a SCARA robot, which simulates a composite trajectory of "alignment, insertion, and transfer" by programming its end effector. Although this method is more expensive, it is more versatile and flexible.

[0077] The picking rod 722 in the material picking assembly 720 is not limited to a simple rigid round rod. To prevent the U-tube 800 from slipping due to inertia during transfer, the picking rod 722 can be designed as an internally expanding clamp, for example, the surface of the rod is covered with an elastic rubber bladder, which inflates after being inserted into the tube to tighten the tube wall; or the rod adopts a mechanical expansion core structure, which uses a pull rod to drive the wedge block to expand radially to lock the inner wall of the copper tube. In addition, if the bend of the U-tube 800 allows, the picking assembly can also be designed as an L-shaped hook structure, passing under the bend of the U-tube 800 and hooking upward to achieve lifting transfer; or, if the spacing of the U-tubes 800 allows, a comb-shaped external clamp can be used to clamp the side wall of the tube from the outside for transport.

[0078] The relative positional relationship between the receiving mechanism 700 and the U-tube integration device is not limited to their adjacent side-by-side arrangement as shown in the embodiments. The receiving mechanism 700 can adopt a gantry-type structure spanning above the U-tube integration device, achieving top gripping through the linkage of the Z-axis and X-axis; it can also be configured as a conveyor belt docking structure, where the receiving mechanism 700 is only responsible for pushing the inserted tube-holding rod 722 onto the conveyor belt or AGV below to complete automatic boxing. Furthermore, in some simplified designs, if the U-tube integration device itself has a flipping function, the receiving mechanism 700 can be simplified to a fixed receiving chute, where the U-tubes are directly poured into the chute after the integration device flips over.

[0079] Example 5 like Figures 1 to 7 As shown, this embodiment provides a U-tube integration device and a U-tube automated processing system. The U-tube automated processing system of this embodiment mainly consists of three parts: a frame 100, a U-tube integration device, and a receiving mechanism 700. Through precise mechanical coordination and logic control, each part realizes the entire process of U-tubes 800 from dispersed feeding to dense integration and then to automatic insertion and transfer.

[0080] The U-tube automated processing system in this embodiment includes a U-tube integration device and a material receiving mechanism 700; The receiving mechanism 700 is located adjacent to the U-tube integration device and is used to transfer the integrated U-tube 800 from the carrying unit 300.

[0081] The U-tube integration device includes: 100 racks; A guide mechanism 200 is mounted on the frame 100 and has a guide path; Multiple support units 300 are arranged sequentially along the guide path and movably mounted on the guide mechanism 200, each used to support the U-shaped tube 800; A drive mechanism 500, the output end of which is connected in transmission to at least one of the bearing units 300; Multiple connecting mechanisms 400 are used to connect multiple support units 300 in series via at least one connecting mechanism 400. The connecting mechanism 400 is used to adjust the spacing between the support units 300 when the support units 300 move.

[0082] The connecting mechanism 400 includes at least two rigid connecting members 410, which are pivotally connected to each other. The rigid connectors 410 located at both ends are respectively connected to the two adjacent bearing units 300.

[0083] Two adjacent support units 300 are connected by two connecting mechanisms 400, which are distributed on both sides of the drive mechanism 500 along the length of the support unit 300.

[0084] The carrier unit 300 includes: The sliding seat 310 is slidably connected to the guide mechanism 200. The sliding seat 310 is provided with a positioning groove 311, which is used to accommodate and limit the U-shaped tube 800. The length direction of the positioning groove 311 is perpendicular to the sliding direction of the sliding seat 310. The clamping assembly 320 is disposed on the sliding seat 310 and is used to clamp the U-shaped tube 800 located in the positioning groove 311.

[0085] The clamping assembly 320 includes a clamping trigger, a gripper 321, and a clamping cylinder 322; The clamping trigger is located in the positioning groove 311 and is used to detect whether the U-shaped tube 800 in the positioning groove 311 is placed in place. One end of the gripper 321 is connected to the output end of the gripping cylinder 322, and the other end extends into the positioning groove 311 for gripping the U-shaped tube 800 located in the positioning groove 311. A clamping cylinder 322 is mounted on the sliding seat 310 and electrically connected to the clamping trigger. It is used to drive the gripper 321 to perform clamping motion after the clamping trigger detects that the U-tube 800 has been placed in place.

[0086] The drive mechanism 500 includes a drive motor 510 and a transmission assembly 520; The transmission assembly 520 is connected between the drive motor 510 and a bearing unit 300 located at the end; The driving mechanism 500 is used to drive the corresponding bearing unit 300 located at the end to move, and drives the other bearing units 300 to move through the connecting mechanism 400.

[0087] The U-tube integration device also includes a buffer 600; The buffer 600 is disposed on the guide mechanism 200 or the frame 100 and is located at the end of the retraction stroke of the bearing unit 300, and is used to absorb motion impact when the multiple bearing units 300 retract to the minimum spacing state.

[0088] The receiving mechanism 700 includes a transfer drive assembly 710 and an inserting and picking assembly 720; The transfer drive assembly 710 is connected to the insert material picking assembly 720, and the transfer drive assembly 710 is used to drive the insert material picking assembly 720 to move relative to the carrier unit 300. The inserting and picking component 720 is used to align the opening position of the integrated U-shaped tube 800 and insert or withdraw from the internal space of the U-shaped tube 800, thereby transferring and outputting the U-shaped tube 800 from the carrying unit 300.

[0089] The transfer drive assembly 710 includes a first drive unit 711 and a second drive unit 712; The inserting material picking assembly 720 includes a guide seat 721 and a picking rod 722. The picking rod 722 is slidably connected to the guide seat 721 and extends along a direction parallel to the guide path. The driving end of the first driving unit 711 is connected to the guide seat 721; The driving end of the second driving unit 712 is connected to the material picking rod 722; The first driving unit 711 is used to drive the inserting material picking assembly 720 to move in a direction perpendicular to the guide path, and the second driving unit 712 is used to drive the picking rod 722 to move in a direction parallel to the guide path.

[0090] More specifically, the entire system is built on a robust mounting base plate (frame 100). The mounting base plate is a rectangular metal plate that serves as a unified reference and support. The U-tube integration device is set along the length of the mounting base plate, occupying the main position; the material receiving mechanism 700 is fixed to one side of the mounting base plate, and its installation position corresponds to the "gathering and integration end" of the U-tube integration device.

[0091] The U-tube integration device is responsible for receiving the scattered U-shaped tubes 800 and retracting them together.

[0092] A linear guide rail (guide mechanism 200) is fixed longitudinally on the mounting base plate. A servo drive motor 510 is mounted at one end of the linear guide rail, and the output shaft of the motor is connected to a ball screw via a coupling. The ball screw is set parallel to the linear guide rail and is supported on the mounting base plate by two vertical bearing seats to ensure smooth rotation.

[0093] Eight support units 300 are slidably mounted on the linear guide rail. The main body of each support unit 300 is a rectangular nylon clamping block. The nylon material is self-lubricating and will not scratch the copper tube. Each nylon clamping block has a U-shaped positioning groove 311 with its length direction perpendicular to the extension direction of the linear guide rail, which is used to accommodate the U-shaped tube 800.

[0094] Of the eight nylon clamping blocks, only the first nylon clamping block (the one closest to or furthest from the motor end, depending on the specific retraction direction; in this embodiment, it is the end closest to the lead screw nut) has a lead screw nut seat installed at its bottom, connecting it to the ball screw drive. The remaining seven nylon clamping blocks are all driven blocks, connected to the linear guide rail only through a slider, and are in a free-floating state.

[0095] Adjacent nylon clamping blocks are connected in series via hinge assemblies. To ensure smooth movement and prevent jamming caused by lateral forces, the hinge assemblies are symmetrically mounted on the side walls of the nylon clamping blocks. Each hinge has two blades, which are respectively fixed to the sides of the preceding and following clamping blocks with screws. This rigid pivot connection structure allows: when the lead screw drives the first clamping block to move, the subsequent clamping blocks can be extended to their maximum spacing (feeding state) by the extension of the hinges, or the hinges can be folded by thrust, thus allowing all clamping blocks to come together tightly (integrated state).

[0096] Each nylon clamp integrates a clamping assembly 320. Specifically, a miniature clamping cylinder 322 is installed at the bottom of the nylon clamp, and the cylinder's drive rod is connected to a gripper 321. One end of the gripper 321 extends to the side wall of the positioning groove 311 at the top. Simultaneously, a sensor (clamping trigger) is embedded in the positioning groove 311. When the U-shaped tube 800 falls into the groove and obstructs or touches the sensor, the clamping cylinder 322 actuates, causing the gripper 321 to press inward, locking the U-shaped tube 800 within the groove and preventing it from being thrown off during high-speed movement.

[0097] A hydraulic damper 600 is installed at the end of the linear guide (the final position of the convergence) or in front of the movement path of the first slider. When the eight sliders retract to their minimum spacing under the drive of the lead screw, the first slider or its follower component will contact the damper 600 to eliminate the impact and noise caused by hard collision.

[0098] The receiving mechanism 700 is located on the side of the U-tube integration device. Its core function is to use a double-layer telescopic structure to insert and pick up materials through the inner hole of the dense U-shaped tube 800.

[0099] The base of the receiving mechanism 700 is a slide cylinder fixed to the mounting plate. The length direction of the slide cylinder is perpendicular to the linear guide direction of the U-tube integration device. A connecting plate is installed on the telescopic end (slide) of the slide cylinder. An auxiliary hydraulic damper 600 is also installed below or to the side of the fixed base of the slide cylinder to absorb the impact when the slide extends or retracts.

[0100] On the connecting plate of the slide cylinder, a guide seat 721 and a pen-shaped cylinder are installed. The axis of the pen-shaped cylinder is parallel to the movement direction of the slide cylinder (i.e., also perpendicular to the guide rail of the U-tube integration device).

[0101] The guide seat 721 has two precision bushings press-fitted inside. Two slender pick-up guide rods pass through these bushings. The front ends of the guide rods are sharpened or chamfered to facilitate guidance, and the rear ends are connected to the telescopic rod of the pen-shaped cylinder through a fixing block.

[0102] The height of the receiving mechanism 700 is precisely adjusted so that when the slide cylinder and pen-shaped cylinder are activated, the axis of the material receiving guide rod can be precisely aligned with the center of the pipe opening of the integrated eight U-shaped tubes 800.

[0103] The system's working logic and coordination relationships in this embodiment are as follows: The servo motor drives the ball screw to rotate, causing the first nylon clamping block to move away from the receiving mechanism by 700. The hinge assembly is straightened, causing the remaining seven clamping blocks to unfold in sequence until the preset receiving distance is reached.

[0104] The upstream robotic arm or unloading mechanism places eight U-shaped tubes 800 into eight positioning slots 311. The sensor triggers the clamping cylinder 322 to move, and the gripper 321 locks the U-shaped tubes 800.

[0105] The servo motor reverses, pushing the first clamping block back. The hinge assembly is folded under pressure, and the eight clamping blocks, along with the U-shaped tubes 800, move towards the receiving mechanism 700 until all the clamping blocks are in close contact. At this point, the eight U-shaped tubes 800 are neatly arranged side by side and facing the receiving mechanism 700.

[0106] The slide cylinder retracts (or extends, depending on the installation direction), driving the pen-shaped cylinder and guide rod to move closer to the U-tube 800 until the tip of the guide rod reaches the front of the U-tube 800 opening; The pen-shaped cylinder actuates, pushing the two material-picking guide rods to extend quickly and insert them into the inner holes of eight U-shaped tubes (800mm diameter) at once. The clamping cylinder 322 inside the nylon clamp block is released; The slide cylinder reverses its movement, causing the guide rod filled with U-shaped tubes 800 to move backward as a whole, pulling the eight U-shaped tubes 800 laterally out of the positioning slot 311, thus completing the transfer.

[0107] Through the above structure, this system utilizes the cascading characteristics of hinges to achieve multi-station pitch change under single motor drive, and utilizes the superimposed stroke of slide cylinder and pen-shaped cylinder to achieve deep hole insertion and material picking in a limited space, perfectly solving the industry problem of automated alignment and transfer of U-shaped tubes 800.

[0108] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application. Any specific values ​​in all examples shown and discussed herein should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0109] Furthermore, it should be noted that the use of terms such as "first" and "second" is merely for ease of distinction, and unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

[0110] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A U-tube integration device, characterized by, The U-tube integration device comprises a rack (100), a guide mechanism (200) mounted on the rack (100) and having a guide path, a plurality of bearing units (300) arranged in sequence along the guide path and movably arranged on the guide mechanism (200) and respectively used for bearing U-tubes (800), a driving mechanism (500) having an output end in driving connection with at least one of the bearing units (300), and a plurality of connecting mechanisms (400) used for connecting the bearing units (300) in sequence through at least one of the connecting mechanisms (400) and adjusting the spacing between the bearing units (300) when the bearing units (300) move.

2. The U-tube integration device according to claim 1, wherein the connecting mechanism (400) comprises at least two rigid connecting pieces (410) pivotally connected between each other, and the rigid connecting pieces (410) located at two ends are respectively connected with two adjacent bearing units (300).

3. The U-tube integration device according to claim 1, wherein two adjacent bearing units (300) are connected through two connecting mechanisms (400) distributed on both sides of the driving mechanism (500) along the length direction of the bearing units (300).

4. The U-tube integration device according to claim 1, wherein the bearing unit (300) comprises a sliding seat body (310) in sliding connection with the guide mechanism (200) and provided with a positioning groove (311) for accommodating and limiting the U-tube (800), and the length direction of the positioning groove (311) is perpendicular to the sliding direction of the sliding seat body (310), and a clamping assembly (320) provided on the sliding seat body (310) and used for clamping the U-tube (800) located in the positioning groove (311).

5. The U-tube integration device according to claim 4, wherein the clamping assembly (320) comprises a clamping trigger, a clamping jaw (321) and a clamping cylinder (322), the clamping trigger is arranged in the positioning groove (311) and used for detecting whether the U-tube (800) in the positioning groove (311) is placed in position, one end of the clamping jaw (321) is connected with the output end of the clamping cylinder (322), the other end of the clamping jaw (321) extends into the positioning groove (311) and is used for clamping the U-tube (800) located in the positioning groove (311), and the clamping cylinder (322) is arranged on the sliding seat body (310), is electrically connected with the clamping trigger, and is used for driving the clamping jaw (321) to perform clamping movement after the clamping trigger detects that the U-tube (800) is placed in position.

6. The U-tube integration device according to claim 1, wherein the driving mechanism (500) comprises a driving motor (510) and a transmission assembly (520). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The transmission assembly (520) is connected between the driving motor (510) and the terminal bearing unit (300); The driving mechanism (500) is used to drive the corresponding terminal bearing unit (300) to move, and drive the remaining bearing units (300) to move through the connecting mechanism (400).

7. The U-tube integration device according to claim 1, wherein: The U-tube integration device further comprises a buffer (600); The buffer (600) is arranged on the guide mechanism (200) or the rack (100) and is located at the end of the folding stroke of the bearing unit (300), and is used to absorb the movement impact when the bearing units (300) are retracted to the minimum spacing state.

8. A U-tube automated processing system characterized by, The U-tube automatic processing system comprises the U-tube integration device according to any one of claims 1 to 7, and further comprises a material collecting mechanism (700); The material collecting mechanism (700) is arranged adjacent to the U-tube integration device and is used to remove the integrated U-tube (800) from the bearing unit (300).

9. The U-tube automatic processing system according to claim 8, wherein: The material collecting mechanism (700) comprises a removal driving assembly (710) and a penetrating material taking assembly (720); The removal driving assembly (710) is connected with the penetrating material taking assembly (720), and the removal driving assembly (710) is used to drive the penetrating material taking assembly (720) to move relative to the bearing unit (300); The penetrating material taking assembly (720) is used to align the pipe opening position of the integrated U-tube (800) and insert or withdraw from the internal space of the U-tube (800), so as to remove and output the U-tube (800) from the bearing unit (300).

10. The U-tube automatic processing system according to claim 9, wherein: The removal driving assembly (710) comprises a first driving unit (711) and a second driving unit (712); The penetrating material taking assembly (720) comprises a guide seat (721) and a material taking rod (722), the material taking rod (722) is slidingly connected with the guide seat (721), and the material taking rod (722) extends along a direction parallel to the guide path; The driving end of the first driving unit (711) is connected with the guide seat (721); The driving end of the second driving unit (712) is connected with the material taking rod (722); The first driving unit (711) is used to drive the penetrating material taking assembly (720) to move along a direction perpendicular to the guide path, and the second driving unit (712) is used to drive the material taking rod (722) to move along a direction parallel to the guide path.

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