阅读说明：本技术 热交换器的组装设备及其组装模块 (Assembling equipment of heat exchanger and assembling module thereof ) 是由 廖建硕 于 2018-09-11 设计创作，主要内容包括：本发明公开一种热交换器的组装设备及其组装模块。热交换器的组装设备适合用来将多个U型管组装至一热交换器本体,其包括一适用于供U型管放置的物料模块、一适用于供热交换器本体放置的承载模块以及一组装模块。组装模块包括一夹具以及一驱动单元。夹具包括相互间隔的至少两个夹持组件。驱动单元能驱使夹具旋转,并使夹持组件分别位于物料模块及承载模块的上方,且能使夹持组件同时在物料模块及承载模块上分别持取及安装U型管。因组装模块能够同时持取及安装U型管,借此能提升组装U型管的速度。(The invention discloses an assembling device of a heat exchanger and an assembling module thereof. The assembling equipment of the heat exchanger is suitable for assembling a plurality of U-shaped pipes to a heat exchanger body and comprises a material module suitable for placing the U-shaped pipes, a bearing module suitable for placing the heat exchanger body and an assembling module. The assembly module comprises a clamp and a driving unit. The fixture includes at least two clamping assemblies spaced apart from one another. The driving unit can drive the clamp to rotate, the clamping assembly is respectively positioned above the material module and the bearing module, and the clamping assembly can simultaneously respectively hold, take and install the U-shaped pipe on the material module and the bearing module. The U-shaped pipe can be simultaneously taken and installed by the assembling module, so that the speed of assembling the U-shaped pipe can be increased.)

1. An assembling apparatus of a heat exchanger adapted to assemble a plurality of U-shaped tubes to a plurality of tubes of a heat exchanger body, respectively, the assembling apparatus of the heat exchanger comprising:

the material module is suitable for placing the U-shaped pipe;

a carrier module adapted for placement of the heat exchanger body; and

an assembly module, including a anchor clamps and a drive unit, anchor clamps include two at least centre gripping subassemblies of mutual interval, drive unit includes a rotary mechanism and a elevating system, rotary mechanism can order about the anchor clamps are rotatory to make two at least centre gripping subassemblies be located respectively the material module reaches bear the top of module, elevating system can drive anchor clamps move towards the material module reaches bear the module, make two at least centre gripping subassemblies simultaneously material module and bear the module and hold respectively and get and install the U type pipe.

2. The heat exchanger assembly apparatus as claimed in claim 1, wherein the fixture further comprises a base and a rotating shaft, at least two of the clamping assemblies are respectively disposed on opposite sides of the base, the rotating shaft is disposed on the base and between the clamping assemblies, and the rotating shaft is connected to the rotating mechanism of the driving unit.

3. The assembly apparatus of a heat exchanger according to claim 1, wherein the driving unit of the assembly module further comprises an adjusting mechanism capable of driving at least one of the clamping assemblies to spin about its axis.

4. The assembly apparatus for a heat exchanger according to claim 3, wherein each of said clamping members includes a holder for holding said U-shaped tube and a guide groove opposed to said holder, and said adjusting mechanism includes an eccentric block detachably disposed in said guide groove and a rotating motor for rotating said clamping members about said own axis when said eccentric block is driven and rotated by said rotating motor.

5. The heat exchanger assembly apparatus of claim 1, further comprising a moving module, wherein the moving module comprises a set of wires and a carrier movably disposed on the set of wires, the carrier carries the material module and the assembly module, and the carrier is controllable to move relative to the carrying module.

6. The assembling apparatus of claim 1, further comprising an optical detection module for detecting the position of the pipe of the heat exchanger body, and a control unit for receiving a position signal outputted from the optical detection module and outputting a control signal to the assembling module.

7. An assembly module adapted to hold a U-tube on a material module and move to a carrier module for installation, the assembly module comprising:

a fixture including at least two clamping assemblies spaced apart from each other; and

and the driving unit comprises a rotating mechanism and a lifting mechanism, the rotating mechanism can drive the clamp to rotate, at least two clamping assemblies are respectively positioned above the material module and the bearing module, and the lifting mechanism can drive the clamp to move towards the material module and the bearing module, so that the at least two clamping assemblies simultaneously respectively hold and mount the U-shaped pipe on the material module and the bearing module.

8. The assembly module of claim 7, wherein the fixture further comprises a base and a shaft, at least two of the clamping assemblies are disposed on opposite sides of the base, the shaft is disposed on the base and between the clamping assemblies, and the shaft is connected to the rotating mechanism of the driving unit.

9. The assembly module of claim 7, wherein the drive unit further comprises an adjustment mechanism capable of driving at least one of the clamping assemblies to spin about its axis.

10. The assembly module of claim 9, wherein each of said clamping assemblies includes a holder for holding said U-tube and a guide slot opposite said holder, and said adjustment mechanism includes an eccentric mass and a rotary motor, said eccentric mass being driven by said rotary motor to rotate said clamping assemblies about said own axis.

Technical Field

The present invention relates to an assembling apparatus, and more particularly, to an assembling apparatus for a heat exchanger and an assembling module thereof.

Background

Referring to fig. 1, the conventional heat exchanger 9 includes a heat exchanger body 91 and a plurality of U-shaped tubes 92. The heat exchanger body 91 includes a plurality of fins 911 arranged side by side, and a plurality of tubes 912 inserted into the fins 911. The U-shaped tube 92 is disposed at the end of two tubes 912. Such a heat exchanger 9 is commonly used in air conditioning systems or similar products. Through the channel formed by the pipe 912 and the U-shaped pipe 92, the refrigerant can flow therein, and the fin 911 can guide the heat energy contained in the refrigerant to the outside, so as to achieve the heat exchange effect.

In assembling the heat exchanger 9, a plurality of tubes 912 are sequentially inserted into the fin 911 to form a heat exchanger body 91, and then the U-shaped tubes 92 are sequentially mounted to the ends of the tubes 912. In the past, the U-shaped tubes 92 were mounted by general-purpose equipment (e.g., a robot arm), however, the structural design of such equipment is often not suitable for assembling the U-shaped tubes 92, resulting in poor assembly efficiency and a need for improvement.

Disclosure of Invention

The present invention provides an assembling apparatus for a heat exchanger and an assembling module thereof, which are used for solving the technical problems of the prior art.

In order to solve the above technical problem, one technical solution of the present invention is to provide an assembling apparatus for a heat exchanger, which is suitable for assembling a plurality of U-shaped tubes to a plurality of pipe fittings on a heat exchanger body, respectively. The assembling equipment of the heat exchanger comprises a material module, a bearing module and an assembling module. The material module is suitable for placing the U-shaped pipe. The carrier module is adapted for placement of the heat exchanger body. The assembly module comprises a clamp and a driving unit. The clamp includes at least two clamping assemblies spaced apart from one another. The driving unit comprises a rotating mechanism and a lifting mechanism. The rotating mechanism can drive the clamp to rotate, and at least two clamping assemblies are respectively positioned above the material module and the bearing module. The lifting mechanism can drive the clamp to move towards the material module and the bearing module, so that the at least two clamping assemblies can simultaneously hold, take and install the U-shaped pipe on the material module and the bearing module respectively.

Preferably, the fixture further comprises a base and a rotating shaft, at least two of the clamping assemblies are respectively arranged on two opposite sides of the base, the rotating shaft is arranged on the base and located between the clamping assemblies, and the rotating shaft is connected with the rotating mechanism of the driving unit.

Preferably, the driving unit of the assembly module further comprises an adjusting mechanism capable of driving at least one of the clamping assemblies to rotate around its axis.

Preferably, each clamping assembly comprises a clamp holder for holding the U-shaped pipe and a guide groove opposite to the clamp holder, and the adjusting mechanism comprises an eccentric block detachably arranged in the guide groove and a rotating motor, and when the eccentric block is driven by the rotating motor to rotate, the clamping assemblies are driven to spin around the axes of the eccentric block and the rotating motor.

Preferably, the assembling device of the heat exchanger further comprises a moving module, the moving module comprises a wire track group and a carrier movably arranged on the wire track group, the carrier carries the material module and the assembling module, and the carrier can be controlled to move relative to the carrying module.

Preferably, the assembling apparatus of the heat exchanger further includes an optical detection module for detecting a position of the pipe of the heat exchanger body, and a control unit for receiving a position signal output by the optical detection module and outputting a control signal to the assembling module correspondingly.

In order to solve the above technical problem, another technical solution of the present invention is to provide an assembly module, which is suitable for holding a U-shaped tube on a material module and moving the U-shaped tube to a carrying module for installation. The assembly module comprises a clamp and a driving unit. The clamp includes at least two clamping assemblies spaced apart from one another. The driving unit comprises a rotating mechanism and a lifting mechanism. The rotating mechanism can drive the clamp to rotate, and at least two clamping assemblies are respectively positioned above the material module and the bearing module. The lifting mechanism can drive the clamp to move towards the material module and the bearing module, so that the at least two clamping assemblies can simultaneously hold, take and install the U-shaped pipe on the material module and the bearing module respectively.

Preferably, the fixture further comprises a base and a rotating shaft, at least two of the clamping assemblies are respectively arranged on two opposite sides of the base, the rotating shaft is arranged on the base and located between the clamping assemblies, and the rotating shaft is connected with the rotating mechanism of the driving unit.

Preferably, the driving unit further comprises an adjusting mechanism, and the adjusting mechanism can drive at least one clamping assembly to rotate around the axis of the clamping assembly.

Preferably, each clamping assembly comprises a clamp for holding the U-shaped tube and a guide groove opposite to the clamp, and the adjusting mechanism comprises an eccentric block and a rotating motor, and when the eccentric block is driven by the rotating motor to rotate, the clamping assembly is driven to spin around the axis of the clamping assembly.

The U-shaped pipe assembling device has the beneficial effects that the assembling module can respectively hold and install the U-shaped pipe on the material module and the bearing module at the same time, so that the assembling speed of the U-shaped pipe is increased.

For a better understanding of the features and technical content of the present invention, reference should be made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.

Drawings

Fig. 1 is a perspective view of a conventional heat exchanger.

FIG. 2 is a side view schematically illustrating the assembly apparatus of the heat exchanger of the present invention.

Fig. 3 is a partial perspective view illustrating an assembly module of the assembly apparatus.

Fig. 4 is a flow chart illustrating the operational steps of the assembly apparatus.

FIG. 5 is a partial perspective view illustrating the lowering of the clamp of the assembly module to hold the U-tubes from the material module.

FIG. 6 is a partial perspective view illustrating the raising of the clamp of the assembly module to remove the U-tube from the material module.

FIG. 7 is a partial perspective view illustrating the rotation of the clamp of the assembly module to move the U-tubes over the heat exchanger body.

FIG. 8 is a partial perspective view illustrating the assembly module with the clamp lowered and the adjustment mechanism rotated the angle of the clamping assembly to mount a U-tube to the heat exchanger body and the clamping assembly above the material module holding another U-tube.

FIG. 9 is a partial perspective view illustrating the raising of the clamp of the assembly module to remove another U-tube from the material module.

Fig. 10 is a partial perspective view illustrating the assembled module moved to another position.

FIG. 11 is a partial schematic top view illustrating the clamping assembly holding the U-tubes in a position relative to the heat exchanger body wherein the position of the U-tubes does not correspond to the position of the tubes.

FIG. 12 is a partial schematic top view illustrating the clamping assembly rotated and adjusting the position of the U-tube to correspond to the position of the tubing.

FIG. 13 is a partial perspective view of a heat exchanger according to the present invention further including an optical detection module.

FIG. 14 is a block diagram illustrating the heat exchanger according to the present invention receiving signals from the optical detection module via a control unit to control the moving module and the assembling module correspondingly.

Detailed Description

The following is a description of the embodiments of the present disclosure relating to "assembling apparatus of heat exchanger and assembling module thereof" by specific embodiments, and those skilled in the art can understand the advantages and effects of the present disclosure from the disclosure of the present disclosure. The invention is capable of other and different embodiments and its several details are capable of modification and various other changes, which can be made in various details within the specification and without departing from the spirit and scope of the invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are used primarily to distinguish one element from another element or from one signal to another signal. In addition, the term "or" as used herein should be taken to include any one or combination of more of the associated listed items as the case may be.

Referring to fig. 2 and 3, an assembly apparatus of a heat exchanger 9 according to an embodiment of the present invention is suitable for assembling a plurality of U-shaped tubes 92 to a plurality of pipes 912 of a heat exchanger body 91. The assembly equipment of the heat exchanger 9 comprises: a machine 1, a moving module 2, a carrying module 3, a material module 4, and an assembling module 5.

The machine table 1 includes a base 11 and a sidewall 12 extending upward from a side of the base 11.

The moving module 2 is disposed on the base 11 of the machine table 1, and includes a linear rail set 21, a platform 22, a carrier 23, and a power source (not shown). The linear rail set 21 includes two X-axis linear rails 211 and two Y-axis linear rails 212. The X-axis rail 211 and the Y-axis rail 212 may be any conventional linear slide rail, such as but not limited to: ball type linear slide rail, roller type linear slide rail and needle type linear slide rail. The X-axis rails 211 extend along a first direction X and are disposed on the base 11 of the machine 1, and are spaced apart from each other along a second direction Y. The X-axis rail 211 is provided with a platform 22. The Y-axis rails 212 extend along the second direction Y and are disposed at intervals to each other on the stage 22. Stage 23 is disposed on Y-axis rail 212. The power source can drive the stage 22 and the stage 23 to move along the first direction X and the second direction Y, respectively, which can be exemplified by: the combination of the servo motor and the chain belt and the combination of the motor and the ball screw are not limited thereto.

The carrying module 3 is suitable for placing the heat exchanger body 91, which is arranged on the side wall 12 of the machine table 1. The carrier module 3 comprises a set of clamping tools 31 for fixing the heat exchanger body 91. Examples of the holding tool 31 include: a clamp block, a parallel jaw, a flare-type jaw, or a suction cup, but is not limited thereto, and it is sufficient only to be able to clamp and fix the heat exchanger body 91. In the present embodiment, two clamping blocks are used as an example for explanation.

The material module 4 is adapted for placing the U-tubes 92 and is arranged on the carrier 23 of the mobile module 2. The material module 4 includes a material loading platform 41 and a material conveying belt 42. The material receiving table 41 extends along the second direction Y. The material conveying belt 42 is disposed on the material accommodating table 41 along the second direction Y. The U-shaped tubes 92 may be sequentially placed on the carrier belt 42 and transported by the carrier belt 42.

The assembly module 5 is disposed on the carrier 23 of the mobile module 2, and includes a support frame 51, a clamp 52 and a driving unit 53. The support frame 51 includes a frame 511, a set of Z-axis rails 512, and a working head 513. The frame body 511 is disposed on the carrier 23 and includes two side frame portions 514 located on opposite sides of the material module 4, and a carrying portion 515 located above the material module 4 and connected to the side frame portions 514. The Z-axis rail 512 extends along a third direction Z and is disposed on the carrier 515. The Z-axis rail 512 may be any conventional linear rail, such as but not limited to: ball type linear slide rail, roller type linear slide rail and needle type linear slide rail. The working head 513 is movably disposed on the Z-axis rail 512, and is generally L-shaped, but not limited thereto, and can be adjusted as needed. The first direction X, the second direction Y, and the third direction Z are substantially orthogonal.

The chuck 52 is disposed on the working head 513, and includes a base 521, two clamping assemblies 522, and a rotating shaft 523. The base 521 is generally in the form of a long plate, but the shape thereof is not limited to a certain shape, and may be in the form of a rectangular shape, a disk shape, or the like. The chucking assemblies 522 may be spin-rotatably disposed on opposite sides of the base 521, respectively. Each gripper assembly 522 comprises a self-axis L parallel to the third direction Z, an upper guide groove 524, and a gripper 525 opposite to the guide groove 524. The guide groove 524 is substantially elongated. Holder 525 is used to hold U-tube 92 and is not necessarily of the type that can be either a parallel jaw or a suction head, but is not limited thereto. In this embodiment, a suction head having a U-shaped groove is used as an example, and the suction head is connected to an external suction pump (not shown), so that the U-shaped tube 92 can be held or not held by suction. The rotating shaft 523 is disposed between the clamping members 522 and the base 521, and extends along the third direction Z. The rotating shaft 523 is rotatably disposed through the working head 513.

The driving unit 53 is disposed on the supporting frame 51, and includes a rotating mechanism 531, an adjusting mechanism 532, and a lifting mechanism 533. The rotating mechanism 531 is provided in the working head 513 and is connected to the rotating shaft 523 of the chuck 52. The rotating mechanism 531 is used to drive the clamp 52 to rotate, so that the clamping assembly 522 is located above the material module 4 and the carrying module 3, respectively. The rotation mechanism 531 may be exemplified by, but not limited to: servo motor, stepping motor and reversible motor. The connection mode between the rotating mechanism 531 and the rotating shaft 523 is not limited, and examples thereof include, but are not limited to: belt, gear train and chain refining. In the present embodiment, a belt is used as an example for description.

The adjusting mechanism 532 is disposed on a side of the working head 513 close to the carrying module 3, and includes a rotating motor 534 and an eccentric block 535. The rotary motor 534 is disposed in the working head 513 and is connected to the eccentric block 535. The rotation motor 534 can be exemplified by, but not limited to: servo motor, stepping motor and reversible motor. Eccentric mass 535 has a cam portion 536. The protrusion 536 is offset from the rotation axis of the rotation motor 534 and is detachably disposed in the guide groove 524 of the clamp assembly 522. When the eccentric block 535 is driven and rotated by the rotating motor 534, the clamping assembly 522 is driven to spin around its own axis L. Other configurations of the adjustment mechanism 532 are possible, such as: the clamping assembly 522 is rotated by a gear train releasably coupled to the clamping assembly 522 and by a motor that drives the gear train. The manufacturer may adjust the structural configuration of the adjustment mechanism 532 as desired.

The lifting mechanism 533 is disposed on the supporting portion 515 of the frame body 511, and is connected to the working head 513. The elevating mechanism 533 is used to push the working head 513 to reciprocate along the third direction Z. The lifting mechanism 533 can drive the clamp 52 to move toward the material module 4 and the carrying module 3, so that the clamping assembly 522 can simultaneously hold and mount the U-shaped tube 92 on the material module 4 and the carrying module 3, respectively. Examples of the elevating mechanism 533 include, but are not limited to: a combination of a motor and a ball screw, a pneumatic cylinder, and an oil hydraulic cylinder. In the present embodiment, a ball screw is explained as an example, but a motor is not illustrated.

The structure and the constituent elements of the assembling apparatus of the present invention have been described above with reference to fig. 2 to 10, and the operation thereof will be further described below.

Step S101: referring to fig. 2 to 4, the U-shaped tube 92 is placed in the material module 4, and the heat exchanger body 91 is placed on the support module 3.

Step S102: the assembly module 5 is moved by the moving module 2, so that the holding component 522 of the assembly module 5 is located above the carrying module 3 and the material module 4, respectively.

The power source drives the carrier 23 to move along the first direction X or the second direction Y, so that the carrier module 3 can be displaced, and the positions of the assembly module 5 and the material module 4 relative to the heat exchanger body 91 can be further adjusted.

Step S103: referring to fig. 4 and 5, the lifting mechanism 533 pushes down the working head 513 to bring the clamp 52 down, so that the clamp 525 of one of the clamping assemblies 522 holds the U-shaped tube 92.

Step S104: referring to fig. 4 and 6, the working head 513 is lifted by the lifting mechanism 533 and the clamp 52 is lifted.

Step S105: referring to fig. 2, 4 and 7, the clamp 52 is rotated by the rotating mechanism 531, so that the U-shaped tube 92 is transferred from one side of the material module 4 to one side of the carrying module 3.

It should be noted that the holding member 522 is driven by the rotating mechanism 531 to form a rotating track, and the guiding groove 524 of the holding member 522 is disposed along the rotating track of the holding member 522; in addition, the cam portion 536 of the eccentric mass 535 of the adjustment mechanism 532 is also disposed on the rotational locus. With this arrangement, when the clamping assembly 522 is moved over the carrier module 3, the protrusion 536 of the eccentric block 535 is located in the guiding groove 524.

Step S106: referring to fig. 4 and 8, the angle of rotation of the clamping assembly 522 is adjusted by the adjusting mechanism 532, so that the two ends of the U-shaped tube 92 can be aligned with the two tubes 912 respectively.

By rotating the eccentric block 535, the protrusion 536 rotates to rotate the clamping assembly 522, thereby adjusting the orientation of the U-shaped tube 92 relative to the tube 912. Referring to fig. 8, 11 and 12, an angle between an extension line of the two pipe elements 912 and the first direction X is a first angle θ 1. By rotating the clamping assembly 522 through the adjusting mechanism 532, the orientation of the U-shaped tube 92 on the clamping device 525 can be adjusted, so that the angle between the extension lines of the two ends of the U-shaped tube 92 and the first direction X is adjusted from a second angle θ 2 to the same angle as the first angle θ 1, and at this time, the two ends of the U-shaped tube 92 can be respectively aligned with the two tube 912.

Step S107: referring to fig. 4 and 8, the lifting mechanism 533 pushes down the working head 513 to bring the lower clamp 52 down, so that the U-shaped pipe 92 is attached to the pipe 912, and the clamp 525 of the other clamping assembly 522 takes in the other U-shaped pipe 92.

Step S108: referring to fig. 4, 9 and 10, the working head 513 is lifted by the lifting mechanism 533 and the clamp 52 is lifted, and the moving module 2 (see fig. 2) is activated to move the assembling module 5 to another position.

When the working head 513 is raised by the lifting mechanism 533 and the clamp 52 is lifted, the adjustment mechanism 532 returns the clamping assembly 522 to the original position by rotating the eccentric block 535. Then, the power source drives the stage 23 to move along the first direction X or the second direction Y again, so that the assembly module 5 and the material module 4 move to another position relative to the carrier module 3.

Referring to fig. 2 and 3, the manner of moving the assembly module 5 by the moving module 2 can be adjusted as required, for example, the carrier 23 can be moved only along the first direction X, so that the assembly module 5 can mount the U-shaped tubes 92 on the tubes 912 spaced along the first direction X; it is also possible to move the stage 23 only along the second direction Y, so that the assembly module 5 mounts the U-shaped tubes 92 on the tubes 912 spaced along the second direction Y; the stage 23 can be moved in the first direction X and the second direction Y at the same time for subsequent mounting. The manner of movement is not limited in any way.

Thus, by repeating steps S105 to S108, the U-tubes 92 can be sequentially attached to the heat exchanger main body 91. Step S106 and step S107 can be executed synchronously, that is, when the working head 513 is pressed down by the lifting mechanism 533, the angle of rotation of the clamping assembly 522 can be adjusted by the adjusting mechanism 532 at the same time, so as to mount the U-shaped tube 92 onto the corresponding tube 912. It should be noted that if the position of the pipe 912 is such that the U-tube 92 can be installed directly without further adjustment of the orientation, step S106 may be omitted and only the remaining steps may be performed.

It should be noted that the number of the clamping members 522 may be three or more, and may be adjusted according to the requirement. That is, the clamp 52 only needs to be able to simultaneously hold and mount the U-shaped tube 92 on the material module 4 and the carrying module 3 in step S104 and step S107, and therefore the disclosure of the present invention is not limited thereto.

Referring to fig. 13 and 14, it should be noted that the assembling apparatus of the heat exchanger 9 may further include an optical detection module 6 and a control unit 7. The optical detection module 6 is disposed on the working head 513 of the supporting frame 51 and is used for detecting the position of the pipe 912 of the heat exchanger body 91, such as but not limited to: CCD computer image automatic aligner. The control unit 7 receives a position signal output by the optical detection module 6, and correspondingly outputs a moving signal to the moving module 2 and a control signal to the assembling module 5, so as to implement the operations from step S102 to step S108. The control unit 7 can be a computer with commercial control software, but not limited thereto.

From the above description, the advantages of the present invention can be summarized as follows:

firstly, the assembly module 5 can respectively hold and install the U-shaped tubes 92 on the material module 4 and the bearing module 3 at the same time, so that the assembly speed of the U-shaped tubes 92 is increased.

Secondly, the adjusting mechanism 532 can adjust the angle of the clamping assembly 522 to adjust the position of the U-shaped tube 92, so that the U-shaped tube 92 can be assembled corresponding to the position of the pipe 912 on the heat exchanger body 91.

Thirdly, the optical detection module 6 can detect the position of the pipe fitting of the heat exchanger body, and then the U-shaped pipe can be automatically assembled under the control of the control unit 7.

The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the claims, so that all technical equivalents and modifications using the contents of the specification and drawings are included in the scope of the claims.