Automatic inserting device and inserting method for copper pipe and nut

Abstract

The application provides an automatic copper pipe and nut inserting equipment and an inserting method, relates to the technical field of automatic equipment, and solves the technical problem of insufficient operation accuracy of an automatic pipe inserting robot. The automatic copper pipe and nut inserting equipment comprises a workbench, a copper pipe moving mechanism, a copper nut moving mechanism, an abnormal material taking mechanism, a flux dipping mechanism and a detection mechanism. The application can automatically insert copper pipes and copper nuts, the inserting precision is improved through cooperation between the cylinders, the inserting process is more convenient, the application has the characteristics of good structural stability and convenient debugging, avoids the limitations of traditional structures, has a wider application range, and achieves the purpose of increasing efficiency while reducing costs and improving operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to an automated insertion device and method for copper tubes and nuts. Background Technology

[0002] With the development and popularization of industrial automation, the industry is gradually moving towards unmanned factories. In the copper pipe welding process of air conditioner production, the insertion and connection of copper pipes and copper nuts are currently carried out manually. This is not only labor-intensive and time-consuming, but also results in inconsistent insertion positions, uneven quality, and the risk of deformation or damage to the copper pipes.

[0003] To replace the repetitive manual insertion of tubes and copper nuts and reduce labor intensity, the existing technology uses two robots to complete the feeding of copper tubes and nuts through teaching points.

[0004] The applicant has found that the prior art has at least the following technical problems: the precision of robot operations in the prior art is insufficient, and it has great limitations, narrow scope of application, complex structure and high cost. Summary of the Invention

[0005] The purpose of this invention is to provide an automated insertion device for copper tubes and nuts, so as to solve the technical problem of insufficient accuracy of automated insertion robots in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention provides an automated insertion device for copper tubes and nuts, comprising a worktable, a copper tube transfer mechanism, a copper nut transfer mechanism, an abnormal material handling mechanism, a flux application mechanism, and a detection mechanism; wherein:

[0008] The workbench has an insertion station, a first loading station, and a second loading station;

[0009] The copper tube transfer mechanism is movably mounted on the workbench and can reciprocate between the first loading position and the insertion position, thereby transporting the copper tube from the first loading position to the insertion position for insertion.

[0010] The copper nut transfer mechanism is movably mounted on the workbench and can reciprocate between the second loading position and the insertion position, thereby transporting the copper nut from the second loading position to the insertion position for insertion with the copper tube.

[0011] The inspection mechanism is set on the workbench and located on the travel path of the copper tube transfer mechanism to perform visual inspection on the transported copper tubes.

[0012] The abnormal material handling mechanism is set on the workbench and located next to the detection mechanism, and is used to remove the defective copper tubes conveyed in the copper tube transfer mechanism.

[0013] The flux application mechanism is mounted on the workbench and located on the travel path of the copper nut transfer mechanism to apply flux to the copper nut insertion hole.

[0014] The automated insertion equipment for copper tubes and nuts provided by this invention can automatically insert copper tubes and nuts. Moreover, through the cooperation between cylinders, the insertion accuracy is improved and the insertion process is more convenient. It also features good structural stability and easy debugging. It solves the problems of frequent operation, high labor intensity and low automation in manual mode, and addresses the issues of low automation and low work efficiency. It also solves the problem that the accuracy requirements of the original automated robots cannot meet the needs, avoids the limitations of traditional structures, has a wider range of applications, and achieves the goal of increasing efficiency while reducing costs.

[0015] As a further improvement of the present invention, the copper tube transfer mechanism includes a first frame, a first drive assembly, a copper tube clamping cylinder, a first positioning element, a second positioning element, and a sensor; wherein:

[0016] The copper tube clamping cylinder is mounted on the first frame via the first drive assembly; under the drive of the first drive assembly, the copper tube clamping cylinder can move left and right up and down.

[0017] The first positioning element is movably mounted above the copper tube clamping cylinder to perform first-point positioning of the copper tube;

[0018] The second positioning element is disposed at the top and bottom of the copper tube clamping cylinder for second and third point positioning of the copper tube;

[0019] The sensor is mounted on the first drive assembly for detecting the position of the copper tube.

[0020] As a further improvement of the present invention, the first driving component includes a first X-axis module and a first Y-axis module; wherein:

[0021] The first X-axis module is fixed on the first frame;

[0022] The first Y-axis module is fixed on the first X-axis module.

[0023] As a further improvement of the present invention, there are two copper tube clamping cylinders, one above the other; the sensor is disposed between the two copper tube clamping cylinders.

[0024] As a further improvement of the present invention, the detection mechanism includes a mounting frame, an adjustable slide, a camera, and a light source; wherein:

[0025] The mounting bracket is fixed to the workbench;

[0026] The light source and the camera are positioned one above the other and are movably connected to the mounting bracket via the adjustable slide.

[0027] As a further improvement of the present invention, the abnormal material handling mechanism includes a second frame, a rotary cylinder, a telescopic positioning cylinder, a material handling clamping cylinder, and a third positioning component; wherein:

[0028] The rotary cylinder is mounted on the top of the second frame;

[0029] The telescopic positioning cylinder is mounted on the rotary cylinder;

[0030] The material clamping cylinder is mounted on the telescopic positioning cylinder;

[0031] The third positioning component is installed on the top of the material handling clamping cylinder.

[0032] As a further improvement of the present invention, the copper nut transfer mechanism includes a second drive assembly, a nut clamping cylinder, a tube insertion guide cylinder, a copper tube clamping cylinder, and a tube insertion positioning cylinder, wherein:

[0033] The second drive component is mounted on the worktable;

[0034] The insertion positioning cylinder is mounted on the second drive assembly and can move in three coordinates under the drive of the second drive assembly;

[0035] The copper tube clamping cylinder is mounted on the tube insertion positioning cylinder;

[0036] The cannula guide cylinder is mounted on the second drive assembly and is located below the copper tube clamping cylinder;

[0037] The nut clamping cylinder is mounted on the second drive assembly and located below the insertion guide cylinder; during insertion, the guide hole of the insertion guide cylinder, the clamping center of the nut clamping cylinder, and the clamping center of the copper tube clamping cylinder coincide.

[0038] As a further improvement of the present invention, the second drive assembly includes a second X-axis module, a second Y-axis module, a Z-axis module, and a first guide rail; wherein:

[0039] The first guide rail consists of two rails, arranged in parallel at intervals;

[0040] The second X-axis module is positioned between the two first guide rails;

[0041] The second Y-axis module consists of two units, which are arranged in parallel and spaced apart on the second mounting plate. The second mounting plate is connected to the second X-axis module and the first guide rail.

[0042] The Z-axis module consists of two parallel and spaced-apart modules, each connected to one of the two second Y-axis modules.

[0043] As a further improvement of the present invention, the flux coating mechanism includes a coating cylinder, a substrate, a buffer plate, a coating cotton column, and a feeding mechanism; wherein:

[0044] The coating cylinder is suspended on the top of the workbench;

[0045] The substrate is connected to the coating cylinder;

[0046] The buffer plate is arranged parallel to the base plate and is movably connected by a guide structure;

[0047] The coated cotton column is located at the bottom of the buffer plate;

[0048] The feeding mechanism is connected to the coated cotton column to continuously supply flux.

[0049] The present invention provides a cannulation method, which utilizes an automated cannulation device for inserting the copper tube and nut. The method includes the following steps:

[0050] The first robot delivers the copper tube to the copper tube transfer mechanism at the first loading station;

[0051] The copper tube transfer mechanism transfers the tubes to the testing station located at the testing facility.

[0052] After passing the inspection, the copper tubes continue to run through the transfer mechanism to transfer them to the insertion station;

[0053] The second robot takes a picture and picks up the material. After picking up the material, it adjusts its posture and places the copper nut on the copper nut transfer mechanism at the second loading position.

[0054] The copper nut transfer mechanism moves below the flux application mechanism to complete the flux application;

[0055] After the coating is completed, the copper nut transfer mechanism continues to move and stops at the insertion station;

[0056] The copper tube transfer mechanism and the copper nut transfer mechanism work together to complete the insertion of the copper tube and the copper nut. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram (I) of the automated insertion equipment for copper tubes and nuts of the present invention;

[0059] Figure 2 This is a schematic diagram (II) of the structure of the automated insertion equipment for copper tubes and nuts of the present invention;

[0060] Figure 3 yes Figure 2 Enlarged view of part I in the middle;

[0061] Figure 4 This is a schematic diagram (III) of the automated insertion equipment for copper tubes and nuts of the present invention, in which the flux application mechanism has been removed;

[0062] Figure 5 This is a magnified view of part II in the figure;

[0063] Figure 6 This is a schematic diagram (IV) of the automated insertion equipment for copper tubes and nuts of the present invention, in which the flux application mechanism has been removed;

[0064] Figure 7 yes Figure 6 Enlarged view of part III;

[0065] Figure 8 This is a top view of the automated insertion device for copper tubes and nuts of the present invention;

[0066] Figure 9 This is a schematic diagram of the copper tube transfer mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0067] Figure 10 This is a front view of the copper tube transfer mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0068] Figure 11 This is a side view of the copper tube transfer mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0069] Figure 12 This is a schematic diagram of the detection mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0070] Figure 13 This is a front view of the detection mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0071] Figure 14 This is a side view of the detection mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0072] Figure 15 This is a front view of the abnormal material handling mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0073] Figure 16 This is a side view of the abnormal material handling mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0074] Figure 17 This is a top view of the abnormal material handling mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0075] Figure 18 This is a front view of the copper nut transfer mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0076] Figure 19 This is a side view of the copper nut transfer mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0077] Figure 20 This is a top view of the copper nut transfer mechanism in the automated insertion equipment for copper tubes and nuts of the present invention;

[0078] Figure 21 This is a flowchart of the insertion method of the present invention.

[0079] In the diagram: 1. Workbench; 11. Suspension; 2. Copper tube transfer mechanism; 21. First frame; 22. First X-axis module; 23. First Y-axis module; 24. Copper tube clamping cylinder; 25. First positioning component; 26. Second positioning component; 27. Sensor mounting bracket; 3. Copper nut transfer mechanism; 31. Second X-axis module; 32. Second Y-axis module; 33. Z-axis module; 34. Nut clamping cylinder; 35. Tube insertion guide cylinder; 36. Copper tube clamping cylinder; 7. Insertion positioning cylinder; 38. First guide rail; 39. Guide component; 4. Abnormal material handling mechanism; 41. Second frame; 42. Rotary cylinder; 43. Telescopic positioning cylinder; 44. Material handling clamping cylinder; 45. Third positioning component; 5. Flux application mechanism; 51. Application cylinder; 52. Base plate; 53. Buffer plate; 54. Guide structure; 55. Application cotton column; 6. Detection mechanism; 61. Mounting frame; 62. Adjustable slide; 63. Camera; 64. Light source. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0081] This invention provides an automated insertion device for copper tubes and nuts, enabling unmanned operation of copper tube and nut insertion and achieving labor reduction and profit increase. Specifically, the automated insertion device for copper tubes and nuts includes a workbench 1, a copper tube transfer mechanism 2, a copper nut transfer mechanism 3, an abnormal material handling mechanism 4, a flux application mechanism 5, and a detection mechanism 6; wherein:

[0082] Workbench 1 has an insertion station, a first loading station, and a second loading station;

[0083] The copper tube transfer mechanism 2 is movably located on the left side of the workbench 1 and can move back and forth between the first loading position and the insertion position, thereby transporting the copper tube from the first loading position to the insertion position for insertion.

[0084] The copper nut transfer mechanism 3 is movably located on the right side of the workbench 1 and can reciprocate between the second loading position and the insertion position, thereby transporting the copper nut from the second loading position to the insertion position for insertion with the copper tube.

[0085] The inspection mechanism 6 is set on the workbench 1 and located on the travel path of the copper tube transfer mechanism 2 to perform visual inspection on the transported copper tubes.

[0086] The abnormal material handling mechanism 4 is set on the workbench 1 and located next to the inspection mechanism 6. It is used to remove the defective copper tubes conveyed in the copper tube transfer mechanism.

[0087] The flux application mechanism 5 is set on the workbench 1 and located on the travel path of the copper nut transfer mechanism 3 to apply flux to the copper nut socket.

[0088] Furthermore, an L-shaped suspension 11 is also provided on the top of the workbench 1; one side of the suspension 11 is fixed to the rear top wall of the workbench 1, and the other side of the suspension 11 is parallel to the table surface of the workbench 1 and covers the top of the workbench 1.

[0089] The flux application mechanism 5 is suspended on the other side of the suspension 11, thus being suspended above the worktable 1.

[0090] The automated insertion equipment for copper tubes and nuts of the present invention also includes a first robot and a second robot. The first robot is located on the left side of the workbench 1 and is used to transport copper tubes to the copper tube transfer mechanism 2. The second robot is a six-axis robot with vision components, located on the right side of the workbench 1, and can transport copper nuts to the copper nut transfer mechanism 3. The six-axis robot is responsible for picking up copper nuts from the copper nut transport line and placing them on the copper nut transfer mechanism. It should be noted that the first robot and the second robot are existing technology products, and the present invention does not improve the robots, so they will not be described in detail.

[0091] The automated insertion equipment for copper tubes and nuts provided by this invention can automatically insert copper tubes and nuts. Moreover, through the cooperation between cylinders, the insertion accuracy is improved and the insertion process is more convenient. It also features good structural stability and easy debugging. It solves the problems of frequent operation, high labor intensity and low automation in manual mode, and addresses the issues of low automation and low work efficiency. It also solves the problem that the accuracy requirements of the original automated robots cannot meet the needs, avoids the limitations of traditional structures, has a wider range of applications, and achieves the goal of increasing efficiency while reducing costs.

[0092] As an optional embodiment of the present invention, the copper tube transfer mechanism 2 includes a first frame 21, a first drive assembly, a copper tube clamping cylinder 24, a first positioning element 25, a second positioning element 26, and a sensor; wherein:

[0093] The copper tube clamping cylinder 24 is mounted on the first frame 21 via the first drive assembly; under the drive of the first drive assembly, the copper tube clamping cylinder 24 can move left and right up and down.

[0094] The first positioning element 25 is movably mounted above the copper tube clamping cylinder 24 to perform first-point positioning of the copper tube;

[0095] The second positioning element 26 is provided at the top and bottom of the copper tube clamping cylinder 24 for second and third point positioning of the copper tube;

[0096] The sensor is mounted on the first drive assembly for detecting the position of the copper tube.

[0097] Furthermore, the first drive component includes a first X-axis module 22 and a first Y-axis module 23; wherein:

[0098] The first X-axis module 22 is fixed on the first frame 21;

[0099] The first Y-axis module 23 is fixed on the first X-axis module 22.

[0100] In this embodiment, in order to improve work efficiency and complete the insertion of two copper pipes at one time, there are two copper pipe clamping cylinders 24, one above the other; the sensor is set between the two copper pipe clamping cylinders 24 through the sensor fixing bracket 27.

[0101] Of course, to further improve efficiency, three or more copper tube clamping cylinders 24 can be set to achieve the insertion of three or more copper tubes. Considering the size, floor space, and complexity, this invention is specifically described using the simultaneous insertion of two copper tubes as an example. However, the technical solution shown in this embodiment that can simultaneously insert two copper tubes is not limited to this. Inserting one copper tube, or inserting three or more copper tubes, is also within the protection scope of this invention.

[0102] The following is a detailed explanation using the example of inserting two copper tubes simultaneously.

[0103] In this embodiment, the copper tube transfer mechanism 2 includes a first frame 21, which is vertically mounted on the top surface of the workbench 1 to raise the height of the copper tube transfer structure and support the first X-axis module 22. To reduce weight and cost, the first frame 21 is a frame structure. The first X-axis module 22 is fixed in the middle left and right position of the first frame 21. The first X-axis module 22 is used for transferring copper tubes between the left and right workstations. There are two first Y-axis modules 23, which are arranged side by side and are both connected to the first X-axis module 22. They can perform horizontal reciprocating motion under the drive of the first X-axis module 22. The first Y-axis module 23 is used for copper tube insertion and is mounted on the first X-axis module 22. The two first Y-axis modules 23 correspond to two copper tube insertion positions, and the distance between the two insertion positions is the same as the distance between the second Y-axis modules 32 in the copper nut transfer mechanism 3.

[0104] There are four copper tube clamping cylinders 24, divided into two groups. Two cylinders in each group are connected, one above the other, to one of the first Y-axis modules 23, allowing them to move simultaneously up and down under the drive of the first Y-axis module 23. The first positioning component 25 includes a positioning cylinder, a positioning U-plate, and a first positioning groove. Each copper tube clamping cylinder 24 has a first positioning component 25 mounted on its top. That is, the positioning cylinder is vertically connected to the top of the copper tube clamping cylinder 24, with its extension rod pointing upwards. It should be noted that the positioning cylinder can be directly mounted on the copper tube clamping cylinder 24 or mounted on a plate structure. For ease of installation, in this embodiment, both the copper tube clamping cylinder 24 and the positioning cylinder are mounted on a plate structure, which is fixed to the first Y-axis module 23. The extension rod of the copper tube clamping cylinder 24 faces horizontally outwards. The positioning U-plate is a U-shaped structure formed by bending a flat plate twice. The first positioning groove is a triangular notch, positioned opposite each other on the two free ends of the positioning U-plate. This forms a two-point support and positioning for the copper tube. In this embodiment, the first positioning element 25 and the second positioning element 26 are set at a 90-degree angle. This is because the copper tube has a 90-degree bend, requiring positioning and limiting of the copper tube in two directions. If the copper tube is a straight tube, the first positioning element 25 can be omitted. The second positioning element 26 includes a positioning plate and a second positioning groove. There are two second positioning elements 26, located at the top surface of the top copper tube clamping cylinder 24 and the bottom copper tube, respectively. The bottom surface of the clamping cylinder 24 is used to form a copper tube feeding limit on both sides of the copper tube clamping cylinder 24. The positioning plate can be fixed on the copper tube clamping cylinder 24 or on a plate structure. The second positioning groove is a triangular notch formed by the inward indentation of the end of the positioning plate. The center of the arc-shaped bottom of the second positioning groove coincides with the center of the included angle of the copper tube clamping cylinder 24, thereby ensuring that the copper tube positioned by the second positioning groove coincides with the clamping center of the copper tube clamping cylinder 36, which facilitates accurate positioning of the copper tube.

[0105] During use, when clamping the copper tube, the positioning cylinder rises, and the top positioning U-plate connects to the positioning cylinder. At this time, the top positioning U-plate is in the upper limit position, which is used to limit the loading height of the copper tube. After the copper tube determines the accurate loading position according to the two second positioning slots of the two second positioning parts 26 and the top first positioning slot, the copper tube clamping cylinder 24 clamps it. At this time, the copper tube clamping is completed, and then it moves to the corresponding insertion station with the first X-axis module 22. The first X-axis module 22 is installed on the first frame 21, and the two first Y-axis modules 23 are installed on the first X-axis module 22 through the mounting plate. Each first Y-axis module 23 is equipped with a positioning cylinder (mounted by the cylinder mounting plate); the second positioning part 26 is used to hold the copper tube in place.

[0106] The copper pipe transfer mechanism is responsible for receiving copper pipes from the previous workstation and transferring them, while also working with the copper nut transfer mechanism to complete the nut insertion operation for the copper pipes.

[0107] As an optional embodiment of the present invention, the detection mechanism 6 includes a mounting frame 61, an adjustable slide 62, a camera 63, and a light source 64; wherein:

[0108] Mounting bracket 61 has an L-shaped structure and its bottom is fixed on workbench 1;

[0109] The light source 64 and the camera 63 are positioned one above the other and are movably connected to the mounting bracket 61 via an adjustable slide 62.

[0110] Specifically, camera 63 is an industrial camera 63, which is connected to a slider in adjustable slide 62;

[0111] Light source 64 is the same as the light source 64 of camera 63, and is connected to another slider in adjustable slide 62;

[0112] Two sliders are connected to slide rails located on top of mounting bracket 61. The adjustable slide table 62 enables the camera 63 and light source 64 to be raised and lowered, thereby detecting whether there are defects such as deformation or distortion in the circular appearance of the bottom of the copper tube. If deformation is found, it is treated as an abnormal part.

[0113] As an optional embodiment of the present invention, the abnormal material handling mechanism 4 includes a second frame 41, a rotary cylinder 42, a telescopic positioning cylinder 43, a material handling clamping cylinder 44, and a third positioning component 45; wherein:

[0114] The second frame 41 is a frame structure, which is vertically set on the top of the workbench 1 to increase the height of the abnormal material handling mechanism 4.

[0115] The rotary cylinder 42 is installed on the top of the second frame 41 and can rotate circumferentially to pick up the copper tube at the picking point and then rotate to the throwing point to discard the copper tube.

[0116] The telescopic positioning cylinder 43 is mounted on the rotary cylinder 42. It should be noted that in this embodiment, there are two telescopic positioning cylinders 43, and the two telescopic positioning cylinders 43 are fixed to the top of the rotary cylinder 42 by a cylinder connecting plate.

[0117] There are two material-grabbing clamping cylinders 44, which are respectively installed on the top of two telescopic positioning cylinders 43. They can move forward or backward under the drive of the telescopic positioning cylinders 43 to pick up materials. Specifically, the material-grabbing clamping cylinders 44 are connected to the telescopic positioning cylinders 43 through a material-grabbing connecting plate.

[0118] The third positioning component 45 is installed on the top of the material-picking clamping cylinder 44. It should be noted that the structure of the third positioning component 45 is similar to that of the second positioning component 26. Both are plate-shaped structures with a third positioning groove at the end of the plate. The bottom center of the third positioning groove coincides with the clamping center of the material-picking clamping cylinder 44.

[0119] In use, when the vision inspection mechanism 6 detects an abnormality in the copper tube, the telescopic positioning cylinder 43 extends to the clamping position, the third positioning groove of the third positioning component 45 (limiting sheet metal component) limits the copper tube, the material picking clamping cylinder 44 clamps the copper tube, the copper tube clamping cylinder 24 on the copper tube transfer mechanism 2 releases, and the telescopic positioning cylinder 43 retracts. At this time, the abnormal copper tube is picked up. Then, the rotary cylinder 42 rotates 90 degrees to the throwing position to throw the material, and the action is completed.

[0120] Abnormal material handling mechanism 4 is responsible for clamping and placing workpieces (copper tubes) that are detected as abnormal.

[0121] As an optional embodiment of the present invention, the copper nut transfer mechanism 3 includes a second drive assembly, a nut clamping cylinder 34, a tube insertion guide cylinder 35, a copper tube clamping cylinder 36, and a tube insertion positioning cylinder 37, wherein:

[0122] The second drive assembly is installed on workbench 1;

[0123] The insertion positioning cylinder 37 is mounted on the second drive assembly and can move in three coordinates under the drive of the second drive assembly;

[0124] The copper tube clamping cylinder 36 is mounted on the tube insertion positioning cylinder 37;

[0125] The insertion guide cylinder 35 is mounted on the second drive assembly and is located below the copper tube clamping cylinder 36;

[0126] The nut clamping cylinder 34 is mounted on the second drive assembly and is located below the insertion guide cylinder 35; during insertion, the guide hole of the insertion guide cylinder 35, the clamping center of the nut clamping cylinder 34, and the clamping center of the copper tube clamping cylinder 36 coincide.

[0127] Furthermore, the second drive assembly includes a second X-axis module 31, a second Y-axis module 32, a Z-axis module 33, and a first guide rail 38; wherein:

[0128] The first guide rail 38 consists of two rails, arranged in parallel with a gap between them;

[0129] The second X-axis module 31 is positioned between the two first guide rails 38;

[0130] There are two second Y-axis modules 32, which are arranged in parallel and spaced apart on the second mounting plate. The second mounting plate is connected to the second X-axis module 31 and the first guide rail 38.

[0131] There are two Z-axis modules 33, which are set in parallel and spaced apart, and are connected to the two second Y-axis modules 32 respectively.

[0132] Specifically, the copper nut transfer mechanism 3 of the present invention consists of a second X-axis module 31, two second Y-axis modules 32, two Z-axis modules 33, and several cylinders. The second X-axis module 31 is fixed on the top surface of the worktable 1. The two second Y-axis modules 32 are connected to the second X-axis module 31 through mounting plates to distribute the load pressure. Two linear first guide rails 38 are also installed at both ends of the first X-axis module 22 to assist in some movements of the second Y-axis module 32. The spacing between each pair of second Y-axis modules 32 is the same as the spacing between the two first Y-axis modules 23 in the copper tube transfer mechanism 2. The Z-axis module 33 is connected to the second Y-axis module 32 through a connecting plate. Each cylinder is mounted on a cylinder mounting base, and the cylinder mounting base is connected to the Z-axis module 33 through a cylinder connecting plate. Specifically, each cylinder includes: 1. A nut clamping cylinder 34, which clamps the nut after the second robot moves to the center position of the nut clamping cylinder 34. 2. A copper tube clamping cylinder 36 is used to clamp and fix the copper tube during the insertion process and is connected to the insertion positioning cylinder 37. 3. The insertion positioning cylinder 37, upon completion of the insertion process, pushes out the copper tube clamping cylinder 36 to the clamping position to position and clamp the copper tube. 4. The insertion guide cylinder 35 is connected to a guide component 39 at its end. The cylinder's opening and closing action guides and corrects the copper tube during insertion, ensuring insertion accuracy. It should be noted that the guide component 39 consists of two semi-circular guide cylinders, which are assembled together to form a circular guide cylinder, thus guiding the copper tube.

[0133] The copper nut transfer mechanism is responsible for receiving copper nuts from the 6-axis robot loading unit and cooperating with the copper tube transfer mechanism to complete the nut insertion operation of the copper tube.

[0134] As a further improvement of the present invention, the flux coating mechanism 5 includes a coating cylinder 51, a substrate 52, a buffer plate 53, a coating cotton column 55, and a feeding mechanism; wherein:

[0135] The coating cylinder 51 is suspended on the top of the workbench 1;

[0136] The substrate 52 is connected to the coating cylinder 51;

[0137] The buffer plate 53 is arranged parallel to the base plate 52 and is movably connected by the guide structure 54;

[0138] The cotton-coated column 55 is positioned at the bottom of the buffer plate 53;

[0139] The feeding mechanism is connected to the cotton-coating column 55 to continuously supply flux.

[0140] The flux application mechanism 5 is responsible for applying flux to the copper nut socket.

[0141] The overall operation flow of the automated insertion equipment for copper tubes and nuts of the present invention is as follows:

[0142] 1. After the copper tube machine produces copper tubes, the first robot transfers the copper tubes to the copper tube transfer mechanism 2. The copper tube transfer mechanism 2 moves to the inspection mechanism 6 for appearance inspection. If the inspection is qualified, the tubes are moved to the insertion station to wait for insertion. If the inspection is unqualified, the abnormal material removal mechanism 4 removes the unqualified parts and waits for the next batch of parts to be recycled.

[0143] 2. The second robot takes a visual image from the copper nut transport line to identify the angle of the nut, picks up the nut and adjusts its posture at the same time, and places it on the copper nut transfer mechanism 3 at the specified angle; then the copper nut transfer mechanism 3 moves to the position of the flux application mechanism 5, and the flux application mechanism 5 applies flux; after completion, the copper nut transfer mechanism 3 moves to the insertion station to wait for insertion.

[0144] 3. When both the copper tube transfer mechanism 2 and the copper nut mechanism reach the insertion station, the insertion action is performed. After completion, the copper tube transfer mechanism 2 returns to the initial position, and the copper nut mechanism sends the inserted copper tube to the next station. The process ends, and the system is reset to wait for the next cycle.

[0145] This invention provides a method for inserting a cannula, which is accomplished using an automated insertion device for copper tubes and nuts. The method includes the following steps:

[0146] Step S1: The first robot delivers the copper tube to the copper tube transfer mechanism 2 at the first loading position;

[0147] Step S2: The copper tube transfer mechanism 2 transfers the tube to the testing station where the testing mechanism 6 is located;

[0148] Step S3: After passing the inspection, the copper tube continues to run through the transfer mechanism to transfer it to the insertion station;

[0149] Step S4: The second robot takes a picture and picks up the material. After picking up the material, it adjusts its posture and places the copper nut on the copper nut transfer mechanism 3 at the second loading position.

[0150] Step S5: The copper nut transfer mechanism 3 moves below the flux application mechanism 5 to complete the flux application.

[0151] Step S6: After the coating is completed, the copper nut transfer mechanism 3 continues to move and stays at the insertion station;

[0152] Step S7: The copper tube transfer mechanism 2 and the copper nut transfer mechanism 3 work together to complete the insertion of the copper tube and the copper nut.

[0153] It should be noted that steps S1-S3 and steps S4-S6 are performed synchronously.

[0154] This invention solves the problem of insufficient accuracy in robot operations in the old solution. The new solution uses industrial vision to greatly increase the accuracy during the operation, making the product insertion process more convenient. At the same time, it also has the characteristics of stable structure, simple structure and convenient debugging.

[0155] First, it should be noted that "inward" refers to the direction towards the center of the storage space, while "outward" refers to the direction away from the center of the storage space.

[0156] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0157] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0158] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0159] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0160] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0161] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated insertion and assembly device for copper tubes and nuts, characterized in that, It includes a workbench, a copper tube transfer mechanism, a copper nut transfer mechanism, an abnormal material handling mechanism, a flux application mechanism, and an inspection mechanism; among which: The workbench has an insertion station, a first loading station, and a second loading station; The copper tube transfer mechanism is movably mounted on the workbench and can reciprocate between the first loading position and the insertion position, thereby transporting the copper tube from the first loading position to the insertion position for insertion. The copper nut transfer mechanism is movably mounted on the workbench and can reciprocate between the second loading position and the insertion position, thereby transporting the copper nut from the second loading position to the insertion position for insertion with the copper tube. The copper nut transfer mechanism includes a second drive assembly, a nut clamping cylinder, a tube insertion guide cylinder, a copper tube clamping cylinder, and a tube insertion positioning cylinder, wherein: The second drive component is mounted on the worktable; The insertion positioning cylinder is mounted on the second drive assembly and can move in three coordinates under the drive of the second drive assembly; The copper tube clamping cylinder is mounted on the tube insertion positioning cylinder; The cannula guide cylinder is mounted on the second drive assembly and is located below the copper tube clamping cylinder; The nut clamping cylinder is mounted on the second drive assembly and is located below the insertion guide cylinder; during insertion, the guide hole of the insertion guide cylinder, the clamping center of the nut clamping cylinder, and the clamping center of the copper tube clamping cylinder coincide. The inspection mechanism is set on the workbench and located on the travel path of the copper tube transfer mechanism to perform visual inspection on the transported copper tubes. The abnormal material handling mechanism is set on the workbench and located next to the detection mechanism, and is used to remove the defective copper tubes conveyed in the copper tube transfer mechanism. The flux application mechanism is mounted on the workbench and located on the travel path of the copper nut transfer mechanism to apply flux to the copper nut insertion hole.

2. The automated insertion equipment for copper tubes and nuts according to claim 1, characterized in that, The copper tube transfer mechanism includes a first frame, a first drive assembly, a copper tube clamping cylinder, a first positioning element, a second positioning element, and a sensor; wherein: The copper tube clamping cylinder is mounted on the first frame via the first drive assembly; under the drive of the first drive assembly, the copper tube clamping cylinder can move left and right up and down. The first positioning element is movably mounted above the copper tube clamping cylinder to perform first-point positioning of the copper tube; The second positioning element is disposed at the top and bottom of the copper tube clamping cylinder for second and third point positioning of the copper tube; The sensor is mounted on the first drive assembly for detecting the position of the copper tube.

3. The automated insertion equipment for copper tubes and nuts according to claim 2, characterized in that, The first drive component includes a first X-axis module and a first Y-axis module; wherein: The first X-axis module is fixed on the first frame; The first Y-axis module is fixed on the first X-axis module.

4. The automated insertion equipment for copper tubes and nuts according to claim 2, characterized in that, The copper tube clamping cylinders are of two types, one above the other; the sensor is located between the two copper tube clamping cylinders.

5. The automated insertion equipment for copper tubes and nuts according to claim 1, characterized in that, The detection mechanism includes a mounting frame, an adjustable slide, a camera, and a light source; wherein: The mounting bracket is fixed to the workbench; The light source and the camera are positioned one above the other and are movably connected to the mounting bracket via the adjustable slide.

6. The automated insertion equipment for copper tubes and nuts according to claim 1, characterized in that, The abnormal material handling mechanism includes a second frame, a rotary cylinder, a telescopic positioning cylinder, a material handling clamping cylinder, and a third positioning component; wherein: The rotary cylinder is mounted on the top of the second frame; The telescopic positioning cylinder is mounted on the rotary cylinder; The material clamping cylinder is mounted on the telescopic positioning cylinder; The third positioning component is installed on the top of the material handling clamping cylinder.

7. The automated insertion equipment for copper tubes and nuts according to claim 6, characterized in that, The second drive assembly includes a second X-axis module, a second Y-axis module, a Z-axis module, and a first guide rail; wherein: The first guide rail consists of two rails, arranged in parallel at intervals; The second X-axis module is positioned between the two first guide rails; The second Y-axis module consists of two units, which are arranged in parallel and spaced apart on the second mounting plate. The second mounting plate is connected to the second X-axis module and the first guide rail. The Z-axis module consists of two parallel and spaced-apart modules, each connected to one of the two second Y-axis modules.

8. The automated insertion equipment for copper tubes and nuts according to claim 1, characterized in that, The flux coating mechanism includes a coating cylinder, a substrate, a buffer plate, a coating cotton column, and a feeding mechanism; wherein: The coating cylinder is suspended on the top of the workbench; The substrate is connected to the coating cylinder; The buffer plate is arranged parallel to the base plate and is movably connected by a guide structure; The coated cotton column is located at the bottom of the buffer plate; The feeding mechanism is connected to the coated cotton column to continuously supply flux.

9. A method for inserting a cannula, characterized in that, The process is completed using an automated insertion device for copper tubes and nuts as described in any one of claims 1-8, and the method includes the following steps: The first robot delivers the copper tube to the copper tube transfer mechanism at the first loading station; The copper tube transfer mechanism transfers the tubes to the testing station located at the testing facility. After passing the inspection, the copper tubes continue to run through the transfer mechanism to transfer them to the insertion station; The second robot takes a picture and picks up the material. After picking up the material, it adjusts its posture and places the copper nut on the copper nut transfer mechanism at the second loading position. The copper nut transfer mechanism moves below the flux application mechanism to complete the flux application; After the coating is completed, the copper nut transfer mechanism continues to move and stops at the insertion station; The copper tube transfer mechanism and the copper nut transfer mechanism work together to complete the insertion of the copper tube and the copper nut.

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