Automatic bent pipe assembling equipment and assembling method thereof

Abstract

The invention relates to the field of bent pipe assembling equipment, in particular to automatic bent pipe assembling equipment and an assembling method thereof. The assembly line comprises an assembly table, a positioning conveying assembly, a positioning assembly assembly and a robot transfer assembly assembly. A transmission unit is arranged on the front side of the assembly table; a mounting frame is arranged on the rear side of the assembly table; a turntable is arranged on the mounting frame; a plurality of groups of positioning conveying assemblies are arranged; the positioning assembly component is arranged along the turntable; the multiple robot transferring and assembling assemblies are arranged in the rotating direction of the rotating base, and each robot transferring and assembling assembly comprises an inner fixing piece stretching into the bent pipe from an upward pipe opening of the bent pipe for fixing and further comprises an outer fixing piece for fixing from the exterior of a to-be-assembled head of the bent pipe. And a rotating end for rotating and moving the nut is arranged on the outer fixing piece. Through cooperation of the positioning and conveying assembly, the positioning and assembling assembly and the robot transferring and assembling assembly which work circularly, accurate, batch and automatic bent pipe assembling is achieved, and meanwhile the assembling requirements of bent pipes of different specifications are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of elbow assembly equipment, in particular to an automatic elbow assembly equipment and an assembly method thereof. BACKGROUND

[0002] As a key equipment indispensable in modern industrial production, elbow assembly equipment has a wide range of applications and significant value.

[0003] 1. Aerospace industry: The precision and reliability of parts are extremely high. Elbow assembly equipment can accurately bend high-strength materials such as titanium alloy and aluminum alloy, meeting the manufacturing needs of complex pipelines such as aircraft fuel pipelines and hydraulic systems. For example, the fuel delivery pipeline of an aircraft engine needs to withstand high pressure and high temperature. Through the coordinated control of high-precision elbow assembly equipment by industrial robots, the bending radius and angle of the pipeline are ensured to meet the design requirements, ensuring flight safety.

[0004] 2. Automotive manufacturing field: Elbow assembly equipment is used to produce exhaust systems, braking systems, and battery cooling pipelines for new energy vehicles. With the development of new energy vehicles, the demand for multi-level bending pipelines for battery cooling systems has surged. Lightweight complex pipelines produced by additive manufacturing technology require elbow assembly equipment to achieve precise layout in compact spaces while improving production efficiency.

[0005] 3. Petroleum and chemical industry and shipbuilding industry: Elbow assembly equipment processes materials such as stainless steel and alloy steel to manufacture pipe fittings that meet API / ASME standards. In special scenarios such as LNG ship cryogenic pipelines, the precise motion control of industrial robots ensures the stability of the pipeline performance in extreme environments, reducing the risk of leakage.

[0006] 4. Intelligent building field: The demand for fire sprinkler systems and air conditioning and ventilation pipelines is increasingly personalized. Customized pipelines based on additive manufacturing combined with the automated production of elbow assembly equipment can meet the complex design needs of green buildings, reduce human error, and improve engineering quality.

[0007] A Chinese patent with the authorization announcement number CN114473475B provides an automatic elbow assembly equipment and an assembly method thereof. The automatic elbow assembly equipment includes a base plate, a movable platform and a workpiece rotating device are installed on the base plate, a power mechanism is provided on the movable platform, the output end of the power mechanism is connected with a transmission belt, the other end of the transmission belt is connected with an outer rotating shaft, one end of the outer rotating shaft is connected with a sleeve for assembling an elbow and a nut, the other end of the outer rotating shaft is provided with an inner rotating shaft, and a rotation angle control device for driving the inner rotating shaft to rotate and a brake positioning device for braking the rotation of the inner rotating shaft are also provided on the movable platform.

[0008] The automatic elbow pipe assembling device and the assembling method thereof have the following disadvantages: 1. The elbow pipe needs to be inserted into the sleeve through a specific opening to adjust the elbow pipe and the nut respectively. The size of the opening is fixed, and the matching elbow pipe is limited. If the elbow pipe is too long or too thick, it cannot enter the sleeve, and if the elbow pipe is too thin or too short, the adjustment accuracy is reduced. The same applies to the nut, which is also limited. In addition, the elbow pipe is positioned by a clamping head, and the positioning effect is affected by the size problem. 2. The elbow pipe is fixed manually on one side, and then assembled in groups, which cannot guarantee the stability and affects the assembly precision, lacks the multi-degree-of-freedom collaborative operation of industrial robots, and leads to insufficient assembly stability and low efficiency, which is difficult to meet the batch production demand. SUMMARY

[0009] In view of the problems in the background art, an automatic elbow pipe assembling device and an assembling method thereof are provided, which realize precise, batch, and automatic elbow pipe assembly by setting a positioning and conveying assembly, a positioning and assembling assembly, and a robot transfer and assembling assembly to cooperate and meet the assembly requirements of elbow pipes of different specifications.

[0010] The automatic elbow pipe assembling device comprises an assembling table, a positioning and conveying assembly, a positioning and assembling assembly, and a robot transfer and assembling assembly. The front side of the assembling table is provided with a transmission unit, the rear side is provided with a mounting frame, and the middle is provided with a rotating seat. The mounting frame is provided with a rotating disc facing the front. The positioning and conveying assembly is provided in multiple groups along the transmission direction of the transmission unit, and is used for positioning and conveying the elbow pipe to keep one end of the elbow pipe facing forward and the other end of the elbow pipe facing upward. The positioning and assembling assembly is provided in a circle along the rotating disc and switches the working position with the rotation of the rotating disc. On one hand, the positioning and assembling assembly positions the workpiece to be assembled, and on the other hand, the positioning and assembling assembly adjusts the angle of the workpiece to be assembled. The robot transfer and assembling assembly is provided in multiple groups along the rotating direction of the rotating seat and transfers the elbow pipe from the positioning and conveying assembly to the positioning and assembling assembly with the rotation of the rotating seat. The robot transfer and assembling assembly comprises an inner fixing part extending into the elbow pipe from the upward pipe opening of the elbow pipe for fixing, and an outer fixing part extending from the outside of the elbow pipe to be assembled for fixing. The outer fixing part is provided with a rotating end for rotating and moving the nut.

[0011] Preferably, the transmission unit is a transmission belt. The transmission belt is sleeved on the driving roller and rotates circularly on the front side of the front side of the assembling table. The positioning and conveying assembly is provided in multiple groups along the belt body of the transmission belt.

[0012] Preferably, the positioning and conveying assembly comprises a positioning frame located on the transmission belt. The positioning frame is provided with two groups of positioning plates which can slide. The side of the positioning frame facing the mounting frame is provided with a reversible limiting table.

[0013] Preferably, the rotating base comprises a rotating column rotatably arranged between the conveying unit and the mounting frame; a rotating table is arranged on the top of the rotating column; and the robot transfer assembly is arranged on the outer periphery of the rotating table.

[0014] Preferably, the outer periphery of the rotating table is provided with a mounting gap; the robot transfer assembly comprises a moving block which is capable of translating along the mounting gap; the moving block is rotatably connected with an extension driving member; an inner fixing member is arranged on the extension driving end of the extension driving member; and outer fixing members are arranged on both sides of the extension driving member.

[0015] Preferably, the inner fixing member comprises a fixing head arranged on the extension end of the extension driving member; a vacuum pump is arranged on the fixing head; and an extension pipe which is in communication with the vacuum pump is arranged on the bottom of the fixing head; and an adsorption cover is arranged on the bottom of the extension pipe.

[0016] Preferably, a ring-shaped groove is arranged on the sidewall of the fixing head; a plurality of support members are arranged in the ring-shaped groove; the support member comprises a support seat arranged on the groove wall of the ring-shaped groove; a rotatable support rod is arranged on the support seat; the other end of the support rod is rotatably connected with a support head, thereby forming a robot self-adaptive clamping mechanism.

[0017] Preferably, an installation plate is arranged on the extension driving member; two groups of outer fixing members are arranged on both sides of the inner fixing member through the installation plate; the outer fixing member comprises a sliding rod connected with the installation plate; a sliding seat is slidably arranged on the sliding rod; a rotatable lifting driving member is arranged on the bottom of the sliding seat; a rotatable turning block is arranged on the lifting end of the lifting driving member; a translation driving member is arranged on the turning block; a rotatable rotating head is arranged on the translation end of the translation driving member; and the rotating head is the rotating end.

[0018] Preferably, the positioning assembly comprises a rotating cover which is rotatably arranged on the outer periphery of the rotating disc; a rotating table is rotatably arranged in the rotating cover; an adsorption fixing port which is capable of being adsorbed by the vacuum pump is arranged on the front end center of the rotating table; and a slidable positioning frame is arranged on the outer periphery of the front end.

[0019] The application further provides a method for assembling the automatic elbow pipe assembling device, which comprises the following steps: placing the elbow pipe with a nut on the positioning and conveying assembly by using manual or robotic operation, with the elbow pipe kept in a state that the one end to be assembled faces forward and the other end with a pipe opening faces upward, and moving synchronously with the conveying unit; when the elbow pipe moves to the front of the rotating seat, the extension driving part is translated to move the inner fixing part to the pipe opening of the elbow pipe, and then the inner fixing part is driven to move downward; the inner fixing part is extended into the interior of the elbow pipe under the action of the extension driving part until the adsorption cover contacts the bending part of the elbow pipe; the vacuum pump is used to form a vacuum in the extension pipe to adsorb and fix the elbow pipe; at this time, the support rod is rotated out of the ring-shaped groove; the support head is further rotated to adhere to the pipe wall to fix the elbow pipe; the extension end of the extension driving part is moved upward to move the elbow pipe out of the positioning and conveying assembly; the lifting driving part is rotated and extended, the translation driving part is rotated and extended, the rotating head is moved and rotated in multiple directions to clamp and fix the end to be assembled of the elbow pipe from the outside; the elbow pipe is transferred from the positioning and conveying assembly to the side of the positioning and assembling assembly by rotating with the rotating column; the positioning and assembling assembly with the workpiece is moved to the assembling station by rotating the rotating disc, and the angle of the workpiece is adjusted; the extension driving part is translated to move the elbow pipe close to the workpiece, and the end to be assembled of the elbow pipe is connected with the end to be assembled of the workpiece; the rotating head is moved and rotated to push the nut to the connection position of the elbow pipe and the workpiece and tighten the nut; after the assembly, the inner fixing part and the outer fixing part are separated from the elbow pipe; the assembled workpiece is rotated to the next station by the rotating disc, and waits for the worker or the robot to take down and enter the next round of assembly.

[0020] Compared with the prior art, the present application has the following beneficial technical effects: the positioning conveying assembly is arranged to be clamped through the positioning plate, the single-head limiting table is limited, the bending structure matching the bending shape of the elbow pipe is formed, the positioning of elbow pipes with different lengths, bending degrees and thicknesses is satisfied, the elbow pipe maintains the state that one head to be assembled faces forward and the other head pipe opening faces upward after the nut is sleeved, and the subsequent assembly requirements are satisfied. The robot transfer assembly is arranged to be adsorbed and clamped through the adsorption fixed port of the positioning frame, the workpiece is double-fixed, the workpiece angle is further adjusted through the staggered rotation of the rotating table and the rotating cover, and the assembly requirements of the to-be-assembled position are satisfied. The positioning assembly works between the positioning conveying assembly and the robot transfer assembly, and plays a role of connection and adjustment. The inner fixing member is arranged to be adsorbed and supported from the inside by extending into the upward pipe opening, and the outer fixing member is arranged to be clamped and fixed from the outside through the movement and rotation of the rotating head in multiple directions, so that the elbow pipe transfer is stable, and the assembly precision is improved. During assembly, the rotating head is arranged to be moved and rotated, one hand can push the nut to the connection position of the elbow pipe and the workpiece, and the other hand can realize the screwing of the nut, finally, the workpiece is rotated to speed up the assembly process. Finally, the positioning conveying assembly, the positioning assembly and the robot transfer assembly are arranged to work in cycles to realize precise, batch and automatic elbow pipe assembly, and the assembly requirements of elbow pipes with different specifications are satisfied. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structural diagram of the elbow pipe automatic assembly equipment (view angle one);

[0022] Figure 2 It is a structural diagram of the elbow pipe automatic assembly equipment (view angle two);

[0023] Figure 3 It is a structural diagram of a plurality of positioning conveying assemblies and transmission units;

[0024] Figure 4 It is a structural diagram of a single positioning conveying assembly;

[0025] Figure 5 It is a structural diagram of a plurality of robot transfer assembly components and rotating seats;

[0026] Figure 6 It is a structural diagram of a single robot transfer assembly component;

[0027] Figure 7 It is a structural diagram of an inner fixing member;

[0028] Figure 8 It is Figure 7 It is an enlarged view of A in the middle;

[0029] Figure 9 It is a structural diagram of a plurality of positioning assembly components and mounting frames;

[0030] Figure 10 This is a split view of a single-unit positioning assembly component.

[0031] Reference numerals: 1. Assembly table; 2. Transmission unit; 3. Mounting frame; 301. Turntable; 4. Rotating seat; 401. Rotating column; 402. Rotating table; 403. Mounting notch; 5. Positioning and conveying assembly; 501. Positioning frame; 502. Positioning plate; 503. Slide rail one; 6. Positioning assembly assembly; 601. Rotating cover; 602. Rotating table; 603. Cross-shaped slide rail; 604. Adsorption fixing port; 605. Dustproof net; 606. Positioning frame; 7. Robot rotating... 701. Telescopic drive component; 702. Moving block; 703. Mounting plate; 704. Internal fixing component; 70401. Fixing head; 70402. Annular groove; 70403. Telescopic tube; 70404. Adsorption cover; 70405. Support rod; 70406. Support head; 70407. Support base; 705. Lifting drive component; 706. Sliding seat; 707. Steering block; 708. Translation drive component; 709. Rotating head; 710. Slide rod. Detailed Implementation

[0032] Example 1, as Figures 1-2 As shown, the present invention proposes an automatic pipe bending assembly equipment, including an assembly table 1, a positioning and conveying component 5, a positioning and assembly component 6, and a robot transfer and assembly component 7. Assembly table 1 has a transmission unit 2 at the front, a mounting frame 3 at the rear, and a rotating seat 4 in the middle. The mounting frame 3 has a turntable 301 that rotates forward via a motor. Multiple sets of positioning and conveying components 5 are arranged along the transmission direction of the transmission unit 2 for positioning and conveying the bent pipe, keeping it in a state where one end to be assembled faces forward and the other end of the pipe faces upward. Positioning and assembly components 6 are arranged in a circle along the turntable 301, and switch workstations as the turntable 301 rotates, positioning the workpiece to be assembled on one hand and adjusting the angle of the workpiece on the other. Multiple sets of robot transfer and assembly components 7 are arranged along the rotation direction of the rotating seat 4, and transfer the bent pipe from the positioning and conveying components 5 to the positioning and assembly components 6 as the rotating seat 4 rotates. The robot transfer and assembly components 7 include an inner fixing component 704 that extends into the bent pipe from the upward-facing pipe opening for fixing, and an outer fixing component that fixes the bent pipe from the outside of the head to be assembled. The outer fixing component is provided with a rotating end for rotating and moving the nut.

[0033] like Figure 3As shown, the transmission unit 2 is provided as a transmission belt; the transmission belt is sleeved on the driving roller and circulates on the front side of the assembly table 1; the positioning conveying assembly 5 is provided in multiple groups along the belt body of the transmission belt. Through the circulation of the transmission belt, the positioning conveying assembly 5 moves in a cycle, that is, the cycle feeding and discharging can be realized. The feeding can be completed by a robot or manually, and the elbow pipe with the nut is placed on the positioning conveying assembly 5, and the head to be assembled faces forward. The discharging is completed by the robot transferring the assembly component 7.

[0034] As shown in the figure, Figure 4 The positioning conveying assembly 5 includes a positioning rack 501 on the transmission belt; two groups of positioning plates 502 are slidably arranged on the positioning rack 501; a reversible limiting table is arranged on the side of the positioning rack 501 facing the mounting rack 3, forming a bending structure matching the bending shape of the elbow pipe, so as to abut against the bending part of the elbow pipe; a sliding rail one 503 is arranged on the positioning rack 501; the positioning plates 502 are slid along the positioning rack 501 by cooperating with the sliding rail one 503, and finally the elbow pipe is placed between the two groups of positioning plates 502 and is clamped and positioned. This positioning mode meets the positioning requirements of elbow pipes of different lengths, bending degrees and thicknesses, and is convenient for controlling the position of the elbow pipe, so that the head to be assembled faces forward and the other head pipe opening faces upward.

[0035] As shown in the figure, Figure 5 The rotating seat 4 includes a rotating column 401 rotatably arranged between the transmission unit 2 and the mounting rack 3; the rotating column 401 is driven to rotate at the upper end by an internal motor, and a rotating table 402 is arranged at the top; the robot transferring assembly component 7 is arranged on the outer periphery of the rotating table 402 in a spaced manner; the robot transferring assembly component 7 is rotated with the rotating column 401 to transfer the elbow pipe from the positioning conveying assembly 5 to the positioning assembly component 6.

[0036] As shown in the figure, Figure 6 The outer periphery of the rotating table 402 is provided with a mounting gap 403; the robot transferring assembly component 7 includes a moving block 702 translating along the mounting gap 403; the moving block 702 is rotatably connected with a telescopic driving piece 701; an internal fixing piece 704 is arranged on the telescopic driving end of the telescopic driving piece 701; and external fixing pieces are arranged on both sides of the telescopic driving piece 701.

[0037] It needs to be further explained that the side wall of the mounting gap 403 is provided with a sliding rail two; one end of the moving block 702 is driven to translate by extending into the sliding rail two, so as to drive the telescopic driving piece 701 to translate, so as to adjust the positions of the internal fixing piece 704 and the external fixing piece.

[0038] It needs to be further explained that the telescopic driving piece 701 is driven by a motor, and the other end of the moving block 702 is rotatably connected, so as to realize the angle adjustment of the internal fixing piece 704 and the external fixing piece, so as to match the bending degree of the elbow pipe.

[0039] It needs to be further explained that the telescopic drive 701 is provided as a cylinder structure, and drives the inner fixing member 704 to move up and down so as to enter and exit the pipeline.

[0040] As shown in Figure 7 , the inner fixing member 704 includes a fixed head 70401 at the telescopic end of the telescopic drive 701; a vacuum pump is arranged on the fixed head 70401, and a telescopic pipe 70403 communicating with the vacuum pump is arranged at the bottom; an adsorption cover 70404 is arranged at the bottom of the telescopic pipe 70403; the inner fixing member 704 is extended into the inside of the elbow pipe under the action of the telescopic drive 701, until the adsorption cover 70404 contacts the bending part of the elbow pipe. Under the action of the vacuum pump, a vacuum is formed in the telescopic pipe 70403, and the elbow pipe is adsorbed and fixed.

[0041] It needs to be further explained that the telescopic pipe 70403 is an organ pipe, which has certain bending and telescopic performance. The adsorption cover 70404 also has certain deformation performance. So that the adsorption cover 70404 can be more closely attached to the inner wall of the elbow pipe.

[0042] As shown in Figure 8 , a ring-shaped groove 70402 is arranged on the side wall of the fixed head 70401; a ring of support members is arranged in the ring-shaped groove 70402; the support member includes a support seat 70407 arranged on the groove wall of the ring-shaped groove 70402; a support rod 70405 driven to rotate by a motor is arranged on the support seat 70407; the other end of the support rod 70405 is driven to rotate by another set of motors, and a support head 70406 is connected, forming a robot self-adaptive clamping mechanism.

[0043] It needs to be further explained that the support head 70406 is provided with an arc-shaped support surface; a pressure sensor is arranged on the support surface.

[0044] In the non-working state, the support head 70406 and the support rod 70405 are accommodated in the ring-shaped groove 70402. After extending into the pipeline, the support member and the vacuum pump work cooperatively. The support rod 70405 is rotated out of the ring-shaped groove 70402; the support head 70406 is further rotated to attach to the pipe wall, and the elbow pipe is fixed.

[0045] As shown in Figure 6 , a mounting plate 703 is arranged on the telescopic drive 701; two sets of outer fixing members are arranged on the two sides of the inner fixing member 704 through the mounting plate 703; the outer fixing member includes a sliding rod 710 connected to the mounting plate 703; a sliding seat 706 is slidingly arranged on the sliding rod 710, and a rotatable lifting drive 705 is arranged at the bottom; a steering block 707 is arranged at the lifting end of the lifting drive 705; a translation drive 708 is arranged on the steering block 707; a rotatable rotating head 709 is arranged on the translation end of the translation drive 708; the rotating head 709 is the rotating end, an anti-skid ring is arranged on the outer periphery of the rotating head 709, and a pressure sensor is arranged on the anti-skid ring.

[0046] It needs to be further explained that the end of the slide bar 710 is provided with a limiting piece; a threaded rod parallel to the slide bar 710 is arranged between the limiting piece and the mounting plate 703; the sliding seat 706 is connected with the threaded rod through threads, so as to realize horizontal movement along the slide bar 710, and then adjust the distance between the two groups of outer fixing members.

[0047] The lifting driving member 705 and the translation driving member 708 are both provided in a cylinder structure. The lifting driving member 705 is driven by a motor on the sliding seat 706 to rotate in place, and the translation driving member 708 is driven by a motor on the steering block 707 to rotate at the lifting end of the lifting driving member 705. Finally, the multidirectional movement and rotation of the rotating head 709 are realized. The rotating head 709 can clamp and fix the bent pipe from the outside by changing its own position. Through its own rotation, the rotation of the nut can be driven, so as to realize the butt joint and assembly of the bent pipe and the workpiece.

[0048] As shown in Figures 9-10 The positioning and assembling assembly 6 includes a rotating cover 601 rotatably embedded on the outer periphery of the rotating disc 301; the rotating cover 601 is internally provided with a rotatable rotating table 602; the front end center of the rotating table 602 is provided with a suction fixing port 604 acted by a vacuum pump, and the front end outer periphery is provided with a slidable positioning frame 606.

[0049] It needs to be further explained that the rotating cover 601 is provided as a hemispherical cover body, which is driven by a motor to rotate in place on the rotating disc 301.

[0050] It needs to be further explained that one side of the rotating table 602 is provided with a hemispherical surface matched with the concave surface of the rotating cover 601, and the other side of the rotating table 602 is provided with a plane for positioning. The rotating table 602 is provided with rotating shafts on both sides, which are driven by a motor to swing and rotate back and forth on the concave surface of the rotating cover 601. Through the staggered rotation of the rotating cover 601 and the rotating table 602, the angle of the workpiece is adjusted, so that the to-be-assembled position thereof is opposite to the assembling end of the bent pipe.

[0051] It needs to be further explained that the suction fixing port 604 is located on the plane of the rotating table 602, and is externally covered with a dustproof net 605; the plane of the rotating table 602 is further provided with a cross-shaped sliding rail 603 around the suction fixing port 604; the positioning frame 606 is one-to-one arranged on the cross-shaped sliding rail 603, and is slid along the plane by cooperating with the cross-shaped sliding rail 603 to clamp and fix the workpiece located at the suction fixing port 604.

[0052] In the embodiment two, the assembling method of the bent pipe automatic assembling equipment is characterized in that the steps are as follows:

[0053] S1, the elbow pipe with nut is placed on the positioning conveying assembly 5 by artificial or robot, the limiting table is turned over to form a bending structure matched with the bending shape of the elbow pipe to resist the bending part of the elbow pipe; the two sets of positioning plates 502 slide to clamp the two sides of the elbow pipe, so that the elbow pipe keeps the state that the one end to be assembled faces forward and the other end pipe opening faces upward, and moves synchronously with the transmission unit 2;

[0054] S2, when the elbow pipe moves to the front of the rotating seat 4, the extension driving part 701 translates so that the inner fixing part 704 moves to the pipe opening of the elbow pipe facing upward, and then drives the inner fixing part 704 to move downward; the inner fixing part 704 extends into the inside of the elbow pipe under the action of the extension driving part 701 until the adsorption cover 70404 contacts the bending part of the elbow pipe; the vacuum pump forms a vacuum in the extension pipe 70403 to adsorb and fix the elbow pipe; at this time, the support rod 70405 rotates out of the ring-shaped groove 70402; the support head 70406 further rotates to adhere to the pipe wall to fix the elbow pipe; the extension end of the extension driving part 701 moves upward to move the elbow pipe out of the positioning conveying assembly 5; the rotating head 709 moves and rotates in multiple directions through the rotation and extension of the lifting driving part 705 and the rotation and extension of the translation driving part 708 to clamp and fix the elbow pipe to be assembled from the outside;

[0055] S3, the elbow pipe is transferred from the positioning conveying assembly 5 to the side of the positioning assembly 6 with the rotating column 401;

[0056] S4, the positioning assembly 6 with the workpiece fixed is moved to the assembly station through the rotation of the rotating disc 301, the workpiece is located at the adsorption fixing port 604, the positioning frame 606 slides along the plane through cooperation with the cross-shaped sliding rail 603 to clamp and fix the workpiece; the workpiece angle is further adjusted through the staggered rotation of the rotating table 602 and the rotating cover 601;

[0057] S5, the extension driving part 701 translates to make the elbow pipe close to the workpiece and make the pipe opening to be assembled connect with the end to be assembled of the workpiece; the rotating head 709 moves and rotates to push the nut to the connection position of the elbow pipe and the workpiece and tighten the nut; meanwhile, the workpiece can also be rotated to speed up the assembly;

[0058] S6, after assembly, the inner fixing part 704 and the outer fixing part leave the elbow pipe; the assembled workpiece is rotated to the next station by the rotating disc 301 to wait for the worker or the robot to take down and enter the next round of assembly.

[0059] The embodiments of the application are described in detail above in combination with the drawings, but the application is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. An automatic tube bending assembly apparatus, characterized by, The utility model relates to a kind of assembly table and its positioning and assembly system, including: Assembly table (1), the front side of assembly table (1) is provided with transmission unit (2), rear side is provided with mounting frame (3), middle is provided with rotating seat (4);Mounting frame (3) is provided with rotating disc (301) towards front on; Positioning conveying component (5), positioning conveying component (5) is provided with multiple groups along the transmission direction of transmission unit (2), for the positioning and conveying of elbow pipe, make it keep the state of one head of being assembled towards front, other head pipe mouth upwards; Positioning assembly component (6), positioning assembly component (6) is provided with a circle along rotating disc (301), and position switching is carried out with the rotation of rotating disc (301), one side is positioned to workpiece to be assembled, the other side is angle adjusted to workpiece to be assembled; And robot transfer assembly component (7), robot transfer assembly component (7) is provided with multiple groups along the rotation direction of rotating seat (4), and elbow pipe is transferred from positioning conveying component (5) to positioning assembly component (6) with the rotation of rotating seat (4), and robot transfer assembly component (7) includes the inner fixing part (704) that enters its inside and is fixed from the pipe mouth of elbow pipe upwards, and also includes the outer fixing part that is fixed from the outside of elbow pipe head to be assembled;Rotary end for rotating and moving nut is provided on outer fixing part.

2. The automatic tube bending assembly apparatus of claim 1, wherein, Transmission unit (2) is provided as transmission belt;Transmission belt is circulated and rotated through being sleeved on driving roller, at the front side of the front side of assembly table (1); Positioning conveying component (5) is provided with multiple groups along the belt body of transmission belt.

3. The automatic tube bending assembly apparatus of claim 2, wherein, Positioning conveying component (5) includes positioning rack (501) on transmission belt;Positioning rack (501) is provided with two groups of positioning plate (502) that can slide; The side of positioning rack (501) towards mounting frame (3) is provided with reversible limit platform.

4. The automatic tube bending assembly apparatus of claim 1, wherein, Rotating seat (4) includes rotating column (401) that is rotationally arranged between transmission unit (2) and mounting frame (3);Rotating column (401) top is provided with rotating table (402); Robot transfer assembly component (7) is spaced apart on the outer periphery of rotating table (402).

5. The automatic tube bending assembly apparatus of claim 4, wherein, Mounting notch (403) is provided on the outer periphery of rotating table (402); Robot transfer assembly component (7) includes moving block (702) that translates along mounting notch (403);Moving block (702) is rotationally connected with telescopic drive (701);Inner fixing part (704) is provided on the telescopic drive end of telescopic drive (701);Outer fixing part is provided on both sides of telescopic drive (701).

6. The automatic tube bending assembly apparatus of claim 5, wherein, Inner fixing part (704) includes fixed head (70401) on the telescopic end of telescopic drive (701);Fixed head (70401) is provided with vacuum pump, and bottom is provided with telescopic pipe (70403) that is communicated with vacuum pump;The bottom of telescopic pipe (70403) is provided with suction cover (70404).

7. The automatic tube bending assembly apparatus of claim 6, wherein, The side wall of fixed head (70401) is provided with annular groove (70402);A circle of support is provided in annular groove (70402); Support includes support seat (70407) on the groove wall of annular groove (70402);Support seat (70407) is provided with rotatable support rod (70405); The other end of the support rod (70405) is rotatably connected with a support head (70406), forming a self-adaptive clamping mechanism of the robot.

8. The automatic tube bending assembly apparatus of claim 7, wherein, The telescopic driving member (701) is provided with a mounting plate (703); two groups of outer fixing members are respectively arranged on the two sides of the inner fixing member (704) through the mounting plate (703); The outer fixing member comprises a sliding rod (710) connected to the mounting plate (703); a sliding seat (706) is slidingly arranged on the sliding rod (710), and a rotatable lifting driving member (705) is arranged at the bottom; The lifting end of the lifting driving member (705) is provided with a rotatable steering block (707); the steering block (707) is provided with a translation driving member (708); and a rotatable rotating head (709) is arranged on the translation end of the translation driving member (708); The rotating head (709) is the rotating end.

9. The automatic tube bending assembly apparatus of claim 2, wherein, The positioning and assembling assembly (6) comprises a rotating cover (601) rotatably embedded on the outer periphery of the rotating disc (301); the rotating cover (601) is internally provided with a rotatable rotating table (602); the front end center of the rotating table (602) is provided with a suction fixing port (604) acted by a vacuum pump, and the front end outer periphery is provided with a slidable positioning frame (606).

10. The method of assembling the apparatus for automatically assembling a bent pipe according to claim 8, wherein The steps are as follows: the elbow pipe with nut is placed on the positioning and conveying assembly (5) by artificial or robot, the elbow pipe keeps the state that the one end to be assembled faces forward and the other end pipe opening faces upward, and moves synchronously with the conveying unit (2); when the elbow pipe moves to the front of the rotating seat (4), the empty telescopic driving member (701) is translated, so that the inner fixing member (704) moves to the elbow pipe opening upward, and then the inner fixing member (704) is driven to move downward; the inner fixing member (704) is inserted into the inside of the elbow pipe under the action of the telescopic driving member (701), until the suction cover (70404) contacts the bending part of the elbow pipe; the vacuum pump acts, a vacuum is formed in the telescopic pipe (70403), and the elbow pipe is suctioned and fixed; at this time, the support rod (70405) is rotated out of the ring type groove (70402); the support head (70406) is further rotated to abut against the pipe wall, and the elbow pipe is fixed; the telescopic end of the telescopic driving member (701) moves upward, and the elbow pipe is moved out of the positioning and conveying assembly (5); the elbow pipe to be assembled is clamped and fixed from the outside by rotating and telescoping of the lifting driving member (705) and rotating and telescoping of the translation driving member (708), driving the rotating head (709) to move and rotate in multiple directions; with the rotating column (401), the elbow pipe is transferred from the positioning and conveying assembly (5) to the side of the positioning and assembling assembly (6); the positioning and assembling assembly (6) with the workpiece is moved to the assembling station by rotating the rotating disc (301), and the angle of the workpiece is adjusted; the telescopic driving member (701) is translated, so that the elbow pipe approaches the workpiece, and the pipe opening to be assembled is connected with the workpiece end to be assembled; the rotating head (709) moves and rotates, pushes the nut to the connection position of the elbow pipe and the workpiece, and tightens; after assembly, the inner fixing member (704) and the outer fixing member are away from the elbow pipe; the assembled workpiece is rotated to the next station by the rotating disc (301), waits for the worker or the robot to take down, and enters the next round of assembly.

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