Connecting pipe plug-in production line and connecting pipe plug-in method

Abstract

The invention discloses a connecting pipe plug-in production line and a connecting pipe plug-in method, and relates to the technical field of air conditioners, the connecting pipe plug-in production line comprises a carrier and plug-in equipment, the carrier is used for placing a connecting pipe to be plugged in, the carrier is provided with a first positioning tool, the first positioning tool is used for positioning a piece to be plugged in, and the plug-in equipment is used for inserting the piece to be plugged in. The to-be-plugged piece is provided with a jack; the plug-in equipment comprises a grabbing module, the grabbing module is provided with a grabbing position, a posture adjusting position and a plug-in mounting position, and the grabbing module is used for grabbing the connecting pipe from the carrier at the grabbing position and adjusting the posture of the connecting pipe at the posture adjusting position so that the plug-in section of the connecting pipe can extend in the axial direction of the part to be plugged. The inserting section of the connecting pipe is inserted into the inserting hole of the to-be-inserted piece at the inserting position; according to the technical scheme provided by the invention, accurate and automatic insertion assembly of the connecting pipe and the to-be-inserted part can be realized.

Description

Technical Field

[0001] This invention relates to the field of air conditioner technology, and in particular to a production line for connecting pipe inserts. Background Technology

[0002] After the main pipe and branch pipes of the air conditioning heat exchanger are welded and assembled, the main pipe needs to be fitted with a cap and pipe fitting before welding. The cap and pipe fitting are installed in different positions on the connecting pipe, so the posture of the output pipe needs to be adjusted. The traditional method is to manually flip the connecting pipe to the appropriate posture and then assemble the cap or pipe fitting, which has the problem of improper assembly. Summary of the Invention

[0003] The main objective of this invention is to propose a production line and method for connecting pipe insertion, which aims to achieve precise and automated insertion and assembly of connecting pipes and components to be inserted.

[0004] To achieve the above objectives, the connector insertion production line proposed in this invention includes: A carrier for holding a connecting pipe, the carrier having a first positioning fixture for positioning a component to be inserted, the component having an insertion hole; and The insertion device includes a gripping module having a gripping position, an adjustment position, and an insertion position. The gripping module is used to grip a connecting pipe from the carrier at the gripping position, adjust the orientation of the connecting pipe at the adjustment position so that the insertion segment of the connecting pipe extends along the axial direction of the component to be inserted, and insert the insertion segment of the connecting pipe into the insertion hole of the component to be inserted at the insertion position.

[0005] In one embodiment, the gripping module includes a first gripping component and a second gripping component. The first gripping component is used to grip the connecting tube at a gripping position and to adjust the posture of the connecting tube at an adjustment position. The second gripping component is used to receive the connecting tube from the first gripping component at the adjustment position and to insert the insertion section of the connecting tube into the insertion hole of the component to be inserted at the insertion position.

[0006] In one embodiment, the first gripping component and / or the second gripping component includes at least two sets of grippers, wherein the at least two sets of grippers include a first gripper and a second gripper; The first gripper is used to hold the connection part of the plug section and the bent section of the connecting pipe, and the second gripper is used to hold the plug section of the connecting pipe.

[0007] In one embodiment, the first gripper includes two opposing first gripper fingers, which are used to approach each other to grip the connecting tube and to move away from each other to release the connecting tube; Each of the first gripper fingers has a gripping groove disposed opposite to the other first gripper finger. The gripping groove has a first groove wall and a second groove wall. The first groove wall is used to abut against the insertion section of the connecting pipe, and the second groove wall is used to abut against the bent section of the connecting pipe.

[0008] In one embodiment, the insertion device further includes a mobile module, which includes a first robotic arm and a second robotic arm. The first robotic arm is driven to connect to the first gripping component, and the second robotic arm is driven to connect to the second gripping component. The first robotic arm is used to drive the first gripping component to reciprocate between the gripping position and the orientation adjustment position, and the second robotic arm is used to drive the first gripping component to reciprocate between the orientation adjustment position and the insertion position.

[0009] In one embodiment, the connector insertion production line further includes a vision inspection component, which is used to acquire the position information of the component to be inserted on the carrier and / or the posture information of the connector. The moving module is used to adjust the position of the gripping module relative to the component to be inserted according to the position information of the component to be inserted and / or the posture information of the connector.

[0010] In one embodiment, the first positioning fixture includes a first support member and a second support member. The first support member is used to position the insert to be inserted so that the insertion hole opening of the insert to be inserted is away from the first support member. The second support member is used to receive the bent section of the connecting pipe.

[0011] In one embodiment, the connecting pipe insertion production line further includes a conveyor line, the carrier is disposed on the conveyor line, the conveyor line is used to transport the carrier, the gripping position and the insertion position are arranged sequentially along the conveying direction of the conveyor line, and the conveyor line is used to drive the carrier to move from the gripping position to the insertion position.

[0012] In one embodiment, the insertion section of the connecting pipe includes a first insertion section and a second insertion section, and the connecting pipe further includes a bending section, which is bent to connect the first insertion section and the second insertion section respectively. The component to be inserted includes a cap and a pipe joint. The insertion device is provided in two sets, including a first insertion device and a second insertion device. The first insertion device is used to insert the first insertion section of the connecting pipe into the insertion hole of the cap, and the second insertion device is used to insert the second insertion section of the connecting pipe into the insertion hole of the pipe connector.

[0013] In one embodiment, the connecting pipe insertion production line further includes a conveyor line, the carrier is disposed on the conveyor line, the conveyor line is used to transport the carrier, and the first insertion device and the second insertion device are arranged sequentially along the conveying direction of the conveyor line; And / or, the carrier has two first positioning fixtures, each first positioning fixture including a first sub-positioning fixture and a second sub-positioning fixture, the first sub-positioning fixture being used to support the cap and the connecting pipe, and the second positioning fixture being used to support the pipe joint and the connecting pipe.

[0014] In one embodiment, the carrier further includes a second positioning fixture for receiving the inserted connecting pipe; The first insertion device is used to pick up the connecting tube to be inserted from the second positioning fixture, and the second insertion device is used to pick up the connecting tube after insertion and capping from the first sub-positioning fixture.

[0015] In one embodiment, the gripping module is used to tilt the end of the insertion segment of the connecting tube against the insertion hole of the component to be inserted at the insertion position, and then adjust the posture of the connecting tube so that the insertion segment of the connecting tube is inserted into the component to be inserted along the axial direction of the insertion hole of the component to be inserted.

[0016] This invention also proposes a method for inserting connecting pipes, applied to the connecting pipe insertion production line described above. The connecting pipe insertion production line includes insertion equipment, which includes a first gripping component and a second gripping component. The connecting pipe insertion method includes the following steps: The first gripping component grips the connecting tube at the gripping position, moves it to the attitude adjustment position and adjusts the attitude of the connecting tube so that the insertion section of the connecting tube extends along the insertion hole axis of the component to be inserted. The second gripping component takes the connecting tube from the first gripping component at the attitude adjustment position and moves it to the insertion position; The second gripping component adjusts the posture of the connecting tube at the insertion position, so that the insertion section is axially tilted relative to the insertion hole, and then drives the connecting tube to move toward the workpiece to be inserted, so that the end of the insertion section is tilted and abuts against the insertion hole. The second gripping component adjusts the orientation of the connecting tube, causing the insertion segment to gradually shift from an axial tilt relative to the socket to an axial extension along the socket. Simultaneously, the second gripping component gradually releases the connecting tube, allowing the insertion segment to be inserted into the socket along the socket axis.

[0017] The technical solution of this invention sets up a connecting pipe insertion production line including a carrier and an insertion device. The carrier is used to place the connecting pipe to be inserted, and a first positioning fixture on the carrier is used to position the component to be inserted and to support the connecting pipe to be inserted into the component. The insertion device includes a gripping module that can grip the connecting pipe to be inserted from the carrier at a gripping position. The gripping module can also adjust the posture of the connecting pipe at an adjustment position, so that the insertion section of the connecting pipe extends along the axial direction of the component. Furthermore, the gripping module inserts the insertion section of the connecting pipe into the insertion hole of the component at the insertion position. This allows for posture adjustment of the connecting pipe after gripping, solving the problem of posture misalignment when the connecting pipe is placed on the carrier and when inserted into the component. This ensures that the connecting pipe, in the insertion position, can be precisely inserted into the insertion hole of the component through linear movement, completing the precise automated insertion and assembly of the connecting pipe and the component. Attached Figure Description

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

[0019] Figure 1 This is a schematic diagram of a structural embodiment of the connecting pipe insertion production line provided by the present invention; Figure 2 for Figure 1 Schematic diagram of the first insertion device and its connection with the conveyor line; Figure 3 for Figure 1 A schematic diagram of the structure of an embodiment of a plug-in device; Figure 4 for Figure 3 A schematic diagram showing the connection between the first robotic arm and the first grasping component. Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 for Figure 5 A schematic diagram of the structure of an embodiment of the first grasping component; Figure 7 for Figure 2 A schematic diagram of the structure of one embodiment of the medium-sized vehicle; Figure 8 for Figure 7 A schematic diagram of the status of the connecting pipes supporting the vehicle; Figure 9 for Figure 8 A schematic diagram of the structure of an embodiment of a conveyor line; Figure 10 for Figure 1 A schematic diagram of the structure of an embodiment of the second plug-in device; Figure 11 A flowchart illustrating the connecting pipe insertion method provided for the invention.

[0020] Explanation of icon numbers: 100. Connecting pipe insertion production line; 10. Carrier; 11. First positioning fixture; 11a. First sub-positioning fixture; 11b. Second sub-positioning fixture; 111. First carrier; 112. Second carrier; 12. Second positioning fixture; 121. Mandrel; 122. Receiving component; 20. Insertion device; 20a. First insertion device; 20b. Second insertion device; 21. Gripping module; 211. First gripping component; 212. Second gripping component; 213. Gripper; 2131. First gripper; 21311. First gripper finger; 21312. Gripping groove; 21313. First groove wall; 21314. Second groove wall; 2132. Second gripper; 21321. Base; 21322. Extension; 21323. Receiving groove; 22. Moving module; 221. First robotic arm; 222. Second robotic arm; 23. Mounting platform; 30. Flux container; 40. Vision inspection component; 41. First vision inspection component; 42. Second vision inspection component; 43. Third vision inspection component; 60. Conveyor line; 61. Conveyor track; 62. Conveyor drive component; 200. Connecting pipe; 201. Insertion section; 201a. First insertion section; 201b. Second insertion section; 202. Bending section; 300. Component to be inserted; 301. Cap; 302. Pipe fitting.

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

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

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

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

[0025] The evaporator is a crucial component of the indoor unit of an air conditioner, with extremely high demand. In existing technology, after inserting the evaporator pipe into the connecting pipe and welding it in place, the connecting pipe needs to be fitted with a cap and pipe fitting before welding. Since the cap and pipe fitting are installed in different positions, the orientation of the output pipe needs to be adjusted. The traditional method is to manually rotate the connecting pipe to the appropriate orientation before assembling the cap or pipe fitting, which results in problems such as incomplete assembly and low production efficiency.

[0026] This invention proposes a connecting pipe plug production line 100.

[0027] Please see Figures 1 to 10 In one embodiment of the present invention, the connector insertion production line 100 includes a carrier 10 and an insertion device 20. The carrier 10 is used to place the connector 200 and has a first positioning fixture 11 for positioning the connector 300 to be inserted, which has an insertion hole. The insertion device 20 includes a gripping module 21, which has a gripping position, an adjustment position, and an insertion position. The gripping module 21 is used to grip the connector 200 from the carrier 10 at the gripping position, adjust the posture of the connector 200 at the adjustment position so that the insertion section 201 of the connector 200 extends along the axial direction of the connector to be inserted, and insert the insertion section 201 of the connector 200 into the insertion hole of the connector to be inserted at the insertion position.

[0028] In one embodiment of the present invention, the connecting pipe 200 can be a flute-shaped pipe used in the evaporator of an air conditioner. It can be the main pipe for collecting or distributing the refrigerant in the air conditioner evaporator, undertaking the function of distributing and collecting the refrigerant. The diffuser pipe can be the heat exchange branch pipe of the evaporator, which needs to be inserted into the reserved holes of the flute-shaped pipe one by one. The diffuser pipe can be fitted with fins to increase the heat exchange area. The connecting pipe 200 has an insertion section and a bent section 202 that is bent and connected to the insertion section. The insertion section can be a straight pipe section that extends in a single direction. The insertion section can have multiple spaced insertion holes, which can be used as insertion holes for inserting and fixing the diffuser pipe. After the diffuser pipe is inserted into the corresponding insertion hole, the diffuser pipe and the connecting pipe 200 are welded and fixed together.

[0029] The bent section 202 is bent and connected to the insertion section, and can be bent multiple times relative to the insertion section. The connecting pipe 200 may have two ports, one located at the end of the insertion section and the other at the other end of the connecting pipe 200. It is understood that after the connecting pipe 200 is assembled and welded, the section with the port needs to be fitted with a corresponding connector or seal. After fitting the connector or seal, it is welded and fixed to the connecting pipe 200. Therefore, the section of the connecting pipe 200 with the port can be defined as the insertion section 201, and the component to be fitted 300 is the connector or seal. It is understood that, to facilitate the insertion of the connecting pipe 200 and the component to be fitted 300, the section of the connecting pipe 200 with the port is a straight section. When the ends of the two pipe sections of the connecting pipe 200 are provided with pipe openings, the two pipe sections can be respectively defined as the first insertion section 201a and the second insertion section 201b, and the two insertion parts 300 can be a cap 301 and a pipe connector 302. When the insertion part 300 is a cap 301, the insertion hole of the insertion part 300 can be the inner cavity of the cap 301; when the insertion part 300 is a pipe connector 302, the insertion hole of the insertion part 300 can be the inner cavity of the pipe connector 302.

[0030] The number of first positioning fixtures 11 can be matched with the number of connectors 300 to be inserted into the connecting tube 200. When the connecting tube 200 has two insertion sections 201, two first positioning fixtures 11 can be set. Therefore, the number of insertion processes of the connecting tube can be matched with the number of connectors 300 to be inserted into the connecting tube 200. The carrier 10 can also be provided with a second positioning fixture 12, on which the connecting tube 200 to be inserted can be positioned. The second positioning fixture 12 may include a mandrel for positioning the connecting tube 200 to be inserted.

[0031] It is understandable that before inserting the plug section 201 of the connecting pipe 200 into the insertion hole of the connector 300, the connecting pipe 200 is positioned on the carrier 10 after the process of inserting and welding with the loose pipe. The assembly position of the loose pipe on the connecting pipe 200 is often located on the periphery of the connecting pipe 200, while the plug port of the connecting pipe 200 is generally located at the end of the connecting pipe 200. The two positions are quite different, and the connecting pipe 200 is often bent multiple times to adapt to the internal space of the air conditioner. As a result, the axes of the different plug sections 201 of the connecting pipe 200 do not extend in the same direction, which is not conducive to the insertion and assembly of the connecting pipe 200 and the connector 300.

[0032] To address this, the present invention employs an insertion device 20 to adjust the orientation and insert the connecting pipe. Taking the sequence of first inserting the cap 301 and then the pipe connector 302 as an example, during operation, the gripping module 21 pulls the first insertion segment 201a of the connecting pipe 200 from the mandrel at the gripping position. At the orientation adjustment position, the gripping module 21 rotates 90 degrees relative to the bending direction of the bent section 202 connecting the first insertion segment 201a, causing the first insertion segment 201a to extend axially along the insertion hole of the cap 301, with the opening of the first insertion segment 201a facing downwards, thus completing the orientation adjustment of the connecting pipe 200. At the insertion position, the gripping module 21 then moves the adjusted connecting pipe 200 downwards, inserting the first insertion segment 201a from its end into the insertion hole of the cap 301, thus completing the insertion and assembly with the first insertion segment 201a. After the sealing plate is welded to the connecting tube 200, the connecting tube 200 is picked up from the first positioning fixture 11. With the axis perpendicular to the first insertion section 201a and the second insertion section 201b respectively as the rotation center, the connecting tube 200 is rotated 90 degrees. The second insertion section 201b extends axially along the insertion hole of the pipe connector 302, with the opening of the second insertion section 201b facing downward. The posture adjustment of the connecting tube 200 is completed. Then, the posture-adjusted connecting tube 200 is moved downward so that the second insertion section 201b is inserted into the insertion hole of the pipe connector 302 from the end. The insertion and assembly with the first insertion section 201a is completed.

[0033] Alternatively, in other embodiments, the connecting pipe 200 may be provided with three insertion sections, and three plug-in components 300 may be provided, each corresponding to one of the three insertion sections. The three plug-in components 300 may be two caps 301 and one pipe connector 302, or one cap 301 and two pipe connectors 302, or three pipe connectors 302, etc., without specific limitations.

[0034] The gripping module 21 can be configured as a single unit, which reciprocates between the gripping position, the attitude adjustment position, and the insertion position, and is responsible for gripping, adjusting the attitude, and inserting the connecting tube 200. Alternatively, two gripping modules 21 can be configured. One gripping module 21 reciprocates between the gripping position and the attitude adjustment position, and is responsible for gripping and adjusting the attitude of the connecting tube 200. The other gripping module 21 reciprocates between the attitude adjustment position and the insertion position, and is responsible for obtaining the attitude-adjusted connecting tube 200 from the previous gripping module 21 and inserting the insertion section 201 of the connecting tube 200 into the insertion hole of the connector 300.

[0035] The gripping module 21 can be positioned at the output end of a robotic arm, and its reciprocating movement between the gripping position, the orientation adjustment position, and the insertion position can be accomplished by the robotic arm. When two gripping modules 21 are set, each gripping module 21 can be connected to a corresponding robotic arm for drive.

[0036] The component to be inserted 300 can be positioned with the insertion hole facing upwards. At this time, the axial direction of the component to be inserted 300 extends in the vertical direction. When the gripping module 21 grips the connecting pipe 200 to be inserted from the carrier 10, the extension direction of the insertion section 201 of the connecting pipe 200 intersects with the axial direction of the component to be inserted 300. Therefore, the gripping module 21 is set to adjust the posture of the connecting pipe 200 so that the insertion section 201 of the connecting pipe 200 to be inserted at this time extends along the axial direction of the insertion hole of the component to be inserted 300. When the gripping module 21 moves to the insertion position, the extension direction of the insertion section 201 is basically the same as that of the insertion hole. It is only necessary to align the insertion section 201 with the insertion hole and move the gripping module 21 linearly to complete the insertion and assembly of the connecting pipe 200 and the component to be inserted 300.

[0037] When the gripping module 21 is in the gripping position, it can grip the connecting pipe 200 from the carrier 10, or it can grip the connecting pipe 200 for insertion into the first positioning fixture 11. In this way, through the cooperation of a single insertion device 20 and the carrier, and through multiple operations of the single insertion device 20, the insertion of different insertion sections 201 of the connecting pipe 200 into the corresponding different inserts 300 can be completed.

[0038] The technical solution of this invention includes a connector tube 200 insertion production line comprising a carrier 10 and an insertion device 20. The carrier 10 is used to place the connector tube 200 to be inserted, and a first positioning fixture 11 on the carrier 10 is used to position the connector 300 to be inserted and to support the connector tube 200 inserted into the connector 300. The insertion device 20 includes a gripping module 21, which is capable of gripping the connector tube 200 from the carrier 10 at a gripping position. The gripping module 21 is also capable of adjusting the posture of the connector tube 200 at an adjustment position, causing the insertion section 201 of the connector tube 200 to extend along the axial direction of the connector. Furthermore, the gripping module 21 inserts the insertion section 201 of the connector tube 200 into the insertion hole of the connector 300 at the insertion position. This allows for the connection to be properly positioned after gripping the connector tube 200. The tube 200 is adjusted in posture to solve the problem of misalignment when the connecting tube 200 is placed on the carrier 10 and when it is inserted into the connector 300. This allows the connecting tube 200 to be precisely inserted into the socket of the connector 300 through linear movement, thus completing the automated assembly of the connecting tube 200 and the connector 300. In addition, since the first positioning fixture 11 can be used to position the connector 300 to support the connecting tube 200 inserted into it, the gripping module 21 can also grip the connecting tube 200 from the first positioning fixture 11. When the connecting tube 200 has multiple insertion segments 201, the insertion of multiple insertion segments 201 of the connecting tube 200 can be achieved through multiple operations of a single gripping module 21 in conjunction with the positioning of the connector 300 and the connecting tube 200 by the first positioning fixture 11.

[0039] like Figure 2 , Figure 3 As shown, in one embodiment, the gripping module 21 includes a first gripping component 211 and a second gripping component 212. The first gripping component 211 is used to grip the connecting tube 200 at the gripping position and to adjust the posture of the connecting tube 200 at the posture adjustment position. The second gripping component 212 is used to receive the connecting tube 200 from the first gripping component 211 at the posture adjustment position and to insert the insertion section 201 of the connecting tube 200 into the insertion hole of the component to be inserted at the insertion position.

[0040] Understandably, when a single gripping module 21 reciprocates between the gripping position, the orientation adjustment position, and the insertion position, and simultaneously handles the attitude adjustment of the connecting tube 200 and the insertion action, the gripping module 21 has a large range of motion and requires numerous attitude adjustments, potentially leading to interference with other components of the connecting tube 200 insertion production line. Furthermore, when a single gripping module 21 is used to handle these actions, the robotic arm driving this module requires a more complex structural design.

[0041] Therefore, in the above embodiments, the present invention provides a gripping module 21 including a first gripping component 211 and a second gripping component 212. The first gripping component 211 is used to grip the connecting pipe 200 at the gripping position and adjust the posture of the connecting pipe 200 at the posture adjustment position, so that the insertion section 201 of the connecting pipe 200 extends along the insertion hole axial direction of the component to be inserted 300. The second gripping component 212 is used to receive the posture-adjusted connecting pipe 200 from the first gripping component 211 at the posture adjustment position and insert the posture-adjusted connecting pipe 200 into the component to be inserted 300. This allows the first gripping component 211 to only be responsible for gripping the connecting pipe 200 from the carrier 10 and adjusting the posture of the connecting pipe 200, while the second gripping component 212 is only responsible for moving the connecting pipe 200 from the posture adjustment position to the insertion position and inserting the connecting pipe 200. Compared to using only a single gripping component, the first gripping component 211 and the second gripping component 212 handle fewer operations and are less likely to interfere with other components of the connecting tube 200 insertion production line. The first gripping component 211 and the second gripping component 212 can each be equipped with a robotic arm drive. Furthermore, when the above actions are split into two gripping components, while the second gripping component 212 inserts the connecting tube 200, the first gripping component 211 can complete the gripping and orientation adjustment of the connecting tube 200. The two components operate in parallel without waiting, significantly shortening the insertion cycle time and thus improving the efficiency of the connecting tube 200 insertion process.

[0042] like Figure 5 , Figure 6 As shown, in one embodiment, the first gripping component 211 and / or the second gripping component 212 include at least two sets of grippers 213, and the at least two sets of grippers 213 include a first gripper 2131 and a second gripper 2132; The first gripper 2131 is used to grip the connection part of the insertion section 201 and the bent section of the connecting pipe 200, and the second gripper 2132 is used to grip the insertion section 201 of the connecting pipe 200.

[0043] It is understandable that, since both the first gripping component 211 and the second gripping component 212 need to grip and position the connecting tube 200 during their operation, their core objective is to ensure that the connecting tube 200 does not shift off-center relative to the gripping components. Therefore, the first gripping component 211 and the second gripping component 212 can be designed with the same structure. In this way, whether it is the gripping and orientation adjustment operation of the first gripping component 211 or the pipe insertion and assembly operation of the second component, reliable clamping can be achieved through the same set of dual-jaw structure, ensuring the continuity of the connecting tube's posture during component handover and process flow, and avoiding secondary positioning deviations caused by differences in the clamping structure.

[0044] Taking the first gripping component 211 as an example, when the first gripping component 211 grips the connecting tube 200, because the connecting tube 200 is hollow inside, too much force cannot be applied when gripping it, otherwise the connecting tube 200 is easily deformed. However, because the outer surface of the connecting tube 200 is a columnar structure, when the gripping force is small, the connecting tube 200 may not be gripped tightly and may loosen. To this end, in the above embodiment, the present invention provides a first gripper 2131 and a second gripper 2132. The first gripper 2131 is used to grip the insertion section 201 of the connecting tube 200, and the second gripper 2132 is used to grip the connection part between the bent section 202 and the insertion section 201 of the connecting tube 200, thereby performing multi-point gripping and positioning of the connecting tube 200, so that the connecting tube 200 is not prone to eccentric displacement after being gripped. In this way, the accuracy of the gripping module 21 in adjusting the posture and inserting the connecting tube 200 can be guaranteed.

[0045] The structure of the first gripper 2131 is described below, such as... Figure 5 , Figure 6 As shown, in one embodiment, the first gripper 2131 includes two opposing first gripper fingers 21311, which are used to approach each other to grip the connecting tube 200 and to move away from each other to release the connecting tube 200.

[0046] In one embodiment, the first gripper 2131 further includes a gripper drive member, which is drivenly connected to the two first gripper fingers 21311 and is used to drive the two first gripper fingers 21311 to move closer or further apart. When the two first gripper fingers 21311 move closer to each other, they can clamp the connection part of the insertion section 201 and the bending section 202 of the connecting tube 200.

[0047] like Figure 5 , Figure 6 As shown, in one embodiment, each of the first gripper fingers 21311 has a gripping groove 21312 disposed opposite to the other first gripper finger 21311. The gripping groove 21312 has a first groove wall 21313 and a second groove wall 21314. The first groove wall 21313 is used to abut against the insertion section 201 of the connecting pipe 200, and the second groove wall 21314 is used to abut against the bent section of the connecting pipe 200.

[0048] Understandably, since each gripper 213 finger has a clamping groove 21312 that is opposite to the other gripper 213 finger, the clamping groove 21312 can not only accommodate the connection part of the insertion section 201 and the bending section 202 of the connecting pipe 200, increasing the contact area between the connection part and the gripper 213 finger to improve the clamping stability of the first gripper 2131 on the connecting pipe 200, but also further limit the connecting pipe 200 at multiple angles through the abutment of the first groove wall 21313 of the clamping groove 21312 with the insertion section 201, and the abutment of the second groove wall 21314 of the clamping groove 21312 with the bending section 202, so as to prevent the connecting pipe 200 from loosening after being clamped.

[0049] like Figure 5 , Figure 6 As shown, in one embodiment, the second gripper 2132 includes two opposing second gripper fingers. The two second gripper fingers are used to approach each other to grip the connecting tube 200 and to move away from each other to release the connecting tube 200. Each second gripper finger has a receiving groove 21323 that is opposite to the other second gripper finger. The groove wall of the receiving groove 21323 is used to fit against the outer wall of the connecting tube 200.

[0050] In this way, when the second gripper 2132 grips the connecting pipe 200, the contact area between the second gripper 2132 and the connecting pipe 200 is increased by the groove wall of the receiving groove 21323 fitting against the outer wall of the connecting pipe 200.

[0051] Additionally, when the insertion section 201 is a section of the connecting pipe 200 with multiple loose pipes welded together, to avoid interference between the second clamping fingers and the loose pipes on the insertion section 201, the thickness of the ends of the second clamping fingers can be reduced. Optionally, such as... Figure 5 , Figure 6 As shown, the second gripper finger includes a base 21321 and an extension 21322 protruding from the base 21321. The receiving groove 21323 is formed in the base 21321 and the extension 21322. The thickness of the extension 21322 along the axial direction of the receiving groove 21323 is less than the thickness of the base 21321 along the axial direction of the receiving groove 21323.

[0052] With this configuration, when the insertion section 201 held by the second gripper 2132 is the insertion section of the connecting pipe 200 for inserting and welding multiple loose pipes, the second gripper 2132 can avoid the loose pipes and clamp the insertion section 201 of the connecting pipe 200 from the position between two loose pipes, ensuring stable clamping of the insertion section 201 of the connecting pipe 200.

[0053] like Figure 3 , Figure 4As shown, in one embodiment, the insertion device 20 further includes a mobile module 22, which includes a first robotic arm 221 and a second robotic arm 222. The first robotic arm 221 is driven to connect to the first gripping component 211, and the second robotic arm 222 is driven to connect to the second gripping component 212. The first robotic arm 221 is used to drive the first gripping component 211 to reciprocate between the gripping position and the orientation adjustment position, and the second robotic arm 222 is used to drive the first gripping component 211 to reciprocate between the orientation adjustment position and the insertion position.

[0054] The insertion device 20 may include a mounting platform 23, with a first robotic arm 221 and a second robotic arm 222 mounted on the mounting platform 23. The first robotic arm 221 may be a six-axis robotic arm. It is understood that, since the first robotic arm 221 drives the first gripping component 211, the second gripping component 212 not only needs to reciprocate between the gripping position and the attitude adjustment position, but also needs to rotate the connecting tube 200 at the attitude adjustment position to adjust its posture. When the above operations are achieved by the first robotic arm 221 driving the first gripping component 211 for position transformation and attitude adjustment, the end effector of the first robotic arm 221 needs to have a higher degree of adjustment freedom. Therefore, in one embodiment, the first robotic arm 221 may be configured as a six-axis robotic arm.

[0055] In addition, since the second gripping component 212 only needs to move back and forth between the gripping position and the insertion position, and insert the insertion section 201 of the connecting tube 200 into the insertion hole of the component to be inserted 300 at the insertion position, the second gripping component 212 does not need to adjust the attitude of the connecting tube 200. The above operation process can be achieved by linear movement. Therefore, in one embodiment, the second manipulator 222 can be set as a three-axis manipulator, and the end effector of the second manipulator 222 can move in a three-dimensional plane.

[0056] Alternatively, when the second gripping component 212 inserts the connecting tube 200 into the component 300 at the insertion position, and it is necessary to adjust the posture of the connecting tube 200 to facilitate insertion and increase the degree of freedom of movement of the end effector of the second robotic arm 222, in one embodiment, the second robotic arm 222 can also be configured as a six-axis robotic arm. The relevant schemes for adjusting the posture of the connecting tube 200 during insertion will be discussed below and will not be elaborated upon here.

[0057] like Figure 2 , Figure 3As shown, in one embodiment, the connecting pipe insertion production line 100 further includes a vision inspection component 40, which is used to acquire the position information of the component to be inserted on the carrier 10 and / or the posture information of the connecting pipe 200. The moving module 22 is used to adjust the position of the gripping module 21 relative to the component to be inserted 300 according to the position information of the component to be inserted and / or the posture information of the connecting pipe 200.

[0058] In one embodiment, the vision inspection component 40 may be disposed on the mounting platform 23. The vision inspection component 40 may include a first vision inspection element 41 and a second vision inspection element 42. The first vision inspection element 41 may be located directly above the carrier 10, and the second vision inspection component 40 may be disposed below the travel distance of the second gripping component 212, for example, below the insertion position. The first vision inspection element 41 and the second vision inspection element 42 are respectively connected to the host computer of the connecting tube 200 insertion production line, and the first vision inspection element 41 and the second vision inspection element 42 may be configured as CCD cameras. During operation, the first vision detection unit 41 captures the position information of the component 300 to be inserted on the carrier 10 and transmits this information to the host computer. The second vision detection unit 42 captures the position information of the connecting tube 200 after attitude adjustment and the attitude information of the insertion segment 201 and transmits this information to the host computer. The host computer determines whether the attitude of the insertion segment 201 is correct and plans the movement stroke of the second gripping component 212 based on the position of the connecting tube 200 and the position of the component 300 to be inserted in the insertion preparation state, so that the insertion segment 201 of the connecting tube 200 can be accurately inserted into the socket of the component 300 to be inserted, thus completing the insertion operation.

[0059] In addition, when the connecting tube 200 has multiple plug segments 201, the host computer also determines which plug segment 201 is in the plugging posture, so as to ensure that when planning the movement of the second gripping component 212, the plug segment 201 can be accurately inserted into the corresponding plug-in component 300.

[0060] When the insertion operation is completed, the first vision detection component 40 can also take a picture of the inserted connecting tube 200 and upload the picture information to the host computer. The host computer can determine whether the connecting tube 200 is effectively inserted into the connector 300 based on the picture information, so as to avoid situations such as missed insertion, incorrect insertion, or incomplete insertion.

[0061] Additionally, the vision inspection component 40 may also include a third vision inspection component 43, which may be located on one side of the carrier 10. When the carrier 10 is configured to reciprocate between a gripping position and an insertion position, the third vision inspection component 43 may be used to detect whether the carrier 10 has accurately moved to the gripping position or the insertion position, so that the first gripping component 211 can grip the connecting tube 200 from the carrier 10, and so that the second gripping component 212 can insert the connecting tube 200 into the connector 300 to be inserted on the carrier 10.

[0062] like Figure 7 , Figure 8 As shown, in one embodiment, the first positioning fixture 11 includes a first support member 111 and a second support member 112. The first support member 111 is used to position the insert 300 so that the insertion hole opening of the insert 300 is away from the first support member 111. The second support member 112 is used to receive the bent section of the connecting pipe 200.

[0063] In one embodiment, the first support member 111 can be configured as a positioning rod, and a positioning part can be provided at the end of the positioning rod away from the carrier 10. When the component to be inserted 300 is a cover 301, the positioning part can be a limiting groove, and the cover 301 can be limited and placed in the limiting groove, maintaining the opening of the cover 301 facing upward, so that the insertion hole opening of the cover 301 is away from the first support member 111. When the component to be inserted 300 is a pipe connector 302, the positioning part can be a insertion part, and the other end of the pipe connector 302 used for insertion with the connecting pipe 200 can be inserted into the insertion part, so that the insertion hole opening of the pipe connector 302 faces upward, away from the first support member 111.

[0064] Understandably, when the connecting pipe 200 is inserted into the component 300 to be inserted, the connecting pipe 200 itself is in a suspended state, making it impossible to maintain a stable insertion state between the connecting pipe 200 and the component 300. Therefore, a second bearing member 112 is provided to support the bent section 202 of the connecting pipe 200. This ensures that the connecting pipe 200 is positioned at least at two points on the first positioning fixture 11, maintaining its insertion posture with the component 300 to be inserted.

[0065] The second support member 112 can be configured as a positioning rod, with a positioning seat at the top of the positioning rod and a positioning groove inside the positioning seat. The positioning groove can be used to receive the connecting pipe 200. The length of the positioning rod is adjustable, so that the position of the positioning seat can be adjusted to receive connecting pipes 200 of different shapes and sizes. This allows for adaptation to the diverse connecting pipe designs of the evaporator without replacing the first positioning fixture 11, thus improving the flexibility of the production line.

[0066] In addition, since the connecting pipe 200 has multiple pipe sections with bends, if only one bend 202 of the connecting pipe 200 is supported, the connecting pipe 200 may be top-heavy. Therefore, two second bearing members 112 can be provided. One is used to support the bend 202 of the connecting pipe 200, and the other is used to support the other plug section 201 of the connecting pipe 200. By positioning the connecting pipe 200 at three points, the first positioning fixture 11 can support the connecting pipe 200 more stably.

[0067] like Figure 2 , Figure 9 As shown, in one embodiment, the connecting pipe insertion production line 100 further includes a conveyor line 60, the carrier 10 is disposed on the conveyor line 60, the conveyor line 60 is used to convey the carrier 10, the gripping position and the insertion position are arranged sequentially along the conveying direction of the conveyor line 60, and the conveyor line 60 is used to drive the carrier 10 to move from the gripping position to the insertion position.

[0068] Understandably, when the gripping module 21 includes a first gripping component 211 and a second gripping component 212, and is driven by a first robotic arm 221 and a second robotic arm 222 respectively, the first gripping component 211 needs to grip the connecting pipe 200 from the carrier 10, and the second gripping component 212 needs to insert the connecting pipe 200 into the connector 300 to be inserted on the carrier 10. If the carrier 10 is immovable, the range of motion of the first gripping component 211 and the second gripping component 212 is small, limited to the vicinity of the carrier 10, which is not conducive to the layout of the first robotic arm 221, the second robotic arm 222, and the vision inspection component 40. Therefore, a conveyor line 60 is set up to transport the carrier 10, so that the carrier 10 can move along the conveyor line 60, thereby maintaining a sufficient gap between the gripping position and the insertion position for the first robotic arm 221 and the second robotic arm 222 to move, and for the vision inspection component 40 to be set.

[0069] When the conveyor line 60 is used to transport the carriers 10, multiple carriers 10 can be set up through the conveyor line 60. After the first gripping component 211 grips the connecting pipe 200 on the first carrier 10, during the movement of the first gripping component 211 from the gripping position to the orientation adjustment position and during the orientation adjustment process of the first gripping component 211, the first carrier 10 can simultaneously move towards the insertion position, so that after the second gripping module 21 receives the connecting pipe 200, it can insert the connecting pipe 200 into the first carrier 10 located at the insertion position. While the first carrier 10 moves towards the insertion position, the second carrier 10 can be transported from the input end of the conveyor line 60 to the gripping position for the first gripping component 211 to grip the connecting pipe 200. This ensures that the operation of the first gripping component 211 and the second gripping component 212 can be carried out uninterruptedly, improving the insertion efficiency of the connecting pipe 200 insertion production line.

[0070] The conveyor line 60 may include a conveyor track 61 and a conveyor drive 62. The carrier 10 is disposed on the conveyor track 61, and the conveyor drive 62 drives the conveyor track 61 to move so as to convey the carrier 10 from the input end of the conveyor line 60 to the output end of the conveyor line 60.

[0071] When the connecting pipe 200 has multiple insertion segments 201, each insertion segment 201 needs to be inserted into and welded to the corresponding connector 300. For example... Figure 7 , Figure 8 As shown, optionally, the insertion section 201 of the connecting pipe 200 includes a first insertion section 201a and a second insertion section 201b. The connecting pipe 200 also includes a bending section 202, which bends and connects the first insertion section 201a and the second insertion section 201b respectively. The component to be inserted 300 includes a cap 301 and a pipe connector 302.

[0072] It is understandable that when the connecting pipe 200 is configured with a first insertion segment 201a and a second insertion segment 201b, the insertion device 20 can only perform the insertion operation of one insertion segment 201 in a single operation. Furthermore, after the connecting pipe 200 is inserted, it needs to be welded and fixed to the component to be inserted 300 before the insertion operation of the other insertion segment 201 can be performed.

[0073] Therefore, in one embodiment of the present invention, the output end of the conveyor line 60 can be connected to the input end of the conveyor line 60, and a welding device can be set within the travel distance of the conveyor line 60. After the first insertion segment 201a of the connecting pipe 200 is inserted into the cap 301 by the insertion device 20, the conveyor line 60 continues to convey the carrier 10 to the welding device. After the welding device welds and fixes the connection between the first insertion segment 201a and the cap 301, the conveyor line 60 continues to convey the carrier 10. The carrier 10 returns to the gripping position. After the insertion device 20 grips the connecting pipe 200 from the carrier 10, it inserts the second insertion segment 201b of the connecting pipe 200 into the pipe connector 302. The conveyor line 60 continues to convey the carrier 10 to the welding device. After the welding device welds and fixes the connection between the second insertion segment 201b and the pipe connector 302, the insertion and welding operations of the connecting pipe 200 are completed.

[0074] In addition, two sets of insertion devices can be set up and arranged sequentially along the conveying direction of the conveyor line, respectively for the insertion operation of the first insertion section and the second insertion section of the connecting pipe.

[0075] like Figure 1As shown, in one embodiment, the plug-in device 20 is provided in two sets, the two sets of plug-in devices 20 including a first plug-in device 20a and a second plug-in device 20b. The first plug-in device 20a is used to insert the first plug-in segment 201a of the connecting tube 200 into the plug hole of the cover 301, and the second plug-in device 20b is used to insert the second plug-in segment 201b of the connecting tube 200 into the plug hole of the pipe connector 302.

[0076] This configuration allows for separate insertion operations of the first insertion section 201a and the cap 301, as well as the second insertion section 201b and the cap 301. It eliminates the need for a single machine to perform insertion operations at both locations. Compared to the aforementioned cyclical approach, this increases the production cycle time by more than half, making it suitable for high-capacity, large-scale production and improving the insertion efficiency of the connector tube 200 insertion production line. Furthermore, the first set of insertion equipment 20 focuses on the insertion of the first insertion section 201a, and the second set of insertion equipment 20 focuses on the insertion of the second insertion section 201b. This eliminates the need for repeatedly gripping and adjusting the same connector tube 200 as in a single-machine solution, reducing the number of posture adjustments and minimizing error accumulation.

[0077] Welding equipment can also be installed between the two sets of plug-in devices 20 to weld the plug-in part of the first plug-in section 201a and the cover 301, so that the cover 301 is fixed on the first plug-in section 201a, preventing the cover 301 from loosening and falling off when the posture of the connecting pipe 200 is adjusted and the second plug-in section 201b is plugged into the pipe joint 302.

[0078] In addition, a flux container can be set on the mounting platform of the second insertion device 20b. Before inserting the second insertion section 201b of the connecting pipe 200 into the pipe fitting 302, the second insertion section 201b can be inserted into the flux container to be soaked before being inserted into the pipe fitting 302. This will improve the welding effect when welding the pipe fitting 302 and the connecting pipe 200 in the future.

[0079] like Figure 1 As shown, in one embodiment, the connecting pipe insertion production line 100 further includes a conveyor line 60, the carrier 10 is disposed on the conveyor line 60, the conveyor line 60 is used to transport the carrier 10, and the first insertion device 20a and the second insertion device 20b are arranged sequentially along the conveying direction of the conveyor line 60.

[0080] This configuration allows the conveyor line 60 to not only facilitate workstation movement within a single insertion device 20, but also between two insertion devices 20. This improves the operational efficiency of the connecting pipe 200 insertion production line.

[0081] The conveyor line 60 may also include a return conveyor line 60 disposed between the two insertion devices 20. The return conveyor line 60 may be disposed before the welding equipment. When the insertion device 20 completes insertion and detects that the connecting pipe 200 on the carrier 10 is not properly inserted, the conveyor line 60 will transport the carrier 10 to the return branch line without passing through the welding equipment. This avoids the situation where welding and secondary insertion operations are continued on the connecting pipe 200 in case of insertion abnormality, which could lead to material damage.

[0082] like Figure 7 , Figure 8 As shown, in one embodiment, the carrier 10 has two first positioning fixtures 11, each of which includes a first sub-positioning fixture 11a and a second sub-positioning fixture 11b. The first sub-positioning fixture 11a is used to support the cap 301 and the connecting pipe 200, and the second sub-positioning fixture 11b is used to support the pipe joint 302 and the connecting pipe 200.

[0083] The first sub-positioning fixture 11a supports the cap 301 and can also support the extended part of the connecting pipe 200 after it is fitted with the cap (such as the bent section 202 or the uninserted second insertion section 201b), forming a two-point fixation between the cap fitting point and the fixture support point. The second sub-positioning fixture 11b supports the pipe joint 302 and supports the corresponding part of the connecting pipe 200 after it is fitted with the pipe joint, thus forming a double support.

[0084] This configuration allows the first positioning fixture 11 to not only support the parts to be inserted 300 (cap 301, connecting tube 200) but also the connecting tube 200 itself. When the connecting tube 200 is inserted into the cap 301 or the pipe connector 302, the remaining portion of the connecting tube 200 can rest on the first positioning fixture 11, facilitating subsequent welding of the connecting tube 200 to the cap 301 or the pipe connector 302. When the second insertion device picks up the connecting tube, the connecting tube has already been stably positioned by the first sub-positioning fixture 11a, and the posture and position of its second insertion section 201b can be accurately identified by the visual inspection component, ensuring that the second insertion device can quickly align with the pipe connector 302 on the second sub-positioning fixture 11b, significantly improving the alignment efficiency and accuracy of the secondary insertion.

[0085] like Figure 7 , Figure 8 As shown, in one embodiment, the carrier 10 further has a second positioning fixture 12, which is used to receive the inserted connecting pipe 200. The first insertion device 20a is used to pick up the connecting tube 200 to be inserted from the second positioning fixture 12, and the second insertion device 20b is used to pick up the connecting tube 200 after insertion and capping from the first sub-positioning fixture 11a.

[0086] The second positioning fixture 12 includes a mandrel 121 and a receiving component 122. The insertion section 201 of the connecting pipe 200 can be sleeved onto the mandrel 121 from its port. The receiving component 122 can externally receive the bent section or the second insertion section 201b of the connecting pipe 200. When the connecting pipe 200 is welded to the loose pipe and positioned on the second positioning fixture 12, the first insertion device 20a picks up the connecting pipe 200 that has not yet been inserted into the receiving insertion component 300 from the second positioning fixture 12 and inserts the connecting pipe 200 into the cap 301 on the first positioning fixture 11. At this time, the connecting pipe 200 is positioned at the cap 301. When the connecting pipe 200 is inserted a second time, the second insertion device 20b picks up the connecting pipe 200 from the first positioning fixture 11 and inserts the connecting pipe 200 into the pipe joint 302 of another first positioning fixture 11. At this time, the connecting pipe 200 is positioned at the pipe joint 302.

[0087] Understandably, the second positioning fixture 12, the first sub-positioning fixture 11a, and the second sub-positioning fixture 11b are all integrated into the same carrier 10. Their relative positions are pre-calibrated to form a fixed reference coordinate system for the carrier 10. Both gripping operations are based on this coordinate system, thus avoiding reference switching errors caused by changing the carrier 10 or positioning points, ensuring that the coaxiality and positional accuracy of the two insertion operations meet the requirements. Furthermore, when the carrier 10 moves with the conveyor line 60, the connecting pipe 200 to be inserted carried by the second positioning fixture 12 and the connector 300 to be inserted carried by the first positioning fixture 11a flow synchronously, eliminating the need for additional material transfer. The first insertion device 20a and the second insertion device 20b can directly grip the corresponding workpiece at their respective workstations, avoiding process interruptions caused by material transfer.

[0088] Optionally, the gripping module 21 is used to tilt the end of the insertion section 201 of the connecting tube 200 against the insertion hole of the component to be inserted 300 at the insertion position, and then adjust the posture of the connecting tube 200 so that the insertion section 201 of the connecting tube 200 is inserted into the component to be inserted 300 along the axial direction of the insertion hole of the component to be inserted 300.

[0089] Understandably, since the connector segment 201 and the component to be connected 300 need to be welded after insertion, the outer diameter of the connector segment 201 is usually equal to or slightly smaller than the inner diameter of the socket of the component to be connected 300 to ensure welding accuracy. When inserting the connector segment 201 into the socket of the component to be connected 300 and positioning it with the component to be connected 300, the difference between the outer diameter of the connector segment 201 and the inner diameter of the socket of the component to be connected 300 is small, which may cause insertion difficulties, requiring manual adjustment.

[0090] Therefore, in the above embodiment, when the gripping module 21 is in the insertion position, the posture of the connecting tube 200 is further adjusted so that the posture of the insertion segment 201 extending along the axial direction of the insertion hole of the component to be inserted 300 is adjusted to a posture that is slightly inclined relative to the axial direction of the insertion hole. When the end of the insertion segment 201 is inserted into the insertion hole, the end portion of the insertion segment 201 is inserted into the insertion hole at an angle, so that the end of the insertion segment 201 is inclined against the insertion hole. In this state, along the cross-section perpendicular to the socket axis, the cross-sectional dimension of the insertion segment 201 located inside the socket is smaller than the cross-sectional dimension of the socket, allowing the insertion segment 201 to be inserted into the socket from its end portion, achieving initial positioning with the socket. Then, by adjusting the posture of the connecting tube 200, the insertion segment 201 of the connecting tube 200 is gradually adjusted from an orientation tilted relative to the socket axis to an orientation along the socket axis. At the same time, the gripping module 21 can gradually release the connecting tube 200, allowing the connecting tube 200 to gradually move towards the socket, so that the other part of the end of the insertion segment 201 of the connecting tube 200 is inserted into the socket, thereby completing the insertion operation of the insertion segment 201 of the connecting tube 200 and the component 300 to be inserted.

[0091] Understandably, during the insertion of the connector segment 201 into the socket, the connector segment 201 is tilted relative to the socket axis, allowing part of the end of the connector segment 201 to be pre-inserted into the socket. When the difference between the outer diameter of the connector segment 201 and the inner diameter of the socket is small, the connector segment 201 can be initially positioned in the socket. Then, by swinging and adjusting the posture of the connector segment 201, the connector segment 201 is gradually returned to its original position and extends along the socket axis, allowing the other part of the end of the connector segment 201 to gradually enter the socket. Combined with the action of the gripping module 21 gradually releasing the connecting tube 200 at the insertion position, the connecting tube 200 can be accurately inserted into the socket. Only in very few cases is manual intervention required for correction, which can improve the level of intelligent automatic insertion and enhance the insertion quality.

[0092] When the first gripping component 211 of the gripping module 21 inserts the first insertion section 201a of the connecting tube 200 into the insertion hole of the cap 301, the above-mentioned oblique insertion adjustment operation method can be adopted. When the second gripping component 212 of the gripping module 21 inserts the second insertion section 201b of the connecting tube 200 into the insertion hole of the pipe connector 302, the above-mentioned oblique insertion adjustment operation method can also be adopted. No specific limitation is made here.

[0093] like Figure 11 As shown, the present invention also proposes a method for inserting a connecting pipe, applied to the connecting pipe insertion production line 100 described above. The connecting pipe insertion production line 100 includes an insertion device 20, which includes a first gripping component 211 and a second gripping component 212. The method for inserting the connecting pipe 200 includes the following steps: S100: The first gripping component 211 grips the connecting tube 200 at the gripping position, moves to the attitude adjustment position and adjusts the attitude of the connecting tube 200 so that the insertion section 201 of the connecting tube 200 extends along the insertion hole axis of the component to be inserted 300. The insertion section 201 can be the first insertion section 201a and the second insertion section 201b of the connecting pipe 200. When the insertion section 201 is the first insertion section 201a, the plug-in component 300 can be the cap 301. When the insertion section 201 is the second insertion section 201b, the plug-in component 300 can be the pipe connector 302. The insertion hole of the plug-in component 300 can be the inner cavity of the cap 301 or the cavity of the pipe connector 302.

[0094] S200: The second gripping component 212 takes the connecting tube 200 from the first gripping component 211 at the orientation adjustment position and moves it to the insertion position. The operation method of how the first gripping component 211 and the second gripping component 212 cooperate to realize the gripping, orientation adjustment and transfer of the connecting tube 200 to the insertion position has been explained above and will not be repeated here.

[0095] S300: The second gripping component 212 adjusts the posture of the connecting tube 200 at the insertion position, so that the insertion section 201 is axially tilted relative to the insertion hole, and then drives the connecting tube 200 to move toward the insert 300, so that the end of the insertion section 201 is tilted and abuts against the insertion hole. It is understandable that when inserting the plug segment 201 into the socket of the component to be plugged in 300 and positioning it with the component to be plugged in 300, the difference between the outer diameter of the plug segment 201 and the inner diameter of the socket of the component to be plugged in 300 may be small, or there may be burrs or other defects in the socket of the component to be plugged in 300 and the port of the plug segment, making insertion difficult. When the plug segment is adjusted to be axially inclined relative to the socket, so that the end of the plug segment 201 is inclined to abut against the socket, the end portion of the plug segment 201 is inserted into the socket at an angle. In this state, along the cross-section perpendicular to the socket axis, the cross-sectional dimension of the plug segment 201 located inside the socket is smaller than the cross-sectional dimension of the socket, so that the plug segment 201 can be inserted into the socket from the end portion, which can achieve initial positioning with the socket and facilitate subsequent insertion of the plug segment.

[0096] S400: The second gripping component 212 adjusts the posture of the connecting tube 200, so that the insertion segment 201 gradually adjusts from the axial tilt posture relative to the insertion hole to the axial extension posture along the insertion hole. At the same time, the second gripping component 212 gradually releases the connecting tube 200, so that the insertion segment 201 is inserted into the insertion hole along the insertion hole axis.

[0097] When the insertion segment 201 is initially positioned in the socket using an oblique insertion method, the second gripping component 212 adjusts the posture of the connecting tube 200, gradually adjusting the insertion segment 201 from an oblique posture relative to the socket axis to an posture along the socket axis. At the same time, the gripping module 21 gradually releases the connecting tube 200, giving the insertion segment 201 room to adjust its posture along the socket axis. The connecting tube 200 gradually moves towards the socket, allowing the remaining part at the end of the insertion segment 201 to be inserted into the socket as the posture of the insertion segment 201 returns to normal. This completes the insertion operation of the connecting tube 200 insertion segment 201 and the component to be inserted 300. Only in very few cases is manual intervention required to correct the insertion of the connecting tube 200, which can improve the level of intelligent automatic insertion and enhance the insertion quality.

[0098] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A connecting pipe insert production line, characterized by, The application relates to a connector inserting production line, comprising: a carrier for placing a connecting pipe, the carrier being provided with a first positioning tool for positioning a to-be-inserted part, the to-be-inserted part being provided with a socket; and a inserting device comprising a grabbing module, the grabbing module being provided with a grabbing position, a pose adjusting position and an inserting position, the grabbing module being used for grabbing the connecting pipe from the carrier at the grabbing position, adjusting the pose of the connecting pipe at the pose adjusting position so that an inserting section of the connecting pipe extends along an axial direction of the to-be-inserted part, and inserting the inserting section of the connecting pipe into the socket of the to-be-inserted part at the inserting position. The grabbing module comprises a first grabbing component and a second grabbing component, the first grabbing component being used for grabbing the connecting pipe at the grabbing position and adjusting the pose of the connecting pipe at the pose adjusting position, and the second grabbing component being used for taking the connecting pipe from the first grabbing component at the pose adjusting position and inserting the inserting section of the connecting pipe into the socket of the to-be-inserted part at the inserting position.

2. The connecting pipe insert production line according to claim 1, wherein The first grabbing component and / or the second grabbing component comprises at least two sets of clamping jaws, the at least two sets of clamping jaws comprising a first clamping jaw and a second clamping jaw; 3. The connecting pipe insert production line according to claim 2, wherein The first clamping jaw is used for clamping a connecting position between the inserting section and a bent section of the connecting pipe, and the second clamping jaw is used for clamping the inserting section of the connecting pipe. The first clamping jaw comprises two oppositely arranged first clamping jaw fingers, the two first clamping jaw fingers being used for relatively approaching to clamp the connecting pipe and relatively moving away to release the connecting pipe; 4. The connecting pipe insert production line according to claim 3, wherein Each first clamping jaw finger is provided with a clamping groove opposite to the other first clamping jaw finger, the clamping groove being provided with a first groove wall and a second groove wall, the first groove wall being used for abutting against the inserting section of the connecting pipe, and the second groove wall being used for abutting against the bent section of the connecting pipe. The inserting device further comprises a moving module, the moving module comprising a first mechanical arm and a second mechanical arm, the first mechanical arm being drivingly connected to the first grabbing component, and the second mechanical arm being drivingly connected to the second grabbing component, the first mechanical arm being used for driving the first grabbing component to reciprocate between the grabbing position and the pose adjusting position, and the second mechanical arm being used for driving the first grabbing component to reciprocate between the pose adjusting position and the inserting position.

5. The connecting pipe insert production line according to claim 2, wherein The connector inserting production line further comprises a visual detection component, the visual detection component being used for acquiring to-be-inserted part position information and / or connecting pipe pose information on the carrier, and the moving module being used for adjusting the position of the grabbing module relative to the to-be-inserted part according to the to-be-inserted part position information and / or the connecting pipe pose information.

6. The connecting pipe insert production line according to claim 5, wherein The first positioning tool comprises a first bearing part and a second bearing part, the first bearing part being used for positioning the to-be-inserted part so that the socket of the to-be-inserted part opens away from the first bearing part, and the second bearing part being used for bearing the bent section of the connecting pipe.

7. The connecting pipe insert production line according to claim 1, wherein The connector inserting production line further comprises a conveying line, the carrier being arranged on the conveying line, the conveying line being used for conveying the carrier, the grabbing position and the inserting position being arranged in sequence along the conveying direction of the conveying line, and the conveying line being used for driving the carrier to move from the grabbing position to the inserting position.

8. The connecting pipe insert production line according to claim 1, wherein ​ 9. The connecting pipe insert production line according to any one of claims 1 to 8, wherein The connecting pipe comprises a first plug-in section and a second plug-in section, and further comprises a bending section which is bent to connect the first plug-in section and the second plug-in section, respectively, and the plug-in object comprises a cover and a pipe joint; The plug-in device comprises two groups, and the two groups of plug-in devices comprise a first plug-in device and a second plug-in device, the first plug-in device is used for inserting the first plug-in section of the connecting pipe into the insertion hole of the cover, and the second plug-in device is used for inserting the second plug-in section of the connecting pipe into the insertion hole of the pipe joint.

10. The connecting pipe insert production line according to claim 9, wherein The connecting pipe plug-in production line further comprises a conveying line, the carrier is arranged on the conveying line, and the conveying line is used for conveying the carrier, and the first plug-in device and the second plug-in device are arranged along the conveying direction of the conveying line in sequence. The carrier has two first positioning tools, and the two first positioning tools comprise a first sub-positioning tool and a second sub-positioning tool, the first sub-positioning tool is used for carrying the cover and the connecting pipe, and the second sub-positioning tool is used for carrying the pipe joint and the connecting pipe.

11. The connecting pipe insert production line according to claim 10, wherein The carrier further has a second positioning tool which is used for carrying the connecting pipe to be inserted. The first plug-in device is used for grabbing the connecting pipe to be inserted from the second positioning tool, and the second plug-in device is used for grabbing the connecting pipe after the cover is inserted from the first sub-positioning tool.

12. The connecting pipe insert production line according to any one of claims 1 to 8, wherein The grabbing module is used for tilting the end of the plug-in section of the connecting pipe against the insertion hole of the plug-in object at the insertion position, and adjusting the posture of the connecting pipe, so that the plug-in section of the connecting pipe is inserted into the plug-in object along the axis of the insertion hole of the plug-in object.

13. A method of connecting pipe insert, applied to the connecting pipe insert production line according to any one of claims 1 to 12, the connecting pipe insert production line comprising an insert device, the insert device comprising a first gripping assembly and a second gripping assembly, characterized in that, The connecting pipe plug-in method comprises the following steps: The first grabbing assembly grabs the connecting pipe at the grabbing position, moves to the posture adjusting position, and adjusts the posture of the connecting pipe, so that the plug-in section of the connecting pipe extends along the axis of the insertion hole of the plug-in object; The second grabbing assembly takes the connecting pipe from the first grabbing assembly at the posture adjusting position, and moves to the insertion position; The second grabbing assembly adjusts the posture of the connecting pipe at the insertion position, so that the plug-in section is tilted relative to the axis of the insertion hole, and then drives the connecting pipe to move towards the plug-in object, so that the end of the plug-in section is tilted against the insertion hole; The second grabbing assembly adjusts the posture of the connecting pipe, so that the plug-in section is gradually adjusted from the posture of being tilted relative to the axis of the insertion hole to the posture of extending along the axis of the insertion hole, and at the same time, the second grabbing assembly gradually releases the connecting pipe, so that the plug-in section is inserted into the insertion hole along the axis of the insertion hole.

Images