Automatic pipe inserting equipment and air conditioner

Abstract

The invention provides automatic pipe inserting equipment and an air conditioner, the automatic pipe inserting equipment is used for the air conditioner, the air conditioner comprises a to-be-inserted part and a to-be-inserted pipe, and the automatic pipe inserting equipment comprises a storage bin, a pipe inserting part and a pipe inserting part; the material guiding assembly comprises a material guiding channel, a working position and a material stirring piece, the material guiding channel can communicate with the material storage bin, the working position communicates with the material guiding channel, and the material stirring piece can enable the to-be-inserted pipe to move to the working position through the material guiding channel; the material conveying device can convey the to-be-inserted pipe located on the working position to the material receiving disc; and the robot is provided with a clamping jaw assembly, the clamping jaw assembly can clamp the to-be-inserted pipe on the material receiving disc and enables the clamping jaw assembly to move so that the to-be-inserted pipe can be inserted into the to-be-inserted piece, automatic operation of inserting the to-be-inserted pipe into the to-be-inserted piece is achieved, the operation efficiency of inserting the to-be-inserted pipe can be remarkably improved, and the production requirement of automatic operation is met.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to an automatic intubation device and an air conditioner. Background Technology

[0002] Currently, in air conditioners using related technologies, the semi-circular tube insertion process in the evaporator and condenser is generally carried out manually. The semi-circular tubes include U-shaped tubes and Y-shaped tubes. Therefore, it is necessary to manually insert the U-shaped tubes and Y-shaped tubes separately. Due to the repetitive manual operation, it is easy to insert them in the wrong position or mix U-shaped and Y-shaped tubes, which reduces the overall installation efficiency and cannot meet the needs of automated production. Summary of the Invention

[0003] The embodiments of the present invention are intended to at least solve one of the technical problems existing in the prior art.

[0004] Therefore, a first aspect of the embodiments of the present invention provides an automatic cannulation device.

[0005] A second aspect of the present invention provides an air conditioner.

[0006] In view of the above, according to a first aspect of the present invention, an automatic tube insertion device is provided for an air conditioner, the air conditioner including a tube to be inserted and a tube to be inserted, the automatic tube insertion device including: a storage bin for storing the tube to be inserted; a guiding assembly including a guiding channel, a working position and a feeding component, the guiding channel being able to communicate with the storage bin, the working position being able to communicate with the guiding channel, and the feeding component being able to move the tube to be inserted through the guiding channel to the working position; a conveying device being able to convey the tube to be inserted located at the working position to a receiving tray; and a robot having a gripper assembly being able to grip the tube to be inserted on the receiving tray and move the gripper assembly to insert the tube to be inserted.

[0007] The automatic tube insertion device provided in this embodiment of the invention includes a storage bin, a material guiding component, a material conveying device, and a robot. Specifically, the air conditioner includes a tube to be inserted and a tube to be inserted. Optionally, the tube to be inserted includes at least one of a condenser and an evaporator, and the tube to be inserted includes at least one of a U-shaped tube and a Y-shaped tube.

[0008] Understandably, in related technologies, the insertion of tubes into condensers or evaporators is generally done manually, which is inefficient and cannot meet the needs of automated production.

[0009] The material guiding assembly includes a material guiding channel and a material feeding component. One end of the material guiding channel can be connected to the storage bin, and the other end of the material guiding channel can be connected to the working position. The material feeding component enables the tube to be inserted from the storage bin into the material guiding channel to move within the material guiding channel and to the target position (i.e., the working position). When the tube to be inserted is in the working position, the material conveying device transports the tube to be inserted to the receiving tray. The robot's gripper assembly picks up the tube to be inserted from the receiving tray, and by controlling the movement of the gripper assembly, the tube to be inserted is inserted into the insert, realizing the automated operation of inserting the tube to be inserted into the insert, which is beneficial to significantly improve the efficiency of tube insertion and meet the production needs of automated operation.

[0010] Moreover, compared to the manual insertion method used in related technologies for air conditioning semi-circular pipes, this method avoids incorrect insertion and mixing of U-shaped and Y-shaped pipes due to repeated manual operations, thus improving product quality.

[0011] Optionally, the storage bin includes a bin body and a vibrating plate. The bin body is used to store tubes to be inserted. Specifically, when the storage pot on the vibrating plate is low on material, the door of the bin body is opened, allowing the tubes to be inserted inside the bin body to enter the storage pot. The vibrating plate vibrates to arrange the tubes to be inserted.

[0012] Optionally, the automatic tube insertion equipment includes two storage bins, two guiding components, and two conveying devices. That is, the automatic tube insertion equipment is divided into two groups. The first group includes storage bins, guiding components, and conveying devices, and the second group also includes storage bins, guiding components, and conveying devices. Specifically, U-shaped tubes and Y-shaped tubes are manually placed into the storage bins of the first group and the second group, respectively. In other words, the storage bins of the first group are used to store U-shaped tubes, and the storage bins of the second group are used to store Y-shaped tubes. When U-shaped tubes are transported to the receiving tray of the first group and Y-shaped tubes are transported to the receiving tray of the second group, the robot's gripper assembly picks up the U-shaped tubes and Y-shaped tubes respectively for insertion, or the robot's gripper assembly picks up the U-shaped tubes and Y-shaped tubes separately and inserts them simultaneously. This avoids incorrect or mixed insertion of U-shaped and Y-shaped tubes, further improving the efficiency of air conditioner tube insertion and meeting the production needs of automated operations.

[0013] Optionally, the working position is exposed on the base, which facilitates the material handling device to pick up the tube to be inserted on the working position and makes it easier to control.

[0014] In addition, the automatic cannulation device provided by the above-described technical solution of the present invention also has the following additional technical features:

[0015] In some technical solutions, the material guiding assembly may optionally include a base and a first detection element, wherein the base is provided with a material guiding channel, a working position and a detection port, the detection port is connected to the material guiding channel and the first detection element is located at the detection port.

[0016] In this technical solution, the material guiding assembly is further defined as including a base and a first detection element. Specifically, the base is provided with a material guiding channel, a working position and a detection port, and the detection port is connected to the material guiding channel.

[0017] Understandably, when manually inserting air conditioning semi-circular tubes in related technologies, it is generally impossible for workers to distinguish the condition of the incoming semi-circular tubes. For example, the tube opening may be damaged, or the weld ring on the semi-circular tube may be missing. In other words, it is impossible to effectively identify problematic semi-circular tubes, which leads to problems in the subsequent welding when the semi-circular tube is inserted into the condenser or evaporator, affecting product quality.

[0018] The first inspection piece is set at the inspection port. Since the inspection port is connected to the material guide channel, the first inspection piece can detect the incoming status of the tube to be inserted in the material guide channel. Based on the inspection results of the first inspection piece, problematic tubes to be inserted can be screened out, avoiding the insertion of tubes with problems such as broken tube openings into the tubes to be inserted. This reduces the quality problems of the tubes to be inserted, improves the quality control effect, and helps to ensure the needs of automated production.

[0019] Optionally, the first inspection component includes a camera and a lens. Specifically, the camera takes a picture of the tube to be inserted through the inspection port to check for damage to the tube opening. If damage is found, the system marks it, and the back-end actuator picks up and discards the material, that is, the problematic tubes to be inserted are screened.

[0020] Optionally, the detection port is configured to be located at the top of the base, and / or the detection port is configured to be located at the bottom of the base. The specific configuration can be adjusted according to actual needs.

[0021] In some technical solutions, the detection port is optionally configured to be located at the bottom of the base.

[0022] In this technical solution, the detection port is positioned at the bottom of the base. This means that the first detection element inspects the tube to be inserted into the material guide channel from bottom to top through the detection port. It is understood that, for the U-shaped tube, the opening of the U-shaped tube faces downwards as it moves within the material guide channel.

[0023] Since the first inspection piece inspects the tube to be inserted in the material guide channel from bottom to top through the inspection port, it is convenient to effectively detect whether the U-shaped tube opening is damaged. Based on the inspection results of the first inspection piece, problematic tubes to be inserted can be screened out, avoiding the insertion of tubes with problems such as broken openings into the tubes to be inserted, thereby reducing the quality problems of the tubes to be inserted, improving the quality control effect, and helping to ensure the needs of automated production.

[0024] In some technical solutions, optionally, the tube to be inserted includes at least two connecting rings, and the base is also provided with a limiting platform located in the material guide channel. The limiting platform is used to contact at least two connecting rings; wherein, along the height direction of the base, the limiting platform is higher than the bottom wall of the material guide channel.

[0025] In this technical solution, the base is also equipped with a limiting platform. Specifically, the limiting platform is set inside the material guide channel, and along the height direction of the base, the limiting platform is higher than the bottom wall of the material guide channel. That is to say, when the tube to be inserted comes into contact with the limiting platform through at least two connecting rings, the tube to be inserted can be suspended in the material guide channel under the action of the limiting platform. This allows for indirect detection of whether the tube to be inserted is missing a connecting ring, improving quality control and helping to ensure the needs of automated production.

[0026] Specifically, for a U-shaped tube, two connecting rings are fitted onto it. Within the material guide channel, these two connecting rings contact the limiting platform, suspending the U-shaped tube within the channel. Understandably, if the U-shaped tube is missing a connecting ring, the supporting leg on the side lacking the ring will fall, thus indirectly detecting whether a connecting ring is missing. The same principle applies to Y-shaped tubes.

[0027] In addition, when both legs of a U-shaped tube or Y-shaped tube lack connecting rings, the U-shaped tube or Y-shaped tube can be discharged directly through the waste port on the base, thus screening the waste and avoiding the problem of inserting the tube without connecting rings into the plug-in, which would affect the subsequent welding. This improves the quality control effect and helps to ensure the needs of automated production.

[0028] Optionally, the connecting ring includes a welding ring.

[0029] In some technical solutions, the base may optionally include a base body, a first guide bar, a second guide bar, and a stop bar, wherein the first guide bar and the second guide bar are spaced apart on the base body, a portion of the first guide bar and a portion of the second guide bar form a limiting platform, the first guide bar, the second guide bar and the base body enclose a guiding channel, and the stop bar is provided on the base body and extends at least partially along the height direction of the base.

[0030] In this technical solution, the base is defined as including a base body, a first guide bar, a second guide bar, and a stop bar. Specifically, the first and second guide bars are spaced apart on the base body, meaning the tube to be inserted is located between the first and second guide bars. By setting the first and second guide bars, the spacing between them can be controlled according to the size of the tube to be inserted, thus enabling the automatic tube insertion device to adapt to tubes of various sizes, which helps reduce costs.

[0031] A portion of the first guide bar and a portion of the second guide bar form a limiting platform. Optionally, the first guide bar includes a first limiting surface, and the second guide bar includes a second limiting surface, with the first and second limiting surfaces forming the limiting platform. Since the limiting platform is higher than the bottom wall of the guide channel along the height direction of the base, when the tube to be inserted contacts the limiting platform through at least two connecting rings, the limiting platform allows the tube to be suspended within the guide channel. This indirectly allows for the detection of whether connecting rings are missing from the tube, improving quality control and facilitating automated production.

[0032] Specifically, for a U-shaped tube, two connecting rings are fitted onto it. Within the material guide channel, these two connecting rings contact the limiting platform, suspending the U-shaped tube within the channel. Understandably, if the U-shaped tube is missing a connecting ring, the supporting leg on the side lacking the ring will fall, thus indirectly detecting whether a connecting ring is missing. The same principle applies to Y-shaped tubes.

[0033] The baffle is installed on the base and extends along the height of the base, thereby protecting the tube to be inserted in the guide channel and ensuring that the tube to be inserted can move stably to the working position in the guide channel.

[0034] In some technical solutions, the base may optionally be provided with a waste outlet, which is connected to the material guide channel.

[0035] In this technical solution, the base is also equipped with a waste outlet, which is specifically connected to the material guide channel. Specifically, when both legs of the U-shaped or Y-shaped tube lack connecting rings, the U-shaped or Y-shaped tube can be directly discharged through the waste outlet on the base, achieving waste screening. This avoids inserting tubes lacking connecting rings into the insertion plate, thus preventing issues with subsequent welding, improving quality control, and facilitating automated production.

[0036] In some technical solutions, the material guiding assembly may optionally include an adjusting member, which is located on the base and can adjust the height of the tube to be inserted in the material guiding channel.

[0037] In this technical solution, the material guiding assembly is further defined as including an adjusting component. Specifically, the adjusting component is set on the base and can adjust the height of the tube to be inserted in the material guiding channel, so that the height of the tube to be inserted that moves to the working position in the material guiding channel meets the requirements. This facilitates the material conveying device to quickly pick up the tube to be inserted at the working position and transport the tube to be inserted to the receiving tray, which is conducive to further improving automation efficiency.

[0038] For example, for a U-shaped tube, since two connecting rings are fitted on the outside of the U-shaped tube, and the two connecting rings are in contact with the limiting platform in the material guide channel, so that the U-shaped tube is suspended in the material guide channel. If the connecting rings are positioned too low on the U-shaped tube, that is, close to the tube opening, the height of the U-shaped tube in the material guide channel will be too high. Therefore, the height of the U-shaped tube can be adjusted by adjusting the adjusting component so that the material conveying device can quickly pick up the U-shaped tube on the working position and transport the U-shaped tube to the receiving tray.

[0039] For Y-shaped tubes, since two connecting rings are fitted on the outside of the Y-shaped tube, and the two connecting rings are in contact with the limiting platform in the material guide channel, so that the Y-shaped tube is suspended in the material guide channel. If the connecting rings are positioned too low on the Y-shaped tube, that is, close to the two tube openings, the height of the Y-shaped tube in the material guide channel will be too high. Therefore, the height of the Y-shaped tube can be adjusted by adjusting the adjusting device so that the material conveying device can quickly pick up the Y-shaped tube on the working position and transport the Y-shaped tube to the receiving tray.

[0040] In some technical solutions, the base may optionally be provided with an adjustment port, which is connected to the material guide channel. Since the tube to be inserted is located at the adjustment port, a part of the adjustment component can contact the tube to be inserted through the adjustment port to adjust the height of the tube to be inserted in the material guide channel.

[0041] In this technical solution, the base is also equipped with an adjustment port. Specifically, the adjustment port is connected to the material guide channel. That is, when the tube to be inserted moves within the material guide channel and reaches the adjustment port, the tube can be exposed through the adjustment port. At this time, part of the adjustment component can contact the tube to be inserted through the adjustment port, pushing the tube at an abnormal height to the standard height, thereby achieving the purpose of adjusting the height of the tube to be inserted within the material guide channel.

[0042] In some technical solutions, the adjusting component optionally includes a first driving part and a pressing block, wherein the pressing block is connected to the first driving part. Based on the fact that the tube to be inserted is located at the adjusting port, the first driving part drives the pressing block to move to the side where the material channel is located, so that the pressing block can contact the tube to be inserted through the adjusting port; wherein the side of the pressing block facing the material channel includes an arc-shaped surface.

[0043] In this technical solution, the adjusting component is defined as including a first driving part and a pressure block. Specifically, the pressure block is connected to the first driving part, and the first driving part can drive the pressure block to move to the side where the material channel is located.

[0044] Specifically, for the U-shaped tube, since two connecting rings are sleeved on the outside of the U-shaped tube, and the two connecting rings are in contact with the limiting platform in the material guide channel, so that the U-shaped tube is suspended in the material guide channel. If the connecting rings are positioned too low on the U-shaped tube, that is, close to the tube opening, the height of the U-shaped tube in the material guide channel will be too high. When the U-shaped tube moves to the adjustment port, the first drive unit drives the pressure block to move so that the pressure block contacts the U-shaped tube and pushes the abnormally high U-shaped tube to the standard height, so that the material conveying device can quickly pick up the U-shaped tube at the working position and transport the U-shaped tube to the receiving tray.

[0045] For Y-shaped tubes, two connecting rings are fitted on the outside of the Y-shaped tube, and the two connecting rings are in contact with the limiting platform in the guide channel, so that the Y-shaped tube is suspended in the guide channel. If the connecting rings are positioned too low on the Y-shaped tube, that is, close to the two tube openings, the height of the Y-shaped tube in the guide channel will be too high. When the Y-shaped tube moves to the adjustment port, the first drive unit drives the pressure block to move so that the pressure block contacts the Y-shaped tube and pushes the abnormally high Y-shaped tube to the standard height, so that the material conveying device can quickly pick up the Y-shaped tube at the working position and transport the Y-shaped tube to the receiving tray.

[0046] The side of the pressure block facing the material guide channel includes an arc-shaped surface, which allows the pressure block to be adapted to the structure of the U-tube, avoiding damage to the U-tube when adjusting its height, fully protecting the U-tube, and further ensuring product quality.

[0047] Optionally, the adjusting component also includes an adjusting part, which can change the position of the connecting ring on the U-shaped tube or Y-shaped tube by contacting the connecting ring, thereby achieving the purpose of adjusting the height of the U-shaped tube or Y-shaped tube in the material guide channel.

[0048] Optionally, the first drive unit includes a cylinder.

[0049] In some technical solutions, the material guiding assembly may optionally include an adjusting block, which is located on the base and on both sides of the adjusting port in the height direction of the material guiding channel. The adjusting block has a reference surface, and the height of the tube to be inserted is adjusted by the adjusting member through the adjusting port. The reference surface is used to contact the tube to be inserted.

[0050] In this technical solution, the material guiding assembly is further defined as including an adjusting block. Specifically, the adjusting block is disposed on the base, and the adjusting block and the adjusting port are located on opposite sides of the height direction of the material guiding channel. For example, the adjusting port is located at the top of the base, and the adjusting block is located at the bottom of the base. The specific configuration can be adjusted according to actual needs.

[0051] The adjusting block is equipped with a reference surface. Specifically, for the U-shaped tube, two connecting rings are sleeved on the outside of the U-shaped tube, and within the material guide channel, the two connecting rings contact the limiting platform respectively, allowing the U-shaped tube to suspend within the material guide channel. If the connecting rings are positioned too low on the U-shaped tube, i.e., close to the tube opening, the height of the U-shaped tube within the material guide channel will be too high. When the U-shaped tube moves to the adjusting port, the first driving unit drives the pressure block to move, causing the pressure block to contact the U-shaped tube. Since the adjusting block is located on the side opposite to the adjusting port, that is, the adjusting block and the pressure block are located on opposite sides of the height direction of the U-shaped tube, when the pressure block pushes the U-shaped tube at an abnormal height, due to the existence of the reference surface, when the pushed U-shaped tube contacts the reference surface, it moves to the standard height, ensuring that the distance from the connecting ring to the end face of the U-shaped tube is a positive deviation, and also helping to ensure that the two legs of the U-shaped tube are at the same height.

[0052] For the Y-shaped tube, two connecting rings are fitted on the outside of the Y-shaped tube, and within the material guide channel, the two connecting rings contact the limiting platform respectively, allowing the Y-shaped tube to suspend within the material guide channel. If the connecting rings are positioned too low on the Y-shaped tube, i.e., close to the two tube openings, the height of the Y-shaped tube within the material guide channel will be too high. When the Y-shaped tube moves to the adjustment port, the first drive unit drives the pressure block to move, causing the pressure block to contact the Y-shaped tube. Since an adjustment block is provided on the side opposite to the adjustment port, that is, the adjustment block and the pressure block are located on opposite sides of the height direction of the Y-shaped tube, when the pressure block pushes the Y-shaped tube at an abnormal height, due to the existence of the reference surface, when the pushed Y-shaped tube contacts the reference surface, it moves to the standard height, ensuring that the distance from the connecting ring to the end face of the Y-shaped tube is a positive deviation, and also helping to ensure that the two legs of the Y-shaped tube are at the same height.

[0053] In some technical solutions, the material feeding component may optionally include a material feeding rod, which can be inserted into the material guiding channel and move the tube to be inserted within the material guiding channel.

[0054] In this technical solution, the material feeding component includes a material feeding rod. Specifically, the material feeding rod can be inserted into the material guiding channel. Optionally, when the material feeding rod is inserted into the material guiding channel, it is located between any two adjacent tubes to be inserted, or it is located between the two legs of any tube to be inserted. The specific configuration can be adjusted according to actual needs.

[0055] The feeding rod enables the tube to be inserted to move within the feeding channel, thus allowing the tube to be inserted smoothly to the working position.

[0056] Optionally, the feeding component also includes a second drive unit and a third drive unit. The second drive unit can drive the feeding rod to insert into or move out of the guide channel, and the third drive unit can drive the feeding rod to move within the guide channel, so as to move the tube to be inserted within the guide channel, realize the switching of different work positions, and ensure that the tube to be inserted moves smoothly to the working position.

[0057] Optionally, there are multiple feeding rods, and the feeding component also includes a feeding arm. Multiple feeding rods are spaced apart on the feeding arm, a second drive unit is connected to the feeding arm, and a third drive unit is connected to the feeding arm.

[0058] Optionally, the second drive unit includes a cylinder.

[0059] In some technical solutions, the feeding assembly may optionally include a positioning element that can position the tube to be inserted at the working position.

[0060] In this technical solution, the guiding component is further defined as including a positioning component. Specifically, after the tube to be inserted in the guiding channel moves to the working position and before the conveying device picks up the tube to be inserted on the working position, the positioning component is used to position the tube to be inserted on the working position to ensure that the conveying device can smoothly pick up the tube to be inserted on the working position and transport the tube to be inserted to the receiving tray, thereby ensuring the smooth progress of the automated tube insertion operation and meeting the requirements of automated production.

[0061] In some technical solutions, the positioning component may optionally include a fixed seat, an adjusting seat, a fourth driving part, and a fifth driving part. The adjusting seat is disposed on the fixed seat and has a first clamping block and a second clamping block spaced apart. The fourth driving part is connected to at least one of the first clamping block and the second clamping block and can drive the first clamping block and / or the second clamping block to move so as to change the distance between the first clamping block and the second clamping block. The fifth driving part is connected to the adjusting seat and can drive the adjusting seat to move relative to the fixed seat along the height direction of the fixed seat.

[0062] In this technical solution, the positioning component is further defined as including a fixed seat, an adjusting seat, a fourth driving part and a fifth driving part. Specifically, the adjusting seat is provided with a first clamping block and a second clamping block, wherein the first clamping block and the second clamping block are spaced apart.

[0063] The fourth drive unit is connected to the first clamping block. Alternatively, the fourth drive unit is connected to the second clamping block. Alternatively, there are two fourth drive units, each connected to the first and second clamping blocks respectively. The specific configuration can be adjusted according to actual needs. Optionally, the fourth drive unit includes a cylinder.

[0064] Since the fourth drive unit can drive the first clamping block and / or the second clamping block to move, thereby changing the distance between the first clamping block and the second clamping block, it can be understood that the tube to be inserted is located between the first clamping block and the second clamping block. By controlling the movement of the first clamping block and / or the second clamping block, the tube to be inserted can be centered and positioned, ensuring that the material conveying device can smoothly pick up the tube to be inserted on the working position and transport the tube to be inserted to the receiving tray, ensuring the smooth progress of the automated tube insertion operation and meeting the requirements of automated production.

[0065] The fifth drive unit is connected to the adjustment seat. Driven by the fifth drive unit, the adjustment seat can move the first clamp and the second clamp in the height direction, that is, up and down, to facilitate the insertion of the tube into the working position.

[0066] Optionally, the first clamping block is provided with a first clamping groove, and the second clamping block is provided with a second clamping groove. The openings of the first clamping groove and the second clamping groove are opposite to each other. It can be understood that, for the U-shaped tube, one side of the tube support is located in the first clamping groove, and the other side of the tube support is located in the second clamping groove, thereby achieving the positioning of the tube to be inserted.

[0067] Optionally, the fifth drive unit includes a cylinder.

[0068] In some technical solutions, the automatic tube insertion device may optionally include a base plate and a second detection component, wherein the material guiding component is disposed on the base plate, the second detection component is disposed on the base plate, and is at least partially opposite to the working position.

[0069] In this technical solution, the automatic tube insertion device is further defined as including a base plate and a second detection component. Specifically, at least a part of the second detection component is opposite to the working position, so that the second detection component can detect whether there is a tube to be inserted on the working position. That is, the second detection component is used to detect whether there is material on the working position, so that the material conveying device can smoothly pick up the tube to be inserted on the working position and transport it to the receiving tray when there is material on the working position.

[0070] Optionally, the second detection element includes a photoelectric sensor.

[0071] In some technical solutions, the material conveying device optionally includes a support and a clamping assembly, wherein the clamping assembly includes a slide plate and a gripper, the slide plate is movably disposed on the support, the gripper is disposed on the slide plate, and the gripper is used to pick up the tube to be inserted on the working position.

[0072] In this technical solution, the material conveying device is defined to include a support and a clamping assembly. Specifically, the clamping assembly includes a sliding plate and a gripping component. The sliding plate is movably mounted on the support, and the gripping component is mounted on the sliding plate.

[0073] After the gripper picks up the tube to be inserted from the work station, it moves relative to the support via the slide plate, which in turn moves the gripper to transport the tube to the receiving tray.

[0074] Optionally, the gripper can move relative to the slide plate, allowing for easy position adjustment when gripping the tube to be inserted at the work station, thus facilitating smooth tube gripping. Furthermore, when the gripper transports the tube to be inserted to the receiving tray, its position can be adjusted by moving relative to the slide plate, ensuring the tube is smoothly placed on the tray, further improving the efficiency of automated tube insertion operations.

[0075] Optionally, the gripper includes gripping fingers.

[0076] Optionally, the automatic tube insertion device also includes a waste tray. When the opening of the tube to be inserted is damaged, the tube with the break can be picked up by a clamp and transported to the waste tray.

[0077] In some technical solutions, the clamping assembly may optionally include a sliding mechanism, which is disposed on the slide plate and connected to the gripper. The gripper can slide relative to the slide plate in a first direction and a second direction, respectively, through the sliding mechanism; wherein the first direction and the second direction are different.

[0078] In this technical solution, the clamping assembly includes a sliding mechanism. Specifically, the clamping component can slide relative to the slide plate along a first direction and a second direction via the sliding mechanism, for example, moving back and forth or left and right. This allows the clamping component to adjust its position when clamping the tube to be inserted at the work station, ensuring successful clamping even with poor material consistency. Furthermore, when the clamping component transports the tube to be inserted to the receiving tray, its placement can be adjusted by sliding relative to the slide plate along the first and second directions, ensuring the tube is smoothly placed on the receiving tray, further improving the efficiency of automated tube insertion. The first and second directions are different.

[0079] Optionally, at least one of the first direction and the second direction is a horizontal direction.

[0080] Optionally, the clamping assembly also includes a connecting rod and a rotating shaft. The rotating shaft is rotatably connected to the connecting rod, the connecting rod is connected to the slide plate, and the rotating shaft is connected to the sliding mechanism, so that the clamping component can rotate relative to the slide plate, further ensuring that the tube to be inserted can be successfully clamped even when the incoming material has poor consistency.

[0081] In some technical solutions, the clamping assembly may optionally include a sixth drive unit, which is located on the slide plate and connected to the sliding mechanism. The sixth drive unit can drive the clamping part to move along the height direction of the bracket through the sliding mechanism.

[0082] In this technical solution, the clamping assembly is further defined as including a sixth driving unit. Specifically, the sixth driving unit is connected to the sliding mechanism, so that the sixth driving unit can drive the clamping part to move along the height direction of the bracket through the sliding mechanism, that is, the sixth driving unit can drive the clamping part to perform lifting and lowering movements.

[0083] Because the gripper can move up and down relative to the slide plate, it can smoothly grip the tube to be inserted at the working position. Furthermore, when the gripper transports the tube to be inserted to the receiving tray, it can also be raised and lowered to ensure the tube is properly placed on the tray, further improving the efficiency of automated tube insertion.

[0084] Optionally, the sixth drive unit includes a cylinder.

[0085] In some technical solutions, the skateboard may optionally include a limiting block, and the clamping assembly may also include a guide plate connected to the sliding mechanism. The guide plate may include a movable block, and at least a portion of the movable block is opposite to the limiting block along the height direction of the bracket.

[0086] In this technical solution, the clamping assembly is further defined as including a guide plate. Specifically, the guide plate is connected to the sliding mechanism. That is, when the sliding mechanism moves up and down relative to the slide plate under the drive of the sixth drive unit, it can drive the guide plate to move up and down.

[0087] The guide plate is equipped with movable blocks, and at least some of the movable blocks are opposite to the limit blocks along the height direction of the bracket. Thus, when the guide plate moves up and down, the movable blocks and the limit blocks cooperate to limit the guide plate, thereby limiting the up and down movement of the gripped parts and preventing excessive up and down movement of the gripped parts. This is conducive to further improving the production efficiency of automated operations.

[0088] In some technical solutions, the support may optionally have a mounting groove, and the material conveying device may also include a cable chain, a portion of which is located within the mounting groove. The cable chain has a receiving space for accommodating cables.

[0089] In this technical solution, the material conveying device is further defined as including a cable chain. Specifically, the bracket is provided with a mounting groove, and a portion of the cable chain is disposed within the mounting groove. The cable chain is provided with a receiving space for accommodating cables, thereby providing protection for the cables and improving the reliability of the automatic tube insertion equipment.

[0090] In some technical solutions, the material conveying device may optionally include a seventh drive unit, a first transmission unit, and a second transmission unit, wherein the seventh drive unit is mounted on the support, the first transmission unit is mounted on the support and connected to the seventh drive unit, and the second transmission unit is mounted on the slide plate and connected to the first transmission unit.

[0091] In this technical solution, the material conveying device is further defined as including a seventh drive unit, a first transmission unit, and a second transmission unit. Specifically, the seventh drive unit is mounted on the support, the first transmission unit is connected to the seventh drive unit, and the second transmission unit is mounted on the slide plate and connected to the first transmission unit.

[0092] Specifically, driven by the seventh drive unit, the first transmission unit can drive the second transmission unit to move, and then drive the clamping part to move relative to the bracket through the slide plate, so that the clamping part can pick up the tube to be inserted on the working position and transport it to the receiving tray.

[0093] Optionally, the first transmission part includes a lead screw, and the second transmission part includes a lead screw nut. Through the cooperation between the lead screw nut and the lead screw, the slide plate moves relative to the bracket so that after the clamping part picks up the tube to be inserted on the working position, it can transport the tube to be inserted to the receiving tray.

[0094] In some technical solutions, the automatic cannulation device may optionally include a transfer assembly, with a receiving tray disposed on the transfer assembly and capable of moving on the transfer assembly.

[0095] In this technical solution, the automatic intubation device is further defined as including a transfer component. Specifically, the receiving tray is set on the transfer component and can move on the transfer component, so as to facilitate the robot's gripper component to smoothly pick up the tube to be intubated from the receiving tray, which is conducive to further improving the efficiency of automated intubation.

[0096] Specifically, when the tube to be inserted is in the working position, the material conveying device transports the tube to be inserted to the receiving tray. The receiving tray moves on the transfer component toward the side where the robot is located, so that the robot's gripper component can smoothly and quickly pick up the tube to be inserted from the receiving tray. By controlling the movement of the gripper component, the tube to be inserted is inserted into the plug, realizing the automated operation of inserting the tube into the plug, which is beneficial to significantly improve the efficiency of tube insertion and meet the production needs of automated operation.

[0097] Optionally, the receiving tray is equipped with multiple hoppers spaced apart. Each hopper is used to hold one tube to be inserted, so that the gripper assembly can grip multiple tubes to be inserted at one time and insert them into the tubes at the same time, which helps to further improve the efficiency of automated tube insertion.

[0098] In some technical solutions, the transfer assembly optionally includes a substrate, a moving shaft, and a limiting member, wherein the moving shaft is movably disposed on the substrate, the receiving tray is disposed on the moving shaft, and the limiting member is disposed on the substrate and located on the moving path of the receiving tray.

[0099] In this technical solution, the transfer assembly includes a substrate, a moving shaft, and a limiting member. Specifically, the moving shaft is disposed on the substrate and is capable of moving on the substrate. Since the receiving tray is disposed on the moving shaft, the moving shaft can drive the receiving tray to move relative to the substrate, so that the robot's gripper assembly can smoothly and quickly grasp the tube to be inserted on the receiving tray.

[0100] The limiting component is set on the substrate and is located on the moving path of the receiving tray. This allows the receiving tray to be limited, restricting its movement range and preventing it from falling off the substrate due to excessive movement, which would affect the automated insertion process. This helps ensure the smooth operation of automated insertion and meets the production requirements of automated operations.

[0101] In some technical solutions, the transfer assembly may optionally include a slide rail, which is disposed on the substrate, and a portion of the receiving tray slides in cooperation with the slide rail.

[0102] In this technical solution, the transfer assembly further includes a slide rail. Specifically, the slide rail is mounted on the substrate, and a portion of the receiving tray slides in cooperation with the slide rail. Optionally, a guide slider is provided on the side of the receiving tray facing the substrate. The guide slider slides in cooperation with the slide rail to guide the movement of the receiving tray, ensuring stable movement of the receiving tray on the substrate, so that the robot's gripper assembly can smoothly and quickly grasp the tube to be inserted on the receiving tray.

[0103] In some technical solutions, the gripper assembly optionally includes a mounting base, a connecting plate, grippers, a drive unit, and a buffer device. The connecting plate is connected to the mounting base, the grippers are movably mounted on the connecting plate, and the grippers are capable of gripping the tube to be inserted on the receiving tray. The drive unit is mounted on the mounting base, and the buffer device is located between the grippers and the mounting base. The first end of the buffer device is connected to the drive unit, and the second end of the buffer device is connected to the grippers.

[0104] In this technical solution, the gripper assembly is defined as including a mounting base, a connecting plate, grippers, a driving component, and a buffer device. Specifically, one end of the buffer device is connected to the driving component, and the other end of the buffer device is connected to the gripper. It can be understood that the gripper is used to grip the tube to be inserted. Specifically, after the gripper grips the tube to be inserted, under the drive of the driving component, the buffer device drives the gripper to move relative to the connecting plate away from the mounting base, so as to insert the gripped tube into the insertion slot of the device to be inserted.

[0105] Understandably, related technologies also employ automated tube insertion methods for the installation of the two semi-circular tubes, and generally use 2D vision systems to acquire the coordinates of the insertion port position. However, they cannot acquire depth coordinates, which results in the connecting ring of the tube to be inserted not fitting completely with the condenser cup after insertion, affecting the subsequent welding quality.

[0106] Because the drive unit and the gripper are connected by a buffer device, that is, a buffer device is set between the drive unit and the gripper, so that the buffer device can play a buffering role during tube insertion. That is, a flexible tube insertion method is used for automated tube insertion. Thus, under the buffering effect, even if the surface where the insertion port is located is uneven, the connecting ring of the tube to be inserted can be completely fitted with the cup mouth (the insertion port) after the tube is inserted. This avoids the situation of incomplete insertion or tube misalignment, ensures the welding effect of the connecting ring, and improves product quality and market competitiveness.

[0107] Optionally, the gripper includes gripping fingers, which are made of carbon steel with a contoured design to securely grip and protect the tube to be inserted.

[0108] In some technical solutions, the buffer device may optionally include a connecting shaft and a first elastic element, wherein one end of the connecting shaft is connected to a driving member, the other end of the connecting shaft is connected to a gripper, and the first elastic element is sleeved on the outside of the connecting shaft. Based on the movement of the connecting shaft relative to the gripper, the first elastic element deforms.

[0109] In this technical solution, the buffer device is defined to include a connecting shaft and a first elastic element. Specifically, the two ends of the connecting shaft are connected to the driving element and the gripper, respectively. The first elastic element is disposed on the connecting shaft. That is, after the gripper picks up the tube to be inserted, under the drive of the driving element, the connecting shaft drives the gripper to move away from the mounting base relative to the connecting plate, so as to insert the picked-up tube into the insertion slot of the insertion device.

[0110] Understandably, when the gripper reaches the surface where the insertion port is located, the drive unit continues to drive the connecting shaft to move away from the mounting base, while the gripper stops moving. This creates relative movement between the connecting shaft and the gripper. During this process, the first elastic element deforms, thus providing a buffering effect between the gripper and the drive unit, achieving flexible insertion. Even if the surface where the insertion port is located is uneven, the connecting ring of the insertion port can be completely fitted with the cup mouth (insertion port) after insertion, avoiding incomplete insertion and misalignment of the insertion port, ensuring the welding effect of the connecting ring and improving product quality.

[0111] Optionally, the first elastic element includes a spring.

[0112] In some technical solutions, the connecting plate is optionally provided with a guide rail, which can slide and engage with the gripper.

[0113] In this technical solution, the connecting plate is equipped with a guide rail. Specifically, the guide rail can slide and cooperate with the gripper, so that when the gripper moves relative to the connecting plate to insert the tube, it can slide smoothly along the guide rail, avoiding incorrect insertion, incomplete insertion, or misalignment, thereby improving product quality.

[0114] In some technical solutions, optionally, the number of grippers is multiple; wherein at least one gripper is an electric gripper; and / or at least one gripper is a pneumatic gripper.

[0115] In this technical solution, the number of grippers is limited to multiple. Specifically, at least one gripper is an electric gripper, which is understood to be used to grip U-shaped tubes. At least one gripper is a pneumatic gripper, which is understood to be used to grip Y-shaped tubes.

[0116] Optionally, when inserting the U-shaped tube, an angle deflection is required. Specifically, three angles are available: 0 degrees, 61.5 degrees, and 118.5 degrees, with an incoming material deviation of approximately 0.2 degrees. The Y-shaped tube is inserted at 0 degrees, with an incoming material deviation of 0.2 degrees. The Y-shaped tube is clamped and inserted using fixed pneumatic grippers (pneumatic jaws), while the U-shaped tube is clamped and inserted using rotatable electric grippers (electric jaws). The electric jaws can precisely control the angle, achieving U-shaped tube insertion at 0 degrees, 61.5 degrees, and 118.5 degrees.

[0117] In some technical solutions, optionally, the plug-in includes a socket to be inserted, the tube to be inserted is inserted into the socket, and the robot also includes a vision system, which is located on the gripper assembly and is used to determine the position coordinates of the socket.

[0118] In this technical solution, the robot is also limited to include a vision system. Specifically, the vision system is set on the gripper assembly. The vision system can determine the position coordinates of the insertion port and feed them back to the robot. After the gripper assembly picks up the tube to be inserted from the receiving tray, the robot performs deviation compensation based on the position coordinates of the insertion port and controls the movement of the gripper assembly. This allows the tube to be inserted accurately into the insertion port, avoiding incorrect insertion and further improving the efficiency of automated production and quality control.

[0119] In some technical solutions, the automatic tube insertion device may optionally include a cutting assembly and an eighth drive unit. The cutting assembly is located between the storage bin and the guiding assembly. The cutting assembly has a cutting groove and a sliding part. The cutting groove is located on the sliding part and can communicate with the storage bin. The eighth drive unit is connected to the sliding part and can drive the sliding part to move so that the cutting groove can be connected with the guiding channel.

[0120] In this technical solution, the automatic tube insertion device is further defined as including a cutting component and an eighth drive unit. Specifically, the cutting component is provided with a cutting groove and a sliding part. The cutting groove can be connected to the storage bin, that is, the tube to be inserted in the storage bin can move into the cutting groove.

[0121] Because the cutting groove is located on the sliding part, and the eighth drive unit can drive the sliding part to move, the cutting groove can move the tube to be inserted. When the cutting groove is connected to the guide channel, the tube to be inserted can enter the guide channel from the cutting groove and move to the working position from the guide channel. The cutting groove can move to connect with the guide channel, ensuring the smooth movement of the tube to be inserted and meeting the needs of automated production.

[0122] In some technical solutions, the cutting assembly may optionally include a discharge component, a first guide portion, and a guide portion. The discharge component is provided with a discharge trough, the two ends of which are respectively connected to a storage bin and a cutting trough. The first guide portion is located in the discharge trough, and the tube to be inserted is located in the discharge trough and can move on the first guide portion. The guide portion is movably located on the sliding portion, and the guide portion is provided with a second guide portion. Based on the second guide portion extending into the cutting trough, the tube to be inserted can move from the first guide portion to the second guide portion.

[0123] In this technical solution, the cutting assembly is further defined as including a discharge component, a first guide part, and a guide part. Specifically, the discharge component is provided with a discharge trough, one end of which is connected to the storage bin, and the other end of which is connected to the cutting trough. The first guide part is provided in the discharge trough, and the discharge trough is used to accommodate the tube to be inserted. That is, under the guidance of the first guide part, the tube to be inserted in the storage bin can move to the cutting trough through the discharge trough.

[0124] Specifically, before the tube to be inserted moves from the discharge trough to the cutting trough, the second guide part of the guide extends into the cutting trough. When the tube to be inserted moves into the cutting trough, the supporting effect of the second guide part can prevent the tube to be inserted from being misaligned or tilted when entering the cutting trough, thus helping to ensure that the tube to be inserted in the cutting trough can smoothly enter the guiding channel.

[0125] Optionally, the slide (sliding part) retracts, disconnecting the cutting groove from the guiding channel. The U-shaped tube misalignment block (cutting groove) receives the U-shaped tube (to be inserted) and is equipped with a retractable small guide rail (guide component). When the material is fed to the U-shaped tube misalignment block (cutting groove) by direct vibration, the slide cylinder extends upward, and the small guide rail (guide component) connects with the direct vibration guide rail (first guide part), which facilitates material conveying and ensures that the U-shaped tube is not misaligned or tilted.

[0126] In some technical solutions, the cutting assembly may optionally include a third detection element, which is located in the sliding part and is opposite to the cutting groove.

[0127] In this technical solution, the cutting assembly is further defined as including a third detection element. Specifically, the third detection element is disposed on the sliding part and is opposite to the cutting groove. It is used to detect whether there is a tube to be inserted in the cutting groove. In other words, the third detection element is used to detect whether there is material in the cutting groove. When there is material in the cutting groove, the eighth drive unit drives the sliding part to move so that the cutting groove is connected to the guide channel to meet the needs of automated production.

[0128] Optionally, the third detection element includes a photoelectric sensor.

[0129] In some technical solutions, the automatic cannulation device may optionally include a positioning mechanism for positioning the cannula to be inserted.

[0130] In this technical solution, the automatic tube insertion device is further defined as including a positioning mechanism. Specifically, the positioning mechanism can position the tube to be inserted. Optionally, the positioning mechanism can position the condenser and / or evaporator, thereby obtaining the precise position coordinates of the insertion port on the tube to be inserted. When the gripper assembly drives the tube to be inserted into the insertion port, displacement or product deformation during insertion can be avoided, thus ensuring product quality.

[0131] In some technical solutions, the positioning mechanism optionally includes a frame and a pressure plate assembly, wherein the frame is provided with a receiving compartment for accommodating the insert to be inserted, the pressure plate assembly is located in the frame, the pressure plate assembly includes a pressure plate located in the receiving compartment, and the pressure plate is movable relative to the frame to press the insert to be inserted.

[0132] In this technical solution, the positioning mechanism is defined to include a frame and a pressure plate assembly. Specifically, the frame is provided with a receiving compartment, and the insertion port is located in the receiving compartment. It can be understood that the insertion port is exposed outside the receiving compartment to facilitate insertion.

[0133] The pressure plate is movably mounted on the frame and is located within the receiving chamber. Specifically, the pressure plate moves within the receiving chamber and presses the insert to be inserted, thereby fixing the position of the insert and enabling precise acquisition of the position coordinates of the insertion port on the insert. When the gripper assembly drives the tube to be inserted into the insertion port, displacement or product deformation during insertion can be avoided, ensuring product quality and meeting the needs of automated production.

[0134] Optionally, the pressure plate assembly also includes a cylinder connected to the pressure plate, so that the pressure plate can move within the receiving chamber and press the insert to be inserted under the drive of the cylinder.

[0135] In some technical solutions, the positioning mechanism may optionally include a mounting column and a second elastic element. The mounting column is located on the outside of the receiving compartment and connected to the pressure plate. The second elastic element is sleeved on the outside of the mounting column. Based on the movement of the pressure plate relative to the frame, the mounting column can drive the second elastic element to move, so that the second elastic element deforms.

[0136] In this technical solution, the positioning mechanism is further defined as including a mounting column and a second elastic element. Specifically, the mounting column is set on the frame and is located outside the receiving compartment, and the second elastic element is sleeved on the mounting column.

[0137] Specifically, when the pressure plate moves relative to the frame and presses the plug-in to fix its position, the pressure plate can drive the mounting post to move relative to the frame, causing the second elastic element to deform. For example, the second elastic element is compressed. Under the action of the elastic force of the second elastic element, the pressure plate has a certain buffering effect when pressing the plug-in, avoiding damage to the plug-in and improving the quality control effect.

[0138] Optionally, the second elastic element includes a spring.

[0139] In some technical solutions, the positioning mechanism may optionally include a base, a frame, a ninth drive unit, and a tenth drive unit. The frame is mounted on the base, the frame is mounted on the frame, the ninth drive unit is connected to the frame and can drive the frame to move horizontally relative to the base, and the tenth drive unit is connected to the frame and can drive the frame to move vertically along the base.

[0140] In this technical solution, the positioning mechanism is further defined as including a base, a frame, a ninth drive unit, and a tenth drive unit. Specifically, since the frame is mounted on the frame, and the insert to be inserted is located within the receiving compartment of the frame, the frame can move the insert to be inserted horizontally, such as forward or backward, driven by the ninth drive unit. Furthermore, driven by the tenth drive unit, the frame can move the insert to be inserted vertically, i.e., up or down, thereby adjusting the position of the insert and facilitating the robot to move the gripper assembly for insertion.

[0141] Optionally, the ninth drive unit includes a servo module, which can avoid defects such as condenser tipping due to large-scale frictional movement.

[0142] According to a second aspect of the present invention, an air conditioner is provided, comprising: a plug to be inserted; a tube to be inserted, wherein the tube to be inserted is inserted into the plug using an automatic tube insertion device as provided in any of the above technical solutions, thus possessing all the beneficial technical effects of the automatic tube insertion device, which will not be elaborated further here.

[0143] In addition, the air conditioner provided by the above-described technical solution of the present invention also has the following additional technical features:

[0144] In some technical solutions, optionally, the plug-in to be inserted has a socket, and the tube to be inserted includes a tube body and at least two connecting rings, wherein the at least two connecting rings are respectively sleeved on the outside of the tube body, and the tube body is inserted into the socket, and each connecting ring is connected to the plug-in to be inserted.

[0145] In this technical solution, the cannula to be inserted includes a tube body and at least two connecting rings. Specifically, at least two connecting rings are respectively sleeved on the outside of the tube body. Specifically, for a U-shaped tube, there are two connecting rings, each sleeved on the outside of one of the two legs of the U-shaped tube. For a Y-shaped tube, there are also two connecting rings, each sleeved on the outside of one of the two legs of the Y-shaped tube.

[0146] When the tube body is inserted into the insertion port of the plug using an automatic tube insertion device, each connecting ring is connected to the plug, thus completing the assembly of the tube to be inserted onto the plug.

[0147] Optionally, the connecting rings include welding rings, meaning that when the tube body is inserted into the insertion port using an automatic tube insertion device, at least two connecting rings are welded to the insertion port.

[0148] In some technical solutions, the insert to be installed may optionally include at least one of a condenser and an evaporator; and / or the tube to be installed may include at least one of a U-tube and a Y-tube.

[0149] In this technical solution, the tube to be inserted includes a condenser, or the tube to be inserted includes an evaporator, or the tube to be inserted includes both a condenser and an evaporator. In other words, using an automatic tube insertion device can achieve automatic tube insertion of at least one of the condenser and evaporator, meeting the needs of automated production.

[0150] The tube to be inserted includes at least one of a U-shaped tube and a Y-shaped tube. Specifically, the tube to be inserted includes a U-shaped tube. The feeding component enables the U-shaped tube, which enters the material guide channel from the storage bin, to move within the material guide channel and to the target position (i.e., the working position). When the U-shaped tube is in the working position, the material conveying device transports the U-shaped tube located in the working position to the receiving tray. The robot's gripper assembly picks up the U-shaped tube from the receiving tray, and by controlling the movement of the gripper assembly, the U-shaped tube is inserted into the condenser or evaporator, realizing the automated operation of U-shaped tube insertion. This significantly improves the efficiency of U-shaped tube insertion and meets the production needs of automated operations.

[0151] The tubes to be inserted include Y-shaped tubes. The feeding device enables the Y-shaped tubes, which enter the feeding channel from the storage bin, to move within the feeding channel and to the target position (i.e., the working position). When the Y-shaped tube is in the working position, the feeding device transports the Y-shaped tube in the working position to the receiving tray. The robot's gripper assembly picks up the Y-shaped tube from the receiving tray, and by controlling the movement of the gripper assembly, the Y-shaped tube is inserted into the condenser or evaporator, realizing the automated operation of Y-shaped tube insertion. This significantly improves the efficiency of Y-shaped tube insertion and meets the production needs of automated operations.

[0152] Moreover, compared to the manual insertion method used in related technologies for air conditioning semi-circular pipes, this method avoids incorrect insertion and mixing of U-shaped and Y-shaped pipes due to repeated manual operations, thus improving product quality.

[0153] Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description or may be learned by practice of the invention. Attached Figure Description

[0154] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0155] Figure 1 One of the partial structural schematic diagrams of an automatic cannulation device according to an embodiment of the present invention is shown;

[0156] Figure 2 A second partial structural schematic diagram of an automatic cannulation device according to an embodiment of the present invention is shown;

[0157] Figure 3 A third partial structural schematic diagram of an automatic intubation device according to an embodiment of the present invention is shown;

[0158] Figure 4 One of the structural schematic diagrams of a material guiding assembly according to an embodiment of the present invention is shown;

[0159] Figure 5 A second schematic diagram of the structure of a material guiding assembly according to an embodiment of the present invention is shown;

[0160] Figure 6 One of the partial structural schematic diagrams of a material guiding assembly according to an embodiment of the present invention is shown;

[0161] Figure 7 A second partial structural schematic diagram of a material guiding assembly according to an embodiment of the present invention is shown;

[0162] Figure 8 A third partial structural schematic diagram of a material guiding assembly according to an embodiment of the present invention is shown;

[0163] Figure 9 A fourth partial structural schematic diagram of a material guiding assembly according to an embodiment of the present invention is shown;

[0164] Figure 10 One of the structural schematic diagrams of a feeder according to an embodiment of the present invention is shown;

[0165] Figure 11 A second schematic diagram of the structure of a feeder according to an embodiment of the present invention is shown;

[0166] Figure 12 A schematic diagram of the structure of a positioning member according to an embodiment of the present invention is shown;

[0167] Figure 13 A schematic diagram of the structure of an adjusting member according to an embodiment of the present invention is shown;

[0168] Figure 14 A schematic diagram of the structure of a first detection element according to an embodiment of the present invention is shown;

[0169] Figure 15 One of the structural schematic diagrams of a material conveying device according to an embodiment of the present invention is shown;

[0170] Figure 16 A second schematic diagram of the structure of a material conveying device according to an embodiment of the present invention is shown;

[0171] Figure 17 A schematic diagram of the structure of a transfer assembly according to an embodiment of the present invention is shown;

[0172] Figure 18 A schematic diagram of a cutting assembly according to an embodiment of the present invention is shown;

[0173] Figure 19 A partial structural schematic diagram of a cutting assembly according to an embodiment of the present invention is shown;

[0174] Figure 20 One of the structural schematic diagrams of a gripper assembly according to an embodiment of the present invention is shown;

[0175] Figure 21 A second schematic diagram of the gripper assembly according to an embodiment of the present invention is shown;

[0176] Figure 22 A third schematic diagram of the gripper assembly according to an embodiment of the present invention is shown;

[0177] Figure 23 One of the structural schematic diagrams of the gripper according to an embodiment of the present invention is shown;

[0178] Figure 24 A second schematic diagram of the gripper structure according to an embodiment of the present invention is shown;

[0179] Figure 25 One of the structural schematic diagrams of a storage silo according to an embodiment of the present invention is shown;

[0180] Figure 26 A second schematic diagram of the structure of a storage silo according to an embodiment of the present invention is shown;

[0181] Figure 27 One of the structural schematic diagrams of a positioning mechanism according to an embodiment of the present invention is shown;

[0182] Figure 28 A second schematic diagram of the positioning mechanism according to an embodiment of the present invention is shown;

[0183] Figure 29 A third schematic diagram of the positioning mechanism according to an embodiment of the present invention is shown;

[0184] Figure 30 One of the structural schematic diagrams of an automatic cannulation device according to an embodiment of the present invention is shown;

[0185] Figure 31 A second schematic diagram of an automatic cannulation device according to an embodiment of the present invention is shown;

[0186] Figure 32 The third schematic diagram of an automatic cannulation device according to an embodiment of the present invention is shown.

[0187] in, Figures 1 to 32 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0188] 100 Automatic tube insertion device, 110 Storage bin, 120 Material guiding assembly, 121 Material guiding channel, 122 Working position, 123 Base, 124 Adjusting component, 125 Adjusting port, 126 Adjusting block, 127 Reference plane, 128 Limiting platform, 129 Detection port, 130 Material conveying device, 131 Support, 132 Clamping assembly, 133 Slide plate, 134 Clamping component, 135 Sliding mechanism, 136 Sixth drive unit, 137 Guide plate, 138 Movable block, 139 Limiting block, 140 Machine Robot, 141 gripper assembly, 142 mounting base, 143 gripper, 144 buffer device, 145 connecting shaft, 146 first elastic element, 147 guide rail, 148 driving element, 149 connecting plate, 150 receiving tray, 160 first driving part, 170 pressure block, 180 base, 190 first guide bar, 210 second guide bar, 220 stop bar, 230 first detection element, 240 material feeding element, 241 material feeding rod, 242 second driving part, 243 third driving part, 250 fixed Positioning component, 251 Adjustment seat, 252 Fourth drive unit, 253 First clamping block, 254 Second clamping block, 255 Fifth drive unit, 256 Fixed seat, 260 Base plate, 270 Second detection component, 280 Mounting slot, 290 Cable chain, 291 Accommodation space, 310 Seventh drive unit, 320 First transmission unit, 330 Transfer assembly, 331 Base plate, 332 Moving shaft, 333 Limiting component, 334 Slide rail, 340 Vision system, 350 Cutting assembly, 351 Cutting groove, 352 Slide rail 353 Eighth drive unit, 354 discharge component, 355 discharge chute, 356 First guide unit, 357 guide component, 359 Third detection component, 360 Positioning mechanism, 361 Frame, 362 Receiving chamber, 363 Pressure plate assembly, 364 Pressure plate, 365 Mounting column, 366 Second elastic component, 367 Frame, 368 Ninth drive unit, 369 Tenth drive unit, 370 Base, 400 Plug-in ready, 410 Insertion ready, 420 Pipe ready, 421 Pipe body, 422 Connecting ring. Detailed Implementation

[0189] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0190] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0191] The following reference Figures 1 to 32 To describe an automatic intubation device 100 and an air conditioner provided according to some embodiments of the present invention.

[0192] In one embodiment according to this application, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 25 , Figure 26 , Figure 30 , Figure 31 and Figure 32 As shown, an automatic tube insertion device 100 for an air conditioner is proposed. The air conditioner includes a tube 400 to be inserted and a tube 420 to be inserted. The automatic tube insertion device 100 includes: a storage bin 110 for storing the tube 420 to be inserted; and a guiding assembly 120, which includes a guiding channel 121, a working position 122, and a feeding component 240. The guiding channel 121 is connected to the storage bin 110, the working position 122 is connected to the guiding channel 121, and the feeding component 240... 40 enables the tube to be inserted 420 to be moved to the working position 122 through the guide channel 121; the conveying device 130 can transport the tube to be inserted 420 located at the working position 122 to the receiving tray 150; the robot 140 is equipped with a gripper assembly 141, which can grip the tube to be inserted 420 on the receiving tray 150 and move the gripper assembly 141 so that the tube to be inserted 420 is inserted into the insert 400.

[0193] The automatic tube insertion device 100 provided in this embodiment of the invention includes a storage bin 110, a material guiding component 120, a material conveying device 130, and a robot 140. Specifically, the air conditioner includes a tube to be inserted 400 and a tube to be inserted 420. Optionally, the tube to be inserted 400 includes at least one of a condenser and an evaporator, and the tube to be inserted 420 includes at least one of a U-shaped tube and a Y-shaped tube.

[0194] Understandably, in related technologies, the insertion of tubes into condensers or evaporators is generally done manually, which is inefficient and cannot meet the needs of automated production.

[0195] The material guiding assembly 120 includes a material guiding channel 121 and a material pushing component 240. One end of the material guiding channel 121 can be connected to the storage bin 110, and the other end of the material guiding channel 121 can be connected to the working position 122. The material pushing component 240 can make the tube 420 to be inserted, which enters the material guiding channel 121 from the storage bin 110, move within the material guiding channel 121 and move to the target position (i.e., the working position 122). When the tube 420 to be inserted is in the working position 122, the material conveying device 130 transports the tube 420 to be inserted on the working position 122 to the receiving tray 150. The gripper assembly 141 of the robot 140 grips the tube 420 to be inserted on the receiving tray 150, and by controlling the movement of the gripper assembly 141, the tube 420 to be inserted is inserted into the plug 400, realizing the automated operation of inserting the tube 420 into the plug 400, which is beneficial to significantly improve the efficiency of the tube 420 insertion operation and meet the production needs of automated operation.

[0196] Moreover, compared to the manual insertion method used in related technologies for air conditioning semi-circular pipes, this method avoids incorrect insertion and mixing of U-shaped and Y-shaped pipes due to repeated manual operations, thus improving product quality.

[0197] Optionally, the storage bin 110 includes a bin body and a vibrating plate. The bin body is used to store the tubes 420 to be inserted. Specifically, when the storage pot on the vibrating plate is short of material, the door of the bin body is opened, allowing the tubes 420 to be inserted into the storage pot. The vibrating plate vibrates to arrange the tubes 420 to be inserted.

[0198] Optionally, the automatic tube insertion device 100 includes two storage bins 110, two guiding components 120, and two conveying devices 130. That is, the automatic tube insertion device 100 is divided into two groups. The first group includes the storage bins 110, guiding components 120, and conveying devices 130, and the second group also includes the storage bins 110, guiding components 120, and conveying devices 130. Specifically, U-shaped tubes and Y-shaped tubes are manually placed into the storage bins 110 of the first group and the storage bins 110 of the second group, respectively. In other words, the storage bins 110 of the first group are used to store U-shaped tubes, and the storage bins 110 of the second group are used to store Y-shaped tubes. When the U-shaped tube is transported to the first receiving tray 150 and the Y-shaped tube is transported to the second receiving tray 150, the gripper assembly 141 of the robot 140 grips the U-shaped tube and the Y-shaped tube respectively for insertion, or the gripper assembly 141 of the robot 140 grips the U-shaped tube and the Y-shaped tube respectively and inserts them simultaneously. This can avoid the U-shaped tube and the Y-shaped tube being inserted incorrectly or mixed up, and at the same time, it can further improve the efficiency of air conditioner tube insertion and meet the production needs of automated operation.

[0199] Optionally, the working position 122 is exposed on the base 123, which facilitates the material handling device 130 to pick up the tube 420 to be inserted on the working position 122 and makes it easier to control.

[0200] like Figure 6 and Figure 14 As shown, in some embodiments, optionally, the material guiding assembly 120 further includes a base 123 and a first detection element 230, wherein the base 123 is provided with a material guiding channel 121, a working position 122 and a detection port 129, the detection port 129 is connected to the material guiding channel 121, and the first detection element 230 is disposed at the detection port 129.

[0201] In this embodiment, the material guiding assembly 120 is further defined as including a base 123 and a first detection element 230. Specifically, the base 123 is provided with a material guiding channel 121, a working position 122 and a detection port 129, and the detection port 129 is connected to the material guiding channel 121.

[0202] Understandably, when manually inserting air conditioning semi-circular tubes in related technologies, it is generally impossible for workers to distinguish the condition of the incoming semi-circular tubes. For example, the tube opening may be damaged, or the weld ring on the semi-circular tube may be missing. In other words, it is impossible to effectively identify problematic semi-circular tubes, which leads to problems in the subsequent welding when the semi-circular tube is inserted into the condenser or evaporator, affecting product quality.

[0203] The first detection element 230 is set at the detection port 129. Since the detection port 129 is connected to the material guide channel 121, the first detection element 230 can detect the incoming material status of the tube 420 to be inserted in the material guide channel 121. Based on the detection result of the first detection element 230, the problematic tubes 420 to be inserted can be screened out, avoiding the insertion of tubes 420 with problems such as broken tube openings into the plug-in 400. This reduces the quality problems of the plug-in 400 products, improves the quality control effect, and helps to ensure the needs of automated production.

[0204] Optionally, the first inspection component 230 includes a camera and a lens. Specifically, the camera takes a picture of the tube 420 to be inserted through the inspection port 129 to detect whether the tube opening is damaged. If there is damage, the system marks it, and the back-end actuator picks up and discards the material, that is, the problematic tube 420 to be inserted is screened.

[0205] Optionally, the detection port 129 is configured to be located at the top of the base 123, and / or the detection port 129 is configured to be located at the bottom of the base 123. The specific configuration can be adjusted according to actual needs.

[0206] like Figure 6 As shown, in some embodiments, the detection port 129 is optionally configured to be located at the bottom of the base 123.

[0207] In this embodiment, the detection port 129 is positioned at the bottom of the base 123. That is, the first detection element 230 detects the tube 420 to be inserted in the guide channel 121 from bottom to top through the detection port 129. It can be understood that, for the U-shaped tube, when the U-shaped tube moves in the guide channel 121, the opening of the U-shaped tube faces downward.

[0208] Since the first inspection piece 230 inspects the tube 420 to be inserted in the guide channel 121 from bottom to top through the inspection port 129, it is convenient to effectively detect whether the U-shaped tube opening is damaged. Based on the inspection results of the first inspection piece 230, the problematic tubes 420 to be inserted can be screened out, avoiding the insertion of tubes 420 with problems such as tube opening damage into the plug-in 400, thereby reducing the quality problems of the plug-in 400 products, improving the quality control effect, and helping to ensure the needs of automated production.

[0209] like Figure 6 and Figure 8 As shown, in some embodiments, optionally, the tube to be inserted 420 includes at least two connecting rings 422, and the base 123 is also provided with a limiting platform 128, which is located in the material guide channel 121 and is used to contact at least two connecting rings 422; wherein, along the height direction of the base 123, the limiting platform 128 is higher than the bottom wall of the material guide channel 121.

[0210] In this embodiment, the base 123 is further provided with a limiting platform 128. Specifically, the limiting platform 128 is disposed in the material guide channel 121, and along the height direction of the base 123, the limiting platform 128 is higher than the bottom wall of the material guide channel 121. That is to say, when the tube to be inserted 420 contacts the limiting platform 128 through at least two connecting rings 422, the limiting platform 128 allows the tube to be inserted 420 to be suspended in the material guide channel 121. This allows for indirect detection of whether the tube to be inserted 420 is missing a connecting ring 422, improving quality control and helping to ensure the needs of automated production.

[0211] Specifically, for the U-shaped tube, two connecting rings 422 are fitted onto the U-shaped tube. Within the material guide channel 121, these two connecting rings 422 contact the limiting platform 128, causing the U-shaped tube to suspend within the material guide channel 121. It is understood that if the U-shaped tube is missing a connecting ring 422, the supporting leg on the side lacking the connecting ring 422 will fall, thus allowing for indirect detection of whether a connecting ring 422 is missing from the U-shaped tube. The same principle applies to the Y-shaped tube.

[0212] In addition, when both legs of the U-tube or Y-tube lack connecting rings 422, the U-tube or Y-tube can be directly discharged through the waste port on the base 123 to achieve waste screening. This avoids inserting the tube 420 lacking connecting rings 422 into the plug-in 400, which would affect the subsequent welding process, improves quality control, and helps ensure the needs of automated production.

[0213] Optionally, the connecting ring 422 includes a welding ring.

[0214] like Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, in some embodiments, optionally, the base 123 includes a base body 180, a first guide bar 190, a second guide bar 210, and a stop bar 220, wherein the first guide bar 190 and the second guide bar 210 are spaced apart from the base body 180, a portion of the first guide bar 190 and a portion of the second guide bar 210 form a limiting platform 128, the first guide bar 190, the second guide bar 210 and the base body 180 enclose a guiding channel 121, and the stop bar 220 is disposed on the base body 180 and extends at least partially along the height direction of the base 123.

[0215] In this embodiment, the base 123 is defined as including a base body 180, a first guide bar 190, a second guide bar 210, and a stop bar 220. Specifically, the first guide bar 190 and the second guide bar 210 are spaced apart on the base body 180. It can be understood that the tube to be inserted 420 is located between the first guide bar 190 and the second guide bar 210. By setting the first guide bar 190 and the second guide bar 210, the spacing between the first guide bar 190 and the second guide bar 210 can be controlled according to the size of the tube to be inserted 420, thereby enabling the automatic tube insertion device 100 to adapt to various sizes of tubes to be inserted 420, which helps to reduce costs.

[0216] A portion of the first guide bar 190 and a portion of the second guide bar 210 form a limiting platform 128. Optionally, the first guide bar 190 includes a first limiting surface, and the second guide bar 210 includes a second limiting surface. The first and second limiting surfaces form the limiting platform 128. Since the limiting platform 128 is higher than the bottom wall of the guide channel 121 along the height direction of the base 123, when the tube to be inserted 420 contacts the limiting platform 128 through at least two connecting rings 422, the limiting platform 128 allows the tube to be inserted 420 to be suspended within the guide channel 121. This indirectly allows for the detection of whether a connecting ring 422 is missing from the tube to be inserted 420, improving quality control and facilitating the fulfillment of automated production requirements.

[0217] Specifically, for the U-shaped tube, two connecting rings 422 are fitted onto the U-shaped tube. Within the material guide channel 121, these two connecting rings 422 contact the limiting platform 128, causing the U-shaped tube to suspend within the material guide channel 121. It is understood that if the U-shaped tube is missing a connecting ring 422, the supporting leg on the side lacking the connecting ring 422 will fall, thus allowing for indirect detection of whether a connecting ring 422 is missing from the U-shaped tube. The same principle applies to the Y-shaped tube.

[0218] The baffle strip 220 is provided on the base 180 and extends along the height direction of the base 123, thereby protecting the tube 420 to be inserted located in the guide channel 121 and ensuring that the tube 420 to be inserted can move stably to the working position 122 in the guide channel 121.

[0219] In some embodiments, the base 123 may optionally be provided with a waste outlet, which is connected to the guide channel 121.

[0220] In this embodiment, the base 123 is further provided with a waste outlet, which is specifically connected to the guide channel 121. Specifically, when both legs of the U-shaped tube or Y-shaped tube lack connecting rings 422, the U-shaped tube or Y-shaped tube can be directly discharged through the waste outlet on the base 123, thereby screening waste and avoiding the problem of inserting the tube 420 lacking connecting rings 422 into the plug-in 400, which would affect the subsequent welding. This improves quality control and helps ensure the needs of automated production.

[0221] like Figure 4 , Figure 5 and Figure 13 As shown, in some embodiments, the material guiding assembly 120 may optionally include an adjusting member 124, which is disposed on the base 123 and is capable of adjusting the height of the tube to be inserted 420 in the material guiding channel 121.

[0222] In this embodiment, the guiding assembly 120 is further defined as including an adjusting member 124. Specifically, the adjusting member 124 is disposed on the base 123 and can adjust the height of the tube to be inserted 420 in the guiding channel 121, so that the height of the tube to be inserted 420 moving to the working position 122 in the guiding channel 121 meets the requirements, thereby facilitating the material conveying device 130 to quickly pick up the tube to be inserted 420 on the working position 122 and transport the tube to be inserted 420 to the receiving tray 150, which is conducive to further improving automation efficiency.

[0223] For example, for a U-shaped tube, since two connecting rings 422 are sleeved on the outside of the U-shaped tube, and the two connecting rings 422 are in contact with the limiting platform 128 in the material guide channel 121, so that the U-shaped tube is suspended in the material guide channel 121. If the connecting rings 422 are positioned too low on the U-shaped tube, that is, close to the tube opening, the height of the U-shaped tube in the material guide channel 121 will be too high. Therefore, the height of the U-shaped tube can be adjusted by adjusting the adjusting component 124 so that the material conveying device 130 can quickly pick up the U-shaped tube on the working position 122 and transport the U-shaped tube to the receiving tray 150.

[0224] For the Y-shaped tube, since two connecting rings 422 are sleeved on the outside of the Y-shaped tube, and the two connecting rings 422 are in contact with the limiting platform 128 in the material guide channel 121, so that the Y-shaped tube is suspended in the material guide channel 121. If the connecting rings 422 are positioned too low on the Y-shaped tube, that is, close to the two tube openings, the height of the Y-shaped tube in the material guide channel 121 will be too high. Therefore, the height of the Y-shaped tube can be adjusted by adjusting the adjusting component 124 so that the material conveying device 130 can quickly pick up the Y-shaped tube on the working position 122 and transport the Y-shaped tube to the receiving tray 150.

[0225] like Figure 6 and Figure 7 As shown, in some embodiments, the base 123 may optionally be provided with an adjustment port 125, which is connected to the material guide channel 121. Since the tube to be inserted 420 is located at the adjustment port 125, a part of the adjustment member 124 can contact the tube to be inserted 420 through the adjustment port 125 to adjust the height of the tube to be inserted 420 in the material guide channel 121.

[0226] In this embodiment, the base 123 is further provided with an adjustment port 125. Specifically, the adjustment port 125 is connected to the guide channel 121. That is, when the tube to be inserted 420 moves within the guide channel 121 and reaches the adjustment port 125, the tube to be inserted 420 can be exposed through the adjustment port 125. At this time, part of the adjustment member 124 can contact the tube to be inserted 420 through the adjustment port 125, pushing the tube to be inserted 420 at an abnormal height to the standard height, thereby achieving the purpose of adjusting the height of the tube to be inserted 420 within the guide channel 121.

[0227] like Figure 5 , Figure 6 , Figure 7 and Figure 13As shown, in some embodiments, optionally, the adjusting member 124 includes a first driving part 160 and a pressing block 170, wherein the pressing block 170 is connected to the first driving part 160. Based on the fact that the tube to be inserted 420 is located at the adjusting port 125, the first driving part 160 drives the pressing block 170 to move to the side where the feeding channel 121 is located, so that the pressing block 170 can contact the tube to be inserted 420 through the adjusting port 125; wherein, the side of the pressing block 170 facing the feeding channel 121 includes an arc-shaped surface.

[0228] In this embodiment, the adjusting member 124 is defined to include a first driving part 160 and a pressing block 170. Specifically, the pressing block 170 is connected to the first driving part 160. Specifically, the first driving part 160 can drive the pressing block 170 to move to the side where the material channel 121 is located.

[0229] Specifically, for the U-shaped tube, since two connecting rings 422 are sleeved on the outside of the U-shaped tube, and the two connecting rings 422 are in contact with the limiting platform 128 in the material guide channel 121, so that the U-shaped tube is suspended in the material guide channel 121. If the connecting rings 422 are positioned too low on the U-shaped tube, that is, close to the tube opening, the height of the U-shaped tube in the material guide channel 121 will be too high. When the U-shaped tube moves to the adjustment port 125, the first driving part 160 drives the pressure block 170 to move so that the pressure block 170 contacts the U-shaped tube and pushes the abnormally high U-shaped tube to the standard height, so that the material conveying device 130 can quickly pick up the U-shaped tube on the working position 122 and transport the U-shaped tube to the receiving tray 150.

[0230] For the Y-shaped tube, since two connecting rings 422 are sleeved on the outside of the Y-shaped tube, and the two connecting rings 422 are in contact with the limiting platform 128 in the guide channel 121, so that the Y-shaped tube is suspended in the guide channel 121. If the connecting rings 422 are positioned too low on the Y-shaped tube, that is, close to the two tube openings, the height of the Y-shaped tube in the guide channel 121 will be too high. When the Y-shaped tube moves to the adjustment port 125, the first drive unit 160 drives the pressure block 170 to move so that the pressure block 170 contacts the Y-shaped tube and pushes the abnormally high Y-shaped tube to the standard height, so that the material conveying device 130 can quickly pick up the Y-shaped tube on the working position 122 and transport the Y-shaped tube to the receiving tray 150.

[0231] The side of the pressure block 170 facing the material guide channel 121 includes an arc-shaped surface, so that the pressure block 170 can be adapted to the structure of the U-tube, avoiding damage to the U-tube when adjusting the height of the U-tube, fully protecting the U-tube, and further ensuring product quality.

[0232] Optionally, the adjusting member 124 also includes an adjusting part, which can change the position of the connecting ring 422 on the U-shaped tube or Y-shaped tube by contacting the connecting ring 422, thereby achieving the purpose of adjusting the height of the U-shaped tube or Y-shaped tube in the material guide channel 121.

[0233] Optionally, the first drive unit 160 includes a cylinder.

[0234] like Figure 6 As shown, in some embodiments, optionally, the material guiding assembly 120 further includes an adjusting block 126. The adjusting block 126 is disposed on the base 123 and is located on both sides of the material guiding channel 121 in the height direction, respectively, along with the adjusting port 125. The adjusting block 126 is provided with a reference surface 127. The height of the tube to be inserted 420 is adjusted by the adjusting member 124 through the adjusting port 125. The reference surface 127 is used to contact the tube to be inserted 420.

[0235] In this embodiment, the material guiding assembly 120 further includes an adjusting block 126. Specifically, the adjusting block 126 is disposed on the base 123, and the adjusting block 126 and the adjusting port 125 are respectively located on both sides of the material guiding channel 121 in the height direction. For example, the adjusting port 125 is located at the top of the base 123, and the adjusting block 126 is located at the bottom of the base 123. The specific configuration can be adjusted according to actual needs.

[0236] The adjusting block 126 is provided with a reference surface 127. Specifically, for the U-shaped tube, since two connecting rings 422 are sleeved on the outside of the U-shaped tube and in the material guide channel 121, the two connecting rings 422 are in contact with the limiting platform 128 respectively, so that the U-shaped tube is suspended in the material guide channel 121. If the connecting rings 422 are lower in the position of the U-shaped tube, that is, close to the tube opening, the height of the U-shaped tube in the material guide channel 121 will be higher. When the U-shaped tube moves to the adjusting port 125, the first driving part 160 drives the pressure block 170 to move so that the pressure block 170 contacts the U-shaped tube. Since an adjusting block 126 is provided on the side opposite to the adjusting port 125, that is, the adjusting block 126 and the pressure block 170 are located on both sides of the height direction of the U-tube. When the pressure block 170 pushes the U-tube at an abnormal height, due to the existence of the reference surface 127, when the pushed U-tube comes into contact with the reference surface 127, it moves to the standard height, ensuring that the distance from the connecting ring 422 to the end face of the U-tube is a positive deviation, and also helps to ensure that the two legs of the U-tube are at the same height.

[0237] For the Y-shaped tube, since two connecting rings 422 are sleeved on the outside of the Y-shaped tube, and the two connecting rings 422 are in contact with the limiting platform 128 in the material guide channel 121, so that the Y-shaped tube is suspended in the material guide channel 121. If the connecting rings 422 are positioned too low on the Y-shaped tube, that is, close to the two tube openings, the height of the Y-shaped tube in the material guide channel 121 will be too high. When the Y-shaped tube moves to the adjustment port 125, the first driving part 160 drives the pressure block 170 to move so that the pressure block 170 contacts the Y-shaped tube. Since an adjustment block 126 is provided on the side opposite to the adjustment port 125, that is, the adjustment block 126 and the pressure block 170 are located on both sides of the height direction of the Y-shaped tube. When the pressure block 170 pushes the Y-shaped tube at an abnormal height, due to the existence of the reference surface 127, when the pushed Y-shaped tube comes into contact with the reference surface 127, it moves to the standard height, ensuring that the distance from the connecting ring 422 to the end face of the Y-shaped tube is a positive deviation, and also helps to ensure that the two legs of the Y-shaped tube are at the same height.

[0238] like Figure 6 As shown, if one or two of the rings (connecting ring 422) are missing, the U-shaped tube will fall. The first position of the U-shaped tube is detected by photoelectric sensor; if no sensor is detected, it is considered that the ring is short of material and the incoming material is defective. The second and third positions of the U-shaped tube serve as the lower reference of the ring, the second position is a buffer position, and the third position is an adjustment position. The fourth and fifth positions of the U-shaped tube serve as the upper reference of the ring, the fourth position is a buffer position, and the fifth position is an adjustment position (as a reserve). The sixth and seventh positions of the U-shaped tube serve as the tube opening detection station, the sixth position is a buffer position, and the seventh position is a detection position. The eighth and ninth positions of the U-shaped tube serve as the gripping station, the eighth position is a buffer position, and the ninth position is working position 122.

[0239] like Figure 10 and Figure 11 As shown, in some embodiments, optionally, the feeding member 240 includes a feeding rod 241, which can be inserted into the feeding channel 121 and move the tube 420 to be inserted within the feeding channel 121.

[0240] In this embodiment, the material feeding component 240 includes a material feeding rod 241. Specifically, the material feeding rod 241 can be inserted into the material guiding channel 121. Optionally, when the material feeding rod 241 is inserted into the material guiding channel 121, the material feeding rod 241 is located between any two adjacent tubes 420 to be inserted, or the material feeding rod 241 is located between the two legs of any tube 420 to be inserted. The specific configuration can be adjusted according to actual needs.

[0241] The push rod 241 enables the tube to be inserted 420 to move within the guide channel 121, thereby allowing the tube to be inserted 420 within the guide channel 121 to move smoothly to the working position 122.

[0242] Optionally, the feeding component 240 further includes a second driving part 242 and a third driving part 243. The second driving part 242 can drive the feeding rod 241 to insert into or move out of the guide channel 121, and the third driving part 243 can drive the feeding rod 241 to move within the guide channel 121, so that the tube to be inserted 420 within the guide channel 121 can move, thereby realizing the switching between different work positions and ensuring that the tube to be inserted 420 can move smoothly to the work position 122.

[0243] Optionally, there are multiple material feeding rods 241, and the material feeding component 240 also includes a material feeding arm. Multiple material feeding rods 241 are spaced apart on the material feeding arm. The second drive unit 242 is connected to the material feeding arm, and the third drive unit 243 is connected to the material feeding arm.

[0244] Optionally, the second drive unit 242 includes a cylinder.

[0245] like Figure 5 and Figure 12 As shown, in some embodiments, the feeding assembly 120 may optionally include a positioning element 250, which is capable of positioning the tube 420 to be inserted on the working position 122.

[0246] In this embodiment, the guiding assembly 120 is further defined as including a positioning element 250. Specifically, after the tube to be inserted 420 in the guiding channel 121 moves to the working position 122 and before the conveying device 130 picks up the tube to be inserted 420 on the working position 122, the positioning element 250 is used to position the tube to be inserted 420 on the working position 122 to ensure that the conveying device 130 can smoothly pick up the tube to be inserted 420 on the working position 122 and transport the tube to be inserted 420 to the receiving tray 150, thereby ensuring the smooth progress of the automated tube insertion operation and meeting the requirements of automated production.

[0247] like Figure 12 As shown, in some embodiments, the positioning member 250 may optionally include a fixed base 256, an adjusting base 251, a fourth driving part 252, and a fifth driving part 255. The adjusting base 251 is disposed on the fixed base 256 and has a first clamping block 253 and a second clamping block 254 spaced apart. The fourth driving part 252 is connected to at least one of the first clamping block 253 and the second clamping block 254 and can drive the first clamping block 253 and / or the second clamping block 254 to move, thereby changing the distance between the first clamping block 253 and the second clamping block 254. The fifth driving part 255 is connected to the adjusting base 251 and can drive the adjusting base 251 to move relative to the fixed base 256 along the height direction of the fixed base 256.

[0248] In this embodiment, the positioning member 250 is further defined as including a fixed seat 256, an adjusting seat 251, a fourth driving part 252 and a fifth driving part 255. Specifically, the adjusting seat is provided with a first clamping block 253 and a second clamping block 254, wherein the first clamping block 253 and the second clamping block 254 are spaced apart.

[0249] The fourth drive unit 252 is connected to the first clamping block 253. Alternatively, the fourth drive unit 252 is connected to the second clamping block 254. Alternatively, there are two fourth drive units 252, each connected to the first clamping block 253 and the second clamping block 254 respectively. The specific configuration can be adjusted according to actual needs. Optionally, the fourth drive unit 252 includes a cylinder.

[0250] Since the fourth drive unit 252 can drive the first clamping block 253 and / or the second clamping block 254 to move, thereby changing the distance between the first clamping block 253 and the second clamping block 254, it can be understood that the tube to be inserted 420 is located between the first clamping block 253 and the second clamping block 254. By controlling the movement of the first clamping block 253 and / or the second clamping block 254, the tube to be inserted 420 can be centered and positioned, ensuring that the material conveying device 130 can smoothly pick up the tube to be inserted 420 on the working position 122 and transport the tube to be inserted 420 to the receiving tray 150, ensuring the smooth progress of the automated tube insertion operation and meeting the requirements of automated production.

[0251] The fifth drive unit 255 is connected to the adjustment seat. Driven by the fifth drive unit 255, the adjustment seat can drive the first clamping block 253 and the second clamping block 254 to move in the height direction, that is, to move up and down, so that the tube to be inserted 420 can enter the working position 122.

[0252] Optionally, the first clamping block 253 is provided with a first clamping groove, and the second clamping block 254 is provided with a second clamping groove. The openings of the first clamping groove and the second clamping groove are opposite to each other. It can be understood that, for the U-shaped tube, one side of the tube support is located in the first clamping groove, and the other side of the tube support is located in the second clamping groove, thereby achieving the positioning of the tube to be inserted 420.

[0253] Optionally, the fifth drive unit 255 includes a cylinder.

[0254] like Figure 4 As shown, in some embodiments, the automatic cannulation device 100 may optionally include a base plate 260 and a second detection element 270, wherein the material guiding assembly 120 is disposed on the base plate 260, the second detection element 270 is disposed on the base plate 260, and is at least partially opposite to the working position 122.

[0255] In this embodiment, the automatic tube insertion device 100 is further defined as including a base plate 260 and a second detection element 270. Specifically, at least a portion of the second detection element 270 is opposite to the working position 122, so that the second detection element 270 can detect whether there is a tube to be inserted 420 on the working position 122. That is, the second detection element 270 is used to detect whether there is material on the working position 122, so that the material conveying device 130 can smoothly pick up the tube to be inserted 420 on the working position 122 and transport it to the receiving tray 150 when there is material on the working position 122.

[0256] Optionally, the second detection element 270 includes a photoelectric sensor.

[0257] like Figure 15 and Figure 16 As shown, in some embodiments, optionally, the material conveying device 130 includes a support 131 and a clamping assembly 132, wherein the clamping assembly 132 includes a slide plate 133 and a gripper 134, the slide plate 133 is movably disposed on the support 131, the gripper 134 is disposed on the slide plate 133, and the gripper 134 is used to pick up the tube 420 to be inserted on the working position 122.

[0258] In this embodiment, the material conveying device 130 is defined to include a support 131 and a clamping assembly 132. Specifically, the clamping assembly 132 includes a slide plate 133 and a gripper 134. The slide plate 133 is movably mounted on the support 131, and the gripper 134 is mounted on the slide plate 133.

[0259] After the gripper 134 picks up the tube 420 to be inserted on the working position 122, it moves relative to the bracket 131 via the slide plate 133, which in turn drives the gripper 134 to move, so as to transport the tube 420 to the receiving tray 150.

[0260] Optionally, the gripper 134 can move relative to the slide plate 133, thereby facilitating the adjustment of its position when gripping the tube 420 to be inserted on the working position 122, so as to smoothly grip the tube 420 to be inserted. In addition, when the gripper 134 transports the tube 420 to be inserted to the receiving tray 150, the placement position can be adjusted by moving the gripper 134 relative to the slide plate 133, so that the tube 420 to be inserted can be smoothly placed on the receiving tray 150, which helps to further improve the efficiency of automated tube insertion.

[0261] Optionally, the gripper 134 includes gripping fingers.

[0262] Optionally, the automatic tube insertion device 100 also includes a waste tray. When the opening of the tube to be inserted 420 is damaged, the tube 420 with the broken opening can be picked up by the clamping member 134 and transported to the waste tray.

[0263] like Figure 15 and Figure 16As shown, in some embodiments, the clamp assembly 132 may optionally include a sliding mechanism 135, which is disposed on the slide plate 133 and connected to the gripper 134. The gripper 134 can slide relative to the slide plate 133 in a first direction and a second direction, respectively, through the sliding mechanism 135; wherein the first direction and the second direction are different.

[0264] In this embodiment, the clamping assembly 132 further includes a sliding mechanism 135. Specifically, the clamping member 134 can slide relative to the slide plate 133 along a first direction and a second direction, respectively, via the sliding mechanism 135. For example, it can move back and forth or left and right. This allows the position of the clamping member 134 to be adjusted when clamping the tube 420 to be inserted at the working position, ensuring that the tube 420 can be clamped smoothly even when the incoming material consistency is poor. Furthermore, when the clamping member 134 transports the tube 420 to be inserted to the receiving tray 150, its placement position can be adjusted by sliding relative to the slide plate 133 along the first and second directions, so that the tube 420 can be smoothly placed on the receiving tray 150, further improving the efficiency of automated tube insertion. The first and second directions are different.

[0265] Optionally, at least one of the first direction and the second direction is a horizontal direction.

[0266] Optionally, the clamp assembly 132 also includes a connecting rod and a rotating shaft. The rotating shaft is rotatably connected to the connecting rod, the connecting rod is connected to the slide plate 133, and the rotating shaft is connected to the sliding mechanism 135, so that the clamping member 134 can rotate relative to the slide plate 133, further ensuring that the tube to be inserted 420 can be successfully clamped even when the incoming material consistency is poor.

[0267] like Figure 15 and Figure 16 As shown, in some embodiments, the clamp assembly 132 may optionally include a sixth drive unit 136, which is disposed on the slide plate 133 and connected to the sliding mechanism 135. The sixth drive unit 136 can drive the clamping member 134 to move along the height direction of the bracket 131 through the sliding mechanism 135.

[0268] In this embodiment, the clamp assembly 132 is further defined as including a sixth drive unit 136. Specifically, the sixth drive unit 136 is connected to the sliding mechanism 135, so that the sixth drive unit 136 can drive the clamping member 134 to move along the height direction of the bracket 131 through the sliding mechanism 135, that is, the sixth drive unit 136 can drive the clamping member 134 to perform lifting and lowering movements.

[0269] Since the gripper 134 can move up and down relative to the slide plate 133, it can smoothly grip the tube 420 to be inserted on the working position 122 by raising and lowering the gripper 134. In addition, when the gripper 134 transports the tube 420 to be inserted to the receiving tray 150, it can be raised and lowered so that the tube 420 to be inserted can be smoothly placed on the receiving tray 150, which helps to further improve the efficiency of automated tube insertion.

[0270] Optionally, the sixth drive unit 136 includes a cylinder.

[0271] like Figure 15 and Figure 16 As shown, in some embodiments, the slide plate 133 is optionally provided with a limiting block 139, and the clamp assembly 132 also includes a guide plate 137. The guide plate 137 is connected to the sliding mechanism 135. The guide plate 137 is provided with a movable block 138. Along the height direction of the bracket 131, at least a portion of the movable block 138 is opposite to the limiting block 139.

[0272] In this embodiment, the clamp assembly 132 is further defined as including a guide plate 137. Specifically, the guide plate 137 is connected to the sliding mechanism 135. That is, when the sliding mechanism 135 moves up and down relative to the slide plate 133 under the drive of the sixth drive unit 136, it can drive the guide plate 137 to move up and down.

[0273] The guide plate 137 is provided with movable blocks 138, and at least part of the movable blocks 138 are opposite to the limiting blocks 139 along the height direction of the bracket 131. Thus, when the guide plate 137 moves up and down, the movable blocks 138 and the limiting blocks 139 cooperate to limit the guide plate 137, thereby limiting the up and down movement of the gripper 134, preventing the gripper 134 from moving up and down excessively, which is conducive to further improving the production efficiency of automated operation.

[0274] like Figure 16 As shown, in some embodiments, the bracket 131 is optionally provided with a mounting groove 280, and the material conveying device 130 further includes a cable carrier 290, a portion of which is located within the mounting groove 280. The cable carrier 290 is provided with a receiving space 291 for accommodating cables.

[0275] In this embodiment, the material conveying device 130 further includes a cable carrier 290. Specifically, the bracket 131 is provided with a mounting groove 280, and a portion of the cable carrier 290 is disposed within the mounting groove 280. The cable carrier 290 is provided with a receiving space 291, which is used to accommodate cables, thereby providing protection for the cables and improving the reliability of the automatic cannulation device 100.

[0276] like Figure 15 and Figure 16 As shown, in some embodiments, the material conveying device 130 may optionally include a seventh drive unit 310, a first transmission unit 320, and a second transmission unit. The seventh drive unit 310 is disposed on the bracket 131, the first transmission unit 320 is disposed on the bracket 131 and connected to the seventh drive unit 310, and the second transmission unit is disposed on the slide plate 133 and connected to the first transmission unit 320.

[0277] In this embodiment, the material conveying device 130 is further defined as including a seventh drive unit 310, a first transmission unit 320 and a second transmission unit. Specifically, the seventh drive unit 310 is disposed on the bracket 131, the first transmission unit 320 is connected to the seventh drive unit 310, the second transmission unit is disposed on the slide plate 133 and is connected to the first transmission unit 320.

[0278] Specifically, under the drive of the seventh drive unit 310, the first transmission unit 320 can drive the second transmission unit to move, and then drive the gripper 134 to move relative to the bracket 131 through the slide plate 133, so that the gripper 134 picks up the tube to be inserted 420 on the working position 122 and transports it to the receiving tray 150.

[0279] Optionally, the first transmission unit 320 includes a lead screw, and the second transmission unit includes a lead screw nut. Through the cooperation between the lead screw nut and the lead screw, the slide plate 133 moves relative to the bracket 131 so that after the clamping member 134 picks up the tube to be inserted 420 on the working position 122, it can transport the tube to be inserted 420 to the receiving tray 150.

[0280] like Figure 1 , Figure 2 , Figure 3 and Figure 17 As shown, in some embodiments, the automatic cannulation device 100 may optionally include a transfer assembly 330, on which a receiving tray 150 is disposed and movable.

[0281] In this embodiment, the automatic intubation device 100 is further defined as including a transfer component 330. Specifically, a receiving tray 150 is disposed on the transfer component 330, and the receiving tray 150 can move on the transfer component 330, thereby facilitating the gripper component 141 of the robot 140 to smoothly grip the tube 420 to be intubated from the receiving tray 150, which is beneficial to further improve the efficiency of automated intubation.

[0282] Specifically, when the tube to be inserted 420 is in the working position 122, the material conveying device 130 transports the tube to be inserted 420 in the working position 122 to the receiving tray 150. The receiving tray 150 moves on the transfer component 330 toward the side where the robot 140 is located, so that the gripper component 141 of the robot 140 can smoothly and quickly grip the tube to be inserted 420 on the receiving tray 150. By controlling the movement of the gripper component 141, the tube to be inserted 420 is inserted into the plug-in 400, realizing the automated operation of inserting the tube to be inserted 420 into the plug-in 400. This is beneficial to significantly improve the efficiency of the tube to be inserted 420 insertion and meet the production needs of automated operation.

[0283] Optionally, the receiving tray 150 is provided with multiple hoppers, which are spaced apart. Each hopper is used to hold one tube 420 to be inserted, so that the gripper assembly 141 can grip multiple tubes 420 to be inserted at one time and insert multiple tubes 420 to be inserted into the insertion tube 400 at the same time, which is conducive to further improving the efficiency of automated tube insertion.

[0284] like Figure 17 As shown, in some embodiments, optionally, the transfer assembly 330 includes a substrate 331, a moving shaft 332 and a limiting member 333, wherein the moving shaft 332 is movably disposed on the substrate 331, the receiving tray 150 is disposed on the moving shaft 332, and the limiting member 333 is disposed on the substrate 331 and located on the moving path of the receiving tray 150.

[0285] In this embodiment, the transfer assembly 330 is defined as including a substrate 331, a moving shaft 332, and a limiting member 333. Specifically, the moving shaft 332 is disposed on the substrate 331 and is movable on the substrate 331. Since the receiving tray 150 is disposed on the moving shaft 332, the moving shaft 332 can drive the receiving tray 150 to move relative to the substrate 331, so that the gripper assembly 141 of the robot 140 can smoothly and quickly grasp the tube 420 to be inserted on the receiving tray 150.

[0286] The limiting member 333 is disposed on the substrate 331 and is located on the moving path of the receiving tray 150. This allows the receiving tray 150 to be limited, restricting its movement range and preventing it from falling off the substrate 331 due to excessive movement, which would affect the automated insertion process. This helps ensure the smooth operation of automated insertion and meets the production requirements of automated operations.

[0287] like Figure 17 As shown, in some embodiments, the transfer assembly 330 may optionally include a slide rail 334 disposed on the substrate 331, and a portion of the receiving tray 150 slides in cooperation with the slide rail 334.

[0288] In this embodiment, the transfer assembly 330 further includes a slide rail 334. Specifically, the slide rail 334 is disposed on the substrate 331, and a portion of the receiving tray 150 slides in cooperation with the slide rail 334. Optionally, a guide slider is provided on the side of the receiving tray 150 facing the substrate 331. The guide slider slides in cooperation with the slide rail 334 to guide the movement of the receiving tray 150, ensuring stable movement of the receiving tray 150 on the substrate 331, so that the gripper assembly 141 of the robot 140 can smoothly and quickly grip the tube 420 to be inserted on the receiving tray 150.

[0289] like Figure 20 , Figure 21 , Figure 22 , Figure 23 and Figure 24 As shown, in some embodiments, optionally, the gripper assembly 141 includes a mounting base 142, a connecting plate 149, a gripper 143, a drive member 148, and a buffer device 144. The connecting plate 149 is connected to the mounting base 142, the gripper 143 is movably disposed on the connecting plate 149, and the gripper 143 is capable of gripping the tube 420 to be inserted on the receiving tray 150. The drive member 148 is disposed on the mounting base 142, and the buffer device 144 is disposed between the gripper 143 and the mounting base 142. The first end of the buffer device 144 is connected to the drive member 148, and the second end of the buffer device 144 is connected to the gripper 143.

[0290] In this embodiment, the gripper assembly 141 is defined as including a mounting base 142, a connecting plate, a gripper 143, a driving member, and a buffer device 144. Specifically, one end of the buffer device 144 is connected to the driving member, and the other end of the buffer device 144 is connected to the gripper 143. It can be understood that the gripper 143 is used to grip the tube 420 to be inserted. Specifically, after the gripper 143 grips the tube 420 to be inserted, under the drive of the driving member, the buffer device 144 drives the gripper 143 to move relative to the connecting plate away from the mounting base 142, so as to insert the gripped tube 420 into the insertion port 410 of the insertion device.

[0291] Understandably, related technologies also employ automated tube insertion methods for the installation of the two semi-circular tubes, and generally use a 2D vision system to acquire the position coordinates of the insertion port 410. However, this system cannot acquire depth coordinates, resulting in the connecting ring 422 of the insertion tube 420 not being able to fully fit with the condenser cup after insertion, thus affecting the subsequent welding quality.

[0292] Since the drive unit and the gripper 143 are connected by the buffer device 144, that is, the buffer device 144 is set between the drive unit and the gripper 143, so that the buffer device 144 can play a buffering role during tube insertion, that is, to use a flexible tube insertion method for automated tube insertion. Thus, under the buffering effect, even if the surface where the insertion port 410 is located is uneven, the connecting ring 422 of the tube to be inserted 420 can be completely fitted with the cup mouth (insertion port 410) after the tube is inserted, avoiding the situation of incomplete insertion and tube misalignment, ensuring the welding effect of the connecting ring 422, and improving product quality and market competitiveness.

[0293] Optionally, the gripper 143 includes gripping fingers, which are made of carbon steel with a contoured design to securely grip and protect the tube 420 to be inserted.

[0294] like Figure 22 As shown, in some embodiments, optionally, the buffer device 144 includes a connecting shaft 145 and a first elastic member 146, wherein one end of the connecting shaft 145 is connected to the driving member 148, the other end of the connecting shaft 145 is connected to the gripper 143, and the first elastic member 146 is sleeved on the outside of the connecting shaft 145. Based on the movement of the connecting shaft 145 relative to the gripper 143, the first elastic member 146 deforms.

[0295] In this embodiment, the buffer device 144 is defined to include a connecting shaft 145 and a first elastic element 146. Specifically, the two ends of the connecting shaft 145 are connected to the driving element 148 and the gripper 143, respectively. The first elastic element 146 is disposed on the connecting shaft 145. That is, after the gripper 143 grips the tube to be inserted 420, under the drive of the driving element 148, the connecting shaft 145 drives the gripper 143 to move away from the mounting base 142 relative to the connecting plate 149, so as to insert the gripped tube 420 into the insertion port 410 of the insertion device.

[0296] Understandably, when the gripper 143 reaches the surface where the insertion port 410 is located, the drive member 148 continues to drive the connecting shaft 145 to move away from the mounting base 142, while the gripper 143 stops moving. This causes relative movement between the connecting shaft 145 and the gripper 143. During this process, the first elastic member 146 deforms, which can buffer the gripper 143 and the drive member 148, achieving flexible insertion. Even if the surface where the insertion port 410 is located is uneven, the connecting ring 422 of the insertion port 420 can be completely fitted with the cup mouth (insertion port 410) after insertion, avoiding incomplete insertion and skewed insertion, ensuring the welding effect of the connecting ring 422 and improving product quality.

[0297] Optionally, the first elastic element 146 includes a spring.

[0298] like Figure 23and Figure 24 As shown, in some embodiments, the connecting plate 149 is optionally provided with a guide rail 147, which can slide with the gripper 143.

[0299] In this embodiment, the connecting plate 149 is provided with a guide rail 147. Specifically, the guide rail 147 can slide and engage with the gripper 143, so that when the gripper 143 moves relative to the connecting plate 149 to insert the tube, it can slide smoothly along the guide rail 147, avoiding incorrect insertion, incomplete insertion, or misalignment, thereby improving product quality.

[0300] In some embodiments, the number of grippers 143 may be multiple; wherein at least one gripper 143 is an electric gripper; and / or at least one gripper 143 is a pneumatic gripper.

[0301] In this embodiment, the number of grippers 143 is limited to a plurality. Specifically, at least one gripper 143 is an electric gripper, which is understood to be used to grip U-shaped tubes. At least one gripper 143 is a pneumatic gripper, which is understood to be used to grip Y-shaped tubes.

[0302] Optionally, when inserting the U-shaped tube, an angle deflection is required. Specifically, three angles are available: 0 degrees, 61.5 degrees, and 118.5 degrees, with an incoming material deviation of approximately 0.2 degrees. The Y-shaped tube is inserted at 0 degrees, with an incoming material deviation of 0.2 degrees. The Y-shaped tube is clamped and inserted using fixed pneumatic grippers (pneumatic jaws), while the U-shaped tube is clamped and inserted using rotatable electric grippers (electric jaws). The electric jaws can precisely control the angle, achieving U-shaped tube insertion at 0 degrees, 61.5 degrees, and 118.5 degrees.

[0303] like Figure 21 As shown, in some embodiments, optionally, the plug-in 400 includes a plug-in port 410, the plug-in tube 420 is inserted into the plug-in port 410, and the robot 140 also includes a vision system 340, which is disposed on the gripper assembly 141 and is used to determine the position coordinates of the plug-in port 410.

[0304] In this embodiment, the robot 140 is further defined as including a vision system 340. Specifically, the vision system 340 is disposed on the gripper assembly 141. The vision system 340 can determine the position coordinates of the insertion port 410 and feed them back to the robot 140. After the gripper assembly 141 grips the tube 420 to be inserted on the receiving tray 150, the robot 140 performs deviation compensation based on the position coordinates of the insertion port 410 and controls the movement of the gripper assembly 141, so that the tube 420 to be inserted can be accurately inserted into the insertion port 410, avoiding the situation of incorrect insertion, and is conducive to further improving the automated production efficiency and quality control effect.

[0305] like Figure 18 and Figure 19 As shown, in some embodiments, the automatic cannulation device 100 may optionally include a cutting assembly 350 and an eighth drive unit 353. The cutting assembly 350 is disposed between the storage bin 110 and the guide assembly 120. The cutting assembly 350 is provided with a cutting groove 351 and a sliding part 352. The cutting groove 351 is disposed on the sliding part 352 and can communicate with the storage bin 110. The eighth drive unit 353 is connected to the sliding part 352 and can drive the sliding part 352 to move so that the cutting groove 351 is connected to and communicates with the guide channel 121.

[0306] In this embodiment, the automatic cannulation device 100 is further defined as including a cutting assembly 350 and an eighth drive unit 353. Specifically, the cutting assembly 350 is provided with a cutting groove 351 and a sliding part 352. The cutting groove 351 can communicate with the storage bin 110, that is, the cannula 420 to be inserted in the storage bin 110 can move into the cutting groove 351.

[0307] Since the cutting groove 351 is located on the sliding part 352, and the eighth driving part 353 can drive the sliding part 352 to move, the cutting groove 351 can drive the tube to be inserted 420 to move. When the cutting groove 351 is connected to the guide channel 121, the tube to be inserted 420 can enter the guide channel 121 from the cutting groove 351 and move to the working position 122 from the guide channel 121. The cutting groove 351 can move to connect with and communicate with the guide channel 121, ensuring the smooth movement of the tube to be inserted 420 and meeting the needs of automated production.

[0308] like Figure 18 and Figure 19 As shown, in some embodiments, optionally, the cutting assembly 350 further includes a discharge member 354, a first guide portion 356, and a guide member 357. The discharge member 354 is provided with a discharge groove 355, the two ends of which are respectively connected to the storage bin 110 and the cutting groove 351. The first guide portion 356 is disposed in the discharge groove 355, and the tube to be inserted 420 is located in the discharge groove 355 and can move on the first guide portion 356. The guide member 357 is movably disposed on the sliding portion 352 and is provided with a second guide portion. Based on the second guide portion extending into the cutting groove 351, the tube to be inserted 420 can move from the first guide portion 356 to the second guide portion.

[0309] In this embodiment, the cutting assembly 350 is further defined as including a discharge component 354, a first guide portion 356, and a guide portion 357. Specifically, the discharge component 354 is provided with a discharge trough 355, one end of which is connected to the storage bin 110, and the other end of which is connected to the cutting groove 351. The first guide portion 356 is disposed in the discharge trough 355. The discharge trough 355 is used to accommodate the tube 420 to be inserted. That is, under the guidance of the first guide portion 356, the tube 420 to be inserted in the storage bin 110 can move to the cutting groove 351 through the discharge trough 355.

[0310] Specifically, before the tube to be inserted 420 moves from the discharge groove 355 to the cutting groove 351, the second guide portion of the guide member 357 extends into the cutting groove 351. When the tube to be inserted 420 moves into the cutting groove 351, the supporting effect of the second guide portion can prevent the tube to be inserted 420 from being misaligned or tilted when entering the cutting groove 351, thereby helping to ensure that the tube to be inserted 420 in the cutting groove 351 can smoothly enter the guide channel 121.

[0311] Optionally, the slide (sliding part 352) retracts, disconnecting the cutting groove 351 from the guiding channel 121. The U-shaped tube misalignment block (cutting groove 351) receives the U-shaped tube (to be inserted 420). A retractable small guide rail 147 (guide 357) is provided. When the material is fed to the U-shaped tube misalignment block (cutting groove 351) by direct vibration, the slide cylinder extends upward, and the small guide rail 147 (guide 357) connects with the direct vibration guide rail 147 (first guide part 356), which facilitates material transportation and prevents the U-shaped tube from being misaligned or tilted.

[0312] like Figure 19 As shown, in some embodiments, the cutting assembly 350 may optionally include a third detection element 359, which is disposed on the sliding portion 352 and opposite to the cutting groove 351.

[0313] In this embodiment, the cutting assembly 350 is further defined as including a third detection element 359. Specifically, the third detection element 359 is disposed on the sliding part 352 and is opposite to the cutting groove 351. It is used to detect whether there is a tube 420 to be inserted in the cutting groove 351. That is, the third detection element 359 is used to detect whether there is material in the cutting groove 351. When there is material in the cutting groove 351, the eighth driving part 353 drives the sliding part 352 to move so that the cutting groove 351 is connected to the guide channel 121 to meet the needs of automated production.

[0314] Optionally, the third detection element 359 includes a photoelectric sensor.

[0315] like Figure 27 , Figure 28 , Figure 29and Figure 30 As shown, in some embodiments, the automatic cannulation device 100 may optionally include a positioning mechanism 360 for positioning the insertion tube 400.

[0316] In this embodiment, the automatic tube insertion device 100 is further defined as including a positioning mechanism 360. Specifically, the positioning mechanism 360 can position the tube to be inserted 400. Optionally, the positioning mechanism 360 can position the condenser and / or evaporator, thereby obtaining the precise position coordinates of the insertion port 410 on the tube to be inserted 400. When the gripper assembly 141 drives the tube to be inserted 420 into the insertion port 410, displacement or product deformation during tube insertion can be avoided, ensuring product quality.

[0317] like Figure 27 and Figure 29 As shown, in some embodiments, optionally, the positioning mechanism 360 includes a frame 361 and a pressure plate assembly 363, wherein the frame 361 is provided with a receiving chamber 362 for receiving the insert 400, the pressure plate assembly 363 is disposed in the frame 361, the pressure plate assembly 363 includes a pressure plate 364, the pressure plate 364 is located in the receiving chamber 362, and the pressure plate 364 is movable relative to the frame 361 to press the insert 400.

[0318] In this embodiment, the positioning mechanism 360 is defined to include a frame 361 and a pressure plate assembly 363. Specifically, the frame 361 is provided with a receiving chamber 362, and the insertion port 400 is located in the receiving chamber 362. It can be understood that the insertion port 410 is exposed outside the receiving chamber 362 for easy insertion.

[0319] The pressure plate 364 is movably mounted on the frame 361 and is located within the receiving chamber 362. Specifically, the pressure plate 364 moves within the receiving chamber 362 and presses against the insert 400, thereby fixing the position of the insert 400. This allows for the acquisition of precise position coordinates of the insertion port 410 on the insert 400. When the gripper assembly 141 drives the insertion tube 420 to be inserted into the insertion port 410, displacement or product deformation during insertion can be avoided, ensuring product quality and meeting the needs of automated production.

[0320] Optionally, the pressure plate assembly 363 also includes a cylinder connected to the pressure plate 364, so that the pressure plate 364 can move within the receiving chamber 362 under the drive of the cylinder and press the insert 400.

[0321] like Figure 27As shown, in some embodiments, the positioning mechanism 360 may optionally include a mounting post 365 and a second elastic member 366. The mounting post 365 is located on the outside of the receiving compartment 362 and connected to the pressure plate 364. The second elastic member 366 is sleeved on the outside of the mounting post 365. Based on the movement of the pressure plate 364 relative to the frame 361, the mounting post 365 can drive the second elastic member 366 to move, so that the second elastic member 366 deforms.

[0322] In this embodiment, the positioning mechanism 360 is further defined as including a mounting post 365 and a second elastic member 366. Specifically, the mounting post 365 is disposed on the frame 361 and is located outside the receiving compartment 362, and the second elastic member 366 is sleeved on the mounting post 365.

[0323] Specifically, when the pressure plate 364 moves relative to the frame 361 and presses the plug-in 400 to fix its position, the pressure plate 364 can drive the mounting post 365 to move relative to the frame 361, so that the second elastic element 366 deforms. For example, the second elastic element 366 is compressed. Under the action of the elastic force of the second elastic element 366, the pressure plate 364 has a certain buffering effect when pressing the plug-in 400, avoiding damage to the plug-in 400 and improving the quality control effect.

[0324] Optionally, the second elastic element 366 includes a spring.

[0325] like Figure 27 and Figure 28 As shown, in some embodiments, the positioning mechanism 360 may optionally include a base 370, a frame 367, a ninth drive unit 368, and a tenth drive unit 369. The frame 367 is disposed on the base 370, the frame 361 is disposed on the frame 367, the ninth drive unit 368 is connected to the frame 367, and the ninth drive unit 368 can drive the frame 367 to move horizontally relative to the base 370. The tenth drive unit 369 is connected to the frame 367, and the tenth drive unit 369 can drive the frame 367 to move along the height direction of the base 370.

[0326] In this embodiment, the positioning mechanism 360 further includes a base 370, a frame 367, a ninth drive unit 368, and a tenth drive unit 369. Specifically, since the frame 361 is mounted on the frame 367, and the insert 400 is located within the receiving compartment 362 of the frame 361, the frame 367 can move the insert 400 horizontally via the frame 361, for example, moving it back and forth. Furthermore, under the drive of the tenth drive unit 369, the frame 367 can move the insert 400 vertically via the frame 361, i.e., moving it up and down, thereby adjusting the position of the insert 400 to facilitate the robot 140 driving the gripper assembly 141 to insert the tube.

[0327] Optionally, the ninth drive unit 368 includes a servo module, which can prevent defects such as condenser tipping due to large-scale frictional movement.

[0328] According to a second aspect of the present invention, an air conditioner is provided, comprising: a plug-in 400; a tube 420 to be inserted, wherein the tube 420 is inserted into the plug-in 400 using an automatic tube insertion device 100 as provided in any of the above embodiments, thereby possessing all the beneficial technical effects of the automatic tube insertion device 100, which will not be elaborated further here.

[0329] Specifically, the automatic tube insertion device 100 includes a storage bin 110, a material guiding assembly 120, a material conveying device 130, and a robot 140. In particular, the air conditioner includes a tube to be inserted 400 and a tube to be inserted 420. Optionally, the tube to be inserted 400 includes at least one of a condenser and an evaporator, and the tube to be inserted 420 includes at least one of a U-shaped tube and a Y-shaped tube.

[0330] Understandably, in related technologies, the insertion of tubes into condensers or evaporators is generally done manually, which is inefficient and cannot meet the needs of automated production.

[0331] The material guiding assembly 120 includes a material guiding channel 121 and a material pushing component 240. One end of the material guiding channel 121 can be connected to the storage bin 110, and the other end of the material guiding channel 121 can be connected to the working position 122. The material pushing component 240 can make the tube 420 to be inserted, which enters the material guiding channel 121 from the storage bin 110, move within the material guiding channel 121 and move to the target position (i.e., the working position 122). When the tube 420 to be inserted is in the working position 122, the material conveying device 130 transports the tube 420 to be inserted on the working position 122 to the receiving tray 150. The gripper assembly 141 of the robot 140 grips the tube 420 to be inserted on the receiving tray 150, and by controlling the movement of the gripper assembly 141, the tube 420 to be inserted is inserted into the plug 400, realizing the automated operation of inserting the tube 420 into the plug 400, which is beneficial to significantly improve the efficiency of the tube 420 insertion operation and meet the production needs of automated operation.

[0332] Moreover, compared to the manual insertion method used in related technologies for air conditioning semi-circular pipes, this method avoids incorrect insertion and mixing of U-shaped and Y-shaped pipes due to repeated manual operations, thus improving product quality.

[0333] like Figure 6 and Figure 27As shown, in some embodiments, optionally, the plug-in 400 is provided with a socket 410, and the tube 420 to be inserted includes a tube body 421 and at least two connecting rings 422, wherein the at least two connecting rings 422 are respectively sleeved on the outside of the tube body 421, and each connecting ring 422 is connected to the plug-in 400 based on the tube body 421 being inserted into the socket 410.

[0334] In this embodiment, the cannula to be inserted 420 includes a tube body 421 and at least two connecting rings 422. Specifically, at least two connecting rings 422 are respectively sleeved on the outside of the tube body 421. Specifically, for a U-shaped tube, there are two connecting rings 422, which are respectively sleeved on the outside of the two legs of the U-shaped tube. For a Y-shaped tube, there are also two connecting rings 422, which are respectively sleeved on the outside of the two legs of the Y-shaped tube.

[0335] When the tube body 421 is inserted into the insertion port 410 of the insert 400 using the automatic tube insertion device 100, each connecting ring 422 is connected to the insert 400, thereby completing the assembly of the tube 420 on the insert 400.

[0336] Optionally, the connecting ring 422 includes a welding ring, that is, when the tube body 421 is inserted into the insertion port 410 of the insertion device 100 using the automatic tube insertion device 100, at least two connecting rings 422 are welded to the insertion port 410.

[0337] In some embodiments, the insert to be inserted 400 may optionally include at least one of a condenser and an evaporator; and / or the tube to be inserted 420 may include at least one of a U-tube and a Y-tube.

[0338] In this embodiment, the tube to be inserted 400 includes a condenser, or the tube to be inserted 400 includes an evaporator, or the tube to be inserted 400 includes both a condenser and an evaporator. That is to say, the automatic tube insertion device 100 can realize the automatic insertion of at least one of the condenser and the evaporator, thus meeting the needs of automated production.

[0339] The tube to be inserted 420 includes at least one of a U-shaped tube and a Y-shaped tube. Specifically, the tube to be inserted 420 includes a U-shaped tube. The feeding component 240 enables the U-shaped tube, which enters the guiding channel 121 from the storage bin 110, to move within the guiding channel 121 and to the target position (i.e., working position 122). When the U-shaped tube is in the working position 122, the conveying device 130 transports the U-shaped tube located in the working position 122 to the receiving tray 150. The gripper assembly 141 of the robot 140 grips the U-shaped tube on the receiving tray 150, and by controlling the movement of the gripper assembly 141, the U-shaped tube is inserted into the condenser or evaporator, realizing the automated operation of U-shaped tube insertion. This significantly improves the efficiency of U-shaped tube insertion and meets the production requirements of automated operation.

[0340] The tube to be inserted 420 includes a Y-shaped tube. The feeding component 240 enables the Y-shaped tube, which enters the guiding channel 121 from the storage bin 110, to move within the guiding channel 121 and to the target position (i.e., working position 122). When the Y-shaped tube is in the working position 122, the conveying device 130 transports the Y-shaped tube located in the working position 122 to the receiving tray 150. The gripper assembly 141 of the robot 140 grips the Y-shaped tube on the receiving tray 150, and by controlling the movement of the gripper assembly 141, the Y-shaped tube is inserted into the condenser or evaporator, realizing the automated operation of Y-shaped tube insertion. This significantly improves the efficiency of Y-shaped tube insertion and meets the production needs of automated operation.

[0341] Moreover, compared to the manual insertion method used in related technologies for air conditioning semi-circular pipes, this method avoids incorrect insertion and mixing of U-shaped and Y-shaped pipes due to repeated manual operations, thus improving product quality.

[0342] In the description of this specification, the terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0343] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0344] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic cannulation device, characterized in that, For use in an air conditioner, the air conditioner includes a tube to be inserted and a tube to be inserted, the automatic tube insertion device comprising: A storage bin is used to store the tube to be inserted; A material guiding assembly includes a material guiding channel, a working position, and a material pushing component. The material guiding channel is connected to the storage bin, and the working position is connected to the material guiding channel. The material pushing component enables the tube to be inserted to move to the working position through the material guiding channel. A material conveying device, which is capable of transporting the tube to be inserted at the working position to the receiving tray; The robot is equipped with a gripper assembly that can grip the tube to be inserted on the receiving tray and move the gripper assembly to insert the tube into the insert.

2. The automatic cannulation device according to claim 1, characterized in that, The feeding assembly also includes: The base is provided with the material guide channel, the working position and the detection port, and the detection port is connected to the material guide channel; The first detection element is located at the detection port.

3. The automatic cannulation device according to claim 2, characterized in that, The detection port is configured to be located at the bottom of the base.

4. The automatic cannulation device according to claim 2, characterized in that, The tube to be inserted includes at least two connecting rings, and the base is also provided with a limiting platform. The limiting platform is located in the material guiding channel and is used to contact at least two of the connecting rings. Wherein, along the height direction of the base, the limiting platform is higher than the bottom wall of the material guiding channel.

5. The automatic cannulation device according to claim 4, characterized in that, The base includes: seat body; A first guide bar and a second guide bar are spaced apart on the base body. A portion of the first guide bar and a portion of the second guide bar form the limiting platform. The first guide bar, the second guide bar, and the base body enclose the guide channel. A baffle strip is provided on the base and extends at least partially along the height direction of the base.

6. The automatic cannulation device according to claim 2, characterized in that, The base is also provided with a waste outlet, which is connected to the material guiding channel.

7. The automatic cannulation device according to claim 2, characterized in that, The feeding assembly also includes: An adjusting member is provided on the base, and the adjusting member is capable of adjusting the height of the tube to be inserted in the material guide channel.

8. The automatic cannulation device according to claim 7, characterized in that, The base is also provided with an adjustment port, which is connected to the material guide channel. Since the tube to be inserted is located at the adjustment port, a part of the adjustment member can contact the tube to be inserted through the adjustment port to adjust the height of the tube to be inserted in the material guide channel.

9. The automatic cannulation device according to claim 8, characterized in that, The adjusting element includes: First drive unit; The pressure block, connected to the first driving unit, is driven by the first driving unit to move towards the side where the material guide channel is located, based on the fact that the tube to be inserted is located at the adjustment port, so that the pressure block can contact the tube to be inserted through the adjustment port; The side of the pressure block facing the material guide channel includes an arc-shaped surface.

10. The automatic cannulation device according to claim 8, characterized in that, The feeding assembly also includes: An adjusting block is provided on the base and is located on both sides of the material guide channel in the height direction, respectively, along with the adjusting port. The adjusting block has a reference surface. The height of the tube to be inserted is adjusted by the adjusting member through the adjusting port. The reference surface is used to contact the tube to be inserted.

11. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, The material feeding component includes a material feeding rod, which can be inserted into the material guiding channel and move the tube to be inserted within the material guiding channel.

12. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, The feeding assembly also includes: A positioning element that can position the tube to be inserted at the working position.

13. The automatic cannulation device according to claim 12, characterized in that, The positioning element also includes: Fixed base; An adjusting seat is provided on the fixed seat, and the adjusting seat is provided with a first clamping block and a second clamping block that are spaced apart. A fourth driving unit is connected to at least one of the first clamping block and the second clamping block. The fourth driving unit can drive the first clamping block and / or the second clamping block to move, so as to change the distance between the first clamping block and the second clamping block. The fifth drive unit is connected to the adjustment seat, and the fifth drive unit can drive the adjustment seat to move relative to the fixed seat along the height direction of the fixed seat.

14. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, Also includes: The bottom plate, wherein the material guiding assembly is disposed on the bottom plate; The second testing component is disposed on the base plate and is at least partially opposite the working position.

15. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, The material conveying device includes: support; A clamping assembly, comprising a slide plate and a gripper, the slide plate being movably disposed on the bracket, the gripper being disposed on the slide plate, the gripper being used to pick up the tube to be inserted on the working position.

16. The automatic cannulation device according to claim 15, characterized in that, The clamp assembly further includes: A sliding mechanism is provided on the slide plate and connected to the clamping member. The clamping member can slide relative to the slide plate along a first direction and a second direction respectively via the sliding mechanism. The first direction and the second direction are different.

17. The automatic cannulation device according to claim 16, characterized in that, The clamp assembly further includes: The sixth drive unit is located on the slide plate and connected to the sliding mechanism. The sixth drive unit can drive the clamping member to move along the height direction of the bracket through the sliding mechanism.

18. The automatic cannulation device according to claim 16, characterized in that, The sliding plate is provided with a limiting block, and the clamping assembly further includes: A guide plate is connected to the sliding mechanism. The guide plate is provided with a movable block. At least a portion of the movable block is opposite to the limiting block along the height direction of the bracket.

19. The automatic cannulation device according to claim 15, characterized in that, The bracket is provided with a mounting groove, and the material conveying device further includes: A cable chain, a portion of which is located within the mounting slot, the cable chain having a receiving space for accommodating cables.

20. The automatic cannulation device according to claim 15, characterized in that, The material conveying device also includes: The seventh drive unit is located on the bracket; The first transmission unit is disposed on the bracket and connected to the seventh drive unit; A second transmission unit is disposed on the slide plate, and the second transmission unit is connected to the first transmission unit.

21. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, Also includes: A transfer assembly, wherein the receiving tray is disposed on the transfer assembly and is movable on the transfer assembly.

22. The automatic cannulation device according to claim 21, characterized in that, The transfer assembly includes: substrate; A movable shaft is movably disposed on the substrate, and the receiving tray is disposed on the movable shaft; A limiting member is provided on the substrate and located on the moving path of the receiving tray.

23. The automatic cannulation device according to claim 22, characterized in that, The transfer assembly further includes: A slide rail is provided on the substrate, and a portion of the receiving tray slides in cooperation with the slide rail.

24. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, The gripper assembly includes: Mounting base; The connecting plate is connected to the mounting base; The gripper is movably mounted on the connecting plate and is capable of gripping the tube to be inserted on the receiving tray; The driving component is mounted on the mounting base; A buffer device is disposed between the gripper and the mounting base, with a first end connected to the drive member and a second end connected to the gripper.

25. The automatic cannulation device according to claim 24, characterized in that, The buffer device includes: A connecting shaft, one end of which is connected to the driving component, and the other end of which is connected to the gripper; A first elastic element is sleeved on the outside of the connecting shaft. The first elastic element deforms based on the movement of the connecting shaft relative to the gripper.

26. The automatic cannulation device according to claim 24, characterized in that, The connecting plate is provided with a guide rail, which can slide and engage with the gripper.

27. The automatic cannulation device according to claim 24, characterized in that, The number of grippers is multiple; Wherein, at least one of the grippers is an electric gripper; and / or at least one of the grippers is a pneumatic gripper.

28. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, The insertion port is included, and the tube to be inserted is inserted into the insertion port. The robot also includes: A vision system, located on the gripper assembly, is used to determine the position coordinates of the insertion port.

29. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, Also includes: A cutting assembly is disposed between the storage bin and the guiding assembly. The cutting assembly is provided with a cutting groove and a sliding part. The cutting groove is disposed on the sliding part and can communicate with the storage bin. The eighth driving unit is connected to the sliding unit and can drive the sliding unit to move so that the cutting groove is connected to and communicates with the guiding channel.

30. The automatic cannulation device according to claim 29, characterized in that, The cutting assembly also includes: A material discharge component, wherein the material discharge component is provided with a material discharge chute, and the two ends of the material discharge chute are respectively connected to the material storage bin and the material cutting chute; A first guide portion is provided in the discharge trough, and the tube to be inserted is located in the discharge trough and can move on the first guide portion; A guide member is movably disposed on the sliding portion. The guide member is provided with a second guide portion. Based on the second guide portion extending into the cutting groove, the tube to be inserted can move from the first guide portion to the second guide portion.

31. The automatic cannulation device according to claim 29, characterized in that, The cutting assembly also includes: The third detection element is located on the sliding part and is opposite to the cutting groove.

32. The automatic cannulation device according to any one of claims 1 to 10, characterized in that, Also includes: A positioning mechanism is used to position the plug-in to be installed.

33. The automatic cannulation device according to claim 32, characterized in that, The positioning mechanism includes: The frame has a receiving compartment for accommodating the plug-in; A pressure plate assembly is disposed in the frame. The pressure plate assembly includes a pressure plate located within the receiving compartment. The pressure plate is movable relative to the frame to press the insert to be inserted.

34. The automatic cannulation device according to claim 33, characterized in that, The positioning mechanism also includes: The mounting column is located on the outside of the receiving compartment and is connected to the pressure plate; The second elastic element is sleeved on the outside of the mounting post. Based on the movement of the pressure plate relative to the frame, the mounting post can drive the second elastic element to move, so that the second elastic element deforms.

35. The automatic cannulation device according to claim 33, characterized in that, The positioning mechanism also includes: Base; A frame is disposed on the base, and the frame body is disposed on the frame; The ninth drive unit is connected to the frame and is capable of driving the frame to move horizontally relative to the base; The tenth drive unit is connected to the frame and is capable of driving the frame to move along the height direction of the base.

36. An air conditioner, characterized in that, include: Plugins needed; The tube to be inserted is inserted into the tube using the automatic intubation device as described in any one of claims 1 to 35.

37. The air conditioner according to claim 36, characterized in that, The insert to be inserted has an insertion port, and the tube to be inserted includes: tube body; At least two connecting rings are respectively sleeved on the outside of the tube body, and the tube body is inserted into the socket to be inserted, with each connecting ring connected to the plug to be inserted.

38. The air conditioner according to claim 36 or 37, characterized in that, The plug-in component includes at least one of a condenser and an evaporator; and / or The cannula to be inserted includes at least one of a U-shaped tube and a Y-shaped tube.

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