Automatic assembly equipment for two-vessel small elbow

Abstract

The application is suitable for the technical field of two-vessel production equipment, and provides a two-vessel small elbow automatic assembling equipment, which comprises a two-vessel conveying line for conveying two vessels; a feeding assembly for arranging and vibrating small elbows to a discharge port for delivery; a correction assembly arranged below a receiving plate, comprising a first lifting driving assembly, a first driver and two adjusting rods, the first lifting driving assembly is used for driving the two adjusting rods to ascend through perforations and respectively inserted into two ports of a small elbow, the first driver is used for driving the two adjusting rods to move away from each other, so that each adjusting rod abuts against the inner wall of the corresponding port to correct the posture of the small elbow; and an inserting assembly is used for grabbing the small elbow with a corrected posture in a containing groove and inserting the small elbow into the two vessels at an inserting station. In this way, the posture of the small elbow is corrected, the positioning consistency of the small elbow before insertion is effectively ensured, and the insertion success rate and product assembling quality are improved.

Description

Technical Field

[0001] This application belongs to the technical field of two-piece production equipment, and in particular relates to an automatic assembly equipment for small elbows of two-piece production equipment. Background Technology

[0002] In the manufacturing process of air conditioner condensers and evaporators, U-shaped elbows need to be inserted into the ends of two adjacent straight pipes in the main structure of the two units to connect the straight pipes for refrigerant flow. Traditional elbow insertion is mainly done manually, which is inefficient and costly.

[0003] To overcome the shortcomings of manual operation, automated insertion solutions using robotic arms have emerged in related technologies. However, due to the influence of upstream small elbow processing precision and damage during transportation, the consistency of incoming small elbows is poor. When the small elbows are picked up by the robotic arm, it is difficult to ensure consistent posture, which can easily lead to insertion failure or even product scrap. Summary of the Invention

[0004] The purpose of this application is to provide an automatic assembly device for two-piece small elbows, which aims to solve the technical problem that existing devices cannot guarantee the stability of the small elbow's posture.

[0005] This application embodiment is implemented as follows: an automatic assembly device for two-piece small elbows includes:

[0006] A two-device conveyor line is used to transport two devices. The two-device conveyor line is equipped with an insertion station, and the insertion station is equipped with a clamping device for clamping and fixing the two devices.

[0007] An insertion device, comprising a machine base and a feeding assembly, a receiving assembly, a calibration assembly and an insertion assembly disposed on the machine base;

[0008] The feeding assembly is used to arrange the small elbows and vibrate them to the discharge port for delivery.

[0009] The receiving assembly includes a receiving plate, which has a receiving groove suitable for accommodating a single small elbow, and the bottom of the receiving groove has a through hole;

[0010] The correction component is located below the receiving plate and includes a first lifting drive component, a first driver, and two adjusting rods. The first driver is installed at the output end of the first lifting drive component, and the two adjusting rods are installed at the output end of the first driver. The first lifting drive component is used to drive the two adjusting rods to rise, pass through the perforation, and insert into the two ports of the small elbow respectively. The first driver is used to drive the two adjusting rods to move away from each other so that each adjusting rod abuts against the inner wall of the corresponding port, thereby correcting the posture of the small elbow.

[0011] The insertion assembly is used to grab the small elbow that has completed attitude correction in the receiving slot and insert the small elbow into the two devices located at the insertion station.

[0012] Preferably, the insert assembly includes a contour gripper for gripping a small elbow, the contour gripper including two claw heads and a top block located between the two claw heads, the two claw heads being configured to move closer to or further away from each other, and the lower surface of the top block having an arcuate groove adapted to the top of the small elbow.

[0013] Preferably, the insertion assembly further includes a robotic arm, the end of which is provided with a second lifting drive assembly, the contour gripper further includes a first pneumatic finger, the two gripper heads are respectively fixedly mounted on the two output fingers of the first pneumatic finger, the top block is fixedly connected to the outer shell of the first pneumatic finger, and a contour groove adapted to the shape of the small bend is provided on the opposite side of the two gripper heads.

[0014] Preferably, the contouring gripper is provided in multiple ways, and each contouring gripper is configured with a second lifting drive component, and each second lifting drive component is used to drive the corresponding contouring gripper to lift independently.

[0015] Preferably, one end of the receiving groove near the feeding assembly passes through the edge of the receiving plate to form a receiving port. Limiting members are provided opposite each other on the middle of the two sides of the receiving groove. The two limiting members are used to abut against the two sides of the middle of the top of the small elbow. The middle of the two claws is provided with a clearance hole for avoiding the limiting members.

[0016] Preferably, the feeding components are provided in two sets, and a linear drive component is provided at the front end of the discharge port of the two feeding components. The receiving plate is provided at the output end of the linear drive component. The linear drive component is used to drive the receiving plate to pass through the discharge port of the two feeding components in sequence. The two sets of feeding components are used to supply the first elbow and the second elbow respectively.

[0017] Preferably, the receiving groove includes a plurality of alternating first slots and second slots, the first slots and second slots being used to receive the first elbow and the second elbow, respectively. The conforming grippers are arranged in two rows, one row being the first grippers for gripping the first elbow and the other row being the second grippers for gripping the second elbow. The distance between two adjacent first grippers is adapted to the distance between two adjacent first slots, and the distance between two adjacent second grippers is adapted to the distance between two adjacent second slots.

[0018] Preferably, the two-device conveyor line includes a guide frame and a conveyor belt. The guide frame has a first guide plate and a second guide plate arranged opposite to each other, defining a conveying channel between the first guide plate and the second guide plate. The conveyor belt is disposed below the conveying channel, and the first guide plate can move relative to the second guide plate to adjust the width of the conveying channel.

[0019] Preferably, the guide frame is provided with multiple vertically arranged guide rods, which are distributed on both sides of the conveyor belt. A lifting plate is slidably connected to the multiple guide rods through guide sleeves. The conveyor belt is fixedly mounted on the lifting plate. The guide frame is also provided with a third lifting drive assembly, and the lifting plate is connected to the output end of the third lifting drive assembly.

[0020] Preferably, the two ends of the conveyor line are equipped with a loading robot and a unloading robot, respectively.

[0021] In the automatic assembly equipment for two-piece elbows provided in this application embodiment, after the feeding component feeds the elbow into the receiving plate's receiving slot, the first lifting drive component drives two adjusting rods to rise, pass through the perforation, and insert into the two ports of the elbow respectively. The first driver drives the two adjusting rods to move away from each other, so that each adjusting rod abuts against the inner wall of the corresponding port, thereby correcting the tilted elbow to a standard posture with both ports vertically downward. In this way, the elbow's posture is corrected, effectively ensuring the consistency of the elbow's positioning before insertion, thereby improving the insertion success rate and product assembly quality. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure of an automatic assembly device for two small elbows provided in this application embodiment;

[0023] Figure 2 This is a schematic diagram of the structure of the loading robot provided in the embodiments of this application;

[0024] Figure 3 This is a schematic diagram of the structure of the two-device conveyor line provided in the embodiments of this application;

[0025] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0026] Figure 5 This is a schematic diagram of the structure of the insertion device provided in the embodiments of this application;

[0027] Figure 6 for Figure 5 A magnified view of a section at point B in the middle;

[0028] Figure 7 This is a schematic diagram of the material receiving assembly provided in an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of the receiving assembly provided in an embodiment of this application from another perspective;

[0030] Figure 9 This is a schematic diagram of the structure of the correction component provided in the embodiments of this application;

[0031] Figure 10 This is a schematic diagram of the structure of the insertion assembly provided in the embodiments of this application;

[0032] Figure 11 for Figure 10 A magnified view of a section at point C.

[0033] In the picture:

[0034] 100. Two-piece conveyor line; 110. Guide frame; 120. Conveyor belt; 131. First guide plate; 132. Second guide plate; 133. Adjusting cylinder; 140. Clamping device; 141. Clamping plate; 142. Clamping cylinder; 151. Guide rod; 152. Lifting plate; 153. Screw;

[0035] 200. Insertion device; 210. Machine base; 220. Feeding assembly; 221. Hopper; 222. Vibratory feeder; 2221. Discharge port; 2222. Material stop; 230. Receiving assembly; 231. Support frame; 232. Linear drive assembly; 233. Receiving plate; 234. Limiting element; 235. Proximity sensor; 236. Receiving slot; 2361. First slot; 2362. Second slot; 237. 240. Perforation; 241. Correction assembly; 242. First lifting drive assembly; 243. First driver; 244. Adjusting rod; 250. Insertion assembly; 251. Robotic arm; 252. Second lifting drive assembly; 253. First pneumatic finger; 254. Top block; 2541. Arc groove; 255. Claw head; 2551. Contouring groove; 2552. Clearance hole; 256. Fixing frame; 257. Contouring gripper;

[0036] 300. Loading robot; 310. Mounting frame; 320. Dual-axis linear displacement drive assembly; 330. Mounting plate; 340. Gripping cylinder; 350. Claw; 400. Unloading robot;

[0037] 91. Two devices; 92. Small elbow; 92a. First elbow; 92b. Second elbow. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] The specific implementation of this application will be described in detail below with reference to specific embodiments.

[0040] During the manufacturing process of the air conditioner's two-phase system 91 (condenser and evaporator), a U-shaped elbow 92 needs to be inserted into the ends of two adjacent straight pipes in the main structure of the two-phase system 91 to connect the straight pipes for refrigerant flow. Traditional elbow insertion is mainly done manually, but it is inefficient and costly.

[0041] To overcome the shortcomings of manual operation, automated insertion solutions using robotic arms have emerged in related technologies. However, due to the influence of the upstream small elbow 92's machining precision and damage during transportation, the consistency of the incoming small elbow 92 is poor, resulting in uneven heights at both ends of the small elbow 92, causing it to stand at an angle after discharge. When the robotic arm picks up the angled small elbow 92 for insertion, it easily leads to insertion failure or even product scrap.

[0042] Therefore, this application provides an automatic assembly device for two-piece small elbows, such as... Figure 1 As shown, it includes a two-device conveyor line 100 and an insertion device 200.

[0043] The two-device conveyor line 100 is used to convey the two devices 91, such as... Figure 3 As shown, the two-component conveyor line 100 is equipped with an insertion station, and the insertion station is equipped with a clamping device 140 for clamping and fixing the two components 91. In this embodiment, the two components 91 are condensers or evaporators of an air conditioner. The two components 91 are fed from one end of the two-component conveyor line 100. The two-component conveyor line 100 conveys the two components 91 to the middle insertion station and then stops. The clamping device 140 clamps and positions the two components 91. After the insertion device 200 inserts the two components 91 with a small bend 92, the two-component conveyor line 100 continues to convey the two components 91 to the other end for unloading.

[0044] In some embodiments of this application, such as Figure 4 As shown, the clamping device 140 includes two clamping cylinders 142 fixedly mounted on the guide frame 110, with the two clamping cylinders 142 arranged opposite to each other. Each output end of the two clamping cylinders 142 is fixedly equipped with a clamping plate 141, which clamps the two end faces of the two devices 91.

[0045] like Figure 5 As shown, the insertion device 200 includes a machine base 210 and a feeding assembly 220, a receiving assembly 230, a calibration assembly 240 and an insertion assembly 250 disposed on the machine base 210.

[0046] like Figure 5 and Figure 6As shown, the feeding assembly 220 is used to arrange the small elbows 92 and feed them out from its outlet 2221. The feeding assembly 220 includes a hopper 221 and a vibratory feeder 222. The hopper 221 is used to store the small elbows 92, and its outlet extends above the vibratory feeder 222 and is provided with a switch plate. When the small elbows 92 in the vibratory feeder 222 are used up or reduced to a certain amount, the switch plate opens to add an appropriate amount of small elbows 92 into the vibratory feeder 222.

[0047] like Figure 6 As shown, the vibratory feeder 222 organizes the messy small bends 92 into a downward-facing position and arranges them in a row. The structure and working principle of the vibratory feeder 222 are existing technologies and will not be described in detail here. In some embodiments, a baffle 2222 is provided at the discharge port 2221 of the vibratory feeder 222 by means of a cylinder. The baffle 2222 enters or exits the discharge port 2221 of the vibratory feeder 222 to block or allow the small bends 92 to be discharged.

[0048] like Figure 5 , Figure 7 and Figure 8 As shown, the receiving assembly 230 includes a receiving plate 233, which has a receiving groove 236 suitable for accommodating a single small elbow 92. A through hole 237 is provided at the bottom of the receiving groove 236. In this embodiment, the receiving groove 236 is aligned with the discharge port 2221 of the vibratory feeder 222. The small elbow 92 slides into the receiving groove 236, and at this time, the small elbow 92 is in a standing position with its port facing downwards.

[0049] The correction component 240 is located below the receiving plate 233, such as... Figure 9 As shown, the correction component 240 includes a first lifting drive component 241, a first driver 242, and two adjusting rods 243. The first driver 242 is installed at the output end of the first lifting drive component 241, and the two adjusting rods 243 are installed at the output end of the first driver 242. The first lifting drive component 241 is used to drive the two adjusting rods 243 to rise, pass through the through hole 237, and insert into the two ports of the small elbow 92 respectively. The first driver 242 is used to drive the two adjusting rods 243 to move away from each other, so that each adjusting rod 243 abuts against the inner wall of the corresponding port, thereby correcting the posture of the small elbow 92.

[0050] In some embodiments, the first actuator 242 is a second pneumatic finger, and the two adjusting rods 243 are respectively fixedly mounted on the two output fingers of the second pneumatic finger. A pneumatic finger, also known as a pneumatic gripper, is an end effector that uses compressed air as a power source to drive two output fingers to perform opening and closing movements.

[0051] The insertion assembly 250 is used to grab the small elbow 92 that has completed attitude correction in the receiving slot 236 and insert the small elbow 92 into the two devices 91 located at the insertion station.

[0052] In this embodiment, after the feeding assembly 220 feeds the small elbow 92 into the receiving slot 236 of the receiving plate 233, the first lifting drive assembly 241 drives the two adjusting rods 243 to rise, pass through the through hole 237, and insert into the two ports of the small elbow 92 respectively. The first driver 242 drives the two adjusting rods 243 to move away from each other, so that each adjusting rod 243 abuts against the inner wall of the corresponding port, thereby correcting the tilted small elbow 92 to the standard posture with both ports vertically downward. In this way, the posture correction of the small elbow 92 is achieved, effectively ensuring the positioning consistency of the small elbow 92 before insertion, thereby improving the insertion success rate and product assembly quality.

[0053] Furthermore, the center distance between the two ports of the small elbow 92 can be adjusted by the two adjusting rods 243, correcting the problem of narrowing of the port center distance caused by compression of the small elbow 92 during transportation. Moreover, to address the inward concavity of the port caused by compression of the small elbow 92, this application inserts the adjusting rods 243 into the port of the small elbow 92, which can correct the port of the small elbow 92 to a certain extent by widening it.

[0054] In some embodiments of this application, such as Figure 10 and Figure 11 As shown, the insertion assembly 250 includes a contour gripper 257 for gripping the small elbow 92. The contour gripper 257 includes two claw heads 255 and a top block 254 located between the two claw heads 255. The two claw heads 255 are configured to move closer to or further away from each other. The lower surface of the top block 254 is provided with an arcuate groove 2541 that is adapted to the top of the small elbow 92.

[0055] In this embodiment, the top block 254 abuts against the small elbow 92 inside the receiving groove 236 from above, in conjunction with the adjustment rod 243, so that the small elbow 92 rotates along the arc groove 2541 to a standard upright posture. This better corrects the tilt posture of the small elbow 92. Furthermore, the top block 254 limits the movement of the small elbow 92 from above, preventing the small elbow 92 from being pushed away from the receiving groove 236 during the insertion of the adjustment rod 243 into the end of the small elbow 92.

[0056] In some embodiments of this application, such as Figure 5 and Figure 10As shown, the insertion assembly 250 also includes a robotic arm 251, the end of which is provided with a second lifting drive assembly 252. The contour gripper 257 also includes a first pneumatic finger 253. Two gripper heads 255 are respectively fixedly mounted on the two output fingers of the first pneumatic finger 253. The top block 254 is fixedly connected to the outer shell of the first pneumatic finger 253. A contour groove 2551 adapted to the shape of the small elbow 92 is provided on the opposite side of the two gripper heads 255.

[0057] Specifically, the robotic arm 251 can drive the second lifting drive assembly 252 to move horizontally, lift vertically, and rotate around a vertical axis. The robotic arm 251 is a mature existing technology and will not be described in detail here. A fixed frame 256 is fixedly mounted at the end of the robotic arm 251, and the second lifting drive assembly 252 is fixedly mounted on the fixed frame 256. Preferably, the second lifting drive assembly 252 can be a cylinder, and the first pneumatic finger 253 is connected to the piston rod of the second lifting drive assembly 252. In this embodiment, the robotic arm 251 can drive the fixed frame 256 to lift as a whole, while the second lifting drive assembly 252 can independently drive the contour gripper 257 connected to its piston rod to lift.

[0058] In this embodiment, a contouring groove 2551 is provided on the claw head 255. After the two claw heads 255 are closed, they define a cavity with the same shape as the standard small elbow 92. In this way, when the contouring gripper 257 clamps the small elbow 92, it can correct the deformation of the small elbow 92. For example, when the two straight ends of the small elbow 92 are at an angle, the contouring gripper 257 can bring them back to a parallel state.

[0059] In some embodiments of this application, multiple contouring grippers 257 are provided, and each contouring gripper 257 is correspondingly configured with a second lifting drive assembly 252. Each second lifting drive assembly 252 is used to drive the corresponding contouring gripper 257 to lift independently. In this embodiment, the small elbows 92 in the contouring grippers 257 need to be inserted one by one. The contouring grippers 257 connected to their piston rods are driven to lift individually by the second lifting drive assembly 252, which can avoid interference between the small elbows 92 that are not inserted and the two devices 91.

[0060] In some embodiments of this application, such as Figure 6 and Figure 8 As shown, one end of the receiving groove 236 near the feeding assembly 220 passes through the edge of the receiving plate 233 to form a receiving port. Limiting members 234 are provided opposite to each other on the middle of the two sides of the receiving groove 236. The two limiting members 234 are used to abut against the two sides of the middle of the top of the small elbow 92. The middle of the two claw heads 255 is provided with a clearance hole 2552 for avoiding the limiting members 234.

[0061] In this embodiment, the receiving port of the receiving groove 236 is aligned with the discharge port 2221 of the vibratory feeder 222. The small elbow 92 is pushed into the receiving groove 236 under the vibration of the vibratory feeder 222. The receiving groove 236 restricts the left and right movement of the two ends of the small elbow 92, and the limiting member 234 abuts against both sides of the middle of the top of the small elbow 92 to prevent the small elbow 92 from tilting to the sides. In some embodiments, such as... Figure 8 As shown, a proximity sensor 235 is disposed in front of the receiving groove 236, and the proximity sensor 235 abuts against the small elbow 92 to limit its forward movement. In some embodiments, such as Figure 11 As shown, in order to avoid the limiting member 234, the claw head 255 is provided with an avoidance hole 2552, which passes through the claw head 255 downward, making the claw head 255 in an inverted U shape.

[0062] In some embodiments of this application, such as Figure 5 As shown, the feeding assembly 220 is provided with two sets, such as Figure 7 As shown, a linear drive assembly 232 is provided at the front end of the outlet 2221 of the two feeding assemblies 220. The receiving plate 233 is provided at the output end of the linear drive assembly 232. The linear drive assembly 232 is used to drive the receiving plate 233 to pass through the outlet 2221 of the two feeding assemblies 220 in sequence. The two sets of feeding assemblies 220 are used to supply the first elbow 92a and the second elbow 92b respectively.

[0063] In this embodiment, to enable the insertion of small elbows 92 of different specifications on a single production line, the feeding assembly 220 is provided with two sets for feeding the first elbow 92a and the second elbow 92b. The first elbow 92a and the second elbow 92b are small elbows 92 of different specifications. Specifically, the linear drive assembly 232 is mounted on the support frame 231 and can adopt a screw and nut structure. The receiving plate 233 is fixedly connected to the nut, and the drive motor drives the screw to rotate, thereby driving the nut and the receiving plate 233 to move linearly.

[0064] In some embodiments of this application, such as Figure 7 and 8 As shown, the receiving slot 236 includes a plurality of alternately spaced first slots 2361 and second slots 2362, which are respectively used to receive the first elbow 92a and the second elbow 92b, as shown. Figure 10As shown, the contour gripper 257 is provided with two rows, one row being the first gripper for gripping the first bend 92a, and the other row being the second gripper for gripping the second bend 92b. The distance between two adjacent first grippers is adapted to the distance between two adjacent first slots 2361, and the distance between two adjacent second grippers is adapted to the distance between two adjacent second slots 2362.

[0065] To accommodate small elbows 92 of different specifications in a single production line, the arrangement of the receiving plate 233 and the contour grippers 257 is designed in this embodiment. The spacing between two adjacent first grippers matches the spacing between two adjacent first slots 2361, allowing multiple first grippers to simultaneously pick up the first elbows 92a, thus improving efficiency. Furthermore, by alternately setting different slots, a single receiving plate 233 can simultaneously accommodate the positioning requirements of two different small elbows 92, and a certain spacing is maintained between two adjacent first slots 2361 to ensure sufficient arrangement space for adjacent first grippers.

[0066] It is understandable that, such as Figure 8 As shown, the first elbow 92a and the second elbow 92b have different heights. The heights of the limiting members 234 on both sides of the first slot 2361 and the second slot 2362 are adapted to the heights of the first elbow 92a and the second elbow 92b, respectively. It should be noted that the first gripper and the second gripper have similar structures, the only difference being that the contour groove 2551 and the arc groove 2541 of the first gripper are adapted to the first elbow 92a, and the contour groove 2551 and the arc groove 2541 of the second gripper are adapted to the second elbow 92b.

[0067] In some embodiments of this application, the two-device conveyor line 100 includes a guide frame 110 and a conveyor belt 120. The guide frame 110 has a first guide plate 131 and a second guide plate 132 disposed opposite to each other, defining a conveying channel between the first guide plate 131 and the second guide plate 132. The conveyor belt 120 is disposed below the conveying channel. The first guide plate 131 can move relative to the second guide plate 132 to adjust the width of the conveying channel.

[0068] In this embodiment, as Figure 3 and Figure 4 As shown, an adjusting cylinder 133 is fixedly installed on the guide frame 110. The first guide plate 131 is fixedly connected to the piston rod of the adjusting cylinder 133. The distance between the first guide plate 131 and the second guide plate 132 is adjusted by the adjusting cylinder 133 to accommodate two devices 91 of different thicknesses.

[0069] In some embodiments of this application, the guide frame 110 is provided with multiple vertically arranged guide rods 151, which are distributed on both sides of the conveyor belt 120. A lifting plate 152 is slidably connected to the multiple guide rods 151 through guide sleeves. The conveyor belt 120 is fixedly mounted on the lifting plate 152. The guide frame 110 is also provided with a third lifting drive assembly, and the lifting plate 152 is connected to the output end of the third lifting drive assembly.

[0070] In this embodiment, the conveyor belt 120 is raised and lowered by a third lifting drive assembly to accommodate the two devices 91 at different heights. Specifically, the third lifting drive assembly can be a cylinder. Figure 4 As shown, in some embodiments, the third lifting drive assembly adopts a screw structure, with a vertically arranged screw 153 on the guide frame 110. The lifting plate 152 is threadedly connected to the screw 153. The screw 153 is driven to rotate by a drive motor, which can adjust the height of the lifting plate 152 and thus adjust the height position of the conveyor belt 120.

[0071] In some embodiments of this application, such as Figure 1 As shown, the two ends of the conveyor line 100 have a loading robot 300 and a unloading robot 400, respectively. Figure 2 As shown, the loading robot 300 includes a mounting frame 310. A dual-axis linear displacement drive assembly 320 is mounted on the top of the mounting frame 310. A mounting plate 330 is fixedly mounted on the output end of the dual-axis linear displacement drive assembly 320. Two gripping cylinders 340 are mounted on the mounting plate 330, and claws 350 are fixedly mounted on the piston rods of the two gripping cylinders 340. By driving the two claws 350 to move towards or away from each other through the gripping cylinders 340, the gripping and releasing of the two devices 91 can be achieved. The dual-axis linear displacement drive assembly 320 only needs to be able to drive the mounting plate 330 to move up, down, and sideways. The structure of the unloading robot 400 is similar to that of the loading robot 300, and will not be described in detail here.

[0072] In some embodiments of this application, such as Figure 1 As shown, two sets of insertion devices 200 are provided and symmetrically arranged on the machine base 210 to improve insertion efficiency.

[0073] In the automatic assembly equipment for two-piece elbows provided in this application embodiment, after the feeding component 220 feeds the elbow 92 into the receiving slot 236 of the receiving plate 233, the first lifting drive component 241 drives two adjusting rods 243 to rise, pass through the through hole 237, and insert them into the two ports of the elbow 92 respectively. The first driver 242 drives the two adjusting rods 243 to move away from each other, so that each adjusting rod 243 abuts against the inner wall of the corresponding port, thereby correcting the tilted elbow 92 to the standard posture with both ports vertically downward. In this way, the posture correction of the elbow 92 is achieved, effectively ensuring the positioning consistency of the elbow 92 before insertion, thereby improving the insertion success rate and product assembly quality. Furthermore, this application can realize the insertion of elbows 92 of various specifications.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic assembly device for two-piece small elbows, characterized in that, include: A two-device conveyor line is used to transport two devices. The two-device conveyor line is equipped with an insertion station, and the insertion station is equipped with a clamping device for clamping and fixing the two devices. An insertion device, comprising a machine base and a feeding assembly, a receiving assembly, a calibration assembly and an insertion assembly disposed on the machine base; The feeding assembly is used to arrange the small elbows and vibrate them to the discharge port for delivery. The receiving assembly includes a receiving plate, which has a receiving groove suitable for accommodating a single small elbow, and a through hole is provided at the bottom of the receiving groove; The correction component is located below the receiving plate and includes a first lifting drive component, a first driver, and two adjusting rods. The first driver is installed at the output end of the first lifting drive component, and the two adjusting rods are installed at the output end of the first driver. The first lifting drive component is used to drive the two adjusting rods to rise, pass through the perforation, and insert into the two ports of the small elbow respectively. The first driver is used to drive the two adjusting rods to move away from each other so that each adjusting rod abuts against the inner wall of the corresponding port, thereby correcting the posture of the small elbow. The insertion assembly is used to grab the small elbow that has completed attitude correction in the receiving slot and insert the small elbow into the two devices located at the insertion station.

2. The automatic assembly equipment for two-piece small elbows according to claim 1, characterized in that, The insert assembly includes a contour gripper for gripping a small elbow, the contour gripper including two claw heads and a top block located between the two claw heads, the two claw heads being configured to move closer to or further away from each other, and the lower surface of the top block having an arcuate groove adapted to the top of the small elbow.

3. The automatic assembly equipment for two-piece small elbows according to claim 2, characterized in that, The insertion assembly also includes a robotic arm, the end of which is provided with a second lifting drive assembly. The contour gripper also includes a first pneumatic finger, with two gripper heads respectively fixedly mounted on the two output fingers of the first pneumatic finger. The top block is fixedly connected to the outer shell of the first pneumatic finger, and a contour groove adapted to the shape of a small bend is provided on the opposite side of the two gripper heads.

4. The automatic assembly equipment for two-piece small elbows according to claim 3, characterized in that, The contouring gripper is provided in multiple ways, and each contouring gripper is configured with a second lifting drive component. Each second lifting drive component is used to drive the corresponding contouring gripper to lift independently.

5. The automatic assembly equipment for two-piece small elbows according to claim 4, characterized in that, The receiving groove extends through the edge of the receiving plate at one end near the feeding assembly to form a receiving port. Limiting members are provided opposite each other at the middle of the two sides of the receiving groove. The two limiting members are used to abut against the two sides at the middle of the top of the small elbow. The two claws are provided with avoidance holes in the middle to avoid the limiting members.

6. The automatic assembly equipment for two-piece small elbows according to claim 5, characterized in that, The feeding components are provided in two sets. A linear drive component is provided at the front end of the discharge port of the two feeding components. The receiving plate is provided at the output end of the linear drive component. The linear drive component is used to drive the receiving plate to pass through the discharge port of the two feeding components in sequence. The two sets of feeding components are used to supply the first elbow and the second elbow respectively.

7. The automatic assembly equipment for two-piece small elbows according to claim 6, characterized in that, The receiving slot includes a plurality of alternating first slots and second slots, which are used to receive first elbows and second elbows, respectively. The conforming grippers are arranged in two rows, one row of which is a first gripper for gripping the first elbow and the other row of which is a second gripper for gripping the second elbow. The distance between two adjacent first grippers is adapted to the distance between two adjacent first slots, and the distance between two adjacent second grippers is adapted to the distance between two adjacent second slots.

8. The automatic assembly equipment for two-piece small elbows according to claim 1, characterized in that, The two-device conveyor line includes a guide frame and a conveyor belt. The guide frame has a first guide plate and a second guide plate arranged opposite to each other, defining a conveying channel between the first guide plate and the second guide plate. The conveyor belt is disposed below the conveying channel. The first guide plate can move relative to the second guide plate to adjust the width of the conveying channel.

9. The automatic assembly equipment for two-piece small elbows according to claim 8, characterized in that, The guide frame is provided with multiple vertically arranged guide rods, which are distributed on both sides of the conveyor belt. A lifting plate is slidably connected to the multiple guide rods through guide sleeves. The conveyor belt is fixedly mounted on the lifting plate. The guide frame is also provided with a third lifting drive assembly, and the lifting plate is connected to the output end of the third lifting drive assembly.

10. The automatic assembly equipment for two-piece small elbows according to claim 8, characterized in that, The two conveyor lines are equipped with a loading robot and a unloading robot at each end.

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