An assembly apparatus for a pipe fitting

Abstract

This application discloses a pipe fitting assembly device, belonging to the field of pipe fitting assembly. It includes a frame on which a feeding device and a discharging device are mounted. A robotic arm assembly is installed between the feeding and discharging devices. A material tray with pipe fittings to be assembled is placed on the feeding device. The discharging device includes an assembly fixture connected to a vibratory feeder. The assembly fixture has a positioning groove for accommodating a sealing ring. The vibratory feeder outputs the sealing ring to the positioning groove. One side of the assembly fixture has a slot for inserting the end of the pipe fitting. The slot is connected to the positioning groove. The robotic arm assembly grips the pipe fitting to be assembled and inserts the end of the pipe fitting into the slot. Through automated operation, good compatibility, and precise assembly docking, the device effectively improves the efficiency and quality of pipe fitting assembly, meeting the needs of multi-specification production.

Description

Technical Field

[0001] This application relates to the field of pipe fitting assembly, and more particularly to a pipe fitting assembly device. Background Technology

[0002] In today's industrial production, pipe fittings (such as straight pipes, tees, L-shaped pipes, etc.) are widely used. These fittings are often used in conjunction with sealing rings, which are fitted onto the ends of the fittings to ensure a tight seal at the joints.

[0003] For a long time, manual assembly of sealing rings dominated the market. This method is relatively simple and still has some applicability for small-scale, non-continuous production enterprises or pipe fitting assembly scenarios with special customization needs. However, with the continuous expansion of modern industrial production scale, the increasingly faster pace of production, and the ever-increasing requirements for product quality and consistency, many drawbacks of manual assembly have become increasingly apparent. On the one hand, manual assembly is inefficient; workers are relatively slow and prone to fatigue during repeated grasping, alignment, and installation operations, making it difficult to meet the high-volume demands of large-scale production. On the other hand, manual operation has poor stability, easily leading to problems such as sealing ring installation position deviations and uneven installation force due to human factors, which in turn affect the sealing effect of pipe fitting connections and reduce product qualification rates. Furthermore, manual assembly also suffers from high labor intensity, high dependence on worker skill levels, and rising labor costs, all of which prompt enterprises to seek more efficient, precise, and stable automated assembly solutions.

[0004] Later, automated assembly equipment appeared on the market, such as the Chinese patent application "A sealing ring assembly mechanism for an automatic assembly device for tee pipes," application number: CN202221044446.0, which discloses a mechanism including: a feeding component with a conveyor belt; a lifting component located at the end of the conveyor belt, capable of vertically pushing a sealing ring moved to a preset position out of the conveyor belt; and a sealing ring clamping component located to the side of the feeding component, with a movable sealing ring gripper on the clamping component, capable of gripping the sealing ring after the lifting component pushes it out of the conveyor belt. Compared with the prior art, the feeding component, lifting component, and sealing ring clamping component of this utility model enable the entire sealing ring assembly process to be completed by machine. Compared with manual operation, its installation efficiency and automation level are higher, and its installation accuracy and pass rate are also higher than manual installation.

[0005] While existing automated assembly equipment has alleviated the shortcomings of manual assembly to some extent, some equipment still has room for improvement. Although the level of automation in some equipment has improved, the equipment's compatibility is not ideal. Faced with the wide variety of pipe fittings and sealing rings on the market, some automated equipment can only be adapted to a limited number of models, lacking the ability to quickly adjust and switch between them. This fails to meet the needs of enterprises for multi-variety, small-batch production, limiting its application in a wider range of production scenarios. Utility Model Content

[0006] The technical problem to be solved by this application is to provide a pipe fitting assembly equipment that effectively improves the efficiency and quality of pipe fitting assembly through automated operation, good compatibility and precise assembly docking, and meets the needs of multi-specification production.

[0007] The technical solution adopted in this application is as follows: a pipe fitting assembly equipment, including a frame, on which a feeding device and a discharging device are installed, and a robotic arm assembly is installed between the feeding device and the discharging device. A material tray with pipe fittings to be assembled arranged in a regular manner is placed on the feeding device. The discharging device includes an assembly fixture connected to a vibrating plate. The assembly fixture is provided with a positioning groove for accommodating a sealing ring. The vibrating plate outputs the sealing ring to the positioning groove. A slot for inserting the end of the pipe fitting is opened on one side of the assembly fixture. The slot is connected to the positioning groove. The robotic arm assembly works to clamp the pipe fitting to be assembled and insert the end of the pipe fitting to be assembled into the slot.

[0008] Compared with existing technologies, the advantages of this application are as follows: First, the equipment achieves automated assembly of pipe fittings and sealing rings through the coordinated operation of the feeding device, robotic arm assembly, and discharging device. Compared with traditional manual assembly, it greatly reduces the time spent on repeated manual grasping, alignment, and installation operations, enabling continuous and stable assembly operations and significantly increasing the assembly output per unit time, thus meeting the high-volume demands of large-scale production.

[0009] Secondly, one side of the assembly fixture has a slot for inserting the end of the pipe fitting. The slot is connected to the positioning groove. This structural design allows the present application to adapt to pipe fittings of different specifications. As long as the end size of the pipe fitting matches the slot, or an adjustable slot structure is designed, straight pipes, tees, L-shaped pipes, etc., can be assembled, meeting the needs of enterprises for multi-variety, small-batch production. There is no need to equip each type of pipe fitting with special equipment, reducing the enterprise's equipment costs and production management difficulty.

[0010] Furthermore, vibratory feeders are a common component sorting and conveying device in automated equipment. They utilize their own vibration characteristics to arrange randomly placed sealing rings in a certain direction and order and feed them into the positioning groove, providing a stable and reliable supply of sealing rings for subsequent pipe assembly and ensuring the continuity of the assembly process.

[0011] Finally, the locating groove within the assembly fixture accommodates the sealing ring, providing it with a fixed installation position and shape constraint. When the robotic arm inserts the end of the pipe to be assembled into the slot, the slot and locating groove connect, allowing the pipe end to accurately contact the sealing ring and achieve assembly. This design ensures coaxiality and assembly accuracy between the pipe and the sealing ring, improving assembly quality.

[0012] In some embodiments of this application, the robotic arm assembly includes a rotary motor and a clamping assembly, wherein the clamping assembly is connected to the output shaft of the rotary motor, and the rotary motor drives the clamping assembly to rotate.

[0013] The rotary motor can precisely control the rotation angle of the clamping assembly, thereby accurately adjusting the angle of the pipe fitting to ensure precise alignment between the fitting's end to be assembled and the slot, allowing for smooth insertion into the slot and assembly with the sealing ring within the positioning groove. This improves assembly accuracy and adapts to the assembly requirements of different pipe fitting ends.

[0014] In some embodiments of this application, the clamping assembly includes a base, a left gripper, and a right gripper. The output shaft of a rotary motor is connected to the base. A movable groove is provided on the lower surface of the base. The left gripper and the right gripper are both installed in the movable groove. The left gripper and the right gripper are connected to a power component. The power component drives the left gripper and the right gripper to move closer to or further away from each other.

[0015] This clamping assembly structure design allows the left and right jaws to move flexibly closer or further apart, adapting to pipes of different diameters or shapes, enhancing the equipment's compatibility with various pipes, and improving the reliability of clamping and assembly.

[0016] In some embodiments of this application, the material tray is regularly filled with receiving grooves, the structure of which is adapted to the structure of the pipe fitting. The pipe fitting to be assembled is placed in the receiving groove, and a clearance space is left between the middle of the receiving groove and the pipe fitting. The left and right grippers of the robotic arm assembly extend into the clearance space to grip the pipe fitting.

[0017] The design of the receiving slot allows for the orderly placement of pipe fittings, preventing them from being scattered haphazardly on the material tray and facilitating accurate gripping by the robotic arm assembly. Simultaneously, the clearance space provides ample operating space for the left and right grippers of the robotic arm assembly, ensuring smooth gripping operations and improving the stability and efficiency of material loading.

[0018] In some embodiments of this application, the top of the assembly fixture is provided with an inlet channel, which connects the output end of the vibratory feeder with the positioning groove; the slot and the positioning groove are coaxially arranged.

[0019] The inlet channel design ensures that the sealing rings are stably and smoothly transported from the vibratory feeder to the positioning groove, guaranteeing the continuity and stability of the sealing ring supply. The coaxial arrangement of the slot and positioning groove ensures precise alignment between the pipe end and the sealing ring, improving assembly quality and reducing assembly deviations.

[0020] In some embodiments of this application, the feeding device includes a first Y-axis sliding track and a second Y-axis sliding track distributed vertically. A movable plate is movably installed on both the first Y-axis sliding track and the second Y-axis sliding track, and the material tray is placed on the movable plate.

[0021] This structural design, featuring vertically distributed Y-axis sliding tracks and moving plates, enables highly efficient loading and unloading of material trays. While the robotic arm assembles pipe fittings on one material tray, another tray can move along the track to the loading position for manual loading, improving the overall efficiency of the equipment and reducing downtime.

[0022] In some embodiments of this application, the movable plate is connected to a lead screw, and the operation of the lead screw drives the movable plate to move stably along a first Y-axis sliding track or a second Y-axis sliding track.

[0023] Screw drives offer advantages such as high precision, good stability, and strong load-bearing capacity. Using a screw to drive the moving plate ensures the positional accuracy and stability of the material tray during movement, providing reliable conditions for accurate gripping by robotic arm components and improving the reliability of assembly equipment.

[0024] In some embodiments of this application, a moving device is provided above the feeding device, and a robotic arm assembly is mounted on the moving device. The moving device drives the robotic arm to move.

[0025] The mobile device enables the robotic arm assembly to move flexibly in three-dimensional space, accurately transporting pipe fittings from the material tray to the assembly fixture according to the assembly process and the needs of different material trays and assembly fixtures, thus improving the automation and flexibility of the equipment.

[0026] In some embodiments of this application, the mobile device includes an X-axis moving component, a Y-axis moving component, and a Z-axis moving component. The X-axis moving component is mounted on a frame, the Y-axis moving component is mounted on the X-axis moving component, the Z-axis moving component is mounted on the Y-axis moving component, and the robotic arm component is mounted on the Z-axis moving component.

[0027] This combination of multi-directional moving components provides the robotic arm with all-around motion capabilities. Through precise movement in the X, Y, and Z directions, the robotic arm can flexibly reach different positions within the workspace, fulfilling a series of complex assembly actions, from picking up and transporting pipe fittings from the material tray to inserting assembly tooling, thereby improving the adaptability and work efficiency of the assembly equipment.

[0028] In some embodiments of this application, the frame is provided with a slot, and a product frame is placed directly below the slot.

[0029] The robotic arm assembly holds the assembled pipe fitting above the slot. Once released, the fitting automatically falls through the slot into the product frame. The slot design provides a convenient drop channel for the assembled fitting, allowing it to fall automatically and accurately into the product frame, thus automating the collection of finished products. This not only improves production efficiency but also reduces manual intervention and labor intensity, while facilitating subsequent centralized processing and transportation of the assembled products.

[0030] Based on common knowledge in the field, the above-described embodiments can be combined arbitrarily. Attached Figure Description

[0031] The present application will be described in further detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the present application. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0032] Figure 1 This is a schematic diagram of the structure of this application. Figure 1 ; Figure 2 This is a schematic diagram of the structure of this application. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the mobile device of this application; Figure 4 This is a schematic diagram of the structure of the robotic arm component of this application; Figure 5 This is a structural schematic diagram of the assembly tooling of this application.

[0033] The specific explanations of the reference numerals in the attached drawings are as follows: 1. Frame; 2. Feeding device; 3. Discharging device; 4. Robot arm assembly; 5. Material tray; 6. Assembly fixture; 7. Positioning slot; 8. Vibratory feeder; 9. Slot; 10. Rotary motor; 11. Clamping assembly; 12. Base; 13. Left gripper; 14. Right gripper; 15. Moving slot; 17. Receiving slot; 18. Inlet channel; 19. First Y-axis sliding rail; 20. Second Y-axis sliding rail; 21. Moving plate; 22. Lead screw; 23. Moving device; 24. X-axis moving assembly; 25. Y-axis moving assembly; 26. Z-axis moving assembly; 27. Slot. Detailed Implementation

[0034] The present application will now be described in detail with reference to the accompanying drawings.

[0035] 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.

[0036] An assembly device for pipe fittings, as described in Embodiment 1 Figure 1 , Figure 2 As shown, the equipment includes a frame 1, on which a feeding device 2 and a discharging device 3 are mounted. A robotic arm assembly 4 is installed between the feeding device 2 and the discharging device 3. Through the coordinated operation of the feeding device 2, the robotic arm assembly 4, and the discharging device 3, the equipment achieves automated assembly of pipe fittings and sealing rings. Compared with traditional manual assembly, it significantly reduces the time spent on repeated manual grasping, alignment, and installation operations, enabling continuous and stable assembly operations and significantly increasing the assembly output per unit time, meeting the high-volume demands of large-scale production.

[0037] A material tray 5, with pipe fittings to be assembled arranged in a regular pattern, is placed on a feeding device 2. A discharging device 3 includes an assembly fixture 6 connected to a vibratory feeder 8. The assembly fixture 6 has a positioning groove 7 for accommodating sealing rings. The vibratory feeder 8 outputs sealing rings to the positioning groove 7. The vibratory feeder 8 is a common component sorting and conveying device in automated equipment. It utilizes its vibration characteristics to arrange randomly placed sealing rings in a specific direction and order and feed them into the positioning groove 7, providing a stable and reliable supply of sealing rings for subsequent pipe fitting assembly and ensuring the continuity of the assembly process.

[0038] The assembly fixture 6 has a slot 9 on one side for inserting the end of a pipe fitting, and the slot 9 is connected to the positioning groove 7. This structural design allows the present application to adapt to pipe fittings of different specifications. As long as the end size of the pipe fitting matches the slot 9, or if the slot 9 is designed with an adjustable structure, straight pipes, tees, L-shaped pipes, etc., can be assembled, meeting the needs of enterprises for multi-variety, small-batch production. It eliminates the need for dedicated equipment for each type of pipe fitting, reducing equipment costs and production management difficulties for enterprises.

[0039] The robotic arm assembly 4 grips the pipe fitting to be assembled and inserts the end of the fitting into the slot 9. The positioning groove 7 within the assembly fixture 6 accommodates the sealing ring, providing a fixed installation position and shape constraint for the sealing ring. When the robotic arm assembly 4 inserts the end of the pipe fitting into the slot 9, the slot 9 and the positioning groove 7 become connected, allowing the end of the pipe fitting to accurately contact the sealing ring and achieve assembly. This design ensures the coaxiality and assembly accuracy between the pipe fitting and the sealing ring, improving assembly quality.

[0040] Example 2, as Figures 1 to 5 As shown, the robotic arm assembly 4 includes a rotary motor 10 and a clamping assembly 11. The clamping assembly 11 is connected to the output shaft of the rotary motor 10, and the rotary motor 10 drives the clamping assembly 11 to rotate. The rotary motor 10 can precisely control the rotation angle of the clamping assembly 11, thereby accurately adjusting the angle of the pipe fitting to ensure that the end of the pipe fitting to be assembled is precisely aligned with the slot 9, and smoothly inserted into the slot 9 to assemble with the sealing ring in the positioning groove 7. This improves the accuracy of assembly and adapts to the needs of different pipe fitting end assembly directions.

[0041] The clamping assembly 11 includes a base 12, a left gripper 13, and a right gripper 14. The output shaft of the rotary motor 10 is connected to the base 12. A movable groove 15 is formed on the lower surface of the base 12. The left gripper 13 and the right gripper 14 are both installed in the movable groove 15. The left gripper 13 and the right gripper 14 are connected to a power component. The power component drives the left gripper 13 and the right gripper 14 to move closer or further apart. This structural design of the clamping assembly 11 allows the left gripper 13 and the right gripper 14 to flexibly move closer or further apart, adapting to pipes of different diameters or shapes, enhancing the equipment's compatibility with various pipes, and improving the reliability of clamping and assembly.

[0042] The material tray 5 is regularly arranged with receiving slots 17. The structure of the receiving slots 17 is adapted to the structure of the pipe fittings. The pipe fittings to be assembled are placed in the receiving slots 17. A clearance space is left between the middle of the receiving slot 17 and the pipe fitting. The left gripper 13 and right gripper 14 of the robotic arm assembly 4 extend into the clearance space to grip the pipe fittings. The design of the receiving slots 17 allows for the regular placement of pipe fittings, avoiding clutter on the material tray 5 and facilitating accurate gripping by the robotic arm assembly 4. At the same time, the clearance space provides sufficient operating space for the left gripper 13 and right gripper 14 of the robotic arm assembly 4, ensuring smooth gripping operations and improving the stability and efficiency of material loading.

[0043] The assembly fixture 6 has an inlet channel 18 at its top, which connects the output end of the vibratory feeder 8 to the positioning groove 7; the slot 9 is coaxially arranged with the positioning groove 7. The inlet channel 18 ensures that the sealing ring can be stably and smoothly transported from the vibratory feeder 8 into the positioning groove 7, guaranteeing the continuity and stability of the sealing ring supply. The coaxial arrangement of the slot 9 and the positioning groove 7 ensures precise alignment between the pipe end and the sealing ring, improving assembly quality and reducing assembly deviations.

[0044] The feeding device 2 includes a first Y-axis sliding track 19 and a second Y-axis sliding track 20 distributed vertically. Movable plates 21 are movably mounted on both the first and second Y-axis sliding tracks, and the material tray 5 is placed on the movable plates 21. This vertically distributed Y-axis sliding track and movable plate 21 structure design enables efficient loading and unloading of the material tray 5. While the robotic arm assembly 4 is performing pipe fitting assembly operations on one material tray 5, the other material tray 5 can move along the track to the feeding position for manual loading, improving the overall working efficiency of the equipment and reducing downtime.

[0045] The movable plate 21 is connected to the lead screw 22. The lead screw 22 drives the movable plate 21 to move stably along the first Y-axis sliding track 19 or the second Y-axis sliding track 20. The lead screw 22 transmission has the advantages of high precision, good stability, and strong load-bearing capacity. Using the lead screw 22 to drive the movable plate 21 can ensure the positional accuracy and stability of the material tray 5 during the movement process, providing reliable conditions for the accurate grasping of the robotic arm component 4 and improving the reliability of the assembly equipment.

[0046] A moving device 23 is installed above the feeding device 2, and the robotic arm assembly 4 is mounted on the moving device 23. The moving device 23 drives the robotic arm to move. The moving device 23 enables the robotic arm assembly 4 to move flexibly in three-dimensional space. It can accurately transport the pipe fittings from the material tray 5 to the assembly tooling 6 according to the assembly process and the needs of the material trays 5 and assembly tooling 6 at different positions, thereby improving the automation level and flexibility of the equipment.

[0047] In some embodiments of this application, the moving device 23 includes an X-axis moving component 24, a Y-axis moving component 25, and a Z-axis moving component 26. The X-axis moving component 24 is mounted on the frame 1, the Y-axis moving component 25 is mounted on the X-axis moving component 24, the Z-axis moving component 26 is mounted on the Y-axis moving component 25, and the robotic arm component 4 is mounted on the Z-axis moving component 26. This combination of multi-directional moving components provides the robotic arm component 4 with all-around movement capabilities. Through precise movement in the X, Y, and Z directions, the robotic arm can flexibly reach different positions within the workspace, fulfilling a series of complex assembly actions such as gripping and transporting pipe fittings from the material tray 5 to inserting them into the assembly fixture 6, thereby improving the adaptability and work efficiency of the assembly equipment.

[0048] The frame 1 is equipped with a slot 27, and a product frame is placed directly below the slot 27. The robotic arm assembly 4 moves the assembled pipe fitting, which is held in a gripper, above the slot 27. The robotic arm assembly 4 then releases the pipe fitting, which automatically falls through the slot 27 into the product frame. The slot 27 provides a convenient falling channel for the assembled pipe fitting, allowing it to fall automatically and accurately into the product frame, thus achieving automatic collection of the assembled product. This not only improves production efficiency but also reduces manual intervention and labor intensity, while also facilitating subsequent centralized processing and transportation of the assembled products.

[0049] The entire workflow of this application is as follows: The operator places the pipe fitting to be assembled into the receiving slot 17 of the material tray 5. After the material tray 5 is full, the lead screw 22 drives the material tray 5 to move to the working position. At this time, the robotic arm assembly 4 moves and clamps the pipe fitting under the drive of the moving device 23, and drives the pipe fitting to the side of the assembly fixture 6; while the vibratory plate 8 on the other side works to transport the sealing ring into the positioning slot 7 of the assembly fixture 6.

[0050] Driven by the rotary motor 10, the robotic arm assembly 4 rotates, turning the pipe fitting to the first end requiring assembly and inserting it into the slot 9 to complete the assembly. The assembled pipe fitting is then removed from the slot 9, and the rotary motor 10 drives the pipe fitting to rotate again to the second end requiring assembly. Generally, straight pipes and L-shaped pipes require assembly at both ends, while T-shaped pipes require assembly at all three ends. Once all ends of the pipe fitting are assembled, the robotic arm assembly holds the assembled pipe fitting and moves it above the slot 27. The robotic arm assembly 4 then releases the pipe fitting, which automatically falls through the slot 27 into the product frame.

[0051] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the embodiments above are only for the purpose of helping to understand the present application and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A fitting assembly apparatus, characterized by, The assembly includes a frame (1), on which a feeding device (2) and a discharging device (3) are installed. A robotic arm assembly (4) is installed between the feeding device (2) and the discharging device (3). A material tray (5) with pipe fittings to be assembled is placed on the feeding device (2). The discharging device (3) includes an assembly fixture (6) connected to a vibrating plate (8). The assembly fixture (6) has a positioning groove (7) for accommodating a sealing ring. The vibrating plate (8) outputs the sealing ring to the positioning groove (7). A slot (9) for inserting the end of the pipe fitting is opened on one side of the assembly fixture (6). The slot (9) is connected to the positioning groove (7). The robotic arm assembly (4) clamps the pipe fitting to be assembled and inserts the end of the pipe fitting to be assembled into the slot (9).

2. A pipe fitting assembly apparatus as defined in claim 1, wherein, The robotic arm assembly (4) includes a rotary motor (10) and a clamping assembly (11). The clamping assembly (11) is connected to the output shaft of the rotary motor (10). The rotary motor (10) drives the clamping assembly (11) to rotate.

3. A pipe fitting assembly apparatus as defined in claim 2, wherein, The clamping assembly (11) includes a base (12), a left jaw (13) and a right jaw (14). The output shaft of the rotary motor (10) is connected to the base (12). A moving groove (15) is provided on the bottom surface of the base (12). The left jaw (13) and the right jaw (14) are both installed in the moving groove (15). The left jaw (13) and the right jaw (14) are connected to a power component. The power component drives the left jaw (13) and the right jaw (14) to move closer to or further away from each other.

4. The device of claim 1, wherein, The material tray (5) is regularly filled with receiving grooves (17). The structure of the receiving grooves (17) is adapted to the structure of the pipe fitting. The pipe fitting to be assembled is placed in the receiving groove (17). There is a clearance space between the middle of the receiving groove (17) and the pipe fitting. The left gripper (13) and right gripper (14) of the robotic arm assembly (4) extend into the clearance space to grip the pipe fitting.

5. The device of claim 1, wherein, The assembly fixture (6) has an inlet channel (18) on its top, which connects the output end of the vibratory plate (8) to the positioning groove (7); the slot (9) is coaxially arranged with the positioning groove (7).

6. An apparatus for assembling pipe elements according to claim 1, characterized in that The feeding device (2) includes a first Y-axis sliding track (19) and a second Y-axis sliding track (20) distributed vertically. A movable plate (21) is movably installed on both the first Y-axis sliding track and the second Y-axis sliding track, and the material tray (5) is placed on the movable plate (21).

7. An apparatus for assembling pipe elements according to claim 6, characterized in that The movable plate (21) is connected to the lead screw (22). The working of the lead screw (22) drives the movable plate (21) to move stably along the first Y-axis sliding track (19) or the second Y-axis sliding track (20).

8. The device of claim 1, wherein, A moving device (23) is provided above the feeding device (2), and the robotic arm assembly (4) is installed on the moving device (23). The moving device (23) drives the robotic arm to move.

9. An apparatus for assembling pipe elements according to claim 8, characterized in that The mobile device (23) includes an X-axis moving component (24), a Y-axis moving component (25) and a Z-axis moving component (26). The X-axis moving component (24) is mounted on the frame (1), the Y-axis moving component (25) is mounted on the X-axis moving component (24), the Z-axis moving component (26) is mounted on the Y-axis moving component (25), and the robotic arm component (4) is mounted on the Z-axis moving component (26).

10. The device of claim 1, wherein, The frame (1) is provided with a slot (27), and a product frame is placed directly below the slot (27).

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