CN115401455A

CN115401455A - Full-automatic assembly equipment and method

Info

Publication number: CN115401455A
Application number: CN202211171777.5A
Authority: CN
Inventors: 陈远明; 陈岚君
Original assignee: Shanghai Sharetek Technology Co Ltd
Current assignee: Shanghai Xuantian Intelligent Technology Co ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-11-29
Anticipated expiration: 2042-09-26
Also published as: CN115401455B

Abstract

The application discloses full-automatic assembly equipment and a method, wherein the full-automatic assembly equipment comprises: the assembling mechanism is used for filling marbles into the pore channel of the first elbow and sealing the pore channel by using a plug; and the clamping device is used for clamping the first elbow, the second elbow and the assembling mechanism to complete the assembly of the first elbow and the second elbow and clamping the first elbow and the second elbow which are assembled together and are filled with marbles from the assembling mechanism. Has the advantages that: according to the technical scheme, the assembling mechanism and the clamping device are matched with each other to finish automatic assembly of the movable elbow, and compared with the traditional manual assembly, the automatic assembly device is high in speed, high in efficiency, time-saving, labor-saving and good in practicability.

Description

Full-automatic assembly equipment and method

Technical Field

The invention relates to the technical field of movable elbow assembly, in particular to full-automatic assembly equipment and a method.

Background

In the prior art, the assembly of activity elbow is that manual is pegged graft the elbow one and is linked to each other with elbow two, then manual packs the marble toward the pore canal of elbow one in, count the number that has packed the marble simultaneously, treat that the marble packs quantity after up to standard, manual shutoff to the pore canal mouth with the plug again, avoid the marble to flow out, whole in-process is consuming time longer, the assembly rate is slow, and is inefficient, especially when packing the marble toward the pore canal in, need utilize the instrument to disclose the marble of pore canal mouth into the pore canal one by one, rock elbow one ceaselessly simultaneously, make the steel ball pack into in the pore canal in order, it is very troublesome, waste time and energy.

Disclosure of Invention

The invention mainly aims to provide full-automatic assembling equipment and a method, and aims to solve the problems of low speed, low efficiency, time and labor waste of manual assembling of the conventional movable elbow.

In order to solve the above problems, the present invention provides a full-automatic assembly apparatus, comprising:

the assembling mechanism is used for filling marbles into the pore channel of the first elbow and sealing the pore channel by using a plug;

the clamping device is used for clamping the first elbow, the second elbow and the assembling mechanism to be matched together to complete the assembly of the first elbow and the second elbow and clamping the first elbow and the second elbow which are assembled together and the marble filling is completed from the assembling mechanism.

In one embodiment, the assembly mechanism comprises:

a rotating frame which can rotate around a vertical axis;

the second clamp can be rotatably arranged on the rotating frame around a horizontal axis, and is used for clamping and fixing the first elbow and/or the second elbow;

the number of the vibration feeding devices is at least two, one vibration feeding device is used for conveying marbles to the first elbow, and the other vibration feeding device is used for conveying plugs to the first elbow;

the pressing device is used for pressing the marble into the pore channel and pressing the plug into the pore channel opening;

and the photoelectric switch is used for detecting the number of the marbles entering the pore channel.

In one embodiment, the rotating frame is rotatably mounted on the assembly table, and the pressing device and the photoelectric switch are fixedly connected with the vibration feeding device;

the vibration feeding device can move along the direction of the rotary axis of the second clamp relative to the assembling table.

In one embodiment, the vibration loading device comprises a vibration disc and a discharge chute, wherein one end of the discharge chute is connected with the vibration disc, and the other end of the discharge chute extends into a position between the pressing device and the orifice opening.

In one embodiment, a linear motor is arranged on the assembling table, and the movable end of the linear motor is connected with the vibration disc and used for pushing the vibration disc to move along the direction of the rotation axis of the second clamp.

In one embodiment, the clamping device comprises a six-axis robot, a vision positioning device arranged at the far end of the six-axis robot and a first clamp, wherein the first clamp is used for clamping a first elbow and/or a second elbow.

In one embodiment, the full-automatic assembling equipment further comprises a feeding device and a discharging device, the feeding device is used for conveying the first elbow and the second elbow to the clamping device, and the discharging device is used for conveying the first elbow and the second elbow which are clamped from the assembling mechanism away.

In addition, in order to achieve the above object, the present invention further provides a full-automatic assembling method, including:

clamping the first elbow and the second elbow to an assembling mechanism and matching with the assembling mechanism to complete the assembly of the first elbow and the second elbow;

moving the first elbow to a marble filling station of the assembly mechanism, and pressing the marble conveyed by the first vibration feeding device into a pore channel of the first elbow through the first pressing device;

moving the elbow I to a plug loading station of the assembly mechanism, and pressing the plug conveyed by the vibration feeding device II into a hole opening of the elbow I through the pressing device II;

the first clamping elbow and the second clamping elbow leave the assembling mechanism.

In one embodiment, the clamping of the first elbow and the second elbow to the assembling mechanism and the cooperation of the clamping of the first elbow and the second elbow with the assembling mechanism complete the assembling of the first elbow and the second elbow comprises the following steps:

clamping the first elbow to the assembling mechanism and fixing the first elbow by the assembling mechanism;

the first clamping elbow is close to the first elbow, and the first elbow and the second elbow are spliced and assembled through the visual positioning device.

In one embodiment, the fully automatic assembly method further comprises:

conveying the first elbow and the second elbow to an assembling mechanism;

and conveying away the first elbow and the second elbow which leave the assembling mechanism.

Has the advantages that: according to the technical scheme, the assembling mechanism and the clamping device are matched with each other to finish automatic assembly of the movable elbow, and compared with the traditional manual assembly, the automatic assembly device is high in speed, high in efficiency, time-saving, labor-saving and good in practicability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of the fully automatic assembly apparatus of the present invention;

FIG. 2 is a schematic structural view of the feeding device in FIG. 1;

FIG. 3 is a schematic structural view of the blanking device in FIG. 1;

fig. 4 is a schematic structural view of the grasping apparatus in fig. 1;

FIG. 5 is an enlarged view of portion A of FIG. 4;

FIG. 6 is a schematic structural view of the assembly mechanism of FIG. 1;

FIG. 7 is an enlarged view of portion B of FIG. 6;

FIG. 8 is an enlarged view of portion C of FIG. 6;

fig. 9 is a schematic view of the assembly mechanism of fig. 6 in the direction of the arrows.

The reference numerals are explained below:

1. a base plate;

2. protecting the fence;

3. an electric appliance control cabinet;

4. a feeding device; 41. a first machine frame; 42. a first belt conveyor; 43. a first jig; 44. bending a first bend; 45. a second elbow; 46. an opening of the hole;

5. a gripping device; 51. a six-axis robot; 52. a first clamp; 53. a visual positioning device;

6. an assembly mechanism; 601. an assembly table; 602. a rotating device; 603. a turntable; 604. positioning the bracket; 605. a vertical plate; 606. mounting the cylinder; 607. a motor; 608. a chuck base; 609. a claw; 610. a first mounting frame; 611. a chassis; 612. a vibrating pan; 613. a discharge chute; 614. a second mounting frame; 615. a pressing device; 616. a photoelectric switch; 617. a slide plate; 618. a linear motor;

7. a blanking device; 71. a second frame; 72. a second belt conveyor; 73. and a second fixture.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front, rear, 8230; \8230;) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components in a specific posture (as shown in the figure), the motion situation, etc., and if the specific posture is changed, the directional indications are correspondingly changed.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides full-automatic assembly equipment which is used for assembling a movable elbow, wherein the movable elbow comprises a first elbow 44 and a second elbow 45, the first elbow 44 and the second elbow 45 are connected in an inserted manner, a pore channel is arranged in the first elbow 44, marbles are filled in the pore channel, and the first elbow 44 and the second elbow 45 are connected in a rotating manner through the marbles.

In one embodiment of the invention, as shown in fig. 1, the fully automatic assembling equipment at least comprises an assembling mechanism 6 and a clamping device 5, wherein the assembling mechanism 6 is used for filling marbles into the hole channel of the elbow I44 and sealing the hole channel by using a plug; the clamping device 5 is used for clamping the first elbow 44 and the second elbow 45 to be matched with the assembling mechanism 6 to complete the assembly of the first elbow 44 and the second elbow 45 and clamping the first elbow 44 and the second elbow 45 which are assembled together and are completely filled with marbles from the assembling mechanism 6.

The full-automatic assembly equipment of this embodiment is in the course of the work, press from both sides earlier and get device 5 and press from both sides first elbow 44 and second elbow 45 and the equipment of assembly devices 6 cooperation completion elbow 44 and second elbow 45 together, also insert the one end of elbow two 45 in first elbow 44 promptly, then fill the marble in the pore of elbow 44 through assembly devices 6, treat that the marble fills the back that finishes, seal the pore through the end cap for assembly devices 6, avoid the marble to flow out, this moment, the assembly of activity elbow finishes, it can to press from both sides the activity elbow that the equipment finishes from assembly devices 6 through pressing from both sides device 5 at last, the assembly of next activity elbow can be accomplished in repeated aforementioned action.

The full-automatic assembly equipment of this embodiment is through the full-automatic assembly of the movable elbow of having accomplished in mutual cooperation of assembly devices 6 and clamp 5, and the assembly rate is fast, and is efficient, the cost of using manpower sparingly by a wide margin, and the practicality is good.

In this embodiment, the assembling mechanism 6 includes a rotating frame, a second fixture, a vibrating feeding device 4 and a pressing device 615, the pressing device 615 is fixedly connected with the vibrating feeding device 4, the rotating frame is rotatably disposed around a vertical axis, the second fixture is disposed on the rotating frame and can rotate around a horizontal axis, the second fixture is used for clamping and fixing the first elbow 44 and/or the second elbow 45, the rotating frame is used for driving the second fixture to rotate and then driving the first elbow 44 to move to a first marble filling station for filling marble and a second plug filling station for filling a plug, the number of the vibrating feeding device 4 is at least two, one is used for conveying the marbles to the first elbow 44, and the other is used for conveying the plug to the first elbow 44; the hold-down device 615 is used to press the marble into the bore and the plug into the orifice 46.

In this embodiment, during operation, the first clamping device 5 first clamps the first elbow 44 or the second elbow 45 to the second clamp, after the second clamp clamps and fixes the first elbow 44 or the second elbow 45, the second clamping device 5 then clamps the second elbow 45 or the first elbow 44 and connects the first elbow 44 or the second elbow 45 on the second clamp in an inserting manner, then the rotating frame rotates to drive the first elbow 44 and the second elbow 45 connected in an inserting manner to rotate and move to the marble filling station, wherein one of the vibrating feeding devices 4 feeds the marble to a position right above the orifice 46 of the first elbow 44, the pressing device 615 presses the marble into the pore channel of the first elbow 44 to complete the filling of the marble, then the rotating frame continues to rotate to drive the first elbow 44 and the second elbow 45 connected in an inserting manner to rotate and move to the plug filling station, the other vibrating feeding device 4 feeds the plug to a position right above the orifice 46 of the first elbow 44, the pressing device 615 presses the plug into the orifice 46 of the first elbow 44 to complete the filling, the assembly of the movable clamping device 5, and the assembly of the elbow 6 can be completed.

In this embodiment, the rotating frame is rotatably mounted on the assembly table 601, as shown in fig. 6 and 9, the rotating frame includes a rotating device 602, a rotating table 603 and an upright plate 605, the rotating table 603 is horizontally disposed on the assembly table 601 and is connected to the assembly table 601 in a manner of rotating around a vertical line, the upright plate 605 is vertically fixed on the rotating table 603, the rotating device 602 is fixed in the assembly table 601, a movable end of the rotating device 602 is connected to the rotating table 603 for driving the rotating table 603 to rotate, and preferably, the rotating device 602 is a stepping motor 607.

Further, in this embodiment, as shown in fig. 6 and fig. 9, a positioning support 604 is fixedly arranged on the turntable 603, and the positioning support 604 is used for positioning the first elbow 44 or the second elbow 45, so that the second clamp can quickly clamp and fix the positioned first elbow 44 or the positioned second elbow 45, thereby shortening the positioning time and improving the assembly efficiency.

In this embodiment, as shown in fig. 6 to fig. 9, the second clamp includes a motor 607, an installation cylinder 606, and a three-jaw chuck, the three-jaw chuck includes a chuck seat 608 and a jaw 609, the installation cylinder 606 is horizontally and fixedly installed on the vertical plate 605, the chuck seat 608 is rotatably installed in the installation cylinder 606 and can rotate around a horizontal axis, the jaw 609 can clamp and fix the first elbow 44 or the second elbow 45, the motor 607 is fixedly connected to the vertical plate 605 or the installation cylinder 606, and an output shaft of the motor 607 is in transmission connection with the chuck seat 608 to drive the chuck seat 608 to rotate, so as to rotate around the horizontal axis of the three-jaw chuck.

Further, motor 607 includes brake motor and vibrating motor, brake motor and vibrating motor all are connected with the transmission of chuck seat 608, brake motor is used for driving chuck seat 608 rotatory, makes every orifice mouth 46 homoenergetic rotatory to vertical position up accept marble and end cap assembly, vibrating motor is used for driving chuck seat 608 vibration, makes elbow 44 vibration then, makes in the marble ordered pore canal of packing into.

In this embodiment, as shown in fig. 7, the first elbow 44 has a plurality of hole channels, and the position of the hole port 46 of each hole channel is different, that is, the included angle of the hole port 46 of two adjacent hole channels at the central axis of the first elbow 44 is not 0, because the marble and the plug are vertically moved downward by the pressing device 615 and pressed into the hole channel, it is necessary to ensure that the hole port 46 of the hole channel faces upward vertically when the marble and the plug are loaded, and therefore, after one of the hole channels finishes loading the marble and the plug, the three-jaw chuck needs to rotate to drive the hole port 46 of the other hole channel to rotate to the vertically upward position to perform the operation of loading the marble and the plug in the hole channel.

In this embodiment, as shown in fig. 6 to 9, the vibration feeding device 4 includes a vibration disc 612 and a discharge chute 613, the vibration disc 612 is installed on a chassis 611, the chassis 611 is used for storing various maintenance tools, the chassis 611 is fixedly installed on a first mounting frame 610, the first mounting frame 610 is fixedly connected to the mounting table 601, one end of the discharge chute 613 is connected to the vibration disc 612, the other end of the discharge chute extends into a space between the pushing-down device 615 and the opening 46, after the vibration disc 612 is started, a marble or a plug is sent into the discharge chute 613, the marble or the plug moves along the discharge chute 613 to a space between the pushing-down device 615 and the opening 46, and then the marble or the plug is pushed into the opening 46 by the pushing-down device 615, so as to complete the assembly of the marble or the plug.

In this embodiment, as shown in fig. 6 and 9, there are two vibration feeding devices 4, one of the two vibration feeding devices 4 is used for conveying the marble to the first elbow 44, and the other is used for conveying the plug to the first elbow 44, the assembly table 601 shown in fig. 6 has four stations, which are respectively a loading and unloading station, a marble loading station, a plug loading station and a buffer station, the two vibration feeding devices 4 are respectively arranged at the marble loading station and the plug loading station, correspondingly, four sets of clamps two corresponding to the four stations are arranged on the rotating frame, each of the four sets of clamps can clamp and fix a set of first elbow 44 and a set of second elbow 45, when one set of clamp two rotates to the loading and unloading station, the other three sets of clamps two are respectively arranged at the marble loading station, the plug loading station and the buffer station, the clamping device 5 can clamp the assembled movable elbow on the clamp two located in the loading and unloading station and take away the new elbow 44 or elbow 45 for clamping by the clamp two, thereby completing the loading and unloading of the movable elbow, wherein a first elbow 44 on a second clamp on a marble loading station receives the vibration loading device 4 to load the marble, a first elbow 44 on a second clamp on a plug loading station receives the vibration loading device 4 to load the plug, a first elbow 44 on a second clamp on a buffer station is assembled, after the second clamp in the loading and unloading station leaves, the second clamp on the buffer station enters the loading and unloading station to carry out the unloading, preferably, four sets of second clamps arranged on a rotating frame are distributed in central symmetry, and the included angle between every two adjacent clamps is 90 degrees, as shown in figure 6, the design is that every 90 degrees of rotation of the rotating frame can enable a certain set of second clamps to return to the loading and unloading station after sequentially passing through the marble loading station, the plug loading station and the buffer station from the loading and unloading station, thereby completing the working procedures of feeding, marble filling, plug filling and blanking of the movable elbow and realizing the full-automatic assembly of the movable elbow.

In this embodiment, as shown in fig. 6-9, the pressing device 615 is fixedly mounted on a second mounting frame 614, the second mounting frame 614 is fixedly connected to the chassis 611, and the pressing device 615 is typically a cylinder or a hydraulic cylinder or a linear motor 618.

In this embodiment, the vibration feeding device 4 can move along the rotation axis direction of the second fixture relative to the assembly table 601, because as shown in fig. 7, distances from the orifice 46 of the plurality of orifices of the first elbow 44 to the same end of the first elbow 44 are not equal, after a single orifice is filled, the vibration feeding device 4 needs to move along the axis direction of the first elbow 44, that is, the rotation axis direction of the second fixture, and at the same time, the second fixture drives the first elbow 44 to rotate, so that the other end of the discharge chute 613 can extend between the lower pressing device 615 and the other orifice 46, the movement of the vibration feeding device 4 can be realized through a structure, as shown in fig. 8, a linear motor 618 is arranged on the case 611, a movable end of the linear motor 618 is connected to a sliding plate 617, the vibration plate 612 and the second mounting frame 614 are both fixedly mounted on the sliding plate 617, and the sliding plate 617 is pushed by the linear motor 618 to move to drive the vibration plate 612 and the second mounting frame 614 to synchronously move along the rotation axis direction of the second fixture, so as to ensure that the lower pressing device can move to right above each orifice 615.

In this embodiment, the assembling mechanism 6 further includes a photoelectric switch 616, which is used to detect the number of the marbles entering the hole channel, so as to determine whether the hole channel is completely filled, for example, as shown in fig. 7, the photoelectric switch 616 may be disposed on the second mounting frame 614, the photoelectric switch 616 detects the number of the marbles passing through the discharging slot 613, and when the number of the marbles filled in one hole channel reaches the standard, the next hole channel can be filled.

In the present embodiment, as shown in fig. 4 and 5, the gripping device 5 includes a six-axis robot 51, a visual positioning device 53 disposed at a distal end of the six-axis robot 51, and a first gripper 52, the first gripper 52 is used for gripping the first elbow 44 and/or the second elbow 45, and preferably, the first gripper 52 has two grippers, one gripper is used for gripping the separated first elbow 44 and the second elbow 45, and the other gripper is used for gripping the already assembled first elbow 44 and the assembled second elbow 45, that is, gripping the assembled movable elbow.

In this embodiment, the six-axis robot 51 controls one of the first clamps 52 to clamp the first elbow 44 or the second elbow 45 and place the first elbow 44 or the second elbow 45 on the second clamp in the loading and unloading station and is clamped and fixed by the clamp 609, then the six-axis robot 51 controls the first clamp 52 to clamp the second elbow 45 or the first elbow 44 and moves to approach the loading and unloading station, then the vision positioning device 53 assists the first six-axis robot 51 to control the first clamp 52 to clamp the second elbow 45 or the first elbow 44 and assemble the first elbow 44 or the second elbow 45 fixed by the clamp 609, finally one end of the second elbow 45 is inserted into the first elbow 44, then the second clamp in the loading and unloading station can move to the first elbow 44 for loading the balls, and after the second clamp in the buffer station enters the loading and unloading station, the six-axis robot 51 controls the first clamp 52 to clamp the assembled movable elbow to leave the second clamp, and the unloading of the movable elbow is completed.

Further, in this embodiment, the full-automatic assembling equipment further comprises a feeding device 4 and a discharging device 7, wherein the feeding device 4 is used for conveying the first elbow 44 and the second elbow 45 which are in the separated state to the clamping device 5, and the discharging device 7 is used for conveying the first elbow 44 and the second elbow 45 which are separated from the assembling mechanism 6.

In this embodiment, as shown in fig. 2, the feeding device 4 includes a first frame 41 and a first belt conveyor 42 installed on the first frame 41, a first jig 43 is placed on the first belt conveyor 42, and a first elbow 44 and a second elbow 45 in a separated state are neatly placed on the first jig 43, as shown in fig. 1, after the first jig 43 is conveyed to a position close to the clamping device 5 by the first belt conveyor 42, the clamping device 5 clamps the first elbow 44 and the second elbow 45 to a feeding and discharging station of the assembling mechanism 6 and cooperates with a second jig to complete the insertion assembly of the first elbow 44 and the second elbow 45.

In this embodiment, as shown in fig. 3, the blanking device 7 includes a second frame 71 and a second belt conveyor 72 installed on the second frame 71, a second jig 73 is placed on the second belt conveyor 72, the assembled movable elbow is placed on the second jig 73 by the clamping device 5, as shown in fig. 1, after the second clamp of the buffer station enters the loading and unloading station, the clamping device 5 clamps the assembled movable elbow away from the assembling mechanism 6, and places the movable elbow on the second jig 73 in order, and after the movable elbow on the second jig 73 is fully placed, the second belt conveyor 72 sends the second jig 73 away.

In addition, in order to achieve the above object, the present invention further provides a full-automatic assembly method, including:

s1, clamping a first elbow 44 and a second elbow 45 to an assembling mechanism 6, and matching the first elbow 44 and the second elbow 45 with the assembling mechanism 6 to complete assembling of the first elbow 44 and the second elbow 45;

s2, moving the first elbow 44 to a marble filling station of the assembling mechanism 6, and pressing marbles conveyed by the first vibration feeding device 4 into a pore channel of the first elbow 44 through a first pressing device 615;

s3, moving the first elbow 44 to a plug filling station of the assembly mechanism 6, and pressing the plug conveyed by the second vibration feeding device 4 into the orifice 46 of the first elbow 44 through the second pressing device 615;

and S4, the first clamping elbow 44 and the second clamping elbow 45 leave the assembling mechanism 6.

In the present embodiment, the step S1 of gripping the first elbow 44 and the second elbow 45 to the assembling mechanism 6 and completing the assembly of the first elbow 44 and the second elbow 45 together with the assembling mechanism 6 includes:

s11, clamping the first elbow 44 to the assembling mechanism 6 and fixing the first elbow 44 by a second clamp of the assembling mechanism 6;

s12, the second clamping elbow 45 approaches to the first elbow 44, and the first elbow 44 and the second elbow 45 are inserted and assembled through the visual positioning device 53.

In this embodiment, in step S2, the balls delivered from the first vibration feeding device 4 are pressed into the hole of the first elbow 44, the number of the balls entering the hole is detected in real time, and after the number reaches a set value, the positions of the first vibration feeding device 4 and the first pressing device 615 are adjusted, and the other hole is filled with the balls.

In this embodiment, the fully automatic assembling method further includes:

conveying the first elbow 44 and the second elbow 45 to the assembling mechanism 6 through the feeding device 4;

the first elbow 44 and the second elbow 45 leaving the assembly mechanism 6 are conveyed away through the blanking device 7, so that the assembly line type full-automatic assembly of the movable elbow is realized, and the assembly efficiency is further improved.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields, which are directly or indirectly applied to the present invention, are included in the scope of the present invention.

Claims

1. A full-automatic assembly device, characterized by comprising:

and the clamping device is used for clamping the first elbow, the second elbow and the assembling mechanism to complete the assembly of the first elbow and the second elbow and clamping the first elbow and the second elbow which are assembled together and are filled with marbles from the assembling mechanism.

2. The fully automatic assembling apparatus according to claim 1, wherein said assembling mechanism comprises:

a rotating frame which can rotate around a vertical axis;

the second clamp can be rotatably arranged on the rotating frame around a horizontal axis and is used for clamping and fixing the first elbow and/or the second elbow;

3. The full-automatic assembly equipment according to claim 2, wherein the rotating frame is rotatably mounted on the assembly table, and the pressing device and the photoelectric switch are fixedly connected with the vibration feeding device;

the vibration feeding device can move along the direction of the rotation axis of the second clamp relative to the assembly table.

4. The automatic assembly equipment of claim 3, wherein the vibrating feeder comprises a vibrating disk and a discharge chute, one end of the discharge chute is connected with the vibrating disk, and the other end of the discharge chute extends between the hold-down device and the orifice opening.

5. The full-automatic assembling device of claim 4, wherein a linear motor is arranged on the assembling table, and a movable end of the linear motor is connected with the vibrating disk and used for pushing the vibrating disk to move along the direction of the rotation axis of the second clamp.

6. The full-automatic assembling equipment of claim 1, wherein the clamping device comprises a six-axis robot, and a visual positioning device and a first clamp which are arranged at the far end of the six-axis robot, and the first clamp is used for clamping a first elbow and/or a second elbow.

7. The full-automatic assembling equipment according to claim 1, further comprising a feeding device and a discharging device, wherein the feeding device is used for conveying the first elbow and the second elbow to the clamping device, and the discharging device is used for conveying the first elbow and the second elbow which are clamped from the assembling mechanism away.

8. A fully automatic assembly method, comprising:

9. The fully automated assembly method of claim 8, wherein the gripping the first elbow and the second elbow to the assembly mechanism and cooperating with the assembly mechanism to complete the assembly of the first elbow and the second elbow comprises:

the first clamping elbow is close to the second elbow, and the first elbow and the second elbow are spliced and assembled through the visual positioning device.

10. The fully automated assembly method of claim 8, further comprising:

conveying the first elbow and the second elbow to an assembling mechanism;