Semi-automatic pipe loading device

Abstract

The present invention discloses a semi-automatic pipe loading device, which can realize that the clamping manipulator automatically sends pipes to a laser cutting machine one by one to complete the loading work. Among them, the chassis is provided with an inclined surface and a horizontal surface for supporting the pipes. The horizontal surface is located on the front side of the inclined surface, and the horizontal surface is connected to the lowest point of the inclined surface; the clamping manipulator is connected to the chassis and can move back and forth relative to the chassis. The clamping manipulators are arranged at intervals along the length direction of the pipe, and the rear side surface of the clamping manipulator is located above the horizontal surface; the first driving mechanism is connected to the clamping manipulator to drive the clamping manipulator to move back and forth; the lifting mechanisms are arranged at intervals along the length direction of the pipe. The lifting mechanism includes a material supporting plate that can move up and down. The material supporting plate is provided with a material supporting top surface for supporting the pipe. The front-to-back distance between the rear side surface of the material supporting plate and the rear side surface of the clamping manipulator is within the range of the radius of the pipe to three times the radius; the second driving mechanism is connected to the lifting mechanism to drive the lifting mechanism to move back and forth.

Description

Technical Field

[0001] The invention relates to the technical field of pipe processing equipment, and in particular to a semi-automatic pipe feeding device. Background Art

[0002] At present, workers often use laser cutting machines to cut each long pipe into multiple short pipes according to actual cutting requirements, which is convenient for the transportation and direct application of pipes. During the operation of the laser cutting machine, the chuck that can move along the guide rail is driven to move the long pipe to the laser cutting head. Using laser cutting technology, multiple pipes can be cut, and the cut end surface is flat and intact.

[0003] However, in the loading operation of the laser cutting machine, the pipes are often manually moved to the clamping port of the movable chuck, and the chuck clamps the pipes to complete the loading of the laser cutting machine. However, this method is not only inefficient, but also the pipes are long and heavy, which makes the work difficult for the staff and poses certain safety risks.

[0004] At present, how to automatically place the tubes one by one on the clamping mouth of the chuck so that the chuck can firmly clamp the tubes to complete the automatic loading of the laser cutting machine has become a major research topic for enterprises. Summary of the invention

[0005] The purpose of the present invention is to provide a semi-automatic pipe feeding device to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0006] The technical solutions adopted to solve the above technical problems are:

[0007] The present invention provides a semi-automatic pipe feeding device, the pipe feeding device comprising:

[0008] A bottom frame, which is provided with an inclined surface and a horizontal surface for supporting the pipe, wherein the horizontal surface is located in front of the inclined surface, and the horizontal surface is connected with the lowest point of the inclined surface;

[0009] A gripping manipulator connected to the base frame and movable forward and backward relative to the base frame, the gripping manipulators being arranged at intervals along the length direction of the pipe, and the rear side of the gripping manipulators being located above the horizontal plane;

[0010] A first driving mechanism, which is connected to the clamping manipulator to drive the clamping manipulator to move forward and backward;

[0011] A lifting mechanism is arranged at intervals along the length direction of the pipe, the lifting mechanism comprises a supporting plate that can move up and down, the supporting plate is provided with a supporting top surface for supporting the pipe, and the front-to-back spacing between the rear side surface of the supporting plate and the rear side surface of the clamping manipulator is within the numerical range of the radius of the pipe to 3 times the radius;

[0012] The second driving mechanism is connected with the lifting mechanism to drive the lifting mechanism to move forward and backward.

[0013] The present invention has at least the following beneficial effects: an inclined surface and a horizontal surface are arranged on the base frame, and a worker places a plurality of pipes on the inclined surface, and utilizes the gravity of the pipes to enable the pipes to move to the horizontal surface by themselves. The clamping manipulator is arranged at intervals along the length direction of the pipe, and a first driving mechanism is arranged to drive the clamping manipulator to move forward and backward, which can not only deliver the pipe to the chuck of the laser cutting machine, but also the rear side of the clamping manipulator is arranged above the horizontal surface, which can cooperate with the lifting mechanism to position the pipe, so as to complete the lifting work of the pipes one by one. The lifting mechanism is provided with a supporting plate which can move up and down, and the front-to-rear distance between the rear side of the supporting plate and the rear side of the clamping robot is set within the radius of the pipe to 3 times the radius, so that when the supporting plate moves upward, only the pipe in contact with the rear side of the clamping robot can be lifted, and a second driving mechanism is provided to drive the lifting mechanism to move forward with the pipe, so that the pipe passes over the clamping robot, thereby facilitating the clamping robot to move forward, clamp the pipe and automatically send it to the laser cutting machine.

[0014] As a further improvement of the above technical solution, the top surface of the support is V-shaped; the pipe feeding device also includes:

[0015] A limit rod, which is arranged vertically and is arranged above the horizontal plane to block the pipe;

[0016] The first telescopic cylinder has a fixed end connected to the base frame, and the telescopic end of the first telescopic cylinder is connected to the limit rod to drive the limit rod to rise and fall.

[0017] The support plate is provided with a V-shaped support top surface, which can not only keep the round tube stable during the lifting process to prevent the round tube from falling from the support plate, but also position the round tube to facilitate the clamping of the tube by the clamping robot. The setting of the limit rod has a blocking effect on the round tube when the clamping robot delivers the tube horizontally to the laser cutting machine, effectively preventing the round tube from moving too far forward on the horizontal plane and falling to the ground. The first telescopic cylinder is set to drive the limit rod to move up and down. When the clamping robot clamps the tube and moves forward, it can avoid the limit rod from blocking the tube clamped by the clamping robot.

[0018] As a further improvement of the above technical solution, the clamping manipulator comprises:

[0019] A first clamping block, which can move up and down;

[0020] A second clamping block, which can move up and down, and the second clamping block is arranged opposite to the first clamping block in the upper and lower directions;

[0021] A support, which is connected to the base frame and can move forward and backward, and the first clamping block and the second clamping block are respectively connected to the support;

[0022] An upper rack, which is vertically arranged and connected to the first clamping block;

[0023] A lower rack is vertically arranged, the lower rack is connected to the second clamping block, and the lower rack is arranged opposite to the upper rack in left and right directions;

[0024] A transmission gear connected to the support and rotatable around its front and rear horizontal axis, the transmission gear being meshed and connected with the upper rack and the lower rack respectively;

[0025] The second telescopic cylinder has a fixed end connected to the support, and a telescopic end of the second telescopic cylinder is connected to the first clamping block or the second clamping block.

[0026] A support is provided to provide a certain support to the first clamp block and the second clamp block, and the first clamp block and the second clamp block can only be raised and lowered. An upper rack is provided on the first clamp block, a lower rack is provided on the second clamp block, and a transmission gear is provided on the support, which is respectively meshed and connected with the upper rack and the lower rack through the transmission gear, and the upper rack and the lower rack are provided in a left-right manner, so that the first clamp block and the second clamp block can move synchronously, and can move closer to each other or move away from each other, so that the first clamp block and the second clamp block can stably clamp the pipe while keeping the height position of the center line of the pipe unchanged, and send it to the laser cutting machine without adjusting the height position of the pipe. The second telescopic cylinder provides a driving force to cause one of the first clamp block and the second clamp block to move in the up-down direction, so that the clamping manipulator can clamp or release the pipe, which has the advantages of compact structure and low energy consumption.

[0027] As a further improvement of the above technical solution, the lifting mechanism further includes:

[0028] A movable seat connected to the second driving mechanism;

[0029] A lifting seat, which is connected to the moving seat, the lifting seat can move up and down relative to the moving seat, and the supporting plate is connected to the top of the lifting seat;

[0030] The third telescopic cylinder has a fixed end connected to the movable seat, and a telescopic end of the third telescopic cylinder is connected to the lifting seat.

[0031] The supporting plate is arranged on the lifting seat, and when the third telescopic cylinder drives the lifting seat to move up and down, the supporting plate can move up and down together with the lifting seat, and the movement speed is fast and stable. The moving seat is arranged and connected with the second driving mechanism, so that the second driving mechanism drives the moving seat to move forward and backward, and the lifting seat is connected with the moving seat, so that the lifting seat can move forward and backward together with the moving seat.

[0032] As a further improvement of the above technical solution, the pipe feeding device further includes:

[0033] A transmission shaft connected to all the moving seats, the transmission shaft being rotatable around left and right horizontal axes;

[0034] A first gear connected to the transmission shaft, wherein the first gear and the transmission shaft are coaxially arranged;

[0035] A first rack is connected to the lifting seat, the first rack is vertically arranged, and the first rack is meshed and connected with the first gear.

[0036] A vertical first rack is arranged on the lifting seat, a transmission shaft is arranged between the moving seats, and a plurality of first gears are arranged on the transmission shaft corresponding to the first rack. When the third telescopic cylinder drives the lifting seat to move up and down, the meshing action of the first gear and the first rack is utilized so that all the lifting seats can be lifted and lowered synchronously, so that the supporting plate can stably lift the pipe, ensure that the pipe always remains horizontal, and avoid unevenness at both ends of the pipe, so that the clamping manipulator can accurately deliver the pipe to the laser cutting machine in a horizontal state, thereby improving the feeding accuracy of the laser cutting machine.

[0037] As a further improvement of the above technical solution, the pipe feeding device also includes a pipe positioning plate; the pipe positioning plate is connected to the base frame, the pipe positioning plate is vertically arranged, and the pipe positioning plate is located on the left or right side of the inclined surface. The pipe positioning plate is arranged on the left or right side of the base frame, and the positioning of the pipe in the left and right directions is completed through the contact between the end face of the pipe and the pipe positioning plate, so that the chuck can automatically move the set distance after the clamping manipulator sends the pipe to the laser cutting machine to effectively clamp the pipe, without the need for manual control of the movement of the chuck, and the pipe cutting process is highly automated.

[0038] As a further improvement of the above technical solution, the second driving mechanism includes:

[0039] A mounting seat connected to the base frame;

[0040] A second guide rail connected to the mounting seat, with two ends of the second guide rail arranged along the front-rear direction;

[0041] A second slider connected to the second guide rail, wherein the second slider is connected to the moving seat;

[0042] A fourth telescopic cylinder, a fixed end of which is connected to the mounting seat, and a telescopic end of which is connected to the moving seat.

[0043] The mounting seat provides a fixing function for the second guide rail and the fourth telescopic cylinder, ensuring that the second slider and the fourth telescopic cylinder can move normally. The combination of the second guide rail and the second slider enables the moving seat to move more smoothly. The telescopic end of the fourth telescopic cylinder is connected to the moving seat, so that the moving seat can move faster under the drive of the fourth telescopic cylinder, thereby improving efficiency.

[0044] As a further improvement of the above technical solution, the moving seat is provided with a third guide rail, which is vertically arranged; the lifting seat is provided with a third slider, which is connected to the third guide rail. The third guide rail and the third slider are arranged between the moving seat and the lifting seat, and the third slider can be used to move smoothly along the third guide rail, so that the lifting seat can be quickly lifted and lowered relative to the moving seat, and the lifting seat is prevented from shaking violently during movement, which may cause the pipe to fall from the supporting plate.

[0045] As a further improvement of the above technical solution, the first driving mechanism includes:

[0046] A fourth guide rail connected to the base frame, with two ends of the fourth guide rail arranged front and back;

[0047] A fourth slider connected to the clamping manipulator, the fourth slider connected to a fourth guide rail and movable forward and backward along the fourth guide rail;

[0048] A second rack connected to the clamping manipulator, wherein two ends of the second rack are arranged front and back;

[0049] A second gear connected to the base frame, the second gear being meshed and connected to the second rack;

[0050] A driving motor is drivingly connected to the second gear.

[0051] Through the cooperation of the fourth slider and the fourth guide rail, the clamping robot can move back and forth quickly and smoothly relative to the base frame, and by utilizing the meshing action between the second rack and the second gear, when the drive motor is working, the second rack can move the clamping robot back and forth, and the movement is very smooth and without shaking, which helps to accurately deliver the pipe to the laser cutting machine.

[0052] As a further improvement of the above technical solution, the base frame is provided with a plurality of support rods and a plurality of support plates; the plurality of support rods are arranged at intervals from left to right, and the two ends of the support rods are arranged front and back and tilted to form the inclined surface; the plurality of support plates are arranged at intervals from left to right to form the horizontal surface. Using a plurality of support rods to form the inclined surface and a plurality of support plates to form the horizontal surface can not only save materials, but also reduce the contact area between the pipe and the inclined surface and the horizontal surface, thereby reducing friction and making it easier for the pipe to move from the inclined surface to the horizontal surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be further described below in conjunction with the accompanying drawings and embodiments;

[0054] Figure 1 It is a structural stereogram of one embodiment of the semi-automatic pipe feeding device provided by the present invention;

[0055] Figure 2 It is a structural stereogram of another embodiment of the semi-automatic pipe feeding device provided by the present invention;

[0056] Figure 3 yes Figure 2 Right view of;

[0057] Figure 4 It is an exploded view of the structure of the connection between the clamping manipulator and the support plate in the semi-automatic pipe feeding device provided by the present invention;

[0058] Figure 5 It is a structural stereogram of a clamping manipulator in the semi-automatic pipe feeding device provided by the present invention;

[0059] Figure 6 It is a structural stereogram of the clamping manipulator in the semi-automatic pipe feeding device provided by the present invention from another perspective;

[0060] Figure 7 It is a structural stereogram of the connection between the lifting mechanism, the second driving mechanism and the transmission shaft in the semi-automatic pipe feeding device provided by the present invention;

[0061] Figure 8 It is a top view of the connection between the lifting mechanism and the second driving mechanism in the semi-automatic pipe feeding device provided by the present invention;

[0062] Fig. 9 It is a structural stereogram of the lifting mechanism in the semi-automatic pipe feeding device provided by the present invention;

[0063] Fig.10 yes Fig. 9 Right view of;

[0064] Fig.11 yes Fig. 9 main view.

[0065] The following are marked in the accompanying drawings:

[0066] 100, base frame; 110, support rod; 120, support plate; 122, inclined plane; 130, pipe positioning plate; 140, first telescopic cylinder;

[0067] 200, clamping manipulator; 210, first clamping block; 211, upper rack; 212, upper slider; 220, second clamping block; 221, lower rack; 222, lower slider; 240, first guide rail; 250, transmission gear; 260, support; 261, through hole; 270, second telescopic cylinder; 280, connecting block;

[0068] 300, lifting mechanism; 310, supporting plate; 320, third telescopic cylinder; 330, third guide rail; 340, moving seat; 341, shaft mounting hole; 350, lifting seat; 360, third slide block;

[0069] 400, pipes;

[0070] 500, second driving mechanism; 510, fourth telescopic cylinder; 520, second guide rail; 530, second slider; 540, mounting seat;

[0071] 600, transmission shaft; 610, first gear; 620, first rack;

[0072] 700, driving motor; 720, second gear;

[0073] 810. Fourth sliding block; 820. Fourth guide rail; 830. Second rack. DETAILED DESCRIPTION

[0074] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0075] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0076] In the description of the present invention, if there are words such as "several", it means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there are descriptions of first, second, and third, they are only used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0077] It should be noted that in the drawings, the X direction is from the rear side of the semi-automatic pipe feeding device to the front side; the Y direction is from the left side of the semi-automatic pipe feeding device to the right side; and the Z direction is from the bottom side of the semi-automatic pipe feeding device to the top side.

[0078] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0079] Reference Figures 1 to 11 , several embodiments of the semi-automatic pipe feeding device of the present invention are given below.

[0080] An embodiment of the present invention provides a semi-automatic pipe loading device, which includes: a base frame 100, a clamping robot 200, a first driving mechanism, a lifting mechanism 300 and a second driving mechanism 500.

[0081] The base frame 100 can be made of metal material, and the base frame 100 is provided with an inclined surface and a horizontal surface for supporting the pipe 400, the horizontal surface is located in front of the inclined surface, and the horizontal surface is connected with the lowest point of the inclined surface. The inclination angle of the inclined surface can be between 10° and 15°, and the surface smoothness of the inclined surface and the horizontal surface is set according to actual conditions. The clamping manipulator 200 can be set on the left and right sides of the horizontal surface to clamp the two ends of the pipe 400.

[0082] The staff places a plurality of pipes 400 to be cut on the inclined surface, and the pipes 400 move to the horizontal surface by themselves due to gravity. The pipes 400 are arranged in a row along the inclined surface. The pipes may be, but are not limited to, pipes with a square cross-section.

[0083] As a preferred embodiment, the base frame 100 is provided with a plurality of support rods 110 and a plurality of support plates 120, and the support rods 110 and the support plates 120 can be fixed on the base frame 100 by welding or screw connection. The plurality of support rods 110 are spaced and evenly arranged from left to right, and the two ends of the support rods 110 are arranged front and back and tilted to form the inclined surface, that is, the support rods 110 have a high rear end and a low front end. The plurality of support plates 120 are spaced and evenly arranged from left to right to form the horizontal plane. From the perspective of the cross section of the support rod 110, the top surface of the support rod 110 can be a plane or an arc-shaped top surface.

[0084] The above structural design can not only reduce the friction between the pipe 400 and the inclined surface and the horizontal surface, but also facilitate the positioning of the clamping robot 200 between adjacent support plates 120 , thereby providing a better clamping effect on the pipe 400 .

[0085] In this embodiment, four support rods 110, four support plates 120 and four clamping robots 200 are provided, and the left-right spacing between the support plates 120, the support rods 110 and the clamping robots 200 can be set to be smaller.

[0086] The gripping manipulator 200 is connected to the base frame 100 and can move forward and backward relative to the base frame 100. The gripping manipulator 200 is arranged at intervals along the length direction of the pipe 400, that is, the left and right direction.

[0087] like Figures 4 to 6 As shown, the clamping robot 200 includes a support 260 , an upper rack 211 , a lower rack 221 , a transmission gear 250 , a second telescopic cylinder 270 , and a first clamping block 210 and a second clamping block 220 for clamping the pipe 400 .

[0088] The support 260 is connected to the base frame 100 and can move forward and backward.

[0089] The first clamp block 210 and the second clamp block 220 are arranged opposite to each other in the vertical direction, and both the first clamp block 210 and the second clamp block 220 can move up and down. A buffer pad is arranged on the surface of the first clamp block 210 contacting the pipe 400, and a buffer pad is arranged on the surface of the second clamp block 220 contacting the pipe 400, and the buffer pad can be a rubber pad.

[0090] The first clamp block 210 and the second clamp block 220 are respectively connected to the support 260. Specifically, the support 260 is provided with a vertical first guide rail 240, and the first guide rail 240 and the support 260 are connected by screws. Two first guide rails 240 can be provided. The cross-sectional shape of the first guide rail 240 can be circular, T-shaped or other shapes.

[0091] The first clamping block 210 is provided with an upper slider 212 . The upper slider 212 is connected to the first clamping block 210 by screws. The upper slider 212 is slidably connected to the first guide rail 240 , and the upper slider 212 can move up and down along the first guide rail 240 .

[0092] The second clamping block 220 is provided with a lower slider 222 . The lower slider 222 is connected to the second clamping block 220 by screws. The lower slider 222 is slidably connected to the first guide rail 240 , and the lower slider 222 can move up and down along the first guide rail 240 .

[0093] The upper rack 211 is vertically arranged, and the top end of the upper rack 211 is connected to the first clamping block 210 via screws.

[0094] The lower rack 221 is vertically arranged, and the bottom end of the lower rack 221 is connected to the second clamping block 220 by screws. The lower rack 221 and the upper rack 211 are arranged opposite to each other on the left and right.

[0095] The transmission gear 250 is connected to the support 260 and can rotate around its front and rear horizontal axis. Specifically, the support 260 is provided with a rotating shaft, and the transmission gear 250 is installed on the rotating shaft through a bearing. The transmission gear 250 is meshed and connected with the upper rack 211 and the lower rack 221 respectively.

[0096] The fixed end (i.e., the cylinder part) of the second telescopic cylinder 270 is connected to the support 260 by screws, and the telescopic end (i.e., the movable rod) of the second telescopic cylinder 270 is connected to the second clamping block 220. Specifically, the second telescopic cylinder 270 is arranged at the rear side of the first guide rail 240, the second clamping block 220 is provided with a connecting block 280, the telescopic end of the second telescopic cylinder 270 is fixed to the connecting block 280, and the support 260 is provided with a through hole 261, so that the connecting block 280 can move up and down when the second telescopic cylinder 270 is working.

[0097] When the second telescopic cylinder 270 drives the second clamping block 220 to move upward, the lower rack 221 can be promoted to rise, and the upper rack 211 can be lowered through the power transmission of the transmission gear 250, so that the first clamping block 210 and the second clamping block 220 are brought closer to each other to clamp the pipe 400.

[0098] When the second telescopic cylinder 270 drives the second clamping block 220 to move downward, the lower rack 221 can be moved downward, and the upper rack 211 can be moved upward through the power transmission of the transmission gear 250, so that the first clamping block 210 and the second clamping block 220 move away from each other, thereby releasing the clamping of the pipe 400.

[0099] Of course, the telescopic end of the second telescopic cylinder 270 may also be connected to the first clamping block 210 .

[0100] In addition, a motor may be used instead of the second telescopic cylinder 270 , and the transmission gear 250 may be driven to rotate by the motor, so that the first clamping block 210 and the second clamping block 220 can move simultaneously.

[0101] like Figure 4 As shown, the first driving mechanism is connected to the clamping manipulator 200 to drive the clamping manipulator 200 to move forward and backward. Specifically, the first driving mechanism includes a fourth guide rail 820, a fourth slider 810, a second rack 830, a second gear 720 and a driving motor 700.

[0102] The fourth guide rail 820 is fixed to the support plate 120 by screws, so that the fourth guide rail 820 is connected to the base frame 100. The two ends of the fourth guide rail 820 are arranged front and back. The fourth slider 810 is connected to the clamping manipulator 200 by screws, and the fourth slider 810 is slidably connected to the fourth guide rail 820, so that the fourth slider 810 can move forward and backward along the fourth guide rail 820.

[0103] The second rack 830 is connected to the clamping manipulator 200 by screws, and the two ends of the second rack 830 are arranged front and back. The second rack 830 can be arranged below the fourth slider 810. The second gear 720 is connected to the base frame 100, and the support plate 120 is provided with a fixed shaft. The second gear 720 is installed on the fixed shaft and can only rotate around the left and right horizontal axis. The second gear 720 is meshedly connected with the second rack 830, and the drive motor 700 is transmission-connected with the second gear 720 by a gear transmission method or a shaft connection method, and the drive motor 700 can be installed on the support plate 120.

[0104] When the driving motor 700 drives the second gear 720 to rotate, the second rack 830 moves forward or backward due to the meshing with the second gear 720 , so that the clamping robot 200 can move in the front-rear direction.

[0105] Of course, a telescopic cylinder or a linear module can also be used as the first driving mechanism.

[0106] The clamping robot 200 adopts the above-mentioned structural design, which has lower cost and less installation difficulty than the gantry setting method.

[0107] The second driving mechanism 500 is connected to the lifting mechanism 300 to drive the lifting mechanism 300 to move forward and backward.

[0108] The lifting mechanism 300 is spaced and evenly arranged along the length direction (ie, left-right direction) of the pipe 400. Specifically, the lifting mechanism 300 includes a supporting plate 310 that can move up and down, a moving seat 340, a lifting seat 350 and a third telescopic cylinder 320.

[0109] The moving base 340 is connected to the second driving mechanism 500 . When the second driving mechanism 500 is working, the second driving mechanism can drive the moving base 340 to move forward and backward.

[0110] The lifting seat 350 is connected to the moving seat 340 , and the lifting seat 350 can move up and down relative to the moving seat 340 . The supporting plate 310 is fixed to the top of the lifting seat 350 by screws.

[0111] Specifically, the movable seat 340 is provided with a third guide rail 330 , and the third guide rail 330 is vertically arranged; the lifting seat 350 is provided with a third slider 360 , and the third slider 360 is slidably connected to the third guide rail 330 .

[0112] The fixed end of the third telescopic cylinder 320 is connected to the moving seat 340, and the telescopic end of the third telescopic cylinder 320 is connected to the lifting seat 350. When the telescopic end of the third telescopic cylinder 320 is extended or shortened, the lifting seat 350 can be raised or lowered. The third telescopic cylinder 320 can be a single-axis cylinder.

[0113] Of course, a transmission method of a motor and a lead screw can also be adopted. When the motor drives the lead screw to rotate forward or reverse, the lifting seat 350 threadedly connected to the lead screw is prompted to rise or fall.

[0114] The supporting plate 310 is provided with a supporting top surface for supporting the pipe 400. The supporting plate 310 can be made of materials such as plastic and rubber.

[0115] The rear side of the clamping manipulator 200 is located above the horizontal plane, and the clamping manipulator 200 can position the pipe 400 when moving backward. The front-to-back distance between the rear side of the supporting plate 310 and the rear side of the clamping manipulator 200 is within the range of 1 times the radius to 3 times the radius of the pipe 400 (that is, the front-to-back distance is greater than the radius of the pipe and less than 3 times the radius of the pipe), so that only one pipe 400 has its center of gravity fall on the supporting plate 310, so that it can be lifted by the supporting plate 310. In this embodiment, the front-to-back distance is set to 2 times the radius of the pipe.

[0116] With such an ingenious design, when the third telescopic cylinder 320 lifts the supporting plate 310, only one pipe 400 can be lifted, and under the action of the second driving mechanism 500, the lifting mechanism 300 carries the pipe 400 over the clamping robot 200, so that the clamping robot 200 can deliver the pipes 400 to the laser cutting machine one by one.

[0117] The working process of the pipe feeding device is as follows: before clamping the pipe 400, the lifting mechanism 300 moves backward under the drive of the second driving mechanism 500 and returns to the set position. Then, the clamping manipulator 200 moves backward relative to the base frame 100 and returns to the set position. At this time, the rear side of the clamping manipulator 200 is located in front of the rear side of the supporting plate 310, and the front-to-back distance between the rear side of the clamping manipulator 200 and the rear side of the supporting plate 310 is the set diameter of the pipe.

[0118] When the pipe 400 moves from the inclined plane to the horizontal plane, since the clamping robot 200 returns to the set position, the rear side of the clamping robot 200 can contact a pipe located on the horizontal plane and at the front side. At this time, the clamping robot 200 plays a positioning role, and then the lifting mechanism 300 works, causing the support plate 310 to only lift the pipe 400 that is in contact with the clamping robot 200.

[0119] After the supporting plate 310 lifts the pipe 400 to a position higher than the clamping robot 200, the second driving mechanism 500 drives the lifting mechanism 300 to move forward to a set position, that is, in front of the clamping robot 200; then, the supporting plate 310 moves down to a set height position with the pipe 400.

[0120] Then, the clamping manipulator 200 moves forward to the set horizontal position under the drive of the first driving mechanism, and the first clamp block 210 and the second clamp block 220 move closer to each other. Since the first clamp block 210 and the second clamp block 220 move synchronously and move the same distance, the first clamp block 210 and the second clamp block 220 simultaneously contact the surface of the pipe 400, thereby firmly clamping the pipe. At this time, the lifting mechanism 300 moves backward to the set position, ready to lift the next pipe.

[0121] Finally, the clamping robot 200 moves toward the laser cutting machine and delivers the tube horizontally to the chuck. After the chuck moves a certain distance, it clamps the tube directly through its clamp without adjusting the height position of the tube. Moreover, the chuck moves with the tube toward the laser cutting head to complete the laser cutting process of the tube.

[0122] Since adjacent pipes 400 are in contact with each other, after pipe A is lifted, the subsequent pipe B moves due to the thrust exerted on it by the subsequent pipes, and replaces the position of the previous pipe A. After the clamping robot 200 moves back into place, pipe B will contact the clamping robot 200 and be lifted by the lifting mechanism 300, thereby continuously repeating the above-mentioned work.

[0123] In some embodiments, the second driving mechanism 500 includes: a mounting seat 540 , a second guide rail 520 , a second slider 530 , and a fourth telescopic cylinder 510 .

[0124] Among them, the mounting seat 540 is connected to the base frame 100 by screws. The second guide rail 520 is connected to the mounting seat 540 by screws, and the two ends of the second guide rail 520 are arranged along the front-back direction. The second slider 530 is slidably connected to the second guide rail 520, and the second slider 530 is connected to the moving seat 340, so that the moving seat 340 can move forward or backward smoothly along the second guide rail 520. The fixed end of the fourth telescopic cylinder 510 is connected to the mounting seat 540 by screws, and the telescopic end of the fourth telescopic cylinder 510 is connected to the moving seat 340. When the telescopic end of the fourth telescopic cylinder 510 is extended or shortened, the fourth telescopic cylinder 510 can drive the lifting mechanism 300 to move back and forth.

[0125] Of course, the second driving mechanism 500 can also adopt the transmission mode of motor and screw rod, when the motor drives the screw rod to rotate forward or reverse, the moving seat 340 threadedly connected with the screw rod is prompted to move forward or backward. In addition, a linear module can also be used as the second driving mechanism 500.

[0126] In some embodiments, the top surface of the support is V-shaped, which is mainly used for loading round tubes. Such a design can keep the tube 400 stable during the lifting process to prevent the tube 400 from falling off the support plate 310, and can also position the tube 400. At this time, the tube 400 is located in the middle position of the top surface of the support, and the round tube is supported by the two inclined surfaces of the support plate 310. When the lifting mechanism 300 moves the round tube forward, the round tube can be ensured to be stable, which facilitates the clamping robot 200 to clamp the tube 400.

[0127] In addition, the pipe feeding device further includes: a limiting rod and a first telescopic cylinder 140 .

[0128] The limiting rod is arranged vertically, and the limiting rod is arranged above the horizontal plane to block the pipe 400. The limiting rod is provided with a buffer pad made of rubber on the surface in contact with the pipe 400, so as to avoid damage to the surface of the pipe.

[0129] The fixed end of the first telescopic cylinder 140 is fixedly connected to the base frame 100 , and the telescopic end of the first telescopic cylinder 140 is connected to the limit rod to drive the limit rod to rise and fall.

[0130] Since the round tube is easy to fall from the horizontal plane due to rolling, a limit rod is specially provided. When the clamping robot 200 delivers the tube 400 horizontally to the laser cutting machine, the limit rod can block the round tube and effectively prevent the round tube from moving too far forward on the horizontal plane and falling to the ground.

[0131] The first telescopic cylinder 140 is provided to drive the limit rod to move up and down, so that when the clamping robot 200 clamps the pipe and moves forward, the limit rod can be prevented from blocking the pipe clamped by the clamping robot 200.

[0132] In addition, the top surface of the support plate 120 includes a plane and an inclined surface 122, which are arranged in sequence from the back to the front. The round tube rolls from the inclined surface to the inclined surface 122 of the support plate 120 and contacts the limiting rod.

[0133] In some embodiments, Figures 2 to 3 , Figure 7 , Figures 9 to 11 As shown, the pipe feeding device further includes: a transmission shaft 600 , a first gear 610 and a first rack 620 .

[0134] The transmission shaft 600 is connected to all the movable seats 340, and the transmission shaft 600 can rotate around the left and right horizontal axis (that is, the axis extends in the left and right direction). The movable seat 340 is provided with an axis mounting hole 341 to facilitate the transmission shaft 600 to pass through, and is installed using a bearing seat so that the transmission shaft 600 can rotate around its axis. The transmission shaft 600 is a rigid shaft and is not easily deformed.

[0135] The first gear 610 is connected to the transmission shaft 600 by a key connection. The first gear 610 and the transmission shaft 600 are coaxially arranged. When the transmission shaft 600 rotates, the first gear 610 can rotate synchronously therewith.

[0136] The first rack 620 is connected to the lifting seat 350 by welding or screws, and the first rack 620 is vertically arranged. The first rack 620 is meshed and connected with the first gear 610.

[0137] Through the cooperation of the transmission shaft 600, the first gear 610 and the first rack 620, when the third telescopic cylinder 320 drives the lifting seat 350 to rise or fall, all the lifting seats 350 can be lifted and lowered synchronously, so that the supporting plate 310 can stably lift the pipe 400, ensure that the pipe 400 always remains in a horizontal state, prevent the two ends of the pipe from being uneven, and help the clamping robot 200 to deliver the pipe 400 to the laser cutting machine in a horizontal state, so that the chuck can stably clamp the pipe.

[0138] In some embodiments, Figures 1 to 3As shown, the pipe feeding device further includes a pipe positioning plate 130. The pipe positioning plate 130 is provided with a connecting rod, which is connected to the base frame 100 by welding or screw connection. The pipe positioning plate 130 is vertically arranged, and the pipe positioning plate 130 is located on the left or right side of the inclined surface, and can contact the end surface of the pipe 400.

[0139] A tube positioning plate 130 is disposed on the left or right side of the base frame 100, and the tube 400 is positioned in the left and right directions by the end face of the tube 400 being in contact with the tube positioning plate 130. This facilitates the chuck to automatically move the set distance after the clamping robot 200 delivers the tube 400 to the laser cutting machine, so that the tube can be effectively clamped, thereby realizing a high degree of automation of the tube cutting process.

[0140] The preferred embodiments of the present invention are specifically described above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A semi-automatic pipe feeding device, It is characterized in that include: A bottom frame (100) is provided with an inclined surface and a horizontal surface for supporting a pipe (400), wherein the horizontal surface is located in front of the inclined surface and is connected to the lowest point of the inclined surface; A gripping manipulator (200) connected to the base frame (100) and movable forward and backward relative to the base frame (100), the gripping manipulator (200) being arranged at intervals along the length direction of the pipe (400), and the rear side surface of the gripping manipulator (200) being located above the horizontal plane; A first driving mechanism, connected to the clamping manipulator (200) to drive the clamping manipulator (200) to move forward and backward; A lifting mechanism (300) is arranged at intervals along the length direction of the pipe (400), the lifting mechanism (300) comprises a supporting plate (310) that can move up and down, the supporting plate (310) is provided with a supporting top surface for supporting the pipe (400), and the front-to-back spacing between the rear side surface of the supporting plate (310) and the rear side surface of the clamping manipulator (200) is within a numerical range of a radius of the pipe (400) to three times the radius, so that the center of gravity of only one pipe (400) falls on the supporting plate (310) and is lifted by the supporting plate (310); The second driving mechanism (500) is connected to the lifting mechanism (300) to drive the lifting mechanism (300) to move forward and backward; when the clamping robot (200) moves backward, the rear side of the clamping robot (200) can contact a pipe (400) located on a horizontal plane and at the front side, so as to position the pipe (400), so that the supporting plate (310) only lifts the pipe (400) in contact with the clamping robot (200); under the action of the second driving mechanism (500), the lifting mechanism (300) carries the pipe (400) over the clamping robot (200), and the clamping robot (200) can clamp the pipes (400) and send them to the laser cutting machine one by one.

2. The semi-automatic pipe feeding device according to claim 1, It is characterized in that The top surface of the support is V-shaped; the pipe feeding device also includes: A limiting rod is arranged vertically, and the limiting rod is arranged above the horizontal plane to block the pipe (400); A first telescopic cylinder (140) has a fixed end connected to the base frame (100), and a telescopic end of the first telescopic cylinder (140) is connected to a limiting rod to drive the limiting rod to move up and down.

3. The semi-automatic pipe feeding device according to claim 2, It is characterized in that The clamping robot (200) comprises: A first clamping block (210) which can move up and down; A second clamping block (220) which is movable up and down, and the second clamping block (220) and the first clamping block (210) are arranged opposite to each other up and down; A support (260) connected to the base frame (100) and movable forward and backward, wherein the first clamping block (210) and the second clamping block (220) are respectively connected to the support (260); An upper rack (211) is arranged vertically, and the upper rack (211) is connected to the first clamping block (210); A lower rack (221) is arranged vertically, the lower rack (221) is connected to the second clamping block (220), and the lower rack (221) and the upper rack (211) are arranged opposite to each other on the left and right; A transmission gear (250) connected to the support (260) and rotatable around its front and rear horizontal axis, the transmission gear (250) being meshed and connected with the upper rack (211) and the lower rack (221) respectively; The second telescopic cylinder (270) has a fixed end connected to the support (260), and the telescopic end of the second telescopic cylinder (270) is connected to the first clamping block (210) or the second clamping block (220).

4. A semi-automatic pipe feeding device according to any one of claims 1 to 3, It is characterized in that The lifting mechanism (300) further comprises: A movable seat (340) connected to the second driving mechanism (500); A lifting seat (350) is connected to the movable seat (340), and the lifting seat (350) can move up and down relative to the movable seat (340), and the supporting plate (310) is connected to the top of the lifting seat (350); The third telescopic cylinder (320) has a fixed end connected to the movable seat (340), and a telescopic end of the third telescopic cylinder (320) is connected to the lifting seat (350).

5. The semi-automatic pipe feeding device according to claim 4, It is characterized in that The pipe feeding device also includes: A transmission shaft (600) connected to all the movable seats (340), wherein the transmission shaft (600) can rotate around a left and right horizontal axis; A first gear (610) connected to the transmission shaft (600), wherein the first gear (610) and the transmission shaft (600) are coaxially arranged; A first rack (620) is connected to the lifting seat (350), the first rack (620) is vertically arranged, and the first rack (620) is meshingly connected to the first gear (610).

6. The semi-automatic pipe feeding device according to claim 5, It is characterized in that The pipe feeding device further comprises a pipe positioning plate (130); the pipe positioning plate (130) is connected to the base frame (100), the pipe positioning plate (130) is vertically arranged, and the pipe positioning plate (130) is located on the left or right side of the inclined surface.

7. The semi-automatic pipe feeding device according to claim 6, It is characterized in that The second driving mechanism (500) comprises: A mounting seat (540) connected to the base frame (100); A second guide rail (520) connected to the mounting seat (540), wherein two ends of the second guide rail (520) are arranged front and back; A second sliding block (530) connected to the second guide rail (520), wherein the second sliding block (530) is connected to the moving seat (340); A fourth telescopic cylinder (510), a fixed end of which is connected to the mounting seat (540), and a telescopic end of the fourth telescopic cylinder (510) is connected to the moving seat (340).

8. The semi-automatic pipe feeding device according to claim 7, It is characterized in that The movable seat (340) is provided with a third guide rail (330), and the third guide rail (330) is arranged vertically; the lifting seat (350) is provided with a third sliding block (360), and the third sliding block (360) is connected to the third guide rail (330).

9. The semi-automatic pipe feeding device according to claim 8, It is characterized in that The first driving mechanism comprises: A fourth guide rail (820) connected to the base frame (100), with two ends of the fourth guide rail (820) arranged front and back; A fourth slider (810) connected to the clamping manipulator (200), the fourth slider (810) connected to a fourth guide rail (820) and movable forward and backward along the fourth guide rail (820); A second rack (830) connected to the clamping manipulator (200), wherein two ends of the second rack (830) are arranged front and back; A second gear (720) connected to the base frame (100), the second gear (720) being meshingly connected to the second rack (830); A driving motor (700) is drivingly connected to the second gear (720).

10. The semi-automatic pipe feeding device according to claim 9, It is characterized in that The base frame (100) is provided with a plurality of support rods (110) and a plurality of support plates (120); the plurality of support rods (110) are arranged at intervals from left to right, and the two ends of the support rods (110) are arranged front and back and inclined to form the inclined surface; the plurality of support plates (120) are arranged at intervals from left to right to form the horizontal surface.

Images