Double-rotary elbow automatic feeding device and feeding method

Abstract

The application discloses a kind of double-rotary elbow automatic feeding device and feeding method, it includes discharging mechanism, feeding mechanism, clamping mechanism and push mechanism;The elbow is sent into feeding mechanism by discharging mechanism, the clamping mechanism is used to clamp the elbow conveyed by feeding mechanism and sends the elbow into push mechanism, and the push mechanism sends the elbow into the upper piece of tapping machine. Sliding block;The clamping mechanism includes feeding cylinder, rotating part cylinder and clamping jaw cylinder;The feeding cylinder and rotating part cylinder are all swing cylinders;The rotating part cylinder is fixedly connected on the output shaft of feeding cylinder;The clamping jaw cylinder is provided with clamping jaw, and the clamping jaw cylinder is fixedly connected on the output shaft of rotating part cylinder;The feeding cylinder drives clamping jaw to swing between the discharging position of feeding mechanism and the feeding position of push mechanism.This method has the characteristics of fast feeding speed, high efficiency, feeding posture is qualified, effectively saves labor, improves feeding and tapping efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to a feeding device, in particular to a double-rotation elbow automatic feeding device and a feeding method. BACKGROUND

[0002] Elbow tapping is an important process in elbow production, which is to cut internal threads in the hole of a workpiece by a tap. At present, a double-head tapping machine is mainly used for elbow tapping, which automatically completes tapping processing by transporting elbows on a tapping machine runner to a processing position. At present, the only way to load elbows into the tapping machine runner is to manually place the elbows by an operator.

[0003] This manual placement method allows each operator to monitor only 2 to 3 devices; when a device fails and needs to be handled by the operator, the other devices often stop tapping due to the absence of elbows in the runner. Therefore, this elbow feeding method to the tapping machine runner is backward, low-level, low-automation, low-efficiency, and high-comprehensive cost. SUMMARY

[0004] The application aims to solve the technical problem of providing an efficient double-rotation elbow automatic feeding device; the application also provides a double-rotation elbow automatic feeding method.

[0005] To solve the above technical problem, the technical solution adopted by the application is as follows: it comprises a feeding mechanism, a feeding mechanism, a clamping mechanism, and a pushing mechanism; the elbow is sent into the feeding mechanism by the feeding mechanism, the clamping mechanism is used to clamp the elbow conveyed by the feeding mechanism and send the elbow into the pushing mechanism, and the pushing mechanism sends the elbow into the feeding runner of the tapping machine; the clamping mechanism comprises a feeding cylinder, a rotating cylinder, and a clamping jaw cylinder; the feeding cylinder and the rotating cylinder are both swing cylinders; the rotating cylinder is fixedly connected to the output shaft of the feeding cylinder; the clamping jaw cylinder is provided with a clamping jaw, and the clamping jaw cylinder is fixedly connected to the output shaft of the rotating cylinder; the feeding cylinder drives the clamping jaw to swing between the discharge position of the feeding mechanism and the feeding position of the pushing mechanism.

[0006] The feeding mechanism comprises a linear vibration feeder and a sorting track; the sorting track is located between the feeding mechanism and the clamping mechanism, and the sorting track is vibrated and fed by the linear vibration feeder.

[0007] The sorting track adopts a V-shaped track. The discharge rear end of the sorting track is a feeding area; the track height of the feeding area is lower than that of other parts of the sorting track, and baffles are arranged on both sides of the feeding area; the spacing between the baffles is matched with the pipe diameter of the elbow.

[0008] The feeding mechanism further comprises a combing plate and a combing cylinder; the combing plate is located above the sorting track, and a combing opening is formed in the combing plate to prevent the elbow from passing through in a transverse posture; the output shaft of the combing cylinder is fixedly connected with the combing plate, and the combing cylinder can push the combing plate in the conveying direction of the sorting track.

[0009] The pushing mechanism comprises a pushing cylinder and a pushing head; the pushing head is located at the feeding end of the feeding chute of the tapping machine; the output shaft of the pushing cylinder is fixedly connected with the pushing head, and the pushing cylinder can push the pushing head in the feeding direction of the feeding chute of the tapping machine or in the opposite direction.

[0010] The feeding end of the feeding mechanism is provided with a feeding-in-place sensor and a rib diameter direction sensor; the feeding-in-place sensor controls the operation of the feeding cylinder, and the rib diameter direction sensor controls the operation of the turning cylinder.

[0011] The method comprises the following steps: ① the discharging mechanism feeds the elbow into the feeding end of the feeding mechanism;

[0012] ② the feeding mechanism conveys the elbow from the feeding end to the discharging end;

[0013] ③ when the feeding-in-place sensor and the rib diameter direction sensor cooperate to determine that the posture of the elbow is qualified, the feeding cylinder is directly rotated to the picking position, then the clamping jaw cylinder drives the clamping jaw to clamp the elbow, and then the feeding cylinder is rotated to the pushing mechanism;

[0014] ④ when the feeding-in-place sensor and the rib diameter direction sensor cooperate to determine that the posture of the elbow is unqualified, the feeding cylinder is rotated to the picking position while the turning cylinder is rotated, then the clamping jaw cylinder drives the clamping jaw to clamp the elbow, and then the feeding cylinder is rotated to the pushing mechanism;

[0015] ⑤ the clamping jaw cylinder releases the clamping jaw, and the elbow clamped by the clamping jaw in step ③ or ④ falls into the feeding chute of the tapping machine in a qualified feeding posture;

[0016] ⑥ the pushing mechanism feeds the elbow into the tapping machine.

[0017] The above technical solution has the following advantages: the clamping mechanism can feed the elbows in different postures into the pushing mechanism in a specific form through the feeding cylinder, the turning cylinder and the clamping jaw cylinder, so that the elbows can be fed into the feeding chute of the tapping machine in a specific posture, and the tapping machine can be fed. The elbows can be effectively fed into the tapping machine without manual adjustment of the posture of the elbow, and the subsequent tapping operation can be performed. The feeding speed is fast, the efficiency is high, the feeding posture is qualified, and the like, which effectively saves labor and improves the feeding and tapping efficiency.

[0018] The sorting track adopts a V-shaped track, and the cooperation of the V-shaped structure and the elbow shape gradually adjusts the direction between the elbow pipe openings to be consistent with the conveying direction, so that the posture of the elbow can be corrected during the vibrating feeding process, so as to facilitate the clamping and conveying of the subsequent clamping mechanism, thereby further improving the feeding efficiency. The sorting track of the application is provided with a baffle at the discharge end, so that the elbow can only be in the posture of the radial direction of the rib or the posture of the radial direction of the rib to the discharge position, so that the posture of the elbow is more standard and stable, which is more conducive to the clamping and conveying of the subsequent clamping mechanism, thereby further improving the feeding efficiency. The application has the characteristics of fast feeding speed, high efficiency and more stable feeding. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0020] Figure 1 is a structural schematic diagram of the application;

[0021] Figure 2 is a three-dimensional structural schematic diagram of the application;

[0022] Figure 3 is a front view of the application;

[0023] Figure 4 is a top view of the application;

[0024] Figure 5 is a structural schematic diagram of the discharging mechanism of the application;

[0025] Figure 6 is a bottom view of the discharging mechanism of the application;

[0026] Figure 7 is a structural schematic diagram of the internal structure of the discharging mechanism of the application;

[0027] Figure 8 is a structural schematic diagram of the feeding mechanism of the application;

[0028] Figure 9 is a front view of the feeding mechanism of the application;

[0029] Figure 10 is a structural schematic diagram of the combing plate of the application;

[0030] Figure 11 is a structural schematic diagram of the clamping mechanism and the pushing mechanism of the application;

[0031] Figure 12 is a circuit structural schematic diagram of the application.

[0032] Figure: the blanking mechanism 1, blanking hopper 11, adjusting door 12, rubber adjusting door 13, blanking barrel 14, V-shaped bottom 15, blanking push rod 16, blanking cylinder 17, anti-pit material bottom 18; the feeding mechanism 2, the light barrier photoelectric sensor 21, the sorting track 22, the linear vibration feeder 23, the muscle diameter direction sensor 24, the feeding to the sensor 25, the combing cylinder 26, the combing plate 27, the blocking piece plate 28, the baffle 29, the strip-shaped slot 210, the combing port 211; the clamping mechanism 3, the feeding cylinder 31, the rotating piece cylinder 32, the clamping jaw cylinder 33, the clamping piece clamping jaw 34; the pushing mechanism 4, the pushing cylinder 41, the pushing head 42; the elbow 5; the upper piece chute 6; the chute full sensor 7. DETAILED DESCRIPTION

[0033] Figure 1 、 Figure 2 As shown in the figure, the automatic feeding device of the double-rotation elbow includes a blanking mechanism 1, a feeding mechanism 2, a clamping mechanism 3, and a pushing mechanism 4; the elbow 5 is sent into the feeding mechanism 2 by the blanking mechanism 1, the clamping mechanism 3 is used to clamp the elbow conveyed by the feeding mechanism and send the elbow into the pushing mechanism 4, and the pushing mechanism 4 sends the elbow 5 into the upper piece chute 6 of the tapping machine. Figures 2-7As shown, the discharging mechanism 1 includes a discharging hopper 11, an adjusting door 12, a rubber adjusting door 13, a discharging push rod 16 and a discharging cylinder 17. The discharging hopper 11 is a cylindrical structure, the upper end of which is communicated with a discharging barrel 14, which can be the original discharging barrel communicated with the second floor charging area of the workshop. The lower end of the discharging hopper 11 is provided with a discharge port, which is opposite to the feeding end of the feeding mechanism. The discharge port is provided with the manually controlled adjusting door 12, and the rubber adjusting door 13 is connected below the adjusting door 12; thus, the elastic deformation of the rubber adjusting door 13 can be utilized to smoothly discharge the materials, and the materials can not be dropped in large quantities at one time, and the height of the rubber adjusting door 13 can be adjusted by the adjusting door 12 to adapt to different sizes and pipe diameters of the materials. The bottom of the discharging hopper 11 is a V-shaped bottom 15, the rear end of which is closed, and the front end is part of the discharge port. The bottom of the discharging hopper 11 is provided with an anti-piling bottom 18, which is a plate-shaped structure inclined to the discharge port. The anti-piling bottom 18 and the V-shaped bottom 15 can prevent the elbow from being suspended at the bottom of the discharging hopper and cannot be smoothly discharged. The discharging cylinder 17 is located at the rear end of the discharging hopper 11 in the discharge direction, the output shaft of the discharging cylinder 17 is connected with the discharging push rod 16 at the front end, and the discharging push rod 16 horizontally extends to the discharge port of the discharging hopper 11; thus, the discharging cylinder 17 can push the discharging push rod 16, and the discharging push rod 16 can push the elbow at the bottom of the discharging hopper from the discharge port, so as to send the materials in the discharging hopper 11 into the feeding mechanism. After the above structure is adopted, when the discharging push rod 16 pushes the materials out of the discharging hopper 11, the rubber adjusting door 13 is bent outward, and part of the elbow falls from below the rubber adjusting door 13 to the discharging area of the sorting track; when the discharging push rod 16 is retracted, the elbow not falling is pressed back into the discharging hopper 11 under the elastic action of the rubber adjusting door 13, so as to adjust the discharging speed of the discharging hopper 11.

[0034] Figure 1 、 Figure 2 As shown, the feeding mechanism of the double-rotation elbow automatic feeding device includes a linear vibration feeder 23 and a sorting track 22, a combing plate 27 and a combing cylinder 26. Figures 8-10As shown, the feeding end of the sorting track 22 is opposite to the discharge port of the lower hopper 11 for receiving the elbow pushed by the lower cylinder 17 from the lower hopper 11. The linear vibrating feeder 23 is located below the sorting track 22, vibrating the sorting track 22 to achieve the conveying to the discharge end. The sorting track 22 includes a lower area, a sorting area and a feeding area; the lower area is located at the feeding end for receiving the elbow pushed by the lower hopper 11; the sorting area is located in the middle for sorting and initial adjustment of the posture of the elbow; the feeding area is located at the discharge end for adjustment of the posture of the elbow and discharge. The track of the lower area and the sorting area is a V-shaped track, i.e. the cross section perpendicular to the feeding direction is V-shaped, the V-shaped structure cooperates with the curved structure of the elbow to gradually adjust the direction between the pipe openings of the elbow to be consistent with the conveying direction during the conveying, thereby achieving the initial adjustment of the posture of the elbow; the upper outer side of the track of the lower area and the sorting area is provided with a blocking piece plate 28 for preventing the elbow 5 from falling off the track. The upper side of the feeding area is provided with a combing plate 27, and the combing plate 27 is provided with a combing port 211 corresponding to the sorting track 22 below, the combing port 211 is a M-shaped structure, and the opening width of the combing port 211 is smaller than the total length of the elbow, so that the transverse elbow can be combed when passing through the combing port 211, and the elbow passes through in the posture of two openings placed in the conveying direction, thereby further adjusting the posture of the elbow. The combing plate 27 is fixedly connected with the output shaft of the combing cylinder 26, and the output direction of the output shaft of the combing cylinder 26 is opposite to or consistent with the conveying direction of the sorting track 22, so that the combing cylinder 26 can push the combing plate 27 in the conveying direction of the sorting track 22, or push the combing plate 27 in the reverse direction of the conveying direction of the sorting track 22; so that when the combing cylinder 26 pulls or pushes the combing plate 27, the elbow with unqualified posture will be pushed back to the lower area by the combing plate 27 for re-sorting. The feeding area of the sorting track 22 is located at the rear end of the sorting area, the track height of the feeding area is lower than the height of the sorting area, and the blocking plate 29 is arranged on both sides of the feeding area; the spacing between the blocking plates 29 is matched with the pipe diameter of the elbow 5; in this way, the elbow conveyed by the sorting area will drop a certain height and stand up in the posture of the pipe diameter upward or downward when reaching the feeding area. The blocking plate 29 is provided with a strip-shaped groove 210 on both sides of the outlet end, and the two strip-shaped grooves are vertically arranged and penetrate through the blocking plate 29, so that the elbow 5 at this position can be clamped by the clamping mechanism. The lower area of the sorting track 22 is provided with a photoelectric sensor 25 for detecting whether there is an elbow in the lower area, thereby controlling the combing cylinder 26 to comb and the lower cylinder 17 to lower.The feeding area is provided with a feeding to position sensor 25 and a muscle diameter direction sensor 24; the feeding to position sensor 25 is opposite to the elbow 5 at the end of the feeding area, and the elbow 5 can touch the feeding to position sensor 25 no matter the muscle diameter is upward or downward; the muscle diameter direction sensor 24 is opposite to the middle of the length direction of the elbow 5 at the end of the feeding area, and the distance from the bottom surface of the feeding area is lower than the pipe diameter of the elbow 5, so that when the muscle diameter of the elbow 5 is upward, the muscle diameter direction sensor 24 is not triggered, and when the muscle diameter of the elbow 5 is downward, the muscle diameter direction sensor 24 is triggered; in this way, when the feeding to position sensor 25 detects the elbow and the muscle diameter of the elbow shields the muscle diameter direction sensor 24, the elbow is in the downward muscle diameter posture; when the feeding to position sensor 25 detects the elbow and the muscle diameter of the elbow does not shield the muscle diameter direction sensor 24, the elbow is in the upward muscle diameter posture. The above-mentioned upward muscle diameter posture means that the outer arc of the elbow is located upward, and the downward muscle diameter posture means that the inner arc of the elbow is located upward.

[0035] Figures 1-2 、 Figure 11 As shown in the figure, the double-rotation elbow automatic feeding device comprises a clamping mechanism 3, which comprises a feeding cylinder 31, a rotating cylinder 32 and a clamping jaw cylinder 33; the feeding cylinder 31 and the rotating cylinder 32 are both swing cylinders. The feeding cylinder 31 is located at the conveying rear end of the feeding mechanism 2 and swings between the feeding mechanism 2 and the pushing mechanism 4; the rotating cylinder 32 is fixedly connected to the output shaft of the feeding cylinder 31; the clamping jaw cylinder 33 is provided with a clamping jaw 34, and the clamping jaw cylinder 33 is fixedly connected to the output shaft of the rotating cylinder 32. After adopting such a structure, the feeding cylinder 31 can drive the rotating cylinder 32 and the clamping jaw cylinder 33 to swing between the feeding mechanism 2 and the pushing mechanism 4; when swinging to the taking position of the feeding mechanism 2, the clamping jaw 34 which swings together can enter the two type grooves 210 of the sorting track 22 feeding area baffle, and then the clamping jaw 34 is clamped under the driving of the clamping jaw cylinder 33, and then swings to the sending position of the pushing mechanism 4; after the feeding cylinder 31 drives the clamping jaw 34 to swing to the sending position, the clamping jaw 34 is loosened under the driving of the clamping jaw cylinder 33, so that the elbow 5 can be sent to the pushing mechanism 4. When the muscle diameter of the elbow clamped by the clamping jaw 34 is downward, the rotating cylinder 32 does not work; when the muscle diameter of the elbow clamped by the clamping jaw 34 is upward, the rotating cylinder 32 rotates 180° while the feeding cylinder 31 swings to the taking position, and the rotating cylinder 32 reversely rotates 180° while the feeding cylinder 31 swings to the sending position; in this way, the elbows with upward or downward muscle diameter on the sorting track 22 can be uniformly sent to the pushing mechanism 4 in the upward muscle diameter posture.

[0036] Figures 1-2 、 Figure 11As shown, the push mechanism 4 of the automatic feeding device of the double-rotating elbow includes a push cylinder 41 and a push head 42; the feeding position of the clamping jaw 34 is located above the feeding end of the feeding chute 6 of the tapping machine; the push head 42 is in a plate structure or a block structure and is located at the feeding end of the feeding chute 6 of the tapping machine; the push head 42 is fixed to the output shaft of the push cylinder 41, and the pushing direction of the push cylinder 41 is the direction of the feeding chute 6 of the tapping machine. After the above structure is adopted, the clamping mechanism 3 sends the elbow 5 to the feeding chute 6 of the tapping machine, and the push cylinder 41 can drive the push head 42 to push the elbow 5 along the feeding chute 6 into the tapping machine, and the posture of the elbow when pushed into the tapping machine is the radial direction of the rib.

[0037] Figures 2-4 、 Figure 8 、 Figure 12The automatic feeding device of the double-rotation elbow is provided with a feeding chute 6, a pushing mechanism 4, a linear vibration feeder 23, a combing cylinder 26, a feeding cylinder 31, a rotating cylinder 32, a clamping jaw cylinder 33, a feeding sensor 25, a muscle diameter direction sensor 24, a chute fullness sensor 7, and a CPU. The CPU is connected with the linear vibration feeder 23 through a P2.0 interface, connected with the combing cylinder 26 through a P2.1 interface, connected with the feeding cylinder 31 through a P2.3 interface, connected with the rotating cylinder 32 through a P2.4 interface, connected with the clamping jaw cylinder 33 through a P2.5 interface, connected with the feeding sensor 25 through a P1.1 interface, connected with the muscle diameter direction sensor 24 through a P1.2 interface, and connected with the chute fullness sensor 7 through a P1.3 interface. When the chute fullness sensor 7 detects the elbow, the feeding sensor 25 detects the elbow, and the light barrier photoelectric sensor 21 detects the elbow in the unloading area, the feeding device stops the action of each actuator. When the chute fullness sensor 7 does not detect the elbow, the pushing mechanism 4 pushes an elbow to the feeding chute 6, and the chute fullness sensor 7 detects the elbow again to stop the action of the pushing mechanism. At this time, the feeding cylinder 31 turns to the feeding chute 6 and releases the clamping jaw cylinder 33, and sends an elbow 5 to the feeding chute 6. When the feeding sensor 25 does not detect the elbow, the linear vibration feeder 23 vibrates to feed, and the combing cylinder 26 is started to move at intervals to send the unqualified elbow back to the unloading area for reordering. When the feeding sensor 25 detects the elbow, the linear vibration feeder 23 stops vibrating and the combing cylinder 26 stops moving at intervals. At the same time, the feeding cylinder 31 is started to turn to the pickup position, and the rotating cylinder 32 is determined to be rotated or not according to the shielding of the muscle diameter direction sensor 24. At this time, if the combing cylinder 26 is extended and the light barrier photoelectric sensor 21 detects that there is no elbow in the unloading area, the unloading push rod 16 in the unloading hopper 11 is extended under the driving of the unloading cylinder 17 to push the elbow in the unloading hopper 11 to the unloading area. The unloading cylinder 17 moves at intervals until the light barrier photoelectric sensor 21 detects that there is an elbow in the unloading area.

[0038] Figures 1-12As shown, the method steps of the automatic feeding method of the double-rotating elbow are as follows: (1) When the photoelectric sensor 21 detects that the sorting track 22 has no elbow in the unloading area, the combing cylinder 26 drives the combing plate 27 to push the unqualified elbow to the unloading area; if the photoelectric sensor 21 detects that the unloading area has an elbow at this time, no action is taken, until the photoelectric sensor 21 detects that the unloading area has no elbow when the combing cylinder 26 is extended, the unloading push rod 16 in the unloading hopper 11 is extended under the action of the unloading cylinder 17 to push the elbow in the unloading hopper 11 to the unloading area, and the unloading cylinder 17 is always intermittently actuated until the photoelectric sensor 21 detects that the unloading area has an elbow.

[0039] (2) The feeding mechanism 2 feeds the elbow from the feeding end to the discharging end; when the feeding-in-place sensor 25 does not detect the elbow, the linear vibration feeder 23 is started to vibrate the feeding, and at the same time, the combing cylinder 26 is intermittently actuated to send the unqualified elbow back to the unloading area for re-sorting, until the feeding-in-place sensor 25 detects the elbow, the linear vibration feeder 23 stops vibrating the feeding, and the combing cylinder 26 stops intermittently actuating.

[0040] (3) When the feeding-in-place sensor 25 detects the elbow, it is determined according to whether the rib diameter direction sensor 24 is blocked whether to rotate the turning cylinder 32 while the feeding cylinder 31 is turned to the picking position, to complete the correct picking control; after picking is completed, it is determined according to the state of the rib diameter direction sensor 24 whether to rotate the turning cylinder 32 while the feeding cylinder 31 is turned to the upper piece runner 6, to complete the piece feeding control.

[0041] (4) When the runner fullness sensor 7 does not detect the elbow, and the piece feeding cylinder 31 is not in the feeding position, the piece pushing cylinder 41 of the pushing mechanism 4 is started, the pushing head 42 pushes the elbow 5 on the upper piece runner 6 to the tapping machine, until the runner fullness sensor 7 detects the elbow, and the pushing mechanism 4 stops.

Claims

1. An automatic feeding method for double rotary elbows, employing an automatic feeding device for double rotary elbows, characterized in that: The feeding device includes a feeding mechanism (1), a feeding mechanism (2), a clamping mechanism (3), and a pushing mechanism (4); the elbow (5) is fed into the feeding mechanism (2) by the feeding mechanism (1), the clamping mechanism (3) is used to clamp the elbow conveyed by the feeding mechanism and send the elbow into the pushing mechanism (4), and the pushing mechanism (4) sends the elbow into the upper part slide (6) of the tapping machine; the clamping mechanism includes a feeding cylinder (31), a rotating cylinder (32), and a... The gripper cylinder (33) is a swing cylinder; the feeding cylinder (31) and the rotating cylinder (32) are both swing cylinders; the rotating cylinder (32) is fixedly connected to the output shaft of the feeding cylinder (31); the gripper cylinder (33) is provided with a gripper jaw (34), and the gripper cylinder (33) is fixedly connected to the output shaft of the rotating cylinder (32); the feeding cylinder (31) drives the gripper jaw (34) to move between the discharge position of the feeding mechanism (2) and the feed position of the pushing mechanism (4). The feeding mechanism (2) includes a linear vibrating feeder (23) and a sorting track (22); the sorting track (22) is located between the unloading mechanism (1) and the clamping mechanism (3), and the sorting track (22) is vibrated and fed by the linear vibrating feeder (23); the rear end of the sorting track (22) is the feeding area; the height of the track in the feeding area is lower than the height of other parts of the sorting track, and baffles (29) are provided on both sides of the feeding area; the spacing between the baffles (29) is matched with the pipe diameter of the elbow (5); the discharge end of the feeding mechanism (2) is provided with a feeding position sensor (25) and a rib diameter direction sensor (24); the feeding position sensor (25) controls the feeding cylinder (31) to work, and the rib diameter direction sensor (24) controls the rotating cylinder (32) to work; the radial orientation of the elbow rib is upward, that is, the outer arc of the elbow is above, and the radial orientation of the elbow rib is downward, that is, the inner arc of the elbow is above. The method steps are as follows: ①The feeding mechanism (1) feeds the elbow into the feed end of the feeding mechanism (2); ②The feeding mechanism (2) transports the elbow from the inlet end to the outlet end; ③ When the feeding position sensor (25) and the rib diameter direction sensor (24) cooperate to determine that the elbow posture is not qualified, that is, when the rib diameter of the elbow clamped by the clamping claw (34) is downward; the feeding cylinder (31) directly rotates to the picking position and the clamping claw cylinder (33) drives the clamping claw (34) to clamp the elbow; the feeding cylinder (31) rotates towards the pushing mechanism (4); ④ When the feeding position sensor (25) and the rib diameter direction sensor (24) cooperate to determine that the elbow posture is qualified, that is, when the rib radial direction of the elbow is upward when the clamping claw (34) clamps the elbow; the feeding cylinder (31) rotates towards the picking position and the rotating cylinder (32) rotates 180°. After the feeding cylinder (31) rotates to the picking position, the clamping claw cylinder (33) drives the clamping claw (34) to clamp the elbow; the feeding cylinder (31) rotates towards the pushing mechanism (4) and the rotating cylinder (32) rotates 180° in the opposite direction. ⑤ The clamping cylinder (33) releases the clamping jaw (19), and the elbow clamped by the clamping jaw (34) in step ③ or ④ falls into the upper part slide (6) of the tapping machine in a qualified feeding posture. At this time, the posture of the elbow is radially upward. ⑥The pushing mechanism (4) feeds the elbow into the tapping machine.

2. The automatic feeding method for double rotary elbows according to claim 1, characterized in that: The sorting track (22) adopts a V-shaped track.

3. The automatic feeding method for double rotary elbows according to claim 1, characterized in that: The feeding mechanism (2) is also provided with a comb plate (27) and a comb cylinder (26); the comb plate (27) is located above the sorting track (22), and a combing port (211) is opened below the comb plate (27) to prevent the bent head from passing through in a lateral posture; the output shaft of the comb cylinder (26) is fixed to the comb plate (27), and the comb cylinder (26) can push the comb plate (27) along the conveying direction of the sorting track (22).

4. The automatic feeding method for double rotary elbows according to claim 1, characterized in that: The pusher mechanism (4) includes a pusher cylinder (41) and a pusher head (42); the pusher head (42) is located at the feed end of the upper part slide (6) of the tapping machine; the output shaft of the pusher cylinder (41) is fixed to the pusher head and can push the pusher head (42) in the feed direction of the upper part slide (6) of the tapping machine or in the opposite direction.

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