Automatic tube capping device and tube packaging device

Abstract

The present invention discloses an automatic pipe capping device and a pipe packaging device, which belong to the field of pipe processing devices. The device realizes the automatic insertion of straight pipe inner plugs into both ends of the pipe material, thereby reducing manpower input. The automatic pipe capping device of the present invention comprises three radial pipe material transfer devices and two pipe material capping devices. A fixed frame is provided between the radial pipe material transfer devices. The radial pipe material transfer device comprises a transverse transmission frame and a material shifting rod. A power device is provided on the transverse transmission frame. The pipe material capping device comprises a device body. A four-axis robot and a cap pushing arm located below the four-axis robot are provided on the device body. A storage assembly is provided in the device body. The straight pipe inner plugs are stored in the storage assembly. The four-axis robot comprises a pair of mechanical clamping arms for clamping the straight pipe inner plugs. The cap pushing arms push the straight pipe inner plugs clamped by the mechanical clamping arms into the ends of the pipe material. A clamping mechanism for clamping the pipe material and a detection head for detecting the straight pipe inner plugs on the pipe material are provided on the fixed frame.

Description

Technical field

[0001] The present invention relates to the field of pipe processing devices, in particular to an automatic pipe capping device and a pipe packaging device. [Background Technology]

[0002] After the pipes are manufactured, they need to be packaged and inspected, engraved, capped, and packaged before they can be shipped. Many of these steps require manual labor, resulting in high labor intensity and low efficiency.

[0003] In order to reduce manpower input, a set of equipment that can automatically handle pipe materials is needed.

[0004] After the pipe material processing is completed, the pipe material can be packaged. In order to keep the pipe material clean, it is necessary to prevent dust from entering the pipe material during the transportation or packaging stage. [Summary of the invention]

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and propose an automatic capping device for pipes, which can automatically insert straight pipe inner plugs into both ends of the pipes and reduce manpower input.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The automatic pipe capping device includes three radial pipe transfer devices and two pipe capping devices. A fixing device is provided between the radial pipe transfer devices for keeping the pipe fixed when performing the capping operation on the pipe. The two pipe capping devices are respectively used to perform the capping operation on both ends of the pipe. The two pipe capping devices are respectively provided with two sets of fixing devices. The radial pipe transfer device is used to transfer the pipe horizontally. The radial pipe transfer device includes a horizontal transfer frame and a material shifting rod provided on the horizontal transfer frame. The horizontal transfer frame is provided with a A power device drives the material-moving rod to move the pipe material horizontally. The pipe capping device includes a device body, a four-axis robot and a cap-pushing arm located below the four-axis robot. A material storage assembly is provided in the device body, and the straight tube plugs are stored in the material storage assembly. The four-axis robot includes a pair of mechanical clamping arms for clamping the straight tube plugs. The cap-pushing arm pushes the straight tube plug clamped by the mechanical clamping arm into the end of the pipe material. The fixing device includes a fixed frame, a clamping mechanism provided on the fixed frame for clamping the pipe material, and a detection head for detecting the straight tube plugs on the pipe material.

[0008] Based on the above scheme, the power device includes a power motor and a transmission device connected to the power motor. The transmission device is connected to the material-moving rod through a connecting block. One end of the connecting block is connected to the transmission device, and the other end is rotatably connected to the material-moving rod. A circular slider is also provided on the horizontal conveying frame, and a guide groove is provided on the material-moving rod that slides with the circular slider.

[0009] Based on the above solution, the material shifting rod includes a material shifting rod body, one end of which is provided with a material shifting hook, which positions the pipe material on the material shifting rod body when the material shifting rod is reset from under the pipe material.

[0010] Based on the above solution, the transmission device includes a transmission support and a pulley rotatably mounted on the transmission support. The power motor is connected to the pulley through a transmission belt, and the pulley is connected to the connecting block through a transmission rod.

[0011] On the basis of the above solution, a plurality of material-moving rods are provided on the transverse conveying frame along the length direction of the pipe material, and a connecting rod body passing through the plurality of material-moving rods is also provided on the transverse conveying frame.

[0012] Based on the above scheme, the four-axis robot includes a robot body, the mechanical clamping arm is connected to the robot body through a telescopic rod, the mechanical clamping arm includes a clamping arm base and a pair of clamping plates arranged below the clamping arm base, and the mechanical clamping arm clamps the straight tube plug between the clamping plates.

[0013] Based on the above scheme, the push cap arm includes a mounting seat body provided on the device body, a pushing cylinder provided on the mounting seat body, and a pushing plate is provided at the end of the pushing cylinder, and the pushing plate is provided corresponding to the center position between the two splints.

[0014] Based on the above scheme, the material storage component includes a material barrel, a conveyor located above the material barrel, and a vibrating material tray located below the material barrel. The upper end of the material barrel is open corresponding to the conveyor, and the lower end of the material barrel is open corresponding to the vibrating material tray. The bottom wall of the material barrel is inclined toward the vibrating material tray.

[0015] Based on the above scheme, the clamping device includes a clamping bracket, a V-shaped groove is provided at the upper end of the clamping bracket, a clamping cylinder is provided on the side of the clamping bracket, the clamping cylinder is connected to the V-shaped block adapted to the V-shaped groove, and the material moving rod drives the pipe material to rise along the surface of the V-shaped block and pass over the V-shaped block.

[0016] The tube material packaging device comprises the above-mentioned tube material automatic capping device.

[0017] Beneficial effects of the present invention:

[0018] The present invention discloses an automatic pipe capping device, which includes three radial pipe transfer devices, two pipe capping devices, and two fixing devices. The radial pipe transfer devices are used to radially transfer pipes so that the pipes can be moved laterally from one fixing device to another fixing device. The pipe capping devices are arranged corresponding to the fixing devices. After the pipes are transferred to the fixing devices, the pipes are capped. The two pipe capping devices cap both ends of the pipes respectively to seal the inside of the pipes. After one end of the pipe is capped, the pipes are inspected by a detection head. If the capping is successful, the pipes are transferred to the other fixing device to continue capping. If the capping is unsuccessful, the pipes can be screened out to avoid being sent to the fixing device, thereby ensuring the processing efficiency of the pipes. When capping, the clamping mechanism is used to clamp the pipes to keep the pipes stationary. In this way, during the capping process, the pipes will not change position under the action of external force, thereby increasing the difficulty of capping.

[0019] Furthermore, the power device includes a power motor and a transmission device connected to the power motor, the transmission device is connected to the material-diverting rod through a connecting block, one end of the connecting block is connected to the transmission device, and the other end is rotatably connected to the material-diverting rod, the transverse conveying frame is also provided with a circular slider, and the material-diverting rod is provided with a guide slide groove that slidably cooperates with the circular slider. When the pipe material is moved transversely, the power motor is started to transmit power to the transmission device, the transmission device drives the connecting block to rotate, and during the rotation of the connecting block, the material-diverting rod is pushed toward the pipe material direction, and at the same time, the connecting block also drives the material-diverting rod to move downward so that the material-diverting rod moves below the pipe material, the circular slider slides in the guide slide groove to position the material-diverting rod, and prevents the material-diverting rod from rotating independently relative to the connecting block and affecting the transmission of the pipe material, as the connecting block continues to rotate, the material-diverting rod is driven to reset, and when the material-diverting rod is reset, the pipe material moves upward, so that the pipe material falls onto the material-diverting rod and moves along the surface of the material-diverting rod, thereby realizing radial transmission of the pipe material.

[0020] Furthermore, the material-diverting rod comprises a material-diverting rod body, one end of which is provided with a material-diverting hook. The material-diverting hook positions the pipe material on the material-diverting rod body when the material-diverting rod is reset from below the pipe material. The material-diverting hook protrudes from the material-diverting rod body, and as the material-diverting rod moves upward, it can drive the pipe material to move together, thereby conveying the pipe material. The pipe material on the material-diverting rod body is retained on the material-diverting rod body by the limiting action of the material-diverting hook. When the material-diverting rod is reset, one end of the material-diverting rod provided with the material-diverting hook is higher than the other end, so that the pipe material can slide off the other end of the material-diverting rod, thereby completing the lateral transfer of the pipe material.

[0021] Furthermore, the transmission device includes a transmission support and a pulley rotatably mounted on the transmission support. The power motor is connected to the pulley via a transmission belt, and the pulley is connected to the connecting block via a transmission rod. After the power motor is started, the transmission belt drives the pulley to rotate. When the pulley rotates, the transmission rod drives the connecting block to rotate, thereby driving the material-moving rod to move.

[0022] Furthermore, the transverse conveyor frame is provided with a plurality of material-moving rods along the length of the pipe, and a connecting rod body is also provided on the transverse conveyor frame that passes through the plurality of material-moving rods. The connecting rod body simultaneously connects the plurality of material-moving rods, so that only one of the material-moving rods needs to be connected to the transmission device for all the material-moving rods to move synchronously, thereby maintaining smooth movement of the pipe and preventing positional deviation, thereby ensuring smooth transverse transfer of the pipe.

[0023] Furthermore, the four-axis robot includes a robot body, and the mechanical clamping arm is connected to the robot body via a telescopic rod. The mechanical clamping arm includes a clamping arm base and a pair of clamping plates disposed below the clamping arm base. The mechanical clamping arm clamps the straight tube plug between the clamping plates. The mechanical clamping arm can be adjusted in the vertical direction by the telescopic rod to lower it onto the vibrating material plate to clamp the straight tube plug. The position of the mechanical clamping arm can also be adjusted according to the specifications of the pipe material so that the straight tube plug is aligned with the axis of the pipe material, thereby avoiding misalignment during the capping process, which may lead to damage to the straight tube plug or failure of the capping process.

[0024] Furthermore, the push cap arm includes a mounting base mounted on the device body and a push cylinder mounted on the mounting base. A push plate is provided at the end of the push cylinder, positioned corresponding to the center between the two clamping plates. The push cylinder drives the push plate to move, pushing the straight tube inner plug, held by the clamping plates, toward the pipe material, allowing the straight tube inner plug to be inserted into the pipe material. The push plate can cover a wide range, allowing smooth insertion even when handling pipes of different sizes.

[0025] Furthermore, the material storage assembly includes a material barrel, a conveyor positioned above the material barrel, and a vibrating material tray positioned below the material barrel. The upper end of the material barrel is open relative to the conveyor, and the lower end of the material barrel is open relative to the vibrating material tray. The bottom wall of the material barrel is tilted toward the vibrating material tray. The number of straight tube plugs stored in the material barrel is limited. The straight tube plugs can be fed into the material barrel from the upper opening of the material barrel via the conveyor, and then fed to the vibrating material tray through the lower opening of the material barrel.

[0026] Furthermore, the clamping device includes a clamping bracket, a V-shaped groove is provided at the upper end of the clamping bracket, a clamping cylinder is provided on the side of the clamping bracket, and the clamping cylinder is connected to a V-shaped block adapted to the V-shaped groove. The material shifting rod drives the pipe material to rise along the surface of the V-shaped block and pass over the V-shaped block. The V-shaped groove has a positioning function for the pipe material. When the pipe material is transferred to the clamping bracket, it can naturally roll along the inner wall of the V-shaped groove to the center of the V-shaped groove to correspond to the mechanical clamping arm. The clamping cylinder drives the V-shaped block to descend to clamp the pipe material. When the pipe material is capped, the material shifting rod drives the pipe material to move upward. After the pipe material contacts the V-shaped block, it can move along the inclined surface outside the V-shaped block and pass over the V-shaped block.

[0027] The present invention also discloses a tube material packaging device for processing and packaging finished tube materials. The tube material automatic capping device mentioned above is used to automatically cap the tube material. Tube materials that fail to be capped will be screened out, thereby ensuring the yield rate.

[0028] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] Figure 1 Schematic diagram of the structure of the automatic capping device for pipe materials in an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A magnified schematic diagram of point A in the middle;

[0032] Figure 3 Schematic diagram of the structure of the radial pipe material transfer device in an embodiment of the present invention;

[0033] Figure 4 for Figure 3 Enlarged schematic diagram of point C in the middle;

[0034] Figure 5 Schematic diagram of the structure of the pipe capping device in an embodiment of the present invention;

[0035] Figure 6 for Figure 5 The enlarged schematic diagram of point D in the middle;

[0036] Figure 7 for Figure 2 Enlarged schematic diagram of point B in the middle.

[0037] Reference numerals:

[0038] Horizontal conveying frame 500, material shifting rod 510, material shifting rod body 511, material shifting hook 512, silicone friction member 513, power device 520, power motor 521, connecting block 522, transmission support 523, pulley 524, conveyor belt 525, circular slider 530, guide chute 531, connecting rod body 540;

[0039] Device body 600, visual probe 601, four-axis robot 610, mechanical clamping arm 611, robot body 612, telescopic rod 613, clamping arm base 614, clamping plate 615, cap-pushing arm 620, mounting base 621, pushing cylinder 622, pushing plate 623, material barrel 630, vibrating material tray 631, conveyor 631, and limit baffle 632;

[0040] Fixed frame 800 , clamping mechanism 810 , clamping bracket 811 , V-shaped slot 812 , clamping cylinder 813 , V-shaped block 814 . [Specific implementation method]

[0041] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0042] When used herein, words such as "exemplary" and "some embodiments" mean "serving as an example, embodiment, or illustration." Any embodiment described as "exemplary" is not necessarily to be construed as superior or preferable to other embodiments. Numerous specific details are provided in the following detailed description to better illustrate the present invention. However, those skilled in the art will appreciate that the present disclosure may be practiced without these specific details.

[0043] Reference Figures 1 to 7 The embodiment of the present invention discloses an automatic pipe capping device, which includes three radial pipe transfer devices, two pipe capping devices, and two fixing devices. The fixing device is arranged between two adjacent radial pipe transfer devices. The radial pipe transfer device is used to radially transfer the pipe so that the pipe can be moved laterally from one fixing device to another fixing device. The pipe capping device is arranged corresponding to the fixing device. After the pipe is transferred to the fixing device, the pipe is capped. The fixing device is used to keep the pipe fixed when the pipe is capped. The two pipe capping devices cap the two ends of the pipe respectively to seal the inside of the pipe.

[0044] The fixing device includes a fixing frame 800, a clamping mechanism 810 provided on the fixing frame 800 for clamping the pipe material, and a detection head for detecting the plug inside the straight pipe on the pipe material. The clamping mechanism 810 is used to clamp the pipe material to keep the pipe material still. In this way, during the capping process, the pipe material will not change position under the action of external force, thereby increasing the difficulty of capping. When one end of the pipe material is capped, the pipe material is detected by the detection head. If the capping is successful, the pipe material is transferred to another fixing device to continue capping. If the capping is unsuccessful, the pipe material can be screened out to avoid being sent to the fixing device, thereby ensuring the processing efficiency of the pipe material.

[0045] Among them, the pipe material capping device includes a device body 600, on which a four-axis robot 610 and a cap pushing arm 620 located below the four-axis robot 610 are provided. A material storage component is provided in the device body 600, and the material storage component includes a material barrel 630 and a vibrating material tray 631 located below the material barrel 630. The straight tube inner plug is stored in the material barrel 630 and transferred to the vibrating material tray 631 by the material barrel 630. The four-axis robot 610 includes a mechanical clamping arm 611 for clamping the straight tube inner plug on the vibrating material tray 631, and the cap pushing arm 620 pushes the straight tube inner plug clamped by the mechanical clamping arm 611 into the end of the pipe material.

[0046] The pipe capping device is used to insert a straight pipe inner plug into the end of the pipe material to seal the pipe material and prevent dust from entering the inside of the pipe material. The straight pipe inner plug is placed in the storage assembly. When the capping operation is performed, the straight pipe inner plug falls onto the vibrating material tray 631. The vibrating material tray 631 generates vibration to vibrate the straight pipe inner plug until the straight pipe inner plug falls over. The four-axis robot 610 moves the mechanical clamping arm 611 to the top of the vibrating material tray 631 to clamp the straight pipe inner plug. Then the four-axis robot 610 drives the mechanical clamping arm 611 to reset so that the straight pipe inner plug is facing the center of the pipe material. Finally, the capping arm 620 pushes the straight pipe inner plug into the end of the pipe material.

[0047] The four-axis robot 610 includes a robot body 612, and a mechanical clamping arm 611 connected to the robot body 612 via a telescopic rod 613. The mechanical clamping arm 611 includes a clamping arm base 614 and a pair of clamping plates 615 disposed below the clamping arm base 614. The mechanical clamping arm 611 clamps the straight tube plug between the clamping plates 615. The mechanical clamping arm 611 can be adjusted in the vertical direction under the action of the telescopic rod 613 to lower it onto the vibrating material tray 631 to clamp the straight tube plug. The position of the mechanical clamping arm 611 can also be adjusted according to the specifications of the pipe material so that the straight tube plug can be aligned with the axis of the pipe material, avoiding misalignment during the capping process, which may cause damage to the straight tube plug or capping failure.

[0048] The push-cap arm 620 includes a mounting base 621 mounted on the device body 600 and a push cylinder 622 mounted on the mounting base 621. A push plate 623 is provided at the end of the push cylinder 622, positioned centrally between the two clamping plates 615. The push cylinder 622 drives the push plate 623 to move, pushing the straight pipe plug held by the clamping plates 615 toward the pipe material, allowing it to be inserted into the pipe. The push plate 623 covers a wide range, allowing for smooth insertion even when handling pipes of varying sizes.

[0049] The device body 600 is equipped with a visual probe 601 corresponding to the vibrating tray 631, which is used to detect the straight tube plug that has fallen over on the vibrating tray 631. The visual probe 601 can identify the state of the straight tube plug on the vibrating tray 631, allowing the mechanical clamping arm 611 to grasp the overturned straight tube plug for smooth capping operation.

[0050] The material storage assembly also includes a conveyor 631 located above the material barrel 630. The upper end of the material barrel 630 is open to the conveyor 631, and the lower end of the material barrel 630 is open to the vibrating material tray 631. The bottom wall of the material barrel 630 is tilted toward the vibrating material tray 631. The number of straight tube plugs stored in the material barrel 630 is limited. The conveyor 631 can deliver the straight tube plugs from the upper opening of the material barrel 630 into the material barrel 630, and then deliver them to the vibrating material tray 631 through the lower opening of the material barrel 630.

[0051] A limiting baffle 632 is provided along the circumference of the vibrating material disk 631. The vibration generated by the vibrating material disk 631 causes the straight tube inner plug to vibrate and move on the vibrating material disk 631. By providing the limiting baffle 632, the straight tube inner plug can be fixed to the vibrating material disk 631 to prevent it from falling off the vibrating material disk 631.

[0052] The radial pipe material transfer device includes a transverse conveying frame 500 and a material-diverting rod 510 arranged on the transverse conveying frame 500. The transverse conveying frame 500 is provided with a power device 520 for driving the material-diverting rod 510. The power device 520 includes a power motor 521 and a transmission device connected to the power motor 521. The transmission device is connected to the material-diverting rod 510 through a connecting block 522. One end of the connecting block 522 is connected to the transmission device, and the other end is rotatably connected to the material-diverting rod 510. The transmission device drives the connecting block 522 to rotate. A circular slider 530 is also provided on the transverse conveying frame 500, and a guide slide groove 531 that slides with the circular slider 530 is provided on the material-diverting rod 510.

[0053] When the pipe material is moved horizontally, the power motor 521 starts to transmit power to the transmission device, and the transmission device drives the connecting block 522 to rotate. During the rotation of the connecting block 522, the material-prying rod 510 is pushed to move toward the pipe material. At the same time, the connecting block 522 also drives the material-prying rod 510 to move downward so that the material-prying rod 510 moves under the pipe material. The circular slider 530 slides in the guide slot 531 to position the material-prying rod 510 to prevent the material-prying rod 510 from rotating independently relative to the connecting block 522 and affecting the transmission of the pipe material. As the connecting block 522 continues to rotate, the material-prying rod 510 is driven to reset. When the material-prying rod 510 is reset, it drives the pipe material to move upward, so that the pipe material falls onto the material-prying rod 510 and moves along the surface of the material-prying rod 510, thereby realizing radial transmission of the pipe material.

[0054] The material diverting rod 510 includes a material diverting rod body 511, and a material diverting hook 512 is provided at one end of the material diverting rod body 511. The material diverting hook 512 positions the pipe on the material diverting rod body 511 when the material diverting rod 510 is reset from below the pipe. The material diverting hook 512 protrudes from the material diverting rod body 511. As the material diverting rod 510 moves upward, it can drive the pipe to move together to transfer the pipe. The pipe on the material diverting rod body 511 is retained on the material diverting rod body 511 by the limiting action of the material diverting hook 512. When the material diverting rod 510 is reset, one end of the material diverting rod 510 provided with the material diverting hook 512 is higher than the other end, allowing the pipe to slide from the other end of the material diverting rod 510, completing the lateral transfer of the pipe.

[0055] The transmission device includes a transmission support 523 and a pulley 524 rotatably mounted on the transmission support 523. The power motor 521 is connected to the pulley 524 via a transmission belt 525. The pulley 524 is connected to the connecting block 522 via a transmission rod. After the power motor 521 is started, the transmission belt 525 drives the pulley 524 to rotate. When the pulley 524 rotates, it drives the connecting block 522 to rotate via the transmission rod, thereby driving the material-moving rod 510 to move.

[0056] The transverse conveyor frame 500 is provided with a plurality of material shifting rods 510 along the length of the pipe. A connecting rod 540 is also provided on the transverse conveyor frame 500, which passes through the plurality of material shifting rods 510. The connecting rod 540 simultaneously connects the plurality of material shifting rods 510. This allows all material shifting rods 510 to move synchronously, requiring only one of the material shifting rods 510 to be in transmission connection with the transmission device. This ensures smooth movement of the pipe, reduces positional deviation, and facilitates smooth transverse transfer of the pipe.

[0057] To maintain the stability of the pipe material and reduce its positional deviation, a silicone friction member 513 is provided on the upper surface of the material moving rod 511. The silicone friction member 513 has a large friction coefficient with the pipe material, and the friction force between the silicone friction member 513 and the pipe material can axially position the pipe material during the conveying process.

[0058] The clamping device 810 includes a clamping bracket 811, a V-shaped groove 812 is provided at the upper end of the clamping bracket 811, a clamping cylinder 813 is provided on the side of the clamping bracket 811, the clamping cylinder 813 is connected to a V-shaped block 814 adapted to the V-shaped groove 812, and the material moving rod 510 drives the pipe material to rise along the surface of the V-shaped block 814 and pass over the V-shaped block 814. The V-shaped groove 812 has a positioning function for the pipe. After the pipe is transferred to the clamping bracket 811, it can naturally roll along the inner wall of the V-shaped groove 812 to the center of the V-shaped groove 812 to correspond to the mechanical clamping arm 611. The clamping cylinder 813 drives the V-shaped block 814 to descend to clamp the pipe. When the pipe is capped, the material-moving rod 510 drives the pipe upward. After the pipe contacts the V-shaped block 814, it can move along the inclined surface outside the V-shaped block 814 and pass over the V-shaped block 814 to move in the radial direction.

[0059] The present invention also discloses a tube material packaging device for processing and packaging finished tube materials. The tube material automatic capping device mentioned above is used to automatically cap the tube material. Tube materials that fail to be capped will be screened out, thereby ensuring the yield rate.

[0060] The embodiments of the present invention can be applied to products such as instant water heaters and household water dispensers.

[0061] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art will understand that the present invention includes, but is not limited to, the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. Automatic capping device for pipes, characterized by: The present invention relates to a pipe material transmission mechanism, wherein the pipe material transmission mechanism is a plurality of pipe material transmission mechanisms, the plurality of pipe material transmission mechanisms are connected to the pipe material transmission mechanism, and the plurality of pipe material transmission mechanisms are connected to the pipe material transmission mechanism. - tached to said driving mechanism, a floating feeder mounted on 'said mechanism, means for raising and lowering the casing vertically relative to the engine, means for swinging endsat the rear of the sides of said frame, and a floating feeder mounted on 'said mechanism, means for swinging endsat the rear of said frame, said mechanism for swinging ends at said mechanism, a 4 The clamping mechanism includes a clamping bracket, a V-shaped slot is provided at the upper end of the clamping bracket, a clamping cylinder is provided on the side of the clamping bracket, the clamping cylinder is connected to the V-shaped block adapted to the V-shaped slot, and the material moving rod drives the pipe material to rise along the surface of the V-shaped block and pass over the V-shaped block; The four-axis robot includes a robot body, the mechanical clamping arm is connected to the robot body through a telescopic rod, the mechanical clamping arm includes a clamping arm base and a pair of clamping plates arranged below the clamping arm base, and the mechanical clamping arm clamps the straight pipe plug between the clamping plates; The push cap arm includes a mounting seat provided on the device body, a pushing cylinder provided on the mounting seat, a pushing plate provided at the end of the pushing cylinder, and the pushing plate is provided corresponding to the center portion between the two clamping plates.

2. The automatic capping device for pipes according to claim 1, characterized in that: The material storage assembly includes a material barrel, a conveyor located above the material barrel, and a vibrating material tray located below the material barrel. The upper end of the material barrel is open corresponding to the conveyor, the lower end of the material barrel is open corresponding to the vibrating material tray, and the bottom wall of the material barrel is inclined toward the vibrating material tray.

3. Tube packaging device, characterized in that: The invention comprises the automatic capping device for pipes as claimed in claim 1 or 2.

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