A pipeline feeding mechanism and a feeding method

Abstract

This invention discloses a pipe feeding mechanism and method, including a material handling mechanism, a conveying pipe, a cylinder, a pneumatic gripper, a clamp, and a conveying sleeve. The material handling mechanism causes the parts inside to enter the conveying pipe in sequence. The first end of the conveying pipe is connected to the material handling mechanism, and the second end of the conveying pipe is connected to the upper end of the conveying sleeve. The conveying sleeve includes a fixed sleeve and a guide sleeve distributed from top to bottom. The second end of the conveying pipe is inserted into the fixed sleeve for fixation. The guide sleeve forms a channel along its central axis for the parts to be stacked vertically. The guide sleeve has at least two notches near the receiving sleeve, and the notches connect to the channel. The pneumatic gripper can drive the clamp to extend into the notches and enter the channel. The cylinder can drive the pneumatic gripper, clamp, and conveying sleeve to rise or fall. This invention has a simple structure, low cost, and is easy to maintain.

Description

Technical Field

[0001] This invention belongs to the field of automatic processing machinery technology, and in particular relates to a pipe feeding mechanism and feeding method. Background Technology

[0002] An automatic feeding device is used to automatically deliver workpieces to the next working position. The spring is one of the components of the electronic expansion valve and needs to be installed inside the valve needle (another component of the electronic expansion valve). Currently, the most common feeding method is to discharge the workpiece from a vibratory feeder, then pass it through a feeding mechanism to feed the spring into the valve needle. This feeding mechanism is relatively complex. Summary of the Invention

[0003] The present invention aims to provide a pipe feeding mechanism and feeding method. The mechanism uses pipe feeding and is equipped with pneumatic grippers to achieve feeding. It has a simple structure, low cost, and easy troubleshooting. It can be applied to the feeding of springs as well as other long cylindrical parts.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A pipe feeding mechanism includes a material handling mechanism, a conveying pipe, a cylinder, a pneumatic gripper, a clamp, and a conveying sleeve. The material handling mechanism enables parts inside to enter the conveying pipe in sequence. A first end of the conveying pipe is connected to the material handling mechanism, and a second end of the conveying pipe is connected to the upper end of the conveying sleeve. The conveying sleeve includes a fixed sleeve and a guide sleeve distributed from top to bottom. The second end of the conveying pipe is inserted into the fixed sleeve for fixation. The guide sleeve forms a channel in its central axis for parts to be stacked vertically. The guide sleeve has at least two notches near the receiving sleeve, and the notches communicate with the channel. The pneumatic gripper can drive the clamp to extend into the notches and enter the channel. The cylinder can drive the pneumatic gripper, clamp, and conveying sleeve to rise or fall.

[0006] The beneficial effects of this invention are: the parts enter the conveying pipe and the conveying sleeve in sequence through the material handling mechanism, and the conveying sleeve is driven to rise or fall by the cylinder. The pneumatic gripper drives the clamp to hold or release the parts in the channel. The whole mechanism has a simple structure and low cost. If there is a jam, it can be removed by simply pulling out the conveying pipe. There is no need to disassemble other tooling, and the fault is easy to troubleshoot. Attached Figure Description

[0007] Figure 1 This is a perspective view of Example 1.

[0008] Figure 2 This is a partial perspective view of Example 1.

[0009] Figure 3 for Figure 2 A 3D view from another angle after removing the cylinder and the third bracket.

[0010] Figure 4 for Figure 3 Front sectional view.

[0011] Figure 5 This is a schematic diagram of the cooperation between the delivery sleeve, valve needle, and spring in Example 1.

[0012] Figure 6 This is a perspective view of the guide sleeve of Example 1.

[0013] Figure 7 A cross-sectional view of the guide sleeve of Example 1 Figure 1 .

[0014] Figure 8 A cross-sectional view of the guide sleeve of Example 1 Figure 2 .

[0015] Figure 9 This is a complete assembly diagram of the valve needle and spring in Example 1.

[0016] Figure 10 This is a front sectional view of the transport kit after assembly in Example 2.

[0017] Figure 11 This is a perspective view of the conveyor sleeve in Example 2.

[0018] In the diagram: Material handling mechanism 1, first support 11, conveying pipe 2, second support 21, chuck 22, first end 23, second end 24, cylinder 3, third support 31, mounting plate 4, clamping seat 41, pneumatic gripper 5, gripper 6, clamping head 61, valve needle 7, conveying sleeve 8, fixing sleeve 81, stepped part 811, guide sleeve 82, channel 821, inclined part 8211, equal diameter part 8212, notch 822, receiving sleeve 83, hollow part 84, spring 9, motor 10000, turntable 20000, clamp 30000, fixing plate 40000. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The pipe feeding mechanism provided in this embodiment can be applied to the feeding of springs, as well as to the feeding of other long cylindrical parts. In the following embodiments, the feeding of springs will be used as an example for explanation.

[0020] Example 1:

[0021] like Figure 1As shown, a pipe feeding mechanism includes a material handling mechanism 1, a conveying pipe 2, a cylinder 3, a pneumatic gripper 5, a clamping jaw 6, and a conveying sleeve 8. The material handling mechanism 1 is a vibratory feeder, which enables the parts inside to enter the conveying pipe 2 in sequence. Here, the parts specifically refer to springs 9. The material handling mechanism 1 is installed on the upper end of the first support 11 (with...). Figure 1 , Figure 9 For reference, this is an orientation diagram of the first bracket 11 during normal installation. The upper end of the first bracket 11 at this location refers to the top position of the first bracket 11.

[0022] Reference Figure 1 The first end 23 of the conveying pipe 2 is connected to the material handling mechanism 1. The conveying pipe 2 has two ends, with... Figure 1 For reference, the two ends include a first end 23 located at the top and a second end 24 located at the bottom. A second bracket 21 is installed on the upper end of the first bracket 11 (specifically, the top position of the first bracket 11). The upper end of the second bracket 21 (as shown in the figure) Figure 1 , Figure 9 For reference, this is a diagram showing the orientation of the second bracket 21 during normal installation (the upper end of the second bracket 21 at this location refers to the top position of the second bracket 21). A clamp 22 is provided, and the first end 23 of the conveying pipe 2 is held by the clamp 22 and directly connected to the discharge port of the material handling mechanism 1. This ensures that when the second end 24 of the conveying pipe 2 is clamped and moved up and down during operation, the first end 23 of the conveying pipe 2 is always aligned with the discharge port of the material handling mechanism 1, ensuring that the spring 9 coming out of the material handling mechanism 1 can always reliably enter the first end 23 of the conveying pipe 2.

[0023] Reference Figure 1 The conveying pipe 2 can be made of PU material, which has a certain elastic deformation capacity to ensure reliable deformation and recovery when the second end 24 of the conveying pipe 2 is clamped and moved up and down during operation. The conveying pipe 2 can be made of transparent material to facilitate observation of whether the spring 9 inside the conveying pipe 2 is jammed. The inner diameter of the conveying pipe 2 is slightly larger than the outer diameter of the spring 9. The unit cross-section of the conveying pipe 2 can only accommodate one spring 9. The springs 9 can only slide down the conveying pipe 2 in an almost concentric distribution, and can only be conveyed one next to the other. The conveying pipe 2 is roughly curved and the second end 24 at the bottom is vertical. The curved section facilitates free fall for conveying, and the vertical section facilitates alignment before falling, improving the accuracy and reliability of feeding.

[0024] Reference Figure 1 The second end 24 of the conveying pipe 2 is connected to the upper end of the conveying sleeve 8 (refer to...). Figure 3 , Figure 5 This is the orientation diagram of the conveyor sleeve 8 during normal use (the upper end of the conveyor sleeve 8 refers to its top). Figure 2 , Figure 3 , Figure 9The third bracket 31 is fixedly installed on the fixed plate 40000.

[0025] by Figure 2 For reference, cylinder 3 is roughly designated as the upper position, the bottom of the third bracket 31 as the lower position, the conveying sleeve 8 as the front position, and the side of the third bracket 31 away from the conveying sleeve 8 as the rear position. This designation is based on... Figure 2 The directions are for reference: up, down, front, back, left, and right. Based on these directions, the cylinder 3 is fixedly mounted on the upper end of the third bracket 31. A mounting plate 4 is movably mounted on the front end of the third bracket 31. The output end of the cylinder 3 is fixedly connected to the mounting plate 4. When the cylinder 3 operates, its output end can drive the mounting plate 4 to move up and down along the third bracket 31. A clamping seat 41 extending forward is fixedly connected to the lower end of the mounting plate 4. The conveying sleeve 8 is fixed to the clamping seat 41. A slit extending along its length is provided at the center of the front end of the clamping seat 41, branching the front end of the clamping seat 41 to the left and right. Screw holes are provided on the left and right sides of the front end of the clamping seat 41. The clamping seat 41 also includes a nearly circular through-hole through which the conveying sleeve 8 passes. The slit passes through the through-hole. After the conveying sleeve 8 is inserted into the through-hole, the clamping seat 41 clamps the upper part of the conveying sleeve 8. By screwing screws into the screw holes, the two forked parts of the front end of the clamping seat 41 are brought together to reduce the size of the through-hole, thus firmly holding the conveying sleeve 8. The pneumatic gripper 5 is fixedly installed on the front end of the mounting plate 4, and the gripper 6 is fixedly installed on the pneumatic gripper 5. The output of the pneumatic gripper 5 controls the action of the gripper 6. The gripper 6 includes two opposing gripping heads 61. The pneumatic gripper 5 can control the two gripping heads 61 to move closer or further apart in the horizontal direction.

[0026] Reference Figure 4 , Figure 5 The conveying sleeve 8 includes a fixed sleeve 81 and a guide sleeve 82 distributed from top to bottom. The guide sleeve 82 includes a receiving sleeve 83 located at its lower end. The guide sleeve 82 and the receiving sleeve 83 are integrally formed and concentrically arranged. The second end 24 of the conveying pipe 2 is inserted into the fixed sleeve 81 for fixation. The inner diameter L2 of the fixed sleeve 81 is smaller than the outer diameter of the conveying pipe 2. The outer wall of the second end 24 of the conveying pipe 2 is interference-fitted to the fixed sleeve 81.

[0027] Reference Figure 4 , Figure 5 The fixing sleeve 81 and the guide sleeve 82 are concentric split designs. Figure 5 The height of the guide sleeve 82 is L7. The distance between the upper end face of the fixed sleeve 81 and the upper end face of the guide sleeve 82 is the insertion depth of the second end 24 of the conveying pipe 2. Figure 5 The length of the fixing sleeve 81 above L7. The insertion depth of the second end 24 of the conveying pipe 2 is much greater than the height of the guide sleeve 82, and the deeper insertion of the conveying pipe 2 makes the installation more secure and reliable.

[0028] Reference Figure 4 , Figure 5 The fixing sleeve 81 has a perforated portion 84, which is evenly distributed around the circumference. The perforated portion 84 penetrates the inner and outer walls of the fixing sleeve 81. The perforated portion 84 is horizontally aligned with the second end 24 of the conveying pipe 2. The spring 9 inside the conveying pipe 2 located inside the fixing sleeve 81 can be observed through the perforated portion 84. The length of the perforated portion 84 accounts for 70%-80% of the insertion depth of the lower end of the conveying pipe 2. The overall length of the perforated portion 84 is relatively long, resulting in a large visible stroke.

[0029] Reference Figure 5 , Figure 7 This is a diagram showing the orientation of the conveying pipe 2, fixing sleeve 81, and guide sleeve 82 during normal use. This diagram serves as a reference for specifying the vertical direction of the conveying pipe 2, fixing sleeve 81, and guide sleeve 82. The lower end of the fixing sleeve 81 has a stepped portion 811. The upper outer diameter L8 of the guide sleeve 82 is smaller than the axial diameter of the stepped portion 811. The upper outer wall of the guide sleeve 82 has a small clearance fit with the axial surface of the stepped portion 811, ensuring precise assembly and positioning. The inner diameter L1 of the upper end face of the guide sleeve 82 is smaller than the inner diameter L2 of the fixing sleeve 81. A portion of the upper end face of the guide sleeve 82 abuts against the radial surface of the stepped portion 811. This portion guides the outer edge of the upper end face of the guide sleeve 82. The fixing sleeve 81 and guide sleeve 82 are welded together. The fixing sleeve 81 and guide sleeve 82 are processed separately and then spot-welded together to form a single part, facilitating processing and reducing costs. The inner diameter of the conveying pipe 2 is smaller than the inner diameter L1 of the upper end face of the guide sleeve 82. The second end 24 of the conveying pipe 2 is concentrically set with the guide sleeve 82. In this way, the spring 9 that slides off the second end 24 of the conveying pipe 2 will directly enter the guide sleeve 82 without being affected by the upper end face of the guide sleeve 82 and causing material jamming. The end face of the second end 24 of the conveying pipe 2 abuts against the upper end face of the guide sleeve 82 (the upper end face of the guide sleeve 82 at this point refers to the top surface of the guide sleeve 82, or more precisely, the entire top surface of the guide sleeve 82 minus the portion overlapping with the radial surface of the step portion 811). This part refers to the outer edge of the lower end face of the second end 24 of the conveying pipe 2. When installing the conveying pipe 2, it is only necessary to insert it into the lower end face of its second end 24 until it abuts against the upper end face of the guide sleeve 82 (the upper end face of the guide sleeve 82 at this point also refers to the top surface of the guide sleeve 82, or more precisely, the entire top surface of the guide sleeve 82 minus the portion overlapping with the radial surface of the step portion 811) until it can no longer move downwards.

[0030] Reference Figure 6 , Figure 8 ,by Figure 8 To refer to the up and down direction of the specified guide sleeve 82, Figure 8The area above the center is called "above," and the area below the center is called "below." The guide sleeve 82 forms a channel 821 for the spring 9 to pass through. The channel 821 includes an equal diameter portion 8212 and an inclined portion 8211 connected vertically. The equal diameter portion 8212 is located above the inclined portion 8211. The lower end of the equal diameter portion 8212 (the lower end of the equal diameter portion 8212 is the lowest contour of the equal diameter portion 8212) is the upper end of the inclined portion 8211 (the upper end of the inclined portion 8211 is the highest contour of the inclined portion 8211). The diameter of the equal diameter portion 8212 is always L1. The inclined portion 8211 is funnel-shaped. The diameter of the inclined portion 8211 gradually decreases from top to bottom. The upper diameter L1 of the inclined portion 8211 is larger than the lower diameter L3. The outer diameter of the spring 9 is smaller than the lower diameter L3 of the inclined portion 8211. The inclined portion 8211 plays a guiding role, ensuring that the spring 9 falls smoothly into the valve needle 7 after passing through the equal diameter portion 8212 and the inclined portion 8211.

[0031] Reference Figure 5 , Figure 7 , Figure 5 This is an orientation diagram of the valve needle 7, fixed sleeve 81, and guide sleeve 82 under normal operating conditions, indicating the up and down directions; upward is the upper position, and downward is the lower position. The receiving sleeve 83 accommodates the upper end of the valve needle 7 (the upper end of the valve needle 7 is the uppermost part of the entire valve needle 7) and inserts into it. The inner wall of the receiving sleeve 83 is funnel-shaped, and the inner diameter L4 of the upper end of the receiving sleeve 83 is smaller than the inner diameter L5 of the lower end. The outer diameter of the upper end of the valve needle 7 (the upper end of the valve needle 7 refers to the annular top surface of the valve needle 7) is smaller than the inner diameter L4 of the upper end of the receiving sleeve 83. The outer wall of the upper end of the valve needle 7 (the upper end of the valve needle 7 refers to the annular top surface of the valve needle 7) and the inner wall of the upper end of the receiving sleeve 83 (the upper end of the receiving sleeve 83 refers to the inner contour of the uppermost part of the receiving sleeve 83, i.e., the contour with a diameter of L4) are fitted with a small clearance. The lower diameter L3 of the inclined surface 8211 is smaller than the upper inner diameter L4 of the receiving sleeve 83. The inner diameter of the upper end of the valve needle 7 (the upper end of the valve needle 7 refers to the annular top surface of the valve needle 7) is larger than the lower diameter L3 of the inclined surface 8211. The upper end face of the valve needle 7 (the upper end face of the valve needle 7 refers to the annular top surface of the valve needle 7) abuts against the lower end face of the guide sleeve 82 (the lower end face of the guide sleeve 82 refers to the lower end face of the guide sleeve 82). Figure 7 The projection of the upper end face of the valve needle 7 onto the lower end face of the guide sleeve 82 falls completely within the range of the lower end face of the guide sleeve 82. Therefore, the upper end face of the valve needle 7 is completely blocked by the lower end face of the guide sleeve 82 (the part that does not overlap with the upper end face of the receiving sleeve 83), which facilitates the precise positioning of the valve needle 7 during the assembly of the spring 9.

[0032] Reference Figure 6 , Figure 7 , Figure 8 The guide sleeve 82 is provided with at least two notches 822, which are connected to the inclined surface 8211. The height L9 of the notch 822 is less than the height L6 of the inclined surface 8211, and the upper end of the notch 822 is flush with the upper end of the inclined surface 8211.

[0033] Reference Figure 5 The height of the gap 822 needs to ensure the height of the second spring 9 below (i.e. Figure 5 The upper one of the two springs 9 can be at least partially aligned with the notch 822 in the horizontal direction, so that the two horizontally moving claws 6 can hold the lower second spring 9 through the notch 822.

[0034] Reference Figure 4 , Figure 7 The height L9 of the notch 822 is greater than the thickness L10 of the clamping head 61, and the midpoint height of the two is basically at the same horizontal plane. The clamping head 61 can smoothly pass through the notch 822 and clamp the spring 9 corresponding to the plane of the notch 822.

[0035] Reference Figure 5 The springs 9 entering the channel 821 are stacked vertically along the axial direction of the channel 821. Figure 5 (The spring 9 is not fully drawn in the middle).

[0036] The feeding mechanism has feeding state, waiting state and initial state, combined with Figure 9 Describe these three states. Figure 9 In this embodiment, the feeding mechanism is installed on a turntable fixture. The turntable fixture includes a motor 10000, a turntable 20000, a clamp 30000, a fixed plate 40000, and a feeding mechanism. The motor 10000 drives the turntable 20000 to rotate along the axis of the turntable 20000. The clamps 30000 are evenly distributed circumferentially on the upper surface of the turntable 20000 near the outer edge. The valve needle 7 is located inside the clamp 30000. The upper end of the valve needle 7 extends beyond the clamp 30000 so that the sleeve 83 can be inserted. The fixed plate 40000 is concentrically distributed with the turntable 20000. The fixed plate 40000 is fixedly installed and does not rotate. The third bracket 31 is fixedly installed on the fixed plate 40000. After completing one spring assembly, the gripper 6 clamps the second spring 9, the cylinder 3 returns to its original position and moves upward, causing the conveyor sleeve 8 to disengage from the valve needle 7 on the fixture 30000, and the turntable 20000 rotates to proceed to the next station assembly.

[0037] In the initial state, that is, before assembly or the first time the machine is turned on, the receiving sleeve 83 is located above the plane where the valve needle 7 is located, that is, the cylinder 3 returns to its original position, and the clamping heads 61 of the two grippers 6 extend into the notch 822 and close. At this time, the lower end face of the lowest spring 9 at least partially abuts against the upper end face of the two clamping heads 61, and all springs 9 cannot pass through the two clamping heads 61 and fall down.

[0038] When in the feeding state, cylinder 3 starts, moving downwards and causing mounting plate 4 to move downwards until the lower end of guide sleeve 82 contacts the upper edge of valve needle 7. Spring 9, after being fed by material handling mechanism 1, enters the conveying pipe 2 sequentially. Guided by the conveying pipe 2 and then by the guide sleeve 82 (spring 9 is stored and stacked in the conveying pipe 2 and guide sleeve 82), it finally enters the valve needle 7 for assembly. Refer to... Figure 4 The first spring 9 below (i.e. Figure 5 The lower spring 9 of the two springs 9 enters the valve needle 7, and the lower second spring 9 (i.e. Figure 5 The upper spring 9 of the two springs 9 is horizontally aligned with the notch 822 (here, horizontal alignment means that they are aligned in the horizontal direction; at least part of the lower spring 9 is on the same horizontal plane as the notch 822, and with two grippers 6 also on the same horizontal plane, the two grippers 6 can clamp the lower spring 9 through the notch 822 when they move closer together on their horizontal working surfaces). The pneumatic gripper 5 starts, which drives the gripping head 61 of the gripper 6 to extend into the notch 822 to clamp the second spring 9 and rise under the drive of the cylinder 3 so that the conveyor sleeve 8, the second spring 9 and the valve needle 7 are separated together to complete a complete spring loading action. It can be rotated by the turntable 20000 to proceed to the assembly of the next station.

[0039] When the gripper 6 is activated, it separates the second spring 9 from the first spring 9 inside the valve needle 7, and simultaneously straightens the second spring 9. Combined with the closing structure of the inclined surface 8211, it can improve the stability of the spring 9 when it is fed into the material.

[0040] The air pressure of the pneumatic gripper 5 needs to be controlled to ensure that it can grip the spring 9 while preventing the spring 9 from being deformed.

[0041] When in the waiting state, the receiving sleeve 83 is located above the plane where the valve needle 7 is located, and the gripper 6 extends into the notch 822 to clamp the spring 9 so that it cannot fall. At this time, the clamped spring 9 is the lowest spring 9.

[0042] If spring 9 is stuck, simply pull out the conveyor pipe 2 to remove it; no other tooling needs to be disassembled. Removing stuck material using the original misaligned material mechanism is more complicated.

[0043] Example 2:

[0044] Reference Figure 10 , Figure 11 The only difference from Example 1 is the structure of the conveyor sleeve 8.

[0045] The fixing sleeve 81, the guide sleeve 82, and the receiving sleeve 83 are integrally formed and concentrically distributed. The channel 821 includes an inclined part 8211 and an equal diameter part 8212 connected vertically. The inclined part 8211 is located above the equal diameter part 8212. The inclined part 8211 is funnel-shaped. The diameter of the inclined part 8211 gradually decreases from top to bottom. The upper diameter L1 of the inclined part 8211 is larger than the lower diameter L3. The diameter of the equal diameter part 8212 is always L3. The notch 822 connects the equal diameter part 8212.

[0046] The guide sleeve 82 has a length of L7, the inclined section 8211 has a length of L6, and the equal diameter section 8212 has a length of L7-L6. The length of the equal diameter section 8212 is slightly greater than the length of the inclined section 8211. In this embodiment, the length of the fixing sleeve 81 is relatively short, that is, the vertical section of the lower end of the conveying pipe 2 is also relatively short. The spring 9 travels a longer path in the guide sleeve 82, which provides better guidance and makes it easier to center the spring 9, ensuring that the spring 9 falls smoothly into the valve needle 7.

[0047] Reference Figure 11 The fixing sleeve 81 has a hollowed-out portion 84, which is horizontally aligned with a portion of the beveled portion 8211 and a portion of the equal-diameter portion 8212. The hollowed-out portion 84 is horizontally aligned with the lower half of the beveled portion 8211 and the upper half of the equal-diameter portion 8212, resulting in a larger overall field of view.

[0048] It should be noted that the ordinal numbers such as "first" and "second" or directional terms such as "upper" and "lower" mentioned in this specification are introduced for ease of description based on the accompanying drawings and do not impose any restrictions on order or direction. Furthermore, specific examples are used in this document for illustration, and the descriptions of the above embodiments are merely for the purpose of helping to understand the method and core ideas of the present invention. It should be pointed out that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A pipe feeding mechanism, characterized by, The system includes a material handling mechanism (1), a conveying pipe (2), a cylinder (3), a pneumatic gripper (5), a clamping jaw (6), and a conveying sleeve (8). The material handling mechanism (1) enables the parts inside to enter the conveying pipe (2) in sequence. The first end (23) of the conveying pipe (2) is connected to the material handling mechanism (1), and the second end (24) of the conveying pipe (2) is connected to the upper end of the conveying sleeve (8). The conveying sleeve (8) includes a fixed sleeve (81) and a guide sleeve (82) distributed from top to bottom. The conveying pipe (2) The second end (24) is inserted into the fixing sleeve (81) for fixation. The guide sleeve (82) forms a channel (821) in the center axis for the parts to be stacked and distributed. The guide sleeve (82) is provided with at least two notches (822). The notches (822) are connected to the channel (821). The pneumatic gripper (5) can drive the clamping jaw (6) to extend into the notch (822) and enter the channel (821). The cylinder (3) can drive the pneumatic gripper (5), clamping jaw (6), and conveying sleeve (8) to rise or fall.

2. A pipe loading mechanism according to claim 1, wherein The inner diameter L2 of the fixed sleeve (81) is smaller than the outer diameter of the conveying pipe (2), and the outer wall of the second end (24) of the conveying pipe (2) is interference-fitted to the fixed sleeve (81).

3. A pipe loading mechanism according to claim 2, wherein, The guide sleeve (82) and the fixed sleeve (81) are concentrically arranged. The inner diameter L1 of the upper end face of the guide sleeve (82) is smaller than the inner diameter L2 of the fixed sleeve (81). The inner diameter of the conveying pipe (2) is smaller than the inner diameter L1 of the upper end face of the guide sleeve (82). The end face of the second end (24) of the conveying pipe (2) abuts against the upper end face of the guide sleeve (82).

4. A pipe loading mechanism according to claim 1, wherein The guide sleeve (82) includes a receiving sleeve (83) located at its lower end. The guide sleeve (82) and the receiving sleeve (83) are integrally formed and concentrically arranged. The inner wall of the receiving sleeve (83) is funnel-shaped. The inner diameter L4 of the upper end of the receiving sleeve (83) is smaller than the inner diameter L5 of the lower end.

5. A pipe loading mechanism according to claim 4, wherein, The lower diameter L3 of the channel (821) is smaller than the upper inner diameter L4 of the receiving sleeve (83).

6. A pipe feeding mechanism according to any one of claims 1 to 5, wherein The fixed sleeve (81) and the guide sleeve (82) are concentric split designs. The lower end of the fixed sleeve (81) is provided with a stepped portion (811). The outer diameter L8 of the upper end of the guide sleeve (82) is smaller than the axial diameter of the stepped portion (811). The upper outer wall of the guide sleeve (82) is clearance-fitted with the axial surface of the stepped portion (811). The upper end face of the guide sleeve (82) abuts against the radial surface of the stepped portion (811). The fixed sleeve (81) and the guide sleeve (82) are welded together.

7. A pipe loading mechanism according to claim 6, wherein The channel (821) includes an equal diameter portion (8212) and an inclined portion (8211) connected vertically. The equal diameter portion (8212) is located above the inclined portion (8211). The diameter of the equal diameter portion (8212) is always L1. The inclined portion (8211) is funnel-shaped. The diameter of the inclined portion (8211) gradually decreases from top to bottom. The upper diameter L1 of the inclined portion (8211) is larger than the lower diameter L3. The notch (822) connects to the inclined portion (8211).

8. A pipe loading mechanism according to claim 6, wherein, The fixing sleeve (81) is provided with a hollow part (84), and the hollow part (84) is horizontally aligned with the second end (24) of the conveying pipe (2).

9. A pipe feeding mechanism according to any one of claims 1-5, characterized in that The fixing sleeve (81) and the guide sleeve (82) are integrally formed. The channel (821) includes an upper and lower connected inclined part (8211) and an equal diameter part (8212). The inclined part (8211) is located above the equal diameter part (8212). The inclined part (8211) is funnel-shaped. The diameter of the inclined part (8211) gradually decreases from top to bottom. The upper diameter L1 of the inclined part (8211) is larger than the lower diameter L3. The diameter of the equal diameter part (8212) is always L3. The notch (822) connects to the equal diameter part (8212).

10. A pipe loading mechanism according to claim 9, wherein, The fixing sleeve (81) is provided with a hollow part (84), which is horizontally aligned with a portion of the inclined part (8211) and a portion of the equal diameter part (8212).

11. A pipe feeding mechanism according to claim 1, characterized in that, The material handling mechanism (1) is a vibratory plate, the material of the conveying pipe (2) is PU, the cylinder (3) is fixedly installed on the third bracket (31), the conveying sleeve (8) is fixedly installed on the clamping seat (41), the clamping seat (41) is connected to the third bracket (31) through the mounting plate (4), the mounting plate (4) can be moved up and down and installed on the third bracket (31), the pneumatic gripper (5) is fixedly installed on the mounting plate (4), the gripper (6) is installed on the pneumatic gripper (5), the gripper (6) includes two oppositely arranged clamping heads (61), the height L9 of the notch (822) is greater than the thickness L10 of the clamping head (61).

12. A feeding method for a pipe feeding mechanism according to any one of claims 1-11, characterized in that, It has a waiting state and a loading state, and the part is a spring (9). When in the waiting state, the cylinder (3) drives the pneumatic gripper (5), the clamping jaw (6), and the conveying sleeve (8) to rise so that the conveying sleeve (8) is above the plane where the valve needle (7) is located. The clamping jaw (6) extends into the notch (822) to clamp the spring (9). At this time, the clamped spring (9) is the lowest spring (9). The guide sleeve (82) includes a receiving sleeve (83) located at its lower end. When in the feeding state, the cylinder (3) drives the air gripper (5), the clamp (6), and the conveying sleeve (8) to descend so that the receiving sleeve (83) can accommodate the upper end of the valve needle (7) for insertion. When the clamp (6) is released, the first spring (9) below enters the valve needle (7), and the second spring (9) below is horizontally opposite to the notch (822). The air gripper (5) drives the clamp (6) to extend into the notch (822) to clamp the second spring (9) and rise under the drive of the cylinder (3) so that the conveying sleeve (8) and the second spring (9) together disengage from the first spring (9) and the valve needle (7) to complete the feeding.

13. The method of claim 12, wherein, It also has an initial state in which the receiving sleeve (83) is located above the plane of the valve needle (7), the gripper (6) extends into the notch (822), and the lower end face of the lowest spring (9) at least partially abuts against the upper end face of the gripper (6).

14. The method of claim 12, wherein, The upper outer diameter of the valve needle (7) is smaller than the upper inner diameter L4 of the receiving sleeve (83). The upper outer wall of the valve needle (7) and the upper inner wall of the receiving sleeve (83) are in clearance fit. The upper inner diameter of the valve needle (7) is larger than the lower diameter L3 of the channel (821). The upper end face of the valve needle (7) abuts against the lower end face of the guide sleeve (82).

15. The method of claim 12, wherein, The spring (9) is replaced with other cylindrical parts, and the valve needle (7) is replaced with a component that accommodates other cylindrical parts.

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