Pipe feeding device and feeding method

Abstract

The application relates to the technical field of pipe processing equipment, in particular to a pipe feeding device and a feeding method, wherein the pipe feeding device comprises a base, a stock bin part, a sorting material part and a receiving material part; the stock bin part comprises a pipe bracket, one end of the pipe bracket is hinged to the base; the sorting material part comprises a sorting plate obliquely arranged on the base and a limiting assembly arranged on the upper end of the sorting plate; the sorting plate can make linear motion obliquely downward and obliquely upward on the base; the receiving material part comprises a receiving plate which is arranged on the base in a lifting manner; the pipe bracket can rotate around the one end hinged to the base so that the pipe on the pipe bracket moves to the upper end surface of the sorting plate; the sorting plate can move obliquely upward so that the limiting assembly drives the pipe to move upward and fall into the receiving plate; and the receiving plate can drive the pipe to move downward. The limiting device is used as the main sorting structure, the feeding can be flexibly and quickly carried out, and the mutual friction between the pipes is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe processing equipment, in particular to a pipe feeding device and a feeding method. BACKGROUND

[0002] In the automatic feeding process of a laser cutting machine, feeding and sorting of pipes of different types and specifications is an important link in the whole feeding system. The traditional feeding method usually adopts a belt lifting method.

[0003] However, the traditional feeding method has many problems: first, the traditional feeding method adopts a belt lifting method, which is not only low in efficiency but also low in carrying capacity; second, in the feeding process using the traditional feeding method, pipes will rub against each other, causing scratches and bruises on the surface of the pipes, which cannot meet the requirements of some special industries. SUMMARY

[0004] The present application proposes a pipe feeding device and a feeding method to solve the problems of low efficiency and easy scratching of the surface of the pipe in the traditional feeding method of the laser cutting machine.

[0005] In the first aspect, the present application first proposes a pipe feeding device, which comprises a base, a stockhouse part, a sorting part and a receiving part. The stockhouse part comprises a pipe bracket, one end of which is hinged to the base. The sorting part comprises a sorting plate obliquely arranged on the base and a limiting device arranged on the upper end of the sorting plate. The sorting plate can move linearly obliquely downward and obliquely upward on the base. The sorting plate comprises an upper end surface and an obliquely arranged sorting surface. The receiving part comprises a receiving plate, which is arranged on the base in a lifting manner. The pipe bracket can rotate around the hinged end on the base to move the pipe on the pipe bracket to the sorting surface of the sorting plate. The sorting plate can move obliquely upward to make the limiting device drive the pipe to move upward and fall into the receiving plate. The receiving plate can drive the pipe to move downward. The stockhouse part, the sorting part and the receiving part cooperate, and the limiting device arranged on the upper end of the sorting plate is used as the main sorting structure, which can flexibly and quickly feed the pipes, improve the feeding efficiency and reduce the mutual friction between the pipes.

[0006] Preferably, the limiting device includes a material blocking assembly, which includes a mounting base, a driving member, and a material blocking post. The material blocking assembly is slidably disposed on the material distribution plate via the mounting base. The driving member is fixed to one side of the mounting base, and the material blocking post is fixed to the driving end of the driving member. The material blocking post is inclined and its extension direction is parallel to the material distribution surface of the material distribution plate. The material blocking assembly can slide on the material distribution plate to move the material blocking post away from or close to the material distribution surface of the material distribution plate. When the driving member drives the material blocking post to extend upward to the highest point, the material blocking post is in a limited state. When the driving member drives the material blocking post to move downward to the lowest point, the material blocking post is in a free state. When the baffle is in the restricted position, the pipe can fall into the L-shaped support surface formed by the upper side of the baffle and the upper surface of the distribution plate. The distribution plate can then drive the pipe to move obliquely upward until the distribution plate moves to the highest point. At this time, the baffle changes from the restricted position to the free position. The lower side of the pipe is no longer supported by the baffle, and the pipe slides down onto the receiving plate.

[0007] Preferably, the material distribution plate is provided with a first guide rail slider pair, and the material blocking assembly is slidably disposed on the material distribution plate via the first guide rail slider pair; the limiting device further includes a locking assembly, which includes a restrainer seat and two sliding pins. The restrainer seat is fixedly connected to the mounting base, and through holes are opened at both ends of the restrainer seat. The two sliding pins are respectively disposed in the two through holes and connected; the locking assembly can lock the first guide rail slider pair to stop the mounting base from moving. The locking assembly mainly serves to fix the mounting base. After the mounting base is adjusted on the first guide rail slider pair, the restrainer seat can be fixed at a fixed position on the first guide rail slider pair by tightening the two sliding pins.

[0008] Preferably, the limiting device further includes an indicating component, which includes a pointer and a scale. The pointer is fixed to the mounting base, and the scale is fixed to the material distribution plate and parallel to the first guide rail slider pair. The indicating component provides reliable values ​​for adjusting the mounting base. When manually adjusting the mounting base, the pointer will point to a specific value on the scale, and the adjustment position of the mounting base can be determined by checking this specific value.

[0009] Preferably, the limiting device further includes a first detection mechanism and a second detection mechanism. The first detection mechanism is fixedly disposed on the mounting base, and the second detection mechanism is fixedly disposed on the distributing surface of the distributing plate. The second detection switch is at a certain distance H from the upper surface of the distributing plate. The first and second detection mechanisms can be used to detect the specific position of the pipe.

[0010] Preferably, the base is provided with a second guide rail sliding block pair, and the distribution plate is slidably arranged on the base through the second guide rail sliding block pair; the base is further provided with a first chain wheel and a second chain wheel, and a first chain is arranged between the first chain wheel and the second chain wheel; the first chain is fixedly connected with the distribution plate through a chain connecting plate at the bottom of the distribution plate; the base is fixed with a distribution plate driving member connected with the first chain wheel; the distribution plate driving member can drive the first chain wheel to rotate, and then drive the distribution plate to move along the second guide rail sliding block pair through the first chain. The second guide rail sliding block pair serves as a guide structure, and the distribution plate driving member, the first chain wheel, the second chain wheel and the first chain serve as main driving structures.

[0011] Preferably, the material warehouse part comprises a first pin shaft, a second pin shaft and a rotating driving member; one end of the pipe bracket is hingedly connected with the base through the second pin shaft; the other end of the pipe bracket is connected with the driving end of the rotating driving member through the first pin shaft; the lower end of the rotating driving member is fixedly connected with the base; and the rotating driving member can drive the pipe bracket to rotate along the second pin shaft. The rotation of the pipe bracket can be conveniently and quickly completed through the pin shaft and the rotating driving member fixed on the base.

[0012] Preferably, the upper end surface of the receiving plate is an L-shaped receiving surface; the receiving part further comprises a third guide rail sliding block pair and a receiving plate driving assembly; the third guide rail sliding block pair is vertically arranged on the base; the receiving plate is slidably arranged on the third guide rail sliding block pair; and the receiving plate driving assembly can drive the receiving plate to move up and down. The pipe is relatively stable on the L-shaped receiving surface.

[0013] Preferably, the receiving part further comprises a mechanical hand part comprising a mechanical hand, a fourth guide rail sliding block pair and a mechanical hand driving assembly; the fourth guide rail sliding block pair is horizontally arranged on the base; the mechanical hand is slidably arranged on the fourth guide rail sliding block pair; the end of the mechanical hand is provided with a centering assembly; the receiving plate can drive the pipe to move downward to the lowest point so that the pipe enters the centering assembly; and the mechanical hand driving assembly can drive the mechanical hand to move along the fourth guide rail sliding block pair. When the receiving plate moves downward to the lowest point, the receiving surface of the receiving plate and the receiving surface of the mechanical hand are at the same horizontal plane, the pipe is supported by both of them, and when the receiving plate continues to move downward to the lowest point, the receiving plate completely separates from the pipe, and the uppermost end of the receiving plate is below the lowermost end of the mechanical hand, so that the receiving plate does not interfere with the horizontal movement of the mechanical hand, and the mechanical hand can move forward and backward.

[0014] In a second aspect, the present application further provides a feeding method based on the pipe feeding device.

[0015] S1: adjust the position of the limiting device according to the specification of the pipe, so that the front side of the blocking column and the spacing of the distribution surface of the distribution plate is the width W of a pipe, and the limiting device is fixed by the locking assembly;

[0016] S2: adjust the bundled pipe into the pipe bracket, drive the pipe bracket to rotate, and remove the bundling belt when the bundled pipe is lifted as a whole;

[0017] S3: the driving member drives the blocking column to extend upward to the highest point, and the distribution plate moves obliquely downward, and when the second detection switch detects the pipe, the distance H between the second detection switch and the upper end surface of the distribution plate, the height value L of a pipe and a compensation value Z are continued to be moved downward, that is, when the second detection switch detects the pipe, the distribution plate continues to move downward by a total distance H+L+Z, and after the distribution plate is moved to the position, the pipe slides downward and moves to the blocking column;

[0018] S4: after the first detection switch detects the pipe, the distribution plate moves obliquely upward to the highest point, and the receiving plate moves upward and moves to the highest position;

[0019] S5: the driving member drives the blocking column to move downward to the lowest point, and the pipe slides downward to the receiving plate, and the receiving plate moves downward to the lowest position, and the pipe enters the mechanical hand;

[0020] S6: after the centering assembly on the mechanical hand pushes the pipe to be centered, the mechanical hand driving assembly drives the mechanical hand to move forward and is transported to the center of the main machine chuck, and after the pipe is transported, the mechanical hand driving assembly drives the mechanical hand to move to the starting point position;

[0021] S7: perform step S3.

[0022] The beneficial effects of the present application are:

[0023] The present application can quickly and flexibly load by cooperating the material warehouse part, the sorting material part and the receiving part, and by setting the limiting device on the upper end of the distribution plate as the main distribution structure, so as to improve the loading efficiency and reduce the mutual friction between the pipes. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0025] Figure 1 The side structure diagram of the pipe loading device is shown.

[0026] Figure 2 It is the enlarged structure schematic view of the limiting device in the pipe feeding device.

[0027] Figure 3 It is the perspective structure schematic view of the mechanical hand part in the pipe feeding device.

[0028] In the figure: 1, the warehouse part, 1.1, the positioning plate, 1.2, the pipe bracket, 1.3, the first pin shaft, 1.4, the rotary driving part, 1.5, the floating joint, 1.6, the transition support, 1.8, the limiting seat, 2, the sorting material part, 2.1, the material distribution plate, 2.2, the driving part, 2.3, the mounting seat, 2.4, the second guide rail sliding block pair, 2.5, the pointer, 2.6, the material blocking column, 2.7, the first detection switch, 2.8, the chain connecting plate, 2.9, the material distribution plate driving part, 2.10, the first chain, 2.11, the first guide rail sliding block pair, 2.12, the scale, 2.13, the restraint seat, 2.14, the slide column, 2.15, the angle steel connecting plate, 2.16, the second detection switch, 3, the material receiving part, 3.1, the material receiving plate, 3.2, the third guide rail sliding block pair, 3.3, the second chain, 3.4, the motor speed reducer, 4, the mechanical hand part, 4.1, the third chain, 4.2, the fourth guide rail sliding block pair, 4.3, the rotary plate, 4.4, the mechanical hand, 4.5, the moving baffle driving part, 4.6, the moving baffle, 4.7, the fixed seat, 4.8, the actuator, 5, the pipe, 6, the base. DETAILED DESCRIPTION

[0029] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the specific embodiments. Obviously, the following described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present patent, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present patent.

[0030] Embodiment one

[0031] As Figures 1 to 3As shown, in this embodiment, the present invention proposes a pipe feeding device, including a base 6, a material storage section 1, a sorting section 2, a receiving section 3, and a robotic arm section 4. The material storage section 1 includes a pipe support 1.2, one end of which is hinged to the base 6. The sorting section 2 includes a sorting plate 2.1 inclinedly disposed on the base 6 and a limiting device disposed on the upper end of the sorting plate 2.1. The sorting plate 2.1 can make linear movements diagonally downward and diagonally upward on the base 6. The material distribution plate 2.1 includes an upper surface and an inclined material distribution surface. The receiving part 3 includes a receiving plate 3.1, which is vertically and flexibly mounted on the base 6. The pipe bracket 1.2 can rotate around one end hinged to the base 6 to move the pipe 5 on the pipe bracket 1.2 to the material distribution surface of the material distribution plate 2.1. The material distribution plate 2.1 can move obliquely upward to allow the limiting device to drive the pipe 5 upward and fall into the receiving plate 3.1. The receiving plate 3.1 can drive the pipe 5 downward. This application, through the cooperation of the material storage part 1, the material sorting part 2, and the receiving part 3, and by using the limiting device set on the upper end of the material distribution plate 2.1 as the main material distribution structure, can flexibly and quickly feed materials, improving feeding efficiency while reducing mutual friction between the pipes 5.

[0032] Among them, such as Figure 1 As shown, the material storage section 1 specifically includes a positioning plate 1.1, a pipe bracket 1.2, a first pin 1.3, a rotary drive 1.4, a fisheye-type floating joint 1.5, a transition support 1.6, a second pin, and a limiting seat 1.8. One end of the pipe bracket 1.2 is hinged to the base 6 via the second pin (not shown in the figure due to angle issues). The other end of the pipe bracket 1.2 is connected to the drive end of the rotary drive 1.4 via the first pin 1.3 and the fisheye-type floating joint 1.5. The lower end of the rotary drive 1.4 is fixedly connected to the base 6 via the transition support 1.6. The rodless cavity of the rotary drive 1.4 allows air to be vented, which can drive the pipe bracket 1.2 to rotate along the second pin and rotate it to a position perpendicular to the front facade of the distribution plate 2.1. The positioning plate 1.1 is fixedly installed at a certain position on the left side of the base 6 and is mainly used for positioning the pipe 5. The pipe bracket 1.2 can be rotated easily and quickly by means of a pin and a rotary drive 1.4 fixed on the base 6. The rotary drive 1.4 can be directly set as a cylinder.

[0033] like Figures 1 to 2As shown, the sorting part 2 mainly comprises a sorting plate 2.1, a driving member 2.2, a mounting seat 2.3, a first guide rail sliding block pair 2.4, a pointer 2.5, a blocking column 2.6, a first detection switch 2.7, a chain connecting plate 2.8, a sorting plate driving member 2.9, a first chain 2.10, a second guide rail sliding block pair 2.11, a scale 2.12, a restraint seat 2.13, a sliding column 2.14, an angle steel connecting plate 2.15 and a second detection switch 2.16. The limiting device comprises a blocking assembly, a locking assembly and an indicating assembly. The blocking assembly comprises the mounting seat 2.3, the driving member 2.2 and the blocking column 2.6, and is slidingly arranged on the sorting plate 2.1 through the mounting seat 2.3. Specifically, the sorting plate 2.1 is provided with the first guide rail sliding block pair 2.4, and the blocking assembly is slidingly arranged on the sorting plate 2.1 through the first guide rail sliding block pair 2.4. One side of the mounting seat 2.3 is fixedly provided with the driving member 2.2, and the driving end of the driving member 2.2 is fixedly provided with the blocking column 2.6. The blocking column 2.6 is obliquely arranged and extends in parallel with the sorting surface of the sorting plate 2.1. The blocking assembly can slide on the sorting plate 2.1 to move the blocking column 2.6 away from or close to the sorting surface of the sorting plate 2.1. When the driving member 2.2 drives the blocking column 2.6 to extend upward to the highest point, the blocking column 2.6 is in the limiting state. When the driving member 2.2 drives the blocking column 2.6 to move downward to the lowest point, the blocking column 2.6 is in the free state. When the blocking column 2.6 is in the limiting state, the pipe 5 can fall into the L-shaped supporting surface formed by the upper side of the blocking column 2.6 and the upper end surface of the sorting plate 2.1, and the sorting plate 2.1 can drive the pipe 5 to move obliquely upward until the sorting plate 2.1 moves to the highest point. Then, the blocking column 2.6 changes from the limiting state to the free state. At this time, the lower side of the pipe 5 is no longer supported by the blocking column 2.6, and the pipe 5 slides downward to the receiving plate 3.1. The driving member 2.2 can be a pneumatic cylinder, the mounting seat 2.3 can be a pneumatic cylinder seat, and the blocking column 2.6 can be directly fixedly connected with the piston rod of the pneumatic cylinder and can freely slide in the pneumatic cylinder seat 2.3. The locking assembly comprises the restraint seat 2.13 and two sliding columns 2.14. The restraint seat 2.13 is fixedly connected with the mounting seat 2.3 through the angle steel connecting plate 2.15. Two through holes are formed in the two ends of the restraint seat 2.13, and the two sliding columns 2.14 are arranged in the two through holes and are connected through screws. The locking assembly can lock the first guide rail sliding block pair 2.4 to stop the movement of the mounting seat 2.3, and mainly plays a role of fixing the mounting seat 2.3. When the adjustment of the mounting seat 2.3 on the first guide rail sliding block pair 2.4 is completed, the restraint seat 2.13 can be fixed at the fixed position of the first guide rail sliding block pair 2.4 by tightening the two sliding columns 2.14. The indicating assembly comprises the pointer 2.5 and the scale 2.12. The pointer 2.5 is fixed to the mounting seat 2.3, and the scale 2.12 is fixedly arranged on the sorting plate 2.1 and is parallel to the first guide rail sliding block pair 2.4.The indicating assembly can provide reliable numerical value for the adjustment of the mounting seat 2.3. When the mounting seat 2.3 is manually adjusted, the pointer 2.5 points to a specific numerical value on the scale 2.12, and the adjustment position of the mounting seat 2.3 can be determined by checking the specific numerical value.

[0034] As shown in Figure 1 , Figure 2 , the limiting device further comprises a first detection mechanism 2.7 and a second detection mechanism 2.16. The first detection mechanism 2.7 is fixedly arranged on the mounting seat 2.3 through a switch support, and the second detection mechanism 2.16 is fixedly arranged on the distribution surface of the distribution plate 2.1. The second detection switch 2.16 is at a distance H from the upper end surface of the distribution plate 2.1. The first detection mechanism 2.7 and the second detection mechanism 2.16 can be used to detect the specific position of the pipe 5.

[0035] In this embodiment, the inclined linear motion of the distribution plate 2.1 is mainly realized through the guide rail and block structure and the chain wheel and chain structure. Specifically, as shown in Figure 1 , the base 6 is obliquely provided with a second guide rail and block pair 2.11, and the distribution plate 2.1 is slidingly arranged on the base 6 through the second guide rail and block pair 2.11. The base 6 is further provided with a first chain wheel and a second chain wheel, and a first chain 2.10 is arranged between the first chain wheel and the second chain wheel. The first chain 2.10 is fixedly connected with the distribution plate 2.1 through a chain connecting plate 2.8 at the bottom of the distribution plate 2.1. The base 6 is fixedly provided with a distribution plate driving member 2.9 connected with the first chain wheel. The distribution plate driving member 2.9 can drive the first chain wheel to rotate, and in turn drive the distribution plate 2.1 to move obliquely along the second guide rail and block pair 2.11 through the first chain 2.10. Of course, in other embodiments, other driving assemblies other than the chain wheel and chain structure can also be used, which are not limited in the present application.

[0036] As shown in Figure 1 , the receiving part 3 comprises a receiving plate 3.1, a third guide rail and block pair 3.2, a second chain 3.3 and a motor speed reducer 3.4. The third guide rail and block pair 3.2 is vertically arranged on the base 6, and the receiving plate 3.1 is slidingly arranged on the third guide rail and block pair 3.2. The second chain 3.3 and the motor speed reducer 3.4 together constitute a receiving plate driving assembly, which can drive the receiving plate 3.1 to move up and down. Specifically, the receiving plate 3.1 is fixedly connected with the second chain 3.3 through a chain connecting plate, and the motor speed reducer 3.4 is fixedly arranged on the base 6 and drives the second chain 3.3 to rotate through a driving shaft, thereby driving the receiving plate 3.1 to move up and down. At the same time, it can also be seen from the figure that the upper end surface of the receiving plate 3.1 is an L-shaped receiving surface, and the pipe 5 is relatively stable on the L-shaped receiving surface.

[0037] As shown in Figure 3As shown, the mechanical arm part 4 includes a third chain 4.1, a fourth guide rail sliding block pair 4.2, a rotating plate 4.3, a mechanical arm 4.4, a third cylinder 4.5, a movable baffle 4.6, a fixed seat 4.7, and an actuator 4.8. The mechanical arm driving assembly is horizontally arranged on the base 6, and the mechanical arm 4.4 is slidingly arranged on the fourth guide rail sliding block pair 4.2. The end of the mechanical arm 4.4 is provided with a centering assembly, and the receiving plate 3.1 can drive the pipe 5 to move downward to the lowest point to make the pipe 5 enter the centering assembly. The mechanical arm driving assembly can drive the mechanical arm 4.4 to drive the pipe 5 to move along the fourth guide rail sliding block pair 4.2. When the receiving plate 3.1 moves downward to the receiving surface of the receiving plate 3.1 and the receiving surface of the mechanical arm 4.2 are at the same horizontal plane, the pipe 5 is supported by the two. When the receiving plate 3.1 continues to move downward to the lowest point, the receiving plate 3.1 completely separates from the pipe 5, and the uppermost end of the receiving plate 3.1 is below the lowermost end of the mechanical arm 4.4. The receiving plate 3.1 does not interfere with the horizontal movement of the mechanical arm 4.4, and the mechanical arm 4.4 can move forward and backward. Specifically, the centering assembly mainly includes an actuator 4.8, a rotating plate 4.3, a fixed seat 4.7, a movable baffle 4.6, and a movable baffle driving member 4.5. The fixed seat 4.7 is fixedly arranged at the front end of the mechanical arm 4.4 by screws. The actuator 4.8 is fixedly connected to the fixed seat 4.7 and connected to the rotating plate 4.3. The movable baffle driving member 4.5 is fixedly connected to the movable baffle 4.6 and connected to the side surface of the mechanical arm 4.4 through a support. The mechanical arm 4.4 is connected to the third chain 4.1 through a chain connecting plate.

[0038] Embodiment two

[0039] Based on the above feeding device, the present application further provides a pipe feeding method, which specifically includes the following steps:

[0040] S1: The pipe bracket 1.2 is horizontally placed, the distribution plate 2.1 is raised to the highest position by the first chain 2.10, the position of the limiting device is adjusted according to the specifications of the pipe 5, so that the front side generatrix of the blocking column 2.6 and the distribution surface of the distribution plate 2.1 are spaced apart by the width W of one pipe 5. The pointer 2.5 and the scale 2.12 are used for accurate adjustment and marking. The limiting device is fixed by the locking assembly. Specifically, the slide column 2.14 is tightened by screws, and the restrictor seat 2.13 is fixed at the fixed position of the second guide rail sliding block pair 2.11.

[0041] S2: the bundled pipe 5 is adjusted into the pipe cradle 1.2 as a whole, the pipe cradle 1.2 is driven to rotate, and the bundling belt is removed after the bundled pipe 5 is lifted as a whole; specifically, the pipe cradle 1.2 is driven to rotate by the rotating driving member 1.4, and the inclination angle between the pipe cradle 1.2 and the horizontal plane is ensured to be 25°≤a≤35° to ensure that the pipe 5 can slide smoothly; and the bundling belt can be removed after the pipe cradle 1.2 is turned over and the bundled pipe 5 is lifted as a whole.

[0042] S3: the material blocking column 2.6 is driven upward to the highest point by the driving member 2.2, the first chain 2.10 is driven to rotate by the material distribution plate driving member 2.9, and the material distribution plate 2.1 is driven to move obliquely downward; when the second detection switch 2.16 detects the pipe 5, the distance H between the second detection switch 2.16 and the upper end surface of the material distribution plate 2.1, the height value L of one pipe 5, and a compensation value Z are continuously added to the distance H through which the material distribution plate 2.1 moves downward, that is, when the second detection switch 2.16 detects the pipe 5, the material distribution plate 2.1 continues to move downward by a total distance H+L+Z, and the pipe 5 slides downward to the material blocking column 2.6 after the material distribution plate 2.1 moves to the position;

[0043] S4: the material distribution plate driving member 2.9 drives the first chain 2.10 to rotate reversely and drives the material distribution plate 2.1 to move obliquely upward to the highest point after the first detection switch 2.7 detects the pipe 5, and the pipe 5 is lifted by the material distribution plate 2.1 to the highest point; the motor speed reducer 3.4 drives the second chain 3.3 to rotate forward through the driving shaft, so as to drive the material receiving plate 2.1 to move upward and to the highest position;

[0044] S5: the material blocking column 2.6 is driven downward to the lowest point by the driving member 2.2, the pipe 5 slides downward to the material receiving plate 3.1, and the motor speed reducer 3.4 drives the second chain 3.3 to rotate reversely through the driving shaft, so as to drive the material receiving plate 3.1 to move downward to the lowest position, and the pipe 5 enters the manipulator 4.4;

[0045] S6: before the pipe 5 enters, the actuator 4.8 is positively aerated and drives the rotating plate 4.3 to rotate to the vertical position, the centering assembly on the manipulator 4.4 pushes the pipe 5 to be centered, that is, the blocking plate driving member 4.5 pushes the movable blocking plate 4.6 to move, so as to push the pipe 5 to be centered, the manipulator driving assembly drives the manipulator 4.4 to move forward and to be transported to the center of the main machine chuck, the blocking plate driving member 4.5 is reversely aerated, the actuator 4.8 is reversely aerated and drives the rotating plate 4.3 to rotate to the horizontal position, and the pipe 5 is transported, and the manipulator driving assembly drives the manipulator 4.4 to move to the starting point position after the pipe 5 is transported;

[0046] S7: step S3 is performed, and then the second cycle feeding is performed.

[0047] The beneficial effects of the present application can be seen from the above embodiments, which are:

[0048] The application can flexibly and quickly load by the cooperation of the warehouse part, the sorting material part and the receiving part, and by the limiting device arranged on the upper end of the material distribution plate as the main material distribution structure, so as to improve the loading efficiency and reduce the mutual friction between the pipes.

[0049] The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pipe feeding device comprising a base, a magazine section, a sorting section, a receiving section and a robot section, characterized in that, The stockpile part comprises a pipe bracket, one end of the pipe bracket is hinged to the base, the sorting stockpile part comprises a sorting plate obliquely arranged on the base and a limiting device arranged on the upper end of the sorting plate, the sorting plate can move linearly obliquely downward and obliquely upward on the base, the sorting plate comprises an upper end surface and an obliquely arranged sorting surface, the receiving part comprises a receiving plate, the receiving plate is arranged on the base in a lifting manner; the pipe bracket can rotate around one end hinged to the base to move the pipe on the pipe bracket to the sorting surface of the sorting plate, the sorting plate can move obliquely upward to make the limiting device drive the pipe to move upward and fall into the receiving plate, the receiving plate can drive the pipe to move downward; the limiting device comprises a material blocking assembly, the material blocking assembly comprises a mounting seat, a driving piece and a blocking column, the material blocking assembly is arranged on the sorting plate in a sliding manner through the mounting seat, one side of the mounting seat is fixed with the driving piece, the driving end of the driving piece is fixed with the blocking column, the blocking column is obliquely arranged and its extension direction is parallel to the sorting surface of the sorting plate, the material blocking assembly can slide on the sorting plate to make the blocking column away from or close to the sorting surface of the sorting plate; when the driving piece drives the blocking column to stretch out to the highest point, the blocking column is in a limiting state, when the driving piece drives the blocking column to move downward to the lowest point, the blocking column is in a free state; the limiting device further comprises a first detection switch and a second detection switch, the first detection switch is fixedly arranged on the mounting seat, the second detection switch is fixedly arranged on the sorting surface of the sorting plate, the sorting plate is provided with a first guide rail and sliding block pair, the material blocking assembly is arranged on the sorting plate in a sliding manner through the first guide rail and sliding block pair; the limiting device further comprises a locking assembly, the locking assembly comprises a restraining seat and two sliding columns, the restraining seat is fixedly connected with the mounting seat, two ends of the restraining seat are provided with through holes, the two sliding columns are arranged in the two through holes and connected; the locking assembly can lock the first guide rail and sliding block pair to make the mounting seat stop moving; the base is obliquely provided with a second guide rail and sliding block pair, the sorting plate is arranged on the base in a sliding manner through the second guide rail and sliding block pair; the receiving part further comprises a third guide rail and sliding block pair and a receiving plate driving assembly, the third guide rail and sliding block pair is vertically arranged on the base, the receiving plate is arranged on the third guide rail and sliding block pair in a sliding manner, the receiving plate driving assembly can drive the receiving plate to move upward and downward; the mechanical hand part comprises a mechanical hand, a fourth guide rail and sliding block pair and a mechanical hand driving assembly, the fourth guide rail and sliding block pair is horizontally arranged on the base, the mechanical hand is arranged on the fourth guide rail and sliding block pair in a sliding manner; an end of the mechanical hand is provided with a centering assembly, the receiving plate can drive the pipe to move downward to the lowest point to make the pipe enter the centering assembly, the mechanical hand driving assembly can drive the mechanical hand to drive the pipe to move along the fourth guide rail and sliding block pair.

2. The pipe loading apparatus of claim 1, wherein, The limiting device further comprises an indicating assembly, which comprises a pointer fixed to the mounting seat and a scale fixedly arranged on the distribution plate and parallel to the first guide rail slider pair.

3. The pipe loading apparatus of claim 1, wherein, The base is further provided with a first chain wheel and a second chain wheel, and a first chain is arranged between the first chain wheel and the second chain wheel. The first chain is fixedly connected with the distribution plate through a chain connecting plate at the bottom of the distribution plate. The base is fixed with a distribution plate driving member connected with the first chain wheel. The distribution plate driving member can drive the first chain wheel to rotate, and in turn drive the distribution plate to move obliquely along the second guide rail slider pair through the first chain.

4. The pipe loading apparatus of claim 1, wherein The magazine part comprises a first pin shaft, a second pin shaft and a rotary driving member. One end of the pipe bracket is hingedly connected with the base through the second pin shaft, and the other end of the pipe bracket is connected with the driving end of the rotary driving member through the first pin shaft. The lower end of the rotary driving member is fixedly connected with the base. The rotary driving member can drive the pipe bracket to rotate along the second pin shaft.

5. The pipe loading apparatus of claim 1, wherein, The upper end surface of the receiving plate is an L-shaped receiving surface.

6. A feeding method based on the pipe feeding device according to any one of claims 1 to 5, characterized by, Specifically comprising the following steps: S1: adjusting the position of the limiting device according to the specifications of the pipe, so that the distance between the front side generatrix of the blocking column and the distribution surface of the distribution plate is the width W of one pipe. The limiting device is fixed by the locking assembly; S2: adjusting the whole bundle of bundled pipes into the pipe bracket, and driving the pipe bracket to rotate. When the whole bundle of bundled pipes is lifted, the bundling belt is removed; S3: the driving member drives the blocking column to extend upward to the highest point, and the distribution plate moves obliquely downward. When the second detection switch detects the pipe, the distance H between the second detection switch and the upper end surface of the distribution plate is continuously moved downward by a height value L of one pipe and a compensation value Z. That is, when the second detection switch detects the pipe, the distribution plate continues to move downward by a total distance H+L+Z. After the distribution plate is moved to the position, the pipe slides downward and moves to the blocking column; S4: after the first detection switch detects the pipe, the distribution plate moves obliquely upward to the highest point, and the receiving plate moves upward and moves to the highest position; S5: the driving member drives the blocking column to move downward to the lowest point, and the pipe slides downward to the receiving plate. The receiving plate moves downward to the lowest position, and the pipe enters the mechanical hand; S6: after the centering assembly on the mechanical hand pushes the pipe to be centered, the mechanical hand driving assembly drives the mechanical hand to move forward and is transported to the center of the main machine chuck. After the pipe is transported, the mechanical hand driving assembly drives the mechanical hand to move to the starting point position; S7: performing step S3.

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