A pipe inserting device and feeding method

Abstract

The present invention discloses a tube loading and insertion device and feeding method. The disclosed tube loading and insertion device includes a tube loading device and a turning manipulator. The tube loading device includes a frame and a material transfer mechanism. The frame is sequentially provided with a material picking area and a material feeding area spaced apart from each other from high to low, and both the material picking area and the material feeding area are located on the side where the material transfer mechanism is located. The material transfer mechanism is used to transfer tubes between the material feeding area and the material loading area. The turning manipulator's material picking station is provided in the material picking area and is used for picking, transferring, and turning the tubes in the material picking area. The above solution can solve the problem that the current tube loading device easily causes scratches or even breakage of the glass tubes during the loading process, thereby improving the production quality and efficiency of tube-controlled bottles and achieving the purpose of reducing labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of tube bottle production, and in particular to a tube upper intubation device and a feeding method. Background Art

[0002] In the production process of controlled tube bottles such as vials, a tube loading device is used to transport the glass tube to the grabbing station of the tube insertion robot. The tube insertion robot grabs the glass tube and flips the grabbed glass tube into a vertical state before inserting it into the bottle making machine. The glass tube is then fired into a controlled tube bottle by the bottle making machine.

[0003] At present, the design concept adopted by the tube loading device for the bottle making machine is basically the same as the technical solutions disclosed in patents such as "CN102583985B" and "CN108726857A". In this case, the whole bundle of glass tubes is placed in a tube storage rack, and after the packaging is removed, the glass tubes in the tube storage rack are lifted one by one to the material removal station of the tube insertion robot through a circulating chain tray, thereby completing the automatic loading of the glass tubes. However, this loading method still has shortcomings. For example, when removing a single glass tube from the whole pile of glass tubes, it is easy to cause friction between the glass tubes, resulting in scratches on the glass tubes, or even collapse of the whole pile of glass tubes, resulting in breakage of the glass tubes, thereby affecting the production quality and production efficiency of tube-shaped bottles. Summary of the Invention

[0004] The present invention discloses a tube loading and inserting device and a feeding method, which aims to solve the problem that the current tube loading device easily causes glass tubes to be scratched or even broken during the loading process, thereby improving the production quality and production efficiency of tube-loading bottles and achieving the purpose of reducing labor costs.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions:

[0006] In the first aspect, the present invention provides a pipe loading and insertion equipment, which includes a pipe loading device and a flipping robot; the pipe loading device includes a frame and a material transferring mechanism, the frame is provided with spaced material picking areas and material feeding areas in sequence from high to low, and the material picking areas and the material feeding areas are both located on the side where the material transferring mechanism is located, the material transferring mechanism is used for transferring pipe materials between the material feeding area and the material loading area; the material loading station of the flipping robot is arranged in the material loading area, which is used for loading, transferring and flipping pipe materials in the material loading area.

[0007] Optionally, the frame is also provided with a temporary storage area, which is located between the material taking area and the material supply area, and the temporary storage area is located on the side where the material transfer mechanism is located. The material transfer mechanism is also used for transferring pipe materials between the material supply area and the temporary storage area, and between the temporary storage area and the material taking area.

[0008] Optionally, the material picking area is movably arranged on the frame and is connected to a first driving mechanism, which is used to control the material picking area to change into a avoidance state for avoiding the material moving mechanism and a material receiving state for carrying the material moving mechanism to transfer pipe materials; the temporary storage area is movably arranged on the frame and is connected to a second driving mechanism, which is used to control the temporary storage area to change into a avoidance state for avoiding the material moving mechanism and a material receiving state for carrying the material moving mechanism to transfer pipe materials.

[0009] Optionally, the material-retrieving area includes two first brackets, and the first driving mechanism is a rotating driving mechanism; the two first brackets are respectively connected to the frame for rotation and are located at relative positions, and the two first brackets are connected to the first driving mechanism, and rotate under the driving force of the first driving mechanism to an avoidance state of expanding outward or closing inward, and a relative material receiving state; the structure of the temporary storage area is the same as that of the material-retrieving area.

[0010] Optionally, the material moving mechanism includes a lifting mechanism and a loading area, the loading area is movably arranged on the lifting mechanism and is connected to a third driving mechanism, the lifting mechanism is used to control the lifting and lowering movement of the loading area, and the third driving mechanism is used to control the loading area to change between an avoidance state and a material receiving state; when the loading area is in the avoidance state, it is used to avoid the feeding area; when the loading area is in the material receiving state, it is used to carry the pipe material placed in the feeding area.

[0011] Optionally, the loading area includes two second brackets, and the third driving mechanism is a rotating driving mechanism; the two second brackets are respectively rotatably connected to the lifting mechanism and are located at relative positions, and the two second brackets are connected to the third driving mechanism. Under the driving force of the third driving mechanism, they rotate to an avoidance state of closing inward or expanding outward, and a relative material receiving state.

[0012] Optionally, the second bracket includes a second supporting portion, a second front stop portion, a second rear stop portion and a second telescopic mechanism; the second supporting portion is rotatably connected to the lifting mechanism, the second rear stop portion is arranged at one end of the second supporting portion close to the frame, the second telescopic mechanism is arranged on the second supporting portion or the second rear stop portion and is connected to the second front stop portion, and the second telescopic mechanism is used to control the second front stop portion to move in a direction away from and toward the second rear stop portion.

[0013] Optionally, the second supporting portion is provided with a third telescopic mechanism, the second rear stop portion is connected to the third telescopic mechanism, and the third telescopic mechanism is used to control the second rear stop portion to move in a direction away from and toward the frame.

[0014] Optionally, the upper tube insertion device also includes a scanning component; the scanning component includes a laser emitting unit and a laser receiving unit, and the laser emitted by the laser emitting unit is reflected by a reflecting surface at a distance h and then received by the laser receiving unit; the scanning component scans each layer of pipe material in the material picking area at a distance h, and the flipping robot determines the position of the pipe material to be picked up in the material picking area according to the position where the laser receiving unit generates a response signal.

[0015] In a second aspect, the present invention further provides a feeding method comprising the following steps:

[0016] S1: A bundle of pipe materials is placed in the feeding area and unpacked; an unloaded material transfer mechanism moves to the feeding area, transfers the bundle of pipe materials from the feeding area to the material transfer mechanism, and then the material transfer mechanism carries the bundle of pipe materials to the material retrieving area, and then transfers the bundle of pipe materials from the material transfer mechanism to the material retrieving area for the turning robot to retrieve the materials;

[0017] S2: placing the next bundle of pipe materials in the feeding area and removing the packaging;

[0018] If the rack is not provided with a temporary storage area, the empty material transfer mechanism moves to the feeding area, transfers the bundle of tube materials from the feeding area to the material transfer mechanism, and then the material transfer mechanism carries the bundle of tube materials and moves to a position between the feeding area and the material taking area for temporary storage; or, when the tube materials in the material taking area are taken out, the empty material transfer mechanism moves to the feeding area, transfers the bundle of tube materials from the feeding area to the material transfer mechanism, and then the material transfer mechanism carries the bundle of tube materials and moves to the material taking area, and then transfers the bundle of tube materials from the material transfer mechanism to the material taking area;

[0019] If the rack is provided with a temporary storage area, the unloaded material transfer mechanism moves to the feeding area, and the bundle of tubes is transferred from the feeding area to the material transfer mechanism. Then, the material transfer mechanism carries the bundle of tubes and moves to the temporary storage area, and then the bundle of tubes is transferred from the material transfer mechanism to the temporary storage area for temporary storage. When all the tubes in the material taking area are taken out, the material transfer mechanism transfers the tubes in the temporary storage area to the material taking area.

[0020] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0021] The tube inserting equipment and feeding method disclosed in the present invention provide a basis for the arrangement of structures such as the feeding area and the taking area through the frame; the taking area located at a high position can well adapt to the taking height of the turning robot, so that the turning robot can directly take the whole bundle of tubes in the taking area from the top layer to the bottom layer one by one, and ensure that the turning robot has enough height to rotate the taken tubes into a vertical state after taking the materials from the taking area to facilitate subsequent insertion operations; the feeding area located at a low position adapts to the working height of the workers, so that the workers can easily place the transported whole bundle of tubes in the feeding area and perform unpacking operations; therefore, compared with the existing tube-lifting device that lifts a single glass tube from the whole bundle of tubes to the turning machine through the circulating chain plate The feeding method of the manipulator picking station of the present invention can effectively avoid the problem of tube material scratches caused by friction between tube materials during the feeding process, or even tube material rupture caused by collapse of the entire pile of tube materials, thereby ensuring the production quality and production efficiency of tube bottles; and the feeding area can be used to store spare tube materials. When the tube materials in the picking area are taken out, the material transfer mechanism transfers the spare tube materials in the feeding area to the picking area for replenishment, thereby effectively reducing the frequency of workers feeding materials, extending the unmanned operation time of the tube loading device, and thus helping to save labor costs; at the same time, the feeding area and the picking area are both located on the side where the material transfer mechanism is located, which facilitates the material transfer mechanism to transfer the tube materials in each area and avoids interference with the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 Schematic diagram of the structure of a second possible implementation scheme of the upper tube device disclosed in an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a first bracket disclosed in an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the structure of the material transfer mechanism disclosed in an embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a second bracket disclosed in an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the structure of a first possible implementation scheme of the upper tube device disclosed in an embodiment of the present invention;

[0028] Figure 6 Schematic diagram of the structure of the scanning component disclosed in an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the working principle of the scanning element disclosed in the embodiment of the present invention

[0030] Description of reference numerals:

[0031] 100-frame, 101-top crossbeam, 102-mounting seat guide rail, 110-retrieving area, 111-first pipe frame, 120-temporary storage area, 121-second pipe frame, 130-feeding area, 131-feeding pipe frame, 140-baffle, 150-pipe material, 10-first support part, 11-first front stop, 12-first telescopic mechanism, 13-first driving mechanism, 14-first rear stop, 15-first front stop guide rail,

[0032] 200- material moving mechanism, 210- third pipe frame, 211- second bracket, 220- transmission chain, 221- mounting seat, 222- slide groove, 20a- second support part, 20b- auxiliary support part, 21- second front stop part, 22- second rear stop part, 23- second telescopic mechanism, 24- third telescopic mechanism, 25- rotating shaft, 26- third driving mechanism, 27- slide rail,

[0033] 300- flip robot, 310- laser emitting unit, 320- laser receiving unit. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] The technical solutions disclosed in various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] Please refer to Figures 1 to 5 As shown, an embodiment of the present invention discloses a pipe-up and pipe-intubating device, which includes a pipe-up device and a flipping robot 300; the pipe-up device includes a frame 100 and a material-transferring mechanism 200; the frame 100 is provided with spaced material-retrieving areas 110 and material-feeding areas 130 in sequence from high to low, and the material-retrieving areas 110 and the material-feeding areas 130 are both located on the side where the material-transferring mechanism 200 is located, and the whole bundle of pipe materials can be transferred between the material-transferring area 130 and the material-transferring mechanism 200; the material-retrieving station of the flipping robot 300 is provided in the material-retrieving area 110, so that the pipe materials in the material-retrieving area 110 can be retrieved, transferred and flipped and pipe-intubated by the flipping robot 300.

[0037] Among them, the frame 100 provides the basis for the setting of structures such as the feeding area 130 and the picking area 110; the picking area 110 located at a high place can adapt well to the picking height of the flipping robot 300, so that the flipping robot 300 can directly pick up the whole bundle of pipes in the picking area 110 from the top layer to the bottom layer one by one, and ensure that the flipping robot 300 has enough height to rotate the picked pipes into a vertical state after picking up the materials from the picking area 110 to facilitate subsequent intubation operations; the feeding area 130 located at a low place adapts to the working height of the workers, so that the workers can easily place the transported whole bundle of pipes in the feeding area 130 and perform unpacking operations.

[0038] When loading materials, the worker first places a bundle of pipe materials in the feeding area 130, and after removing the plastic packaging, transfers the bundle of pipe materials to the picking area 110 through the material moving mechanism 200. At this time, the flipping robot 300 can be started to perform material picking and pipe inserting operations on the pipe materials in the picking area 110. During the operation of the flipping robot 300, the worker can place the next bundle of pipe materials in the feeding area 130, and then remove the plastic packaging as a spare pipe material placed in the feeding area 130; when the last pipe material in the picking area 110 is taken away by the flipping robot 300, the spare pipe material placed in the feeding area 130 is transferred to the picking area 110 through the material moving mechanism 200, thereby ensuring the continuous operation of the flipping robot 300, avoiding the problem of pausing the flipping robot 300 during the storage and transfer of the spare pipe materials, which affects production efficiency.

[0039] Therefore, compared with the existing feeding method of the tube loading device that lifts a single glass tube from a whole bundle of tubes to the retrieving station of the flipping robot 300 through a circulating chain plate, the tube loading device disclosed in this embodiment can effectively avoid the problem of tube scratches caused by friction between tubes during the feeding process, or even tube breakage caused by collapse of the entire pile of tubes, thereby ensuring the production quality and production efficiency of tube-controlled bottles; and the feeding area 130 can be used for the placement of spare tubes. When the tubes in the retrieving area 110 are taken out, the material moving mechanism 200 transfers the spare tubes in the feeding area 130 to the retrieving area 110 for replenishment, thereby effectively reducing the frequency of workers feeding materials, extending the unmanned operation time of the tube loading device, and thus helping to save labor costs.

[0040] Furthermore, the feeding area 130 and the taking area 110 are both located on the side where the material transfer mechanism 200 is located, so that it is convenient for the material transfer mechanism 200 to transfer the pipe materials in each area and avoid interference with the frame 100; preferably, the feeding area 130 and the taking area 110 are located in the same vertical direction, that is, Figure 1 The feeding area 130 and the taking area 110 are located vertically opposite to each other, which helps to avoid the travel design of the material moving mechanism 200 in other directions.

[0041] Specifically, as a first possible implementation plan, like Figure 5 As shown, The frame 100 can only be provided with a feeding area 130 and a picking area 110. The material moving mechanism 200 is not only used to transfer whole bundles of pipe materials between the feeding area 130 and the picking area 110, but the material moving mechanism 200 can also carry whole bundles of spare pipe materials and stay in the position between the feeding area 130 and the picking area 110 as a temporary storage area 120, thereby better extending the unmanned operation time of the pipe loading device and providing a prerequisite for realizing unmanned production of the entire workshop.

[0042] The working process is as follows: after a bundle of tube materials is placed in the feeding area 110 for unpacking, the material transfer mechanism 200 moves to the feeding area 130, and transfers the bundle of tube materials from the feeding area 130 to the material transfer mechanism 200. Then the material transfer mechanism 200 carries the bundle of tube materials to the material picking area 110, and then transfers the bundle of tube materials from the material transfer mechanism 200 to the material picking area 110 for the flipping robot 300 to pick up the materials, completing the transfer of the entire bundle of tube materials from the feeding area 130 to the material picking area 110.

[0043] Then, the next bundle of tube materials is placed in the feeding area 130 for unpacking, and the material transfer mechanism 200 moves to the feeding area 130 to transfer the bundle of tube materials from the feeding area 130 to the material transfer mechanism 200. Then, the material transfer mechanism 200 carries the bundle of tube materials and moves to a position between the feeding area 130 and the material taking area 110 as a temporary storage area 120, thereby realizing the temporary storage of the bundle of tube materials for standby use; at the same time, according to production needs, another bundle of tube materials can be placed in the feeding area 130 for unpacking and temporary storage for standby use.

[0044] When the pipe materials in the material taking area 110 are taken out, the material transfer mechanism 200 carrying the spare pipe materials moves to the material taking area 110, and transfers the spare pipe materials from the material transfer mechanism 200 to the material taking area 110 for the flipping robot 300 to take the materials, completing the transfer of the spare pipe materials from the material transfer mechanism 200 to the material taking area 110; then, the material transfer mechanism 200 moves to the feeding area 130, and transfers the spare pipe materials placed in the feeding area 130 to the material transfer mechanism 200, and the material transfer mechanism 200 carries the spare pipe materials and moves to a position between the feeding area 130 and the material taking area 110 as a temporary storage area 120, realizing the temporary storage and standby transfer of the spare pipe materials from the feeding area 130 to the material transfer mechanism 200.

[0045] It is easy to understand that in this first possible implementation scheme, the material moving device 200 can also be used only for transferring whole bundles of tube materials between the feeding area 130 and the picking area 110; the working process is: after a bundle of tubes 5 is placed in the feeding area 130 for unpacking, the material moving mechanism 200 moves to the feeding area 130, and transfers the bundle of tube materials from the feeding area 130 to the material moving mechanism 200, and then the material moving mechanism 200 carries the bundle of tube materials to the picking area 110, and then transfers the bundle of tube materials from the material moving mechanism 200 to the picking area 110 for the tube insertion robot 300 to pick up the materials, completing the transfer of the whole bundle of tube materials from the feeding area 130 to the picking area 110.

[0046] Then, the next bundle of pipe materials is placed in the feeding area 130 for unpacking and temporary storage; when the pipe materials in the material taking area 0110 are taken out, the material transfer mechanism 200 moves to the feeding area 130, and transfers the bundle of spare pipe materials from the feeding area 130 to the material transfer mechanism 200, and then the material transfer mechanism 200 carries the bundle of spare pipe materials to the material taking area 110, and then transfers the bundle of spare pipe materials from the material transfer mechanism 200 to the material taking area 110 for the intubation robot 300 to take the materials, thereby realizing the transfer of spare pipe materials from the feeding area 130 to the material taking area 110.

[0047] As a second possible implementation scheme, Figure 1 As shown, the rack 100 can also be provided with a temporary storage area 120, and the temporary storage area 120 is located between the material taking area 110 and the material feeding area 130, and the temporary storage area 120 is located on the side where the material transfer mechanism 200 is located, so as to facilitate the material transfer mechanism 200 to transfer pipe materials between the material feeding area 130 and the temporary storage area 120, and between the temporary storage area 120 and the material taking area 110. The setting of the temporary storage area 120 can better extend the unmanned operation time of the pipe loading device, and provide a prerequisite for realizing unmanned production of the entire workshop.

[0048] The working process is as follows: after a bundle of tube materials is placed in the feeding area 130 for unpacking, the material transfer mechanism 200 moves 0 to the feeding area 130, and transfers the bundle of tube materials from the feeding area 130 to the material transfer mechanism 200. Then the material transfer mechanism 200 carries the bundle of tube materials to the material picking area 110, and then transfers the bundle of tube materials from the material transfer mechanism 200 to the material picking area 110 for the flipping robot 300 to pick up the materials, completing the transfer of the entire bundle of tube materials from the feeding area 130 to the material picking area 110.

[0049] Then, the next bundle of tube materials is placed in the feeding area 130 for unpacking, and the material moving mechanism 200 moves to the feeding area 5 130 to transfer the bundle of tube materials from the feeding area 130 to the material moving mechanism 200. Then, the material moving mechanism 200 carries the bundle of tube materials to the temporary storage area 120, and then transfers the bundle of tube materials from the material moving mechanism 200 to the temporary storage area 120 for temporary storage and standby use, completing the transfer of the entire bundle of tube materials from the feeding area 130 to the temporary storage area 120. At the same time, according to production needs, another bundle of tube materials can be placed in the feeding area 130 for unpacking and temporary storage and standby use.

[0050] When the pipe materials in the material taking area 110 are taken out, the material moving mechanism 200 moves to the temporary storage area 120, and transfers the spare pipe materials temporarily stored in the temporary storage area 120 to the material moving mechanism 200, and then the material moving mechanism 200 carries the spare pipe materials and moves them to the material taking area 110, and then transfers the spare pipe materials from the material moving mechanism 200 to the material taking area 110 for the flipping robot 300 to take the materials, thereby realizing the transfer of the spare pipe materials from the temporary storage area 120 to the material taking area 110; then, the material moving mechanism 200 moves to the feeding area 130, and transfers the spare pipe materials placed in the feeding area 130 to the material moving mechanism 200, and then the material moving mechanism 200 carries the spare pipe materials and moves them to the temporary storage area 120, and then transfers the spare pipe materials from the material moving mechanism 200 to the temporary storage area 120, thereby realizing the transfer of the spare pipe materials from the feeding area 130 to the temporary storage area 120.

[0051] It is easy to understand that the number of temporary storage areas 120 includes but is not limited to one. According to actual production needs, the number of temporary storage areas 120 of the upper tube device can also be two or three, etc., and distributed from high to low intervals; this embodiment does not limit the number of temporary storage areas 120.

[0052] In the upper tube device disclosed in this embodiment, in order to ensure that the material moving mechanism 200 can transfer and carry the pipe materials in the material picking area 110, the temporary storage area 120 and the feeding area 130, the loading area of ​​the material moving mechanism 200 can be set as a support platform structure; accordingly, the material picking area 110, the temporary storage area 120 and the feeding area 130 are set as a tube frame structure that cooperates with the loading area.

[0053] Alternatively, the material taking area 110, the temporary storage area 120 and the material feeding area 130 are configured as support platform structures; correspondingly, the material loading area of ​​the material transfer mechanism 200 is configured as a pipe frame structure that cooperates with the support platform structure. Figure 1 As shown, the loading area, material taking area 110, temporary storage area 120 and feeding area 130 of the material transfer mechanism 200 can all be set as a tube frame structure; this embodiment does not limit the shape structure of the loading area, material taking area 110, temporary storage area 120 and feeding area 130 of the material transfer mechanism 200.

[0054] At the same time, the loading area of ​​the material transfer mechanism 200 is movably arranged on the lifting mechanism and is connected to the third drive mechanism 26. The lifting mechanism is used to control the lifting and lowering movement of the loading area, and the third drive mechanism 26 is used to control the loading area to change to an avoidance state and a material receiving state; when the loading area is in the avoidance state, it is used to avoid the feeding area 130 and the temporary storage area 120 carrying the pipe materials; when the loading area is in the material receiving state, it is used to carry the pipe materials placed in the feeding area 130 and the temporary storage area 120.

[0055] As a specific embodiment, the material taking area 110, the temporary storage area 120, the material feeding area 130 and the material loading area of ​​the material transfer mechanism 200 are all configured as a tube frame structure, such as Figures 1 to 4 As shown, the material taking area 110 is set as the first tube frame 111 , the temporary storage area 120 is set as the second tube frame 121 , the material feeding area 130 is set as the material feeding tube frame 131 , and the material loading area of ​​the material moving mechanism 200 is set as the third tube frame 210 .

[0056] And, as Figure 3 As shown, the third tube frame 210 in the loading area includes two second brackets 211, and the third driving mechanism 26 is a rotating driving mechanism such as a rotating motor or a rotating cylinder; the two second brackets 211 are respectively connected to the lifting mechanism through a vertical rotating shaft 25, and are located at opposite positions on the left and right sides of the lifting mechanism, and the two second brackets 211 are connected to the third driving mechanism. Under the driving action of the third driving mechanism, they can be rotated to an avoidance state of expanding outward or closing inward, and a relative material receiving state; the two second brackets 211 can be connected to the same rotating driving mechanism, or they can be connected to a separate rotating driving mechanism.

[0057] Correspondingly, the first tube frame 111 of the material taking area 110 includes two first brackets, which are respectively rotatably connected to the frame 100 and are located at opposite positions on the left and right sides of the frame 100, and the two first brackets are connected to a first driving mechanism 13 such as a rotating motor or a rotating cylinder. Under the driving force of the first driving mechanism 13, they can be rotated to an avoidance state of expanding outward or closing inward, and a relative material receiving state; wherein, the two first brackets can be connected to the same driving mechanism, or can be connected to a separate driving mechanism respectively.

[0058] The second tube frame 121 of the temporary storage area 120 also includes two first brackets, and the setting method can refer to the structure of the material taking area 110, which will not be repeated in this embodiment; the feeding tube frame 131 of the feeding area 130 can include two third brackets, and the two third brackets can be fixedly set at opposite positions on the left and right sides of the frame 100 respectively.

[0059] The initial position of the loading area of ​​the material moving mechanism 200 is located below the feeding area 130; when loading is required, the two second brackets 211 of the loading area rotate to a receiving state, and the worker places a bundle of pipe materials on the two third brackets of the feeding area 130. After unpacking, the lifting mechanism controls the loading area to move upward and lifts the pipe materials placed in the feeding area 130. At this time, the temporary storage area 120 and the material taking area 110 both remain in a avoidance state; after the loading area lifts the carried pipe materials to above the material taking area 110, the two first brackets of the material taking area 110 rotate to a receiving state, and the two first brackets of the temporary storage area 120 continue to remain in a avoidance state. The lifting mechanism controls the loading area to move downward so that the pipe materials it carries are retained on the two first brackets of the material taking area 110, thereby completing the loading of the material taking area 110, and the empty loading area continues to move downward to the initial position under the control of the lifting mechanism.

[0060] Next, the worker places the next bundle of pipes on the two third brackets of the feeding area 130. After unpacking, the lifting mechanism controls the loading area to move upward and lifts the pipes placed in the feeding area 130. At this time, the temporary storage area 120 remains in a avoidance state. After the loading area lifts the carried pipes to the top of the temporary storage area 120, the two first brackets of the temporary storage area 120 rotate to a material receiving state. The lifting mechanism controls the loading area to move downward so that the pipes it carries are retained on the two first brackets of the temporary storage area 120, thereby completing the loading and standby of the temporary storage area 120. The empty loading area continues to move downward to the initial position under the control of the lifting mechanism. After the loading area moves to the initial position, the worker can place the next bundle of pipes on the two third brackets of the feeding area 130 and unpack them for standby.

[0061] When the material loading section 110 is in the state of being lifted up, the two first supports 211 of the material loading section 110 rotate to the state of being lifted up, and the two second supports 211 of the material loading section rotate to the state of being lifted up, and move upward under the control of the lifting mechanism.

[0062] Then, the lifting mechanism controls the loading area to continue to move downward. At this time, the two first brackets of the temporary storage area 120 and the two second brackets 211 of the loading area can all be rotated to an avoidance state. After the loading area moves to the initial position, the two second brackets 211 of the loading area are rotated to a material receiving state, and the spare pipe materials in the feeding area 130 are transferred to the temporary storage area 120. The action process can be referred to the above-mentioned loading and standby process of the temporary storage area 120, and this embodiment will not repeat this process.

[0063] As another feasible embodiment of the movable setting, the two first brackets of the material picking area 110 can also be set at relative positions on the left and right sides of the frame 100 by rotating around the horizontal axis, and the rotation of the two first brackets can be controlled by a rotating drive mechanism such as a rotating motor or a rotating cylinder, so that the two first brackets of the material picking area 110 can be rotated to a retracted avoidance state and a horizontally opened material receiving state; similarly, the two first brackets of the temporary storage area 120 and the two second brackets 211 of the loading area can also adopt this movable setting method to realize the conversion between the avoidance state and the material receiving state.

[0064] As other possible implementation methods of the movable setting, the two first brackets of the material picking area 110 can also be set on the frame 100 in a sliding manner, and are respectively connected to telescopic drive mechanisms such as electric telescopic rods or telescopic cylinders, so that the sliding movement of the two first brackets is controlled by the telescopic drive mechanism, so that the two first brackets of the material picking area 110 can be retracted to a position away from the loading area to be in an avoidance state, and extended to a position toward the loading area to be in a material receiving state; similarly, the two first brackets of the temporary storage area 120 and the two second brackets 211 of the loading area can also adopt this movable setting method to realize the conversion between the avoidance state and the material receiving state.

[0065] Alternatively, the support parts of the material-taking area 110, the temporary storage area 120 and the loading area for holding the pipe materials can also be designed as telescopic structures such as one-way bending chains, which change to an avoidance state when they contract, and change to a material receiving state when they extend; of course, the material-taking area 110, the temporary storage area 120 and the loading area can respectively adopt any one of the above-mentioned movable setting methods, but preferably, the material-taking area 110, the temporary storage area 120 and the loading area all adopt a movable setting method that rotates around the vertical axis. Compared with other methods, this not only ensures structural strength, but also helps to reduce the action space required for state change.

[0066] The tube loading device disclosed in this embodiment is suitable for loading tube materials of different packaging specifications and sizes, such as Figure 2As shown, the first bracket may include a first support portion 10, a first front stop portion 11, a first rear stop portion 14 and a first telescopic mechanism 12; the first support portion 10 is rotatably connected to the frame 100, the first rear stop portion 14 is arranged at one end of the first support portion 10 close to the frame 100, and the first telescopic mechanism 12 is arranged on the first support portion 10 and connected to the first front stop portion 11; thereby, the first telescopic mechanism 12 can control the first front stop portion 11 to move in the direction away from and toward the first rear stop portion 14, thereby realizing the adjustment of the distance between the first front stop portion 11 and the first rear stop portion 14; wherein, the first rear stop portion 14 can be an additional rod-shaped or plate-shaped structural member, or the portion of the frame 100 corresponding to the first front stop portion 11 can be used as the first rear stop portion 14.

[0067] like Figure 1 As shown, the third bracket structure of the feeding area 130 may include a first support part 10, a first front stop part 11, a first rear stop part 14 and a first telescopic mechanism 12; the first support part 10 is fixedly connected to the frame 100, the first rear stop part 14 is arranged at one end of the first support part 10 close to the frame 100, and the first telescopic mechanism 12 is arranged on the first support part 10 and connected to the first front stop part 11; thereby, the first telescopic mechanism 12 can control the first front stop part 11 to move in the direction away from and toward the first rear stop part 14, thereby realizing the adjustment of the distance between the first front stop part 11 and the first rear stop part 14; wherein, the first rear stop part 14 can be a rod-shaped or plate-shaped structural member.

[0068] like Figure 4 As shown, the second bracket 211 may include a second support portion 20a, a second front stop portion 21, a second rear stop portion 22 and a second telescopic mechanism 23; the second support portion 20a is rotatably connected to the lifting mechanism, the second rear stop portion 22 is arranged at one end of the second support portion close to the frame 100, and the second telescopic mechanism 23 is arranged on the second support portion or the second rear stop portion 22, and is connected to the second front stop portion 21, so that the second front stop portion 21 can be controlled to move in the direction away from and toward the second rear stop portion 22 through the second telescopic mechanism 23, thereby realizing the adjustment of the distance between the second front stop portion 21 and the second rear stop portion 22; wherein, the second rear stop portion 22 is a rod-shaped or plate-shaped structural member.

[0069] Preferably, the second rear stop 22 is provided with a secondary support portion 20b; the second support portion 20a is provided with a third telescopic mechanism 24, and the second rear stop 22 is connected to the third telescopic mechanism 24 through the secondary support portion 20b, so that the second rear stop 22 is driven by the third telescopic mechanism 24 via the secondary support portion 20b to move in the direction away from and toward the frame 100, thereby realizing the adjustment of the front and rear position of the second rear stop 22 to control the position of the whole bundle of pipe materials in the loading area, avoiding the risk of blocking and colliding between the rear stops of the material picking area 110, the material feeding area 130 and the loading area during the transfer and acceptance process of the pipe materials due to factors such as processing and installation errors of the rear stops of each area.

[0070] At the same time, the secondary support portion 20b provides a foundation for the installation of other components, allowing the second rear stop 22 and the second telescopic mechanism 23 to be installed on the secondary support portion 20b, which not only helps ensure structural strength but also facilitates their installation and fixation. Of course, the second rear stop 22 can also be configured as a vertical plate-shaped or rod-shaped structural member and directly connected to the third telescopic mechanism 24; the first telescopic mechanism 12, the second telescopic mechanism 23, and the third telescopic mechanism 24 can use telescopic mechanisms such as electric telescopic rods or telescopic cylinders.

[0071] In order to ensure the reliability of telescopic movement, the above-mentioned first support part 10 is provided with a first front stop guide rail 15, and the first front stop guide rail 15 is arranged along the moving direction of the first front stop 11; the first front stop 11 is provided with a slide groove adapted to the first front stop guide rail 15, and is ridden on the first front stop guide rail 15 through the slide groove, which is beneficial to ensuring the structural strength of the first bracket and improving the reliability of the movement of the first front stop 11.

[0072] Similarly, the above-mentioned second support part 20a and auxiliary support part 20b are both provided with sliding rails 27. The auxiliary support part 020b rides on the sliding rails 27 of the second support part 20a through a sliding groove structure, and the second front stop part 21 rides on the sliding rails 27 of the auxiliary support part 20b through a sliding groove structure, which is beneficial to ensuring the structural strength of the second bracket 211 and improving the reliability of the movement of the second front stop part 21 and the auxiliary support part 20b.

[0073] In the upper tube device disclosed in this embodiment, Figure 4 As shown, the lifting mechanism may include a transmission chain 220 and a mounting seat 221 that run up and down; the frame 100 is provided with a transmission sprocket, the transmission chain 220 is sleeved on the transmission sprocket, the mounting seat 221 is connected to the transmission chain 220, and the two second brackets 211 are respectively connected by

[0074] The vertical shaft 25 is rotatably arranged at the left and right ends of the mounting seat 221 and is respectively connected to the corresponding rotation drive mechanism, thereby realizing the lifting and moving control of the loading area through the up and down movement of the transmission chain 220; Of course, as other embodiments, a hydraulic lifting module, a pneumatic lifting module or an electric screw can also be selected

[0075] The chain-type lifting module is replaced by a lifting mechanism such as a module; this embodiment does not limit the type and structure of the lifting mechanism.

[0076] In order to ensure the reliability of the lifting and lowering movement of the mounting seat 221, a slide groove 222 is provided on the side of the mounting seat 221 facing the rack 100, and a mounting seat guide rail 102 is provided at a position corresponding to the slide groove 222 on the rack 100, and the mounting seat guide rail 102 extends in the vertical direction, so that the mounting seat 221 can be connected to the rack 100 through the slide groove 222.

[0077] The mounting seat guide rail 102 is slidably matched to provide a guide for the lifting movement of the mounting seat 221, thereby ensuring the reliability of the lifting movement of the mounting seat 221.

[0078] At the same time, if Figure 1 As shown, the rack 100 can also be provided with a baffle 140, and the baffle 140 is located on the side facing the end of the pipe in the feeding area 130, so that when the pipe is placed in the feeding area 130, the end of the pipe can contact the baffle 140, and then the baffle 140 plays a positioning role on the pipe, which is conducive to the subsequent retrieving and reversing and inserting operations of the pipe by the flipping robot 300. Preferably, the height of the top crossbeam 101 of the rack 100 is equal to or less than the height of the first support portion 10 of the retrieving area 110, so that as the retrieving robot 300 retrieves the pipe, the stacking height of the pipe in the retrieving area 110 gradually decreases, and accordingly, the vertical stroke of the flipping robot 300 can also be reduced, thereby avoiding the flipping robot 300 having to cross the height of the crossbeam 101 every time it retrieves the pipe in the retrieving area 110, thereby achieving the purpose of energy saving and improving the retrieving efficiency.

[0079] It should be noted that, as other possible implementation methods of this embodiment, the above-mentioned material taking area 110 and temporary storage area 120 can also be fixedly set on the frame 100, and the loading area of ​​the material moving mechanism can be connected to the lifting mechanism by a sliding telescopic structure, so that the loading area can be transformed into a retracted avoidance state and an extended material receiving state, and thus the corresponding pipe material transfer operation can be completed for the fixed material taking area 110 and temporary storage area 120; of course, when the upper tube device of this embodiment only has the material taking area 110 and the feeding area 130, the material taking area 110 can adopt the above-mentioned movable setting method, so as to realize the change of the avoidance state and the material receiving state of the material taking area 110, and the loading area of ​​the material moving mechanism can be fixedly set on the lifting mechanism, so that the fixed loading area can also realize the pipe material transfer between the feeding area 130 and the material taking area 110.

[0080] Preferably, in the above embodiment, the support surface of the material picking area 110 for carrying the pipe material can be set as a guiding surface structure such as an inclined surface or an arc-shaped curved surface, so that when the pipe material in the material picking area 110 is picked up to the last layer, the pipe material of the last layer can be gathered and arranged in one place along the guiding surface structure such as the inclined surface or the arc-shaped curved surface under the action of gravity. Compared with the horizontal surface structure, it can solve the problem that the pipe material is prone to rolling and affects the material picking effect of the flipping robot 300.

[0081] In this embodiment, the disclosed upper tube intubation device may further include a scanning component, such as Figure 6 As shown, the scanning component includes a laser emitting unit 310 and a laser receiving unit 320, and the laser emitted by the laser emitting unit 310 is reflected by the emitting surface at a distance h and then received by the laser receiving unit 320; the scanning component scans each layer of pipe material in the material picking area 110 at a distance h, and the flip robot 300 determines the position of the pipe material to be picked up in the material picking area 110 according to the position where the laser receiving unit 320 generates a response signal.

[0082] Principle Figure 7 As shown, the distance between the scanning component and the top of the uppermost layer of pipe material is adjusted to h, and the scanning component maintains the distance h to scan the pipe materials in the material picking area; if the laser receiving unit 320 of the scanning component generates a response signal, it means that the position corresponding to the scanning component at this time is the top position of the uppermost layer of pipe material, and then the flip robot 300 is controlled to move to this position to perform the material picking operation; if the laser receiving unit 320 of the scanning component does not generate a corresponding signal, it means that the position corresponding to the scanning component at this time is not the top position of the uppermost layer of pipe material; at the same time, after the uppermost layer of pipe materials in the material picking area are picked up one by one, the distance between the scanning component and the top of the second-upper layer of pipe materials is adjusted to h, and the above process is repeated to control the flip robot to complete the material picking operation of the second-upper layer of pipe materials, and finally all layers of pipe materials in the material picking area are picked up one by one from the top layer to the bottom layer.

[0083] Therefore, based on the setting of the above-mentioned scanning component, the flipping robot can readily identify the top position of the uppermost layer of tube material, and grab the tube material through the top position of the tube material, which can be well applied to the grabbing of transparent glass tubes. Compared with the existing method of identifying the position of glass tubes, it can avoid the problem of unstable grabbing or even falling of the grabbed tube material caused by the flipping robot grabbing other parts of the tube material, and avoid the problem of scratching the glass tube or even collapse of the tube material and causing damage to the glass tube due to the flipping robot grabbing the lower layer of tube material.

[0084] Typically, the scanning assembly is disposed on the flip manipulator so that the scanning assembly can move synchronously with the flip manipulator; preferably, the emitting laser of the laser emitting unit 310 of the scanning assembly and the receiving laser of the laser receiving unit 320 are located in the same plane, and the plane is parallel to the length direction of the tube, so that compared with Figure 7 The arrangement of the plane shown in the figure being perpendicular to the length direction of the pipe can effectively reduce the reflection interference of other pipes during the scanning and identification process, thereby better improving the detection accuracy of the scanning component.

[0085] At the same time, the number of scanning assemblies provided is preferably two, and they are distributed along the length of the tube, so as to determine whether the placement direction of the tube to be retrieved meets the requirements of the flipping robot for retrieving the tube. The two scanning assemblies move and scan synchronously. Generally, if the laser receiving units 320 of both scanning assemblies simultaneously generate response signals, the placement direction of the tube to be retrieved meets the requirements. If only one of the laser receiving units 320 of the two scanning assemblies generates a corresponding signal, the placement direction of the tube to be retrieved does not meet the requirements. It should be noted that the flipping robot 300 can be a single robot that has both the tube retrieving and transfer functions and the flipping and intubating functions, or it can be two robots that cooperate with a tube retrieving and transfer robot and a flipping and intubating robot. The structure of the robot can refer to the existing robot structure and will not be described in detail in this embodiment.

[0086] The above embodiments of the present invention focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0087] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A tube intubation device, characterized in that: The present invention comprises a tube-lifting device and a turning manipulator; the tube-lifting device comprises a frame and a material-moving mechanism, the frame is provided with a material-retrieving area and a material-feeding area in sequence from high to low, and the material-retrieving area and the material-feeding area are both located on one side of the material-moving mechanism, and the material-moving mechanism is used to transfer pipe materials between the material-feeding area and the material-retrieving area; the material-retrieving station of the turning manipulator is provided in the material-retrieving area, and is used for transferring and turning the pipe materials in the material-retrieving area; the material-retrieving area is movably provided on the frame and is connected to a first driving mechanism, and the first driving mechanism is used to control the material-retrieving area to transform into an avoidance state for avoiding the material-moving mechanism and a material-receiving state for carrying the material-moving mechanism to transfer the pipe materials; the material-retrieving area comprises two first brackets; The first driving mechanism is a rotation driving mechanism; the two first brackets are respectively connected to the frame for rotation and are located at opposite positions, and the two first brackets are connected to the first driving mechanism and rotate under the driving force of the first driving mechanism to form an avoidance state of expanding outward or closing inward, and a relative material receiving state; Or the first driving mechanism is a telescopic driving mechanism; the two first brackets are respectively slidably arranged on the frame, and the two first brackets are connected to the first driving mechanism. Under the driving force of the first driving mechanism, they retract to a position away from the loading area to be in an avoidance state, and extend to a position toward the loading area to be in a material receiving state.

2. The upper tube intubation device according to claim 1, characterized in that The frame is also provided with a temporary storage area, which is located between the material taking area and the material feeding area, and the temporary storage area is located on the side where the material transfer mechanism is located. The material transfer mechanism is also used for transferring pipe materials between the material feeding area and the temporary storage area, and between the temporary storage area and the material taking area.

3. The upper tube intubation device according to claim 2, characterized in that: The temporary storage area is movably arranged on the frame and is connected to a second driving mechanism, which is used to control the temporary storage area to transform into an avoidance state for avoiding the material transfer mechanism and a material receiving state for carrying the material transfer mechanism to transfer pipe materials.

4. The upper tube intubation device according to claim 3, characterized in that The structure of the temporary storage area is the same as that of the material taking area.

5. The upper tube intubation device according to any one of claims 1 to 4, characterized in that: The material moving mechanism includes a lifting mechanism and a loading area. The loading area is movably arranged on the lifting mechanism and is connected to a third driving mechanism. The lifting mechanism is used to control the lifting and lowering movement of the loading area. The third driving mechanism is used to control the loading area to change between an avoidance state and a material receiving state. When the loading area is in the avoidance state, it is used to avoid the feeding area. When the loading area is in the material receiving state, it is used to carry the pipe material placed in the feeding area.

6. The upper tube intubation device according to claim 5, characterized in that The loading area includes two second brackets, and the third driving mechanism is a rotating driving mechanism; the two second brackets are respectively connected to the lifting mechanism in rotation and are located at relative positions, and the two second brackets are connected to the third driving mechanism. Under the driving force of the third driving mechanism, they rotate to an avoidance state of closing inward or expanding outward, and a relative material receiving state.

7. The upper tube intubation device according to claim 6, characterized in that The second bracket includes a second supporting portion, a second front stop portion, a second rear stop portion and a second telescopic mechanism; the second supporting portion is rotatably connected to the lifting mechanism, the second rear stop portion is arranged at one end of the second supporting portion close to the frame, the second telescopic mechanism is arranged on the second supporting portion or the second rear stop portion and is connected to the second front stop portion, and the second telescopic mechanism is used to control the second front stop portion to move in a direction away from and toward the second rear stop portion.

8. The upper tube intubation device according to claim 7, characterized in that The second supporting portion is provided with a third telescopic mechanism, the second rear stop portion is connected to the third telescopic mechanism, and the third telescopic mechanism is used to control the second rear stop portion to move in a direction away from and toward the frame.

9. The upper tube intubation device according to any one of claims 1 to 4, characterized in that: The upper pipe insertion device also includes a scanning component; the scanning component includes a laser emitting unit and a laser receiving unit, and the laser emitted by the laser emitting unit is reflected by a reflecting surface at a distance h and then received by the laser receiving unit; the scanning component scans each layer of pipe material in the material picking area at a distance h, and the flipping robot determines the position of the pipe material to be picked up in the material picking area according to the position where the laser receiving unit generates a response signal.

10. A feeding method, characterized in that: The upper tube intubation device according to any one of claims 1 to 9 comprises the following steps: S1: A bundle of pipe materials is placed in the feeding area and unpacked; an unloaded material transfer mechanism moves to the feeding area, transfers the bundle of pipe materials from the feeding area to the material transfer mechanism, and then the material transfer mechanism carries the bundle of pipe materials to the material retrieving area, and then transfers the bundle of pipe materials from the material transfer mechanism to the material retrieving area for the turning robot to retrieve the materials; S2: placing the next bundle of pipe materials in the feeding area and removing the packaging; If the rack is not provided with a temporary storage area, the empty material transfer mechanism moves to the feeding area, transfers the bundle of tube materials from the feeding area to the material transfer mechanism, and then the material transfer mechanism carries the bundle of tube materials and moves to a position between the feeding area and the material taking area for temporary storage; or, when the tube materials in the material taking area are taken out, the empty material transfer mechanism moves to the feeding area, transfers the bundle of tube materials from the feeding area to the material transfer mechanism, and then the material transfer mechanism carries the bundle of tube materials and moves to the material taking area, and then transfers the bundle of tube materials from the material transfer mechanism to the material taking area; If the rack is provided with a temporary storage area, the unloaded material transfer mechanism moves to the feeding area, and the bundle of tubes is transferred from the feeding area to the material transfer mechanism. Then, the material transfer mechanism carries the bundle of tubes and moves to the temporary storage area, and then the bundle of tubes is transferred from the material transfer mechanism to the temporary storage area for temporary storage. When all the tubes in the material taking area are taken out, the material transfer mechanism transfers the tubes in the temporary storage area to the material taking area.

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