A feeding device and a feeding method

Abstract

The application discloses a pipe feeding device and a feeding method, and belongs to the field of laser processing. The technical scheme is as follows: a pipe feeding device comprises a rack, the rack comprises a storage area and is provided with a material taking system, the material taking system comprises a three-axis moving mechanism and a material taking manipulator, the material taking manipulator comprises an identification manipulator, an auxiliary manipulator and a clamping manipulator, the identification manipulator is provided with a clamping type material clamping assembly, the auxiliary manipulator and the clamping manipulator are both provided with an embracing type material clamping assembly and a centering type material clamping assembly, the identification manipulator is further provided with a vision assembly, one end of the rack opposite to the identification manipulator is provided with a positioning plate, and the clamping manipulator is further provided with a material inserting assembly. The pipe feeding device has the beneficial effects that the cross-sectional shape and length of the pipe can be automatically identified during the feeding process, different material taking positions and methods can be adjusted according to different pipes, the automatic identification of different types of pipes in a material warehouse can be realized, and the feeding precision is greatly improved.

Description

TECHNICAL FIELD

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

[0002] The laser pipe cutting machine has the characteristics of high precision, fast cutting, no limitation on cutting pattern, smooth cutting, low processing cost, etc., and has gradually replaced the traditional pipe cutting process equipment. In the automatic processing feeding process, feeding and distributing different types and specifications of pipes are an important link in the entire feeding system.

[0003] The current feeding methods are generally grabbing feeding or strip feeding: as recorded in patent CN217749936U, the grabbing feeding is generally a gantry structure, which grabs the profile from the warehouse by a mechanical hand and moves it to the pipe cutting machine; the strip feeding is a horizontal conveyor belt, and multiple pipes are placed in parallel on the conveyor belt, and the profile is sent to the feeding position by the conveyor belt.

[0004] In the current two feeding methods, the pipe parameters of different pipes need to be preset in the control system, including the cross-sectional shape and length, etc., but there is a certain size error in a batch of pipes, and the actual feeding position will have errors when feeding according to the standard parameters; on the other hand, the current two feeding methods require that the pipe size in the warehouse be uniform, and cannot be mixed, so when the required pipe for processing is changed, all the remaining pipes need to be removed, or multiple warehouses need to be set up, which is low in efficiency and load, and cannot realize mixed feeding of too many specifications and types of pipes; at the same time, the traditional feeding method causes surface scratches and bruises due to pipe friction, which cannot meet the requirements of some special industries. SUMMARY

[0005] The present application aims at the problems of actual feeding error caused by preset parameters and the inability to mix materials in the current feeding process. A feeding device capable of identifying the size of pipes is provided.

[0006] To solve the above problems, the technical scheme of the present application is as follows: a pipe feeding device, comprising a rack, the rack comprising a storage area and being provided with a material taking system, the material taking system being located above the storage area, the material taking system comprising a three-axis moving mechanism and three material taking manipulators, the material taking manipulators being arranged in sequence along the length direction of the warehouse unit and being an identification manipulator, an auxiliary manipulator and a clamping manipulator, the identification manipulator being provided with a clamping type material clamping assembly, the auxiliary manipulator and the clamping manipulator being provided with a ring type material clamping assembly and a centering type material clamping assembly, the identification manipulator being further provided with a vision assembly, one end of the rack opposite to the identification manipulator being provided with a positioning plate, and the clamping manipulator being further provided with a material inserting assembly.

[0007] Preferably, the identification manipulator comprises a first pipe column, the vision assembly is arranged at the lower end of the first pipe column, the vision assembly comprises a lifting mechanism, a light source and a vision camera are arranged on the moving part of the lifting mechanism, and the shooting direction of the vision camera is towards the pipe along the length direction of the pipe.

[0008] Preferably, the clamping type material clamping assembly comprises a material taking pin and a pressing cylinder, the cylinder rod of the pressing cylinder is directed to the material taking pin, and a pressing plate is arranged at the end of the cylinder rod of the pressing cylinder.

[0009] The positioning plate is floatingly installed on the rack by a first spring, the positioning plate can move along the length direction of the pipe, and a proximity switch three is further arranged on the rack and located on the side of the positioning plate away from the storage area. The positioning plate is of a floating structure, and the pushing action of the identification manipulator is stopped in time after the proximity switch three is triggered by the pipe pushing the positioning plate, so as to prevent the driving structure from being overloaded.

[0010] Preferably, the clamping type material clamping assembly further comprises a first sensing plate and a proximity switch one, the first sensing plate is installed on the first pipe column by a second spring, the first sensing plate can move along the length direction of the pipe, one end of the first sensing plate protrudes from the surface of the first pipe column where the material taking pin is arranged, and the proximity switch one is used for detecting the position of the first sensing plate. The two ends of the proximity switch are triggered, so that the length of the pipe can be more accurately identified.

[0011] Preferably, the auxiliary mechanical arm comprises a second pipe column, the clamping mechanical arm comprises a third pipe column, and two ring-shaped material clamping assemblies are arranged at the lower ends of the second pipe column and the third pipe column respectively, the ring-shaped material clamping assembly comprises a material clamping cylinder and two oppositely arranged material clamping jaws, the middle part of the material clamping jaw is hinged to the corresponding second pipe column or third pipe column, and the end of the cylinder rod of the material clamping cylinder is hinged with two connecting rods, the ends of the connecting rods away from the material clamping cylinder are hinged with the two material clamping jaws respectively, and the two material clamping jaws can surround the pipe material after being closed.

[0012] Preferably, the centering material clamping assembly is arranged at the lower ends of the second pipe column and the third pipe column, the centering material clamping assembly comprises two centering rods and a synchronous mechanism, the synchronous mechanism comprises two chain wheels and a synchronous chain surrounding the two chain wheels, the two centering rods are arranged on the two straight sections of the synchronous chain respectively, and the two centering rods are connected through a centering cylinder.

[0013] Preferably, the material inserting assembly comprises a plug, the plug is arranged along the length direction of the pipe material and points to the identification mechanical arm, a second proximity switch and a second sensing plate are arranged above the plug, the second sensing plate is arranged on the clamping mechanical arm through a third spring, the second sensing plate can move along the length direction of the pipe material, and the second proximity switch is used for detecting the position of the second sensing plate. The clamping mechanical arm can cooperate with the identification mechanical arm to identify the length of the pipe material.

[0014] In another aspect, the present application also provides a feeding method, comprising the following steps:

[0015] S1. The identification mechanical arm moves to one end of the storage area, the visual assembly identifies the cross-sectional shape and size of the target pipe material and defines a size parameter;

[0016] S2. According to the size parameter of the target pipe material, when the size parameter is in a first interval, a material straightening process is performed, when the size parameter is in a second interval, a material pushing process is performed, and when the size parameter is in a third interval, a clamping process is performed, the first interval, the second interval and the third interval are continuous and sequentially increase:

[0017] The material straightening process comprises:

[0018] S3-11. The identification mechanical arm moves to the first end of the target pipe material, the clamping material clamping assembly clamps the first end of the target pipe material and moves upward by a certain distance;

[0019] S3-12. The auxiliary mechanical arm descends, the ring-shaped material clamping assembly of the auxiliary mechanical arm surrounds the profile and moves upward by a certain distance, and moves towards the second end of the target pipe material to lift the pipe material;

[0020] S3-13. The clamping mechanical arm descends, and the ring-shaped material clamping assembly of the material taking mechanical arm surrounds the profile;

[0021] S3-14. The three-axis motion system drives three material handling robots to move the target pipe to the designated position;

[0022] The material pushing process includes:

[0023] S3-21. Identify when the robotic arm moves to the first end of the target pipe, and the clamping assembly clamps the first end of the target pipe;

[0024] S3-22. The clamping robot moves to the second end of the target pipe, and the centering clamping assembly of the clamping robot clamps the second end of the target pipe;

[0025] S3-23. The identification robot and the clamping robot work together to lift the pipe upwards;

[0026] S3-24. The auxiliary robot moves to the middle of the target pipe and descends a certain distance, and the ring-shaped clamping assembly of the auxiliary robot surrounds the target pipe;

[0027] S3-25. The auxiliary robot arm rises a certain distance so that the ring-shaped clamping assembly of the auxiliary robot arm supports the bottom of the target pipe;

[0028] S3-26. A three-axis motion system drives three robotic arms to move the target pipe to the designated position.

[0029] The clamping process includes:

[0030] S3-31. Identify when the robotic arm moves to the first end of the target pipe, and the clamping assembly clamps the first end of the target pipe;

[0031] S3-32. The gripping robot moves to the second end of the target pipe, and the insert assembly is inserted into the target pipe;

[0032] S3-33. The identification robot and the clamping robot work together to lift the pipe upwards;

[0033] S3-34. The auxiliary robot moves to the middle of the pipe and descends a certain distance, and the ring-shaped clamping assembly of the auxiliary robot surrounds the target pipe;

[0034] S3-35. The auxiliary robot arm rises a certain distance so that the ring-shaped clamping assembly of the auxiliary robot arm supports the bottom of the target pipe;

[0035] S3-36. The centering clamping assembly of the auxiliary robot clamps the middle of the target pipe;

[0036] S3-37. The three-axis motion system drives three robotic arms to move the target pipe to the designated position.

[0037] Preferably, the dimensional parameter is the pipe diameter d: the first interval is (0,30] mm, the second interval is (30,100] mm, and the third interval is (100,+∞] mm.

[0038] Preferably, in steps S3-11 and S3-21, the robot arm is identified as pushing the target tube until the second end contacts the positioning plate, and the length of the profile is obtained by the robot arm at this time.

[0039] In steps S3-32, the insert assembly abuts against the second end wall of the target tube, and the length of the profile is obtained by identifying the positions of the robotic arm and the clamping robotic arm at this time.

[0040] As can be seen from the above technical solutions, the advantages of this invention are: during the feeding process, it can automatically identify the cross-sectional shape and length of the pipe, adjust different picking positions and picking methods for different pipes, realize the automatic identification of different types of pipes in the material warehouse, and adjust the picking and feeding positions according to the actual size of the pipe, which greatly improves the feeding accuracy; each robot has multiple clamping mechanisms, which can realize multiple picking methods for pipes of different sizes; based on this, the feeding method provided by this invention has high feeding accuracy, automatically selects the corresponding picking method for coffins of different sizes, clamps firmly, is flexible in use, and has a wide range of applications. Attached Figure Description

[0041] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a structural schematic diagram of a specific embodiment of the present invention.

[0043] Figure 2 This is a schematic diagram of the structure of the robotic arm in a specific embodiment of the present invention.

[0044] Figure 3 This is a schematic diagram of the auxiliary robotic arm in a specific embodiment of the present invention.

[0045] Figure 4 This is a schematic diagram of the structure of the Chinese-style clamping assembly in a specific embodiment of the present invention.

[0046] Figure 5 This is a schematic diagram of the insert assembly in a specific embodiment of the present invention.

[0047] Figure 6 This is a schematic diagram of the positioning plate in a specific embodiment of the present invention.

[0048] In the diagram: 1. Identification robot arm, 1-1. Picking pin, 1-2. Clamping cylinder, 1-3. First drive motor, 1-4. Mounting plate, 1-5. Moving plate, 1-6. First column, 1-7. Lifting mechanism, 1-8. Second drive motor, 1-9. Light source, 1-10. Vision camera, 1-11. Proximity switch one, 1-12. First sensing plate, 2. Auxiliary robot arm, 2-6. Second column, 2-11. Centering rod, 2-12. Centering cylinder, 2 -13. Sprocket, 2-14. Synchronous chain, 2-31. Clamping cylinder, 2-32. Connecting rod, 2-33. Gripper, 3. Clamping robot, 3-1. Third column, 3-2. Pin, 3-3. Proximity switch two, 3-4. Second sensing plate, 5. Frame, 5-1. Pipe, 5-2. Moving support frame, 5-3. Fixed support frame, 5-4. Positioning plate, 5-5. Base beam, 5-6. Proximity switch three, 5-7. First spring, 5-8. Crossbeam. Detailed Implementation

[0049] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0050] Example 1

[0051] like Figures 1-6 As shown, a pipe feeding device includes a frame 5, which includes a storage area and a material handling system. The material handling system is located above the storage area and includes a three-axis moving mechanism and a material handling robot. Figure 1 As shown, the frame 5 is a frame structure with two bottom beams. Each bottom beam has a movable support frame 5-2 and a fixed support frame 5-3. The movable support frame 5-2 is mounted on the bottom beam via guide rails and can move along the guide rails. The bottom beams are positioned along the length of the pipe, while the movable and fixed support frames are positioned vertically. The movable and fixed support frames on both sides, along with the bottom structure of the frame, together form a storage area. The three-axis moving system includes two frame beams 5-5 at the top of the frame, located at opposite ends of the storage area. The frame beams 5-5 are horizontally positioned and perpendicular to the pipe direction. A crossbeam 5-8 is mounted on both frame beams 5-5, with its ends movably connected to the two frame beams. The crossbeam 5-8 is positioned along the length of the pipe and can move along the frame beams 5-5. Figure 2For example, each picking robot is mounted on a crossbeam 5-8 via a movable plate 5-1. The movable plate 5-1 can move along the crossbeam 5-8. For example, a first drive motor 1-3 is provided on the movable plate, and a drive gear is installed on the motor shaft of the first drive motor 1-3. The drive gear meshes with a rack on the crossbeam to drive the movable plate to move. The picking robot can be lifted and lowered on the movable plate. For example, a second drive motor 1-8 is also provided on the movable plate, and a drive gear is installed on the motor shaft of the second drive motor. This drive gear meshes with a rack on the picking robot.

[0052] There are three material handling robots, which are arranged in sequence along the length of the material storage unit: identification robot 1, auxiliary robot 2, and clamping robot 3. Identification robot 1 is equipped with a clamping clamping component. Auxiliary robot 2 and clamping robot 3 are equipped with a ring-type clamping component and a centering clamping component. Identification robot 1 is also equipped with a vision component. A positioning plate 5-4 is provided on the end of the frame opposite to identification robot 1. Clamping robot 3 is also equipped with an insertion component.

[0053] like Figure 2 As shown, the identification robot 1 includes a first tube column 1-6. A vision component is located at the lower end of the first tube column 1-6. The vision component includes a lifting mechanism 1-7. A light source 1-9 and a vision camera 1-10 are mounted on the moving part of the lifting mechanism 1-7. The shooting direction of the vision camera 1-10 is along the length of the tube and towards the tube. The clamping assembly includes a picking pin 1-1 and a clamping cylinder 1-2. The cylinder rod of the clamping cylinder 1-2 points towards the picking pin 1-1, and a pressure plate is provided at the end of the cylinder rod of the clamping cylinder 1-2. The clamping assembly also includes a first sensing plate 1-12 and a proximity switch 1-11. The first sensing plate is mounted on the first tube column 1-1 by a second spring 1-13. The first sensing plate can move along the length of the tube. One end of the first sensing plate 1-12 protrudes from the surface of the first tube column 1-6 where the picking pin 1-1 is located. The proximity switch 1-11 is used to detect the position of the first sensing plate 1-12 and cooperates with it. Figure 6 As shown, the positioning plate 5-4 is floatingly mounted on the frame via the first spring 5-7. The positioning plate 5-4 can move along the length of the pipe. A proximity switch 5-6 is also installed on the frame. The proximity switch 5-6 is located on the side of the positioning plate 5-4 facing away from the storage area. By pushing the positioning plate 5-4 and the first sensing plate 1-12 through the contact of the two ends of the pipe, the corresponding proximity switch is triggered, and the length of the pipe can be accurately obtained.

[0054] The auxiliary robot 2 includes a second tube column 2-6, and the clamping robot 3 includes a third tube column 3-1. Two ring-shaped clamping assemblies are respectively disposed at the lower ends of the second and third tube columns. Figures 3-5As shown, taking the auxiliary manipulator 2 as an example, the ring-type clamping assembly includes a clamping cylinder 2-31 and two opposing clamping claws 2-33. The middle of the clamping claws 2-33 is hinged to the corresponding second or third tube column. The cylinder rod end of the clamping cylinder is hinged to two connecting rods 2-32. The end of the connecting rods 2-32 away from the clamping cylinder is respectively hinged to the two clamping claws 2-33. After the two clamping claws 2-33 are closed, they can surround the tube. The centering clamping assembly is located at the lower end of the second and third tube columns. The centering clamping assembly includes two centering rods 2-11 and a synchronization mechanism. The synchronization mechanism includes two sprockets 2-13 and a synchronization chain 2-14 surrounding the two sprockets 2-13. The two centering rods 2-11 are respectively installed on two straight sections of the synchronization chain 2-14. The two centering rods 2-11 are connected by a centering cylinder 2-12.

[0055] like Figure 5 As shown, the insertion assembly includes a pin 3-2, which is set along the length of the pipe and points towards the identification robot 1. Above the pin 3-2, there is a proximity switch 3-3 and a second sensing plate 3-4. The second sensing plate 3-4 is mounted on the clamping robot 3 by a third spring 3-5. The second sensing plate 3-4 can move along the length of the pipe. The proximity switch 3-3 is used to detect the position of the second sensing plate. The second sensing plate cooperates with the first sensing plate to measure the length of the pipe.

[0056] Example 2

[0057] Based on the feeding device of Embodiment 1, this embodiment provides a feeding method, including the following steps:

[0058] Before the material loading begins, the identification robot 1, the auxiliary robot 2, and the clamping robot 3 are positioned in their initial positions. The position of the movable support frame 5-2 is adjusted as needed, and the pipe 5-1 is placed into the storage area of ​​the frame using equipment such as a forklift. The end of the pipe is kept at a certain distance from the end of the frame where the identification robot is located, so as to facilitate the movement of the identification robot 1.

[0059] The feeding process is as follows:

[0060] S1. The robot arm 1 moves to the position corresponding to the end of the target pipe in the storage area through the three-axis moving system. The lifting mechanism 1-7 drives the light source and vision camera to descend. The light source provides supplementary lighting, and the vision camera captures the end cross section of the target pipe. The cross-sectional shape and size of the target pipe are identified and the size parameters are defined.

[0061] S2. Based on the dimensional parameters of the target pipe, the material straightening process is executed when the dimensional parameters are in the first interval, the material pushing process is executed when the dimensional parameters are in the second interval, and the clamping process is executed when the dimensional parameters are in the third interval. The first, second, and third intervals are consecutive and increase sequentially.

[0062] The material handling process includes:

[0063] S3-11. The identification robot 1 moves to the first end of the target pipe, so that the picking pin 1-1 is inserted into the centroid of the first end section of the target pipe. Then the identification robot 1 moves to the second end of the target pipe and pushes the target pipe so that the second end of the target pipe contacts the positioning plate 5-4. When pushing, the pipe pushes the first sensing plate 1-12 and the positioning plate 5-4 to trigger the proximity switch 1 and proximity switch 3. At this time, the actual length of the target pipe can be obtained by identifying the position of the robot. Then the identification robot rises a distance from the radius of the target pipe section (for irregular pipes, it is the distance from the centroid to the pipe wall in the vertical direction). The clamping cylinder 1-2 extends and, together with the picking pin 1-1, clamps the first end of the target pipe. Then the identification robot 1 moves up a certain distance.

[0064] S3-12. The auxiliary robot arm 2 descends, and the ring-shaped clamping assembly of the auxiliary robot arm surrounds the profile and moves upward a certain distance. Specifically, the clamping cylinder 2-13 retracts, causing the two grippers 2-33 to move towards the middle position. The horizontal part of the lower end of the gripper inserts into the lower part of the target pipe to surround the pipe. Then the auxiliary robot arm 2 moves upward, and the horizontal part of the lower end of the gripper lifts the target pipe. Then the auxiliary robot arm moves to the second end of the target pipe and lifts the pipe.

[0065] S3-13. The gripping robot 3 descends, and the encircling clamping assembly of the material handling robot surrounds the profile. During this process, the movement of the encircling clamping assembly is the same as in S3-12.

[0066] S3-14. The three-axis motion system drives three material handling robots to move the target pipe to the designated position.

[0067] The material pushing process includes:

[0068] S3-21. The identification robot 1 moves to the first end of the target pipe, the clamping clamping assembly clamps the first end of the target pipe, and the identification robot 1 pushes the target pipe until the second end contacts the positioning plate 5-4. At this time, the identification robot 1 obtains the profile length.

[0069] S3-22. The clamping robot 3 moves to the second end of the target pipe, and the centering clamping assembly of the clamping robot 3 clamps the second end of the target pipe;

[0070] S3-23. Identification robot 1 and clamping robot 3 together lift the pipe upwards;

[0071] S3-24. The auxiliary robot 2 moves to the middle of the target pipe and descends a certain distance, and the ring-shaped clamping assembly of the auxiliary robot 2 surrounds the target pipe;

[0072] S3-25. The auxiliary robot arm 2 rises a certain distance so that the ring-shaped clamping assembly of the auxiliary robot arm 2 supports the bottom of the target pipe;

[0073] S3-26. The three-axis motion system drives three robotic arms to move the target pipe to the designated position.

[0074] The clamping process includes:

[0075] S3-31. The robot arm 1 is identified to move to the first end of the target pipe, and the clamping clamping assembly clamps the first end of the target pipe;

[0076] S3-32. The clamping robot 3 moves to the second end of the target pipe, and the pin 3-2 in the insert assembly is inserted into the second end of the target pipe;

[0077] S3-33. The identification robot 1 and the clamping robot 3 work together to lift the pipe upwards;

[0078] S3-34. The auxiliary robot 2 moves to the middle of the pipe and descends a certain distance, and the ring-shaped clamping assembly of the auxiliary robot 2 surrounds the target pipe;

[0079] S3-35. The auxiliary robot 2 rises a certain distance so that the ring-shaped clamping assembly of the auxiliary robot 2 supports the bottom of the target pipe;

[0080] S3-36. The centering clamping assembly of the auxiliary robot 2 clamps the middle of the target pipe;

[0081] S3-37. The three-axis motion system drives three robotic arms to move the target pipe to the designated position.

[0082] Specifically, the dimensional parameter is the pipe diameter d. For pipes with a perfectly circular cross-section, the pipe diameter d is its own diameter; for pipes with a non-perfectly circular cross-section, the pipe diameter is the diameter of the circumcircle of the cross-section: the first interval is (0,30] mm, the second interval is (30,100] mm, and the third interval is (100,+∞] mm.

[0083] In step S3-32 of the clamping process, unlike the straightening and pushing processes, after the pin 3-2 is inserted into the second section of the target tube, the clamping robot or the identification robot 1 moves towards the other side and triggers proximity switch one and proximity switch two by squeezing the first and second induction plates through the target tube. The length of the profile is obtained by identifying the position of the identification robot 1 and the clamping robot 3 at this time.

[0084] As can be seen from the above embodiments, the advantages of the present invention are that it can automatically identify the cross-sectional shape and length of the pipe during the feeding process, adjust different picking positions and methods for different pipes, realize the automatic identification of different types of pipes in the material warehouse, and adjust the picking and feeding positions according to the actual size of the pipe, which greatly improves the feeding accuracy; each robot has multiple clamping mechanisms, which can realize multiple picking methods for different sizes of pipes, and the feeding is carried out by three robots, which greatly improves the load-bearing capacity of the feeding device; based on this, the feeding method provided by the present invention has high feeding accuracy, automatically selects the corresponding picking method for coffins of different sizes, clamps firmly, is flexible in use, and has a wide range of applications.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pipe feeding device, comprising a frame (4) including a storage area and provided with a material taking system located above the storage area, the material taking system comprising a three-axis moving mechanism and a material taking robot, characterized in that, The taking mechanical hands are provided with three, and are sequentially the identification mechanical hand (1), the auxiliary mechanical hand (2) and the clamping mechanical hand (3) along the length direction of the warehouse unit, the identification mechanical hand (1) is provided with the clamping type material clamping assembly, the auxiliary mechanical hand (2) and the clamping mechanical hand (3) are all provided with the ring type material clamping assembly and the centering type material clamping assembly, the identification mechanical hand (1) is also provided with the vision assembly, the opposite end of the rack with the identification mechanical hand (1) is provided with the positioning plate (5-4), the clamping mechanical hand (3) is also provided with the inserting material assembly; The clamping type material clamping assembly includes the first pipe column (1-6), the first induction plate (1-12) and the proximity switch one (1-11), the first induction plate is installed on the first pipe column (1-6) through the second spring (1-13), the first induction plate can move along the length direction of the pipe, the proximity switch one (1-11) is used for detecting the position of the first induction plate (1-12); the positioning plate (5-4) is floatingly installed on the rack through the first spring (5-7), the positioning plate (5-4) can move along the length direction of the pipe, the proximity switch three (5-6) is also installed on the rack, and the proximity switch three (5-6) is located on the side of the positioning plate (5-4) away from the storage area.

2. The pipe loading apparatus of claim 1, wherein, The vision assembly is arranged at the lower end of the first pipe column (1-6), and the vision assembly includes a lifting mechanism (1-7), a light source (1-9) and a vision camera (1-10) are installed on the moving part of the lifting mechanism (1-7), and the shooting direction of the vision camera (1-10) is along the length direction of the pipe and faces the pipe.

3. The pipe loading apparatus of claim 2, wherein, The clamping type material clamping assembly includes a taking pin (1-1) and a pressing cylinder (1-2), the cylinder rod of the pressing cylinder (1-2) points to the taking pin (1-1), and the end of the cylinder rod of the pressing cylinder (1-2) is provided with a pressing plate.

4. The pipe loading apparatus of claim 3, wherein, One end of the first induction plate (1-12) protrudes from the surface of the first pipe column (1-6) where the taking pin (1-1) is arranged.

5. The pipe loading apparatus of claim 1, wherein, The auxiliary mechanical hand (2) includes a second pipe column (2-6), and the clamping mechanical hand (3) includes a third pipe column (3-1), two ring type material clamping assemblies are arranged at the lower ends of the second pipe column and the third pipe column, the ring type material clamping assembly includes a material clamping cylinder (2-31) and two oppositely arranged material clamping claws (2-33), the middle part of the material clamping claw is hinged to the corresponding second pipe column or third pipe column, the end of the cylinder rod of the material clamping cylinder is hinged with two connecting rods (2-32), one end of the connecting rod (2-32) away from the material clamping cylinder is hinged with the two material clamping claws (2-33) respectively, and the two material clamping claws (2-33) can surround the pipe after being closed.

6. The pipe loading apparatus of claim 5, wherein, The centering type material clamping assembly is arranged at the lower end of the second pipe column and the third pipe column, and the centering type material clamping assembly includes two centering rods (2-11) and a synchronous mechanism, the synchronous mechanism includes two chain wheels (2-13) and a synchronous chain (2-14) surrounding the two chain wheels (2-13), the two centering rods (2-11) are respectively installed on the two straight sections of the synchronous chain (2-14), and the two centering rods (2-11) are connected through a centering cylinder (2-12).

7. The pipe loading apparatus of claim 1, wherein The inserting assembly comprises a plug (3-2) arranged along the length direction of the pipe and pointing to the identifying robot (1), and a proximity switch two (3-3) and a second induction plate (3-4) are arranged above the plug (3-2), the second induction plate (3-4) is installed on the clamping robot (3) through a third spring (3-5), the second induction plate (3-4) can move along the length direction of the pipe, and the proximity switch two (3-3) is used for detecting the position of the second induction plate.

8. A method of loading material, characterized by, The method comprises the following steps: S1. The identifying robot (1) moves to one end of the storage area, and the visual assembly identifies the cross-sectional shape and size of the target pipe and defines a size parameter; S2. According to the size parameter of the target pipe, when the size parameter is in a first interval, a straightening process is performed, when the size parameter is in a second interval, a pushing process is performed, and when the size parameter is in a third interval, a clamping process is performed, the first interval, the second interval and the third interval are continuous and sequentially increase: The straightening process comprises: S3-11. The identifying robot (1) moves to the first end of the target pipe, and the clamping type clamping assembly clamps the first end of the target pipe and moves upward by a certain distance; S3-12. The auxiliary robot (2) descends, the ring type clamping assembly of the auxiliary robot surrounds the profile and moves upward by a certain distance, and moves towards the second end of the target pipe to lift the pipe; S3-13. The clamping robot (3) descends, and the ring type clamping assembly of the taking robot surrounds the profile; S3-14. The three-axis movement system drives the three taking robots to move the target pipe to a specified position; The pushing process comprises: S3-21. The identifying robot (1) moves to the first end of the target pipe, and the clamping type clamping assembly clamps the first end of the target pipe; S3-22. The clamping robot (3) moves to the second end of the target pipe, and the centering type clamping assembly of the clamping robot (3) clamps the second end of the target pipe; S3-23. The identifying robot (1) and the clamping robot (3) jointly lift the pipe upward; S3-24. The auxiliary robot (2) moves to the middle part of the target pipe and descends by a certain distance, and the ring type clamping assembly of the auxiliary robot (2) surrounds the target pipe; S3-25. The auxiliary robot (2) rises by a certain distance to make the ring type clamping assembly of the auxiliary robot (2) support the bottom of the target pipe; S3-26. The three-axis movement system drives the three taking robots to move the target pipe to a specified position; The clamping process comprises: S3-31. The identifying robot (1) moves to the first end of the target pipe, and the clamping type clamping assembly clamps the first end of the target pipe; S3-32. The clamping robot (3) moves to the second end of the target pipe, and the inserting assembly is inserted into the target pipe; S3-33. The identifying robot (1) and the clamping robot (3) jointly lift the pipe upward; S3-34. The auxiliary robot (2) moves to the middle part of the target pipe and descends by a certain distance, and the ring type clamping assembly of the auxiliary robot (2) surrounds the target pipe; S3-35. The auxiliary manipulator (2) is lifted by a certain distance to make the ring-shaped clamping assembly of the auxiliary manipulator (2) hold the bottom of the target pipe; S3-36. The centering clamping assembly of the auxiliary manipulator (2) clamps the middle part of the target pipe; S3-37. The three-axis moving system drives the three manipulators to move the target pipe to a designated position.

9. The method of claim 8, wherein, The size parameter is the diameter d of the pipe, the first interval is (0, 30] mm, the second interval is (30, 100] mm, and the third interval is (100, +∞) mm.

10. The feeding method according to claim 8, characterized in that: In steps S3-11 and S3-21, the manipulator (1) pushes the target pipe until the second end contacts the positioning plate (5-4), and the length of the profile is obtained by identifying the position of the manipulator (1) at this time; In step S3-32, the inserting assembly abuts against the second end wall of the target pipe, and the length of the profile is obtained by identifying the positions of the manipulator (1) and the clamping manipulator (3) at this time.

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