D-tube loading apparatus

Abstract

The application discloses a D-shaped tube feeding equipment, and relates to the technical field of automatic tube feeding equipment, which comprises a feeding part, a first transfer part, a detection part and a second transfer part arranged in sequence, wherein the feeding part comprises a stock bin, and the stock bin is provided with a first driving structure and a second driving structure; the first transfer part is connected with the detection part, and is used for transferring the D-shaped tube to the detection part; the detection part comprises a detection table and a first material taking device, and the detection table is arranged with a first adjusting module, a photographing module and a second adjusting module; and the second transfer part is used for transferring the adjusted D-shaped tube to a preset position. The D-shaped tube feeding equipment provided by the application can realize automatic feeding, shape detection, positioning and adjustment of the posture of the D-shaped tube through the cooperation of each part, so that the generation of defective products is avoided, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of automatic pipe feeding equipment, and in particular to a D-type pipe feeding equipment. Background Technology

[0002] Currently, the existing D-tube feeding process includes appearance inspection, posture adjustment, and positioning to a preset position. For the appearance inspection and posture adjustment, since it involves checking the state and shape of the D-tube, manual inspection is used to adjust the D-tube to a suitable state before placing it on the conveyor line for the next step of processing. The positioning and setting of the D-tube is also done manually. However, manual posture inspection and positioning are prone to fatigue under long-term operation, resulting in inaccurate inspections. This leads to products with poor posture flowing to the next process. To avoid the defects of manual operation, an automated device that can automatically feed, position, and set the posture of D-tubes should be developed. Summary of the Invention

[0003] This application aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide a D-type tube feeding device capable of automatically feeding, shape detection, positioning, and posture adjustment of D-type tubes, thereby preventing the generation of defective products and improving production efficiency.

[0004] According to the embodiments of this application, a D-tube feeding device includes a feeding section, a first transfer section, a detection section, and a second transfer section arranged sequentially. The feeding section includes a detachable hopper, which is provided with a first driving structure and a second driving structure. The first driving structure drives the hopper to move and dock with the first transfer section, and the second driving structure distributes D-tubes from the hopper to the first transfer section. The first transfer section docks with the detection section and is used to transfer D-tubes to the detection section. The detection section includes a detection platform and a first picking device. The detection platform is equipped with a first adjustment module, a photographing module, and a second adjustment module. The first adjustment module is used to adjust the D-tubes to a designated position. The photographing module is used to detect the placement state of the D-tubes. The second adjustment module is used to rotate and adjust the placement state of the D-tubes. The first picking device is used to simultaneously pick up D-tubes from the first adjustment module, the photographing module, and the second adjustment module. The second transfer section is used to transfer the adjusted D-tubes to a preset position.

[0005] According to the D-type tube feeding device provided in the embodiments of this application, the feeding unit includes a fixed frame and an AGV trolley. The first drive structure is detachably connected to the fixed frame through a fixing pin. The AGV trolley is used to replace the hopper on the fixed frame.

[0006] According to the D-type tube feeding device provided in the embodiments of this application, the first driving structure includes a slide rod, a docking block, and a driving cylinder. The hopper is slidably connected to the slide rod via a slider. The docking block is fixed to the hopper. The driving cylinder is provided with an insert that can dock with the docking block. The driving cylinder drives the hopper to move to dock with the first transfer part.

[0007] According to the D-type tube feeding device provided in the embodiments of this application, the second driving structure includes a conveyor belt capable of rotating cyclically and a drive motor. A first connecting member is provided on the rotating shaft of the conveyor belt. After the hopper is connected to the first transfer part, the first connecting member is connected to the second connecting member on the drive motor.

[0008] According to the D-type tube feeding device provided in the embodiments of this application, the first transfer part includes an inclined conveyor chain. One end of the conveyor chain is provided with a docking cylinder. The drive shaft of the docking cylinder is provided with a first connector. The hopper is provided with a second connector. After the first drive structure drives the hopper to move close to the first transfer part, the docking cylinder drives the first connector to clamp the second connector and lift the hopper so that the outlet of the hopper is suspended above the conveyor chain. Each link on the conveyor chain is provided with a carrier for loading D-type tubes. The other end of the conveyor chain is provided with a guide plate for guiding the D-type tubes to the inspection table.

[0009] According to the D-shaped tube feeding device provided in the embodiments of this application, the first adjustment module includes a first positioning member, a second positioning member, a first adjustment cylinder, and a second adjustment cylinder. The first positioning member and the second positioning member form an L-shaped positioning angle. The first adjustment cylinder is used to push the D-shaped tube conveyed by the first transfer unit to fit against the second positioning member. The second adjustment cylinder is used to push the D-shaped tube conveyed by the first transfer unit to fit against the first positioning member.

[0010] According to the D-shaped tube feeding device provided in the embodiments of this application, the photographing module includes two limiting members and a camera. The two limiting members are fixed to the detection table and define a fixed groove. The camera is used to photograph the posture of the D-shaped tube located in the fixed groove.

[0011] According to the D-tube feeding device provided in the embodiments of this application, the second adjustment module includes a rotating motor and an adjustment cylinder. The adjustment cylinder is fixed to the detection table, the rotating motor is fixed to the cylinder shaft of the adjustment cylinder, the rotating shaft of the rotating motor is provided with a pneumatic finger for clamping the D-tube, the detection table is also provided with a recycling port, and the adjustment cylinder can adjust the D-tube clamped by the pneumatic finger to above the recycling port.

[0012] According to the D-type tube feeding device provided in the embodiments of this application, the first picking device includes a gantry frame, a first linear cylinder, a second linear cylinder, and three parallel grippers. The first linear cylinder is fixed on the gantry frame and spans horizontally above the first adjustment module, the photographing module, and the second adjustment module. The second linear cylinder is fixed on the slider of the first linear cylinder. The cylinder shaft of the second linear cylinder is provided with a mounting plate for mounting the three parallel grippers. The second linear cylinder is used to drive the three parallel grippers to move up and down simultaneously to clamp the D-type tubes on the first adjustment module, the photographing module, and the second adjustment module.

[0013] According to the D-type tube feeding device provided in the embodiments of this application, the second transfer part includes a placement platform, a third linear cylinder, a fourth linear cylinder, and two transfer cylinders. The placement platform is provided with slots for placing D-type tubes at intervals. The two transfer cylinders are arranged on the cylinder shaft of the fourth linear cylinder. The fourth linear cylinder is fixed on the cylinder shaft of the third linear cylinder. After the transfer cylinder clamps the slot, the fourth linear cylinder drives the transfer cylinder to rise so that the D-type tube leaves the current slot. The third linear cylinder drives the transfer cylinder to move to the top of the next slot.

[0014] The aforementioned D-tube feeding equipment has at least the following beneficial effects: When automatically feeding D-tubes, the feeding unit's hopper is filled with D-tubes. After the hopper is moved to the docking point of the first transfer unit by the first drive structure, the second drive structure actuates to distribute the D-tubes in the hopper to the first transfer unit in an orderly manner. Then, the first transfer unit transports the D-tubes to the detection unit for position adjustment and shape detection. Specifically, the first adjustment module positions and adjusts the D-tubes transported from the first transfer unit to facilitate subsequent detection by the photographic module. The photographic module detects and records the placement and appearance of the D-tubes. Then, the first picking device simultaneously picks up the... The system automatically adjusts the D-tubes on the first adjustment module and the camera module, then transfers the D-tubes inspected by the camera module to the second adjustment module. The D-tubes positioned by the first adjustment module are then transferred to the camera module. The second adjustment module adjusts the posture of the D-tubes by rotating them based on the inspection results from the camera module. Simultaneously, when the first picking device grabs D-tubes from both the first adjustment module and the camera module, if there are adjusted D-tubes on the second adjustment module, they are grabbed and transferred to the second transfer unit for rapid transfer. The second transfer unit then transports the inspected and adjusted D-tubes to a designated location for the next process. Through the coordinated operation of these units, the system achieves automatic feeding, shape inspection, positioning, and posture adjustment of D-tubes, replacing manual labor to reduce the probability of defective products and improve production efficiency. Attached Figure Description

[0015] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0016] Figure 1 This is a structural schematic diagram of an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the structure of the feeding section in an embodiment of this application. Figure 1 ;

[0018] Figure 3 This is a schematic diagram of the structure of the feeding section in an embodiment of this application. Figure 2 ;

[0019] Figure 4 This is a schematic diagram of the structure of the first transfer unit in an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the structure of the carrier in an embodiment of this application;

[0021] Figure 6 This is a schematic diagram of the structure in which the detection unit and the second transfer unit are connected in an embodiment of this application;

[0022] Figure 7 This is a schematic diagram of the detection unit in an embodiment of this application. Figure 1 ;

[0023] Figure 8 This is a schematic diagram of the detection unit in an embodiment of this application. Figure 2 ;

[0024] Figure 9 This is a schematic diagram of the structure of the second transfer unit in an embodiment of this application. Detailed Implementation

[0025] This section will describe in detail the specific embodiments of this application. Preferred embodiments of this application are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of this application, but they should not be construed as limiting the scope of protection of this application.

[0026] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0027] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0028] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0029] Reference Figure 1 The D-type tube feeding device of this application includes a feeding unit 100, a first transfer unit 200, a detection unit 300 and a second transfer unit 400 arranged in sequence. The feeding unit 100 is mainly used for automatic loading and distribution of materials. The first transfer unit 200 is mainly used to transfer the materials distributed by the feeding unit 100 to the detection unit 300 for positioning, detection and attitude adjustment. Then, the second transfer unit 400 transports the detected and adjusted materials to a designated position for use in the next production line.

[0030] Specifically, the feeding unit 100 includes a detachable hopper 130, which is equipped with a first drive structure and a second drive structure. The first drive structure drives the hopper 130 to dock with the first transfer unit 200, and the second drive structure distributes the D-shaped tubes 500 on the hopper 130 to the first transfer unit 200. The first transfer unit 200 docks with the detection unit 300, which transfers the D-shaped tubes 500 distributed from the hopper 130 to the detection unit 300. The detection unit 300 includes a detection table 301 and a first material handling device. The device is equipped with a first adjustment module, a photographing module, and a second adjustment module. The first adjustment module is used to adjust the D-tube 500 to a designated position. The photographing module is used to detect the placement of the D-tube 500. The second adjustment module is used to rotate and adjust the placement of the D-tube 500. The first material handling device is used to simultaneously grab the D-tube 500 from the first adjustment module, the photographing module, and the second adjustment module, so that the positioning, detection, and adjustment of the D-tube 500 can be performed continuously in a cyclical manner. The second transfer unit 400 is used to transfer the adjusted D-tube 500 to a preset position.

[0031] In this application, when the D-tube feeding equipment starts production, the hopper 130 of the feeding section 100 is filled with D-tubes 500. The first drive structure drives the hopper 130 to dock with the first transfer section 200. Then, the second drive structure actuates to distribute the D-tubes 500 in the hopper 130 to the first transfer section 200 in an orderly manner. The first transfer section 200 then transports the D-tubes 500 to the detection section 300 for position adjustment and shape detection. Specifically, the first adjustment module positions and adjusts the D-tubes 500 transported from the first transfer section 200 to facilitate subsequent inspection by the photographic module. The photographic module detects and records the placement and appearance of the D-tubes 500. Then, the first picking device simultaneously grabs the first adjustment module... The D-tubes 500 on the first and second adjustment modules are automatically fed, shaped, positioned, and adjusted to the second adjustment module. The D-tubes 500 positioned in the first adjustment module are then moved to the second adjustment module. Based on the detection results from the first adjustment module, the second adjustment module adjusts the posture of the D-tubes 500 by rotating them. When the first picking device simultaneously grabs D-tubes 500 from both the first adjustment module and the second adjustment module, if there are adjusted D-tubes 500 on the second adjustment module, they are simultaneously grabbed and moved to the second transfer unit 400 for rapid transfer. The second transfer unit 400 then transports the inspected and adjusted D-tubes 500 to a designated location for the next process. Through the coordinated operation of these units, the automatic feeding, shape detection, positioning, and posture adjustment of the D-tubes 500 are achieved, replacing manual labor to reduce the probability of defective products and improving production efficiency.

[0032] like Figure 2 and Figure 3 As shown, the feeding unit 100 includes a fixed frame 110 and an AGV trolley 150. The first drive structure is detachably connected to the fixed frame 110 via a fixing pin. The AGV trolley 150 is used to replace the hopper 130 on the fixed frame 110. Specifically, the first drive structure is located at the bottom of the hopper 130. After the D-shaped tubes 500 in the hopper 130 have been distributed, the AGV trolley 150 pushes against the first drive structure, causing the first drive structure to disengage from the fixing pin on the fixed frame 110. This allows the AGV trolley 150 to move the entire hopper 130 to the material rack for loading the D-shaped tubes 500. When the hopper 130 is full of D-shaped tubes 500, the AGV trolley 150 returns the hopper 130 to the fixed frame 110, and the first drive structure engages with the fixing pin, achieving automatic positioning of the hopper 130. No manual handling is required, and the entire process is fully automated.

[0033] The first driving structure includes a slide bar, a docking block 1321, and a driving cylinder 120. Two slide bars are provided and are mounted parallel to each other on a fixed plate. The fixed plate is provided with positioning holes for fixing pins to pass through. The hopper 130 is slidably connected to the slide bars by a slider, which is sleeved on the slide bars so that the hopper 130 can perform linear reciprocating motion. The docking block 1321 is fixed to the hopper 130. The driving cylinder 120 is provided with an insert 121 that can dock with the docking block 1321. When the fixed plate of the first driving structure is positioned on the fixed frame 110 by the fixing pin, the driving cylinder 120 is fixed to the fixed frame 110. In the initial state, the insert 121 of the driving cylinder 120 can be inserted into the slot provided on the docking block 1321. Then, the driving cylinder 120, in conjunction with the slide bar structure, can drive the hopper 130 to dock with the first transfer part 200.

[0034] Furthermore, the second drive structure includes a conveyor belt 131 capable of cyclic rotation and a drive motor 140. A first connector 1311 is provided on the shaft of the conveyor belt 131. After the hopper 130 is connected to the first transfer unit 200, the first connector 1311 is connected to the second connector on the drive motor 140. The drive motor 140 drives the second connector to rotate, thereby driving the first connector 1311 to drive the conveyor belt 131 to cyclically rotate, so as to distribute the D-shaped tubes 500 in the hopper 130.

[0035] Among them, such as Figure 4 As shown, the first transfer unit 200 includes an inclined conveyor chain 210. A docking cylinder 220 is provided at one end of the conveyor chain 210. A first connector 221 is provided on the drive shaft of the docking cylinder 220. A second connector 1302 is provided on the hopper 130. After the first drive structure moves the hopper 130 close to the first transfer unit 200, the docking cylinder 220 drives the first connector 221 to clamp the second connector 1302 and lifts the hopper 130, so that the outlet 1301 of the hopper 130 is suspended above the conveyor chain 210. At this point, the docking of the hopper 130 with the first transfer unit 200 is completed. At this time, the aforementioned first connecting member 1311 is also raised to dock with the second connecting member. At this time, the drive motor 140 can activate the conveyor belt 131 to rotate cyclically and distribute the D-shaped tubes 500 in the hopper 130 to the conveyor chain 210. Furthermore, each link on the conveyor chain 210 is equipped with a carrier 211 for loading the D-shaped tubes 500. The carrier 211 receives the D-shaped tubes 500 distributed from the outlet 1301 and, driven by the conveyor chain 210, sequentially conveys them to the other end of the first transfer section 200. The other end of the conveyor chain 210 is equipped with a guide plate 230 for guiding the D-shaped tubes 500 to the inspection table 301. The guide plate 230 guides the D-shaped tubes 500 conveyed by the carrier 211 to the corresponding position on the inspection table 301.

[0036] Among them, such as Figure 5 As shown, the carrier 211 includes a connecting plate 2111, which is fixed to the link of the conveyor chain 210. One side of the connecting plate 2111 is recessed to form a groove 213 for holding the D-shaped tube 500. One side wall of the groove 213 is inclined to guide the D-shaped tube 500 to the guide plate 230 when it reaches the guide plate 230, so as to avoid the material jamming.

[0037] like Figure 6 As shown, the detection unit 300 and the second transfer unit 400 are on the same plane, which facilitates the transfer of the detected and adjusted D-type tube 500.

[0038] like Figure 7 As shown, the first adjustment module includes a first positioning component 302, a second positioning component 303, a first adjustment cylinder 310, and a second adjustment cylinder 320. The first positioning component 302 and the second positioning component 303 are fixed to the detection table 301 to form an L-shaped positioning angle. The first adjustment cylinder 310 is used to push the D-shaped tube 500 conveyed by the first transfer unit 200 to fit against the second positioning component 303. It should be noted that the D-shaped tube 500 guided by the guide plate 230 falls into the first adjustment cylinder 320. Between cylinder 310 and second positioning member 303, the second positioning member 303 also serves to stop the rolling of D-shaped tube 500. The second adjusting cylinder 320 is used to push the D-shaped tube 500 conveyed by the first transfer unit 200 to fit against the first positioning member 302. The second adjusting cylinder 320 is provided with a pressing block 321 for pressing against the D-shaped tube 500. The final positioning position of the D-shaped tube 500 is defined by the first positioning member 302 and the second positioning member 303, so as to facilitate subsequent photo detection and posture adjustment.

[0039] Furthermore, such as Figure 7 and Figure 8 As shown, the camera module includes two limiting members and a camera 370. The two limiting members are fixed to the detection stage 301 and define a fixing groove 305. The camera 370 is used to capture the posture of the D-shaped tube 500 located in the fixing groove 305 and transmit the collected information to the second adjustment module so that the second adjustment module can adjust the posture of the D-shaped tube 500 according to the situation.

[0040] Furthermore, the second adjustment module includes a rotary motor 380 and an adjustment cylinder 390. The adjustment cylinder 390 is fixed to the testing table 301, and the rotary motor 380 is fixed to the cylinder shaft of the adjustment cylinder 390. The rotating shaft of the rotary motor 380 is equipped with a pneumatic finger for clamping the D-shaped tube 500. The testing table 301 is also equipped with a retraction port 304. The adjustment cylinder 390 can adjust the D-shaped tube 500 clamped by the pneumatic finger to be above the retraction port 304. Specifically, after the previously photographed and inspected D-tube 500 is sent to the second adjustment module, it is held by a pneumatic finger. Then, based on the detection data transmitted by the camera 370, the module performs operations according to instructions. If the shape of the currently held D-tube 500 does not conform to the specifications, no adjustment is needed. At this time, the adjustment cylinder 390 moves the currently held D-tube 500 to the recovery port 304, and then the pneumatic finger opens. D-tubes 500 that do not meet the shape standards are then placed into the recovery port 304 for recycling. The recovery port 304 is equipped with a receiving mechanism for receiving incoming... The transfer robot 360 for the D-tube 500 at the recycling port 304 is used to place the received D-tube 500 to a designated storage location for quick storage by recycling personnel. If the shape and posture of the currently held D-tube 500 are found to be correct, no adjustment is required, and the robot waits for the transfer by the first material handling device. If the shape of the currently held D-tube 500 is found to be correct but the posture is not, the rotating motor 380 drives the pneumatic fingers to rotate. Because the D-tube 500 is held by the pneumatic fingers, the D-tube 500 on the pneumatic fingers can be rotated and adjusted to a suitable posture.

[0041] Among them, such as Figure 7 and Figure 8As shown, the first material handling device of this application includes a gantry frame 306, a first linear cylinder 330, a second linear cylinder 340, and three parallel grippers 350. The first linear cylinder 330 is fixed on the gantry frame 306 and spans horizontally above the first adjustment module, the photographing module, and the second adjustment module. The second linear cylinder 340 is fixed on the slider of the first linear cylinder 330. A mounting plate for mounting the three parallel grippers 350 is provided on the cylinder shaft of the second linear cylinder 340. The second linear cylinder 340 is used to drive the three parallel grippers 350. Simultaneously, the vertical lifting mechanism grips the D-shaped tubes 500 on the first adjustment module, the photographing module, and the second adjustment module. It should be noted that the distances between the first adjustment module and the photographing module, and between the second adjustment module and the photographing module, are equal; that is, the three parallel pneumatic grippers 350 are equidistant. Through the cooperation of the first linear cylinder 330 and the second linear cylinder 340, the D-shaped tubes 500 on the first adjustment module, the photographing module, and the second adjustment module can be gripped simultaneously. Specifically, after the D-shaped tube 500 of the first adjustment module is positioned, the photographing module... After the D-tube 500 is inspected and its posture is adjusted in the second adjustment module, the first linear cylinder 330 drives the three parallel grippers 350 to move above the first adjustment module, the imaging module, and the second adjustment module, respectively. The second linear cylinder 340 then drives the three parallel grippers 350 to move until they abut against the corresponding D-tube 500. The three parallel grippers 350 then clamp the D-tube 500. The second linear cylinder 340 returns to its original position, causing the parallel grippers 350 to rise to a position where they will not interfere with other components. Then, the first linear cylinder 330... The parallel gripper 350 places the D-shaped tube 500 held by the first adjustment module onto the imaging module for inspection. The parallel gripper 350 then moves the inspected D-shaped tube 500 from the imaging module to the second adjustment module for posture correction. The parallel gripper 350 then moves the posture-adjusted D-shaped tube 500 from the second adjustment module to the second transfer unit 400. This process is repeated to achieve automatic positioning, inspection, and posture adjustment of the D-shaped tube 500. The entire process is fast, requires no manual intervention, has a high degree of mechanization, and can greatly improve the feeding speed.

[0042] like Figure 9As shown, the second transfer unit 400 of this application includes a placement platform 410, a third linear cylinder 420, a fourth linear cylinder 430, and two transfer cylinders 440. The placement platform 410 has slots 411 spaced apart for placing D-shaped tubes 500. The two transfer cylinders 440 are arranged on the cylinder shaft of the fourth linear cylinder 430, which is fixed to the cylinder shaft of the third linear cylinder 420. After the transfer cylinders 440 grip the slots 411, the fourth linear cylinder 430 drives the transfer cylinders 440 to rise, causing the D-shaped tube 500 to leave its current slot 411. The third linear cylinder 420 drives the transfer cylinder 440 to move above the next slot 411. The slot 411 is used to store the tested and adjusted D-shaped tube 500. The slot 411 farthest from the testing unit 300 serves as the final positioning position of the D-shaped tube 500, facilitating material retrieval from the next production line. The arrangement of the third linear cylinder 420, the fourth linear cylinder 430, and the two transfer cylinders 440 enables the D-shaped tube 500, which is transported to the slot 411 closest to the testing unit 300, to be slowly transferred towards the slot 411 farthest from the testing unit 300, thereby transferring the D-shaped tube 500 to the designated position.

[0043] When the D-tube feeding equipment of this application starts production, the hopper 130 of the feeding section 100 is filled with D-tubes 500. If it is not full, the AGV trolley 150 can move the entire hopper 130 to the material rack to replenish the D-tubes 500. After replenishment, the first drive structure drives the hopper 130 to dock with the first transfer section 200. Then, the second drive structure is activated to distribute the D-tubes 500 in the hopper 130 to the first transfer section 200 in an orderly manner. Then, the first transfer section 200 transports the D-tubes 500 to the detection section 300 in an orderly manner for position adjustment and shape detection. The first adjustment module positions and adjusts the D-tubes 500 transported from the first transfer section 200 to facilitate the subsequent detection by the photographing module. The photographing module inspects the placement and appearance of the D-tubes 500. The test results are recorded, and then the first material handling device simultaneously grabs the D-tube 500 from the first adjustment module and the photographing module. The D-tube 500 that has been tested on the photographing module is transported to the second adjustment module. The first adjustment module positions the D-tube 500 and then transports it to the photographing module. The second adjustment module adjusts the posture of the D-tube 500 by rotating it according to the test results of the photographing module. When the first material handling device simultaneously grabs the D-tube 500 from the first adjustment module and the photographing module, if there is an adjusted D-tube 500 on the second adjustment module, it is grabbed and transported to the second transfer unit 400 to quickly transfer the D-tube 500. The second transfer unit 400 is used to transport the tested and adjusted D-tube 500 to a designated position to wait for the next process. Through the coordinated operation of various parts, the D-type tube 500 can be automatically fed, its shape detected, its positioning and adjustment adjusted, replacing manual labor to reduce the probability of defective products and improve production efficiency.

[0044] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A D-type pipe feeding device, characterized in that: It includes a feeding section (100), a first transfer section (200), an inspection section (300), and a second transfer section (400) arranged sequentially, wherein The feeding unit (100) includes a detachable hopper (130), a fixed frame (110), and an AGV trolley (150). The AGV trolley (150) is used to replace the hopper (130) on the fixed frame (110). The hopper (130) is provided with a first driving structure and a second driving structure. The first driving structure is detachably connected to the fixed frame (110) by a fixing pin. The first driving structure is used to drive the hopper (130) to move to dock with the first transfer unit (200). The second driving structure can distribute the D-shaped tube (500) on the hopper (130) to the first transfer unit (200). The first transfer unit (200) docks with the detection unit (300). The first transfer unit (200) is used to transfer the D-shaped tube (500) to the detection unit (300). The first transfer unit (200) includes an inclined conveyor chain (210). One end of the conveyor chain (210) is provided with a docking cylinder (220). The drive shaft of the docking cylinder (220) is provided with a first connector (221). The hopper (130) is provided with a second connector (1302). After the first drive structure drives the hopper (130) to move close to the first transfer unit (200), the docking cylinder (220) drives the first connector (221) to clamp the second connector (1302) and lift the hopper (130) so that the outlet (1301) of the hopper (130) is suspended above the conveyor chain (210). The detection unit (300) includes a detection table (301) and a first material handling device. The detection table (301) is equipped with a first adjustment module, a photographing module and a second adjustment module. The first adjustment module is used to adjust the D-tube (500) to a specified position. The photographing module is used to detect the placement state of the D-tube (500). The second adjustment module is used to rotate and adjust the placement state of the D-tube (500). The first material handling device is used to simultaneously grab the D-tube (500) on the first adjustment module, the photographing module and the second adjustment module. The second transfer unit (400) is used to transfer the adjusted D-shaped tube (500) to a preset position; The first driving structure includes a slide bar, a docking block (1321), and a driving cylinder (120). The hopper (130) is slidably connected to the slide bar via a slider. The docking block (1321) is fixed to the hopper (130). The driving cylinder (120) is provided with an insert (121) that can dock with the docking block (1321). The driving cylinder (120) drives the hopper (130) to move to dock with the first transfer unit (200). The second drive structure includes a conveyor belt (131) capable of rotating cyclically and a drive motor (140). A first connector (1311) is provided on the shaft of the conveyor belt (131). After the hopper (130) is connected to the first transfer unit (200), the first connector (1311) is connected to the second connector on the drive motor (140).

2. The D-type tube feeding device according to claim 1, characterized in that: Each link of the conveyor chain (210) is provided with a carrier (211) for loading the D-shaped tube (500), and the other end of the conveyor chain (210) is provided with a guide plate (230) for guiding the D-shaped tube (500) to the testing station (301).

3. The D-type pipe feeding device according to claim 1, characterized in that: The first adjustment module includes a first positioning component (302), a second positioning component (303), a first adjustment cylinder (310), and a second adjustment cylinder (320). The first positioning component (302) and the second positioning component (303) form an L-shaped positioning angle. The first adjustment cylinder (310) is used to push the D-shaped tube (500) conveyed by the first transfer unit (200) to fit against the second positioning component (303). The second adjustment cylinder (320) is used to push the D-shaped tube (500) conveyed by the first transfer unit (200) to fit against the first positioning component (302).

4. The D-type pipe feeding device according to claim 1, characterized in that: The photographing module includes two limiting members and a camera (370). The two limiting members are fixed to the detection stage (301) and define a fixing groove (305). The camera (370) is used to photograph the posture of the D-shaped tube (500) located in the fixing groove (305).

5. The D-type pipe feeding device according to claim 1, characterized in that: The second adjustment module includes a rotary motor (380) and an adjustment cylinder (390). The adjustment cylinder (390) is fixed to the detection table (301). The rotary motor (380) is fixed to the cylinder shaft of the adjustment cylinder (390). The rotating shaft of the rotary motor (380) is provided with a pneumatic finger for clamping the D-shaped tube (500). The detection table (301) is also provided with a retraction port (304). The adjustment cylinder (390) can adjust the D-shaped tube (500) clamped by the pneumatic finger to be above the retraction port (304).

6. The D-type pipe feeding device according to claim 1, characterized in that: The first material handling device includes a gantry (306), a first linear cylinder (330), a second linear cylinder (340), and three parallel grippers (350). The first linear cylinder (330) is fixed on the gantry (306) and spans horizontally above the first adjustment module, the photographing module, and the second adjustment module. The second linear cylinder (340) is fixed on the slider of the first linear cylinder (330). The cylinder shaft of the second linear cylinder (340) is provided with a mounting plate for mounting the three parallel grippers (350). The second linear cylinder (340) is used to drive the three parallel grippers (350) to move up and down simultaneously to clamp the D-shaped tube (500) on the first adjustment module, the photographing module, and the second adjustment module.

7. The D-type pipe feeding device according to claim 1, characterized in that: The second transfer unit (400) includes a placement platform (410), a third linear cylinder (420), a fourth linear cylinder (430), and two transfer cylinders (440). The placement platform (410) is provided with slots (411) for placing D-shaped tubes (500) at intervals. The two transfer cylinders (440) are arranged on the cylinder shaft of the fourth linear cylinder (430). The fourth linear cylinder (430) is fixed on the cylinder shaft of the third linear cylinder (420). After the transfer cylinder (440) clamps the slot (411), the fourth linear cylinder (430) drives the transfer cylinder (440) to rise so that the D-shaped tube (500) leaves the slot (411) where it is currently located. The third linear cylinder (420) drives the transfer cylinder (440) to move above the next slot (411).

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