Full-automatic feeding device of laser pipe cutting machine

Abstract

This invention relates to the technical field of laser tube cutting machine auxiliary equipment, and more particularly to a fully automatic feeding device for a laser tube cutting machine. It includes a frame, a storage unit, a feeding and distributing unit, a lifting unit, a robotic arm unit, a feeding unit, and a tube-shrunking machine. The laser tube cutting machine is located on the left side of the frame, the tube-shrunking machine is located at the rear of the frame, and the storage unit is located on the right side of the frame. The feeding and distributing unit, the feeding unit, and the lifting unit, all fixedly connected to the storage unit, are located on the upper part of the frame from right to left. The robotic arm unit is slidably connected to the feeding and distributing unit along the left-right direction of the frame. This invention utilizes the cooperation of the feeding unit and the tube-shrunking machine to achieve the tube-shrunking process during feeding, improving the cutting efficiency of tubes requiring insertion and having significant production value.

Description

Technical Field

[0001] This invention relates to the field of laser tube cutting machine equipment technology, and in particular to a fully automatic feeding device for a laser tube cutting machine. Background Technology

[0002] Laser cutting machines use a laser beam emitted from a laser source to focus a high-power-density laser beam through an optical path system. The laser beam replaces the traditional mechanical blade, resulting in high precision, fast cutting, smooth cuts, and low processing costs. It can meet the cutting needs of various shapes of pipes.

[0003] Many automatic feeding devices have been developed for laser cutting machines, and these devices come in various structural forms. However, there is no known equipment that automatically feeds pipes after they have been shortened using a pipe shortening machine. Some pipes require shortening of a certain length of their diameter before cutting to facilitate subsequent splicing and assembly. This necessitates shortening the pipes using a shortening machine before cutting. Currently, the common solution is to manually shorten the pipes on the shortening machine. The shortened pipes are then collected and transported together to the laser pipe cutting machine, where they are manually or with the aid of an automatic feeding device for cutting, drilling, and other processing. This process involves manual loading and unloading of the shortening machine, low automation in pipe storage and transportation, is time-consuming, labor-intensive, inefficient, and occupies a large amount of factory space.

[0004] Existing automatic feeding devices for laser tube cutting machines with clamps for precise feeding fall into two categories. One type has a large crossbeam; while this type offers good precision, it is costly. Furthermore, for long tubes such as 12 meters, the crossbeam span is too large, making it prone to sagging and deformation in the middle, increasing manufacturing difficulty, cost, and difficulty in maintaining precision over long periods. The other type lacks a large crossbeam. While this type doesn't limit tube length and is less expensive, the lack of a synchronization mechanism between the lifting components during the tube's forward and backward movement results in slow movement. Although it also uses clamps for feeding, the feeding precision is not high. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a fully automatic feeding device for a laser tube cutting machine, which solves the problem that the feeding devices of laser tube cutting machines in the prior art are difficult to integrate with the tube narrowing function. At the same time, the present invention solves the problem of automatic and accurate feeding of long tubes.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] This invention provides a fully automatic feeding device for a laser tube cutting machine, comprising a frame, a storage unit, a feeding and distributing unit, a lifting unit, a robotic arm unit, a feeding unit, and a tube shrinking machine.

[0010] A laser tube cutting machine is installed on the left side of the frame, a tube shrinking machine is installed on the rear side of the frame, and a material storage unit is installed on the right side of the frame. A feeding and distributing unit, a feeding unit, and a lifting unit, which are connected to the material storage unit, are fixedly installed on the top of the frame from right to left. A robotic arm unit is slidably connected to the feeding and distributing unit along the left and right direction of the frame.

[0011] The storage unit is used to store the pipes to be processed. The feeding and distributing unit is used to receive the pipes conveyed by the storage unit and to support and distribute the pipes. The feeding unit is used to send the pipes lifted by the feeding and distributing unit to the shrinking machine for shrinking. After shrinking, the pipes are distributed by the feeding and distributing unit and then sent to the lifting unit for lifting. The lifted pipes are then sent to the laser pipe cutting machine for cutting by the robotic arm unit.

[0012] A further technical solution is that the storage unit includes at least two sets of storage mechanisms, each set of storage mechanisms including a material belt support, a material belt and a winding wheel, the winding wheels of multiple sets of storage mechanisms are fixedly connected to a winding shaft, the winding shaft is rotatably connected to the frame and driven by a winding motor fixed to the frame.

[0013] In each of the aforementioned storage mechanisms, one end of the material strip is fixed to the material strip support, and the other end is fixed to the winding reel. The middle portion of the material strip forms an upward-opening U-shaped hopper, in which the pipe to be processed is placed.

[0014] A further technical solution is that the feeding and distributing unit includes multiple sets of feeding and distributing mechanisms, and the multiple sets of feeding and distributing mechanisms are respectively and correspondingly arranged on the multiple sets of storage mechanisms;

[0015] Each feeding and distributing mechanism includes a blocking mechanism, a buffer mechanism, a supporting mechanism, a distributing mechanism, and a base;

[0016] The base is fixed above the frame, and the material blocking mechanism is vertically connected to the base. The top of the material blocking mechanism has a retractable kicking component, and the middle of the material blocking mechanism has a protrusion. The distance between the extended kicking component and the protrusion is the diameter of a pipe. The distance between the edge of the raised material blocking mechanism and the edge of the U-shaped material hopper is the diameter of a pipe.

[0017] A flow strip is provided on the top of the base. The buffer mechanism and the material support mechanism are arranged opposite to each other on both sides of the flow strip. The buffer mechanism is rotatably connected to the base and is used to buffer the pipes separated by the blocking mechanism. The material support mechanism is vertically connected to the base and has a clamping part on its top. The material support mechanism is used to clamp and lift the pipes blocked by the buffer mechanism. The area between the material distribution mechanism and the buffer mechanism is a buffer zone. The flow strip is provided in the buffer zone. The material distribution mechanism is vertically connected to the base and is used to send the pipes in the buffer zone to the lifting unit.

[0018] A further technical solution is that the feeding unit includes a frame, a drive mechanism, a lifting mechanism, and a gripper mechanism. The frame is fixed above the frame, and the length direction of the frame is parallel to the front-back direction of the frame. The upper surface of the frame is slidably connected to the lifting mechanism along the front-back direction of the frame. The drive mechanism and the lifting mechanism are connected by a chain drive. The gripper mechanism is located at the top of the lifting mechanism.

[0019] A further technical solution is that the lifting mechanism includes a first drive cylinder, a hinge, a connecting rod, a rotating shaft, a swing arm, a base, and a limiting member. The gripper mechanism includes a second drive cylinder, a connecting rod mechanism, a pair of grippers, and a gripper base. The base is slidably mounted on the frame in the front-rear direction. The upper surface of the base is hinged to the lower end of the swing arm, and the upper end of the swing arm is hinged to the gripper base. The limiting member is provided at the front end of the base, and the first drive cylinder is provided at the rear end of the base. The piston rod end of the first drive cylinder is connected to the hinge, the lower surface of the hinge is slidably connected to the base, the upper surface of the hinge is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the rotating shaft, and both ends of the rotating shaft are connected to the middle of the swing arm.

[0020] A second drive cylinder is provided at one end of the gripper base, and a pair of grippers are slidably provided at the other end of the gripper base. The output end of the second drive cylinder is connected to the first set of grippers in the pair. The first set of grippers is connected to the second set of grippers in the pair through the linkage mechanism. The first set of grippers and the second set of grippers are provided with contour wear-resistant blocks.

[0021] A further technical solution is that when the connecting rod and the swing rod are parallel to each other, the clamping center axis of the clamping part of the material support mechanism is collinear with the feed inlet center axis of the shrinking machine, and the hinge center of the hinge seat and the connecting rod does not coincide with the hinge center of the swing rod and the base.

[0022] A further technical solution is that the lifting unit includes multiple lifting mechanisms, and the multiple lifting mechanisms are respectively and correspondingly arranged on the multiple feeding and distributing mechanisms. Each lifting mechanism includes a box, a primary lifting plate, a secondary lifting plate, a first annular chain, and a sprocket assembly.

[0023] The first-stage lifting plate is slidably connected to the box body, and the second-stage lifting plate is slidably connected to the first-stage lifting plate. The top of the second-stage lifting plate has an L-shaped pipe support.

[0024] A drive motor is fixed to the side of the housing, and a rack is provided on the side of the first-stage lifting plate. The drive motor meshes with the rack through a drive gear, thereby driving the first-stage lifting plate to move up and down reciprocally. The sprocket assembly is provided at the upper and lower ends of the middle position of the first-stage lifting plate. The first annular chain is wound around the sprocket assembly. The first annular chain is provided with a first connecting block and a second connecting block. The first connecting block is fixed to the housing, and the second connecting block is fixed to the second-stage lifting plate.

[0025] A further technical solution includes a length-fixing unit, which includes a servo motor, a synchronous belt, a feeding assembly, a support, and a length-fixing limiting plate fixed to the front side of the frame. The support is fixed to the frame, with the servo motor fixed at one end and the feeding assembly slidably connected to the other end.

[0026] The servo motor is connected to the material pushing assembly via the synchronous belt drive, and the material pushing part of the material pushing assembly is located at the rear end of the L-shaped tube support part.

[0027] A further technical solution is that the robotic arm unit includes multiple sets of robotic arm mechanisms, and each set of robotic arm mechanisms is respectively set to correspond to one of the multiple sets of lifting mechanisms.

[0028] Each robotic arm mechanism includes a robotic arm body that is slidably connected to the base in a left-right direction. The top of the robotic arm body is equipped with a clamping mechanism, and the bottom with a clutch mechanism. A second annular chain is mounted on the base. The clamping mechanism can grip the pipe above the L-shaped pipe support. The second annular chain is equipped with a drive device, which can power-connect or disconnect the clutch mechanism. The clutch mechanism can drive the robotic arm body and the clamping mechanism to reciprocate left-right between the lifting unit and the laser pipe cutter.

[0029] A further technical solution includes a front flush plate located at the front end of the storage unit and a rear flush plate located at the rear end of the storage unit.

[0030] (III) Beneficial Effects

[0031] The beneficial effects of this invention are:

[0032] Compared to existing technologies, the feeding and sorting unit and the feeding unit in this invention can cooperate to accurately feed the pipes to be processed to the shrinking machine for shrinking and then accurately return the shrunken pipes to the feeding and sorting unit. This process reduces the processing errors caused by manual shrinking and avoids the time-consuming, labor-intensive, and space-consuming nature of manual transfer. It improves the automation level of pipe storage and transfer, allowing the pipe shrinking process to be interspersed during the feeding process, thereby increasing the cutting efficiency of pipes requiring interspersed feeding and has positive production significance. The invention has a simple structure, avoiding the large crossbeam structure of traditional laser cutting machines while reducing manufacturing costs and ensuring high-precision feeding. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall assembly structure of the fully automatic feeding device for a laser tube cutting machine.

[0034] Figure 2 for Figure 1 Top view;

[0035] Figure 3 This is a schematic diagram of the overall structure of the storage unit;

[0036] Figure 4 This is a schematic diagram of the overall structure of the feeding and distributing unit;

[0037] Figure 5 A schematic diagram showing the connection structure between the material storage mechanism and the material feeding and distributing mechanism;

[0038] Figure 6 This is a schematic diagram of the overall structure of the feeding unit;

[0039] Figure 7 for Figure 5 Enlarged structural diagram at point A;

[0040] Figure 8 This is a schematic diagram of the overall structure of the gripper mechanism of the feeding unit;

[0041] Figure 9 This is a schematic diagram of the overall structure of the material lifting mechanism;

[0042] Figure 10 for Figure 8 A cross-sectional view along the plane containing the first ring chain;

[0043] Figure 11 This is a schematic diagram of the overall structure of a fixed-length unit;

[0044] Figure 12 This is a schematic diagram of the connection structure between the robotic arm mechanism and the feeding and distributing mechanism.

[0045] [Explanation of Labels in the Attached Image]

[0046] 100: Framework;

[0047] 200: Material storage unit; 210: Material storage mechanism; 201: Material belt support; 202: Material belt; 203: Winding reel; 204: Winding shaft; 205: Winding motor; 206: Front end trimming plate; 207: Rear end trimming plate;

[0048] 300: Feeding and distributing unit; 310: Feeding and distributing mechanism; 301: Material blocking mechanism; 302: Buffer mechanism; 303: Material supporting mechanism; 304: Material distributing mechanism; 305: Base; 306: Flow bar; 301-1: Material kicking assembly; 301-2: Protrusion;

[0049] 400: Lifting unit; 410: Lifting mechanism; 401: Housing; 402: First-stage lifting plate; 403: Second-stage lifting plate; 404: First annular chain; 405: Sprocket assembly; 406: First connecting block; 407: Second connecting block; 403-1: L-shaped pipe support unit;

[0050] 500: Fixed-length unit; 501: Servo motor; 502: Synchronous belt; 503: Pushing assembly; 504: Support; 505: Fixed-length limit plate;

[0051] 600: Robotic arm unit; 610: Robotic arm mechanism; 601: Main body of the robotic arm; 602: Gripping mechanism; 603: Clutch mechanism; 604: Second ring chain;

[0052] 700: Feeding unit; 701: Frame; 702: Drive mechanism; 703: Lifting mechanism; 704: Gripper mechanism; 703-1: First drive cylinder; 703-2: Hinge seat; 703-3: Connecting rod; 703-4: Rotating shaft; 703-5: Swing rod; 703-6: Base; 703-7: Limiting component; 704-1: Second drive cylinder; 704-2: Transmission connecting rod; 704-3: Gripper; 704-4: Gripper base; 704-5: Contouring wear-resistant block;

[0053] 800: Shrinking machine;

[0054] 900: Laser tube cutting machine. Detailed Implementation

[0055] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used interchangeably. Figure 1 The orientation is used as a reference.

[0056] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0057] Please refer to Figure 1 and Figure 2 , Figure 1 This diagram shows a perspective view of the fully automatic feeding device of the laser tube cutting machine according to this embodiment. Figure 2 A top view of the fully automatic feeding device of the laser tube cutting machine in this embodiment is shown.

[0058] This embodiment provides a fully automatic feeding device for a laser tube cutting machine, including: a frame 100, a storage unit 200, a feeding and distributing unit 300, a lifting unit 400, a robotic arm unit 600, a feeding unit 700, and a shrinking machine 800.

[0059] A laser tube cutting machine 900 is installed on the left side of the frame 100, a shrinking machine 800 is installed on the rear side of the frame 100, a storage unit 200 is installed on the right side of the frame 100, and a feeding and distributing unit 300, a feeding unit 700, and a lifting unit 400 connected to the storage unit 200 are fixedly installed on the top of the frame 100 from right to left. A robotic arm unit 600 is slidably connected to the feeding and distributing unit 300 along the left and right direction of the frame 100.

[0060] The storage unit 200 is used to store the pipes to be processed. The feeding and distributing unit 300 is used to receive the pipes conveyed by the storage unit 200 and to support and distribute the pipes. The feeding unit 700 is used to send the pipes lifted by the feeding and distributing unit 300 to the shrinking machine 800 for shrinking. After the shrinking is completed, the pipes are distributed by the feeding and distributing unit 300 and then conveyed to the lifting unit 400 for lifting. The lifted pipes are then sent to the laser pipe cutter 900 for cutting by the robotic arm unit 600.

[0061] In this embodiment, the laser tube cutting machine 900 is located on the left side of the frame 100, and the cutting host of the laser tube cutting machine 900 is located on the front side of the frame 100. The top of the feeding and distributing unit 300 has a downward slope from right to left. Fixing holes are opened on the frame 100. The feeding and distributing unit 300, the feeding unit 700, and the lifting unit 400 are all fixedly connected to the fixing holes by threads, thereby ensuring that the installation position of each unit is correct.

[0062] The fully automatic feeding device of the laser tube cutting machine in this embodiment operates as follows: First, the tube to be processed in the storage unit 200, which is in its initial position, is rolled up to the feeding and distributing unit 300 under the driving action. Second, after the feeding and distributing unit 300 kicks the tube to be processed, the tube to be processed in the storage unit 200 returns to its original position under the driving action. At this time, one tube to be processed remains at the feeding and distributing unit 300. Third, the tube to be processed rolls to the left along the feeding and distributing unit 300 to the feeding unit 700 and is lifted by the feeding and distributing unit 300. Fourth, the feeding unit 700 clamps the lifted tube to be processed and moves it backward to send the tube to the shrinking machine 800 at the rear end for shrinking processing. Fifth, the tube with the shrinked end is clamped by the feeding unit 700 and moved forward to return to the feeding and distributing unit 300. Step 6: The returned pipe continues to roll to the left along the feeding and distributing unit 300 to the lifting unit 400. Step 7: The lifting unit 400 lifts the pipe to a certain height. At this time, the robotic arm unit 600 moves left and right to adjust its position and then clamps the pipe lifted by the lifting unit 400, continuing to move to the left to the laser pipe cutter 900. Step 8: The laser pipe cutter 900 cuts the pipe after the end-reducing process.

[0063] Furthermore, the fully automatic feeding device of the laser tube cutting machine in this embodiment also includes an electrical control cabinet, which is electrically connected to the storage unit 200, the feeding and distributing unit 300, the lifting unit 400, the robotic arm unit 600, the feeding unit 700, the shrinking machine 800, and the laser tube cutting machine 900, respectively, to control the coordinated operation of each unit.

[0064] Please refer to Figure 2 and Figure 3 The storage unit 200 includes at least two sets of storage mechanisms 210. Each set of storage mechanisms 210 includes a material belt support 201, a material belt 202, and a winding wheel 203. The winding wheels 203 of the multiple sets of storage mechanisms 210 are fixedly connected to a winding shaft 204. The winding shaft 204 is rotatably connected to the frame 100 and driven by a winding motor 205 fixed to the frame 100.

[0065] In each storage mechanism 210, one end of the material belt 202 is fixed to the material belt bracket 201, and the other end is fixed to the winding reel 203. The middle part of the material belt 202 forms an upward-opening U-shaped silo, and the pipe to be processed is placed in the U-shaped silo.

[0066] Specifically, the storage unit 200 in this embodiment includes 6 sets of storage mechanisms 210. The 6 sets of storage mechanisms 210 are arranged in parallel front to back. The length and tension of the material strips 202 on the 6 sets of storage mechanisms 210 are consistent. The winding wheel 203 can maintain synchronous rotation under the drive of the winding shaft 204, thereby ensuring that the pipes to be processed in the U-shaped material hopper are rolled up smoothly.

[0067] Please refer to Figure 2 , Figure 4 and Figure 5 The feeding and distributing unit 300 includes multiple sets of feeding and distributing mechanisms 310, which are respectively and correspondingly arranged on multiple sets of storage mechanisms 210. Each set of feeding and distributing mechanisms 310 includes a blocking mechanism 301, a buffer mechanism 302, a supporting mechanism 303, a distributing mechanism 304, and a base 305.

[0068] The base 305 is fixed above the frame 100. The material blocking mechanism 301 is vertically connected to the base 305. The top of the material blocking mechanism 301 has a retractable kicking component 301-1. The middle part of the material blocking mechanism 301 has a protrusion 301-2. The distance between the extended kicking component 301-1 and the protrusion 301-2 is the diameter of a pipe. The distance between the edge of the raised material blocking mechanism 301 and the edge of the U-shaped material hopper is the diameter of a pipe.

[0069] A flow bar 306 is provided on the top of the base 305. A buffer mechanism 302 and a material support mechanism 303 are arranged opposite to each other on both sides of the flow bar 306. The buffer mechanism 302 is rotatably connected to the base 305 and is used to buffer the pipes separated by the blocking mechanism 301. The material support mechanism 303 is vertically connected to the base 305 and is provided with a clamping part on the top of the material support mechanism 303. The material support mechanism 303 is used to clamp and lift the pipes blocked by the buffer mechanism 302. The area between the material distribution mechanism 304 and the buffer mechanism 302 is a buffer zone. The material distribution mechanism 304 is vertically connected to the base 305 and is used to send the pipes in the buffer zone to the lifting unit 400.

[0070] Specifically, in this embodiment, the feeding and distributing unit 300 includes 6 sets of feeding and distributing mechanisms 310, which are arranged in parallel front to back. The top of the base 305 in the feeding and distributing mechanism 310 has an inclined slope from right to left, which can be used for the free rolling of the pipe.

[0071] Specifically, the material blocking mechanism 301 is placed on a linear guide rail and driven by a cylinder, moving from top to bottom or bottom to top. The material kicking component 301-1 on it is driven by a linear cylinder, moving left and right. After the material blocking mechanism 301 rises to a designated height, the protrusion 301-2 can connect well with the material belt 202. The buffer mechanism 302 is vertical in its working state and is normally hidden on the side of the base 305. The material supporting mechanism 303 is driven by a cylinder, moving up and down. The material separating mechanism 304 is placed on a linear guide rail and driven by a cylinder, moving from top to bottom or bottom to top. It should be noted that the drive cylinders of the material blocking mechanism 301, the material supporting mechanism 303, and the material separating mechanism 304 are all fixedly connected to the base 305 via mounting seats.

[0072] Please refer to Figure 6 The feeding unit 700 includes a frame 701, a drive mechanism 702, a lifting mechanism 703, and a gripper mechanism 704.

[0073] The frame 701 is fixed above the frame 100, and the length direction of the frame 701 is parallel to the front-back direction. A drive mechanism 702 is provided at one end of the frame 701. The upper surface of the frame 701 is slidably connected to the lifting mechanism 703 along the front-back direction of the frame 100. The drive mechanism 702 and the lifting mechanism 703 are connected by chain transmission. A gripper mechanism 704 is provided at the top of the lifting mechanism 703.

[0074] For further details, please refer to Figure 7 and Figure 8 The lifting mechanism 703 includes a first drive cylinder 703-1, a hinge 703-2, a connecting rod 703-3, a rotating shaft 703-4, a swing rod 703-5, a base 703-6, and a limiting member 703-7; the gripper mechanism 704 includes a second drive cylinder 704-1, a connecting rod mechanism 704-2, a pair of grippers 704-3, and a gripper base 704-4.

[0075] The base 703-6 is slidably mounted on the frame 701 in the front-back direction. The upper surface of the base 703-6 is hinged to the lower end of the swing rod 703-5. The upper end of the swing rod 703-5 is hinged to the gripper base 704-4. The front end of the base 703-6 is provided with a limiting member 703-7. The rear end of the base 703-6 is provided with a first driving cylinder 703-1. The piston rod end of the first driving cylinder 703-1 is connected to the hinge seat 703-2. The lower surface of the hinge seat 703-2 is slidably connected to the base 703-6. The upper surface of the hinge seat 703-2 is hinged to one end of the connecting rod 703-3. The other end of the connecting rod 703-3 is hinged to the rotating shaft 703-4. The two ends of the rotating shaft 703-4 are connected to the middle part of the swing rod 703-5.

[0076] A second drive cylinder 704-1 is installed at one end of the gripper base 704-4, and a pair of grippers 704-3 are slidably mounted on the other end of the gripper base 704-4. The output end of the second drive cylinder 704-1 is connected to the first set of grippers in the pair of grippers 704-3. The first set of grippers is connected to the second set of grippers in the pair of grippers 704-3 via a linkage mechanism 704-2. Contouring wear-resistant blocks 704-5 are installed on both the first and second sets of grippers. It should be noted that the shape of the contouring wear-resistant blocks 704-5 is adapted to the clamping surface of the grippers 704-3, and the working surface of the contouring wear-resistant blocks 704-5 can closely conform to the cylindrical tube. The material of the contouring wear-resistant blocks 704-5 is preferably a composite material, such as polyurethane.

[0077] When the connecting rod 703-3 and the swing rod 703-5 are parallel to each other, the clamping center axis of the clamping part of the material support mechanism 303 is collinear with the feed inlet center axis of the shrinking machine 800, and the hinge center of the hinge seat 703-2 and the connecting rod 703-3 does not coincide with the hinge center of the swing rod 703-5 and the base 703-6.

[0078] Specifically, the hinge 703-2 moves back and forth via the linear guide rail on the base 703-6, thereby controlling the lifting and lowering of the gripper mechanism 704; the base 703-6 moves back and forth via the linear guide rail on the frame 701, thereby controlling the lifting mechanism 703 and the gripper mechanism 704 to move together in the front-back direction.

[0079] It should be noted that when the gripper mechanism 704 is at its lowest point, although the thrust of the first drive cylinder 703-1 is converted into a small force to raise and lower the gripper mechanism 704, the gripper mechanism 704 is in an open and unloaded state at this time, and the load on the first drive cylinder 703-1 is only the weight of the gripper mechanism 704 itself. As the piston rod of the first drive cylinder 703-1 extends, the gripper mechanism 704 gradually rises to its highest point. When it reaches its highest point, the gripper 704-3 clamps the tube for loading and unloading into the shrinking machine 800. At this time, the gripper mechanism 704 bears a horizontal force from front to back, which causes the swing arm 703-5 to swing left and right. However, since the hinge center of hinge seat 703-2 and connecting rod 703-3 does not coincide with the hinge center of swing rod 703-5 and base 703-6, swing rod 703-5 is forced by connecting rod 703-3 to not swing independently. The front and rear horizontal force on gripper mechanism 704 is converted into the vertical upward pulling force of connecting rod 703-3 on linear guide slider. The first drive cylinder 703-1 is theoretically no longer under force. With the help of the dead point principle of the linkage mechanism, the stability of gripper mechanism 704 in the loading and unloading process of shrinking machine 800 is greatly improved, and the risk of failure such as air circuit interruption is greatly reduced.

[0080] Please refer to Figure 2 , Figure 9 and Figure 10The lifting unit 400 includes multiple lifting mechanisms 410, which are respectively and correspondingly arranged on multiple feeding and distributing mechanisms 310. Each lifting mechanism 410 includes a housing 401, a primary lifting plate 402, a secondary lifting plate 403, a first annular chain 404, and a sprocket assembly 405.

[0081] A primary lifting plate 402 is slidably connected to the housing 401, and a secondary lifting plate 403 is slidably connected to the primary lifting plate 402. The top of the secondary lifting plate 403 has an L-shaped pipe support part 403-1.

[0082] A drive motor is fixed to the side of the housing 401, and a rack is provided on the side of the first-stage lifting plate 402. The drive motor meshes with the rack through the drive gear, thereby driving the first-stage lifting plate 402 to move up and down reciprocally. A sprocket assembly 405 is provided at the upper and lower ends of the first-stage lifting plate 402. A first annular chain 404 is wound on the sprocket assembly 405. A first connecting block 406 and a second connecting block 407 are provided on the first annular chain 404. The first connecting block 406 is fixed to the housing 401, and the second connecting block 407 is fixed to the second-stage lifting plate 403.

[0083] Specifically, the lifting unit 400 includes six lifting mechanisms 410. A drive gear is connected to the end of the drive motor output shaft, and the drive gear meshes with a rack on the side of the first-stage lifting plate 402 for transmission. The front and rear sides of the first-stage lifting plate 402 are connected to the housing 401 and the second-stage lifting plate 403 respectively via linear guide rails.

[0084] When the drive gear drives the first-stage lifting plate 402 to rise via the rack, the upper sprocket assembly 405 rises. At this time, the first connecting block 406 remains stationary, and the second-stage lifting plate 403, which is fixedly connected to the second connecting block 407, rises at twice the speed of the first-stage lifting plate 402, and the rising distance of the second-stage lifting plate 403 is also twice that of the first-stage lifting plate 402. Similarly, when the drive gear drives the first-stage lifting plate 402 to fall via the rack, the second-stage lifting plate 403 also falls at twice the speed and displacement of the first-stage lifting plate 402. The drive motor is a servo motor, which provides smooth lifting and high precision, and can stop at any height.

[0085] Please refer to Figure 2 , Figure 3 and Figure 11 The fully automatic feeding device of the laser tube cutting machine in this embodiment also includes a length-fixing unit 500, which includes a servo motor 501, a synchronous belt 502, a pushing assembly 503, a support 504, and a length-fixing limiting plate 505 fixed to the front side of the frame 100. 。The support 504 is fixed to the frame 100 in the front-to-back direction. A servo motor 501 is fixed to one end of the support 504, and a pusher assembly 503 is slidably connected to the other end. The servo motor 501 is connected to the pusher assembly 503 through a synchronous belt 502. The pusher part of the pusher assembly 503 is located at the rear end of the L-shaped tube support part 403-1.

[0086] Specifically, the fixed-length unit 500 is fixed on the frame 100 and close to the lifting unit 400. The height of the pushing component 503 is consistent with the lifting height of the lifting unit 400. In this way, the pushing component, driven by the servo motor 501, can push the narrowed tube to the fixed-length limit plate 505, thereby accurately determining the actual length of the tube, which is convenient for the subsequent laser tube cutting machine 900 to accurately cut the tube.

[0087] Please refer to Figure 1 , Figure 2 and Figure 12 The robotic arm unit 600 includes multiple robotic arm mechanisms 610, each of which corresponds to a different lifting mechanism 410.

[0088] Each robotic arm mechanism 610 includes a robotic arm body 601, which is slidably connected to a base 305 in the left-right direction. The top of the robotic arm body 601 is provided with a clamping mechanism 602, and the bottom is provided with a clutch mechanism 603. A second annular chain 604 is provided on the base 305.

[0089] The clamping mechanism 602 can clamp the pipe above the L-shaped pipe support part 403-1. The second ring chain 604 is equipped with a drive device. The second ring chain 604 can power connect or disconnect the clutch mechanism 603. The clutch mechanism 603 can drive the robotic arm body 601 and the clamping mechanism 602 to move back and forth in the left and right direction between the lifting unit 400 and the laser pipe cutter 900.

[0090] Specifically, the robotic arm unit 600 includes 6 sets of robotic arm mechanisms 610. The main body of the robotic arm 601 is set on the linear guide rail on the side of the base 305 and can perform translational movements in the left and right directions. The clamping mechanism 602 is driven by a cylinder, and the upper and lower jaws achieve automatic centering and clamping through a linkage mechanism.

[0091] Please refer to Figure 3 The fully automatic feeding device of the laser tube cutting machine in this embodiment also includes a front end-aligning plate 206 located at the front end of the storage unit 200 and a rear end-aligning plate 207 located at the rear end of the storage unit 200.

[0092] Specifically, the front end-aligning plate 206 and the rear end-aligning plate 207 can perform a preliminary end alignment of the pipe to be processed, making the feeding process more stable.

[0093] The specific working process of the fully automatic feeding device of the laser tube cutting machine in this embodiment is as follows:

[0094] After the entire equipment is installed, the pipe to be processed is placed in the U-shaped hopper formed by the material strip 202, with the material strip bracket 201 providing support. Next, the winding motor 205 starts working, driving the winding shaft 204 to rotate. The winding shaft 204 then drives the fixed winding wheel 203 to rotate, causing the material strip 202 wound on the winding wheel 203 to begin tensioning. As the winding wheel 205 continues to operate, the material strip 202 continues to contract, and the pipe to be processed is wound up to the feeding and distributing mechanism 310. Simultaneously, the blocking mechanism 301 rises to block the wound pipe. Then, the kicking component 301-1 on the blocking mechanism 301 extends, pushing the excess pipe back into the U-shaped hopper. At this point, a pipe is just positioned between the protrusion 301-2 and the kicking component 301-1. Afterwards, the coil motor 205 reverses, causing the U-shaped hopper to return to its original position. Next, the kicking assembly 301-1 retracts, and the blocking mechanism 301 begins to descend. When it descends to a certain position, the stuck pipe will roll to the left along the flow bar 306 until it is buffered and blocked by the rotating and raised buffer mechanism 302. After being blocked, the supporting mechanism 303 lifts the pipe. The drive mechanism 702 on the feeding unit 700 drives the lifting mechanism 703 and the gripper mechanism 704 to move forward along the frame 701 to the supporting mechanism 303. At this time, the first drive cylinder 730-1 pushes the hinge seat 703-2 forward. The hinge seat 703-2 drives the connecting rod 703-3 to swing. The connecting rod 703-3 pushes the rotating shaft 703-4 to make a curved motion. The rotating shaft 703-4 drives the swing arm 703-5 to swing back and forth. The upper end of the swing arm 703-5 drives the gripper base 704-4 to achieve lifting and lowering motion. The second drive cylinder 704-1 on the gripper base 704-4 pushes the gripper 704-3; the gripper 704-3 automatically centers and clamps the pipe lifted by the material support mechanism 303 under the action of the transmission connecting rod 704-2. After clamping, the pipe moves to the shrinking machine 800 behind under the drive mechanism 702. After the shrinking process is completed at the shrinking machine 800, the shrunken pipe moves forward back to the material support mechanism 303 under the drive mechanism 702. At this time, the lifting mechanism 703 descends, driving the gripper mechanism 704 to descend, and the pipe is placed on the material support mechanism 303. Subsequently, the material support mechanism 303 descends, the buffer mechanism 302 rotates to release the pipe, and the pipe rolls along the flow bar 306 to the distribution mechanism 304. The distribution mechanism 304 sends the pipe to the L-shaped pipe support part 403-1 of the lifting unit 400.At this time, the first-stage lifting plate 402 rises under the action of the drive gear, and the sprocket assembly 405 drives the first annular chain 404 to rotate. Since the first connecting block 406 is fixed to the housing 401, the first annular chain 404 drives the second connecting block 407 to move upward. The second connecting block 407 then drives the second-stage lifting plate 403 to move upward. The L-shaped pipe support part 403-1 located above the second-stage lifting plate 403 will lift the pipe. After it is lifted into position, the servo motor 501 drives the pushing assembly 503 to push the pipe forward to the fixed length limit plate 505 through the synchronous belt 502, thereby obtaining the accurate length of the pipe. Subsequently, the clutch mechanism 603 in the robotic arm unit 600 is powered by the second annular chain 604, which in turn drives the robotic arm body 601 to move to the left until the clamping mechanism 602 on the robotic arm body 601 just clamps the pipe after the fixed length is completed. After the clamping is reliable, the robotic arm body 601 continues to move to the left and sends the pipe to the laser pipe cutter 900. The laser pipe cutter 900 will cut the pipe after the fixed length according to the fixed length.

[0095] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0096] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0097] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0098] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A fully automatic feeding device for a laser tube cutting machine, characterized in that, It includes a frame (100), a storage unit (200), a feeding and distributing unit (300), a lifting unit (400), a robotic arm unit (600), a feeding unit (700), and a necking machine (800). A laser tube cutting machine (900) is arranged on the left side of the frame (100), a tube shrinking machine (800) is arranged on the rear side of the frame (100), a material storage unit (200) is arranged on the right side of the frame (100), and a feeding and distributing unit (300), a feeding unit (700) and a lifting unit (400) connected to the material storage unit (200) are fixedly arranged on the upper part of the frame (100) from right to left. A robotic arm unit (600) is slidably connected to the feeding and distributing unit (300) along the left and right directions of the frame (100). The storage unit (200) is used to store the pipes to be processed. The feeding and distributing unit (300) is used to receive the pipes conveyed by the storage unit (200) and to support and distribute the pipes. The feeding unit (700) is used to send the pipes lifted by the feeding and distributing unit (300) to the shrinking machine (800) for shrinking. After the shrinking is completed, the pipes are distributed by the feeding and distributing unit (300) and then sent to the lifting unit (400) for lifting. The lifted pipes are sent to the laser pipe cutting machine (900) for cutting by the robotic arm unit (600). The storage unit (200) includes at least two sets of storage mechanisms (210); each set of storage mechanisms (210) includes a material belt support (201), a material belt (202) and a winding wheel (203). The winding wheels (203) of the multiple sets of storage mechanisms (210) are fixedly connected to a winding shaft (204). The winding shaft (204) is rotatably connected to the frame (100) and driven by a winding motor (205) fixed to the frame (100). In each of the storage mechanisms (210), one end of the material strip (202) is fixed to the material strip bracket (201), and the other end is fixed to the winding reel (203). The middle part of the material strip (202) forms an upward-opening U-shaped hopper, which is used to place the pipe to be processed. The feeding and distributing unit (300) includes multiple sets of feeding and distributing mechanisms (310), and the multiple sets of feeding and distributing mechanisms (310) are respectively and correspondingly arranged on the multiple sets of storage mechanisms (210); Each feeding and distributing mechanism (310) includes a blocking mechanism (301), a buffer mechanism (302), a supporting mechanism (303), a distributing mechanism (304), and a base (305). The base (305) is fixed above the frame (100), and the material blocking mechanism (301) is vertically connected to the base (305). The top of the material blocking mechanism (301) has a retractable kicking component (301-1), and the middle part of the material blocking mechanism (301) has a protrusion (301-2). The distance between the extended kicking component (301-1) and the protrusion (301-2) is the diameter of a pipe. The distance between the edge of the raised material blocking mechanism (301) and the edge of the U-shaped material hopper is the diameter of a pipe. A flow strip (306) is provided on the top of the base (305). The buffer mechanism (302) and the material support mechanism (303) are arranged opposite to each other on both sides of the flow strip (306). The buffer mechanism (302) is rotatably connected to the base (305). The buffer mechanism (302) is used to buffer the pipe separated by the baffle mechanism (301). The material support mechanism (303) is vertically connected to the base (305). 3) The top is provided with a clamping part. The material support mechanism (303) is used to clamp and lift the pipe blocked by the buffer mechanism (302). The area between the material distribution mechanism (304) and the buffer mechanism (302) is a buffer zone. The flow strip (306) is provided in the buffer zone. The material distribution mechanism (304) is vertically connected to the base (305). The material distribution mechanism (304) is used to send the pipe in the buffer zone to the lifting unit (400).

2. The fully automatic feeding device for the laser tube cutting machine as described in claim 1, characterized in that, The feeding unit (700) includes a frame (701), a drive mechanism (702), a lifting mechanism (703), and a gripper mechanism (704). The frame (701) is fixed above the frame (100), and the length direction of the frame (701) is parallel to the front-back direction of the frame (100). The drive mechanism (702) is provided at one end of the frame (701). The lifting mechanism (703) is slidably connected to the upper surface of the frame (701) along the front-back direction of the frame (100). The drive mechanism (702) and the lifting mechanism (703) are connected by chain transmission. The gripper mechanism (704) is provided at the top of the lifting mechanism (703).

3. The fully automatic feeding device for the laser tube cutting machine as described in claim 2, characterized in that, The lifting mechanism (703) includes a first drive cylinder (703-1), a hinge (703-2), a connecting rod (703-3), a rotating shaft (703-4), a swing arm (703-5), a base (703-6), and a limiting member (703-7). The gripper mechanism (704) includes a second drive cylinder (704-1), a linkage mechanism (704-2), a pair of grippers (704-3), and a gripper base (704-4). The base (703-6) is slidably mounted on the frame (701) in the front-rear direction. The upper surface of the base (703-6) is hinged to the lower end of the swing rod (703-5), and the upper end of the swing rod (703-5) is hinged to the gripper base (704-4). The front end of the base (703-6) is provided with the limiting member (703-7), and the rear end of the base (703-6) is provided with a first driving cylinder (703-1). The piston rod end of a drive cylinder (703-1) is connected to the hinge seat (703-2). The lower surface of the hinge seat (703-2) is slidably connected to the base (703-6). The upper surface of the hinge seat (703-2) is hinged to one end of the connecting rod (703-3). The other end of the connecting rod (703-3) is hinged to the rotating shaft (703-4). Both ends of the rotating shaft (703-4) are connected to the middle of the rocker arm (703-5). A second drive cylinder (704-1) is provided at one end of the gripper base (704-4), and a pair of grippers (704-3) are slidably provided at the other end of the gripper base (704-4). The output end of the second drive cylinder (704-1) is connected to the first set of grippers in the pair of grippers (704-3). The first set of grippers is connected to the second set of grippers in the pair of grippers (704-3) through the linkage mechanism (704-2). The first set of grippers and the second set of grippers are provided with contour wear-resistant blocks (704-5).

4. The fully automatic feeding device for the laser tube cutting machine as described in claim 3, characterized in that, When the connecting rod (703-3) and the swing rod (703-5) are parallel to each other, the clamping center axis of the clamping part of the material support mechanism (303) is collinear with the feed inlet center axis of the shrinking machine (800), and the hinge center of the hinge seat (703-2) and the connecting rod (703-3) does not coincide with the hinge center of the swing rod (703-5) and the base (703-6).

5. The fully automatic feeding device for the laser tube cutting machine as described in claim 1, characterized in that, The lifting unit (400) includes multiple lifting mechanisms (410), and the multiple lifting mechanisms (410) are respectively and correspondingly arranged on the multiple feeding and distributing mechanisms (310); Each of the lifting mechanisms (410) includes a housing (401), a primary lifting plate (402), a secondary lifting plate (403), a first annular chain (404), and a sprocket assembly (405). The first-stage lifting plate (402) is slidably connected to the box body (401), and the second-stage lifting plate (403) is slidably connected to the first-stage lifting plate (402). The top of the second-stage lifting plate (403) has an L-shaped pipe support part (403-1). A drive motor is fixed to the side of the housing (401), and a rack is provided on the side of the first-stage lifting plate (402). The drive motor meshes with the rack through a drive gear, thereby driving the first-stage lifting plate (402) to move up and down reciprocally. The sprocket assembly (405) is provided at the upper and lower ends of the middle position of the first-stage lifting plate (402). The first annular chain (404) is wound around the sprocket assembly (405). The first annular chain (404) is provided with a first connecting block (406) and a second connecting block (407). The first connecting block (406) is fixed to the housing (401), and the second connecting block (407) is fixed to the second-stage lifting plate (403).

6. The fully automatic feeding device for the laser tube cutting machine as described in claim 5, characterized in that, It also includes a length-fixing unit (500), which includes a servo motor (501), a synchronous belt (502), a pusher assembly (503), a support (504), and a length-fixing limiting plate (505) fixed to the front side of the frame (100). The support (504) is fixed to the frame (100) in the front-back direction. One end of the support (504) is fixed to the servo motor (501), and the other end is slidably connected to the pusher assembly (503). The servo motor (501) is connected to the pusher assembly (503) via the synchronous belt (502), and the pusher part of the pusher assembly (503) is located at the rear end of the L-shaped tube support part (403-1).

7. The fully automatic feeding device for the laser tube cutting machine as described in claim 5, characterized in that, The robotic arm unit (600) includes multiple sets of robotic arm mechanisms (610), and each set of robotic arm mechanisms (610) is respectively arranged to correspond to one of the multiple sets of lifting mechanisms (410); Each of the robotic arm mechanisms (610) includes a robotic arm body (601), which is slidably connected to the base (305) in the left and right direction. The top of the robotic arm body (601) is provided with a clamping mechanism (602), and the bottom is provided with a clutch mechanism (603). A second annular chain (604) is provided on the base (305). The clamping mechanism (602) can clamp the pipe above the L-shaped pipe support (403-1). The second annular chain (604) is equipped with a driving device. The second annular chain (604) can power-connect or disconnect the clutch mechanism (603). The clutch mechanism (603) can drive the robotic arm body (601) and the clamping mechanism (602) to reciprocate in the left and right direction between the lifting unit (400) and the laser pipe cutter (900).

8. The fully automatic feeding device for the laser tube cutting machine as described in claim 1, characterized in that, It also includes a front end plate (206) located at the front end of the storage unit (200) and a rear end plate (207) located at the rear end of the storage unit (200).

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