Feeding equipment for tubular part machining

Abstract

The invention discloses feeding equipment for tubular part machining, which can replace manual work to arrange tubular parts, so that a large batch of tubular parts can be orderly conveyed to machining equipment at the rear end, high automation is realized, the labor intensity is reduced, and the production efficiency is improved. The feeding equipment comprises a feeding mechanism, a transfer mechanical arm and a discharging mechanism. The feeding mechanism comprises a stock bin and a feeding belt conveyor. The stock bin is used for storing the tubular parts and provided with a discharging window, and the tubular parts are ejected out of the discharging window through an ejection block with an inclined face. The feeding belt conveyor is arranged on the side face of the stock bin, and the conveying direction of the feeding belt conveyor is parallel to the inclined face of the ejector block. Flanges are mounted on the two sides of the feeding belt conveyor; the transferring mechanical arm is arranged at the output end of the feeding belt conveyor and used for grabbing the tubular parts and transferring the tubular parts to the next procedure, and finally the tubular parts are conveyed to the discharging mechanism. The output end of the discharging mechanism is connected to machining equipment of the tubular parts.

Description

Technical Field

[0001] The invention belongs to the technical field of tubular container processing, and in particular relates to a feeding device used for tubular component processing. Background Art

[0002] Tubular containers, especially packaging hoses, have become one of the main packaging varieties in technical fields such as cosmetics, food and medicine because of their convenience, economy and good hygiene. Cosmetics are the largest customer group for packaging hoses, accounting for 60%~70% of all packaging hose business. In the pharmaceutical industry, packaging hoses are mainly used for the packaging of creams and ointments for external use, accounting for 15%~20%.

[0003] Whether it is a hard or soft tubular container, the traditional processing procedure is: weld the functional head to the head of the tube, then fill the tube with the contents, and then seal the tail of the tube to obtain a complete target product filled with contents. Among them, the functional head mainly refers to the functional component used for extruding the contents, which is also called the discharge assembly or discharge device in the industry, such as the conventional extruder head with external thread (matched with the screw cap), the massage head with massage ball and the brush head with brush.

[0004] In the above processing steps, the tubular parts need to be arranged before welding and filling to adjust the head and tail directions of the tubular parts and align them in sequence, so as to be neatly transported to the subsequent processing equipment. In particular, when the surface of the tubular parts is printed with patterns or the tubular parts have been welded with functional heads, the direction requirements of the tubular parts are more stringent, otherwise it will lead to the processing of defective products and reduce the yield rate. In the prior art, the tubular parts can only be manually adjusted one by one at the feeding end of the processing equipment and then input into the processing equipment. The purely manual method causes high labor costs and affects production efficiency. At the same time, the high labor intensity will also lead to problems such as lack of concentration and operational errors caused by fatigue in the middle and late stages of production, further affecting production efficiency and product quality. Summary of the invention

[0005] The main purpose of the present invention is to provide a feeding device for tubular parts processing, which solves the problems existing in the prior art and can replace manual sorting of tubular parts, so that large quantities of tubular parts can be transported to the back-end processing equipment in an orderly manner, thereby achieving a high degree of automation, reducing labor intensity and improving production efficiency.

[0006] In order to achieve the above object, the solution of the present invention is: A feeding device for processing tubular parts, comprising a feeding mechanism, a transfer robot arm and a feeding mechanism, wherein the feeding mechanism comprises a silo and a feeding belt conveyor; the silo is used to store tubular parts and is provided with a discharge window, and a top block with an inclined surface pushes the tubular parts out of the discharge window; the feeding belt conveyor is arranged on the side of the silo, and the conveying direction of the feeding belt conveyor is parallel to the inclined surface of the top block; ribs are installed on both sides of the feeding belt conveyor; the transfer robot arm is arranged at the output end of the feeding belt conveyor, and is used to grab the tubular parts and transfer them to the subsequent process, and finally the tubular parts are conveyed to the feeding mechanism; the output end of the feeding mechanism is connected to the processing equipment of the tubular parts.

[0007] The silo is divided into a feeding chamber and a discharging chamber; a discharging belt conveyor with an inclined conveying surface is installed in the feeding chamber, and the belt surface of the discharging belt conveyor is provided with a plurality of push plates extending along the belt width direction, and the push plates convey the tubular parts in the feeding chamber to the discharging chamber as the discharging belt conveyor runs; a discharging window connected to the discharging chamber is provided on the side of the silo, and at least one top block capable of lifting and lowering movement and adjacent to the discharging window is installed in the discharging chamber, the upper surface of the top block is an inclined surface and the lower side of the inclined surface is adjacent to the discharging window, and the lifting and lowering movement of the top block drives the tubular parts in the discharging chamber to lift and lower so as to fall from the discharging window.

[0008] The transfer robot arm includes a transfer bracket, a swing arm, a first turntable, a first motor, a first crank, a horizontal bracket, a transfer nozzle bracket, a fixed wheel and a transmission belt; the transfer bracket is relatively fixed on the machine platform of the equipment; the lower end of the swing arm and the first turntable are both rotatably matched on the transfer bracket, and the first turntable is driven by the first motor to rotate; the two ends of the first crank are respectively rotatably matched with the first eccentric shaft on the first turntable and the position between the two ends of the swing arm; the rotating shaft of the horizontal bracket is passed through the upper end of the swing arm, and a horizontally rotatable transfer nozzle bracket is installed on its lower surface, and a plurality of nozzles are installed on the lower surface of the transfer nozzle bracket along a straight line direction; the fixed wheel is relatively fixed at the lower end position of the swing arm; the transmission belt is wound around the rotating shaft and the fixed wheel and tensioned.

[0009] Preferably, a tubular motor is arranged between the horizontal bracket and the transfer nozzle bracket, which is used to drive the transfer nozzle bracket to rotate horizontally; the feeding mechanism is provided with a movable stopper which moves horizontally along the width direction of the feeding belt conveyor at the output end of the feeding belt conveyor; the movable stopper is driven by the first cylinder and maintains a positively correlated action frequency with the transfer robot arm.

[0010] The unloading mechanism includes an unloading belt conveyor and a guide inclined plate; the conveying direction of the unloading belt conveyor is perpendicular to the conveying direction of the loading belt conveyor; the guide inclined plate is arranged at the input end of the unloading belt conveyor, and the upper end of the guide inclined plate matches the mechanism height connected with the front end of the unloading mechanism.

[0011] Preferably, a discharge sensing device is provided at the upper end of the guide inclined plate for detecting whether there are tubular parts on the guide inclined plate; the unloading mechanism also includes a fixed plate arranged on one side of the unloading belt conveyor, a plate adjustment bracket arranged above the unloading belt conveyor, and a movable plate installed at the adjustment end of the plate adjustment bracket and parallel to the fixed plate.

[0012] The feeding equipment for processing tubular parts also includes at least one branch belt conveyor arranged in parallel with the feeding belt conveyor, and a branch robotic arm for transferring tubular parts from the feeding belt conveyor to the branch belt conveyor; the output end of the branch belt conveyor is aligned with the output end of the feeding belt conveyor, and the transfer robotic arm simultaneously grabs multiple tubular parts for transfer to the subsequent process.

[0013] Preferably, the branch robot arm includes a branch bracket, a second turntable, a second motor, a horizontal slide rail, a horizontal slider, a vertical slide bar, a fixed block, a second crank and a branch nozzle bracket; the branch bracket is relatively fixed on the machine platform of the equipment; the second turntable is rotatably engaged with the branch bracket and is driven by the second motor to rotate; the horizontal slide rail is installed on the branch bracket along a direction perpendicular to the branch belt conveyor, and the horizontal slider is slidably engaged thereon; the vertical slide bar is slidably arranged in the horizontal slider along the vertical direction, and the fixed block is fixed at the upper end thereof; the two ends of the second crank are respectively rotatably engaged with the second eccentric shaft and the side of the fixed block on the second turntable; the branch nozzle bracket is installed at the lower end of the vertical slide bar, and a plurality of nozzles are installed on its lower surface along the straight direction.

[0014] The feeding equipment for processing tubular parts also includes a tube head sensing device arranged at the output end of the feeding belt conveyor. The tube head sensing device is used to detect the tube head of the tubular part and is linked with the transfer robot arm through program setting.

[0015] The feeding equipment for processing tubular parts also includes a feeding robot arm, an identification belt conveyor, a chuck and a mark sensing device; the belt surface of the identification belt conveyor is provided with a plurality of limit grooves extending along the belt width direction, and each limit groove accommodates a tubular part; at least one pair of chucks that can move linearly and rotate toward each other are provided on both sides of the identification belt conveyor; a mark sensing device is provided above the chuck, and the mark sensing device is used to detect special marks with end features on the surface of the tubular part; when the tubular part is conveyed between the chucks, the two chucks move toward each other and clamp the ends of the tubular part and then drive the tubular part to rotate at least one circle.

[0016] Preferably, a fixed bracket is provided on the side of the identification belt conveyor, a second cylinder is installed on the fixed bracket, a movable bracket is installed on the output end of the second cylinder, a rotating motor is installed on the movable bracket, and the chuck is installed on the output end of the rotating motor; on the movable bracket matched with the same pair of chucks, one of the movable brackets is installed with the rotating motor, and the other movable bracket is installed with a bearing for the chuck to rotate with.

[0017] After adopting the above technical solution, the present invention has the following technical effects: (1) The unordered tubular parts manually poured into the feeding chamber can be transported to the discharging chamber in batches by the discharging belt conveyor in the feeding chamber, and then the tubular parts are lifted up against the side wall of the discharging chamber by the top block in the discharging chamber, and after rising to a certain height, they are rolled down along the inclined surface and fall into a channel matching the diameter of the tubular parts, so that the tubular parts are arranged one by one on the upper surface of the feeding belt conveyor along the conveying direction of the feeding belt conveyor, and are transported to the front end in an orderly manner by the feeding belt conveyor, and are transferred to the subsequent process by the transfer robot arm, and finally the tubular parts are transported to the unloading mechanism and output to the tubular parts processing equipment; (2) After a large number of tubular parts are manually poured into a silo, the present invention can replace manual labor to quickly sort the large number of tubular parts so that they can be transported to the back-end processing equipment in an orderly manner, thereby achieving a high degree of automation, reducing labor intensity and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The first embodiment of the present invention is a three-dimensional Figure 1 ; Figure 2 The first embodiment of the present invention is a three-dimensional Figure 2 ; Figure 3 The first embodiment of the present invention is a three-dimensional Figure 3 ; Figure 4 A cross-sectional view of a silo according to a first embodiment of the present invention; Figure 5 for Figure 1The enlarged view of point A in the middle; Figure 6 for Figure 1 The enlarged view of point B in the middle; Figure 7 The third embodiment of the present invention is Figure 1 ; Figure 8 The third embodiment of the present invention is Figure 2 ; Fig. 9 for Figure 7 Enlarged view of point C in the middle; Fig.10 The direction identification mechanism of the second embodiment of the present invention is a three-dimensional Figure 1 ; Fig.11 The direction identification mechanism of the second embodiment of the present invention is a three-dimensional Figure 2 ; Fig.12 is a perspective view of a third embodiment of the present invention; Fig.13 is a top view of a third embodiment of the present invention; Fig.14 for Fig.12 The enlarged view of point D in the middle; Fig.15 The branch robot arm of the third embodiment of the present invention is a three-dimensional Figure 1 ; Fig.16 The branch robot arm of the third embodiment of the present invention is a three-dimensional Figure 2 ; Fig.17 is a perspective view of a fourth embodiment of the present invention; Fig.18 is a top view of a fourth embodiment of the present invention; Fig.19 for Fig.17 Enlarged view of point E in the middle; Fig. 20 A three-dimensional diagram of a direction identification mechanism according to a fourth embodiment of the present invention; Description of Figure Numbers: 1-feeding mechanism; 11-bin; 111-feeding chamber; 112-discharging chamber; 113-discharging belt conveyor; 114-push plate; 115-discharging window; 116, 116'-top block; 117-transfer material table, 118-feeding motor; 119-turntable; 11a-lifting frame; 11b-connecting rod; 11c-lifting guide rail; 12-feeding belt conveyor; 121-rib; 122-rib adjustment bracket; 13-stack sensing device; 14-first blowing nozzle; 15-blowing adjustment bracket; 16-lack sensing device; 17-stuck sensing device; 18-second blowing nozzle; 19-movable cover plate; 110-movable block; 120-first cylinder; 130-universal wheel; 2-transfer robot arm; 21-transfer bracket; 22-swing arm; 23-first turntable; 231-first eccentric shaft; 24-first motor; 25-first crank; 26-horizontal bracket; 261-rotating shaft; 27-transfer nozzle bracket; 28-fixed wheel; 29-transmission belt; 210-tubular motor; 3- unloading mechanism; 31- unloading belt conveyor; 32- guide inclined plate; 33- unloading induction device; 34- fixed plate; 35- plate adjustment bracket; 36- movable plate; 4-Machine; 5-Branch belt conveyor; 6-branch robot arm; 61-branch bracket; 62-second turntable; 63-second motor; 64-horizontal slide rail; 65-horizontal slider; 66-vertical slide bar; 67-fixed block; 68-second crank; 69-branch nozzle bracket; 7-direction identification mechanism; 71-pipe head sensing device; 72-belt conveyor identification; 721-limiting groove; 73-chuck; 74-marking sensing device; 75-fixed bracket; 76-second cylinder; 77-movable bracket; 78-rotating motor; 79-bearing; 8- unloading robot arm; a- Tubular member. DETAILED DESCRIPTION

[0019] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0020] refer to Figure 1-20 As shown, the present invention discloses a feeding device for processing tubular parts, comprising a feeding mechanism 1, a transfer robot arm 2 and a feeding mechanism 3, wherein the feeding mechanism 1 comprises a silo 11 and a feeding belt conveyor 12; See also Figure 4The silo 11 is divided into a feeding chamber 111 and a discharging chamber 112; a discharging belt conveyor 113 with an inclined conveying surface is installed in the feeding chamber 111, and a plurality of push plates 114 extending along the belt width direction are arranged on the belt surface of the discharging belt conveyor 113. The push plates 114 push the tubular member a at the bottom of the feeding chamber 111 upwards as the discharging belt conveyor 113 runs to realize the conveying to the discharging chamber 112; a discharging window 115 communicating with the discharging chamber 112 is arranged on the side of the silo 11, and a discharging window 115 capable of conveying the material to the discharging chamber 112 is installed in the discharging chamber 112. At least one top block 116 capable of lifting and lowering movement and adjacent to the discharge window 115, the upper surface of the top block 116 is an inclined surface and the lower side of the inclined surface is adjacent to the discharge window 115 (that is, the lower side of the inclined surface is located on the side close to the discharge window 115, and the higher side is located on the side close to the feed chamber 111), the lifting and lowering movement of the top block 116 drives the tubular member a at the bottom of the discharge chamber 112 to lift and lower, and when the lower side of the inclined surface of the top block 116 is higher than the bottom surface of the discharge window 115, the tubular member a rolls down under the action of the inclined surface and falls from the discharge window 115; The feeding belt conveyor 12 is arranged on the side of the silo 11, and the conveying direction of the feeding belt conveyor 12 is parallel to the inclined surface of the top block 116; retaining edges 121 are installed on both sides of the feeding belt conveyor 12 to form a channel matching the diameter of the tubular member a, so that the tubular member a cannot roll on the feeding belt conveyor 12 to avoid falling; The transfer robot arm 2 is arranged at the output end of the feeding belt conveyor 12, and is used to grab the tubular member a and transfer it to the subsequent process, and finally transport the tubular member a to the unloading mechanism 3; The output end of the unloading mechanism 3 is connected to the processing equipment of the tubular parts a, so as to output the neatly arranged tubular parts a to the processing equipment for the process of welding and sealing the pipe head or pipe tail.

[0021] Through the above scheme, the present invention can transport the disordered tubular parts a manually poured into the feeding chamber 111 to the discharging chamber 112 in batches through the discharging belt conveyor 113 in the feeding chamber 111, and then the top block 116 in the discharging chamber 112 lifts the tubular parts a against the side wall of the discharging chamber 112, and after rising to a certain height, it rolls down along the inclined surface and falls into the channel matching the diameter of the tubular parts a, so that the tubular parts a are arranged one by one on the feeding belt conveyor 12 along the conveying direction of the feeding belt conveyor 12. The upper surface of the machine 12 is transported to the front end in an orderly manner by the feeding belt conveyor 12, and is transferred to the subsequent process by the transfer robot arm 2, and finally the tubular member a is transported to the unloading mechanism 3 and output to the processing equipment of the tubular member a; therefore, after manually pouring a large number of tubular members a into the silo 11, the present invention can replace manual labor to quickly sort out a large number of tubular members, so that they can be transported to the back-end processing equipment in an orderly manner, thereby realizing a high degree of automation, reducing labor intensity and improving production efficiency.

[0022] In some embodiments of the present invention, see Figure 4The inner side of the discharge window 115 is provided with two lifting blocks 116 and 116' for lifting movement, and a transfer platform 117 between the two front and rear top blocks 116 and 116'. The transfer platform 117 is relatively fixed to the silo 11 and has an inclined surface in the same direction as the top block 116. Thus, the tubular member a is transported from bottom to top in a step-by-step manner through the cooperation of the rear top block 116', the transfer platform 117 and the front top block 116.

[0023] Furthermore, a feeding motor 118 is provided in the feeding chamber 111, and a turntable 119 is installed on the output shaft of the feeding motor 118. The front and rear top blocks 116 and 116' are installed on the same lifting frame 11a. The turntable 119 and the lifting frame 11a are linked by a connecting rod 11b, so that the two top blocks 116 can be driven by one motor at the same time to perform synchronous lifting and lowering movements on the front and rear sides of the transfer table 117, thereby meeting production needs and saving costs.

[0024] Secondly, the feed chamber 111 is provided with a lifting guide rail 11c for the lifting and lowering of the lifting frame 118.

[0025] Meanwhile, the length of the top block 116 is not less than the width of the discharge window 115 .

[0026] In some embodiments of the present invention, see Figure 5 The side guard 121 on the side of the feeding belt conveyor 12 facing away from the silo 11 is installed on the machine table 4 of the equipment through a plurality of side guard adjustment brackets 122. The side guard adjustment bracket 122 is composed of a bracket body, an adjusting screw and other components. The adjusting screw is connected to the side guard 121. By turning the adjusting screw, the side guard 121 can be driven to move, thereby adjusting the distance between it and the other side guard, so that the equipment can adapt to the production of tubular parts a of different diameters.

[0027] In some embodiments of the present invention, see Figure 5 The feeding mechanism 1 further comprises a stacking sensing device 13 disposed above the feeding belt conveyor 12, and at least one first blowing nozzle 14 disposed opposite to the discharge window 115. The stacking sensing device 13 is used to detect whether there are stacked tubular parts a on the feeding belt conveyor 12, and is linked with the first blowing nozzle 14 through program setting. When more than one tubular parts a are ejected at the same position by the ejector block 116 and stacked on the feeding belt conveyor 12, as the feeding belt conveyor 12 is transported forward, the tubular parts stacked on top will be detected by the stacking sensing device 13, and the first blowing nozzle 14 will be activated to blow the tubular parts back into the discharge chamber 112.

[0028] Preferably, the stacking sensing device 13 implements its detection function by infrared, photoelectric sensing or the like.

[0029] Preferably, the first air blowing nozzle 14 is installed on the machine platform 4 of the equipment through an air blowing adjustment bracket 15, and the air blowing adjustment bracket 15 is used to adjust the installation height and pitch angle of the first air blowing nozzle 14, so as to adjust the direction of the first air blowing nozzle 14 according to different production requirements.

[0030] In some embodiments of the present invention, the feeding mechanism 1 further includes a material shortage sensing device 16 disposed in the feeding chamber 111, a material jam sensing device 17 disposed in the discharging chamber 112, and at least one second blowing nozzle 18; the material shortage sensing device 16 is used to detect whether the material level in the feeding chamber 111 is lower than a preset value, so as to remind the worker to replenish the material; the material jam sensing device 17 is used to detect whether the material level in the discharging chamber 112 is higher than a preset value, so as to avoid the situation where the tubular parts are stacked near the discharging window and cannot be output due to unexpected situations such as material jams, and is linked to the second blowing nozzle 18 through program settings. When the material level near the discharging window 115 is higher than the preset value, the device will automatically start the second blowing nozzle 18 to blow the stuck tubular part a to the bottom of the discharging chamber 112, and then the top block 116 will re-convey it.

[0031] Preferably, the material shortage sensing device 16 and the material jam sensing device 17 both use infrared, photoelectric sensing and other methods to realize their detection functions.

[0032] Preferably, the feeding mechanism 1 is provided with a second blowing nozzle 18 at both ends of the discharge window 115 to prevent the material from getting stuck at both ends of the top block 116 .

[0033] In some embodiments of the present invention, the above-mentioned material bin 11 is provided with a material feeding window and a movable cover plate 19 for movably closing the material feeding window.

[0034] In some embodiments of the present invention, a plurality of universal wheels 130 are disposed at the bottom of the silo 11 to facilitate the movement of the silo 11 .

[0035] It is understandable that the feeding mechanism consisting of the silo 11 and the feeding belt 12 disclosed above can be independent of the feeding equipment of the present invention, and is used to realize the conveying of the tubular parts a one by one to the front end along the conveying direction of the feeding belt 12, and can also be adapted to other types of tubular part feeding equipment. Therefore, the present invention also discloses a feeding mechanism of a tubular part feeding equipment, including the silo 11 and the feeding belt 12 described above.

[0036] In some embodiments of the present invention, see Figure 6The transfer robot arm 2 includes a transfer bracket 21, a swing arm 22, a first turntable 23, a first motor 24, a first crank 25, a horizontal bracket 26, a nozzle bracket 27, a fixed wheel 28 and a transmission belt 29; the transfer bracket 21 is relatively fixed on the machine table 4 of the equipment; the lower end of the swing arm 22 and the first turntable 23 are both rotatably matched on the transfer bracket 21, and the first turntable 23 is driven by the first motor 24 to rotate; the two ends of the first crank 25 are respectively connected to the first eccentric shaft 2 on the first turntable 23 31. The positions at both ends of the swing arm 22 are rotated to realize the transmission between the first turntable 23 and the swing arm 22; the rotating shaft 261 of the horizontal bracket 26 is passed through the upper end of the swing arm 22, and a horizontally rotatable transfer nozzle bracket 27 is installed on its lower surface, and a plurality of nozzles are installed along a straight line on the lower surface of the transfer nozzle bracket 27 for realizing the suction of the tubular member a by using negative pressure; the fixed wheel 28 is relatively fixed at the lower end position of the swing arm 22; the transmission belt 29 is wound around the rotating shaft 261 and the fixed wheel 28 and is tensioned. Through the above structure, the rotary motion output by the first motor 24 can be converted into the left and right swing of the swing arm 22, so as to drive the transfer nozzle bracket 27 to move back and forth between the left and right extreme points, so as to transfer the tubular parts a that have been arranged in order on the feeding belt conveyor 12 to the rear-end process one by one; and the action performed by the robot arm of this structure is simple, the action interval is short, and the stability is good, which helps to improve the transfer efficiency of the tubular parts a to the rear process and avoid blockage at the front end; at the same time, with the cooperation of the fixed wheel 28 and the transmission belt 29, the swing arm 22 can always keep the horizontal bracket 26 in a horizontal state when swinging, that is, the tubular part a grasped by the transfer robot arm 2 is always in a horizontal state, so as to achieve smooth rise and fall, which is conducive to the smooth connection of the front and rear processes, and the above-mentioned left and right swing can ensure that the tubular part a will not deviate in the left and right direction of the feeding belt conveyor 2, so that the tubular part a maintains the output direction of the feeding belt conveyor 2 and is transported to the rear process.

[0037] Preferably, a tubular motor 210 is provided between the horizontal support 26 and the transfer nozzle support 27 to drive the transfer nozzle support 27 to rotate horizontally. The tubular motor 210 is relatively small in size and is more suitable for the device of the present invention.

[0038] Preferably, the above-mentioned feeding mechanism 1 is provided with a movable stopper 110 which moves horizontally along the width direction of the feeding belt conveyor 12 at the output end of the feeding belt conveyor 12. The movable stopper 110 is used to prevent the tubular member a from falling from the output end of the feeding belt conveyor 12, and when the movable stopper 110 is removed from the output end of the feeding belt conveyor 12, it can make space for the tubular member a to be transferred by the transfer robot 2 to avoid obstruction (because the tubular member a will be driven to move along a parabolic trajectory, and the initial stage of movement may be blocked by the movable stopper 110, which is required to give way).

[0039] Furthermore, the movable stopper 110 is driven by the first cylinder 120 and maintains a positively correlated operating frequency with the transfer robot 2, that is, after the transfer robot 2 grabs the tubular member a, the movable stopper 110 retracts to make way, and after the tubular member a is grabbed, the movable stopper 110 extends again and blocks the next tubular member.

[0040] In some embodiments of the present invention, a plurality of anti-skid grooves are disposed on the circumference of the fixed wheel 28 to prevent the transmission belt 29 from sliding relative to the fixed wheel 28 .

[0041] In some embodiments of the present invention, the above-mentioned unloading mechanism 3 includes a unloading belt conveyor 31 and a guide inclined plate 32; the conveying direction of the unloading belt conveyor 31 is perpendicular to the conveying direction of the loading belt conveyor 12, so that the unloading belt conveyor 31 extends in the width direction of the equipment, thereby reducing the overall length of the equipment; the guide inclined plate 32 is arranged at the input end of the unloading belt conveyor 31, and the upper end of the guide inclined plate 32 matches the mechanism height connected to the front end of the unloading mechanism 3, so that the tubular member a rolls down to the unloading belt conveyor 31.

[0042] Preferably, see Figure 6 The upper end of the guide inclined plate 32 is provided with a discharge sensing device 33 for detecting whether there is a tubular member a on the guide inclined plate 32. When the discharge sensing device 33 detects the tubular member a, it means that the tubular member a on the guide inclined plate 32 has not rolled down, that is, the unloading belt conveyor 31 is blocked, or the output tubular member a has not been delivered to the subsequent processing equipment temporarily. At this time, the loading equipment can be paused through the program, and the tubular member a is no longer output.

[0043] Furthermore, the discharge sensing device 33 uses infrared, photoelectric sensing and other methods to achieve its detection function.

[0044] Preferably, see Figure 2 The unloading mechanism 3 further includes a fixed plate 34 disposed on one side of the unloading belt conveyor 31, a plate adjustment bracket 35 disposed above the unloading belt conveyor 31, and a movable plate 36 installed at the adjustment end of the plate adjustment bracket 35 and parallel to the fixed plate 34. According to different production requirements, the length of the movable plate 36 and the fixed plate 34 can be adjusted by the plate adjustment bracket 35 to match the length of the tubular member a, so as to ensure that the unloading belt conveyor 31 will not deviate when outputting the tubular member a.

[0045] In some embodiments of the present invention, in order to increase the number of tubular parts a output per unit time and improve the production efficiency of the equipment, at least one branch belt conveyor 5 (such as the following embodiments three and four) arranged in parallel with the feeding belt conveyor 12 is included to realize multi-station simultaneous sorting of tubular parts a, and a branch mechanical arm 6 for transferring tubular parts a from the feeding belt conveyor 2 to the branch belt conveyor 5; the output end of the branch belt conveyor 5 is aligned with the output end of the feeding belt conveyor 12, and the transfer mechanical arm 2 simultaneously grabs multiple tubular parts a to transfer to the subsequent process. The branch belt conveyor 5 can adopt the same design as the feeding belt conveyor 12, that is, design corresponding retaining edges to prevent the tubular parts a from rolling down.

[0046] Preferably, see Figure 14-16 The branch robot arm 6 includes a branch bracket 61, a second turntable 62, a second motor 63, a horizontal slide rail 64, a horizontal slider 65, a vertical slide bar 66, a fixed block 67, a second crank 68 and a branch suction nozzle bracket 69; the branch bracket 61 is relatively fixed on the machine table 4 of the equipment; the second turntable 62 is rotatably matched on the branch bracket 61 and driven by the second motor 63 to rotate; the horizontal slide rail 64 is installed on the branch bracket 61 along a direction perpendicular to the branch belt conveyor 5, and a horizontal slider 65 is slidably matched thereon; the vertical slide bar 66 is slidably penetrated in the horizontal slider 65 along the vertical direction, and a fixed block 67 is fixed on its upper end; the two ends of the second crank 68 are respectively rotatably matched with the second eccentric shaft on the second turntable 62 and the side of the fixed block 67 to realize the transmission between the second turntable 62 and the fixed block 67; the branch suction nozzle bracket 69 is installed at the lower end of the vertical slide bar 66, and a plurality of suction nozzles are installed on its lower surface along a straight line direction for realizing the use of negative pressure to suck the tubular member a. Through the above structure, the rotational motion output by the second motor 63 can be converted into parabolic motion of the branch suction nozzle bracket 69 between the feeding belt conveyor 12 and the branch belt conveyor 5, so as to realize the transfer of the tubular part a on the feeding belt conveyor 12 to the branch belt conveyor 5; and the branch robot arm 6 only needs one driving device, the second motor 63, which has the advantages of simple structure, simple movement, and energy saving.

[0047] In actual production, the tubular parts to be sorted may have requirements on the direction of their ends. For example, when the tubular parts a with welded tube heads are poured into the silo 11 or the surface of the tubular parts a is printed with patterns, it is strictly required that the tube heads of the tubular parts a output by the feeding equipment face the same direction so as to facilitate connection with the subsequent processing steps. For this reason, it is necessary to design a relevant direction identification mechanism 7 for determining the direction of the ends of the tubular parts a output by the feeding belt conveyor 12.

[0048] In some embodiments of the present invention (such as the following embodiment 1), see Figure 6The above-mentioned direction identification mechanism 7 includes a tube head sensing device 71 arranged at the output end of the feeding belt conveyor 12. The tube head sensing device 71 is used to detect the tube head of the tubular member a and is linked with the transfer robot 2 through program setting. It can be understood that when the tube head sensing device 71 detects the tube head, it means that the head of the tubular member a is facing the front end of the conveying direction, otherwise, the tail of the tubular member a is facing the front end of the conveying direction. Through program setting, one of the situations is defined as "opposite direction". When "opposite direction" is detected, the transfer robot 2 is controlled to horizontally rotate 180° while transferring the tubular member a to correct the direction.

[0049] In some embodiments of the present invention (such as the following embodiments 2 and 4), a material unloading robot arm 8 is further included. The material unloading robot arm 8 can adopt the same structural design as the transfer robot arm 2, and is used to transfer the tubular member a between the front and rear end mechanisms. Alternatively, an existing robot arm can be adopted as long as it can meet the function of transferring the tubular member a. Figure 9-11 , 19 and 20, the direction identification mechanism 7 includes an identification belt conveyor 72, a clamp 73 and a mark sensing device 74; the belt surface of the identification belt conveyor 72 is provided with a plurality of limit grooves 721 extending along the belt width direction, and each limit groove 721 accommodates a tubular member a; at least one pair of clamps 73 that can move linearly and rotate toward each other are provided on both sides of the identification belt conveyor 72; a mark sensing device 74 is provided above the clamp 73, and the mark sensing device 74 is used to detect special marks with end features on the surface of the tubular member a (for example, a darker color pattern located at one end of the tubular member a, a "special mark" such as a hollow hole); when the tubular member a is conveyed between the clamps 73, the two clamps 73 move toward each other and clamp the ends of the tubular member a and then drive the tubular member a to rotate at least one circle (i.e. 360°) so that the mark sensing device 74 can detect the circumference of the tubular member a.

[0050] Preferably, a fixed bracket 75 is provided on the side of the identification belt conveyor 72, a second cylinder 76 is installed on the fixed bracket 75, a movable bracket 77 is installed on the output end of the second cylinder 76, a rotating motor 78 is installed on the movable bracket 77, and the chuck 73 is installed on the output end of the rotating motor 78. In this way, the chuck 73 can move toward each other and rotate. It can be understood that when the feeding equipment is multi-station, the second cylinder 76 can simultaneously drive multiple movable brackets 77 to achieve synchronous movement of multiple pairs of chucks 73 toward each other, and simultaneously detect multiple tubular members a (see Fig. 20 ).

[0051] Furthermore, on the movable brackets 77 matched with the same pair of chucks 73, one of the movable brackets 77 is installed with the above-mentioned rotating motor 78, and the other movable bracket 77 is installed with a bearing 79 for the chucks 73 to rotate and match.

[0052] Four embodiments of the present invention are shown below, specifically: See also Figure 1-6 , showing the first embodiment of the present invention.

[0053] The first embodiment outputs the tubular member a at a single station and relies on the tube head sensing device 71 as a mechanism for identifying the orientation of the tubular member a. The orientation of the output tubular member a can be corrected and is suitable for the tubular member a that has been welded and sealed with a tube head.

[0054] See also Figure 7-11 , showing a second embodiment of the present invention.

[0055] The second embodiment is a single-station output of the tubular member a, and relies on the mark sensing device 74 as the orientation identification mechanism of the tubular member a, which is suitable for the tubular member a with patterns printed on the surface.

[0056] See also Figure 12-16 , showing the third embodiment of the present invention.

[0057] The third embodiment is a double-station output tubular member a, which doubles the efficiency but does not have a direction recognition function.

[0058] See also Figure 17-20 , showing a fourth embodiment of the present invention.

[0059] The fourth embodiment is a double-station output tubular member a, which doubles the efficiency and relies on the mark sensing device 74 as the orientation recognition mechanism of the tubular member a to correct the orientation of the output tubular member a. It is suitable for tubular members a with patterns printed on the surface.

[0060] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A feeding device for processing tubular parts, characterized in that: It includes a feeding mechanism, a transfer robot arm and a feeding mechanism, wherein the feeding mechanism includes a silo and a feeding belt conveyor; The silo is used to store tubular parts and is provided with a discharge window, and the tubular parts are pushed out of the discharge window by a top block with an inclined surface; The feeding belt conveyor is arranged on the side of the silo, and the conveying direction of the feeding belt conveyor is parallel to the inclined surface of the top block; ribs are installed on both sides of the feeding belt conveyor; The transfer robot arm is arranged at the output end of the feeding belt conveyor, and is used to grab the tubular parts and transfer them to the subsequent process, and finally transport the tubular parts to the unloading mechanism; The output end of the material discharging mechanism is connected to the processing equipment of the tubular member.

2. The feeding device for processing tubular parts according to claim 1, characterized in that: The silo is divided into a feeding chamber and a discharging chamber; a discharging belt conveyor with an inclined conveying surface is installed in the feeding chamber, and the belt surface of the discharging belt conveyor is provided with a plurality of push plates extending along the belt width direction, and the push plates convey the tubular parts in the feeding chamber to the discharging chamber as the discharging belt conveyor runs; a discharging window connected to the discharging chamber is provided on the side of the silo, and at least one top block capable of lifting and lowering movement and adjacent to the discharging window is installed in the discharging chamber, the upper surface of the top block is an inclined surface and the lower side of the inclined surface is adjacent to the discharging window, and the lifting and lowering movement of the top block drives the tubular parts in the discharging chamber to lift and lower so as to fall from the discharging window.

3. The feeding device for processing tubular parts according to claim 1, characterized in that: The transfer robot arm includes a transfer bracket, a swing arm, a first turntable, a first motor, a first crank, a horizontal bracket, a transfer nozzle bracket, a fixed wheel and a transmission belt; the transfer bracket is relatively fixed on the machine platform of the equipment; the lower end of the swing arm and the first turntable are both rotatably matched on the transfer bracket, and the first turntable is driven by the first motor to rotate; the two ends of the first crank are respectively rotatably matched with the first eccentric shaft on the first turntable and the position between the two ends of the swing arm; the rotating shaft of the horizontal bracket is passed through the upper end of the swing arm, and a horizontally rotatable transfer nozzle bracket is installed on its lower surface, and a plurality of nozzles are installed on the lower surface of the transfer nozzle bracket along a straight line direction; the fixed wheel is relatively fixed at the lower end position of the swing arm; the transmission belt is wound around the rotating shaft and the fixed wheel and tensioned.

4. The feeding device for processing tubular parts according to claim 3, characterized in that: A tubular motor is arranged between the horizontal bracket and the transfer nozzle bracket, which is used to drive the transfer nozzle bracket to rotate horizontally; the feeding mechanism is provided with a movable stopper which moves horizontally along the width direction of the feeding belt conveyor at the output end position of the feeding belt conveyor; the movable stopper is driven by the first cylinder and maintains a positively correlated action frequency with the transfer robot arm.

5. The feeding device for processing tubular parts according to claim 1, characterized in that: The unloading mechanism includes an unloading belt conveyor and a guide inclined plate; the conveying direction of the unloading belt conveyor is perpendicular to the conveying direction of the loading belt conveyor; the guide inclined plate is arranged at the input end of the unloading belt conveyor, and the upper end of the guide inclined plate matches the mechanism height connected with the front end of the unloading mechanism.

6. The feeding device for processing tubular parts according to claim 5, characterized in that: A discharge sensing device is provided at the upper end of the guide inclined plate, which is used to detect whether there are tubular parts on the guide inclined plate; the unloading mechanism also includes a fixed plate arranged on one side of the unloading belt conveyor, a plate adjustment bracket arranged above the unloading belt conveyor, and a movable plate installed at the adjustment end of the plate adjustment bracket and parallel to the fixed plate.

7. The feeding device for processing tubular parts according to claim 1, characterized in that: It also includes at least one branch belt conveyor arranged in parallel with the feeding belt conveyor, and a branch robot arm for transferring tubular parts from the feeding belt conveyor to the branch belt conveyor; the output end of the branch belt conveyor is aligned with the output end of the feeding belt conveyor, and the transfer robot arm simultaneously grabs multiple tubular parts to transfer them to the subsequent process.

8. The feeding device for processing tubular parts according to claim 7, characterized in that: The branch robot arm includes a branch bracket, a second turntable, a second motor, a horizontal slide rail, a horizontal slider, a vertical slide bar, a fixed block, a second crank and a branch nozzle bracket; the branch bracket is relatively fixed on the machine platform of the equipment; the second turntable is rotatably engaged with the branch bracket and is driven by the second motor to rotate; the horizontal slide rail is installed on the branch bracket along a direction perpendicular to the branch belt conveyor, and the horizontal slider is slidably engaged thereon; the vertical slide bar is slidably arranged in the horizontal slider along the vertical direction, and the fixed block is fixed at the upper end thereof; the two ends of the second crank are respectively rotatably engaged with the second eccentric shaft and the side of the fixed block on the second turntable; the branch nozzle bracket is installed at the lower end of the vertical slide bar, and a plurality of nozzles are installed on its lower surface along the straight direction.

9. The feeding device for processing tubular parts according to claim 1, characterized in that: It also includes a tube head sensing device arranged at the output end of the feeding belt conveyor, and the tube head sensing device is used to detect the tube head of the tubular part and is linked with the transfer robot arm through program setting.

10. The feeding device for processing tubular parts according to claim 1, characterized in that: It also includes a material unloading robot arm, an identification belt conveyor, a chuck and a mark sensing device; the belt surface of the identification belt conveyor is provided with a plurality of limit grooves extending along the belt width direction, and each limit groove accommodates a tubular member; at least one pair of chucks capable of linear movement and self-rotation toward each other are provided on both sides of the identification belt conveyor; a mark sensing device is provided above the chuck, and the mark sensing device is used to detect special marks with end features on the surface of the tubular member; When the tubular member is conveyed between the clamps, the two clamps move toward each other and clamp the ends of the tubular member and then drive the tubular member to rotate at least one revolution.

11. The feeding device for processing tubular parts according to claim 10, characterized in that: A fixed bracket is provided on the side of the identification belt conveyor, a second cylinder is installed on the fixed bracket, a movable bracket is installed on the output end of the second cylinder, a rotating motor is installed on the movable bracket, and the chuck is installed on the output end of the rotating motor; on the movable bracket matched with the same pair of chucks, one of the movable brackets is installed with the rotating motor, and the other movable bracket is installed with a bearing for the chuck to rotate with.

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