Automatic weighing and loading machine for alloy powder

Abstract

The invention provides an automatic weighing and loading machine for alloy powder, and belongs to the technical field of powder material loading equipment. The weighing and loading machine comprises a rack and a workbench, a feeding assembly is arranged at the top end of the machine frame, a feeding machine is arranged in the machine frame, a discharging port of the feeding assembly is communicated with a feeding port of the feeding machine, the discharging port of the feeding machine is sequentially provided with a loading and weighing assembly and a falling hopper discharging assembly from top to bottom, and a feeding port of the loading and weighing assembly is communicated with the discharging port of the feeding machine. A material loading station, a jolt ramming station and an inner plug loading station are sequentially arranged on the workbench, the material loading station is used for loading materials in the material supply assembly into the material receiving pipe, the jolt ramming station is used for jolt ramming the materials in the material receiving pipe, and the inner plug loading station is used for mounting an inner plug on the material receiving pipe; a robot is arranged on one side of the workbench and used for moving the material receiving pipe among the stations. According to the automatic alloy powder weighing and loading machine, automatic quantitative weighing and loading are carried out on alloy powder in batches, the weighing and loading precision is high, and the production efficiency of powder filling is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of powder material loading equipment, and particularly to an automatic weighing and loading machine for alloy powder. Background Art

[0002] In the production and processing of alloy products, alloy powder is usually used as the raw material. When processing alloy powder, the quantitative weighing and packaging of alloy powder are very important links. Only by accurately weighing and packaging the alloy powder raw material can the various characteristics of the alloy products meet the requirements.

[0003] In the prior art, the weighing and loading of alloy powder are usually realized by manual operation, that is, manually using a shovel to load alloy powder into a tube and then weighing it with an electronic scale. This results in a large labor intensity for operators, low production efficiency, high labor costs, and at the same time, long-term manual operation is likely to cause damage to the human body.

[0004] Therefore, it is urgent to design an automatic weighing and loading machine for alloy powder to solve the above technical problems. Summary of the Invention

[0005] The purpose of the present disclosure is to overcome the deficiencies of the above prior art, and provide an automatic weighing and loading machine for alloy powder, which realizes automatic quantitative weighing and loading of alloy powder, has high weighing and loading accuracy, and improves the production efficiency of powder filling.

[0006] To achieve the above invention purpose, the present disclosure adopts the following technical solutions:

[0007] An automatic weighing and loading machine for alloy powder, the weighing and loading machine includes a frame and a workbench located on one side of the frame;

[0008] A feeding component is arranged at the top of the frame, a feeder is arranged inside the frame, the discharge port of the feeding component is communicated with the feed port of the feeder, the discharge port of the feeder is successively provided with a loading and weighing component and a hopper discharging component from top to bottom, and the feed port of the loading and weighing component is communicated with the discharge port of the feeder;

[0009] On the workbench, a loading station, a compaction station and an inner plug installation station are successively arranged in a direction away from the frame. The loading station is used to load the material in the feeding component into a receiving pipe, the compaction station is used to compact the material in the receiving pipe, and the inner plug installation station is used to install an inner plug in the receiving pipe;

[0010] A robot is arranged on one side of the workbench, and the robot is used to move the receiving pipe between each station.

[0011] In an exemplary embodiment of the present disclosure, the feeding component includes:

[0012] A silo support is provided above the frame, and a support frame is provided at the bottom end of the silo support;

[0013] A silo body is provided inside the silo support. The bottom end of the silo body is funnel-shaped, and a conical valve is provided at the bottom end of the silo body. The conical valve is arranged inside the support frame;

[0014] A first weighing unit is provided at the bottom end around the support frame, and the first weighing unit is used to monitor the weight of the silo body.

[0015] In an exemplary embodiment of the present disclosure, the loading and weighing assembly includes:

[0016] A first silo is provided inside the frame. The bottom end of the first silo is funnel-shaped, and a valve plate is rotatably provided at the bottom end of the first silo. The valve plate is used to open or close the discharge port of the first silo;

[0017] A mounting frame is provided on one side wall of the upper part of the first silo;

[0018] A telescopic rod, one end of the telescopic rod is rotatably connected to the mounting frame, and the other end of the telescopic rod is rotatably connected to the valve plate. The telescopic rod is used to open or close the valve plate;

[0019] A weighing sensor is provided on the mounting frame.

[0020] In an exemplary embodiment of the present disclosure, the hopper feeding and discharging assembly includes:

[0021] A second silo is provided inside the frame. The bottom end of the second silo is funnel-shaped, a connecting plate is fixedly sleeved on the upper part of the second silo, and a support ring is sleeved on the lower part of the second silo;

[0022] A second weighing unit is provided at the bottom end of the support ring, and the second weighing unit is arranged on the frame;

[0023] A first vibrator is provided on one outer wall of the second silo;

[0024] Vibrating units, two of the vibrating units are symmetrically arranged on both sides of the second silo. One end of the vibrating unit is connected to the support ring, and the other end of the vibrating unit is connected to the connecting plate;

[0025] The vibrating unit includes:

[0026] A first cylinder is provided at the top end of the support ring. A first mounting plate is arranged upward on the piston rod of the first cylinder. Two springs are symmetrically arranged at the top end of the first mounting plate, and a second mounting plate is arranged at the top end of the spring. The second mounting plate is arranged at the bottom end of the connecting plate;

[0027] A second vibrator is provided between the two springs, and the second vibrator is disposed at the bottom end of the second mounting plate.

[0028] In an exemplary embodiment of the present disclosure, material pipe positioning assemblies are respectively provided at the loading station, the compaction station, and the inner plug loading station. The material pipe positioning assembly includes:

[0029] A positioning bracket is provided at the top end of one side of the workbench. A double-headed cylinder is provided on the upper part of the positioning bracket, and finger clips are respectively provided on the two piston rods of the double-headed cylinder;

[0030] A fixed seat is provided on a side wall of the middle part of the positioning bracket close to the workbench. Two connecting rollers are arranged in parallel on the fixed seat. The connecting rollers pass through the fixed seat. Material pipe supporting blocks are provided at both ends of the two connecting rollers. A proximity switch is provided at one end of the material pipe supporting block far from the connecting roller;

[0031] Fan-shaped tooth clamping blocks are rotatably arranged on the connecting rollers, and the two fan-shaped tooth clamping blocks are meshed with each other;

[0032] A second cylinder is provided above the fixed seat. A push block is provided on the piston rod of the second cylinder. A roller is movably arranged in the push block. One of the two fan-shaped tooth clamping blocks is rotatably connected to the roller.

[0033] In an exemplary embodiment of the present disclosure, the material pipe positioning assembly at the compaction station further includes:

[0034] A bracket is provided at the top end of the positioning bracket. A laser rangefinder is provided on the bracket, and the laser rangefinder is located above the two finger clips.

[0035] In an exemplary embodiment of the present disclosure, the material pipe positioning assembly at the inner plug loading station further includes:

[0036] A mounting plate is provided at the top end of the positioning bracket. An inner plug loading circular pipe and a third cylinder are provided at the top end of the mounting plate;

[0037] A conveying member is provided at the bottom end of the mounting plate and is communicated with the inner plug loading circular pipe. The piston rod of the third cylinder passes downward through the mounting plate and extends into the conveying member;

[0038] A fourth cylinder is provided on a side wall of the conveying member, and the piston rod of the fourth cylinder extends into the conveying member;

[0039] A vibrating disk bracket is provided on one side of the positioning bracket. A vibrating disk is provided at the top end of the vibrating disk bracket. The outlet of the vibrating disk is communicated with the inner plug loading circular pipe through a shunt pipe.

[0040] In an exemplary embodiment of the present disclosure, vibration assemblies are respectively provided at the loading station and the compaction station. The vibration assembly includes:

[0041] An installation frame is provided below the workbench. A plurality of vibration motors with different vibration directions are arranged in the installation frame, and shock absorbers are respectively arranged around the bottom end of the installation frame;

[0042] A placement plate is arranged at the top end of the installation frame, and a through hole for accommodating the placement plate is formed in the workbench.

[0043] In an exemplary embodiment of the present disclosure, a dust removal device is arranged on one side of the feeding assembly. The dust removal device is arranged at the top end of the frame and is respectively communicated with the loading and weighing assembly and the hopper feeding assembly.

[0044] In an exemplary embodiment of the present disclosure, the workbench is arc-shaped. Material carts are respectively arranged at both ends of the workbench. The robot is located between the two material carts, and a gripper assembly is arranged at the free end of the robot to grab the receiving pipe.

[0045] Advantages of the present disclosure:

[0046] The present disclosure provides an automatic weighing and loading machine for alloy powder, which realizes batch automatic quantitative weighing and loading of alloy powder, avoids the inaccuracy of manual weighing and loading, improves the weighing and loading accuracy, improves the production efficiency and production quality of powder filling, saves the use of raw materials, reduces the labor intensity of operators, ensures human health, and reduces production costs. Description of the Drawings

[0047] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 For an embodiment of the present disclosure, it is a schematic diagram of the overall alloy powder automatic weighing and loading machine; Figure One ;

[0049] Figure 2 For an embodiment of the present disclosure, it is a schematic diagram of the overall alloy powder automatic weighing and loading machine; Figure Two ;

[0050] Figure 3 For an embodiment of the present disclosure, it is a connection diagram of the feeding assembly, the feeder, the loading and weighing assembly and the hopper feeding assembly;

[0051] Figure 4 In one embodiment of the present disclosure, it is a schematic structural diagram of a feeding assembly;

[0052] Figure 5 In one embodiment of the present disclosure, it is a schematic structural diagram of a feeder;

[0053] Figure 6 In one embodiment of the present disclosure, it is a schematic structural diagram of a loading and weighing assembly;

[0054] Figure 7 In one embodiment of the present disclosure, it is a schematic structural diagram of a hopper feeding assembly;

[0055] Figure 8 In one embodiment of the present disclosure, it is a schematic structural diagram of a first material pipe positioning assembly;

[0056] Figure 9 In one embodiment of the present disclosure, it is a schematic structural diagram of a second material pipe positioning assembly;

[0057] Figure 10 In one embodiment of the present disclosure, it is a schematic structural diagram of a vibration assembly;

[0058] Figure 11 In one embodiment of the present disclosure, it is a schematic structural diagram of a dust removal device;

[0059] Figure 12 In one embodiment of the present disclosure, it is a schematic structural diagram of a workbench;

[0060] Figure 13 In one embodiment of the present disclosure, it is a schematic structural diagram of a material cart;

[0061] Figure 14 In one embodiment of the present disclosure, it is a schematic structural diagram of a robot;

[0062] Figure 15 In one embodiment of the present disclosure, it is a schematic structural diagram of a jaw assembly;

[0063] Figure 16 In one embodiment of the present disclosure, it is a schematic structural diagram of a receiving pipe.

[0064] Explanation of reference numerals:

[0065] 1. Frame; 2. Workbench; 3. Feeding assembly; 301. Bin support; 302. Support frame; 303. Bin body; 304. Conical valve; 305. First weighing unit; 4. Feeder; 5. Loading weighing assembly; 501. First bin; 502. Valve plate; 503. Mounting frame; 504. Telescopic rod; 505. Weighing sensor; 6. Hopper feeding assembly; 601. Second bin; 602. Connecting plate; 603. Support ring; 604. Second weighing unit; 605. First vibrator; 606. First cylinder; 607. First mounting plate; 608. Spring; 609. Second mounting plate; 610. Second vibrator; 7. Loading station; 8. Compacting station; 9. Inner plug loading station; 10. Feeding pipe; 1001. Outer lining pipe; 1002. Loading hose; 11. Robot; 12. Pipe positioning assembly; 1201. Positioning bracket; 1202. Double-headed cylinder; 1203. Finger clamp; 1204. Fixed seat; 1205. Connecting roller; 1206. Pipe support block; 1207. Proximity switch; 1208. Sector gear clamp; 1209. Second cylinder; 1210. Pusher; 1211. Roller; 1212. Bracket; 1213. Laser rangefinder; 1214. Mounting plate; 1215. Inner plug loading round pipe; 1216. Conveyor; 1217. Third cylinder; 1218. Fourth cylinder; 1219. Vibration disk support; 1220. Vibration disk; 1221. Support plate; 1222. Shunt pipe; 13. Vibration assembly; 1301. Mounting frame; 1302. Vibration motor; 1303. Shock absorber; 1304. Placing plate; 1305. Through hole; 14. Dust removal device; 1401. Dust removal bracket; 1402. Return feeder; 1403. Blower; 1404. Dust collection bucket; 1405. Dust removal pipe; 15. Material cart; 1501. Material cart chassis; 1502. Material cart top frame; 1503. Universal wheel; 1504. Placing trough; 1505. Calibration plate; 1506. Correction frame; 1507. Handle; 16. Jaw assembly; 1601. Guide rail; 1602. Slide block; 1603. Clamp block; 17. Limit frame; 18. Guardrail; 19. Stair; 20. Protection net. Detailed implementation manners

[0066] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0067] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification only for convenience, for example, according to the direction of the example described in the drawings. It can be understood that if the device of the icon is turned upside down, the component described as "upper" will become the component described as "lower". When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed on another structure through another structure.

[0068] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and mean that there may be additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second", "third", etc. are used only as labels and are not a limitation on the quantity of their objects.

[0069] The embodiments of the present disclosure provide an automatic alloy powder weighing and loading machine. Refer to Figures 1 to 3 , the weighing and loading machine includes a frame 1 and a workbench 2 located on one side of the frame 1; a feeding component 3 is arranged at the top of the frame 1, a feeder 4 is arranged inside the frame 1, the discharge port of the feeding component 3 is communicated with the feeding port of the feeder 4, a loading and weighing component 5 and a hopper discharging component 6 are sequentially arranged from top to bottom at the discharge port of the feeder 4, and the feeding port of the loading and weighing component 5 is communicated with the discharge port of the feeder 4; a loading station 7, a compaction station 8 and an inner plug loading station 9 are sequentially arranged on the workbench 6 in a direction away from the frame 1. The loading station 7 is used to load the material in the feeding component 3 into the receiving pipe 10, the compaction station 8 is used to compact the material in the receiving pipe 10, and the inner plug loading station 9 is used to install an inner plug on the receiving pipe 10; a robot 11 is arranged on one side of the workbench 6, and the robot 11 is used to move the receiving pipe 10 between each station.

[0070] In the embodiment of the present disclosure, the automatic weighing and loading machine for alloy powder consists of a frame 1, a workbench 2, a feeding assembly 3, a feeder 4, a weighing and loading assembly 5, a hopper discharging assembly 6, and a robot 11. The workbench 2 is arranged on one side of the frame 1, and the robot 11 is arranged on one side of the workbench 2. The workbench 2 is sequentially arranged as a loading station 7, a compaction station 8, and an inner plug loading station 9 in the direction away from the frame 1. The feeding assembly 3 is fixed at the top of the frame 1. The feeder 4, the weighing and loading assembly 5, and the hopper discharging assembly 6 are installed inside the frame 1, and the hopper discharging assembly 6 is located below the weighing and loading assembly 5. The discharge port of the feeding assembly 3 is communicated with the feed inlet of the feeder 4. The discharge port of the feeder 4 is communicated with the feed inlet of the weighing and loading assembly 5. The discharge port of the weighing and loading assembly 5 is communicated with the feed inlet of the hopper discharging assembly 6. The loading station 7 is located below the discharge port of the hopper discharging assembly 6. The robot 11 places the empty receiving pipe 10 at the loading station 7, and automatically and quantitatively feeds the receiving pipe 10 quickly and accurately through the feeding assembly 3, the feeder 4, the weighing and loading assembly 5, and the hopper discharging assembly 6. After the receiving pipe 10 is filled with materials, the robot 11 transfers the receiving pipe 10 to the compaction station 8 to compact the materials, and then transfers it to the inner plug loading station 9 to load the inner plug and seal the receiving pipe 10, completing the automatic weighing and loading of the materials.

[0071] Compared with the existing manual weighing and loading, the automatic weighing and loading machine for alloy powder realizes automatic quantitative weighing and loading of alloy powder, avoids the inaccuracy of manual weighing and loading, improves the weighing and loading accuracy, improves the production efficiency of powder filling, saves the use of raw materials, reduces the labor intensity of operators, and reduces the production cost.

[0072] In one embodiment of the present disclosure, refer to Figure 1 and Figure 2 , the numbers of the feeding assembly 3, the feeder 4, the weighing and loading assembly 5, the hopper discharging assembly 6, the loading station 7, the compaction station 8, and the inner plug loading station 9 are all multiple, realizing simultaneous weighing and loading of multiple receiving pipes 10, and realizing batch automatic quantitative weighing and loading of alloy powder, thus improving the production efficiency of powder filling.

[0073] In one example, the number of the feeding assemblies 3 is two, and the numbers of the feeder 4, the weighing and loading assembly 5, the hopper discharging assembly 6, the loading station 7, the compaction station 8, and the inner plug loading station 9 are all three. One of the feeding assemblies 3 is communicated with one of the feeders 4 through a single fork pipe, and the other feeding assembly 3 is communicated with the remaining two feeders 4 through a double fork pipe, realizing simultaneous weighing and loading of three receiving pipes 10.

[0074] In an embodiment of the present disclosure, in order to improve the loading efficiency of the automatic weighing and filling machine, the robot 11 moves the receiving pipe 10 among the loading station 7, the compaction station 8 and the inner plug loading station 9. That is, first, the empty receiving pipe 10 is moved to the loading station 7 for loading. After the loading at the loading station 7 is completed, the robot 11 moves the receiving pipe 10 to the compaction station 8. During the compaction of the receiving pipe 10 at the compaction station 8, the robot 11 moves a new empty receiving pipe 10 to the loading station 7, then moves the compacted receiving pipe 10 to the inner plug loading station 9, removes the receiving pipe 10 with the inner plug loaded, and finally moves the newly filled receiving pipe 10 with materials to the compaction station 8, and this process is repeated in sequence.

[0075] Of course, in order to match different numbers of stations, the moving order of the receiving pipe 10 can be adjusted according to the actual situation to meet different loading production requirements.

[0076] The inventor has conducted multiple test productions on the automatic weighing and filling machine with three receiving pipes 10. The results show that using three receiving pipes 10 for weighing and loading can ensure the loading production of 35 receiving pipes 10 to be completed in 15 minutes.

[0077] It can be understood that positions are reserved on the automatic weighing and filling machine of the present invention for improving to 4 stations or even more stations for loading, so as to increase the production efficiency of the automatic weighing and filling machine to more than 40 in 15 minutes.

[0078] Of course, after the automatic weighing and filling machine of the present invention is improved to more stations, the manufacturing cost of the automatic weighing and filling machine will also increase appropriately.

[0079] In an embodiment of the present disclosure, vibrators are respectively arranged on the single fork pipe and the double fork pipe to facilitate the transportation of materials from the feeding assembly 3 into the feeder 4.

[0080] In an embodiment of the present disclosure, see Figure 5 , the feeder 4 is an explosion-proof electromagnetic vibrating feeder.

[0081] In an embodiment of the present disclosure, see Figure 4 , the feeding assembly 3 includes: a bin support 301, which is arranged above the frame 1, and a support frame 302 is arranged at the bottom end of the bin support 301; a bin body 303, which is arranged in the bin support 301, the bottom end of the bin body 303 is funnel-shaped, a conical valve 304 is arranged at the bottom end of the bin body 303, and the conical valve 304 is arranged in the support frame 302; a first weighing unit 305, which is arranged at the bottom end around the support frame 302, and the first weighing unit 305 is used to monitor the weight of the bin body 303. In this way, continuous and automatic quantitative feeding to the feeder 4 can be realized, and the efficiency and accuracy of alloy powder weighing and loading can be improved.

[0082] Optionally, the support frame 302 is fixedly installed at the top of the rack 1 through the first weighing unit 305. The silo support 301 is detachably placed above the support frame 302. The silo body 303 is fixedly installed in the silo support 301. The conical valve 304 is fixedly installed in the support frame 302. The silo body 303 is detachably placed above the conical valve 304. Connection holes are respectively formed around the top end of the silo support 301.

[0083] It can be understood that the empty silo body 303 is transported to the discharging opening of the screening machine after batch mixing through the silo support 301 by using an electric hoist. After the silo body 303 is filled with materials, it is transported to the support frame 302. The silo body 303 is assembled with the conical valve 304. The weight of the silo body 303 is monitored in real time through the first weighing unit 305 at the bottom end around the support frame 302, so as to monitor the weight of the alloy powder material in the silo body 303.

[0084] In an embodiment of the present disclosure, refer to Figure 6 , the loading and weighing assembly 5 includes: a first silo 501, which is arranged in the rack 1. The bottom end of the first silo 501 is funnel-shaped. A valve plate 502 is rotatably arranged at the bottom end of the first silo 501. The valve plate 502 is used to open or close the discharging opening of the first silo 501; a mounting frame 503, which is arranged on one side wall of the upper part of the first silo 501; a telescopic rod 504, one end of the telescopic rod 504 is rotatably connected with the mounting frame 503, and the other end of the telescopic rod 504 is rotatably connected with the valve plate 502. The telescopic rod 504 is used to open or close the valve plate 502; a weighing sensor 505, which is arranged on the mounting frame 503. In this way, through cooperation with the feeder 4, rapid and accurate feeding is realized.

[0085] Optionally, the telescopic rod 504 is a cylinder, and the telescopic rod 504 and the valve plate 502 form a pneumatic discharging valve.

[0086] It can be understood that in the initial state, the valve plate 502 is in the closed state. The feeder 4 transports the materials into the first silo 501. The weighing sensor 505 monitors the weight of the materials in the first silo 501 in real time. When the set amount is reached, the telescopic rod 504 is started, the valve plate 502 is opened, and the materials in the first silo 501 fall, realizing accurate feeding.

[0087] In an embodiment of the present disclosure, refer to Figure 7, the hopper blanking assembly 6 includes: a second bin 601 disposed within the frame 1. The bottom end of the second bin 601 is funnel-shaped. A connecting plate 602 is fixedly sleeved on the upper part of the second bin 601, and a support ring 603 is sleeved on the lower part of the second bin 601; a second weighing unit 604 disposed at the bottom end of the support ring 603, and the second weighing unit 604 is arranged on the frame 1; a first vibrator 605 disposed on an outer wall side of the second bin 601; a vibration unit, with two vibration units symmetrically arranged on both sides of the second bin 601. One end of the vibration unit is connected to the support ring 603, and the other end of the vibration unit is connected to the connecting plate 602. In this way, the second bin 601 can be weighed to ensure that all the materials fall into the receiving pipe 10, improving the accuracy of material blanking and reducing the loading error.

[0088] Optionally, the number of the second weighing units 604 is multiple, and the multiple second weighing units 604 are evenly arranged at the bottom end of the support ring 603.

[0089] In one example, the number of the second weighing units 604 is three.

[0090] Optionally, referring to Figure 7 , the vibration unit includes: a first cylinder 606 disposed at the top end of the support ring 603. A first mounting plate 607 is provided on the piston rod of the first cylinder 606 facing upward. Two springs 608 are symmetrically arranged at the top end of the first mounting plate 607. A second mounting plate 609 is provided at the top end of the springs 608, and the second mounting plate 609 is arranged at the bottom end of the connecting plate 602; a second vibrator 610 disposed between the two springs 608, and the second vibrator 610 is arranged at the bottom end of the second mounting plate 609. In this way, the second bin 601 can be vibrated to prevent the materials falling from the first bin 501 from adhering to the inner wall of the second bin 601, reducing the loss of materials in the second bin 601 and further improving the accuracy of material blanking.

[0091] Optionally, the size of the feed inlet of the second bin 601 is larger than the discharge outlet of the first bin 501 and the valve plate 502. A placement groove for accommodating the telescopic rod 504 is provided at the top end of the second bin 601, and the bottom end of the first bin 501 is installed inside the second bin 601.

[0092] Optionally, a bearing plate is provided on a side frame of the frame 1 close to the workbench 2. A through hole for accommodating the discharge outlet of the second bin 601 is provided on the bearing plate. Multiple second weighing units 604 are evenly arranged around the through hole, and the second weighing units 604 are fixed on the bearing plate.

[0093] It can be understood that the number of the through holes provided on the bearing plate is the same as the number of the hopper blanking assemblies 6, and the bearing plate also reserves positions for improving more through holes.

[0094] In the embodiment of the present disclosure, the set loading amount of the material receiving pipe 10 is 6KG. Through the mutual cooperation of the loading weighing assembly 5 and the hopper feeding assembly 6, the loading accuracy of the loading machine reaches plus or minus 10g.

[0095] In an embodiment of the present disclosure, referring to Figure 8 and Figure 9 , material pipe positioning assemblies 12 are respectively arranged on the loading station 7, the compaction station 8, and the inner plug loading station 9. The material pipe positioning assembly 12 includes: a positioning bracket 1201, which is arranged at the top end of one side of the workbench 6. A double-headed cylinder 1202 is arranged on the upper part of the positioning bracket 1201, and finger clamps 1203 are respectively arranged on the two piston rods of the double-headed cylinder 1202; a fixed seat 1204, which is arranged on the side wall of the middle part of the positioning bracket 1201 close to the workbench 6. Two connecting rollers 1205 are arranged in parallel on the fixed seat 1204. The connecting rollers 1205 pass through the fixed seat 1204, and material pipe support blocks 1206 are arranged at both ends of the two connecting rollers 1205. A proximity switch 1207 is arranged at one end of the material pipe support block 1206 far from the connecting roller 1205; a sector gear clamp block 1208 is rotatably arranged on the connecting roller 1205, and the two sector gear clamp blocks 1208 are meshed with each other; a second cylinder 1209 is arranged above the fixed seat 1204, a push block 1210 is arranged on the piston rod of the second cylinder 1209, a roller 1211 is movably arranged in the push block 1210, and one of the two sector gear clamp blocks 1208 is rotatably connected with the roller 1211. In this way, the material receiving pipe 10 can be clamped and fixed, ensuring that the material receiving pipe 10 is stably placed on each station, and at the same time aligning the material receiving pipe 10 with the discharge port of the hopper feeding assembly 6 to realize accurately loading the material into the material receiving pipe 10.

[0096] Optionally, the positioning bracket 1201 is located on the side of the top end of the workbench 6 far from the robot 11, and the remaining components are located on the side of the positioning bracket 1201 close to the robot 11.

[0097] Optionally, the second cylinder 1209 is fixed on the positioning bracket 1201 through a connecting plate.

[0098] Optionally, a ball is rotatably installed at one end of the sector gear clamp block 1208 far from the second cylinder 1209.

[0099] Optionally, a guiding groove extending along the axis is arranged on the push block 1210, and the roller 1211 is arranged in the guiding groove.

[0100] Optionally, the material pipe positioning assemblies 12 on the loading station 7 and the compaction station 8 further include a support plate 1221. The support plate 1221 is arranged at the top end of the positioning bracket 1201, and the double-headed cylinder 1202 is fixed at the top end of the support plate 1221.

[0101] It can be understood that when the robot 11 moves the material receiving pipe 10 to the loading station 7, the compaction station 8 or the inner plug loading station 9, after the proximity switch 1207 detects that the material receiving pipe 10 is approaching, the double-headed cylinder 1202 and the second cylinder 1209 are respectively started, so that the two finger clamps 1203 are opened, and the two sector gear clamping blocks 1208 are opened. Then the robot 11 places the material receiving pipe 10 within the two pipe supporting blocks 1206, and starts the double-headed cylinder 1202 and the second cylinder 1209 again, so that the two finger clamps 1203 are closed to fix the upper end of the material receiving pipe 10, and the two sector gear clamping blocks 1208 are closed to fix the middle part of the material receiving pipe 10, realizing the alignment and fixation of the material receiving pipe 10.

[0102] In an embodiment of the present disclosure, referring to Figure 8 , the pipe positioning assembly 12 at the compaction station 8 further includes: a bracket 1212, arranged at the top of the positioning bracket 1201, a laser rangefinder 1213 is arranged on the bracket 1212, and the laser rangefinder 1213 is located above the two finger clamps 1203. In this way, the amount of material in the material receiving pipe 10 can be measured, ensuring that the loading amount of the material receiving pipe 10 is within the error range and improving the weighing and loading accuracy.

[0103] Optionally, the bracket 1212 is arranged at the top of the support plate 1221.

[0104] In an embodiment of the present disclosure, referring to Figure 9 , the pipe positioning assembly 12 at the inner plug loading station 9 further includes: a mounting plate 1214, arranged at the top of the positioning bracket 1201, a inner plug loading round pipe 1215 and a third cylinder 1217 are arranged at the top of the mounting plate 1214; a conveying member 1216, arranged at the bottom end of the mounting plate 1214 and communicated with the inner plug loading round pipe 1215, the piston rod of the third cylinder 1217 passes through the mounting plate 1214 downward and extends into the conveying member 1216; a fourth cylinder 1218, arranged on one side wall of the conveying member 1216, and the piston rod of the fourth cylinder 1218 extends into the conveying member 1216; a vibrating disk bracket 1219, arranged on one side of the positioning bracket 1201, a vibrating disk 1220 is arranged at the top of the vibrating disk bracket 1219, and the outlet of the vibrating disk 1220 is communicated with the inner plug loading round pipe 1215 through a shunt pipe 1222. In this way, the orientation of the inner plug can be automatically adjusted, and the inner plug can be automatically loaded into the material receiving pipe 10, improving the production efficiency of powder filling.

[0105] Optionally, for the pipe positioning assembly 12 at the inner plug loading station 9, the double-headed cylinder 1202 is installed on the upper part of the positioning bracket 1201 near the robot 11 through a fixing seat 1204.

[0106] It can be understood that when there are multiple inner plug loading stations 9, the vibrating disk 1220 is communicated with multiple inner plug loading round pipes 1215 through multiple shunt pipes 1222.

[0107] It is understandable that after the material pipe positioning assembly 12 fixes the receiving pipe 10 on the inner plug loading station 9, the vibrating disk 1220 is started, and the inner plugs in the vibrating disk 1220 are conveyed to the conveying member 1216 through the shunt pipe 1222 and the inner plug loading circular pipe 1215. The fourth cylinder 1218 is started, the piston rod of the fourth cylinder 1218 moves the inner plug above the receiving pipe 10, and the third cylinder 1217 is started. The piston rod of the third cylinder 1217 pushes the inner plug into the receiving pipe 10, realizing the encapsulation of the receiving pipe 10.

[0108] It is understandable that there are two different material pipe positioning assemblies 12, and the two material pipe positioning assemblies 12 include two positioning brackets 1201, namely the first positioning bracket and the second positioning bracket. The first positioning bracket is installed on the loading station 7 and the compaction station 8, and the second positioning bracket is installed on the inner plug loading station 9. The height of the second positioning bracket is greater than that of the first positioning bracket. The double-headed cylinder 1202 is arranged at the top end of the positioning bracket 1201 through the support plate 1221, and the double-headed cylinder 1202 is installed on a side wall of the upper part of the positioning bracket 1201 close to the robot 11 through the fixed seat 1204. The laser rangefinder 1213 is installed on the first positioning bracket, and the inner plug loading circular pipe 1215 is installed on the second positioning bracket.

[0109] In an implementation manner of the present disclosure, referring to Figure 9 , only one proximity switch 1207 is installed on the second positioning bracket, and the proximity switch 1207 is installed on the upper material pipe support block 1206.

[0110] In an implementation manner of the present disclosure, referring to Figure 1 、 Figure 2 and Figure 10 , vibrating components 13 are respectively arranged on the loading station 7 and the compaction station 8. The vibrating component 13 includes: an installation frame 1301, which is arranged below the workbench 6. A plurality of vibration motors 1302 with different vibration directions are arranged in the installation frame 1301, and shock absorbers 1303 are respectively arranged around the bottom end of the installation frame 1301; a placement plate 1304, which is arranged at the top end of the installation frame 1301, and a through hole 1305 for accommodating the placement plate 1304 is opened on the workbench 6. In this way, the material in the receiving pipe 10 can be quickly compacted, facilitating the loading of the material into the receiving pipe 10 and facilitating the detection of the material quantity in the receiving pipe 10.

[0111] In an example, the number of the vibration motors 1302 is three, and they have three different vibration directions.

[0112] In an implementation manner of the present disclosure, referring to Figure 1 and Figure 2, a dust removal device 14 is provided on one side of the feeding assembly 3. The dust removal device 14 is arranged at the top of the frame 1 and is respectively communicated with the loading and weighing assembly 5 and the hopper feeding assembly 6. In this way, the alloy powder lifted in the first bin 501 and the second bin 601 can be recovered, reducing material loss and production cost.

[0113] Optionally, referring to Figure 2 and Figure 3 , a first through pipe is communicated with one side of the feeding port of the first bin 501, and a second through pipe is communicated with one side of the feeding port of the second bin 601. The dust removal device 14 is respectively communicated with the first through pipe and the second through pipe through a dust removal connecting pipe.

[0114] In an embodiment of the present disclosure, referring to Figure 1 , Figure 2 and Figure 11 , the dust removal device 14 includes: a dust removal bracket 1401 arranged at the top of the frame 1. A return feeder 1402 is arranged at the top of one side of the dust removal bracket 1401, and a blower 1403 communicated with the return feeder 1402 is arranged at the top of the other side of the dust removal bracket 1401. The bottom end of the return feeder 1402 is funnel-shaped, and the bottom end of the return feeder 1402 is communicated with a dust collection bucket 1404 through a butterfly valve. A dust removal pipe 1405 is arranged on one side wall of the bottom end of the return feeder 1402, and the dust removal pipe 1405 is communicated with the dust removal connecting pipe. In this way, the alloy powder in the first bin 501 and the second bin 601 can be recycled, and at the same time, dust pollution can be reduced.

[0115] In an embodiment of the present disclosure, referring to Figure 12 and Figure 14 , the workbench 2 is arc-shaped. Material carts 15 are respectively arranged at both ends of the workbench 2. The robot 11 is located between the two material carts 15, and a gripper assembly 16 is arranged at the free end of the robot 11 to grasp the receiving pipe 10. In this way, the empty receiving pipe 10 can be continuously transferred from the material cart 15 to the workbench 2, and the receiving pipe 10 filled with materials can be transferred from the workbench 2 to the material cart 15, realizing continuous production.

[0116] Optionally, one of the two material carts 15 is used to place the empty receiving pipe 10, and the other of the two material carts 15 is used to place the receiving pipe 10 filled with materials.

[0117] In one example, the material cart 15 close to the frame 1 is used to place the empty receiving pipe 10, and the material cart 15 far from the frame 1 is used to place the receiving pipe 10 filled with materials.

[0118] In another example, the material cart 15 close to the frame 1 is used to place the receiving pipe 10 filled with materials, and the material cart 15 far from the frame 1 is used to place the empty receiving pipe 10.

[0119] Optionally, the number of jaw assemblies 16 is multiple, enabling simultaneous grasping of multiple receiving pipes 10.

[0120] Optionally, the workbench 2 bends towards the direction of the robot 11. Limit frames 17 are respectively arranged at both ends of the workbench 2 to limit the material truck 15, facilitating the robot 11 to grasp the receiving pipe 10 from the material truck 15.

[0121] In an embodiment of the present disclosure, refer to Figure 13 , the material truck 15 includes a material truck chassis 1501 and a material truck top frame 1502 arranged at the top end of the material truck chassis 1501. Universal wheels 1503 are respectively arranged around the bottom end of the material truck chassis 1501. Placing grooves 1504 are respectively arranged on both sides of the top end of the material truck chassis 1501. Calibration plates 1505 are respectively arranged in the middle of both sides of the material truck top frame 1502. A plurality of calibration grooves are formed on the calibration plates 1505. A plurality of correction frames 1506 are respectively arranged at the top ends of both sides of the material truck top frame 1502. The correction frames 1506 are U-shaped and correspond to the calibration grooves one by one. Handles 1507 are respectively arranged at both ends of the material truck top frame 1502. In this way, a plurality of receiving pipes 10 can be placed obliquely on the material truck 15 to ensure stable placement of the receiving pipes 10.

[0122] In an embodiment of the present disclosure, refer to Figure 14 and Figure 15 , the jaw assembly 16 includes a guide rail 1601. Two sliders 1602 are symmetrically and slidably arranged on the guide rail 1601. The two sliders 1602 can move towards or away from each other on the guide rail 1601. Clamping blocks 1603 are respectively arranged on the two sliders 1602. The two clamping blocks 1603 are arranged opposite to each other to grasp the receiving pipe 10.

[0123] In an embodiment of the present disclosure, refer to Figure 16 , the receiving pipe 10 includes an outer lining pipe 1001 and a loading flexible pipe 1002. The loading flexible pipe 1002 is arranged inside the outer lining pipe 1001. The top end of the loading flexible pipe 1002 extends out of the outer lining pipe 1001. The outer lining pipe 1001 is a hollow pipe.

[0124] In an embodiment of the present disclosure, refer to Figure 1 , a guardrail 18 is arranged at the edge of the top end of the frame 1. The guardrail 18 surrounds the feeding assembly 3 and the dust removal device 14.

[0125] In an embodiment of the present disclosure, refer to Figure 1 , a platform is arranged at the top end of the frame 1. The feeding assembly 3 and the dust removal device 14 are installed on the platform. A staircase 19 is arranged on one side frame of the frame 1 to climb onto the platform.

[0126] In an embodiment of the present disclosure, refer to Figure 1, a protective net 20 is provided around the automatic weighing and loading machine for alloy powder, and a plurality of access doors are opened on the protective net 20.

[0127] In an embodiment of the present disclosure, refer to Figures 1 to 16 , the working process of the automatic weighing and loading machine for alloy powder is briefly described as follows:

[0128] When the present disclosure is in use, first, the hopper body 303 filled with materials is moved to the support frame 302 and assembled with the conical valve 304. The robot 11 grabs a plurality of empty receiving pipes 10 from the material truck 15 through the jaw assembly 16 and places them on the placement plate 1304 at the loading station 7, and fixes the receiving pipes 10 through the pipe positioning assembly 12, so that the receiving pipes 10 are aligned with the discharge port of the second hopper 601. The conical valve 304 is used to supply materials to the feeder 4. The weight of the hopper body 303 is monitored in real time through a plurality of first weighing units 305. When the first weighing unit 305 monitors that the conical valve 304 has provided a set weight of materials, such as 6 KG, to the feeder 4, then the conical valve 304 is closed. The feeder 4 gradually conveys the received materials into the first hopper 501. The weight of the materials in the first hopper 501 is monitored in real time through the weighing sensor 505. When it is monitored that the weight of the materials in the first hopper 501 reaches the set weight, the telescopic rod 504 is activated, the valve plate 502 is opened, and the materials in the first hopper 501 fall and enter the second hopper 601, and flow into the receiving pipe 10 through the discharge port of the second hopper 601. The weight of the second hopper 601 is monitored in real time through a plurality of second weighing units 604, and the second hopper 601 is vibrated through the vibration unit to prevent the materials falling from the first hopper 501 from adhering to the inner wall of the second hopper 601, ensuring that all the materials fall into the receiving pipe 10; during the process of the receiving pipe 10 receiving materials, the materials in the receiving pipe 10 are compacted through the vibration assembly 13, and through a plurality of vibration motors 1302 with different vibration directions, the materials are quickly compacted; after the receiving pipe 10 finishes receiving materials, the robot 11 transfers the receiving pipe 10 filled with materials to the compaction station 8, and fixes the receiving pipe 10 through the pipe positioning assembly 12, so that the receiving pipe 10 is aligned with the laser rangefinder 1213. The laser rangefinder 1213 measures the materials in the receiving pipe 10. During the measurement process, the materials in the receiving pipe 10 are compacted twice through the vibration assembly 13, and during the process of compacting the receiving pipe 10 at the compaction station 8, the robot 11 moves a new empty receiving pipe 10 to the loading station 7 for receiving materials; then the robot 11 moves the compacted receiving pipe 10 to the inner plug installation station 9, and fixes the receiving pipe 10 through the pipe positioning assembly 12, so that the receiving pipe 10 is aligned with the discharge port of the conveyor 1216. The vibrating disk 1220 is started, and the inner plugs in the vibrating disk 1220 are conveyed into the conveyor 1216 through the shunt pipe 1222 and the inner plug installation round pipe 1215. The inner plugs are pushed into the receiving pipe 10 through the fourth cylinder 1218 and the third cylinder 1217 to package the receiving pipe 10; the robot 11 transfers the receiving pipe 10 installed with inner plugs to another material truck 15, and then moves the new receiving pipe 10 filled with materials to the compaction station 8. The above process is repeated continuously to complete the continuous automatic weighing and filling of alloy powder.

[0129] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

Claims

1. An automatic weighing and loading machine for alloy powder, characterized in that: The weighing and loading machine comprises a frame (1) and a workbench (2) located on one side of the frame (1); A feeding assembly (3) is arranged at the top of the frame (1), a feeder (4) is arranged inside the frame (1), the discharge port of the feeding assembly (3) is communicated with the feed port of the feeder (4), the discharge port of the feeder (4) is provided with a charging weighing assembly (5) and a drop bucket discharge assembly (6) in sequence from top to bottom, and the feed port of the charging weighing assembly (5) is communicated with the discharge port of the feeder (4); A loading station (7), a vibration station (8) and an inner plug installation station (9) are sequentially arranged on the workbench (6) in a direction away from the frame (1); the loading station (7) is used to load the material in the feeding assembly (3) into the material receiving pipe (10); the vibration station (8) is used to vibration-compact the material in the material receiving pipe (10); and the inner plug installation station (9) is used to install an inner plug on the material receiving pipe (10); A robot (11) is arranged on one side of the workbench (6), and the robot (11) is used to move the material receiving pipe (10) between various workstations.

2. The automatic alloy powder weighing and loading machine according to claim 1, characterized in that: The feeding assembly (3) comprises: A silo support (301) is arranged above the frame (1), and a support frame (302) is arranged at the bottom end of the silo support (301); A silo body (303) is disposed in the silo support (301), the bottom end of the silo body (303) is funnel-shaped, a conical valve (304) is disposed at the bottom end of the silo body (303), and the conical valve (304) is disposed in the support frame (302); The first weighing unit (305) is arranged at the bottom of the four sides of the support frame (302), and the first weighing unit (305) is used to monitor the weight of the silo body (303).

3. The automatic alloy powder weighing and loading machine according to claim 1, characterized in that: The charging weighing component (5) comprises: A first material bin (501) is arranged in the frame (1), the bottom end of the first material bin (501) is funnel-shaped, and a valve plate (502) is rotatably arranged at the bottom end of the first material bin (501), and the valve plate (502) is used to open or close the discharge port of the first material bin (501); A mounting frame (503) is provided on a side wall of an upper portion of the first silo (501); a telescopic rod (504), one end of the telescopic rod (504) being rotatably connected to the mounting frame (503), and the other end of the telescopic rod (504) being rotatably connected to the valve plate (502), and the telescopic rod (504) being used to open or close the valve plate (502); The weighing sensor (505) is arranged on the mounting frame (503).

4. The automatic alloy powder weighing and loading machine according to claim 1, characterized in that: The drop bucket unloading assembly (6) comprises: A second material bin (601) is arranged in the frame (1); the bottom end of the second material bin (601) is funnel-shaped; a connecting plate (602) is fixedly sleeved on the upper part of the second material bin (601); and a supporting ring (603) is sleeved on the lower part of the second material bin (601); A second weighing unit (604) is arranged at the bottom end of the support ring (603), and the second weighing unit (604) is arranged on the frame (1); A first vibrator (605) is disposed on an outer wall of one side of the second material bin (601); A vibration unit, wherein two vibration units are symmetrically arranged on both sides of the second silo (601), one end of the vibration unit is connected to the support ring (603), and the other end of the vibration unit is connected to the connecting plate (602); The vibration unit comprises: A first cylinder (606) is arranged at the top of the support ring (603); a first mounting plate (607) is arranged upwardly on the piston rod of the first cylinder (606); two springs (608) are symmetrically arranged at the top of the first mounting plate (607); a second mounting plate (609) is arranged at the top of the spring (608); and the second mounting plate (609) is arranged at the bottom of the connecting plate (602); The second vibrator (610) is disposed between the two springs (608), and the second vibrator (610) is disposed at the bottom end of the second mounting plate (609).

5. The automatic weighing and loading machine for alloy powder according to claim 1, characterized in that: The loading station (7), the jarring station (8), and the plugging station (9) are respectively provided with a material pipe positioning assembly (12), and the material pipe positioning assembly (12) comprises: A positioning bracket (1201) is arranged at the top of one side of the workbench (6), a double-headed cylinder (1202) is arranged on the upper part of the positioning bracket (1201), and two piston rods of the double-headed cylinder (1202) are respectively provided with finger clamps (1203); A fixed seat (1204) is arranged on a side wall of the middle part of the positioning bracket (1201) close to the workbench (6), two connecting rollers (1205) are arranged in parallel on the fixed seat (1204), the connecting rollers (1205) pass through the fixed seat (1204), both ends of the two connecting rollers (1205) are provided with a material pipe support block (1206), and a proximity switch (1207) is arranged on the end of the material pipe support block (1206) away from the connecting roller (1205); A sector tooth clamping block (1208) is rotatably disposed on the connecting roller (1205), and the two sector tooth clamping blocks (1208) are meshed with each other; The second cylinder (1209) is arranged above the fixed seat (1204), and a push block (1210) is arranged on the piston rod of the second cylinder (1209). A roller (1211) is movably arranged inside the push block (1210), and one of the two sector tooth clamping blocks (1208) is rotatably connected to the roller (1211).

6. The automatic alloy powder weighing and loading machine according to claim 5, characterized in that: The material pipe positioning assembly (12) on the jarring station (8) further comprises: The bracket (1212) is arranged at the top end of the positioning bracket (1201), and a laser rangefinder (1213) is arranged on the bracket (1212), and the laser rangefinder (1213) is located above the two finger clamps (1203).

7. The automatic alloy powder weighing and loading machine according to claim 5, characterized in that: The material tube positioning assembly (12) of the inner plug installation station (9) further comprises: A mounting plate (1214) is disposed on the top of the positioning bracket (1201), and a round tube (1215) for mounting an inner plug and a third cylinder (1217) are disposed on the top of the mounting plate (1214); A conveying member (1216) is disposed at the bottom end of the mounting plate (1214) and is in communication with the inner plug mounting tube (1215); a piston rod of the third cylinder (1217) passes downward through the mounting plate (1214) and extends into the conveying member (1216); A fourth cylinder (1218) is disposed on a side wall of the conveying member (1216), and a piston rod of the fourth cylinder (1218) extends into the conveying member (1216); A vibration disc support (1219) is arranged on one side of the positioning support (1201), and a vibration disc (1220) is arranged on the top of the vibration disc support (1219). The outlet of the vibration disc (1220) is connected to the inner plug circular tube (1215) through a branch pipe (1222).

8. The automatic alloy powder weighing and loading machine according to claim 1, characterized in that: The loading station (7) and the compacting station (8) are respectively provided with a vibration assembly (13), and the vibration assembly (13) comprises: An installation frame (1301) is arranged below the workbench (6), a plurality of vibration motors (1302) with different vibration directions are arranged in the installation frame (1301), and shock absorbers (1303) are respectively arranged around the bottom end of the installation frame (1301); A placement plate (1304) is arranged on the top of the installation frame (1301), and a through hole (1305) for accommodating the placement plate (1304) is provided on the workbench (6).

9. The automatic alloy powder weighing and loading machine according to claim 1, characterized in that: A dust removal device (14) is provided on one side of the feeding assembly (3); the dust removal device (14) is arranged on the top of the frame (1); and the dust removal device (14) is respectively connected to the charging weighing assembly (5) and the drop bucket unloading assembly (6).

10. The automatic weighing and loading machine for alloy powder according to claim 1, characterized in that: The workbench (2) is arc-shaped, and a material trolley (15) is provided at both ends of the workbench (2). The robot (11) is located between the two material trolleys (15), and a gripper assembly (16) is provided at the free end of the robot (11) to grasp the receiving pipe (10).

Images