A pipe circulation device with intelligent positioning function

Abstract

The present invention discloses a pipe circulation device with an intelligent positioning function, which relates to the technical field of circulation devices. The circulation device includes a transfer track mechanism, a buffer mechanism, a positioning and identification mechanism, a feeding mechanism and a sorting and exporting mechanism. The transfer track mechanism and the feeding mechanism are tightly connected, the transfer track mechanism and the sorting and exporting mechanism are tightly connected, the buffer mechanism and the transfer track mechanism are tightly connected, the positioning and identification mechanism and the transfer track mechanism are tightly connected, the sorting and exporting mechanism is located at one end of the transfer track mechanism, and the feeding mechanism is located at the other end of the transfer track mechanism away from the sorting and exporting mechanism. Variable-section pipes are fed into the transfer track mechanism by the feeding mechanism, and the pipes can be accurately moved and positioned. The buffer mechanism effectively reduces the impact force of the pipes during the circulation process and protects the pipes from damage. The positioning and identification mechanism can accurately identify and position the pipes.

Description

Technical Field

[0001] The present invention relates to the technical field of circulation devices, and in particular to a pipe circulation device with an intelligent positioning function. Background Art

[0002] As industrial manufacturing continues to demand intelligent processing of diverse and irregularly shaped workpieces, particularly in areas such as pipeline processing, aviation component pre-assembly, and automotive special-shaped parts assembly, higher requirements are being placed on automated flow systems that can achieve integrated "identification-positioning-gripping-transfer-sorting" functions. Existing assembly lines, which mostly rely on fixed-pace conveyor belts or roller mechanisms, can achieve continuous conveying, but they suffer from response lag and error amplification when handling workpieces with varying cross-sections and postures.

[0003] Currently, the more mature multi-axis transfer equipment is mainly concentrated in industrial robot arms and automatic loading unit systems. Although industrial robots have the advantage of high flexibility, their main body cost is high, the control system is complex, the debugging cycle is long, and when faced with the clamping of variable-section structural parts, they still need to be combined with visual recognition and customized fixtures, and lack the ability to be deployed quickly. Automatic loading mechanisms often use a simple combination of linear guides, spring resets, and suction cups or double air claw structures. They are only suitable for standard parts or regular geometric bodies, and have poor compatibility with irregular pipes such as complex curved surfaces and variable pipe diameters. Dynamic position fine-tuning and clamping adaptation are impossible. In addition, traditional recognition methods mainly rely on two-dimensional image recognition, which makes it difficult to accurately locate the axis and center of gravity of special-shaped workpieces in the actual three-dimensional complex space.

[0004] The existing technology generally lacks the processing capabilities for clamping and real-time adaptive adjustment of variable-section pipes. Therefore, those skilled in the art provide a pipe circulation device with intelligent positioning function to solve the problems raised in the above background. Summary of the Invention

[0005] The purpose of the present invention is to provide a pipe circulation device with an intelligent positioning function to solve the problems raised in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The circulation device includes a transfer track mechanism, a buffer mechanism, a positioning and identification mechanism, a feeding mechanism and a sorting and exporting mechanism. The transfer track mechanism and the feeding mechanism are tightly connected, the transfer track mechanism and the sorting and exporting mechanism are tightly connected, the buffer mechanism and the transfer track mechanism are tightly connected, the positioning and identification mechanism and the transfer track mechanism are tightly connected, the sorting and exporting mechanism is located at one end of the transfer track mechanism, and the feeding mechanism is located at the other end of the transfer track mechanism away from the sorting and exporting mechanism.

[0008] By adopting this technical solution, variable-section pipes are fed from a feeding mechanism into the transfer track mechanism. The coordinated action of the transfer track mechanism's lifting, horizontal displacement, and drive assemblies allows the pipes to be precisely moved and positioned on the transfer track. The buffer mechanism effectively mitigates impact forces during the pipe's transfer, protecting it from damage. The positioning and identification mechanism accurately identifies and locates the pipes, ensuring they are accurately sorted and exported by the sorting and export mechanism.

[0009] Furthermore, the transfer track mechanism includes a lifting component, a horizontal displacement component, a drive component and a drawbridge frame. The horizontal displacement component and the drawbridge frame are slidingly connected, the lifting component and the horizontal displacement component are slidingly connected, the drive component is located below the lifting component, the feeding mechanism and the sorting and exporting mechanism are both fastened to the drive component, the buffer mechanism and the drawbridge frame are fastened, and the positioning identification mechanism and the lifting component are fastened.

[0010] By adopting the above technical solution, the lifting component can move the inner surface of the variable-section pipe fitting in the vertical direction, thereby providing a basis for clamping; the horizontal displacement component can move the pipe fitting in the horizontal direction; the driving component provides the driving force for the horizontal flow of the pipe fitting; the suspension bridge frame serves as a supporting structure for the flow of the pipe fitting, which can ensure the stability of the pipe fitting during the flow process; the positioning and identification mechanism can accurately locate and classify the pipe fittings by identifying the characteristics of the pipe fittings and following the transfer track mechanism, ensuring that the variable-section pipe fittings are correctly placed on the transfer track mechanism.

[0011] Furthermore, the horizontal displacement assembly includes a displacement frame, a horizontal motor, a transmission belt, a transmission gear set, a transmission shaft, a moving wheel, a fine-tuning motor, a fine-tuning screw and a slide. The displacement frame and the suspension bridge frame are slidingly connected, the horizontal motor and the displacement frame are firmly connected, the horizontal motor and the transmission belt are transmission-connected, the transmission belt and the transmission shaft are transmission-connected, the transmission shaft and the transmission gear set are transmission-connected, the transmission gear set and the moving wheel are transmission-connected, the moving wheel and the suspension bridge frame are abutted, the fine-tuning motor and the displacement frame are firmly connected, the fine-tuning motor and the fine-tuning screw are transmission-connected, the fine-tuning screw and the lifting assembly are transmission-connected, the lifting assembly and the slide are slidingly connected, and the slide and the displacement frame are firmly connected.

[0012] By adopting the above technical solution, the displacement frame serves as the load-bearing skeleton of the entire horizontal displacement assembly, and through a sliding connection with the suspension bridge frame, it can achieve stable lateral sliding on the suspension bridge frame. The horizontal motor is installed on the displacement frame as the main driving source, and realizes power transmission through the transmission belt and the transmission shaft. After the transmission belt is efficiently transmitted, it drives the transmission shaft to rotate, and the transmission shaft then transmits the rotational power to the moving wheel through the transmission gear set, thereby pushing the displacement frame to move horizontally along the suspension bridge frame. The moving wheel is in contact with the suspension bridge frame to ensure the guiding accuracy and load-bearing stability during the movement. In order to further improve the positioning accuracy of the pipe fittings, a fine-tuning motor is provided, which is fixed to the displacement frame. By driving the fine-tuning screw, it realizes the slight displacement adjustment of the lifting assembly, ensuring the fine adjustment of the lifting assembly in the horizontal direction.

[0013] Furthermore, the lifting assembly includes a lifting block, a lifting frame, a lifting motor, a lifting screw, a rotating wire block, a lifting belt and a lifting slide. The fine-tuning screw is transmission-connected to the lifting block, the lifting block is slidingly connected to the slide, the lifting screw and the lifting slide are both firmly connected to the lifting frame, the lifting motor is firmly connected to the lifting block, the lifting motor is transmission-connected to the lifting belt, the lifting belt is transmission-connected to the rotating wire block, the rotating wire block and the lifting screw are transmission-connected, the rotating wire block and the lifting block are rotationally connected, and the lifting slide is slidingly connected to the lifting frame.

[0014] By adopting the above technical solution, the lifting assembly achieves precise vertical lifting of variable-section pipes through a multi-stage transmission and guide structure. The fine-tuning screw is connected to the lifting block, enabling minute displacement of the lifting block to accommodate fine-tuning of the pipe during clamping or positioning. The lifting block is slidably connected to the slide, ensuring it runs along a fixed track during up and down movement, avoiding deviation or shaking and improving system stability. The lifting screw, serving as the main lifting drive element, is securely connected to the lifting slide and the lifting frame, providing sturdy guide and transmission support to ensure rigidity and deformation resistance during the lifting process. The lifting motor is mounted on the lifting block and connected to the rotating wire block via a lifting belt drive to drive the rotating wire block. The rotating wire block is connected to the lifting screw, converting rotational motion into linear displacement of the lifting block through the principle of spiral transmission. The rotational connection between the rotating wire block and the lifting block allows it to drive the lifting frame smoothly up or down during rotation. The lifting slide bar is slidably connected to the lifting frame, which further improves the lifting stability and anti-swaying ability. It is suitable for variable-section and variable-diameter pipes with multiple specifications and lengths.

[0015] Furthermore, the driving assembly includes an electric slide rail, a driving platform, a turntable, a lifting hydraulic cylinder, a driving clamp, a turntable motor, a lifting rod, a clamping motor, a transmission wheel, a vertical motor, a first electromagnetic block, a first elastic member and a first magnetic block. The driving platform and the turntable are both transmission-connected to the electric slide rail, the lifting hydraulic cylinder and the turntable are fastened, the lifting hydraulic cylinder and the turntable are transmission-connected, the turntable motor and the lifting rod are transmission-connected, the clamping motor and the lifting rod are fastened, the clamping motor and the driving clamp are transmission-connected, the first electromagnetic block and the driving clamp are fastened, the first electromagnetic block and the first elastic member are fastened, the first elastic member and the first magnetic block are fastened, the first magnetic block and the driving clamp are fastened, the first electromagnetic block and the first magnetic block have magnetic pole repulsion transmission, the vertical motor and the first magnetic block are transmission-connected, and the vertical motor and the transmission wheel are transmission-connected.

[0016] By adopting this technical solution, electric slides provide a horizontal drive foundation for the drive platform and turntable, enabling rapid displacement and precise control of the entire platform along the turntable path. The drive platform and turntable move in tandem through their transmission connection structure, ensuring consistent power output and structural support during the turntable process. A lifting hydraulic cylinder, secured to the turntable, serves as the primary drive for vertical lift. Connected to the turntable motor, it further drives the lift rod vertically, enabling rapid adjustment of the pipe clamping height and angle. A clamping motor, mounted on the lift rod, controls the opening and closing of the clamping jaws through transmission, enabling the clamping jaws to effectively grasp and release variable-section pipes with stable and responsive grip. The first electromagnetic block, first magnetic block, and first elastic member integrated into the clamping jaw structure form a combined magneto-elastic adjustment mechanism. The first electromagnetic block is securely connected to the clamping jaws and, through its connection to the first elastic member, forms a stable magnetically controlled structure. The first elastic member is further connected to the first magnetic block, which is also secured to the clamping jaws, achieving dynamic transmission control based on magnetic repulsion. When the first electromagnetic block is energized, it generates a repulsive magnetic force against the first magnetic block, further assisting the gripping jaws in completing the gripping action and improving response speed and gripping accuracy. A vertical motor is connected to the first magnetic block, assisting in its precise positioning. It is also connected to the conveyor wheel, driving its rotation to guide or align the pipes. This effectively improves the flow device's adaptability in handling pipes of varying cross-sections and specifications, making it particularly suitable for pipes with variable positions and shapes.

[0017] Furthermore, the positioning identification mechanism includes a positioning transmitter, a positioning receiver, a clamping assembly and an adaptive assembly. The positioning transmitter is fastened to the lifting frame, the positioning receiver is fastened to the clamping assembly, and there are two groups of clamping assemblies, one group of clamping assemblies is fastened to the adaptive assembly, and the other group of clamping assemblies is fastened to the lifting frame. The clamping assembly includes a clamping table, a clamping claw, a transmission disk, a pressure sensor and a clamping motor. The clamping claw is slidingly connected to the clamping table, the pressure sensor and the clamping claw are fastened, the clamping motor is fastened to the clamping table, the clamping motor is transmission-connected to the transmission disk, a vortex protrusion is provided on the transmission disk, and the transmission disk and the clamping claw are transmission-connected.

[0018] By adopting the above-mentioned technical solution, the positioning and identification mechanism forms a closed-loop detection system through signal interaction between a positioning transmitter and a positioning receiver. The positioning transmitter is fixed to the lifting frame and actively emits a positioning signal when a pipe enters the identification area. The positioning receiver is tightly connected to the clamping assembly and is used to receive the reflected or transmitted identification signal, thereby accurately determining the pipe's size, position, and posture. The clamping assembly comprises two groups. One group is tightly connected to the adaptive assembly to form a floating clamping structure that accommodates pipes of varying sizes and cross-sectional shapes. The other group is tightly connected to the lifting frame and serves as a fixed reference end to enhance clamping stability. The clamping table within the clamping assembly serves as the guide support base for the clamping jaws. The slidingly connected clamping jaws achieve left and right limit clamping of the pipe. The integrated pressure sensor in the clamping jaws monitors the clamping force in real time to prevent overpressure damage to the pipe. The clamping motor is tightly connected to the clamping table and, through transmission action, drives the transmission disc to rotate, driving the jaws to open and close, achieving clamping or release. The drive disc is equipped with a vortex-shaped protrusion that drives the clamping jaws to retract and extend at a nonlinear rate during rotation, making the clamping action gentler and more precise, suitable for variable-section pipes of various materials and shapes. This positioning and identification mechanism, through the coordinated operation of positioning emission and reception identification, bidirectional clamping of the clamping assembly, dynamic coordination of the adaptive assembly, and nonlinear clamping of the drive disc, not only efficiently identifies the position and characteristics of different types of pipes, but also automatically adjusts the clamping posture to accommodate workpieces of various specifications. This significantly improves positioning accuracy and the system's adaptability, providing a reliable identification and clamping foundation for subsequent sorting and export operations. It is suitable for the precise alignment and identification process in the circulation system of various types of variable-section pipes.

[0019] Furthermore, the adaptive component includes an adaptive disk, a second elastic member, a second electromagnetic block, a second magnetic block and an adaptive frame. The adaptive disk and the second magnetic block are fastened together, the second elastic member and the second magnetic block are fastened together, the second elastic member and the second electromagnetic block are fastened together, the second electromagnetic block and the second magnetic block are magnetically repelled, the adaptive disk and the adaptive frame are slidingly connected, and the adaptive disk and the card table are fastened together.

[0020] By adopting the above technical solution, the adaptive component achieves automatic adaptation and adjustment to pipes of varying shapes and sizes through a combined magnetic-elastic structure. The adaptive disk is securely connected to the second magnetic block, acting as the main body of adaptive motion, adjusting its displacement in response to external dimensional changes during positioning and clamping. The second magnetic block, through its connection to the second elastic member, achieves a certain degree of axial flexibility, enabling controlled elastic deformation when subjected to external forces, enhancing the structure's adaptability. One end of the second elastic member is securely connected to the second electromagnetic block, providing basic support when the electromagnetic block is de-energized. When energized, the second electromagnetic block creates a repulsive force between its magnetic poles and the second magnetic block. This repulsive force, combined with the elastic force of the elastic member, creates a dynamic equilibrium, enabling the adaptive disk to self-adjust according to specific geometric changes during pipe clamping. The adaptive disc's sliding connection to the adaptive frame ensures smooth movement in the desired direction in response to magnetic or external forces, preventing lateral interference or structural jamming during the clamping process. Furthermore, through its secure connection to the clamping table, the adaptive disc transmits its position adjustment directly to the gripper system, enabling real-time fine-tuning of the gripping range. This structure passively adapts to changes in the pipe's shape through magnetic and elastic feedback, without the need for complex sensors or programmed control. This improves gripping compatibility for pipes with various specifications, non-standard specifications, or deformations.

[0021] Furthermore, the buffer mechanism includes a buffer elastic member, a damper and a buffer rod, the displacement frame and the buffer rod are slidingly connected, the buffer elastic member and the damper are fastened together, the damper and the suspension bridge frame are fastened together, the displacement frame and the buffer rod are slidingly connected, and the suspension bridge frame and the buffer rod are fastened together.

[0022] By adopting the above technical solution, the elastic buffer member serves as the first shock-absorbing structure in the buffer mechanism. When the pipe is moved from the transfer track mechanism to the displacement rack and inertially impacts, it can quickly absorb some of the impact energy, reducing the impact peak and preventing structural damage or pipe deformation caused by the impact. The elastic buffer member is tightly connected to the damper. While providing elastic buffering, the damper uses internal hydraulic or pneumatic resistance to control the buffering process with hysteresis, further reducing the instantaneous displacement velocity and achieving secondary dissipation of the impact force. The damper is tightly connected to the suspension bridge, ensuring stability during the buffering process and preventing deviations in the force transmission path. The buffer rod is firmly connected to the suspension bridge, forming a stable support structure. Furthermore, through a sliding connection with the displacement rack, it can generate relative displacement under guidance when subjected to force. Together with the elastic buffer member and the damper, it achieves multi-stage buffering. As the displacement rack moves the pipe under the drive assembly, if there is interference or a sudden stop at the front end, the buffer rod immediately intervenes to share the impact load in the displacement direction. The entire buffer mechanism achieves effective absorption and gradual release of dynamic impacts during the flow process through the triple synergistic mechanism of elastic energy absorption, damping energy dissipation and guided sliding, thereby improving the safety of pipe operation in the flow path and the structural stability of the system, preventing early fatigue damage to equipment or surface damage to pipes due to inertial impact, and is particularly suitable for high-frequency and high-speed flow operation scenarios.

[0023] Furthermore, the feeding mechanism includes a pushing hydraulic cylinder, a building block, a pushing block, a first reset elastic member, a second reset elastic member, a feeding rack, a guide rail and a feeding table. The feeding table and the slide rail are slidably connected, the first reset elastic member and the feeding table are fastened, the first reset elastic member and the guide rail are fastened, the pushing hydraulic cylinder and the feeding rack are fastened, the pushing hydraulic cylinder and the building block are transmission-connected, the pushing block and the building block abut, the pushing block and the feeding rack are slidably connected, the pushing block and the second reset elastic member are fastened, and the second reset elastic member and the feeding rack are fastened.

[0024] By adopting the above technical solution, the pusher hydraulic cylinder serves as the driving core of the feeding mechanism. Through a transmission connection with the building blocks, it reciprocates the pusher block. Driven by the building blocks, the pusher block slides and contacts the variable-section pipe, pushing it from the feeding table into the transfer track mechanism. The sliding connection between the pusher block and the feeding frame ensures smooth movement even under load, preventing jamming. A first resilient element is secured to the feeding table at one end and connected to the track at the other. After the pusher block retracts, it automatically resets the feeding table to its initial position, ensuring the next pipe is precisely positioned. A second resilient element is secured to the pusher block at one end and connected to the feeding frame at the other. After the pushing action is completed, it automatically retracts the pusher block, creating a rhythmic action for continuous feeding. The feeding frame serves as the structural support for all feeding components, forming a stable connection with the pusher hydraulic cylinder, the pusher block, and the second resilient element, ensuring the overall rigidity and precision of the mechanism. The guide rail provides linear guidance for the feeding table, working in conjunction with the slide rail structure to ensure smooth sliding of the feeding table and prevent deflection. The feeding table, serving as a platform for loading variable-section pipes, moves forward and backward through a sliding connection with the rails, enabling accurate delivery of pipes to the push point for initial loading. A rhythmic feeding process, driven by a hydraulic cylinder, followed by a push block and reset by a spring, ensures smooth, accurate, and high-frequency delivery of pipes during the feeding phase.

[0025] Furthermore, the sorting and exporting mechanism includes a sorting box, a sorting motor, a rotating plate, a sorting clamp, a sorting hydraulic cylinder, an iris assembly, a vertically movable electric rail and a horizontal hydraulic cylinder. The sorting hydraulic cylinder and the sorting motor are fastened together, the sorting motor and the rotating plate are transmission-connected, the sorting clamp and the rotating plate are fastened together, the vertically movable electric rail and the horizontal hydraulic cylinder are transmission-connected, and the horizontal hydraulic cylinder and the iris assembly are transmission-connected.

[0026] By adopting the above-mentioned technical solution, the sorting hydraulic cylinder and sorting motor in the sorting and exporting mechanism cooperate to provide power control for the rotating plate, enabling it to rotate at a predetermined angle, thereby driving the sorting claws fixed to it to open, close, and rotate, achieving precise grasping and release of pipes in different positions and orientations. Driven by the rotating plate, the sorting claws can effectively clamp and guide the pipes that have passed positioning and identification to the designated sorting path. The vertical movable electric rail provides vertical movement for the entire sorting mechanism. Combined with the horizontal propulsion of the transverse hydraulic cylinder, the sorting claws can flexibly adjust their position in three dimensions to accommodate the sorting needs of variable-section pipes with different specifications or positional deviations. The iris assembly dynamically switches and limits the pipe outlet path by adjusting the opening size in conjunction with the transverse hydraulic cylinder, ensuring that after the sorting operation is completed, the pipes are accurately exported to the designated track or storage location. The synergistic effect of the above structures enables intelligent sorting and precise export of pipe fittings at the end of the flow, which not only improves the overall operation efficiency, but also ensures the stability and accuracy of the sorting process of multi-specification variable-section pipe fittings.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The horizontal displacement component uses a fine-tuning motor to drive the fine-tuning screw and the lifting block for precise linkage, so that the lifting component can achieve millimeter-level fine displacement in the horizontal direction; at the same time, the horizontal motor drives the transmission shaft and gear set through the transmission belt, pushing the moving wheel to slide and connect with the suspension bridge frame, so as to achieve efficient large-stroke horizontal transportation of pipe fittings. The lifting component uses a lifting motor to drive the lifting belt and the rotating wire block to rotate, converting the rotational motion into the vertical displacement of the lifting screw, driving the lifting block and the lifting slide bar to slide stably, so that the pipe fittings can be accurately positioned in the vertical direction to meet the height adaptation requirements of complex variable-section pipe fittings; the clamping jaws of the driving assembly are equipped with a first electromagnetic block and a first magnetic block, which realize rapid response and precise control of the clamping jaws through the principle of magnetic pole repulsion. The clamping motor is directly connected to the lifting rod to drive the clamping jaws to quickly and reliably grab the pipe fittings; at the same time, the vertical motor drives the transmission wheel to rotate and position accurately, so that the clamping and exporting actions are synchronized and coordinated, which significantly shortens the single clamping action cycle. It also improves the clamping stability, and is especially suitable for industrial scenarios with large shape differences and high transfer rhythm requirements; the clamping component of the positioning and identification mechanism is equipped with a transmission disk, and the vortex protrusions on its surface are slidably connected with the claws, so that the claws exhibit nonlinear and progressive movement when clamping the pipe, ensuring smooth and flexible clamping action; combined with the magneto-elastic structure of the second electromagnetic block and the second magnetic block in the adaptive component, the active adaptive adjustment of the claws is achieved when the shape of the pipe changes, and no additional control signal is required to accurately fit the outer contour of the pipe, effectively solving the technical problems of inaccurate positioning and clamping of variable-section pipes, and greatly improving the flexibility and automation level of the flow device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the horizontal displacement assembly of the present invention;

[0031] Figure 3 This is a schematic diagram of the lifting assembly structure of the present invention;

[0032] Figure 4 This is a schematic structural diagram of the first electromagnetic block of the present invention;

[0033] Figure 5 This is a schematic structural diagram of the clamping assembly of the present invention;

[0034] Figure 6 This is a schematic diagram of the adaptive component structure of the present invention;

[0035] Figure 7 This is a schematic structural diagram of the buffer mechanism of the present invention;

[0036] Figure 8 It is a schematic structural diagram of the feeding mechanism of the present invention;

[0037] Figure 9 This is a structural diagram of the sorting and exporting mechanism of the present invention.

[0038] In the figure: 1. Transfer track mechanism; 11. Lifting assembly; 111. Lifting block; 112. Lifting frame; 113. Lifting motor; 114. Lifting screw; 115. Rotating screw block; 116. Lifting belt; 117. Lifting slide; 12. Horizontal displacement assembly; 121. Displacement frame; 122. Horizontal motor; 123. Drive belt; 124. Drive gear set; 125. Drive shaft; 126. Moving wheel; 127. Fine-tuning motor; 128 , fine-tuning screw; 129, slide; 13, drive assembly; 131, electric slide rail; 132, drive platform; 133, flow platform; 134, lifting hydraulic cylinder; 135, driving claw; 136, flow motor; 137, lifting rod; 138, clamping motor; 139, transmission wheel; 1310, vertical motor; 1311, first electromagnetic block; 1312, first elastic member; 1313, first magnetic block; 14, suspension bridge; 2, buffer mechanism; 21. Buffer elastic member; 22. Damper; 23. Buffer rod; 3. Positioning identification mechanism; 31. Positioning transmitter; 32. Positioning receiver; 33. Clamping assembly; 331. Clamping table; 332. Clamping claw; 333. Transmission plate; 3331. Vortex protrusion; 334. Pressure sensor; 335. Clamping motor; 34. Adaptive assembly; 341. Adaptive plate; 342. Second elastic member; 343. Second electromagnetic block; 344. Second magnetic block ;345. Adaptive rack; 4. Feeding mechanism; 41. Pushing hydraulic cylinder; 42. Building block; 43. Pushing block; 44. First reset elastic member; 45. Second reset elastic member; 46. Feeding rack; 47. Guide rail; 48. Feeding table; 5. Sorting and exporting mechanism; 51. Sorting box; 52. Sorting motor; 53. Rotating plate; 54. Sorting clamp; 55. Sorting hydraulic cylinder; 56. Iris assembly; 57. Vertical moving electric rail; 58. Horizontal hydraulic cylinder. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] See also Figure 1 - Figure 9 As shown, the present invention provides a technical solution for a pipe circulation device with an intelligent positioning function:

[0041] The circulation device includes a transfer track mechanism 1, a buffer mechanism 2, a positioning and identification mechanism 3, a feeding mechanism 4 and a sorting and exporting mechanism 5. The transfer track mechanism 1 and the feeding mechanism 4 are tightly connected, the transfer track mechanism 1 and the sorting and exporting mechanism 5 are tightly connected, the buffer mechanism 2 and the transfer track mechanism 1 are tightly connected, the positioning and identification mechanism 3 and the transfer track mechanism 1 are tightly connected, the sorting and exporting mechanism 5 is located at one end of the transfer track mechanism 1, and the feeding mechanism 4 is located at the other end of the transfer track mechanism 1 away from the sorting and exporting mechanism 5.

[0042] By adopting the above technical solution, variable-section pipes are fed into the transfer track mechanism 1 by the feeding mechanism 4. Through the coordinated action of the lifting assembly 11, horizontal displacement assembly 12, and drive assembly 13 of the transfer track mechanism 1, the pipes can be precisely moved and positioned on the transfer track. The buffer mechanism 2 effectively mitigates the impact force of the pipes during circulation, protecting them from damage. The positioning and identification mechanism 3 accurately identifies and locates the pipes, ensuring that they are accurately sorted and exported by the sorting and exporting mechanism 5.

[0043] Furthermore, the transfer track mechanism 1 includes a lifting component 11, a horizontal displacement component 12, a driving component 13 and a drawbridge 14. The horizontal displacement component 12 and the drawbridge 14 are slidingly connected. The lifting component 11 and the horizontal displacement component 12 are slidingly connected. The driving component 13 is located below the lifting component 11. The feeding mechanism 4 and the sorting and exporting mechanism 5 are both fastened to the driving component 13. The buffer mechanism 2 and the drawbridge 14 are fastened. The positioning identification mechanism 3 and the lifting component 11 are fastened.

[0044] By adopting the above technical solution, the lifting component 11 can move the inner surface of the variable-section pipe in the vertical direction, thereby providing a basis for clamping. The horizontal displacement component 12 can move the pipe in the horizontal direction. The driving component 13 provides the driving force for the horizontal flow of the pipe. The suspension bridge 14 serves as a supporting structure for the flow of the pipe, which can ensure the stability of the pipe during the flow process. The positioning and identification mechanism 3 can accurately locate and classify the pipe by identifying the characteristics of the pipe and following the transfer track mechanism 1 to ensure that the variable-section pipe is correctly placed on the transfer track mechanism 1.

[0045] Furthermore, the horizontal displacement assembly 12 includes a displacement frame 121, a horizontal motor 122, a transmission belt 123, a transmission gear set 124, a transmission shaft 125, a moving wheel 126, a fine-tuning motor 127, a fine-tuning screw rod 128 and a slide 129. The displacement frame 121 is slidingly connected to the suspension bridge frame 14, the horizontal motor 122 is firmly connected to the displacement frame 121, the horizontal motor 122 is transmission-connected to the transmission belt 123, the transmission belt 123 is transmission-connected to the transmission shaft 125, the transmission shaft 125 is transmission-connected to the transmission gear set 124, the transmission gear set 124 is transmission-connected to the moving wheel 126, the moving wheel 126 is in contact with the suspension bridge frame 14, the fine-tuning motor 127 is firmly connected to the displacement frame 121, the fine-tuning motor 127 is transmission-connected to the fine-tuning screw rod 128, the fine-tuning screw rod 128 is transmission-connected to the lifting assembly 11, the lifting assembly 11 is slidingly connected to the slide 129, and the slide 129 is firmly connected to the displacement frame 121.

[0046] By adopting the above technical solution, the displacement frame 121 serves as the load-bearing skeleton of the entire horizontal displacement assembly 12. Through the sliding connection with the suspension bridge frame 14, it can achieve stable lateral sliding on the suspension bridge frame 14. The horizontal motor 122 is installed on the displacement frame 121 as the main driving source, and realizes power transmission through the transmission belt 123 and the transmission shaft 125. After the transmission belt 123 efficiently transmits the power, it drives the transmission shaft 125 to rotate. The transmission shaft 125 then transmits the rotational power to the moving wheel 126 through the transmission gear set 124, thereby pushing the displacement frame 121 to move horizontally along the suspension bridge frame 14. The moving wheel 126 is in contact with the suspension bridge frame 14 to ensure the guiding accuracy and load-bearing stability during the movement. In order to further improve the positioning accuracy of the pipe fittings, a fine-tuning motor 127 is provided. It is fixed to the displacement frame 121 and realizes the slight displacement adjustment of the lifting assembly 11 by driving the fine-tuning screw 128, ensuring the fine adjustment of the lifting assembly 11 in the horizontal direction.

[0047] Furthermore, the lifting assembly 11 includes a lifting block 111, a lifting frame 112, a lifting motor 113, a lifting screw 114, a rotating wire block 115, a lifting belt 116 and a lifting slide 117. The fine-tuning screw 128 is connected to the lifting block 111 for transmission, the lifting block 111 is slidably connected to the slide 129, the lifting screw 114 and the lifting slide 117 are both fastened to the lifting frame 112, the lifting motor 113 is fastened to the lifting block 111, the lifting motor 113 is connected to the lifting belt 116 for transmission, the lifting belt 116 is connected to the rotating wire block 115 for transmission, the rotating wire block 115 is connected to the lifting screw 114 for transmission, the rotating wire block 115 is rotatably connected to the lifting block 111, and the lifting slide 117 is slidably connected to the lifting frame 112.

[0048] By adopting the above technical solution, the lifting assembly 11 realizes the precise lifting and lowering operation of the variable-section pipe in the vertical direction through a multi-stage transmission and guide structure. The fine-tuning screw 128 is connected to the lifting block 111 in a transmission manner, which can achieve a small displacement of the lifting block 111 under the requirement of fine adjustment to cooperate with the fine adjustment of the pipe during the clamping or positioning process. The lifting block 111 is slidably connected to the slide 129 to ensure that it runs along a fixed track during the up and down movement, avoids offset or shaking, and improves the stability of the system. The lifting screw 114 serves as the main lifting drive element and is tightly connected to the lifting slide 117 and the lifting frame 112 to provide solid guide and transmission support to ensure rigidity and anti-deformation ability during the lifting process. The lifting motor 113 is installed on the lifting block 111 and is connected to the rotating wire block 115 through the lifting belt 116 to drive the rotating wire block 115. Rotating screw block 115 is in driving connection with lifting screw 114, converting rotational motion into linear displacement of lifting block 111 through the principle of screw transmission. The rotational connection between rotating screw block 115 and lifting block 111 allows it to smoothly raise or lower lifting frame 112 during rotation. Lifting slide bar 117 is slidably connected to lifting frame 112, further enhancing lifting stability and anti-swaying capability, making it suitable for use with variable-section and diameter pipes of various specifications and lengths.

[0049] Furthermore, the driving assembly 13 includes an electric slide 131, a driving platform 132, a flow turntable 133, a lifting hydraulic cylinder 134, a driving clamp 135, a flow motor 136, a lifting rod 137, a clamping motor 138, a transmission wheel 139, a vertical motor 1310, a first electromagnetic block 1311, a first elastic member 1312 and a first magnetic block 1313. The driving platform 132 and the flow turntable 133 are both connected to the electric slide 131 in a transmission manner, the lifting hydraulic cylinder 134 is fastened to the flow turntable 133, the lifting hydraulic cylinder 134 is connected to the flow motor 136 in a transmission manner, and the flow motor 136 is connected to the lifting rod 137 in a transmission manner. Dynamic connection, the clamping motor 138 and the lifting rod 137 are fastened together, the clamping motor 138 and the driving jaw 135 are transmission connected, the first electromagnetic block 1311 and the driving jaw 135 are fastened together, the first electromagnetic block 1311 and the first elastic member 1312 are fastened together, the first elastic member 1312 and the first magnetic block 1313 are fastened together, the first magnetic block 1313 and the driving jaw 135 are fastened together, the first electromagnetic block 1311 and the first magnetic block 1313 are magnetically pole-repelling transmission, the vertical motor 1310 and the first magnetic block 1313 are transmission connected, and the vertical motor 1310 and the transmission wheel 139 are transmission connected.

[0050] By adopting the above technical solution, the electric slide rail 131 provides a horizontal driving foundation for the driving platform 132 and the flow turntable 133, realizing rapid displacement and precise control of the entire platform on the flow path. The driving platform 132 and the flow turntable 133 move in coordination through their transmission connection structure to ensure the unity of power output and structural support during the flow process. The lifting hydraulic cylinder 134 is fastened to the flow turntable 133 and serves as the main driving source for vertical lifting. It is connected to the flow motor 136 through transmission and further drives the lifting rod 137 to lift and lower in the vertical direction to complete the rapid adjustment of the pipe clamping height and angle. The lifting rod 137 is equipped with a clamping motor 138, which controls the opening and closing of the clamping claws through transmission action. The clamping claws effectively grasp or release the variable-section pipes, and its clamping action is stable and responsive. The first electromagnetic block 1311, first magnetic block 1313, and first elastic member 1312 integrated into the clamping structure form a combined magnetoelastic adjustment mechanism. The first electromagnetic block 1311 is securely connected to the clamping jaw and, through its fastening to the first elastic member 1312, forms a stable magnetic control structure. The first elastic member 1312 is further connected to the first magnetic block 1313, which is also secured to the clamping jaw, enabling dynamic transmission control based on magnetic pole repulsion. When energized, the first electromagnetic block 1311 generates a magnetic force that repels the first magnetic block 1313, further assisting the clamping jaw in completing the clamping action and improving response speed and clamping accuracy. A vertical motor 1310 is in transmission connection with the first magnetic block 1313, assisting in its precise positioning. It is also in transmission connection with the transfer wheel 139, driving it to rotate and complete the pipe routing or alignment operations. This effectively enhances the adaptability of the transfer device in processing pipes of varying cross-sections and specifications, making it particularly suitable for pipes with variable positions and shapes.

[0051] Furthermore, the positioning identification mechanism 3 includes a positioning transmitter 31, a positioning receiver 32, a clamping assembly 33 and an adaptive assembly 34. The positioning transmitter 31 is fastened to the lifting frame 112, and the positioning receiver 32 is fastened to the clamping assembly 33. The clamping assembly 33 is provided with two groups, one group of clamping assemblies 33 is fastened to the adaptive assembly 34, and the other group of clamping assemblies 33 is fastened to the lifting frame 112. The clamping assembly 33 includes a clamping table 331, a clamping claw 332, a transmission disk 333, a pressure sensor 334 and a clamping motor 335. The clamping claw 332 is slidingly connected to the clamping table 331, the pressure sensor 334 is fastened to the clamping claw 332, the clamping motor 335 is fastened to the clamping table 331, the clamping motor 335 is transmission-connected to the transmission disk 333, the transmission disk 333 is provided with a vortex protrusion 3331, and the transmission disk 333 and the clamping claw 332 are transmission-connected.

[0052] By adopting the above-mentioned technical solution, the positioning and identification mechanism 3 forms a closed-loop detection system through signal interaction between the positioning transmitter 31 and the positioning receiver 32. The positioning transmitter 31 is fixed to the lifting frame 112 and actively sends a positioning signal when the pipe enters the identification area. The positioning receiver 32 is tightly connected to the clamping assembly 33 to receive the reflected or transmitted identification signal, thereby accurately determining the size, position, and posture of the pipe. The clamping assembly 33 is provided with two groups. One group is tightly connected to the adaptive assembly 34 to form a floating clamping structure that adapts to the positioning of pipes of different sizes and cross-sectional shapes. The other group is tightly connected to the lifting frame 112 and serves as a fixed reference end to improve clamping stability. The clamping table 331 within the clamping assembly 33 serves as the guide support base for the clamping jaws. The slidingly connected clamping jaws 332 achieve left and right limit clamping of the pipe. The integrated pressure sensor 334 on the clamping jaws can monitor the clamping force in real time to prevent overpressure damage to the pipe. The clamping motor 138 is securely connected to the clamping table 331 and, through a transmission action, drives the transmission disc 333 to rotate, driving the claws 332 to open and close, achieving clamping or releasing. The transmission disc 333 is provided with a vortex-shaped protrusion 3331, which, during rotation, drives the claws 332 to retract and extend at a nonlinear rate, making the clamping action softer and more precise, suitable for variable-section pipes of various materials and shapes. The positioning and identification mechanism 3, through the coordinated operation of positioning transmission and reception identification, bidirectional clamping of the clamping assembly 33, dynamic coordination of the adaptive assembly 34, and nonlinear clamping of the transmission disc 333, not only efficiently identifies the position and characteristics of different types of pipes, but also automatically adjusts the clamping posture to accommodate workpieces of various specifications. This significantly improves positioning accuracy and system adaptability, providing a reliable identification and clamping foundation for subsequent sorting and exporting operations, and is suitable for the precise alignment and identification process in the circulation system of multi-variety variable-section pipes.

[0053] Furthermore, the adaptive component 34 includes an adaptive disk 341, a second elastic member 342, a second electromagnetic block 343, a second magnetic block 344 and an adaptive frame 345. The adaptive disk 341 and the second magnetic block 344 are fastened together, the second elastic member 342 and the second magnetic block 344 are fastened together, the second elastic member 342 and the second electromagnetic block 343 are fastened together, the second electromagnetic block 343 and the second magnetic block 344 are magnetically repelled, the adaptive disk 341 and the adaptive frame 345 are slidingly connected, and the adaptive disk 341 and the card table 331 are fastened together.

[0054] By adopting the above technical solution, the adaptive assembly 34 achieves automatic adaptation to pipes of varying shapes and sizes through a combined magnetic-elastic structure. The adaptive disk 341 is securely connected to the second magnetic block 344, acting as the main body of adaptive motion, adjusting its displacement in response to external dimensional changes during positioning and clamping. The second magnetic block 344, through its connection to the second elastic member 342, achieves a certain degree of axial flexibility, enabling controlled elastic deformation when subjected to external forces, enhancing the structure's adaptability. One end of the second elastic member 342 is securely connected to the second electromagnetic block 343, providing basic support when the electromagnetic block is de-energized. When energized, the second electromagnetic block 343 creates a repulsive force between its magnetic poles and the second magnetic block 344. This repulsive force, combined with the elastic force of the elastic member, creates a dynamic equilibrium, enabling the adaptive disk 341 to self-adjust according to specific geometric changes during pipe clamping. The adaptive disc 341's sliding connection to the adaptive frame 345 ensures smooth movement in a predetermined direction in response to magnetic forces or external forces, preventing lateral interference or structural jamming during the clamping process. Furthermore, through its secure connection to the clamping platform 331, the adaptive disc 341 transmits its position adjustment directly to the gripper system, enabling real-time fine-tuning of the gripping range. This structure, without the need for complex sensors or programmed control, relies on magnetic and elastic feedback to passively adapt to changes in the pipe's shape, enhancing its gripping compatibility with a wide range of specifications, non-standard, or deformed pipes.

[0055] Furthermore, the buffer mechanism 2 includes a buffer elastic member 21, a damper 22 and a buffer rod 23, the displacement frame 121 and the buffer rod 23 are slidingly connected, the buffer elastic member 21 and the damper 22 are fastened together, the damper 22 and the suspension bridge frame 14 are fastened together, the displacement frame 121 and the buffer rod 23 are slidingly connected, and the suspension bridge frame 14 and the buffer rod 23 are fastened together.

[0056] By adopting the above technical solution, the buffer elastic member 21 serves as the first shock-absorbing structure in the buffer mechanism 2. When the pipe is moved to the displacement frame 121 via the transfer track mechanism 1 and an inertial collision occurs, it can quickly absorb part of the impact energy, reduce the impact peak, and prevent structural damage or deformation of the pipe due to the collision. The buffer elastic member 21 is tightly connected to the damper 22, so that while elastically buffering, the damper 22 performs hysteresis control on the buffering process through the internal hydraulic or air resistance mechanism, further reducing the instantaneous displacement speed and achieving secondary dissipation of the impact force. The damper 22 is tightly connected to the suspension bridge frame 14 to ensure stability during the buffering process and that the force transmission path does not deviate. On the one hand, the buffer rod 23 is tightly connected to the suspension bridge frame 14 to form a stable supporting structure. On the other hand, through the sliding connection with the displacement frame 121, it can produce relative displacement under the guide limit when subjected to force, and cooperate with the buffer elastic member 21 and the damper 22 to complete the multi-stage buffering action. As the displacement frame 121, driven by the drive assembly 13, moves the pipe, if there is interference or a sudden stop at the front end, the buffer rod 23 immediately intervenes to share the impact load in the displacement direction. The entire buffer mechanism 2, through a triple synergistic mechanism of elastic energy absorption, damping energy dissipation, and guided sliding, effectively absorbs and gradually releases dynamic impacts during the flow process. This improves the safety of the pipe in the flow path and the structural stability of the system, preventing premature fatigue damage to the equipment or surface damage to the pipe due to inertial impact. It is particularly suitable for high-frequency, high-speed flow operations.

[0057] Furthermore, the feeding mechanism 4 includes a pushing hydraulic cylinder 41, a building block 42, a pushing block 43, a first reset elastic member 44, a second reset elastic member 45, a feeding rack 46, a guide rail 47 and a feeding table 48. The feeding table 48 is slidably connected to the slide rail, the first reset elastic member 44 is firmly connected to the feeding table 48, the first reset elastic member 44 is firmly connected to the guide rail 47, the pushing hydraulic cylinder 41 is firmly connected to the feeding rack 46, the pushing hydraulic cylinder 41 is transmission-connected to the building block 42, the pushing block 43 is in contact with the building block 42, the pushing block 43 is slidably connected to the feeding rack 46, the pushing block 43 is firmly connected to the second reset elastic member 45, and the second reset elastic member 45 is firmly connected to the feeding rack 46.

[0058] By adopting the above technical solution, the hydraulic cylinder 41 is pushed as the driving core of the feeding mechanism 4, and the reciprocating drive of the pushing block 43 is realized through the transmission connection with the building block 42. The pushing block 43 slides under the drive of the building block 42 and contacts the variable-section pipe fitting, pushing it from the feeding table 48 into the transfer track mechanism 1. The sliding connection between the pushing block 43 and the feeding rack 46 ensures that it can still move smoothly under stress, avoiding the occurrence of jamming. One end of the first reset elastic member 44 is fastened to the feeding table 48, and the other end is connected to the guide rail 47. After the pushing block 43 retreats, the feeding table 48 is automatically reset to the initial position to ensure that the next pipe fitting is accurately in place. One end of the second reset elastic member 45 is fastened to the pushing block 43, and the other end is connected to the feeding rack 46. After the pushing action is completed, the pushing block 43 is automatically retracted to form a rhythmic action of continuous feeding. The feeding rack 46 serves as the structural carrier of all feeding components, forming a stable connection with the pushing hydraulic cylinder 41, the pushing block 43 and the second reset elastic member 45, ensuring the overall rigidity and precision of the mechanism operation. The guide rail 47 provides a linear guide function for the feeding table 48, and cooperates with the slide rail structure to achieve smooth sliding of the feeding table 48 and prevent deflection. The feeding table 48 serves as an operating platform for carrying variable-section pipe fittings. It moves back and forth through a sliding connection with the slide rail, so that the pipe fittings can be accurately transported to the pushing point to complete the initial loading action. The rhythmic feeding mode of driving the hydraulic cylinder 41 - pushing the pushing block 43 - resetting the reset elastic member ensures the smooth, accurate and high-frequency output of the pipe fittings during the feeding stage.

[0059] Furthermore, the sorting and exporting mechanism 5 includes a sorting box 51, a sorting motor 52, a rotating plate 53, a sorting clamp 54, a sorting hydraulic cylinder 55, an iris assembly 56, a vertical movable electric rail 57 and a horizontal hydraulic cylinder 58. The sorting hydraulic cylinder 55 is fastened to the sorting motor 52, the sorting motor 52 is transmission-connected to the rotating plate 53, the sorting clamp 54 is fastened to the rotating plate 53, the vertical movable electric rail 57 is transmission-connected to the horizontal hydraulic cylinder 58, and the horizontal hydraulic cylinder 58 is transmission-connected to the iris assembly 56.

[0060] By employing the above-described technical solution, the sorting hydraulic cylinder 55 and sorting motor 52 in the sorting and discharge mechanism 5 provide power control for the rotating plate 53, enabling it to rotate at a predetermined angle. This in turn drives the sorting jaws 54 mounted thereon to open, close, and rotate, enabling precise grasping and release of tubes in various positions and orientations. Driven by the rotating plate 53, the sorting jaws 54 effectively grasp and guide tubes identified by their positioning to the designated sorting path. The vertically movable electric rails 57 provide vertical movement for the entire sorting mechanism. Combined with the horizontal propulsion of the transverse hydraulic cylinder 58, the sorting jaws 54 can be flexibly adjusted in three dimensions to accommodate the sorting needs of variable-section tubes with varying specifications or positional deviations. The iris assembly 56, in conjunction with the transverse hydraulic cylinder 58, dynamically adjusts the opening size, enabling the tube outlet path to be dynamically switched and limited, ensuring that after sorting, the tubes are accurately discharged to the designated track or storage location. The synergistic effect of the above structures enables intelligent sorting and precise export of pipe fittings at the end of the flow, which not only improves the overall operating efficiency, but also ensures the stability and accuracy of the sorting process of multi-specification variable-section pipe fittings.

[0061] Working principle of the present invention:

[0062] The horizontal displacement component 12 uses the fine-tuning motor 127 to drive the fine-tuning screw 128 to precisely link with the lifting block 111, so that the lifting component 11 can achieve millimeter-level fine displacement in the horizontal direction; at the same time, the horizontal motor 122 drives the transmission shaft 125 and the gear set through the transmission belt 123, pushing the moving wheel 126 to slide and connect with the suspension bridge frame 14, realizing efficient large-stroke horizontal transportation of pipes. The lifting assembly 11 adopts a lifting motor 113 to drive the lifting belt 116 and the rotating wire block 115 to rotate, converting the rotational motion into the vertical displacement of the lifting screw rod 114, driving the lifting block 111 and the lifting slide rod 117 to slide stably, so that the pipe fittings can be accurately positioned in the vertical direction, meeting the height adaptation requirements of complex variable-section pipe fittings; the clamping jaws of the driving assembly 13 are equipped with a first electromagnetic block 1311 and a first magnetic block 1313, which realize rapid response and precise control of the clamping jaws through the principle of magnetic pole repulsion, and the clamping motor 138 is directly connected to the lifting rod 137 to drive the clamping jaws 135 to quickly and reliably grab the pipe fittings; at the same time, the vertical motor 1310 drives the transmission wheel 139 to rotate and position accurately, so that the clamping and exporting actions are synchronized and coordinated, which is significant. It shortens the single clamping action cycle and improves the clamping stability, which is especially suitable for industrial scenarios with large shape differences and high transportation rhythm requirements; the clamping component 33 of the positioning and identification mechanism 3 is equipped with a transmission disk 333, and the spiral protrusion 3331 on its surface is slidably connected with the claw 332, so that the claw 332 exhibits nonlinear and progressive movement when clamping the pipe, ensuring smooth and flexible clamping action; combined with the magnetoelastic structure of the second electromagnetic block 343 and the second magnetic block 344 in the adaptive component 34, the active adaptive adjustment of the clamping claw is achieved when the shape of the pipe changes, and the outer contour of the pipe can be accurately fitted without additional control signals, which effectively solves the technical problem of inaccurate positioning and clamping of variable-section pipes, and greatly improves the flexibility and automation level of the flow device.

[0063] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A pipe circulation device with intelligent positioning function, characterized by: The circulation device comprises a transfer track mechanism (1), a buffer mechanism (2), a positioning identification mechanism (3), a feeding mechanism (4) and a sorting and exporting mechanism (5); the transfer track mechanism (1) and the feeding mechanism (4) are tightly connected, the transfer track mechanism (1) and the sorting and exporting mechanism (5) are tightly connected, the buffer mechanism (2) and the transfer track mechanism (1) are tightly connected, the positioning identification mechanism (3) and the transfer track mechanism (1) are tightly connected, the sorting and exporting mechanism (5) is located at one end of the transfer track mechanism (1), and the feeding mechanism (4) is located at the other end of the transfer track mechanism (1) away from the sorting and exporting mechanism (5); The transfer track mechanism (1) comprises a lifting assembly (11), a horizontal displacement assembly (12), a driving assembly (13) and a suspension bridge (14); The lifting assembly (11) includes a lifting block (111), a lifting frame (112), a lifting motor (113), a lifting screw (114), a rotating screw block (115), a lifting belt (116) and a lifting slide rod (117); The driving assembly (13) includes an electric slide rail (131), a driving platform (132), a flow table (133), a lifting hydraulic cylinder (134), a driving clamp (135), a flow motor (136), a lifting rod (137), a clamping motor (138), a transmission wheel (139), a vertical motor (1310), a first electromagnetic block (1311), a first elastic member (1312) and a first magnetic block (1313). The driving platform (132) and the flow table (133) are both connected to the electric slide rail (131), the lifting hydraulic cylinder (134) and the flow table (133) are fastened, the lifting hydraulic cylinder (134) and the flow motor (136) are connected to each other, and the flow motor (136) and the lifting rod (137) are connected to each other. The clamping motor (138) and the lifting rod (137) are fastened together, the clamping motor (138) and the driving clamp (135) are transmission-connected, the first electromagnetic block (1311) and the driving clamp (135) are fastened together, the first electromagnetic block (1311) and the first elastic member (1312) are fastened together, the first elastic member (1312) and the first magnetic block (1313) are fastened together, the first magnetic block (1313) and the driving clamp (135) are fastened together, the first electromagnetic block (1311) and the first magnetic block (1313) are magnetically repelled from each other, the vertical motor (1310) and the first magnetic block (1313) are transmission-connected, and the vertical motor (1310) and the transmission wheel (139) are transmission-connected; The positioning identification mechanism (3) includes a positioning transmitter (31), a positioning receiver (32), a clamping assembly (33) and an adaptive assembly (34); the positioning transmitter (31) is fastened to the lifting frame (112); the positioning receiver (32) is fastened to the clamping assembly (33); the clamping assembly (33) is provided with two groups, one group of the clamping assembly (33) is fastened to the adaptive assembly (34); the other group of the clamping assembly (33) is fastened to the lifting frame (112); the clamping assembly (33) includes a card table ( 331), a clamping claw (332), a transmission disk (333), a pressure sensor (334) and a clamping motor (335), wherein the clamping claw (332) and the clamping platform (331) are slidably connected, the pressure sensor (334) and the clamping claw (332) are fixedly connected, the clamping motor (335) and the clamping platform (331) are fixedly connected, the clamping motor (335) and the transmission disk (333) are transmission-connected, the transmission disk (333) is provided with a vortex-shaped protrusion (3331), and the transmission disk (333) and the clamping claw (332) are transmission-connected.

2. The pipe circulation device with intelligent positioning function according to claim 1, characterized in that: The horizontal displacement component (12) and the suspension bridge (14) are slidably connected, the lifting component (11) and the horizontal displacement component (12) are slidably connected, the driving component (13) is located below the lifting component (11), the feeding mechanism (4) and the sorting and exporting mechanism (5) are both fastened to the driving component (13), the buffer mechanism (2) and the suspension bridge (14) are fastened to each other, and the positioning identification mechanism (3) and the lifting component (11) are fastened to each other.

3. The pipe circulation device with intelligent positioning function according to claim 2, characterized in that: The horizontal displacement assembly (12) comprises a displacement frame (121), a horizontal motor (122), a transmission belt (123), a transmission gear set (124), a transmission shaft (125), a moving wheel (126), a fine-tuning motor (127), a fine-tuning screw rod (128) and a slide (129); the displacement frame (121) is slidably connected to the suspension bridge frame (14); the horizontal motor (122) is firmly connected to the displacement frame (121); the horizontal motor (122) is transmission-connected to the transmission belt (123); the transmission belt (123) is transmission-connected to the transmission shaft (125); The transmission shaft (125) is in transmission connection with the transmission gear set (124), the transmission gear set (124) is in transmission connection with the moving wheel (126), the moving wheel (126) is in abutment with the suspension bridge frame (14), the fine-tuning motor (127) is in fastening connection with the displacement frame (121), the fine-tuning motor (127) is in transmission connection with the fine-tuning screw rod (128), the fine-tuning screw rod (128) is in transmission connection with the lifting component (11), the lifting component (11) is in sliding connection with the slide (129), and the slide (129) is in fastening connection with the displacement frame (121).

4. The pipe circulation device with intelligent positioning function according to claim 3, characterized in that: The fine-tuning screw rod (128) is connected to the lifting block (111) in a transmission connection, the lifting block (111) is connected to the slide (129) in a sliding connection, the lifting screw rod (114) and the lifting slide rod (117) are both fixedly connected to the lifting frame (112), the lifting motor (113) is fixedly connected to the lifting block (111), the lifting motor (113) is connected to the lifting belt (116), the lifting belt (116) is connected to the rotating wire block (115), the rotating wire block (115) is connected to the lifting screw rod (114), the rotating wire block (115) is connected in a rotational connection to the lifting block (111), and the lifting slide rod (117) is connected to the lifting frame (112) in a sliding connection.

5. The pipe circulation device with intelligent positioning function according to claim 4, characterized in that: The adaptive component (34) includes an adaptive disk (341), a second elastic member (342), a second electromagnetic block (343), a second magnetic block (344) and an adaptive frame (345), wherein the adaptive disk (341) and the second magnetic block (344) are fastened together, the second elastic member (342) and the second magnetic block (344) are fastened together, the second elastic member (342) and the second electromagnetic block (343) are fastened together, the second electromagnetic block (343) and the second magnetic block (344) are magnetically repelled, the adaptive disk (341) and the adaptive frame (345) are slidably connected, and the adaptive disk (341) and the card table (331) are fastened together.

6. The pipe circulation device with intelligent positioning function according to claim 5, characterized in that: The buffer mechanism (2) comprises a buffer elastic member (21), a damper (22) and a buffer rod (23); the displacement frame (121) and the buffer rod (23) are slidably connected; the buffer elastic member (21) and the damper (22) are fixedly connected; the damper (22) and the suspension bridge frame (14) are fixedly connected; the displacement frame (121) and the buffer rod (23) are slidably connected; and the suspension bridge frame (14) and the buffer rod (23) are fixedly connected.

7. The pipe circulation device with intelligent positioning function according to claim 6, characterized in that: The feeding mechanism (4) includes a pushing hydraulic cylinder (41), a building block (42), a pushing block (43), a first reset elastic member (44), a second reset elastic member (45), a feeding rack (46), a guide rail (47) and a feeding platform (48), wherein the feeding platform (48) and the slide rail are slidably connected, the first reset elastic member (44) and the feeding platform (48) are fastened together, the first reset elastic member (44) and the guide rail (47) are fastened together, the pushing hydraulic cylinder (41) and the feeding rack (46) are fastened together, the pushing hydraulic cylinder (41) and the building block (42) are transmission-connected, the pushing block (43) and the building block (42) are in contact, the pushing block (43) and the feeding rack (46) are slidably connected, the pushing block (43) and the second reset elastic member (45) are fastened together, and the second reset elastic member (45) and the feeding rack (46) are fastened together.

8. The pipe circulation device with intelligent positioning function according to claim 7, characterized in that: The sorting and exporting mechanism (5) comprises a sorting box (51), a sorting motor (52), a rotating plate (53), a sorting clamp (54), a sorting hydraulic cylinder (55), an iris assembly (56), a vertically movable electric rail (57) and a horizontal hydraulic cylinder (58), wherein the sorting hydraulic cylinder (55) is fixedly connected to the sorting motor (52), the sorting motor (52) is transmission-connected to the rotating plate (53), the sorting clamp (54) is fixedly connected to the rotating plate (53), the vertically movable electric rail (57) is transmission-connected to the horizontal hydraulic cylinder (58), and the horizontal hydraulic cylinder (58) is transmission-connected to the iris assembly (56).

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