Discharging device and pipe bending equipment

Abstract

The invention belongs to the technical field of pipe bending machining, and particularly relates to a discharging device and pipe bending equipment, the discharging device is used for discharging a target workpiece located at a preset position, the target workpiece is provided with an inner cavity, and the discharging device comprises a material taking structure, a moving structure used for driving the material taking structure to move in a three-dimensional space and a material receiving structure adjacent to the preset position; the material taking structure comprises a supporting piece arranged in the first direction in a sliding mode and a stopping piece arranged on a sliding path of the supporting piece. The moving structure drives the supporting piece to move to correspond to the target workpiece, and the supporting piece slides towards an inner cavity of the target workpiece and is inserted into the inner cavity so as to support the target workpiece; the supporting piece moves the target workpiece to the position above the material receiving structure; the supporting piece slides in the direction opposite to the direction of insertion into the inner cavity, and the stopping piece stops the target workpiece so that the supporting piece can be separated from the target workpiece; and the target workpiece falls into the material receiving structure. According to the discharging device, the discharging convenience can be improved, and the applicability of the discharging device is improved.

Description

Technical Field

[0001] This invention belongs to the field of pipe bending technology, and particularly relates to a material feeding device and pipe bending equipment. Background Technology

[0002] Metal tube bending is a crucial forming process in modern industry, widely used in automotive exhaust systems, chassis frames, aerospace hydraulic lines, furniture, fitness equipment, and various fluid transport systems. As the core equipment for this process, tube bending machines have evolved from manual and semi-automatic to fully CNC-controlled. Modern high-end tube bending machines typically integrate CNC systems, servo motors, high-precision molds, and measurement feedback systems, enabling precise multi-angle and multi-dimensional bending of complex spatial tubes, significantly improving production efficiency and processing accuracy. The automation of tube bending machines extends beyond the bending and forming stage, encompassing the entire process from loading and bending to unloading.

[0003] Currently, robotic arms are commonly used for unloading operations in automated production lines. A common unloading method involves using the gripping mechanism at the end of the robotic arm to directly grasp the outer wall of the bent pipe fitting, then removing it and placing it onto a conveyor belt or material box. However, this unloading method has significant limitations, especially for pipe fittings with insufficient length. Because one end of the pipe fitting is fixed in the bending mold, the length of the free end extending after bending is limited. This means the robotic arm's grippers may not have enough space to open and reliably hold the pipe fitting, resulting in unloading difficulties. Summary of the Invention

[0004] The purpose of this application is to provide a feeding device and a pipe bending device, which aims to solve the problems of how to improve the convenience of feeding and how to improve the applicability of the feeding device.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, a feeding device is provided for feeding a target workpiece located at a preset position, the target workpiece having an internal cavity, the feeding device comprising: The material-receiving structure includes a support member slidably disposed along a first direction and a stop member disposed along the sliding path of the support member; a moving structure for driving the material-receiving structure to move in three-dimensional space; and a receiving structure adjacent to the preset position; wherein, the moving structure drives the support member to move to correspond with the target workpiece, the support member slides toward the inner cavity and inserts into the inner cavity to provide support for the target workpiece; the support member moves the target workpiece above the receiving structure; the support member slides in a direction opposite to the direction of insertion into the inner cavity, and the stop member abuts against the target workpiece to separate the support member from the target workpiece; the target workpiece falls onto the receiving structure.

[0006] In some embodiments, the material handling structure includes a support plate connected to the movable structure and a drive member connected to the support plate, the stop member connected to the support plate, the support member connected to the output end of the drive member, and the drive member being used to drive the support member to slide along the first direction.

[0007] In some embodiments, the abutment includes a baffle plate having a through hole through which the support member passes, the inner diameter of the through hole being smaller than the outer diameter of the target workpiece, so that the baffle plate abuts the target workpiece when the support member slides in a direction extending out of the inner cavity.

[0008] In some embodiments, the abutment further includes a connecting piece, one end of which is connected to the baffle plate and the other end of which is detachably connected to the support plate, the connecting piece extending along the first direction.

[0009] In some embodiments, the material handling structure further includes a push plate connected to the drive member and a push rod connected to the end of the push plate opposite to the drive member, the end of the push rod opposite to the push plate being connected to the support member.

[0010] In some embodiments, the support member includes a support portion and an insertion portion connected to the support portion, wherein the radial dimension of the insertion portion gradually decreases along the direction in which the support member is inserted into the inner cavity.

[0011] In some embodiments, the outer contour of the support portion is adapted to the contour of the inner cavity.

[0012] In some embodiments, the receiving structure and the preset position are arranged at intervals along the first direction. After the support member is inserted into the inner cavity, the moving structure drives the support member to move along the first direction to move the target workpiece above the receiving structure.

[0013] In some embodiments, the moving structure includes a first linear driver and a second linear driver connected to the first linear driver, the picking structure is connected to the second linear driver, the second linear driver is used to drive the picking structure to slide along a second direction, and the first linear driver is used to drive the second linear driver to slide along a first direction, the first direction being perpendicular to the second direction.

[0014] Secondly, a pipe bending device is provided, including the aforementioned feeding device. The unloading device provided in this application uses a moving structure to drive a support member to move to correspond with the target workpiece. The support member slides towards and inserts into the inner cavity of the target workpiece, thereby supporting the target workpiece. Then, the support member moves the target workpiece above the receiving structure. The support member slides in the opposite direction to the direction of insertion into the inner cavity. The target workpiece is blocked by a blocking member and does not move with the support member. Therefore, the target workpiece and the support member move relative to each other, eventually causing the support member to be pulled out of the inner cavity. The target workpiece loses the support of the support member and falls into the receiving structure under the action of gravity, completing the unloading of the target workpiece. The entire unloading process consists of a series of simple mechanical actions, which is simple to operate and improves the convenience of unloading. Moreover, compared with the unloading method using a robotic arm, the unloading method of this application is not limited by whether there is sufficient clamping length on the outside of the target workpiece. As long as the support member can be inserted into the inner cavity of the target workpiece to form support, it is sufficient, thus improving the applicability of the unloading device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the feeding device and the pipe bending device provided in the embodiments of this application; Figure 2 This is a schematic diagram of the overall structure of the feeding device provided in the embodiments of this application; Figure 3 This is a partial structural schematic diagram of the feeding device provided in one embodiment of this application; Figure 4 This is a partial structural schematic diagram of a feeding device provided in another embodiment of this application; Figure 5 This is a schematic diagram of the structure of the support member inserted into the inner cavity of the target workpiece in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the blocking member blocking the target workpiece in an embodiment of this application.

[0017] The following are the labeling elements in the figure: 10. Material receiving structure; 11. Support component; 111. Support part; 112. Insertion part; 12. Blocking component; 121. Baffle plate; 1211. Through hole; 122. Connecting piece; 13. Driving component; 14. Support plate; 15. Push plate; 16. Push rod; 17. Limiting seat; 20. Moving structure; 21. First linear actuator; 22. Second linear actuator; 30. Material receiving structure; 200. Target workpiece; 210. Inner cavity; 300. Pipe bending device. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] Please see Figures 1 to 6 This application provides a feeding device for feeding a target workpiece 200 located at a preset position. The target workpiece 200 has an inner cavity 210. The feeding device includes a feeding structure 10, a moving structure 20 for driving the feeding structure 10 to move in three-dimensional space, and a receiving structure 30 adjacent to the preset position. The feeding structure 10 includes a support member 11 slidably disposed along a first direction a and a stop member 12 disposed along the sliding path of the support member 11. The moving structure 20 drives the support member 11 to move to correspond with the target workpiece 200. The support member 11 slides toward the inner cavity 210 of the target workpiece 200 and inserts into the inner cavity 210 to provide support for the target workpiece 200. The support member 11 moves the target workpiece 200 above the receiving structure 30. The support member 11 slides in a direction opposite to the direction of insertion into the inner cavity 210, and the stop member 12 stops the target workpiece 200 to separate the support member 11 from the target workpiece 200. The target workpiece 200 falls onto the receiving structure 30.

[0023] In this embodiment, the target workpiece 200 is specifically a pipe. The feeding device is used to feed the pipe, which is bent into shape on the bending device 300 located at a preset position. The bending device 300 typically includes a clamping structure for holding the pipe and a bending die. Through the cooperation of the clamping structure and the bending die, the pipe can be bent into a preset shape. In this embodiment, after the pipe is bent, it is clamped in the clamping structure and extends horizontally. The inner cavity 210 of the pipe forms an opening at one end. The support member 11 can be inserted into the inner cavity 210 of the pipe through this opening. The inner wall of the pipe wraps around the support member 11, so the support member can support the inner wall of the pipe upward, thereby providing support for the pipe. It can be understood that after the support member 11 provides support for the pipe, the clamping structure of the bending device 300 releases the pipe.

[0024] In this embodiment, after the moving structure 20 drives the support member 11 to move above the receiving structure 30, the support member 11 slides in the opposite direction to the direction of the inner cavity 210 into which the target workpiece 200 is inserted. Since the target workpiece 200 is blocked by the abutment member 12, it does not move with the support member 11. Therefore, the target workpiece 200 and the support member 11 move relative to each other, eventually causing the support member 11 to be pulled out of the inner cavity 210. After losing the support of the support member 11, the target workpiece 200 falls into the receiving structure 30 under the influence of gravity. Optionally, the receiving structure 30 is a material frame. Of course, in other possible embodiments, the receiving structure 30 can also be a conveyor line, which transports the unloaded target workpiece 200 to the next workstation.

[0025] The feeding device provided in this application drives the support member 11 to move to correspond with the target workpiece 200 via the moving structure 20. The support member 11 slides towards and inserts into the inner cavity 210 of the target workpiece 200, thereby supporting the target workpiece 200. Then, the support member 11 moves the target workpiece 200 above the receiving structure 30. The support member 11 slides in the opposite direction to the direction of insertion into the inner cavity 210 of the target workpiece 200. The target workpiece 200 is blocked by the blocking member 12 and does not move with the support member 11. Therefore, the target workpiece 200 and the support member 11 are in relative position. The movement eventually causes the support member 11 to be pulled away from the inner cavity 210. The target workpiece 200 loses the support of the support member 11 and falls into the receiving structure 30 under the action of gravity, thus completing the unloading of the target workpiece 200. The entire unloading process consists of a series of simple mechanical actions, which are easy to operate and improve the convenience of unloading. Moreover, compared with the unloading method using a robotic arm, the unloading method of this application is not limited by whether the target workpiece 200 has sufficient clamping length. As long as the support member 11 can be inserted into the inner cavity 210 of the target workpiece 200 to form support, the applicability of the unloading device is improved.

[0026] Furthermore, since the contact and force between the support member 11 and the target workpiece 200 occur inside the target workpiece 200, compared to traditional grippers acting on the outer wall of the target workpiece 200, this application can reduce surface damage such as scratches, indentations, and deformation that may be caused to the surface of the target workpiece 200, effectively improving the product yield and value. Moreover, compared to traditional grippers that must be aligned with a small outer wall with high precision, the operation error tolerance of the support member 11 inserting into the inner cavity 210 of the target workpiece 200 in this invention is higher. Even with slight alignment deviations, the support member 11 can still smoothly slide into the cavity to complete the support, reducing the requirements for the absolute positioning accuracy of the entire moving structure 20, simplifying the system debugging difficulty, and enhancing the stability and reliability of operation.

[0027] Understandably, this application also includes a control system (not shown in the figure). The material handling structure 10, the moving structure 20, and the pipe bending device 300 are all communicatively connected to the control system. The control system can control the material handling structure 10, the moving structure 20, and the pipe bending device 300 to automatically coordinate and operate, thereby reducing the impact of human factors and improving production efficiency.

[0028] In some embodiments, such as Figure 2 and Figure 3 As shown, the material handling structure 10 includes a support plate 14 connected to the movable structure 20 and a drive member 13 connected to the support plate 14. A stop member 12 is connected to the support plate 14, and a support member 11 is connected to the output end of the drive member 13. The drive member 13 is used to drive the support member 11 to slide along the first direction a.

[0029] By providing a support plate 14 connected to the movable structure 20, a robust support platform is provided for the driving member 13 and the abutment member 12, ensuring the absolute fixation of their relative positions. The support member 11 is driven by the driving member 13, making its extension and retraction trajectory stable and precise, without shaking or deviation. This ensures that the support member 11 can accurately and smoothly insert into and exit the inner cavity 210. Furthermore, the driving member 13 ensures that the length and position of the support member 11's extension are extremely precise each time, ensuring that the support member 11 can accurately insert into the inner cavity 210 to a predetermined depth, laying a foundation for reliable support and further improving the reliability of material handling. Optionally, in this embodiment, the predetermined depth is less than 50 mm and greater than 20 mm.

[0030] When the target workpiece 200 is being unloaded, the drive component 13 can precisely control the retraction speed and distance of the support component 11, ensuring that a precise and controllable relative displacement is generated between the support component 11 and the blocking component 12. This precise displacement ensures that the target workpiece 200 can be reliably blocked by the blocking component 12 and separated, thus improving the consistency of each separation action.

[0031] In some embodiments, such as Figures 4 to 6As shown, the abutment 12 includes a baffle 121, which has a through hole 1211 through which the support member 11 passes. The axis of the through hole 1211 coincides with the sliding trajectory of the support member 11. The inner diameter of the through hole 1211 is smaller than the outer diameter of the target workpiece 200, so that the baffle 121 abuts the target workpiece 200 when the support member 11 slides in the direction of extending out of the inner cavity 210 of the target workpiece 200. Understandably, since the inner diameter of the through hole 1211 is smaller than the outer diameter of the target workpiece 200, when the support member 11 slides in the direction opposite to the direction of insertion into the inner cavity 210, the target workpiece 200 will inevitably be blocked by the outer edge of the baffle 121. Furthermore, the target workpiece 200 stops moving after contacting the baffle 121, while the support member 11 continues to slide until it is completely withdrawn from the inner cavity 210. The entire process involves no rigid collision, the force is gentle, and it provides good protection for both the target workpiece 200 and the feeding device itself. Furthermore, by using the method of the support member 11 passing through the baffle 121, the baffle 121 will not occupy additional space, thereby saving installation space and making the entire material handling structure 10 very compact, reducing the risk of interference with the pipe bending device 300.

[0032] In some embodiments, the abutment 12 further includes a connecting piece 122, one end of which is connected to the baffle 121, and the other end of which is detachably connected to the support plate 14. The connecting piece 122 extends along a first direction a. Optionally, the connecting piece 122 and the baffle 121 are perpendicular to each other. Understandably, the baffle 121, as a part that directly contacts the target workpiece 200, is a consumable part and may wear out after long-term use. Therefore, the baffle 121 is detachably connected to the support plate 14 via the connecting piece 122, facilitating the replacement of the baffle 121. Furthermore, since the through hole 1211 of the baffle 121 is related to the outer diameter of the target workpiece 200, when the target workpiece 200 with a different outer diameter is changed, the baffle 121 with a different through hole 1211 size can be quickly replaced, which improves applicability. Moreover, the operator only needs to disassemble the connecting piece 122 and the connecting piece 14 of the support plate 14, such as screws, to quickly remove the entire baffle 12 for replacement or maintenance, which greatly shortens the maintenance and changeover time and improves the production efficiency of the equipment.

[0033] In addition, by extending the connecting piece 122 along the first direction a and making the connecting piece 122 perpendicular to the baffle 121, the connecting piece 122 can provide a stable support for the baffle 121 after installation, which is parallel to the direction of movement of the support member 11. This ensures that the axis of the through hole 1211 on the baffle 121 is always consistent with the axis of movement of the support member 11, that is, it maintains a high degree of coaxiality. This coaxiality ensures that the support member 11 always passes smoothly through the through hole 1211 during the extension and retraction process, avoiding jamming or scratching of the inner hole. This protects the support member 11 and the baffle 121, and also ensures the smoothness of the material picking and separation action.

[0034] In some embodiments, the material handling structure 10 further includes a push plate 15 connected to the drive member 13 and a push rod 16 connected to the end of the push plate 15 facing away from the drive member 13. The end of the push rod 16 facing away from the push plate 15 is connected to the support member 11. The drive member 13 is connected to the support member 11 through the push plate 15 and the push rod 16, avoiding direct connection with the support member 11. This ensures smooth and unbiased transmission of the pushing force, thereby avoiding the risk of jamming or tilting of the support member 11 during sliding due to uneven force distribution. This ensures smooth and precise insertion into the inner cavity 210.

[0035] Optionally, the push rod 16 is detachably connected to the support member 11. Therefore, when changing the target workpiece 200 with different inner diameters, the support member 11 with different outer diameters can be quickly replaced, thereby improving applicability. When the support member 11 is worn, it can also be quickly replaced, realizing the modularization and quick disassembly and assembly of key components, and greatly improving maintainability.

[0036] Optionally, the support plate 14 is provided with a limiting seat 17, through which the push rod 16 slidably passes. The limiting seat 17 is used to limit the push rod 16. The limiting seat 17 supports the push rod 16 and provides precise guidance and constraint for the movement of the push rod 16, ensuring that the push rod 16 and the support member 11 move strictly along the first direction a, eliminating possible wobble or sway, and ensuring that the support member 11 can be accurately inserted into the inner cavity 210. Optionally, the connecting piece 122 is connected to the limiting seat 17.

[0037] In some embodiments, the support member 11 includes a support portion 111 and an insertion portion 112 connected to the support portion 111. Along the direction in which the support member 11 is inserted into the inner cavity 210, the radial dimension of the insertion portion 112 gradually decreases, i.e., the insertion portion 112 has a tapered structure. The end of the tapered structure forms a guide cone surface. During insertion, even if there is a slight misalignment between the support member 11 and the opening of the target workpiece 200, the insertion portion 112 can preferentially slide into the inner cavity 210 of the target workpiece 200, thereby guiding the entire support member 11 smoothly and easily into the inner cavity 210. Furthermore, at the beginning of the insertion process of the support member 11 into the inner cavity 210, the guide cone surface of the insertion portion 112 first contacts the target workpiece 200, dispersing the impact force through the gradually tapering slope and smoothly introducing the entire support member 11 into the inner cavity 210, rather than striking the edge of the opening of the target workpiece 200 with a huge impact force. This effectively prevents scratches, deformation, or burrs caused by collision, and also helps protect the end face of the support member 11 from damage.

[0038] In some embodiments, the outer contour of the support portion 111 is adapted to the contour of the inner cavity 210. By adapting the outer contour of the support portion 111 to the contour of the inner cavity 210, the support portion 111 can fit tightly against the inner cavity 210, thereby providing greater friction to prevent the target workpiece 200 from slipping axially during movement and effectively preventing relative rotation of the target workpiece 200 during transport, ensuring the stability of the target workpiece 200's posture and avoiding collisions or positioning deviations caused by shaking. Optionally, the cross-sectional shape of the support portion 111 and the insertion portion 112 is circular, and the shape of the inner cavity 210 of the target workpiece 200 is also circular.

[0039] In some embodiments, the receiving structure 30 and the preset position are arranged at intervals along the first direction a. After the support member 11 is inserted into the inner cavity 210, the moving structure 20 drives the support member 11 to move along the first direction a, so as to move the target workpiece 200 above the receiving structure 30. It can be understood that in the embodiments of this application, the picking position and the receiving position are arranged along a straight line, so that the core process of picking, moving and placing materials is simplified into a main linear motion, making the overall layout of the equipment very compact and neat, optimizing the overall layout of the equipment, and helping to save space.

[0040] In some embodiments, such as Figure 1 and Figure 2 As shown, the moving structure 20 includes a first linear driver 21 and a second linear driver 22 connected to the first linear driver 21. The picking structure 10 is connected to the second linear driver 22. The second linear driver 22 drives the picking structure 10 to slide along a second direction b, and the first linear driver 21 drives the second linear driver 22 to slide along a first direction a, which is perpendicular to the second direction b. When no unloading operation is performed, the moving structure 20 can drive the picking structure 10 to slide along the second direction b to move the picking structure 10 to a ready position. After unloading is completed, the moving structure 20 drives the picking structure 10 to slide along the second direction b to return to the initial position. Optionally, the first linear driver 21 and the second linear driver 22 are linear modules.

[0041] The present invention also proposes a pipe bending device, which includes a feeding device. The specific structure of the feeding device is as described in the above embodiments. Since the pipe bending device adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0042] In summary, the feeding device provided in this application drives the support member 11 to move to correspond with the target workpiece 200 via the moving structure 20. The support member 11 slides towards and inserts into the inner cavity 210 of the target workpiece 200, thereby supporting the target workpiece 200. Then, the support member 11 moves the target workpiece 200 above the receiving structure 30. The support member 11 slides in the opposite direction to the direction of insertion into the inner cavity 210 of the target workpiece 200. The target workpiece 200 is blocked by the blocking member 12 and will not move with the support member 11. Therefore, the target workpiece 200 and the support member 11 move relative to each other. The movement ultimately causes the support member 11 to be pulled away from the inner cavity 210 of the target workpiece 200. The target workpiece 200 loses the support of the support member 11 and falls into the receiving structure 30 under the action of gravity, thus completing the unloading of the target workpiece 200. The entire unloading process consists of a series of simple mechanical actions, which are easy to operate and improve the convenience of unloading. Moreover, compared with the unloading method using a robotic arm, the unloading method of this application is not limited by whether the target workpiece 200 has sufficient clamping length. As long as the support member 11 can be inserted into the inner cavity 210 of the target workpiece 200 to form support, it is sufficient. Therefore, the applicability of the unloading device is improved.

[0043] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A feeding device for feeding a target workpiece (200) located at a preset position, the target workpiece (200) having an inner cavity (210), characterized in that, The feeding device includes: The material handling structure (10) includes a support member (11) that is slidably disposed along a first direction and a stop member (12) disposed in the sliding path of the support member (11); A movable structure (20) for driving the material-taking structure (10) to move in three-dimensional space; and The receiving structure (30) is adjacent to the preset position; The moving structure (20) drives the support member (11) to move to correspond with the target workpiece (200). The support member (11) slides toward the inner cavity (210) and inserts into the inner cavity (210) to provide support for the target workpiece (200). The support member (11) moves the target workpiece (200) above the receiving structure (30). The support member (11) slides in the opposite direction to the direction of insertion into the inner cavity (210). The blocking member (12) blocks the target workpiece (200) to separate the support member (11) from the target workpiece (200). The target workpiece (200) falls onto the receiving structure (30).

2. The feeding device as described in claim 1, characterized in that: The material handling structure (10) includes a support plate (14) connected to the moving structure (20) and a drive member (13) connected to the support plate (14). The stop member (12) is connected to the support plate (14), and the support member (11) is connected to the output end of the drive member (13). The drive member (13) is used to drive the support member (11) to slide along the first direction.

3. The feeding device as described in claim 2, characterized in that: The blocking member (12) includes a baffle (121) with a through hole (1211) through which the support member (11) passes. The inner diameter of the through hole (1211) is smaller than the outer diameter of the target workpiece (200) so that the baffle (121) blocks the target workpiece (200) when the support member (11) slides in the direction extending out of the inner cavity (210).

4. The feeding device as described in claim 3, characterized in that: The blocking member (12) further includes a connecting piece (122), one end of which is connected to the baffle (121), and the other end of which is detachably connected to the support plate (14). The connecting piece (122) extends along the first direction.

5. The feeding device as described in claim 2, characterized in that: The material handling structure (10) further includes a push plate (15) connected to the drive member (13) and a push rod (16) connected to one end of the push plate (15) away from the drive member (13), and the push rod (16) is connected to the support member (11) at one end away from the push plate (15).

6. The feeding device as described in any one of claims 1 to 5, characterized in that: The support member (11) includes a support portion (111) and an insertion portion (112) connected to the support portion (111). The radial dimension of the insertion portion (112) gradually decreases along the direction in which the support member (11) is inserted into the inner cavity (210).

7. The feeding device as described in claim 6, characterized in that: The outer contour of the support (111) is adapted to the contour of the inner cavity (210).

8. The feeding device as described in any one of claims 1 to 5, characterized in that: The receiving structure (30) and the preset position are arranged at intervals along the first direction. After the support member (11) is inserted into the inner cavity (210), the moving structure (20) drives the support member (11) to move along the first direction to move the target workpiece (200) above the receiving structure (30).

9. The feeding device as described in any one of claims 1 to 5, characterized in that: The moving structure (20) includes a first linear driver (21) and a second linear driver (22) connected to the first linear driver (21). The picking structure (10) is connected to the second linear driver (22). The second linear driver (22) is used to drive the picking structure (10) to slide along a second direction. The first linear driver (21) is used to drive the second linear driver (22) to slide along a first direction. The first direction is perpendicular to the second direction.

10. A pipe bending device, characterized in that: Includes the feeding device as described in any one of claims 1 to 9.

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