Pipe carrying mechanism and pipe punching machine

Abstract

The invention discloses a pipe carrying mechanism and a pipe punching machine. The pipe carrying mechanism comprises a station moving device, a moving plate and a carrying plate which are arranged on the pipe punching machine. The station moving device and the moving plate are both arranged on the upper portion of the pipe punching machine, and the station moving device is connected with the moving plate. The carrying plate is connected with the moving plate, and a plurality of clamping assemblies are arranged on the carrying plate; the clamping assembly comprises a clamping driving device, a connecting rod assembly and a clamping hand assembly, the connecting rod assembly is hinged to the driving end of the clamping driving device and the connecting end of the clamping hand assembly, and the clamping driving device is used for driving the connecting rod assembly to move downwards so as to drive the clamping hand assembly to clamp a pipe located below the clamping hand assembly. By the adoption of the pipe carrying device, the carrying structure and the carrying procedure can be simplified, an independent lifting moving device and an expensive mechanical arm do not need to be adopted like the prior art, the overall structure is simpler, the structural cost is lower, operation is more convenient, and the pipe carrying and machining efficiency is higher.

Description

Technical Field

[0001] This invention relates to the field of punching machine manufacturing technology, and in particular to a pipe handling mechanism and a pipe punching machine. Background Technology

[0002] With economic and social development, pipes are increasingly widely used in decoration, audio equipment, luggage, and various other products. Currently, pipes are generally punched using pipe punching equipment. This equipment uses a conveying mechanism to sequentially transport the pipes to multiple processing stations within the equipment, enabling punching and flipping processing at different locations and / or sizes.

[0003] However, current material handling mechanisms generally include a crossbeam, a sliding rod, a horizontal drive device, a lifting and moving device, a transport plate, and robotic arms. The horizontal drive device is mounted on the crossbeam and connected to the sliding rod to drive its forward and backward movement. The lifting and moving device is mounted on the sliding rod and connected to the transport plate via a drive rod. Several robotic arms are spaced apart on the transport plate, and the lifting and moving device can drive these robotic arms to move up and down, thereby controlling the robotic arms to grip and release pipes, thus achieving pipe handling. However, the structure of the above-mentioned handling mechanism is relatively complex and costly, especially the independently controlled robotic arms, which are expensive. Using multiple robotic arms for pipe gripping and handling further increases the equipment cost. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a pipe handling mechanism and a pipe punching machine, which can simplify the handling structure and handling process, and eliminate the need for independent lifting and moving devices and expensive robotic arms as in the prior art. The overall structure is simpler, the structural cost is lower, the operation is more convenient, and the pipe handling and processing efficiency is higher.

[0005] To address the aforementioned technical problems, this invention provides a pipe handling mechanism, comprising a station moving device, a moving plate, and a handling plate mounted on a pipe punching machine. Both the station moving device and the moving plate are located on the upper part of the pipe punching machine. The station moving device is connected to the moving plate and is used to drive the moving plate to move back and forth along the pipe processing direction. The handling plate is connected to the moving plate and is provided with multiple clamping assemblies. Each clamping assembly includes a clamping drive device, a connecting rod assembly, and a gripper assembly. The connecting rod assembly is hinged to the drive end of the clamping drive device and the connecting end of the gripper assembly, respectively. The clamping drive device is used to drive the connecting rod assembly to move downwards, thereby causing the gripper assembly to clamp the pipe located below it.

[0006] As an improvement to the above solution, the gripper assembly includes a first gripper, a second gripper, and a fixedly mounted hinged base. The two ends of the hinged base are respectively hinged to one end of the first gripper and one end of the second gripper. Both the other end of the first gripper away from the hinged base and the other end of the second gripper away from the hinged base are provided with clamping heads, which are used to clamp the pipe. Both the middle of the first gripper and the middle of the second gripper are provided with driving hinge parts, which are hinged to the connecting rod assembly.

[0007] As an improvement to the above solution, the linkage assembly includes a connecting seat, a first arc-shaped rod, and a second arc-shaped rod. One end of the connecting seat is connected to the driving end of the gripping driving device, and the other end of the connecting seat is hinged to one end of the first arc-shaped rod and one end of the second arc-shaped rod, respectively. The other end of the first arc-shaped rod is hinged to the driving hinge of the first gripper, and the other end of the second arc-shaped rod is hinged to the driving hinge of the second gripper.

[0008] As an improvement to the above solution, the clamping drive device includes an electric push rod, the push rod portion of which is connected to the connecting seat and is used to drive the connecting seat to perform linear reciprocating motion.

[0009] As an improvement to the above solution, the clamping assembly further includes a connecting plate, one end of which is connected to the transport plate, and the clamping drive device and the hinge fixing seat are fixedly installed on the connecting plate; the transport plate is fixedly connected to the moving plate via a mounting plate, and both ends of the mounting plate are fixedly connected to the moving plate and the drive plate, respectively.

[0010] As an improvement to the above solution, the upper part of the pipe punching machine is provided with a fixed plate, and slide rails and the station moving device are respectively installed on both sides of the fixed plate; the station moving device includes a motor drive device, a coupling, a lead screw and a connecting frame, the drive shaft of the motor drive device is connected to one end of the lead screw through the coupling, the other end of the lead screw is embedded in one end of the connecting frame and threaded, and the other end of the connecting frame is connected to the moving plate; the moving plate is provided with multiple sliding seats at intervals, and the sliding grooves on the sliding seats are nested on the slide rails.

[0011] As an improvement to the above solution, the end of the clamp facing the pipe is provided with a groove, which is used to fit and abut against the pipe; the clamp is made of a flexible material.

[0012] The present invention also provides a pipe punching machine, including a machine body, a feeding mechanism, a pipe processing mechanism, a discharge hopper, and the aforementioned pipe conveying mechanism; the pipe conveying mechanism is used to sequentially transport the pipes output by the feeding mechanism to the pipe processing mechanism and the discharge hopper; the pipe processing mechanism is used to perform angle correction and punching processing on the pipes.

[0013] As an improvement to the above solution, the pipe processing mechanism includes at least one angle detection device, at least one angle flipping device, and at least one pipe punching device. The angle detection device is located at the discharge end of the feeding mechanism and is used to detect the placement angle of the pipe. The angle flipping device is used to correct the angle of the pipe with incorrect placement angle. The pipe punching device is used to punch the pipe with correct placement angle.

[0014] As an improvement to the above solution, the angle detection device includes a visual detection device, which is used to perform visual angle detection on the pipe and transmit the detection result data to the controller; the angle flipping device includes a first driving device and a first angle correction device and a second angle correction device respectively located at both ends of the machine body. The first angle correction device includes a first correction seat and a first pipe abutment rotatably connected to the first correction seat. The second angle correction device includes a second correction seat and a flipping driving device and a second pipe abutment respectively mounted on the second correction seat. The drive shaft of the flipping driving device passes through the second correction seat and is rotatably connected to the second pipe abutment. The first pipe abutment and the second pipe abutment are respectively used to fix both ends of the pipe; the first driving device is connected to the first correction seat and the second correction seat respectively, and is used to drive the first correction seat and the second correction seat to move closer to each other or further away from each other.

[0015] As an improvement to the above solution, the pipe punching device includes a second driving device and two punching seats respectively disposed at both ends of the machine body. The punching seats are provided with a stamping device for punching at least one pipe. The front end of the punching seat is provided with a pipe clamping device for clamping one end of the pipe. The second driving device is connected to the punching seats located at both ends of the machine body and is used to drive the two punching seats to move closer to or further away from each other.

[0016] As an improvement to the above solution, the first driving device includes a first slide rail, a first motor driving device, a first forward and reverse lead screw, and a first lead screw fixing seat. The two ends of the first forward and reverse lead screw are respectively connected to the first motor driving device and the first lead screw fixing seat. The two sides of the first forward and reverse lead screw are respectively provided with a first connecting block that is threadedly connected to it. The first connecting block is connected to the first correction seat or the second correction seat. The first slide rail is provided on the machine body. The first correction seat and the second correction seat are both nested on the first slide rail and slidably connected to the first slide rail.

[0017] As an improvement to the above solution, the second driving device includes a second slide rail, a second motor driving device, a second forward and reverse lead screw, and a second lead screw fixing seat. The two ends of the second forward and reverse lead screw are respectively connected to the second driving device and the second lead screw fixing seat. The two sides of the second forward and reverse lead screw are respectively provided with second connecting blocks that are threadedly connected to them. The second connecting blocks are connected to the corresponding punching seats. The second slide rail is provided on the machine body, and the two punching seats are nested on the second slide rail and slidably connected to the second slide rail.

[0018] The beneficial effects of implementing this invention are as follows: This invention can move multiple gripper assemblies on the transport plate to the corresponding workstations via a workstation moving device, and drive the gripper assemblies downward to grip the pipe or release the pipe and reset them via the gripping drive device and linkage assembly in the gripping assembly, thereby realizing pipe transport work; This invention can simplify the transport structure and transport process, eliminating the need for independent lifting and moving devices and expensive robotic arms as in the prior art, resulting in a simpler overall structure, lower structural cost, more convenient operation, and higher efficiency in pipe transport and processing, thus meeting the actual production needs of users. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the pipe handling mechanism of the present invention; Figure 2 This is a schematic diagram of the clamping assembly of the present invention; Figure 3 This is a cross-sectional view of the clamping assembly of the present invention; Figure 4 This is a schematic diagram of the pipe punching machine of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the pipe punching machine of the present invention. Figure 2 ; Figure 6 This is a partial cross-sectional view of the pipe punching machine of the present invention; Figure 7 This is a schematic diagram of the pipe processing mechanism and pipe handling mechanism of the present invention; Figure 8 This is a schematic diagram of the angle flipping device and the pipe punching device of the present invention; Figure 9 This is a schematic diagram of the top material feeding device of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] like Figures 1 to 2 As shown in the figure, a specific embodiment of the present invention provides a pipe handling mechanism 9, including a station moving device 1, a moving plate 2, and a handling plate 3 disposed on a pipe punching machine; the station moving device 1 and the moving plate 2 are both disposed on the upper part of the pipe punching machine, the station moving device 1 is connected to the moving plate 2 and is used to drive the moving plate 2 to move back and forth along the pipe processing direction; the handling plate 3 is connected to the moving plate 2, and the handling plate 3 is provided with a plurality of clamping components 4; the clamping component 4 includes a clamping driving device 41, a connecting rod assembly 42, and a clamping hand assembly 43, the connecting rod assembly 42 is hinged to the driving end of the clamping driving device 41 and the connecting end of the clamping hand assembly 43 respectively, the clamping driving device 41 is used to drive the connecting rod assembly 42 to move downward, thereby causing the clamping hand assembly 43 to clamp the pipe located below it.

[0022] When pipes need to be moved, the station moving device 1 can move the transport plate 3 via the moving plate 2 to the initial station position. At this time, the first clamping component 4 on the transport plate 3 faces the feeding work, and the remaining clamping components 4 face the remaining processing stations. The clamping drive device 41 in the clamping component 4 drives the connecting rod assembly 42 to move, thereby driving the gripper assembly 43 to work and clamp the pipe located below it. Then, the station moving device 1 drives the transport plate 3 to move forward one station. At this time, the first clamping component 4 faces the first processing station, and the last clamping component 4 faces the unloading station. At this time, the corresponding processing device at the processing station will fix the pipe to facilitate subsequent processing of the pipe. Then, the clamping drive device 41 drives the connecting rod assembly 42 to reset and move, thereby driving the gripper assembly 43 to reset and release the pipe located below it and reset to the initial state (i.e., the released state). At the same time, the station moving device 1 drives the transport plate 3 to reset to the initial station position for the next pipe moving operation. It should be noted that when the gripper assembly 43 is in the released state, its minimum height is higher than the pipe, which makes it easy for the gripper assembly 43 to be driven back to the initial position without obstruction by the station moving device 1, and then the pipe handling work can be carried out in a cycle.

[0023] This invention utilizes a pipe handling mechanism 9 to cyclically perform the aforementioned handling operations, ensuring that each pipe is processed at each processing station and discharged at the unloading station, thus achieving pipe handling. Compared to existing technologies, this invention simplifies the handling structure and processes, eliminating the need for independently installed lifting and moving devices and expensive robotic arms to grip the pipes (i.e., the gripper assembly 43 can grip the pipes downwards, eliminating the need for independent lifting and moving devices and robotic arms). The overall structure is simpler, the cost is lower, and operation is more convenient, resulting in higher pipe handling and processing efficiency, meeting the actual production needs of users.

[0024] Specifically, such as Figures 1 to 3 As shown, the gripper assembly 43 includes a first gripper 431, a second gripper 432, and a fixedly mounted hinged base 433. The two ends of the hinged base 433 are respectively hinged to one end of the first gripper 431 and one end of the second gripper 432. The other end of the first gripper 431 away from the hinged base 433 and the other end of the second gripper 432 away from the hinged base 433 are both provided with gripping heads 434, which are used to clamp the pipe. The middle part of the first gripper 431 and the middle part of the second gripper 432 are both provided with driving hinge parts 435, which are both hinged to the connecting rod assembly 42. When handling pipes, the gripper assembly 43 is in the released state, that is, the first gripper 431 and the second gripper 432 are separated. When it is necessary to grip the pipe located below, the connecting rod assembly 42 can be moved by the gripping drive device 41 to drive the first gripper 431 and the second gripper 432 to rotate downwards, so that the two gripping heads 434 approach each other until the two gripping heads 434 abut against the pipe, thereby clamping the pipe and realizing the pipe gripping operation. Then, the workstation moving device 1 can move the pipe forward one workstation. The pipe located at the processing workstation can be fixed by the corresponding processing device. At this time, the clamping drive device 41 and the connecting rod assembly 42 can respectively drive the first clamp 431 and the second clamp 432 to separate and rotate to the specified angle position to release the pipe, so that the corresponding pipe can be processed or unloaded at the next processing workstation. Moreover, it avoids the first clamp 431 and the second clamp 432 in the clamp assembly 43 from colliding with the pipe below when resetting and moving, thus ensuring the orderly progress of pipe handling.

[0025] Further, the linkage assembly 42 includes a connecting seat 421, a first arc-shaped rod 422, and a second arc-shaped rod 423. One end of the connecting seat 421 is connected to the driving end of the gripping driving device 41; the other end of the connecting seat 421 is hinged to one end of the first arc-shaped rod 422 and one end of the second arc-shaped rod 423, respectively; the other end of the first arc-shaped rod 422 is hinged to the driving hinge portion 435 of the first gripper 431, and the other end of the second arc-shaped rod 423 is hinged to the driving hinge portion 435 of the second gripper 432. The centers of the first arc-shaped rod 422 and the second arc-shaped rod 423 both point inwards, and their centers coincide.

[0026] When the clamping drive device 41 drives the connecting seat 421 to move downward, it will drive the first arc-shaped rod 422 and the second arc-shaped rod 423 to move downward. Under the linkage action, the first clamping member 431 and the second clamping member 432 will rotate downward, so that the two clamping heads 434 will come closer to each other to clamp the pipe located below. Then, the station moving device 1 will drive the clamped pipe to move to the station, realizing the pipe handling work. When the pipe moves to the next processing station, the corresponding processing device will fix both ends of the pipe. Then, the clamping drive device 41 will drive the connecting seat 421 to move upward to reset. Under the linkage action of the first arc-shaped rod 422 and the second arc-shaped rod 423, the first clamping member 431 and the second clamping member 432 will rotate upward to reset, so that the clamping heads 434 will release the pipe and rise above the pipe. This ensures that the station moving device 1 can smoothly reset the transport plate 3 and the clamping assembly to the previous station, thereby cyclically carrying out the pipe handling work.

[0027] Preferably, the clamping head 434 has a groove 436 at the end facing the pipe. The groove 436 is used to fit and abut against the pipe to better clamp the pipe and securely fix the pipe on the transport plate 3, ensuring stable pipe transport.

[0028] The clamping head 434 is made of a flexible material to avoid damaging or abrading the pipe and affecting its quality. Preferably, the flexible material is made of sponge, silicone, or rubber, but is not limited thereto.

[0029] Furthermore, the clamping drive device 41 includes an electric push rod, the push rod portion of which is connected to the connecting seat 421, for driving the connecting seat 421 to perform linear reciprocating motion, thereby driving the connecting rod assembly 42 to drive the clamping assembly 43 to clamp or release the pipe. In other embodiments, other linear driving devices, such as driving cylinders or electric cylinders, may be used according to actual needs, without further limitation.

[0030] like Figures 1 to 2As shown, the clamping assembly 4 also includes two connecting plates 44. One end of each connecting plate 44 is connected to the transport plate 3. The clamping drive device 41 and the hinged fixing seat 433 are fixedly installed on the connecting plate 44. That is, the clamping drive device 41, the connecting rod assembly 42, and the gripper assembly 43 are all located between the two connecting plates 44 to protect the components of the clamping assembly 4 and improve the aesthetics of the structure. The transport plate 3 is fixedly connected to the moving plate 2 via the mounting plate 5. Both ends of the mounting plate 5 are fixedly connected to the moving plate 2 and the drive plate, respectively, to reduce the height of the transport plate 3 on the machine body 6, thereby enabling the clamping assembly 4 to clamp the pipe downwards and ensuring the stable operation of the pipe clamping work.

[0031] To facilitate pipe handling, such as Figure 1 As shown, the upper part of the pipe punching machine is provided with a fixed plate 11. Slide rails 12 and the station moving device 1 are respectively installed on both sides of the fixed plate 11. The station moving device 1 includes a motor drive device 13, a coupling 14, a lead screw 15, and a connecting frame 16. The drive shaft of the motor drive device 13 is connected to one end of the lead screw 15 through the coupling. The other end of the lead screw 15 is embedded in one end of the connecting frame 16 and threadedly connected. The other end of the connecting frame 16 is connected to the moving plate 2. Multiple sliding seats 17 are spaced apart on the moving plate 2, and the sliding grooves on the sliding seats 17 are nested on the slide rails 12. When pipes need to be transported, the motor drive device 13 can drive the lead screw 15 to rotate via the coupling 14, thereby driving the connecting frame 16 to move back and forth along the pipe processing direction, and thus moving the transport plate 3 and its clamping assembly 4 to the corresponding station for pipe transport.

[0032] like Figure 4 As shown, the present invention also provides a pipe punching machine, including a machine body 6, a feeding mechanism 7, a pipe processing mechanism 8, a discharge hopper 61, and the aforementioned pipe conveying mechanism 9. The pipe conveying mechanism 9 is used to sequentially transport the pipes output by the feeding mechanism 7 to the pipe processing mechanism 8 and the discharge hopper 61. The pipe processing mechanism 8 includes an angle detection device 81, two angle flipping devices 82, and three pipe punching devices 83. The angle detection device 81 is located on one side of the discharge end of the feeding mechanism 7 and is used to detect the placement angle of the pipe to be processed to determine whether the processing angle of the pipe is incorrect. The angle flipping device 82 is used to correct the angle of the pipe with incorrect placement angle. The pipe punching device 83 is used to punch the pipe with correct placement angle.

[0033] When the feeding mechanism 7 feeds the pipe to the discharge end, the angle detection device 81 will detect whether the placement angle of the pipe is incorrect. If the placement angle of the pipe is incorrect, in order to avoid errors in subsequent punching processing, the placement angle of the pipe needs to be adjusted in advance. At this time, when the pipe enters the angle correction station, the angle flipping device 82 drives the pipe to rotate to the processing angle position. Subsequently, the pipe conveying mechanism 9 will sequentially transport the pipe with the correct placement angle to the first punching station and the second punching station. The two pipe punching devices 83 will perform punching processing on different positions of the pipe. When the placement angle of the pipe is correct, the angle flipping device 82 only fixes it until the next conveying process, when the pipe is sent to the first punching station and the second punching station for punching processing on different positions. When there are other angle positions that need to be punched, the pipe can be transported to the next angle flipping station by the pipe transport mechanism 9. The second angle flipping device 82 drives the pipe to flip to the next processing angle position, and then sends it to the third pipe punching device 83 for punching at different positions. Finally, it is sent to the discharge station, that is, above the discharge hopper 61, to complete the discharge work and meet the user's actual punching needs.

[0034] It should be noted that in other embodiments, the number of angle detection devices 81, angle flipping devices 82, and pipe punching devices 83 can be adjusted according to actual production needs, without excessive restrictions here. The number of clamping components in the pipe conveying mechanism 9 is equal to the sum of the number of angle flipping devices 82, pipe punching devices 83, and discharge hoppers 61 (i.e., the sum of all processing stations and discharge stations). Thus, the pipe conveying mechanism 9 only needs to cyclically move one station forward and backward to sequentially transport each pipe along the feeding station, multiple processing stations, and discharge stations, ensuring automatic feeding, processing, and discharge of pipes, thereby improving pipe processing efficiency and quality.

[0035] Specifically, the angle detection device 81 includes a vision detection device located outside one end of the pipe. This device acquires visual images of the pipe using its camera. The vision detection device processes the detected image data and transmits the detected pipe angle data to the controller of the pipe punching machine. The controller compares the pipe angle data with a preset initial processing angle to obtain an angle comparison result. If a processing angle error exists, the subsequent control angle flipping device 82 flips the pipe to achieve the preset initial processing angle, ensuring high accuracy in pipe processing. It should be noted that the visual image analysis technology of this vision detection device is existing technology, and its working principle will not be elaborated upon here.

[0036] Furthermore, such as Figures 4 to 8As shown, the angle flipping device 82 includes a first driving device 821 and a first angle correction device 822 and a second angle correction device 823 located at both ends of the body 6. The first angle correction device 822 includes a first correction seat 8221 and a first tube abutment 8222 rotatably connected to the first correction seat 8221. The second angle correction device 823 includes a second correction seat 8231 and a flipping driving device 8232 and a second tube abutment 8233 respectively mounted on the second correction seat 8231. The drive shaft of the flipping driving device 8232 passes through the second correction seat 8231 and is rotatably connected to the second tube abutment 8233. The first tube abutment 8222 and the second tube abutment 8233 are used to fix the two ends of the tube to achieve the fixing function of the tube. When it is necessary to rotate the tube, the second tube abutment 8233 is driven to rotate by the flipping driving device 8232, which can drive the tube and the first tube abutment 8222 to rotate synchronously, thereby realizing the angle adjustment of the tube.

[0037] Both the first pipe abutment 8222 and the second pipe abutment 8233 are provided with fixing grooves 827 to fix the two ends of the pipe. The fixing groove 827 is preferably a flared groove with a flexible abutment layer on its concave surface. The flexible abutment layer abuts against the corresponding end of the pipe to avoid contact wear and ensure the quality of pipe processing.

[0038] Preferably, the flexible abutment layer is made of sponge, silicone or rubber, but is not limited thereto.

[0039] Preferably, the flipping drive device 8232 is a drive motor, but not limited thereto.

[0040] Furthermore, in order to accommodate the flipping operation of pipes of different lengths, the first driving device 821 is connected to the first correction seat 8221 and the second correction seat 8231 respectively, and is used to drive the first correction seat 8221 and the second correction seat 8231 to move closer or further away from each other, so that the first pipe abutment 8222 and the second pipe abutment 8233 in each angle flipping device 82 move closer to each other to fix the pipe or move the first pipe abutment 8222 and the second pipe abutment 8233 further away from each other to release the pipe, thereby enabling the fixing and flipping operation of pipes of different lengths, with a wide range of applications.

[0041] The first driving device 821 includes a first slide rail 8211, a first motor driving device 8212, a first positive and negative lead screw 8213, and a first lead screw fixing seat 8214. The two ends of the first positive and negative lead screw 8213 are respectively connected to the first motor driving device 8212 and the first lead screw fixing seat 8214. The two lead screws (i.e., positive lead screws or negative lead screws) on both sides of the first positive and negative lead screw 8213 are respectively provided with first connecting blocks 8215 that are threadedly connected to them. The first connecting blocks 8215 are connected to the first correction seat 8221 or the second correction seat 8231. The first slide rail 8211 is disposed on the machine body. The first correction seat 8221 and the second correction seat 8231 are both nested on the first slide rail 8211 and slidably connected to the first slide rail 8211. When the first motor drive device 8212 drives the first positive and negative lead screw 8213 to rotate, it will drive the first connecting blocks 8215 on both sides to move closer or further away from each other, thereby driving the first correction seat 8221 and the second correction seat 8231 to move closer or further away from each other along the first slide rail 8211, so that the angle flipping device 82 can fix and flip the pipes of different lengths.

[0042] It should be noted that when the pipe handling mechanism 9 transports the inspected pipe to the first pipe flipping station, the first driving device 821 drives the first correction seat 8221 and the second correction seat 8231 to move closer to each other, so that both ends of the pipe are respectively inserted into the fixing grooves 827 in the corresponding pipe abutment and abut against the corresponding flexible abutment layer to fix the pipe; accordingly, at this time, the pipe handling mechanism 9 releases the pipe to prepare for the next handling operation. If there is a processing angle error, the flipping driving device 8232 drives the pipe abutment and the pipe to rotate, so as to stably drive the pipe to rotate to the preset initial processing angle position; after the angle flipping operation is completed, the pipe handling mechanism 9 clamps the pipe in the next handling process to transport it to the punching station for punching. Correspondingly, when the pipe handling mechanism 9 clamps the pipe, the first driving device 821 drives the first correction seat 8221 and the second correction seat 8231 to reset, so as not to hinder the pipe handling mechanism 9 from carrying out the pipe handling operation. If there is no processing angle error, the angle flipping work is not performed. The pipe handling mechanism 9 directly transports the pipe to the next punching station for punching processing in the next handling process to ensure high quality of pipe punching processing.

[0043] When the pipe is transported to the second pipe flipping station, the angle flipping device 82 at the station fixes the pipe and flips it a second time. Then it is transported to the next punching station for punching to meet the punching needs of other locations of the user. Afterwards, it is conveyed to the discharge hopper 61 by the pipe transport mechanism 9 for discharge.

[0044] Furthermore, such as Figures 4 to 8 As shown, the pipe punching device 83 includes a second driving device 831 and two punching seats 832 respectively disposed at both ends of the machine body. The punching seat 832 is provided with a stamping device 833, which is used to punch at least one pipe. The front end of the punching seat 832 is provided with a pipe clamping device 834, which is used to clamp one end of the pipe. The second driving device 831 is connected to the punching seats 832 located at both ends of the machine body and is used to drive the two punching seats 832 to move closer to each other or further apart. When the pipe transport mechanism 9 delivers the pipe to the punching station, the second drive device 831 drives the two punching seats 832 to move closer to each other so that both ends of the pipe are inserted into the punching device 833 respectively, and the pipe clamping devices 834 at both ends clamp the two ends of the pipe. After the pipe is clamped, the pipe transport mechanism 9 proceeds to the next transport process, while the punching device 833 punches one or both ends of the pipe.

[0045] The distance between the two punching seats 832 can be controlled by the second driving device 831, so that punching processing can be performed on pipes of different lengths. Multiple pipe punching devices 83 can be used to punch different positions on the same pipe. For example, the second driving device 831 in multiple pipe punching devices 83 can control the two punching seats 832 to be at different distances, so as to punch different positions at both ends of the same pipe, which has a wide range of applications.

[0046] It should be noted that the punching device 833 for punching pipes is existing technology in this field, and its working principle and structure will not be described in detail here.

[0047] Preferably, the pipe clamping device 834 is a two-finger electric clamp, but is not limited thereto.

[0048] Preferably, in other embodiments, according to the user's actual processing needs, a multi-punching device 833 with multiple punching functions can be used to punch multiple pipes simultaneously. Correspondingly, multiple angle-flipping devices 82 can be set at any angle-flipping station to simultaneously flip multiple pipes, thereby improving pipe processing efficiency and having high applicability.

[0049] Further, the second driving device 831 includes a second slide rail 8311, a second motor driving device 8312, a second positive and negative lead screw 8313, and a second lead screw fixing seat 8314. The two ends of the second positive and negative lead screw 8313 are respectively connected to the second motor driving device 8312 and the second lead screw fixing seat 8314. The two lead screws (i.e., positive lead screws or negative lead screws) on both sides of the second positive and negative lead screw 8313 are respectively provided with second connecting blocks 8315 that are threadedly connected to them. The second connecting blocks 8315 are connected to the corresponding punching seats 832. The second slide rail 8311 is provided on the machine body, and the two punching seats 832 are nested on the second slide rail 8311 and slidably connected to the second slide rail 8311. When the second motor drive device 8312 drives the second positive and negative lead screw 8313 to rotate, it will drive the two second connecting blocks 8315 to move closer or further apart, thereby driving the two punching seats 832 to move closer or further apart along the second slide rail 8311, so that the pipe punching device 83 can punch pipes of different lengths or punch different positions of the same pipe.

[0050] To achieve automatic pipe feeding, such as Figures 4 to 6 and Figure 9 As shown, the feeding mechanism 7 includes a feeding device 71 and a top-feeding device 72. The feeding device 71 includes a feeding hopper 711, a feeding platform 712, and a conveyor motor drive device (not shown in the figure). The feeding hopper 711 is equipped with multiple first synchronous belt conveyors 713. Multiple pipe clamping parts 714 are spaced apart on the first synchronous belt conveyors 713. A clamping groove 715 for accommodating the pipe is provided between two adjacent pipe clamping parts 714. When the multiple first synchronous belt conveyors 713 rotate, the pipes stored in the feeding hopper 711 can be clamped into the clamping grooves 715 and moved upward along the conveying direction to the feeding platform 712. Since the clamping grooves 715 are spaced apart, the pipes can be automatically fed into the feeding platform 712 at intervals, realizing automatic pipe feeding.

[0051] The feeding platform 712 is equipped with multiple second synchronous belt conveyors 716. A synchronous rotating shaft 717 is provided between the first synchronous belt conveyor 713 and the second synchronous belt conveyor 716. The synchronous rotating shaft 717 is connected to the conveyor motor drive device, thereby realizing the pipe conveying operation.

[0052] The top material device 72 is respectively set in the gap between two adjacent second synchronous belt conveyors 716 and located at the discharge end (i.e., the feeding station) of the second synchronous belt conveyor 716. The top material device 72 includes a lifting cylinder 721 and a top material plate 722. The lifting cylinder 721 and the top material plate 722 are connected in a one-to-one correspondence. The top material plate 722 is provided with an upwardly extending limiting plate 723. The top material plate 722 is provided with a feeding groove 724 for accommodating pipes.

[0053] When any pipe is conveyed to the discharge end and abuts against the limiting plate 723 on the top plate 722, the pipe is limited. The lifting cylinder 721 drives the top plate 722 to move upward, placing the pipe into the feeding trough 724 and lifting it off the feeding surface of the feeding platform 712. Subsequently, the clamping components of the pipe handling mechanism 9 fix and grip the pipe, thereby realizing the pipe feeding operation. Preferably, in other embodiments, according to the user's actual processing needs, multiple top devices 72 can be set at intervals on the feeding platform 712 to gradually process the feeding pipes, realizing automatic feeding of multiple pipes; correspondingly, multiple clamping components are set at intervals at any clamping position of the pipe handling mechanism 9 to clamp multiple pipes at any station, realizing multi-pipe handling operation, thereby improving pipe processing efficiency and high applicability.

[0054] The feed hopper 711 has adjustment plates 718 on both sides inside. Both adjustment plates 718 are nested on the adjustment rod and can be relatively close to or far away from the first synchronous belt device. By adjusting the distance between the two adjustment plates 718, the length of the pipe placed at the feed hopper 51 can be limited, thereby adapting to the feeding and conveying of pipes of different lengths, which has high applicability.

[0055] In summary, this invention can move multiple gripper assemblies on the transport plate to the corresponding workstations via a workstation moving device. The gripping drive device and linkage assembly within the gripping assembly then drive the gripper assemblies to grip the pipe downwards or release the pipe and reset, thereby achieving pipe transport. This invention simplifies the transport structure and process, eliminating the need for independent lifting and moving devices and expensive robotic arms as required by existing technologies. The overall structure is simpler, the cost is lower, and operation is more convenient, resulting in higher efficiency in pipe transport and processing, thus meeting the actual production needs of users.

[0056] Secondly, the pipe punching machine of the present invention can perform angle detection and correction processing as well as punching processing on pipes of different models and lengths, with a wide range of applications and high punching processing quality.

[0057] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A pipe handling mechanism, characterized in that, This includes a station moving device, a moving plate, and a conveying plate installed on the pipe punching machine; Both the station moving device and the moving plate are installed on the upper part of the pipe punching machine. The station moving device is connected to the moving plate and is used to drive the moving plate to move back and forth along the pipe processing direction. The transport plate is connected to the moving plate, and the transport plate is provided with multiple clamping components; The clamping assembly includes a clamping drive device, a connecting rod assembly, and a clamping hand assembly. The connecting rod assembly is hinged to the drive end of the clamping drive device and the connecting end of the clamping hand assembly, respectively. The clamping drive device is used to drive the connecting rod assembly to move downward, thereby causing the clamping hand assembly to clamp the pipe located below it.

2. The pipe handling mechanism as described in claim 1, characterized in that, The gripper assembly includes a first gripper, a second gripper, and a fixed hinged base, wherein the two ends of the hinged base are respectively hinged to one end of the first gripper and one end of the second gripper. Both the first clamping member and the second clamping member, located away from the hinge fixing base, are provided with clamping heads at their ends. The two clamping heads are used to clamp the pipe. Both the middle portion of the first gripper and the middle portion of the second gripper are provided with driving hinge parts, and both driving hinge parts are hinged to the connecting rod assembly.

3. The pipe handling mechanism as described in claim 2, characterized in that, The linkage assembly includes a connecting seat, a first arc-shaped rod, and a second arc-shaped rod. One end of the connecting seat is connected to the driving end of the clamping driving device, and the other end of the connecting seat is hinged to one end of the first arc-shaped rod and one end of the second arc-shaped rod, respectively. The other end of the first arc-shaped rod is hinged to the drive hinge of the first gripper, and the other end of the second arc-shaped rod is hinged to the drive hinge of the second gripper.

4. The pipe handling mechanism as described in claim 3, characterized in that, The clamping drive device includes an electric push rod, the push rod portion of which is connected to the connecting seat and is used to drive the connecting seat to perform linear reciprocating motion.

5. The pipe handling mechanism as described in claim 2, characterized in that, The clamping assembly further includes a connecting plate, one end of which is connected to the conveying plate, and the clamping drive device and the hinge fixing seat are fixedly installed on the connecting plate; The transport plate is fixedly connected to the moving plate via the mounting plate, and both ends of the mounting plate are fixedly connected to the moving plate and the drive plate, respectively.

6. The pipe handling mechanism as described in claim 1, characterized in that, The upper part of the pipe punching machine is provided with a fixed plate, and the slide rail and the station moving device are respectively installed on both sides of the fixed plate. The workstation moving device includes a motor drive device, a coupling, a lead screw, and a connecting frame. The drive shaft of the motor drive device is connected to one end of the lead screw through the coupling. The other end of the lead screw is embedded in one end of the connecting frame and threaded. The other end of the connecting frame is connected to the moving plate. The movable plate is provided with multiple sliding seats at intervals, and the sliding seats have grooves that are nested on the slide rail.

7. The pipe handling mechanism as described in claim 2, characterized in that, The clamp head has a groove at the end facing the pipe, which is used to fit and abut against the pipe; the clamp head is made of flexible material.

8. A pipe punching machine, characterized in that, The machine body includes a feeding mechanism, a pipe processing mechanism, a discharge hopper, and a pipe handling mechanism as described in any one of claims 1 to 7. The pipe handling mechanism is used to sequentially transport the pipes output by the feeding mechanism to the pipe processing mechanism and the discharge hopper; the pipe processing mechanism is used to perform angle correction and punching processing on the pipes.

9. The pipe punching machine as described in claim 8, characterized in that, The pipe processing mechanism includes at least one angle detection device, at least one angle flipping device, and at least one pipe punching device. The angle detection device is located at the discharge end of the feeding mechanism and is used to detect the placement angle of the pipe. The angle flipping device is used to correct the angle of pipes that are placed at an incorrect angle; The pipe punching device is used to punch holes in pipes that are positioned at the correct angle.

10. The pipe punching machine as described in claim 9, characterized in that, The angle detection device includes a vision detection device, which is used to perform visual angle detection on the pipe and transmit the detection result data to the controller. The angle flipping device includes a first driving device and a first angle correction device and a second angle correction device located at both ends of the machine body. The first angle correction device includes a first correction seat and a first tube abutment rotatably connected to the first correction seat. The second angle correction device includes a second correction seat and a flipping driving device and a second tube abutment rotatably mounted on the second correction seat. The drive shaft of the flipping driving device passes through the second correction seat and is rotatably connected to the second tube abutment. The first tube abutment and the second tube abutment are used to fix the two ends of the tube respectively. The first driving device is connected to the first calibration seat and the second calibration seat respectively, and is used to drive the first calibration seat and the second calibration seat to move closer to each other or further away from each other.

11. The pipe punching machine as described in claim 9, characterized in that, The pipe punching device includes a second driving device and two punching seats respectively disposed at both ends of the machine body. The punching seats are provided with a stamping device, which is used to punch at least one pipe. The front end of the punching seat is provided with a pipe clamping device, which is used to clamp one end of the pipe; The second driving device is connected to the punching seats located at both ends of the machine body, and is used to drive the two punching seats to move closer to each other or further apart.

12. The pipe punching machine as described in claim 10, characterized in that, The first driving device includes a first slide rail, a first motor driving device, a first positive and negative lead screw and a first lead screw fixing seat. The two ends of the first positive and negative lead screw are respectively connected to the first motor driving device and the first lead screw fixing seat. The two sides of the first positive and negative lead screw are respectively provided with a first connecting block that is threadedly connected to it. The first connecting block is connected to the first correction seat or the second correction seat. The first slide rail is disposed on the machine body, and the first calibration seat and the second calibration seat are both nested on the first slide rail and slidably connected to the first slide rail.

13. The pipe punching machine as described in claim 11, characterized in that, The second driving device includes a second slide rail, a second motor driving device, a second positive and negative lead screw and a second lead screw fixing seat. The two ends of the second positive and negative lead screw are respectively connected to the second driving device and the second lead screw fixing seat. The two sides of the second positive and negative lead screw are respectively provided with second connecting blocks that are threadedly connected to them. The second connecting blocks are connected to the corresponding punching seat. The second slide rail is provided on the machine body, and both of the punched seats are nested on the second slide rail and slidably connected to the second slide rail.

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