Feeding and discharging moving machine for pipe bending

Abstract

The utility model provides a pipe bending feeding and discharging moving machine which comprises a moving machine workbench and a controller, and the moving machine workbench is provided with an upper visual camera, a storage box, a pipe positioning mechanism, a paw placing plate, a multi-degree-of-freedom material taking and discharging mechanical arm and a plurality of material taking paw assemblies. The gripper placing plate is provided with gripper placing positions matched with the multiple material taking gripper assemblies, the pipe positioning mechanism is arranged between the material storage box and the multi-degree-of-freedom material taking and placing mechanical arm, the upper visual camera is arranged above the material storage box, and the multi-degree-of-freedom material taking and placing mechanical arm is provided with an upper gripper quick-change connecting disc. The material taking claw assembly is provided with a lower claw quick-change connecting disc matched with the upper claw quick-change connecting disc. According to the feeding device, the problem that in the bent pipe machining process in the prior art, feeding efficiency is low can be solved, by using the product structure, the multi-degree-of-freedom material taking and placing mechanical arm is matched with the upper visual camera to accurately take materials, then the pipe tool positioning mechanism is matched, the feeding standard is unified, and the competitiveness of enterprises can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe bending processing equipment, and particularly relates to a pipe bending loading and unloading mobile machine. Background Art

[0002] Pipe benders can be roughly divided into numerical control pipe benders, hydraulic pipe benders, etc. They play an important role in the construction of public railways, boilers, bridges, ships, furniture, decoration, etc. They have the advantages of multiple functions, reasonable structure, simple operation, etc. They are mainly used for bending various pipes to form specific shapes of pipe fittings, facilitating subsequent installation and application.

[0003] For the processing of pipe benders, usually, workers manually place the pipe fittings in the processing position of the pipe bender through manual placement or fixtures. Since the number of pipe fittings to be processed is large and the workload is heavy, it brings physical fatigue to the processing workers, which leads to low efficiency of the entire pipe bending processing and is not conducive to improving the competitiveness of enterprises. Content of the Utility Model

[0004] To solve the problems in the prior art, the utility model provides a pipe bending loading and unloading mobile machine, which solves the problem of low loading efficiency in the process of pipe bending processing in the prior art.

[0005] A pipe bending loading and unloading mobile machine of the utility model includes a mobile machine workbench and a controller. An upper vision camera, a storage bin, a pipe fitting positioning mechanism, a hand claw placement plate, a multi-degree-of-freedom material taking and placing manipulator, and a plurality of material taking claw assemblies are arranged on the mobile machine workbench. Hand claw placement positions matching with the plurality of material taking claw assemblies are arranged on the hand claw placement plate. The pipe fitting positioning mechanism is arranged between the storage bin and the multi-degree-of-freedom material taking and placing manipulator. The upper vision camera is arranged above the storage bin. An upper hand claw quick-change connecting plate is arranged on the multi-degree-of-freedom material taking and placing manipulator. A lower hand claw quick-change connecting plate matching with the upper hand claw quick-change connecting plate is arranged on the material taking claw assembly.

[0006] The utility model is further improved. The material taking claw assembly includes a material taking mounting plate, a suction cup material taking assembly, and a clamping material loading assembly. The lower hand claw quick-change connecting plate is fixedly arranged on the upper end face of the material taking mounting plate. The suction cup material taking assembly and the clamping material loading assembly are arranged on the lower end face of the material taking mounting plate.

[0007] The utility model is further improved. The suction cup assembly includes a suction cup mounting row, a plurality of suction pipe suction cups, and an auxiliary positioning plate. The suction pipe suction cups are fixedly arranged on the suction cup mounting row. The number of the auxiliary positioning plates is two. The two auxiliary positioning plates are respectively arranged at both ends of the suction cup mounting row. An imitation surface matching with the pipe fitting is arranged at the lower end of the auxiliary positioning plate.

[0008] For further improvement of the present utility model, the material clamping and loading assembly includes a loading mounting plate, a loading jaw cylinder, and two loading jaws. The two loading jaws are respectively fixedly arranged on the two moving ends of the loading jaw cylinder, and loading profiling surfaces are arranged on the opposite surfaces of the two loading jaws.

[0009] For further improvement of the present utility model, the gripper placement plate is provided with an installation notch communicating with the gripper placement position. The material taking jaw assembly can be placed into the gripper placement position in cooperation with the installation notch. The material taking mounting plate is arranged above the gripper placement plate, and the suction cup material taking assembly and the material clamping and loading assembly are both arranged below the gripper placement plate.

[0010] For further improvement of the present utility model, a blanking jaw assembly is arranged between the multi-degree-of-freedom material picking and placing robotic arm and the upper gripper quick-change connection disk. The blanking jaw assembly includes a blanking mounting plate, a blanking jaw cylinder, and two blanking jaws. The two blanking jaws are respectively fixedly arranged on the two moving ends of the blanking jaw cylinder, and blanking profiling surfaces are arranged on the opposite surfaces of the two blanking jaws.

[0011] For further improvement of the present utility model, the pipe positioning mechanism includes a material rotating assembly, a hole position sensor, and multiple pipe brackets. The hole position sensor and the material rotating assembly are both arranged on the side of the pipe bracket. The hole position sensor can detect whether the hole position of the pipe is at the specified position. A supporting part matching the pipe is arranged on the pipe bracket. The material rotating assembly includes a lifting driver and a material rotating driver. The material rotating driver is connected to the moving end of the lifting driver, and a material rotating head is arranged on the moving end of the material rotating driver. The material rotating driver can drive the material rotating head to rotate the pipe in the supporting part.

[0012] For further improvement of the present utility model, it further includes a pipe vision camera assembly, and the pipe vision camera assembly includes a vision camera mounting frame and a pipe vision camera.

[0013] For further improvement of the present utility model, it further includes a pushing driving part. The lifting driver is fixedly arranged on the moving end of the pushing driving part. The pushing driving part is perpendicular to the moving direction of the lifting driver. The pushing driving part is arranged on one side of the pipe bracket. A pipe pushing block is further arranged on the material rotating assembly. The supporting part is a limiting support block arranged at the upper end of the pipe bracket. The limiting support block can limit both sides of the pipe. The pushing driving part can cooperate with the pushing block to push the pipe in the limiting support block to move linearly.

[0014] For further improvement of the present utility model, limiting surfaces are arranged on both sides of the inner wall of the limiting support block, and an anti-wear bearing is arranged between the lower ends of the two limiting surfaces.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model provides a tube bending loading and unloading mobile machine. With this structure, it can effectively solve the problem of low loading efficiency in the process of tube bending processing in the prior art. By using this product structure, the multi-degree-of-freedom pick-and-place manipulator cooperates with the vision camera to accurately pick up the material, and then places the tube on the tube positioning mechanism to unify the loading standard, completing efficient and coherent loading, improving the economic benefits of processing and the user experience, and being beneficial to enhancing the competitiveness of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the tube bending loading and unloading mobile machine;

[0018] Figure 2 It is a schematic diagram of the structure of the tube positioning mechanism;

[0019] Figure 3 It is a schematic diagram of the structure of the material picking claw assembly;

[0020] Figure 4 It is the unloading gripper assembly. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Unless otherwise defined, all technical and scientific terms used in the present utility model have the same meaning as commonly understood by those skilled in the technical field to which the present utility model belongs; the terms used in the description of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model; the terms "including" and "having" and any variations thereof in the description and claims of the present utility model and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the description and claims of the present utility model or the above drawings are used to distinguish different objects and are not used to describe a specific order.

[0022] Referring to "embodiment" in the present utility model means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present utility model. The phrase appears in various positions in the description does not necessarily refer to the same embodiment, nor is it an exclusive, independent or alternative embodiment that is mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in the present utility model can be combined with other embodiments.

[0023] In order to enable those skilled in the art of the present technology to better understand the solution of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings.

[0024] As Figures 1-4 shown, a tube bending loading and unloading mobile machine of the present utility model includes a mobile machine workbench 1 and a controller. An upper vision camera 2, a storage bin (not shown in the figure), a tube positioning mechanism 3, a gripper placement plate 4, a multi-degree-of-freedom loading and unloading manipulator 5, and a plurality of material taking claw assemblies 6 are arranged on the mobile machine workbench 1. A gripper placement position for cooperating with the plurality of material taking claw assemblies 6 is arranged on the gripper placement plate 4. The tube positioning mechanism 3 is arranged between the storage bin and the multi-degree-of-freedom loading and unloading manipulator 5. The upper vision camera 2 is arranged above the storage bin. An upper gripper quick-change connecting plate 51 is arranged on the multi-degree-of-freedom loading and unloading manipulator 5. The material taking claw assembly 6 is provided with a lower gripper quick-change connecting plate 61 for cooperating with the upper gripper quick-change connecting plate 51.

[0025] Through the cooperation of the upper gripper quick-change connecting plate 51 and the lower gripper quick-change connecting plate 61, the multi-degree-of-freedom loading and unloading manipulator 5 can select the corresponding material taking claw assembly 6 according to different types of pipe materials for loading the tubes.

[0026] Through the setting of the multi-degree-of-freedom loading and unloading manipulator 5, in line with the loading standard of the tubes, while improving the loading efficiency, the loading accuracy is ensured.

[0027] And by shooting the materials in the storage bin through the upper vision camera 2, automatic and accurate material taking can be realized.

[0028] The material taking claw assembly 6 includes a material taking mounting plate, a suction cup material taking component, and a clamping material loading component. The lower gripper quick-change connecting plate 61 is fixedly arranged on the upper end face of the material taking mounting plate. The suction cup material taking component and the clamping material loading component are arranged on the lower end face of the material taking mounting plate.

[0029] The suction cup assembly includes a suction cup mounting row 62, a plurality of straw suction cups 63, and an auxiliary positioning plate 64. The straw suction cups 63 are fixedly arranged on the suction cup mounting row 62. The number of the auxiliary positioning plates 64 is two. The two auxiliary positioning plates 64 are respectively arranged at both ends of the suction cup mounting row 62. The lower end of the auxiliary positioning plate 64 is provided with a profiling surface for cooperating with the tube.

[0030] The material taking method through the straw suction cups 63 can suck the uppermost tube in the storage bin, avoiding the use of a clamping jaw type for material taking, which affects the position of the adjacent tubes each time material is taken.

[0031] And through the cooperation of the straw suction cups 63 and the auxiliary positioning plates 64, the stability of the suction material handling can be effectively improved.

[0032] The material clamping and loading assembly includes a loading mounting plate 65, a loading jaw cylinder 66, and two loading jaws 67. The two loading jaws 67 are respectively fixedly arranged on two moving ends of the loading jaw cylinder 66, and loading profiling surfaces are arranged on opposite surfaces of the two loading jaws 67.

[0033] Through the arrangement of the two loading jaws 67, the pipe can be tightly clamped and transported.

[0034] The gripper placement plate 4 is provided with a mounting notch communicating with the gripper placement position. The pick-up gripper assembly 6 can be placed into the gripper placement position in cooperation with the mounting notch. The pick-up mounting plate is arranged above the gripper placement plate 4, and the suction cup pick-up assembly and the material clamping and loading assembly are both arranged below the gripper placement plate 4.

[0035] Through the arrangement of the mounting notch, the pick-up gripper assembly 6 can be placed into the gripper placement position from the mounting notch, which is convenient for picking and placing.

[0036] A multi-degree-of-freedom pick-and-place robotic arm 5 and an upper gripper quick-change connection plate 51 are provided with a blanking jaw 54 assembly (not shown in Figure 1 ). The blanking jaw 54 assembly includes a blanking mounting plate 52, a blanking jaw 54 cylinder 53, and two blanking jaws 54. The two blanking jaws 54 are respectively fixedly arranged on two moving ends of the blanking jaw 54 cylinder 53, and blanking profiling surfaces are arranged on opposite surfaces of the two blanking jaws 54.

[0037] Through the arrangement of the two blanking jaws 54, the pipe can be tightly clamped and transported.

[0038] The pipe positioning mechanism 3 includes a pipe rotating component, a hole position sensor 7, and multiple pipe brackets. The hole position sensor 7 and the pipe rotating component are both arranged on the side of the pipe bracket. The pipe bracket is provided with a supporting part that cooperates with the pipe. The pipe rotating component includes a lifting driver 8 and a pipe rotating driver 9. The pipe rotating driver 9 is connected to the moving end of the lifting driver 8, and a pipe rotating head 10 is arranged on the moving end of the pipe rotating driver 9. The pipe rotating driver 9 can drive the pipe rotating head 10 to rotate the pipe in the supporting part.

[0039] Through the arrangement of the hole position sensor 7, taking the hole position of the pipe as a reference point, it is detected whether the hole position of the pipe currently arranged on the pipe bracket is at the specified position. If not, the angle of the pipe is efficiently adjusted through the pipe rotating component, which is convenient for the user to load the material more precisely through the fixture or the loading device, avoiding the pipe being bent due to product offset and unable to be used in cooperation with the mounting hole, and improving the user experience.

[0040] The pipe positioning mechanism 3 further includes a pipe vision camera assembly, and the pipe vision camera assembly includes a vision camera mounting frame and a pipe vision camera 16.

[0041] By setting up the pipe visual camera component, it is possible to effectively identify whether there is an angular deviation in different types of pipes. For example, for a pipe without a mounting hole but with a connector installed, by photographing the position of the connector and comparing it with the database image in the controller, the pipe can be rotated by the rotating material component.

[0042] The pipe positioning mechanism 3 further includes a pusher driving member 11. The lifting driver 8 is fixedly arranged at the moving end of the pusher driving member 11. The moving direction of the pusher driving member 11 is perpendicular to that of the lifting driver 8. The pusher driving member 11 is arranged on one side of the pipe bracket. A pipe pusher block is also arranged on the rotating material component. The supporting part is a limiting support block arranged at the upper end of the pipe bracket. The limiting support block can limit both sides of the pipe. The pusher driving member 11 can cooperate with the pusher block to push the pipe in the limiting support block to move linearly on the pipe bracket.

[0043] By setting up the pusher driving member 11, it can effectively ensure the accuracy of the pipe position on the pipe bracket. During the placement process, the pipe will be placed a little more towards the pusher driving member 11. After the placement is completed, the pipe is pushed to the specified position by the pipe pusher block, unifying the position of the pipe, avoiding the possibility of the pipe position deviation, and the situation that the installation hole cannot be recognized even after the rotating material component rotates 360 degrees.

[0044] Limiting surfaces are arranged on both sides of the inner wall of the limiting support block. An anti-friction bearing is arranged between the lower ends of the two limiting surfaces. By setting up the anti-friction bearing, it can effectively prevent the pipe from being worn due to friction with the limiting surface during the rotation process.

[0045] The pipe positioning mechanism 3 further includes a bracket displacement driving member. The pipe bracket includes a movable pipe bracket 12 and a plurality of fixed pipe brackets 13. The movable pipe bracket 12 can cooperate with the fixed pipe brackets 13 to support both ends of the pipe. The movable pipe bracket 12 is fixedly arranged at the moving end of the bracket displacement driving member. The bracket displacement driving member can drive the movable pipe bracket 12 to approach or move away from the fixed pipe brackets 13.

[0046] Through the cooperation of the bracket displacement driving member and the movable pipe bracket 12, it can effectively adapt to pipes of different lengths, support pipes of different lengths, and improve the flexibility of the mechanism in use.

[0047] The pusher driving member 11 is also fixedly arranged at the moving end of the bracket displacement driving member, and the pusher driving member 11 is arranged on the side of the movable pipe bracket 12 away from the fixed pipe brackets 13.

[0048] Obviously, the pusher driving member 11 is also fixedly arranged at the moving end of the bracket displacement driving member to ensure the effect of the rotation angle of the pipe on the pipe bracket. Other methods can also be used for substitution. For example, the pusher driving member 11 can be fixedly arranged on the side of the fixed pipe bracket 13 away from the movable pipe bracket 12, and the effect of the above solution can also be achieved.

[0049] The pipe positioning mechanism 3 further includes a bracket displacement mounting plate. The bracket displacement driving member includes a bracket driving motor 14, a bracket driving pulley and a bracket driving slide rail. The moving end of the bracket driving motor 14 is connected to the bracket driving pulley. A bracket belt linkage member and a bracket driving slider are arranged on the bracket displacement mounting plate. One end of the bracket belt linkage member is connected to the bracket driving pulley, and the bracket driving slider is slidably connected to the bracket driving slide rail.

[0050] The pipe positioning mechanism 3 further includes an induction driving member. The hole position inductor 7 is fixedly arranged at the moving end of the induction driving member, and the induction driving member can drive the hole position inductor 7 to perform a linear motion.

[0051] For pipes of different lengths, the positions of the mounting holes are also different. Through the setting of the induction driving member, the position of the hole position inductor 7 can be effectively and flexibly adjusted for adaptation.

[0052] The pipe positioning mechanism 3 further includes an induction mounting plate. The induction driving member includes an induction driving motor 15, an induction driving pulley and an induction driving slide rail. The moving end of the induction frame driving motor is connected to the induction driving pulley. An induction belt linkage member and an induction driving slider are arranged on the induction mounting plate. One end of the induction belt linkage member is connected to the induction driving pulley, and the induction driving slider is slidably connected to the induction driving slide rail.

[0053] The hole position inductor 7 is a displacement sensor.

[0054] The working process of the pipe bending loading and unloading mobile machine provided in this embodiment is as follows: The embodiment of the present utility model provides an advantage of high loading efficiency compared with the existing pipe bending processing process.

[0055] First, according to the parameters of the pipe to be processed, the positions of the movable pipe bracket 12 and the hole position inductor 7 are adjusted to appropriate positions.

[0056] After the adjustment is completed, the multi-degree-of-freedom picking and placing manipulator 5 is pre-connected to a set picking claw assembly 6. Before the multi-degree-of-freedom picking and placing manipulator 5 controls the suction cup picking assembly to pick up the material, the upper vision camera 2 takes pictures of the materials in the storage box to confirm the relative positions of the pipes.

[0057] After the recognition is completed, the multi-degree-of-freedom picking and placing manipulator 5 controls the suction cup picking assembly to pick up the material and places the material on the pipe bracket. Then, the pusher driving member 11 pushes the pipe to the designated position.

[0058] After the pipe tool reaches the specified position, the hole position sensor 7 detects the pipe tool.

[0059] When no installation hole is detected, the lifting driver 8 controls the rotary material driver 9 to descend, so that the rotary material head 10 fits with the pipe tool.

[0060] The rotary material driver 9 drives the rotary material head 10 to rotate, thereby controlling the rotation of the pipe tool. When the hole position sensor 7 detects the hole position, the rotary material driver 9 stops, and the rotary material assembly returns to the initial position.

[0061] After the rotation positioning process of the pipe tool is completed, the multi-degree-of-freedom pick-and-place manipulator 5 controls the clamping and loading component to pick up the pipe tool on the pipe tool bracket and move it to the loading area of the pipe bender.

[0062] When it moves to the loading area, the multi-degree-of-freedom pick-and-place manipulator 5 first controls the unloading jaw 54 component to remove the material after pipe bending, and then controls the clamping and loading component to place the pipe tool in the pipe bender, realizing an automated loading process.

[0063] In the above process, when the pipe tool to be bent has no installation hole but a connector is provided on the pipe tool, if the rotary material assembly can rotate, it rotates. For those with a center of gravity offset of the connector and that will reset after rotation, the shooting method is used for positioning. First, wait for the pipe tool to hang freely and stabilize, then use the pipe tool vision camera 16 to shoot the angle of the connector, and then cooperate with the multi-degree-of-freedom pick-and-place manipulator 5. When placing it in the pipe bender, rotate a certain angle and then place it in the pipe bender to achieve precise feeding.

[0064] As can be seen from the above, the beneficial effects of the present utility model are as follows: By adopting its mechanism, it can effectively solve the problem of low loading efficiency in the existing pipe bending processing technology. By using the product structure, the multi-degree-of-freedom pick-and-place manipulator 5 cooperates with the vision camera 2 to accurately pick up the material, and then places the pipe tool on the pipe tool positioning mechanism 3 to unify the loading standard, complete the efficient and coherent loading, improve the economic benefits of processing and the user experience, and is conducive to improving the competitiveness of the enterprise.

[0065] The above-mentioned specific implementation manners are the preferred implementation manners of the present utility model, and do not limit the specific implementation scope of the present utility model. The scope of the present utility model includes but is not limited to this specific implementation manner. All equivalent changes made in accordance with the present utility model are within the protection scope of the present utility model.

Claims

1. A pipe bending loading and unloading mobile machine, characterized in that: It includes a mobile machine workbench and a controller. The mobile machine workbench is provided with an upper visual camera, a material storage box, a pipe positioning mechanism, a gripper placement plate, a multi-degree-of-freedom material picking and placing robot arm and multiple material picking claw assemblies. The gripper placement plate is provided with a gripper placement position that cooperates with multiple material picking claw assemblies. The pipe positioning mechanism is arranged between the material storage box and the multi-degree-of-freedom material picking and placing robot arm. The upper visual camera is arranged above the material storage box. The multi-degree-of-freedom material picking and placing robot arm is provided with an upper gripper quick-change connecting plate. The material picking claw assembly is provided with a lower gripper quick-change connecting plate that cooperates with the upper gripper quick-change connecting plate.

2. The pipe bending loading and unloading mobile machine according to claim 1 is characterized in that: The material picking claw assembly includes a material picking mounting plate, a suction cup material picking assembly and a material clamping and loading assembly. The lower hand claw quick-change connecting plate is fixedly arranged on the upper end surface of the material picking mounting plate, and the suction cup material picking assembly and the material clamping and loading assembly are arranged on the lower end surface of the material picking mounting plate.

3. The pipe bending loading and unloading mobile machine according to claim 2 is characterized in that: The suction cup assembly includes a suction cup mounting row, a plurality of straw suction cups and an auxiliary positioning plate. The straw suction cup is fixedly mounted on the suction cup mounting row. There are two auxiliary positioning plates, which are respectively arranged at both ends of the suction cup mounting row. The lower end of the auxiliary positioning plate is provided with a contoured surface that cooperates with the pipe fixture.

4. The pipe bending loading and unloading mobile machine according to claim 2 is characterized in that: The material clamping and feeding assembly comprises a feeding mounting plate, a feeding clamping jaw cylinder and two feeding clamping jaws. The two feeding clamping jaws are respectively fixedly arranged on the two moving ends of the feeding clamping jaw cylinder, and the opposite surfaces of the two feeding clamping jaws are both provided with feeding profiling surfaces.

5. The pipe bending loading and unloading mobile machine according to claim 2 is characterized in that: The gripper placement plate is provided with an installation notch connected to the gripper placement position, and the material picking claw assembly can be placed in the gripper placement position in cooperation with the installation notch. The material picking installation plate is arranged above the gripper placement plate, and the suction cup material picking assembly and the material clamping and loading assembly are both arranged below the gripper placement plate.

6. The pipe bending loading and unloading mobile machine according to claim 1, characterized in that: A material unloading jaw assembly is arranged between the multi-degree-of-freedom material picking and placing robot arm and the upper hand claw quick-change connecting plate. The material unloading jaw assembly includes a material unloading mounting plate, a material unloading jaw cylinder and two material unloading jaws. The two material unloading jaws are respectively fixed on the two moving ends of the material unloading jaw cylinder, and the opposite surfaces of the two material unloading jaws are provided with material unloading contouring surfaces.

7. The pipe bending loading and unloading mobile machine according to any one of claims 1 to 6, characterized in that: The pipe fixture positioning mechanism includes a rotating material component, a hole position sensor and a plurality of pipe fixture brackets, the hole position sensor and the rotating material component are both arranged on the side of the pipe fixture bracket, the hole position sensor can detect whether the hole position of the pipe fixture is at a specified position, the pipe fixture bracket is provided with a support portion that cooperates with the pipe fixture, the rotating material component includes a lifting drive and a rotating material drive, the rotating material drive is connected to the moving end of the lifting drive, a rotating material head is provided on the moving end of the rotating material drive, and the rotating material drive can drive the rotating material head to rotate the pipe fixture in the supporting portion.

8. The pipe bending loading and unloading mobile machine according to claim 7 is characterized in that: Also included is a pipe vision camera assembly, which includes a vision camera mounting bracket and a pipe vision camera.

9. The pipe bending loading and unloading mobile machine according to claim 7, characterized in that: The pusher drive member is arranged on one side of the pipe bracket, and a pipe push block is also arranged on the rotating assembly. The supporting part is a limiting support block arranged on the upper end of the pipe bracket, and the limiting support block can limit the two sides of the pipe, and the pusher drive member can cooperate with the push block to push the pipe in the limiting support block to move linearly.

10. The pipe bending loading and unloading mobile machine according to claim 9, characterized in that: Limiting surfaces are arranged on both sides of the inner wall of the limiting support block, and an anti-friction bearing is arranged between the lower ends of the two limiting surfaces.

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