Manipulator double-pipe feeding device

Abstract

The mechanical arm double-pipe feeding device comprises a feeding mechanism, a plurality of feeding grooves, a material taking mechanism and a material moving mechanism, the feeding mechanism is used for conveying a plurality of to-be-machined materials, and the multiple feeding grooves are located in the discharging end of the feeding mechanism and distributed in the conveying direction of the feeding mechanism at intervals; the feeding groove is used for bearing materials to be processed; the material taking mechanism comprises a plurality of material taking assemblies and an adjusting assembly, the multiple material taking assemblies are distributed at intervals in the conveying direction of the feeding mechanism, the adjusting assembly is used for adjusting the distance between the multiple material taking assemblies in the conveying direction of the conveying belt, and the material taking assemblies are used for grabbing materials to be machined on the feeding mechanism; the material moving mechanism is used for driving the material taking mechanism to move between the position above the feeding mechanism and the position above the feeding groove in a reciprocating mode. And the pushing mechanism is used for horizontally pushing the to-be-processed materials in the plurality of feeding grooves. The feeding device has the effect of improving the material transferring efficiency of the feeding device.

Description

Technical Field

[0001] The present application relates to the field of material transportation, and in particular to a manipulator double-tube feeding device. Background Art

[0002] The feeding device is mainly used to accurately transfer materials to the production and processing equipment for processing. The feeding device is mostly used in combination with a conveyor belt and a clamping robot. The conveyor belt transports multiple materials to be processed toward the production and processing equipment, and then uses the clamping robot to grab the materials to be processed one by one to the entrance end of the production and processing equipment and complete the feeding step. At present, some processing production equipment can be equipped with more than two processing stations, and there is a certain distance between adjacent processing stations. However, the current feeding device can only transfer one material to be processed at a time, and there is a problem of low transfer efficiency. For example, in printing equipment, one material to be printed is transferred at a time, and only one material to be printed can be printed at a time, which affects the printing efficiency of the printing equipment. Therefore, there is still room for improvement. Summary of the Invention

[0003] In order to improve the material transfer efficiency of the feeding device, the present application provides a manipulator double-tube feeding device.

[0004] The present application provides a manipulator double-tube feeding device that adopts the following technical solution:

[0005] A manipulator double-tube feeding device, comprising:

[0006] A feeding mechanism, the feeding mechanism is used to transport a plurality of materials to be processed;

[0007] A plurality of feed troughs, the plurality of feed troughs being located at the discharge end of the feeding mechanism and spaced apart along the conveying direction of the feeding mechanism, the feed troughs being used to receive materials to be processed;

[0008] A material taking mechanism, comprising a plurality of material taking assemblies and an adjusting assembly, wherein the plurality of material taking assemblies are spaced apart along the conveying direction of the feeding mechanism, the adjusting assembly is used to adjust the spacing between the plurality of material taking assemblies in the conveying direction of the conveyor belt, and the material taking assembly is used to grab the material to be processed on the feeding mechanism;

[0009] A material moving mechanism, which is used to drive the material taking mechanism to move back and forth between above the feeding mechanism and above the feeding chute;

[0010] The pushing mechanism is used for horizontally pushing the materials to be processed in a plurality of feeding troughs.

[0011] By adopting the above technical solution, multiple feed troughs can be set at the entrance of the production and processing equipment, and correspond one to one to the processing stations of the production and processing equipment. Then the feeding mechanism transports multiple materials to be processed in one direction, and uses multiple picking components in the picking mechanism to simultaneously grab the materials to be processed on the feeding mechanism, and then the picking mechanism is transferred as a whole to the feed trough through the material moving mechanism. Since there will be a certain distance between the feed troughs corresponding to the processing stations, and there is a problem of inconsistent spacing with the materials to be processed on the feeding mechanism, by adjusting the setting of the components, the spacing of several picking components can be adjusted in the conveying direction of the conveyor belt, so that the picking components can accurately grab multiple materials to be processed on the feeding mechanism, and can also accurately place multiple materials to be processed in the corresponding feed troughs, thereby overcoming the position accuracy problem brought about by the simultaneous transfer of multiple materials, which is beneficial to improving the material transfer efficiency of the feeding device.

[0012] Preferably, the material moving mechanism includes a support, a first swing arm, a second swing arm and a driving member, one end of the first swing arm is rotatably connected to the support, and the other end of the first swing arm is rotatably connected to the second swing arm; the support is fixedly connected to a first synchronous wheel, and the axis of the first synchronous wheel coincides with the axis of the rotating shaft of the first swing arm; the rotating shaft of the second swing arm is coaxially fixedly connected to the second synchronous wheel; a synchronous belt is provided between the first synchronous wheel and the second synchronous wheel; the end of the second swing arm away from the first swing arm is connected to the material picking mechanism; the driving member is used to drive the first swing arm to swing back and forth on a vertical plane, and the second swing arm remains in a vertical state through the transmission cooperation between the first synchronous wheel, the second synchronous wheel and the synchronous belt.

[0013] By adopting the above technical solution, one end of the first swing arm is rotatably connected to the support and the other end is rotatably connected to the second swing arm to form a movable main part of the material moving mechanism. The first synchronous wheel fixed to the support, the second synchronous wheel fixed to the rotating shaft of the second swing arm, and the synchronous belt therebetween constitute a transmission mechanism between the first swing arm and the second swing arm. When the driving member drives the first swing arm to swing back and forth on the vertical plane, the first synchronous wheel and the first swing arm rotate relative to each other, and the second synchronous wheel is driven to rotate by the synchronous belt, thereby driving the second swing arm to swing relative to the first swing arm. Under the action of the transmission mechanism, the swing angle of the first swing arm is consistent with the angle of the second swing arm, so that the second swing arm can always be kept in a vertical state, which is beneficial to improving the position accuracy of the material picking mechanism and the stability of the grasping action.

[0014] Preferably, the driving member includes a turntable rotatably connected to the support, a connecting rod rotatably connected to the outer ring position of the turntable, and a motor for driving the turntable to rotate, and the end of the connecting rod away from the turntable is rotatably connected to the first swing arm, and the rotating axes at both ends of the connecting rod, the rotating axis of the turntable and the rotating axis of the first swing arm are all arranged in parallel.

[0015] By adopting the above technical solution, a crank slide mechanism is formed by using a motor, a turntable, a connecting rod and a first swing arm, so that the first swing arm can continuously swing back and forth under the drive of the motor, which is beneficial to improving the continuity of material transfer.

[0016] Preferably, the material picking mechanism also includes a mounting bracket installed at the second swing arm and arranged horizontally, the adjustment component is a number of variable pitch cylinders, the number of variable pitch cylinders corresponds one-to-one to the number of material picking components, the number of variable pitch cylinders are installed at the mounting bracket, and the number of material picking components are slidably connected to the corresponding variable pitch cylinders, and the telescopic direction of the variable pitch cylinder is parallel to the conveying direction of the feeding mechanism.

[0017] By adopting the above technical solution, the mounting frame is installed at the second swing arm and arranged horizontally, and the variable pitch cylinder is installed at the mounting frame to improve the stability of the adjustment component, and the material picking component is slid at the corresponding variable pitch cylinder, which is beneficial to saving the mounting frame position, simplifying the mounting frame structure, and improving the sliding stability of the material picking component, and is beneficial to the accuracy of the position adjustment of the material picking component.

[0018] Preferably, the material picking component is a material picking suction cup, and the material picking suction cup is arranged vertically downward.

[0019] By adopting the above technical solution, a material picking suction cup is used as a material picking component, and the purpose of grabbing the material to be processed is achieved through adsorption force. The suction cup will not generate excessive friction when sucking the material, which is beneficial to reducing the probability of damage to the material to be processed.

[0020] Preferably, the feeding mechanism is a conveyor belt, and the conveying surface of the conveyor belt is provided with a plurality of support rollers, and the plurality of support rollers are distributed side by side along the running direction of the conveyor belt.

[0021] By adopting the above technical solution, the support rollers can improve the stability of the conveying surface of the feeding mechanism, and the presence of gaps between adjacent support rollers is conducive to positioning the tubular materials to be processed, making it easier for the material picking component to accurately grab the materials to be processed.

[0022] Preferably, the pushing mechanism includes a sliding seat, several pushing rods arranged at the sliding seat, and a power assembly for driving the sliding seat to move toward the feed trough. Several of the pushing rods are aligned one by one with several feed troughs. Under the pushing action of the sliding seat, the pushing rods extend into the corresponding feed troughs and push the materials to be processed in the feed troughs.

[0023] By adopting the above technical solution, multiple push rods are installed on the same sliding seat and driven by a power component, so that several push rods slide into the corresponding feed trough one by one and push the material to be processed in the feed trough, and then send the whole material into the processing station in the production equipment, which is conducive to improving the feeding efficiency.

[0024] Preferably, the push rod is slidably connected to the sliding seat and the sliding direction is consistent with the sliding direction of the sliding seat. A limiting ring is sleeved on the outer periphery of the push rod, and an elastic member is provided between the limiting ring and the sliding seat.

[0025] By adopting the above technical solution, the elastic member plays a buffering role, which is beneficial to improving the safety when the material to be processed is loaded into the corresponding processing station.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. Multiple feeding troughs are used to correspond to the processing stations of the production and processing equipment one by one. The feeding mechanism conveys multiple materials to be processed in one direction, and multiple picking components in the picking mechanism simultaneously grab the materials to be processed on the feeding mechanism, and then the picking mechanism is transferred to the feeding trough as a whole by the material transfer mechanism. The spacing between the multiple picking components can be adjusted in the conveying direction of the conveyor belt, so that the picking components can accurately grab the multiple materials to be processed on the feeding mechanism and can also accurately place the multiple materials to be processed in the corresponding feeding troughs, thereby overcoming the position accuracy problem caused by the simultaneous transfer of multiple materials, which is conducive to improving the material transfer efficiency of the feeding device;

[0028] 2. By rotatably connecting one end of the first swing arm to the support and the other end to the second swing arm, a movable main part of the material transfer mechanism is formed. A first synchronous wheel fixed to the support, a second synchronous wheel fixed to the rotary shaft of the second swing arm, and a synchronous belt therebetween constitute a transmission mechanism between the first swing arm and the second swing arm. Under the action of the transmission mechanism, the swing angle of the first swing arm is consistent with the angle of the second swing arm, thereby being able to always keep the second swing arm in a vertical state, which is conducive to improving the position accuracy of the material picking mechanism and the stability of the grasping action;

[0029] 3. Install the mounting frame at the second swing arm and set it horizontally, and install the variable pitch cylinder at the mounting frame to improve the stability of the adjustment component, and slide the material picking component at the corresponding variable pitch cylinder, which is beneficial to saving mounting frame position, simplifying the mounting frame structure, and improving the sliding stability of the material picking component, and is beneficial to the accuracy of the position adjustment of the material picking component. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of a manipulator double-tube feeding device in an embodiment of the present application.

[0031] Figure 2 It is a structural diagram between the material moving mechanism and the material taking mechanism in a manipulator double-tube feeding device in an embodiment of the present application.

[0032] Explanation of the accompanying reference numerals: 1. Feeding mechanism; 2. Picking mechanism; 21. Mounting frame; 22. Adjusting assembly; 23. Picking assembly; 3. Material moving mechanism; 31. First swing arm; 32. Second swing arm; 321. Second synchronous wheel; 33. Driving member; 331. Motor; 332. Turntable; 333. Connecting rod; 34. Support; 35. Bearing seat; 351. First synchronous wheel; 4. Pushing mechanism; 41. Power assembly; 42. Sliding seat; 43. Pushing rod; 44. Elastic member; 45. Limiting ring; 5. Feed trough; 6. Material to be processed; 7. Synchronous belt. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-2 This application is described in further detail.

[0034] The present application embodiment discloses a manipulator double-tube feeding device, referring to Figure 1 and Figure 2 , including a feeding mechanism 1, a material taking mechanism 2, a material moving mechanism 3 and several material feeding troughs 5.

[0035] The feed mechanism 1 is used to convey a plurality of materials 6 to be processed. In this embodiment, the feed mechanism 1 utilizes a conventional conveyor belt, which is conveyed in the longitudinal direction. Specifically, the conveying surface of the conveyor belt is provided with a plurality of support rollers, which are arranged side by side along the conveyor belt's direction of operation and driven by a sprocket chain structure to realize the conveying function of the conveyor belt. The conveyor belt is also adjustable in height. The support rollers improve the stability of the conveying surface of the feed mechanism 1, and the presence of a gap between adjacent support rollers facilitates the positioning of the tubular materials 6 to be processed.

[0036] The material transfer mechanism 3 is located to the side of the feeding mechanism 1 and includes a support 34, a first swing arm 31, a second swing arm 32, and a drive member 33. One end of the first swing arm 31 is rotatably connected to the support 34 via a bearing seat 35, and the other end of the first swing arm 31 is rotatably connected to the end of the second swing arm 32. In this embodiment, a first synchronous wheel 351 is fixedly connected to the front end surface of the bearing seat 35 at the support 34, and the first synchronous wheel 351 does not rotate. In addition, the axis of the first synchronous wheel 351 coincides with the axis of the rotation axis of the first swing arm 31, and the two are not fixedly connected. The rotation axis of the second swing arm 32 is located at the end of the first swing arm 31 away from the bearing seat 35, and is coaxially fixedly connected to the rotation axis of the second swing arm 32. A synchronous belt 7 is installed between the first synchronous wheel 351 and the second synchronous wheel 321. The first synchronous wheel 351, the second synchronous wheel 321, and the synchronous belt 7 are in a meshing transmission relationship. The end of the second swing arm 32 away from the first swing arm 31 is connected to the material picking mechanism 2. When the first swing arm 31 swings to a vertical state, the second swing arm 32 overlaps with the second swing arm 32 and is also in a vertical state. The driving member 33 is used to drive the first swing arm 31 to swing back and forth on a vertical plane. When the driving member 33 drives the first swing arm 31 to swing back and forth on a vertical plane, the first synchronous wheel 351 and the first swing arm 31 rotate relative to each other, and the second synchronous wheel 321 is driven to rotate via the synchronous belt 7, thereby driving the second swing arm 32 to swing relative to the first swing arm 31. Under the action of the transmission mechanism, the swing angle of the first swing arm 31 is consistent with the angle of the second swing arm 32, thereby maintaining the second swing arm 32 in a vertical state at all times, which is beneficial to improving the positioning accuracy of the material picking mechanism 2 and the stability of the grasping action.

[0037] In this embodiment, the driving member 33 includes a turntable 332 rotatably connected to the support 34, a connecting rod 333 rotatably connected to the outer ring position of the turntable 332, and a motor 331 for driving the turntable 332 to rotate. The end of the connecting rod 333 away from the turntable 332 is rotatably connected to the first swing arm 31. The rotating shafts at both ends of the connecting rod 333, the rotating shaft of the turntable 332 and the rotating shaft of the first swing arm 31 are all arranged in parallel. The motor 331, the turntable 332, the connecting rod 333 and the first swing arm 31 constitute a crank slider mechanism, so that the first swing arm 31 can continuously swing back and forth under the drive of the motor 331, which is beneficial to improve the continuity of material transfer.

[0038] The reclaiming mechanism 2 comprises a mounting frame 21, several reclaiming assemblies 23, and an adjustment assembly 22. Specifically, the mounting frame 21 is mounted on the second swing arm 32 and arranged horizontally and longitudinally. The mounting frame 21 can be adjusted laterally, allowing the reclaiming mechanism 2 to adapt to the position and length of the material 6 to be processed on the conveyor belt. The adjustment assembly 22 comprises several variable-pitch cylinders, each corresponding to a plurality of reclaiming assemblies 23. These variable-pitch cylinders are mounted at the bottom of the mounting frame 21, and the reclaiming assemblies 23 are slidably connected to their corresponding variable-pitch cylinders. The retraction and expansion directions of the variable-pitch cylinders are parallel to the conveying direction of the feed mechanism 1 and are all longitudinal.

[0039] In this embodiment, there are two retrieving assemblies 23 and two variable pitch cylinders, which are arranged opposite each other, and the two retrieving assemblies 23 are located between the two variable pitch cylinders. By independently driving the two variable pitch cylinders, the two retrieving assemblies 23 can be moved longitudinally, moving closer to or farther away from each other, thereby adjusting the distance between the two retrieving assemblies 23. In other embodiments, multiple sets of retrieving assemblies 23 and variable pitch cylinders can be added. In this case, the positions of the variable pitch cylinders need to be staggered laterally to adjust the telescopic length of the variable pitch cylinders. However, the multiple retrieving assemblies 23 should be kept in the same longitudinal line as much as possible to facilitate the retrieving assemblies 23 to accurately grasp the center of the material 6 to be processed.

[0040] In this embodiment, the material picking component 23 is a material picking suction cup, which is arranged vertically downward and generates adsorption force through the negative pressure principle or magnetic force to grab the material to be processed 6 on the feeding mechanism 1.

[0041] Several feed troughs 5 are located at the discharge end of the feed mechanism 1 and spaced apart along the conveying direction of the feed mechanism 1. These troughs 5 are used to receive materials 6 to be processed. Driven by the material transfer mechanism 3, the retrieving mechanism 2 reciprocates above the feed mechanism 1 and the feed troughs 5 to transfer the materials 6 to be processed into the feed troughs 5. The troughs 5 have concave cavities adapted to accommodate the materials 6 to be processed, and are open at both ends and extend laterally. By placing multiple feed troughs 5 at the entrance of the production and processing equipment, each corresponding to a processing station of the production and processing equipment, multiple materials 6 to be processed can be accurately loaded into the corresponding processing stations.

[0042] The pusher mechanism 4 includes a sliding seat 42, several pusher rods 43 mounted on the sliding seat 42, and a power assembly 41 for driving the sliding seat 42 toward the feed trough 5. The sliding seat 42 is mounted on the bottom plate of the support 34. The pusher rods 43 extend horizontally and align with the feed troughs 5. Under the push of the sliding seat 42, the pusher rods 43 extend into the corresponding feed troughs 5 and push the materials 6 to be processed therein, thereby delivering multiple materials 6 to the corresponding processing stations within the production equipment, which helps improve feeding efficiency. The power assembly 41 can adopt a conventional rodless cylinder or screw drive mechanism to achieve the stable translation function of the materials 6 to be processed.

[0043] In this embodiment, the pushing rod 43 is slidably connected to the sliding seat 42 and the sliding direction is consistent with the sliding direction of the sliding seat 42. A limiting ring 45 is provided on the outer periphery of the pushing rod 43, and an elastic member 44 is installed between the limiting ring 45 and the sliding seat 42. The elastic member 44 is specifically a spring provided on the outer periphery of the pushing rod 43. During the pushing process, the elastic member 44 plays a buffering role, which is beneficial to improve the safety of the material 6 to be processed when it is loaded into the corresponding processing station.

[0044] The implementation principle of a manipulator double-tube feeding device in the embodiment of the present application is as follows:

[0045] The feeding mechanism 1 conveys a plurality of materials 6 to be processed longitudinally. The crank slide mechanism composed of the turntable 332, the connecting rod 333 and the first swing arm 31 is driven by the motor 331 to operate. The first swing arm 31 swings left and right on the vertical plane. At this time, the first swing arm 31 also rotates relative to the first synchronous wheel 351. Under the transmission action of the first synchronous wheel 351, the second synchronous wheel 321 and the synchronous belt 7, the second swing arm 32 swings relative to the first swing arm 31. However, since the swing angle of the first swing arm 31 is consistent with the angle of the second swing arm 32, the second swing arm 32 always remains in a vertical state, and the material taking assembly 23 below the mounting frame 21 is installed. It moves back and forth above the feeding mechanism 1 and above the feeding trough 5, and completes the grabbing and discharging actions. Since there is a certain distance between the feeding troughs 5 corresponding to the processing stations, there is a problem of inconsistent spacing with the materials to be processed 6 on the feeding mechanism 1. In the process of grabbing and discharging, the position of the picking component 23 is adjusted accordingly by adjusting the variable pitch cylinder of the adjustment component 22, so that the picking component 23 can accurately grab multiple materials to be processed 6 on the feeding mechanism 1, and can also accurately place multiple materials to be processed 6 in the corresponding feeding trough 5, thereby overcoming the position accuracy problem brought about by the simultaneous transfer of multiple materials, which is beneficial to improving the material transfer efficiency of the feeding device.

[0046] After a plurality of materials to be processed 6 are placed in the corresponding feed trough 5, the sliding seat 42 is driven to move by starting the power assembly 41, and a plurality of push rods 43 slide into the corresponding feed trough 5 one by one and push the materials to be processed 6 in the feed trough 5, thereby sending the whole material into the processing station in the production equipment, which is conducive to improving the feeding efficiency.

[0047] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A manipulator double-tube feeding device, characterized in that: include: A feeding mechanism (1), the feeding mechanism (1) being used for conveying a plurality of materials (6) to be processed; A plurality of feeding troughs (5), wherein the plurality of feeding troughs (5) are located at the discharge end of the feeding mechanism (1) and are spaced apart along the conveying direction of the feeding mechanism (1), and the feeding troughs (5) are used to receive the materials (6) to be processed; A material taking mechanism (2), the material taking mechanism (2) comprising a plurality of material taking components (23) and an adjusting component (22), the plurality of material taking components (23) being spaced apart along the conveying direction of the feeding mechanism (1), the adjusting component (22) being used to adjust the spacing between the plurality of material taking components (23) in the conveying direction of the conveyor belt, and the material taking components (23) being used to grab the material to be processed (6) on the feeding mechanism (1); A material moving mechanism (3), the material moving mechanism (3) is used to drive the material taking mechanism (2) to move back and forth between above the material feeding mechanism (1) and above the material feeding trough (5); A material pushing mechanism (4) is used for horizontally pushing materials (6) to be processed in a plurality of material feeding troughs (5).

2. The manipulator double-tube feeding device according to claim 1, characterized in that: The material transfer mechanism (3) comprises a support (34), a first swing arm (31), a second swing arm (32) and a driving member (33), wherein one end of the first swing arm (31) is rotatably connected to the support (34), and the other end of the first swing arm (31) is rotatably connected to the second swing arm (32); the support (34) is fixedly connected to a first synchronous wheel (351), and the axis of the first synchronous wheel (351) coincides with the axis of the rotary shaft of the first swing arm (31); the rotary shaft of the second swing arm (32) is coaxially fixed. A second synchronous wheel (321) is connected; a synchronous belt (7) is sleeved between the first synchronous wheel (351) and the second synchronous wheel (321); the end of the second swing arm (32) away from the first swing arm (31) is connected to the material taking mechanism (2); the driving member (33) is used to drive the first swing arm (31) to swing back and forth on a vertical plane, and the second swing arm (32) is kept in a vertical state through the transmission cooperation between the first synchronous wheel (351), the second synchronous wheel (321) and the synchronous belt (7).

3. The manipulator double-tube feeding device according to claim 2, characterized in that: The driving member (33) comprises a turntable (332) rotatably connected to the support (34), a connecting rod (333) rotatably connected to the outer ring position of the turntable (332), and a motor (331) for driving the turntable (332) to rotate. One end of the connecting rod (333) away from the turntable (332) is rotatably connected to the first swing arm (31). The rotary axes at both ends of the connecting rod (333), the rotary axis of the turntable (332), and the rotary axis of the first swing arm (31) are all arranged in parallel.

4. The manipulator double-tube feeding device according to claim 2, characterized in that: The material taking mechanism (2) further comprises a mounting frame (21) mounted on the second swing arm (32) and arranged horizontally, the adjusting components (22) are a plurality of variable pitch cylinders, the plurality of variable pitch cylinders correspond one to one with the plurality of material taking components (23), the plurality of variable pitch cylinders are mounted on the mounting frame (21), the plurality of material taking components (23) are slidably connected to the corresponding variable pitch cylinders, and the telescopic direction of the variable pitch cylinders is parallel to the conveying direction of the feeding mechanism (1).

5. The manipulator double-tube feeding device according to claim 1, characterized in that: The material taking component (23) is a material taking suction cup, and the material taking suction cup is arranged vertically downward.

6. The manipulator double-tube feeding device according to claim 1, characterized in that: The feeding mechanism (1) is a conveyor belt, and a conveying surface of the conveyor belt is provided with a plurality of supporting rollers, and the plurality of supporting rollers are distributed side by side along the running direction of the conveyor belt.

7. The manipulator double-tube feeding device according to claim 1, characterized in that: The pushing mechanism (4) comprises a sliding seat (42), a plurality of pushing rods (43) arranged at the sliding seat (42), and a power assembly (41) for driving the sliding seat (42) to move toward the feed trough (5). The plurality of pushing rods (43) are aligned one by one with the plurality of feed troughs (5). Under the pushing action of the sliding seat (42), the pushing rods (43) extend into the corresponding feed troughs (5) and push the material (6) to be processed in the feed trough (5).

8. The manipulator double-tube feeding device according to claim 7, characterized in that: The push rod (43) is slidably connected to the sliding seat (42) and its sliding direction is consistent with the sliding direction of the sliding seat (42). A limiting ring (45) is sleeved on the outer periphery of the push rod (43), and an elastic member (44) is provided between the limiting ring (45) and the sliding seat (42).

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