Buckle pipe production line

Abstract

A pipe buckling production line comprises a double-layer feeding device, a servo manipulator, a servo pipe buckling machine and a discharging device, the double-layer feeding device is used for positioning and feeding one or two special-shaped pipes, and the servo manipulator is used for transferring the special-shaped pipes of the double-layer feeding device to the servo pipe buckling machine or transferring the special-shaped pipes of the servo pipe buckling machine to the discharging device. The servo pipe buckling machine is used for buckling the special-shaped pipes, and the discharging device is used for discharging the special-shaped pipes subjected to pipe buckling. The utility model provides a pipe buckling production line according to the content, and solves the problems that in the prior art, a pipe buckling production line can only feed special-shaped pipes with one shape and size generally, shutdown is needed to feed special-shaped pipes with other shapes and sizes, various positioning assemblies and fixing assemblies need to be replaced correspondingly, operation is troublesome, and production efficiency is low.

Description

TECHNICAL FIELD

[0001] The utility model relates to a buckle pipe technical field especially relates to a buckle pipe production line. BACKGROUND

[0002] Buckle pipe procedure is an indispensable link in industrial production, is widely used in petroleum, chemical industry, electric power, machinery and other fields. Through buckle pipe procedure, the integrity and stability of the pipeline system can be ensured, and the needs of various industrial production are met. In the production process of the buckle pipe production line, according to production demand, sometimes two different sizes of special-shaped pipes need to be fed simultaneously for cooperative production.

[0003] However, the buckle pipe production line in the prior art can usually only feed one size of special-shaped pipe, and needs to stop and replace various positioning components and fixing components when feeding other sizes of special-shaped pipes, which is not only troublesome to operate, but also low in production efficiency. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a buckle pipe production line, solving the problem that the buckle pipe production line in the prior art can usually only feed one size of special-shaped pipe, and needs to stop and replace various positioning components and fixing components when feeding other sizes of special-shaped pipes, which is not only troublesome to operate, but also low in production efficiency.

[0005] To achieve this purpose, the utility model adopts the following technical scheme:

[0006] A buckle pipe production line, comprising a double-layer feeding device, a servo manipulator, a servo buckle pipe machine and a discharging device, the double-layer feeding device is used for positioning and feeding one or two special-shaped pipes, the servo manipulator is used for transferring the special-shaped pipes of the double-layer feeding device to the servo buckle pipe machine or transferring the special-shaped pipes of the servo buckle pipe machine to the discharging device, the servo buckle pipe machine is used for buckling the special-shaped pipes, and the discharging device is used for discharging the buckled special-shaped pipes.

[0007] Further, the double-layer feeding device comprises a base frame, a double-layer frame, a first positioning component, a second positioning component, a first clamping component, a second clamping component and a first driving device.

[0008] The double-layer frame is movably installed on the base frame, and the first driving device is used for driving the double-layer frame to move back and forth.

[0009] The first positioning component is installed on the lower layer of the double-layer frame, the first positioning component is used for positioning the first special-shaped pipe, and the first clamping component is used for clamping and fixing the first special-shaped pipe of the first positioning component.

[0010] The second positioning assembly is installed on the upper layer of the double-layer frame, and is used for positioning a second special-shaped pipe.

[0011] Specifically, the first positioning assembly comprises a first positioning seat, a first positioning block, a second positioning seat, a second positioning block, a third positioning seat, a third positioning block, a fourth positioning seat, a fourth positioning block, a fifth positioning seat and a fifth positioning block.

[0012] The first positioning block is installed on the first positioning seat and is provided with a first positioning groove which is inclined in the left-right direction.

[0013] The second positioning seat is located at the right rear side of the first positioning seat and is provided with a second positioning groove which is horizontally arranged in the left-right direction and is provided with a first emptying groove. The second positioning block is installed on the second positioning seat and is located at the left front side of the second positioning groove. The second positioning block is provided with a third positioning groove, one end of which is directed to the first positioning groove, and the other end of which is directed to the second positioning groove.

[0014] The third positioning seat is located at the right side of the second positioning seat and is provided with a fourth positioning groove which is horizontally arranged in the left-right direction and is provided with a second emptying groove. The third positioning block is installed on the third positioning seat and is located at the right side of the fourth positioning groove. The third positioning block is provided with a fifth positioning groove which is horizontally arranged in the front-rear direction.

[0015] The fourth positioning block is installed on the fourth positioning seat and is provided with a sixth positioning groove which is horizontally arranged in the left-right direction and is located at the right rear side of the fifth positioning groove.

[0016] The fifth positioning block is installed on the fifth positioning seat and is provided with a seventh positioning groove which is located at the right front side of the sixth positioning groove and is directed to the right side of the sixth positioning groove.

[0017] The first positioning seat is provided with a first adjusting groove, the first positioning block is installed on the first positioning seat through the first adjusting groove, and the first positioning block can move up and down along the length direction of the first adjusting groove.

[0018] The second positioning seat is provided with a second adjusting groove, the second positioning block is installed on the second positioning seat through the second adjusting groove, and the second positioning block can move up and down along the length direction of the second adjusting groove.

[0019] The third positioning seat is provided with a third adjusting slot, the third positioning block is installed in the third positioning seat through the third adjusting slot, and the third positioning block is movable up and down along the length direction of the third adjusting slot.

[0020] The fourth positioning seat is provided with a fourth adjusting slot, the fourth positioning block is installed in the fourth positioning seat through the fourth adjusting slot, and the fourth positioning block is movable up and down along the length direction of the fourth adjusting slot.

[0021] The fifth positioning seat is provided with a fifth adjusting slot, the fifth positioning block is installed in the fifth positioning seat through the fifth adjusting slot, and the fifth positioning block is movable up and down along the length direction of the fifth adjusting slot.

[0022] The first clamping assembly comprises a first clamping cylinder and a first rotary down cylinder, the first clamping cylinder is arranged between the second positioning seat and the third positioning seat, and the first rotary down cylinder is installed in the third positioning seat.

[0023] Preferably, the second positioning assembly comprises a sixth positioning seat, a sixth positioning block, a seventh positioning seat, a seventh positioning block, an eighth positioning seat, an eighth positioning block, a ninth positioning seat, an inclined block and a ninth positioning block.

[0024] The ninth positioning block is provided with an eighth positioning slot, the rear end of the eighth positioning slot faces the left rear side of the double-layer frame, and the eighth positioning slot is arranged obliquely.

[0025] The sixth positioning seat is located at the right side of the ninth positioning block, the sixth positioning seat is installed with the sixth positioning block, the sixth positioning block is provided with a ninth positioning slot, one end of the ninth positioning slot faces the ninth positioning block, the other end of the ninth positioning slot faces the rear side of the seventh positioning block, and the ninth positioning slot is arranged obliquely.

[0026] The seventh positioning block is installed in the seventh positioning seat, the seventh positioning block is provided with a tenth positioning slot, the tenth positioning slot is located at the right side of the ninth positioning slot, the tenth positioning slot is arranged obliquely, the seventh positioning seat is provided with a tenth adjusting slot, the tenth adjusting slot is arranged horizontally in the left-right direction, and the tenth adjusting slot is provided with a third avoiding slot.

[0027] The eighth positioning seat is located on the right side of the seventh positioning seat, and is provided with a twelfth positioning groove horizontally arranged along the left-right direction and provided with a fourth emptying groove. The eighth positioning block is installed on the eighth positioning seat, and is provided with a thirteenth positioning groove located on the right side of the twelfth positioning groove, one end of the thirteenth positioning groove faces the twelfth positioning groove, and the other end of the thirteenth positioning groove faces the inclined block;

[0028] The ninth positioning seat is located on the right side of the eighth positioning block, and the inclined block is installed on the ninth positioning seat.

[0029] The sixth positioning seat is provided with a sixth adjusting groove, and the sixth positioning block is installed on the sixth positioning seat through the sixth adjusting groove, and the sixth positioning block can move up and down along the length direction of the sixth adjusting groove.

[0030] The seventh positioning seat is provided with a seventh adjusting groove, and the seventh positioning block is installed on the seventh positioning seat through the seventh adjusting groove, and the seventh positioning block can move up and down along the length direction of the seventh adjusting groove.

[0031] The eighth positioning seat is provided with an eighth adjusting groove, and the eighth positioning block is installed on the eighth positioning seat through the eighth adjusting groove, and the eighth positioning block can move up and down along the length direction of the eighth adjusting groove.

[0032] The ninth positioning seat is provided with a ninth adjusting groove, and the inclined block is installed on the ninth positioning seat through the ninth adjusting groove, and the inclined block can move up and down along the length direction of the ninth adjusting groove.

[0033] The second clamping assembly comprises a second clamping cylinder and a second rotary down-pressing cylinder, the second clamping cylinder is located between the seventh positioning seat and the eighth positioning seat, and the second rotary down-pressing cylinder is installed on the eighth positioning seat.

[0034] The double-layer feeding device further comprises a first mounting plate and a second mounting plate, the first mounting plate is detachably installed on the lower layer of the double-layer frame, the top surface of the first mounting plate is provided with the first positioning assembly, and the second mounting plate is detachably installed on the upper layer of the double-layer frame, and the top surface of the second mounting plate is provided with the second positioning assembly.

[0035] In some embodiments, the servo mechanical hand comprises a first pneumatic connecting piece, a second pneumatic connecting piece, a six-axis driving device, a mounting frame, a first moving seat, a second moving seat, a fixed seat, a first clamping driving device, a second clamping driving device, a third clamping driving device and an adjusting driving device.

[0036] The first pneumatic connector is mounted on the output end of the six-axis driving device, and the second pneumatic connector is mounted on the back of the mounting rack and detachably connected to the first pneumatic connector.

[0037] The fixing seat is fixedly mounted on the front of the mounting rack, and the third clamping driving device is mounted on the fixing seat. The first moving seat and the second moving seat are respectively mounted on the left side and the right side of the fixing seat and are movably mounted on the front of the mounting rack. The first clamping driving device is mounted on the first moving seat, and the second clamping driving device is mounted on the second moving seat. The adjusting driving device is used to drive the first moving seat and the second moving seat to move close to or away from each other.

[0038] Further, the servo manipulator further comprises a suction head, a plug, a positioning member and a rotating buckle.

[0039] The first pneumatic connector is provided with a plurality of first air holes, and the first air holes are uniformly arranged along the circumference of the first pneumatic connector. The inner side of the first pneumatic connector is provided with a plurality of first mounting holes, and the first mounting holes are uniformly arranged along the circumferential direction of the first pneumatic connector.

[0040] The suction head is mounted on the first mounting hole, and the suction end of the suction head is communicated with the first air hole.

[0041] The second pneumatic connector is provided with a plurality of second air holes, and the second air holes are uniformly arranged along the circumference of the second pneumatic connector. The inner side of the second pneumatic connector is provided with a plurality of second mounting holes, and the second mounting holes are uniformly arranged along the circumferential direction of the second pneumatic connector. The second mounting holes are communicated with the second air holes.

[0042] The plug is mounted on the second mounting hole, and the plug can be plugged into the suction end of the suction head.

[0043] The first pneumatic connector is provided with a plurality of positioning holes, and the positioning holes are uniformly arranged along the circumferential direction of the first pneumatic connector.

[0044] A plurality of positioning members are mounted on the second pneumatic connector, and the positioning members are uniformly arranged along the circumferential direction of the second pneumatic connector. The positioning members are opposite to the positioning holes.

[0045] The rotating buckle is rotatably mounted on the first pneumatic connector. The rotating buckle is provided with a first through hole and a second through hole. The first through hole is communicated with the second through hole, and the second through hole can be clamped on the positioning member.

[0046] The rotating buckle is provided with a stroke groove, and the inner side of the first pneumatic connector is provided with a protrusion located in the stroke groove.

[0047] Specifically, the adjusting driving device comprises a first screw rod, a second screw rod, a first fixed block, a second fixed block, a mounting block, a coupling and a first motor.

[0048] The first motor, the first fixed block, the second fixed block and the mounting block are sequentially installed on the front face of the mounting frame from left to right, one end of the first screw rod is connected to the output end of the first motor, the other end of the first screw rod is rotatably installed on the first fixed block, and the other end of the first screw rod is connected to one end of the coupling, and the first moving seat is movably installed on the first screw rod.

[0049] One end of the second screw rod is rotatably installed on the second fixed block, one end of the second screw rod is connected to the other end of the coupling, the other end of the second screw rod is rotatably installed on the mounting block, and the second moving seat is movably installed on the second screw rod.

[0050] The inside of the fixed seat is provided with an empty area, and the second fixed block is installed in the empty area.

[0051] The front face of the mounting frame is provided with a first sliding rail and a second sliding rail, the first sliding rail is located on the left side of the second sliding rail, the first moving seat is provided with a first sliding block, the first sliding block is slidingly installed on the first sliding rail, the second moving seat is provided with a second sliding block, and the second sliding block is slidingly installed on the second sliding rail.

[0052] The mounting frame is provided with a weight reduction area, and the weight reduction area is located on both sides of the fixed seat.

[0053] Preferably, the servo pipe fitting machine comprises a machine body, a lower die seat, an upper die seat, a lower mounting table, an upper mounting table, a lower pipe fitting assembly, an upper pipe fitting assembly, a guide assembly and a second driving device.

[0054] The lower die seat is installed on the machine body, the lower die seat is installed with the lower mounting table, the lower mounting table is provided with a lower special-shaped mounting surface, and the lower special-shaped mounting surface is installed with the lower pipe fitting assembly.

[0055] One end of the guide assembly is installed on the machine body, the upper die seat is movably installed on the other end of the guide assembly, the upper die seat is installed with the upper mounting table, the upper mounting table is provided with an upper special-shaped mounting surface, the upper special-shaped mounting surface is installed with the upper pipe fitting assembly, the upper pipe fitting assembly is opposite to the lower pipe fitting assembly, and the second driving device is used to drive the upper die seat to move up and down.

[0056] In some embodiments, the lower profiled mounting surface comprises a first inclined surface, a second inclined surface, a third inclined surface, a fourth inclined surface, a fifth inclined surface and a sixth inclined surface;

[0057] The first inclined surface is vertically connected to one end of the second inclined surface, the other end of the second inclined surface is connected to one end of the third inclined surface, the other end of the third inclined surface is connected to one end of the fourth inclined surface, the other end of the fourth inclined surface is connected to one end of the fifth inclined surface, and the other end of the fifth inclined surface is vertically connected to the sixth inclined surface;

[0058] The first inclined surface is mirror-symmetrically arranged with the sixth inclined surface, the second inclined surface is mirror-symmetrically arranged with the fifth inclined surface, and the third inclined surface is mirror-symmetrically arranged with the fourth inclined surface;

[0059] The lower buckle assembly comprises a first buckle block, a second buckle block, a third buckle block, a fourth buckle block, a fifth buckle block, a baffle and a locking piece;

[0060] The bottom of the first buckle block is mounted on the first inclined surface and the second inclined surface, and the top of the first buckle block is provided with a mold closing groove;

[0061] The second buckle block is mounted on the third inclined surface, and the two sides of the second buckle block are respectively abutted against the first buckle block and the third buckle block, and the second buckle block is provided with a second buckle groove;

[0062] The bottom of the third buckle block is mounted on the third inclined surface and the fourth inclined surface, the two sides of the third buckle block are respectively abutted against the second buckle block and the fourth buckle block, and the third buckle block is provided with a third buckle groove;

[0063] The bottom of the fifth inclined surface is mounted on the fifth inclined surface and the sixth inclined surface, the top of the fifth inclined surface is provided with a mold closing strip, the inner side of the fifth inclined surface is provided with an inner recess, and the fifth buckle block is provided with a fifth buckle groove;

[0064] The fourth buckle block is mounted on the fourth inclined surface, and the two sides of the fourth buckle block are respectively abutted against the inner recesses of the third buckle block and the fifth buckle block, and the fourth buckle block is provided with a fourth buckle groove;

[0065] The second buckle groove, the third buckle groove, the fourth buckle groove and the fifth buckle groove are arranged in sequence along the circumferential direction;

[0066] The number of baffles is two, the lower regions of the two baffles are respectively mounted on the two sides of the lower mounting table, the upper regions of the two baffles are respectively provided with five mounting grooves, and each mounting groove is respectively provided with a locking piece for fixing the corresponding buckle block.

[0067] Further, the servo pipe clamping machine further comprises a limiting rod, one end of the limiting rod is movably installed on the machine body, and the other end of the limiting rod is abuttable against the lower die seat;

[0068] The second driving device comprises a first belt pulley, a second belt pulley, a transmission belt, a second motor, a rotating sleeve, a third screw rod and a protective cover;

[0069] The second motor is installed on the machine body, the output end of the second motor is provided with the first belt pulley, the rotating sleeve is rotatably installed on the machine body, the outer periphery of the top of the rotating sleeve is provided with the second belt pulley, the second belt pulley is connected to the first belt pulley through the transmission belt, one end of the third screw rod is movably installed in the interior of the rotating sleeve, and the other end of the third screw rod is connected to the upper die seat;

[0070] The protective cover is installed on the machine body, and the protective cover covers the first belt pulley, the second belt pulley and the transmission belt.

[0071] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0072] Through the double-layer feeding device, the servo mechanical hand, the servo pipe clamping machine and the discharging device, the double-layer feeding device can be positioned, fed, clamped and conveyed one or two special-shaped pipes, the precision of subsequent pipe clamping is ensured, another structure of positioning and clamping assembly does not need to be disassembled and replaced, and the double-layer feeding device is suitable for various production scenes, and is favorable for improving pipe clamping production line universality and production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 is a structure schematic view of a pipe clamping production line of one of the embodiments of the utility model;

[0074] Figure 2 is a structure schematic view of a double-layer feeding device of one of the embodiments of the utility model;

[0075] Figure 3 is a structure schematic view of a first positioning assembly of one of the embodiments of the utility model;

[0076] Figure 4 is a structure schematic view of a second positioning assembly of one of the embodiments of the utility model;

[0077] Figure 5 is a structure schematic view of a servo mechanical hand of one of the embodiments of the utility model;

[0078] Figure 6 is a structure schematic view of a first pneumatic connector of one of the embodiments of the utility model;

[0079] Figure 7 is the structure diagram of the rotating buckle of one of the embodiments of the present application;

[0080] Figure 8 is the structure diagram of the second pneumatic connector of one of the embodiments of the present application;

[0081] Figure 9 is the structure diagram of the adjusting driving device of one of the embodiments of the present application;

[0082] Figure 10 is the structure diagram of the servo buckle pipe machine of one of the embodiments of the present application;

[0083] Figure 11 is the enlarged view of A of Figure 10

[0084] Figure 12 is the structure diagram of the lower special-shaped mounting surface of one of the embodiments of the present application;

[0085] Figure 13 is the structure diagram of the inner recess of one of the embodiments of the present application;

[0086] Figure 14 is the structure diagram of the second driving device of one of the embodiments of the present application;

[0087] ​The utility model provides a double -deck loading device, bottom frame, double -deck frame, first positioning assembly, first positioning seat, first adjusting groove, first positioning block, first positioning groove, second positioning seat, second positioning groove, first emptying groove, second positioning block, third positioning groove, third positioning seat, fourth positioning groove, second emptying groove, third positioning block, fifth positioning groove, fourth positioning seat, fourth adjusting groove, fourth positioning block, sixth positioning groove, fifth positioning seat, fifth adjusting groove, fifth positioning block, seventh positioning groove, sixth positioning seat, sixth adjusting groove, sixth positioning block, ninth positioning groove, seventh positioning seat, tenth positioning groove, third emptying groove, seventh adjusting groove, seventh positioning block, tenth positioning groove, eighth positioning seat, twelfth positioning groove, fourth emptying groove, eighth positioning block, thirteenth positioning groove, ninth positioning seat, inclined block, ninth positioning block, eighth positioning groove, first clamping assembly, first clamping pneumatic cylinder, first rotary down -pressing pneumatic cylinder, second clamping assembly, second clamping pneumatic cylinder, second rotary down -pressing pneumatic cylinder, first drive device, first mounting plate, second mounting plate, servo mechanical hand, first pneumatic connector, first gas hole, positioning hole, protruding block, second pneumatic connector, second gas hole, second mounting hole, six -axis drive device, mounting frame, first sliding rail, second sliding rail, weight -reducing area, first moving seat, first sliding block, second moving seat, second sliding block, fixed seat, emptying area, first clamping drive device, second clamping drive device, third clamping drive device, adjusting drive device, first screw rod, second screw rod, first fixed block, second fixed block, mounting block, shaft coupling, first motor, adsorption head, plug, positioning piece, rotating buckle, first through -hole, second through -hole, stroke groove, servo buckle pipe machine, machine body, lower mould seat, upper mould seat, lower mounting table, lower special-shaped mounting surface, first inclined surface, second inclined surface, third inclined surface, fourth inclined surface, fifth inclined surface, sixth inclined surface, upper mounting table, lower buckle pipe assembly, first buckle pipe block, die closing groove, second buckle pipe block, second buckle pipe grain 3621, third buckle pipe block,Third buckle groove 3631, fourth buckle block 364, fourth buckle groove 3641, fifth buckle block 365, mold clamping strip 3651, inner recess 3652, fifth buckle groove 3653, baffle 366, mounting groove 3661, locking piece 367, upper buckle assembly 37, guide assembly 38, second driving device 39, first belt pulley 391, second belt pulley 392, transmission belt 393, second motor 394, rotating sleeve 395, third lead screw 396, protective cover 397, limiting rod 310, blanking device 4. DETAILED DESCRIPTION

[0088] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0089] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "inner side", "outer side", "inner end", "outer end", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features, which are used to distinguish the described features, and have no order or importance. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0090] In one embodiment of the present application, as Figures 1-14As shown, a pipe buckling production line includes a double-layer feeding device 1, a servo manipulator 2, a servo pipe buckling machine 3 and a discharging device 4. The double-layer feeding device 1 is used to position one or two special-shaped pipes. The servo manipulator 2 is used to transfer the special-shaped pipes of the double-layer feeding device 1 to the servo pipe buckling machine 3 or transfer the special-shaped pipes of the servo pipe buckling machine 3 to the discharging device 4. The servo pipe buckling machine 3 is used to buckle the special-shaped pipes. The discharging device 4 is used to discharge the buckled special-shaped pipes. In this embodiment, the discharging device 4 is a prior art. The upper feeding device 1 is arranged on the front side of the servo manipulator 2. The servo pipe buckling machine 3 is arranged on the right side of the servo manipulator 2. The discharging device 4 is arranged on the rear side of the servo manipulator 2. During operation, according to production requirements, one or two special-shaped pipes with buckled pipe sleeves are placed on the double-layer feeding device 1. For example, when only one specification of special-shaped pipes needs to be produced, the upper layer of the double-layer feeding device 1 is used to place the special-shaped pipes for the current production, and the lower layer of the double-layer feeding device 1 can be used to place the special-shaped pipes for the next production, without stopping the machine to disassemble and replace the positioning and clamping assembly of another structure, which is beneficial to improve the production efficiency. When two different special-shaped pipes need to be produced simultaneously according to the process requirements, the double-layer feeding device 1 is used to place two special-shaped pipes simultaneously, and then the double-layer feeding device 1 positions and clamps the special-shaped pipes and delivers them to the taking position of the servo manipulator 2 to ensure the buckling accuracy of the subsequent process. Then, the servo manipulator 2 transfers the special-shaped pipes of the double-layer feeding device 1 to the servo pipe buckling machine 3 for buckling. After the buckling is completed, the servo manipulator 2 transfers the buckled special-shaped pipes to the discharging device 4. The discharging device 4 delivers the buckled special-shaped pipes to the subsequent process. It should be noted that when two different special-shaped pipes are fed simultaneously, the servo manipulator 2 buckles one type of special-shaped pipe and transfers it to the discharging device 4, and then grasps another type of special-shaped pipe to the servo pipe buckling machine 3 for buckling and discharging. The double-layer feeding device 1, the servo manipulator 2, the servo pipe buckling machine 3 and the discharging device 4 can position and clamp one or two special-shaped pipes for delivery, ensure the accuracy of the subsequent buckling process, do not need to stop the machine to disassemble and replace the positioning and clamping assembly of another structure, are suitable for various production scenarios, and are beneficial to improve the universality and production efficiency of the pipe buckling production line.

[0091] As Figures 2-4As shown, the double-layer feeding device 1 comprises a base frame 11, a double-layer frame 12, a first positioning assembly 13, a second positioning assembly 14, a first clamping assembly 15, a second clamping assembly 16 and a first driving device 17; the double-layer frame 12 is movably installed on the base frame 11, and the first driving device 17 is used to drive the double-layer frame 12 to move forward and backward; the first positioning assembly 13 is installed on the lower layer of the double-layer frame 12, and is used to position the first special-shaped pipe; the first clamping assembly 15 is used to clamp and fix the first special-shaped pipe of the first positioning assembly 13; the second positioning assembly 14 is installed on the upper layer of the double-layer frame 12, and is used to position the second special-shaped pipe; and the second clamping assembly is used to clamp and fix the second special-shaped pipe of the second positioning assembly 14. In this embodiment, the first driving device 17 is installed on the rear side of the base frame 11, the output end of the first driving device 17 is connected to the double-layer frame 12, the first driving device 17 is a pneumatic cylinder, the first special-shaped pipe and the second special-shaped pipe are two pipes with different structural shapes, and when working, the first driving device 17 drives the double-layer frame 12 to move forward, and then the first special-shaped pipe and the second special-shaped pipe are respectively placed on the first positioning assembly 13 and the second positioning assembly 14; the first positioning assembly 13 positions the first special-shaped pipe, the second positioning assembly 14 positions the second special-shaped pipe, after positioning, the first clamping assembly 15 clamps and fixes the first special-shaped pipe, the second clamping assembly 16 clamps and fixes the second special-shaped pipe, after clamping and fixing, the first driving device 17 drives the double-layer frame 12 to move backward until it moves to the position, and then the subsequent mechanical hand takes away the first special-shaped pipe and the second special-shaped pipe; through the base frame 11, the double-layer frame 12, the first positioning assembly 13, the second positioning assembly 14, the first clamping assembly 15, the second clamping assembly 16 and the first driving device 17, two different types of special-shaped pipes can be positioned and clamped and fixed quickly at the same time, and the phenomenon of deviation and misplacement of the two special-shaped pipes during movement of the double-layer frame 12 is avoided, the feeding quality is ensured, and the feeding efficiency is also improved. Preferably, according to production requirements, only the first special-shaped pipe or the second special-shaped pipe can be fed, and the advantage of this design is that different positioning assemblies do not need to be replaced during production, which is beneficial to improve the production efficiency.

[0092] As Figures 2-4As shown, the first positioning assembly 13 comprises a first positioning seat 131, a first positioning block 132, a second positioning seat 133, a second positioning block 134, a third positioning seat 135, a third positioning block 136, a fourth positioning seat 137, a fourth positioning block 138, a fifth positioning seat 139 and a fifth positioning block 1310; the first positioning block 132 is installed on the first positioning seat 131, and the first positioning block 132 is provided with a first positioning groove 1321 which is inclinedly arranged along the left-right direction; the second positioning seat 133 is located at the right rear side of the first positioning seat 131, and the second positioning seat 133 is provided with a second positioning groove 1331 which is horizontally arranged along the left-right direction and is provided with a first air-avoiding groove 13311; the second positioning block 134 is installed on the second positioning seat 133, and the second positioning block 134 is located at the left front side of the second positioning groove 1331, and the second positioning block 134 is provided with a third positioning groove 1341, one end of the third positioning groove 1341 is directed to the first positioning groove 1321, and the other end of the third positioning groove 1341 is directed to the second positioning groove 1331; the third positioning seat 135 is located at the right side of the second positioning seat 133, and the third positioning seat 135 is provided with a fourth positioning groove 1351 which is horizontally arranged along the left-right direction and is provided with a second air-avoiding groove 13511; the third positioning block 136 is installed on the third positioning seat 135, and the third positioning block 136 is located at the right side of the fourth positioning groove 1351, and the third positioning block 136 is provided with a fifth positioning groove 1361 which is horizontally arranged along the front-rear direction; the fourth positioning block 138 is installed on the fourth positioning seat 137, and the fourth positioning block 138 is provided with a sixth positioning groove 1381 which is horizontally arranged along the left-right direction and is located at the right rear side of the fifth positioning groove 1361; the fifth positioning block 1310 is installed on the fifth positioning seat 139, and the fifth positioning block 1310 is provided with a seventh positioning groove 13101 which is located at the right front side of the sixth positioning groove 1381 and is directed to the right side of the sixth positioning groove 1381; the first positioning seat 131 is provided with a first adjusting groove 1311, the first positioning block 132 is installed on the first positioning seat 131 through the first adjusting groove 1311, and the first positioning block 132 can move up and down along the length direction of the first adjusting groove 1311; the second positioning seat 133 is provided with a second adjusting groove, the second positioning block 134 is installed on the second positioning seat 133 through the second adjusting groove, and the second positioning block 134 can move up and down along the length direction of the second adjusting groove;The third positioning seat 135 is provided with a third adjusting slot, the third positioning block 136 is installed on the third positioning seat 135 through the third adjusting slot, and the third positioning block 136 can move up and down along the length direction of the third adjusting slot; the fourth positioning seat 137 is provided with a fourth adjusting slot 1371, the fourth positioning block 138 is installed on the fourth positioning seat 137 through the fourth adjusting slot 1371, and the fourth positioning block 138 can move up and down along the length direction of the fourth adjusting slot 1371; the fifth positioning seat 139 is provided with a fifth adjusting slot 1391, the fifth positioning block 1310 is installed on the fifth positioning seat 139 through the fifth adjusting slot 1391, and the fifth positioning block 1310 can move up and down along the length direction of the fifth adjusting slot 1391; the first clamping assembly 15 comprises a first clamping cylinder 151 and a first rotary down-pressing cylinder 152, the first clamping cylinder 151 is arranged between the second positioning seat 133 and the third positioning seat 135, and the first rotary down-pressing cylinder 152 is installed on the third positioning seat 135. In the embodiment, the positioning slot 321 is specifically an inclined slot with the left end being higher than the right end, and the third positioning slot 1341 is specifically an inclined slot with the front end being lower than the rear end, so that the first special-shaped pipe can be quickly positioned, and the placing efficiency of the first special-shaped pipe is improved. In the embodiment, the second positioning block 134 is specifically installed on the second positioning seat 133 through an L-shaped mounting block, and the third positioning block 136 is specifically installed on the third positioning seat 135 through an L-shaped mounting block, so that the corresponding positioning block can be moved up and down for fine adjustment, the installation position of the positioning block is adjusted, and the placing accuracy of the first special-shaped pipe is ensured. In the embodiment, the first clamping cylinder 151 and the first rotary down-pressing cylinder 152 are prior art, after the first special-shaped pipe is positioned, the first clamping cylinder 151 clamps the straight pipe region between the second positioning seat 133 and the third positioning seat 135, and the first rotary down-pressing cylinder 152 fixes the corresponding region through rotation and pressing, which is convenient and fast.

[0093] As Figures 2-4As shown, the second positioning assembly 14 comprises a sixth positioning seat 141, a sixth positioning block 142, a seventh positioning seat 143, a seventh positioning block 144, an eighth positioning seat 145, an eighth positioning block 146, a ninth positioning seat 147, an inclined block 148 and a ninth positioning block 149; the ninth positioning block 149 is provided with an eighth positioning groove 1491, the rear end of the eighth positioning groove 1491 faces the left rear side of the double-layer rack 12, and the eighth positioning groove 1491 is arranged in an inclined manner; the sixth positioning seat 141 is located at the right side of the ninth positioning block 149, the sixth positioning seat 141 is installed with the sixth positioning block 142, the sixth positioning block 142 is provided with a ninth positioning groove 1421, one end of the ninth positioning groove 1421 faces the ninth positioning block 149, the other end of the ninth positioning groove 1421 faces the rear side of the seventh positioning block 144, and the ninth positioning groove 1421 is arranged in an inclined manner; the seventh positioning block 144 is installed on the seventh positioning seat 143, the seventh positioning block 144 is provided with a tenth positioning groove 1441, the tenth positioning groove 1441 is located at the right side of the ninth positioning groove 1421, the tenth positioning groove 1441 is arranged in an inclined manner, the seventh positioning seat 143 is provided with a tenth positioning groove 1431, the tenth positioning groove 1431 is arranged horizontally along the left-right direction, and the tenth positioning groove 1431 is provided with a third avoiding groove 14311; the eighth positioning seat 145 is located at the right side of the seventh positioning seat 143, the eighth positioning seat 145 is provided with a twelfth positioning groove 1451, the twelfth positioning groove 1451 is arranged horizontally along the left-right direction, and the twelfth positioning groove 1451 is provided with a fourth avoiding groove 14511, the eighth positioning block 146 is installed on the eighth positioning seat 145, the eighth positioning block 146 is provided with a thirteenth positioning groove 1461, the thirteenth positioning groove 1461 is located at the right side of the twelfth positioning groove 1451, one end of the thirteenth positioning groove 1461 faces the twelfth positioning groove 1451, and the other end of the thirteenth positioning groove 1461 faces the inclined block 148; the ninth positioning seat 147 is located at the right side of the eighth positioning block 146, and the ninth positioning seat 147 is installed with the inclined block 148; the sixth positioning seat 141 is provided with a sixth adjusting groove 1411, the sixth positioning block 142 is installed on the sixth positioning seat 141 through the sixth adjusting groove 1411, and the sixth positioning block 142 can move up and down along the length direction of the sixth adjusting groove 1411; the seventh positioning seat 143 is provided with a seventh adjusting groove 1432, the seventh positioning block 144 is installed on the seventh positioning seat 143 through the seventh adjusting groove 1432, and the seventh positioning block 144 can move up and down along the length direction of the seventh adjusting groove 1432;The eighth positioning seat 145 is provided with an eighth adjusting slot, the eighth positioning block 146 is installed in the eighth positioning seat 145 through the eighth adjusting slot, and the eighth positioning block 146 can move up and down along the length direction of the eighth adjusting slot; the ninth positioning seat 147 is provided with a ninth adjusting slot, the inclined block 148 is installed in the ninth positioning seat 147 through the ninth adjusting slot, and the inclined block 148 can move up and down along the length direction of the ninth adjusting slot; the second clamping assembly 16 comprises a second clamping cylinder 161 and a second rotary pressing cylinder 162, the second clamping cylinder 161 is located between the seventh positioning seat 143 and the eighth positioning seat 145, and the second rotary pressing cylinder 162 is installed in the eighth positioning seat 145; the double-layer feeding device 1 further comprises a first mounting plate 181 and a second mounting plate 182, the first mounting plate 181 is detachably installed on the lower layer of the double-layer frame 12, the top surface of the first mounting plate 181 is provided with the first positioning assembly 13, and the second mounting plate 182 is detachably installed on the upper layer of the double-layer frame 12. The top surface of the second mounting plate 182 is provided with the second positioning assembly 14. In the embodiment, the positioning seat and the positioning slot are arranged, so that the second special-shaped pipe can be quickly positioned, and the placing efficiency of the second special-shaped pipe is improved. In the embodiment, the seventh positioning block 144 is installed in the seventh positioning seat 143 through an L-shaped mounting block, the eighth positioning block 146 is installed in the eighth positioning seat 145 through an L-shaped mounting block, corresponding positioning blocks can be moved up and down through corresponding adjusting slots for fine adjustment, the installation position of the positioning block can be adjusted, and the placing accuracy of the second special-shaped pipe is ensured. In the embodiment, the second clamping cylinder 161 and the second rotary pressing cylinder 162 are prior art, after the second special-shaped pipe is positioned, the second clamping cylinder 161 clamps the straight pipe region between the seventh positioning seat 143 and the eighth positioning seat 145, and the second rotary pressing cylinder 162 fixes the corresponding region through rotation and pressing, which is convenient and fast. In the embodiment, the first positioning assembly 13 is installed on the lower layer of the double-layer frame 12 through the first mounting plate 181, the first mounting plate 181 can be taken off from the lower layer of the double-layer frame 12 through a quick release structure, so that the first positioning assembly 13 can be taken off and replaced with a positioning assembly of other structure, and the second positioning assembly 14 is installed on the upper layer of the double-layer frame 12 through the second mounting plate 182, the second mounting plate 182 can be taken off from the upper layer of the double-layer frame 12 through a quick release structure, so that the second positioning assembly 14 can be taken off and replaced with a positioning assembly of other structure, and the double-layer feeding device has the effect of improving universality.

[0094] As Figures 5-9As shown, the servo manipulator 2 comprises a first pneumatic connector 21, a second pneumatic connector 22, a six-axis driving device 23, a mounting frame 24, a first moving base 251, a second moving base 252, a fixed base 26, a first clamping driving device 271, a second clamping driving device 272, a third clamping driving device 273 and an adjusting driving device 28; the first pneumatic connector 21 is installed at the output end of the six-axis driving device 23, the second pneumatic connector 22 is installed at the back of the mounting frame 24, and the second pneumatic connector 22 is detachably connected to the first pneumatic connector 21; the fixed base 26 is fixedly installed at the front of the mounting frame 24, the fixed base 26 is installed with the third clamping driving device 273, the left and right sides of the fixed base 26 are respectively installed with the first moving base 251 and the second moving base 252, the first moving base 251 and the second moving base 252 are respectively movably installed at the front of the mounting frame 24, the first moving base 251 is installed with the first clamping driving device 271, the second moving base 252 is installed with the second clamping driving device 272, and the adjusting driving device 28 is used for driving the first moving base 251 and the second moving base 252 to move close to or away from each other.In the embodiment, the six-axis driving device 23 is prior art, specifically a six-axis robot, the output end of the six-axis driving device 23 is provided with the first pneumatic connector 21, the back of the mounting frame 24 is provided with the second pneumatic connector 22, the second pneumatic connector 22 is connected and installed with the first pneumatic connector 21 in a pneumatic adsorption manner, so as to facilitate disassembly and assembly, the first clamping driving device 271, the second clamping driving device 272 and the third clamping driving device 273 are all jaw cylinders, the first moving seat 251 is located on the left side of the second moving seat 252, during work, the six-axis driving device 23 drives the mounting frame 24 to move to the corresponding position, then according to the size of the special-shaped pipe to be clamped, the adjusting driving device 28 drives the first moving seat 251 and the second moving seat 252 to move close to or away from each other, so as to adjust the distance between the first clamping driving device 271, the second clamping driving device 272 and the third clamping driving device 273, so that the first clamping driving device 271, the second clamping driving device 272 and the third clamping driving device 273 can accurately and stably clamp the special-shaped pipe; through the first pneumatic connector 21, the second pneumatic connector 22, the six-axis driving device 23, the mounting frame 24, the first moving seat 251, the second moving seat 252, the fixed seat 26, the first clamping driving device 271, the second clamping driving device 272, the third clamping driving device 273 and the adjusting driving device 28, the first moving seat 251 and the second moving seat 252 drive the first clamping driving device 271 and the second clamping driving device 272 to move respectively, the position distance between the first clamping driving device 271, the second clamping driving device 272 and the third clamping driving device 273, so as to be applicable to clamp special-shaped pipes of different specifications and sizes, improve the versatility of the servo robot, and the second pneumatic connector 22 is connected and installed with the first pneumatic connector 21 in a pneumatic adsorption manner, so as to realize the purpose of quick disassembly and assembly, improve the disassembly and assembly efficiency of the mounting frame 24, and then facilitate the replacement of different clamping driving, so as to clamp special-shaped pipes of different specifications and sizes, further improve the versatility of the servo robot.

[0095] As Figures 5-9As shown, the servo manipulator 2 further comprises a suction head 291, a plug 292, a positioning member 293 and a rotating buckle 294; the outer periphery of the first pneumatic connector 21 is provided with a plurality of first air holes 211, the plurality of first air holes 211 are uniformly arranged along the outer periphery of the first pneumatic connector 21, the inner side of the first pneumatic connector 21 is provided with a plurality of first mounting holes, the plurality of first mounting holes are uniformly arranged along the circumferential direction of the first pneumatic connector 21; the suction head 9 is mounted in the first mounting hole, and the suction end of the suction head 9 is communicated with the first air hole 211; the outer periphery of the second pneumatic connector 22 is provided with a plurality of second air holes 221, the plurality of second air holes 221 are uniformly arranged along the outer periphery of the second pneumatic connector 22, the inner side of the second pneumatic connector 22 is provided with a plurality of second mounting holes 222, the plurality of second mounting holes 222 are uniformly arranged along the circumferential direction of the second pneumatic connector 22, and the second mounting hole 222 is communicated with the second air hole 221; the plug 292 is mounted in the second mounting hole 222, and the plug 292 can be plugged in the suction end of the suction head 291; the first pneumatic connector 21 is provided with a plurality of positioning holes 213, the plurality of positioning holes 213 are uniformly arranged along the circumferential direction of the first pneumatic connector 21; a plurality of positioning members 293 are mounted on the second pneumatic connector 22, the plurality of positioning members 293 are uniformly arranged along the circumferential direction of the second pneumatic connector 1, and the positioning member 293 is opposite to the positioning hole 213; the rotating buckle 294 is rotatably mounted on the first pneumatic connector 21, the rotating buckle 294 is provided with a first through hole 2941 and a second through hole 2942, the first through hole 2941 is communicated with the second through hole 2942, and the second through hole 2942 can be clamped on the positioning member 293; the rotating buckle 294 is provided with a stroke groove 2943, the inner side of the first pneumatic connector 21 is provided with a protrusion 214, and the protrusion 214 is located in the stroke groove 2943. In this embodiment, the outer periphery of the first air hole 211 and the second air hole 12 is communicated with an external air source through an air pipe, when connected, a plurality of suction heads 291 are placed in the second mounting hole 222, the plug 292 is plugged in the suction end of the suction head 291, then the external air source provides negative pressure for the suction head 291 through a plurality of first air holes 211, so that the suction head 291 firmly adsorbs the plug 292, and when disassembling, the second air hole 12 is used to ventilate into the second mounting hole 222, the air pressure pushes the suction head 291 out of the plug 292, so as to achieve the purpose of disassembly, which is convenient and fast.In the embodiment, the positioning member 293 and the positioning hole 213 are three in number respectively, the diameter of the first through hole 2941 is larger than that of the second through hole 2942, the head of the positioning member 293 can pass through the first through hole 2941, while the head of the positioning member 293 cannot pass through the second through hole 2942. During installation, the rotating buckle 294 is installed on the first pneumatic connector 21, the first through hole 2941 is made to face the positioning hole 213, the positioning member 293 is passed through the first through hole 2941 and placed in the positioning hole 213, then after the connection is stabilized by negative pressure adsorption, the rotating buckle 294 is rotated, the second through hole 2942 is clamped on the main body area of the positioning member 293, and the second through hole 2942 cannot make the head of the positioning member 293 pass through, so as to achieve the purpose of connection fastening and anti-dropping. In the embodiment, when the rotating buckle 294 is rotated, the protruding block 214 and the stroke slot 2943 play a guiding and limiting role, the rotating stroke and rotating track of the rotating buckle 294 are guaranteed, and the phenomenon of excessive rotating amplitude is avoided.

[0096] As Figures 5-9As shown, the adjusting driving device 28 comprises a first screw rod 281, a second screw rod 282, a first fixed block 283, a second fixed block 284, a mounting block 285, a shaft coupling 286 and a first motor 287; the first motor 287, the first fixed block 283, the second fixed block 284 and the mounting block 285 are sequentially installed on the front face of the mounting rack 24 from left to right, one end of the first screw rod 281 is connected to the output end of the first motor 287, the other end of the first screw rod 281 is rotatably installed on the first fixed block 283, and the other end of the first screw rod 281 is connected to one end of the shaft coupling 286, and the first moving base 251 is movably installed on the first screw rod 281; one end of the second screw rod 282 is rotatably installed on the second fixed block 284, one end of the second screw rod 282 is connected to the other end of the shaft coupling 286, and the other end of the second screw rod 282 is rotatably installed on the mounting block 285, and the second moving base 252 is movably installed on the second screw rod 282; the inside of the fixed base 26 is provided with an empty area 261, and the second fixed block 284 is installed on the empty area 261; the front face of the mounting rack 24 is provided with a first sliding rail 241 and a second sliding rail 242, the first sliding rail 241 is located on the left side of the second sliding rail 242, the first moving base 251 is provided with a first sliding block 2511, the first sliding block 2511 is slidably installed on the first sliding rail 241, and the second moving base 252 is provided with a second sliding block 521, the second sliding block 521 is slidably installed on the second sliding rail 242; the mounting rack 24 is provided with a weight reduction area 243, and the weight reduction area 243 is located on both sides of the fixed base 26 respectively. In this embodiment, during work, the first motor 287 drives the first screw rod 281 to rotate, the first screw rod 281 drives the second screw rod 282 to rotate through the shaft coupling 286, so that the first screw rod 281 and the second screw rod 282 synchronously rotate in the same direction, thereby making the first moving base 251 and the second moving base 252 synchronously approach or synchronously move away, which is convenient and fast, and the first fixed block 283 and the second fixed block 284 can limit the positions, so that the first moving base 251 and the second moving base 252 are prevented from colliding with and damaging the fixed base 26 due to being too close to each other. In this embodiment, the fixed base 26 is provided with the empty area 261, and the second fixed block 284 is built-in the empty area 261, so that the occupied space can be reduced and the space utilization rate can be improved.In the embodiment, the number of the first sliding rails 241, the second sliding rails 242, the first sliding blocks 2511 and the second sliding blocks 521 is two respectively, the first moving seat 251 is installed on the two first sliding rails 241 through the two first sliding blocks 2511, and the second moving seat 252 is installed on the two second sliding rails 242 through the two second sliding blocks 521, which not only facilitates the smoothness of the movement of the first moving seat 251 and the second moving seat 252, but also improves the movement stability of the two. In the embodiment, the weight reduction areas 243 are arranged on both sides of the fixed seat 26, and the weight of the mounting frame 24 can be reduced through the two weight reduction areas 243, thereby reducing the bearing load of the six-axis driving device 23.

[0097] As Figures 10-14As shown, the servo tube drawing machine 3 comprises a machine body 31, a lower die holder 32, an upper die holder 33, a lower mounting table 34, an upper mounting table 35, a lower tube drawing assembly 36, an upper tube drawing assembly 37, a guide assembly 38 and a second driving device 39; the lower die holder 32 is mounted on the machine body 31, the lower die holder 32 is mounted with the lower mounting table 34, the lower mounting table 34 is provided with a lower special-shaped mounting surface 341, and the lower special-shaped mounting surface 341 is mounted with the lower tube drawing assembly 36; one end of the guide assembly 38 is mounted on the machine body 31, the upper die holder 33 is movably mounted on the other end of the guide assembly 38, the upper die holder 33 is mounted with the upper mounting table 35, the upper mounting table 35 is provided with an upper special-shaped mounting surface, the upper special-shaped mounting surface is mounted with the upper tube drawing assembly 37, the upper tube drawing assembly 37 is opposite to the lower tube drawing assembly 36, and the second driving device 39 is used for driving the upper die holder 33 to move up and down.In the embodiment, the lower mounting table 34 and the upper mounting table 35 are of the same structure, the lower mounting table 34 is vertically mirror-symmetrical with the upper mounting table 35, the lower buckle tube assembly 36 and the upper buckle tube assembly 37 are of the same structure, the lower buckle tube assembly 36 is vertically rotationally symmetrical with the upper buckle tube assembly 37, during installation, the lower die holder 32 is installed on the lower placement surface of the machine body 31, the lower mounting table 34 is installed on the lower die holder 32, the lower buckle tube assembly 36 is installed on the top of the lower mounting table 34, specifically, the lower buckle tube assembly 36 is installed on the lower special-shaped mounting surface 341 of the lower mounting table 34, the lower special-shaped mounting surface 341 is specifically a concave broken-line wave surface downward, the bottom of the guide assembly 38 is installed on the lower placement surface of the machine body 31, the guide assembly 38 is located on the right side of the lower die holder 32, the top of the guide assembly 38 is installed with the upper die holder 33, the guide assembly 38 is specifically composed of two guide rods, the upper die holder 33 is installed with the upper mounting table 35, the bottom of the upper mounting table 35 is installed with the upper buckle tube assembly 37, specifically, the upper buckle tube assembly 37 is installed on the upper special-shaped mounting surface of the upper mounting table 35, the upper special-shaped mounting surface is specifically a concave broken-line wave surface upward, the upper buckle tube assembly 37 is opposite to the lower buckle tube assembly 36, during work, the servo manipulator places the special-shaped tube which needs to be buckled on the lower buckle tube assembly 36, it is necessary to point out that the buckling position of the special-shaped tube has been installed with a buckling sleeve, after the special-shaped tube which needs to be buckled is placed, the second driving device 39 drives the upper die holder 33 to move downward, the upper die holder 33 moves downward along the length direction of the guide assembly 38, so that the upper mounting table 35 drives the upper buckle tube assembly 37 to move downward, until the upper buckle tube assembly 37 and the lower buckle tube assembly 36 cooperate to extrude and buckle the buckling sleeve on the special-shaped tube, after buckling is completed, the second driving device 39 drives the upper die holder 33 to move upward to reset, then the servo manipulator takes away the workpiece; the concave broken-line wave surface structure is adopted in the embodiment, so that the lower buckle tube assembly 36 is accurately and quickly installed on the lower mounting table 34 through the lower special-shaped mounting surface 341, the upper buckle tube assembly 37 is accurately and quickly installed on the upper mounting table 35 through the upper special-shaped mounting surface, and the two are difficult to deviate after installation, so as to ensure the accuracy of the installation position of the lower buckle tube assembly 36 and the upper buckle tube assembly 37, without slow adjustment, the installation efficiency is improved, the buckling quality is also improved, and cooperating with the guide assembly 38, the movement accuracy of the upper buckle tube assembly 37 is ensured, the buckling quality of the servo buckling machine is further improved.

[0098] As Figures 10-14As shown, the lower special-shaped mounting surface 341 comprises a first inclined surface 3411, a second inclined surface 3412, a third inclined surface 3413, a fourth inclined surface 3414, a fifth inclined surface 3415 and a sixth inclined surface 3416; one end of the first inclined surface 3411 is connected to the second inclined surface 3412 perpendicularly, the other end of the second inclined surface 3412 is connected to one end of the third inclined surface 3413, the other end of the third inclined surface 3413 is connected to one end of the fourth inclined surface 3414, the other end of the fourth inclined surface 3414 is connected to one end of the fifth inclined surface 3415, the other end of the fifth inclined surface 3415 is connected to the sixth inclined surface 3416 perpendicularly; the first inclined surface 3411 and the sixth inclined surface 3416 are arranged in mirror symmetry, the second inclined surface 3412 and the fifth inclined surface 3415 are arranged in mirror symmetry, and the third inclined surface 3413 and the fourth inclined surface 3414 are arranged in mirror symmetry; the lower buckle assembly 36 comprises a first buckle block 361, a second buckle block 362, a third buckle block 363, a fourth buckle block 364, a fifth buckle block 365, a baffle 366 and a locking piece 367; the bottom of the first buckle block 361 is mounted on the first inclined surface 3411 and the second inclined surface 3412, and the top of the first buckle block 361 is provided with a mold closing groove 3611; the second buckle block 362 is mounted on the third inclined surface 3413, and the two sides of the second buckle block 362 are respectively abutted against the first buckle block 361 and the third buckle block 363, and the second buckle block 362 is provided with a second buckle groove 3621; the bottom of the third buckle block 363 is mounted on the third inclined surface 3413 and the fourth inclined surface 3414, the two sides of the third buckle block 363 are respectively abutted against the second buckle block 362 and the fourth buckle block 364, and the third buckle block 363 is provided with a third buckle groove 3631; the bottom of the fifth inclined surface 65 is mounted on the fifth inclined surface 3415 and the sixth inclined surface 3416, the top of the fifth inclined surface 65 is provided with a mold closing strip 3651, the inner side of the fifth inclined surface 65 is provided with an inner recess 3652, and the fifth buckle block 365 is provided with a fifth buckle groove 3653; the fourth buckle block 364 is mounted on the fourth inclined surface 3414, the two sides of the fourth buckle block 364 are respectively abutted against the third buckle block 363 and the inner recess 3652 of the fifth buckle block 64, and the fourth buckle block 364 is provided with a fourth buckle groove 3641; the second buckle groove 3621, the third buckle groove 3631, the fourth buckle groove 3641 and the fifth buckle groove 3653 are arranged in sequence in the circumferential direction; the number of the baffles 366 is two, the lower areas of the two baffles 366 are respectively mounted on the two sides of the lower mounting table 34, and the upper areas of the two baffles 366 are respectively provided with five mounting grooves 3661, and each mounting groove 3661 is respectively provided with a locking piece 367,The locking piece 367 is used for fixing the corresponding buckle block. In the embodiment, the included angle between one end of the first inclined surface 3411 and the horizontal plane is 135°, the included angle between the other end of the first inclined surface 3411 and one end of the second inclined surface 3412 is 90°, and the included angle between the other end of the second inclined surface 3412 and one end of the third inclined surface 3413 is 112.5°. The included angle between the other end of the third inclined surface 3413 and the fourth inclined surface 3414 is 135°. Through the above structural arrangement, a concave fold line type wave surface structure is formed, and each inclined surface plays a role of positioning and limiting, which is beneficial to improve the installation efficiency and installation position precision of the lower buckle assembly 36. In the embodiment, during installation, the bottom of the first buckle block 361 is installed on the first inclined surface 3411 and the second inclined surface 3412, and the first buckle block 361 is positioned and limited by the two inclined surfaces. The second buckle block 362 is installed on the third inclined surface 3413, and the left and right sides of the second buckle block 362 are respectively abutted against the first buckle block 361 and the third buckle block 363. The bottom of the third buckle block 363 is installed on the third inclined surface 3413 and the fourth inclined surface 3414, and the left and right sides of the third buckle block 363 are respectively abutted against the second buckle block 362 and the fourth buckle block 364. The fourth buckle block 364 is installed on the fourth inclined surface 3414. The bottom of the fifth buckle block 64 is installed on the fifth inclined surface 3415 and the sixth inclined surface 3416, and the fifth buckle block 64 is positioned and limited by the two inclined surfaces, and the fourth buckle block 364 is abutted against the inner recess 3652. Through the above installation structure, the plurality of buckle blocks are compactly adjacent and are mutually limited and positioned, so that the lower buckle assembly 36 is more stable and compact. Further, the second buckle groove 3621, the third buckle groove 3631, the fourth buckle groove 3641 and the fifth buckle groove 3653 are arranged in sequence along the circumferential direction, so as to form a lower buckle groove. Because the upper buckle assembly 37 and the lower buckle assembly 36 are rotationally symmetrical structures, during work, the lower buckle groove is pressed and buckled with the upper buckle groove of the upper buckle assembly 37 in correspondence, and the mold combining groove 3611 and the mold combining strip 3651 are used for corresponding fitting with the mold combining strip and the mold combining groove of the upper buckle assembly 37. In the embodiment, the buckle assembly is designed to be divided into individual buckle blocks, which can facilitate later maintenance and replacement. If damaged or worn, the entire buckle assembly does not need to be replaced, but only one buckle block needs to be replaced, which is convenient and fast and has low cost. In the embodiment, each baffle 366 is provided with five installation grooves 3661, and the number of locking pieces 367 is five. During installation, the corresponding buckle block is placed on the lower special-shaped installation surface 341, and the baffles 366 are installed on the front and rear sides of the lower installation table 34. Specifically, the lower region of the baffle 366 is installed on the lower installation table 34.One end of the locking member 367 is installed in the installation groove 3661 of the upper area of one of the baffles 366, and the other end of the locking member 367 is fixed to the installation groove 3661 of the other baffle 366 after passing through the corresponding buckle pipe block, so that the plurality of locking members 367 fix the plurality of buckle pipe blocks to the lower installation table 34, which is convenient and fast. Preferably, part of the installation groove 3661 is a waist-shaped hole, so as to avoid the phenomenon that the locking member 367 cannot be installed due to manufacturing tolerance.

[0099] As Figures 10-14As shown, the servo buckle pipe machine 3 further comprises a limiting rod 310, one end of the limiting rod 310 is movably installed on the machine body 31, the other end of the limiting rod 310 can abut against the lower die seat 32; the second driving device 39 comprises a first pulley 391, a second pulley 392, a transmission belt 393, a second motor 394, a rotating sleeve 395, a third screw rod 396 and a protective cover 397; the second motor 394 is installed on the machine body 31, the output end of the second motor 394 is installed with the first pulley 391, the rotating sleeve 395 is rotatably installed on the machine body 31, the outer periphery of the top of the rotating sleeve 395 is installed with the second pulley 392, the second pulley 392 is connected to the first pulley 391 through the transmission belt, one end of the third screw rod 396 is movably installed in the inside of the rotating sleeve 395, the other end of the third screw rod 396 is connected to the upper die seat 33; the protective cover 397 is installed on the machine body 31, the protective cover 397 covers the first pulley 391, the second pulley 392 and the transmission belt 393. In this embodiment, the limiting rod 310 is a scale screw rod, the lower placement surface of the machine body 31 is provided with a corresponding limiting track, when the lower die seat 32 is installed on the machine body 31, specifically according to the positions of the upper die seat 2 and the lower die seat 3, the extending distance of the limiting rod 310 is adjusted by rotating, then the lower die seat 32 is placed on the limiting track and moved along the length direction of the limiting track, until the lower die seat 32 abuts against the limiting rod 310, then the position positioning is completed, and subsequently the lower die seat 32 can be fixed, which is convenient and fast, so as to ensure the clamping precision of the lower die seat 32 and the upper die seat 33. In this embodiment, when working, the second motor 394 drives the first pulley 391 at the output end thereof to rotate, the first pulley 391 drives the second pulley 392 to rotate through the transmission belt 393, the second pulley 392 drives the rotating sleeve 395 to rotate, the rotating sleeve 395 rotating drives the upper die seat 33 to move up and down, which is convenient and fast and has high transmission efficiency. In this embodiment, by arranging the protective cover 397, the protective cover 397 can cover the first pulley 391, the second pulley 392 and the transmission belt 393, so as to play a protective role, and ensure the working stability and reliability of the second driving device 39.

[0100] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0101] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A tube-drawing line, characterized by: The device comprises a double-layer feeding device, a servo mechanical hand, a servo pipe clamping machine and a discharging device, the double-layer feeding device is used for positioning one or two special-shaped pipes, the servo mechanical hand is used for transferring the special-shaped pipes of the double-layer feeding device to the servo pipe clamping machine or transferring the special-shaped pipes of the servo pipe clamping machine to the discharging device, the servo pipe clamping machine is used for clamping the special-shaped pipes, and the discharging device is used for discharging the special-shaped pipes after clamping.

2. The tube line of claim 1, wherein: The double-layer feeding device comprises a base frame, a double-layer frame, a first positioning assembly, a second positioning assembly, a first clamping assembly, a second clamping assembly and a first driving device; The double-layer frame is movably installed on the base frame, and the first driving device is used for driving the double-layer frame to move back and forth; The first positioning assembly is installed on the lower layer of the double-layer frame, is used for positioning the first special-shaped pipe, and the first clamping assembly is used for clamping and fixing the first special-shaped pipe of the first positioning assembly; The second positioning assembly is installed on the upper layer of the double-layer frame, is used for positioning the second special-shaped pipe, and the second clamping assembly is used for clamping and fixing the second special-shaped pipe of the second positioning assembly.

3. A line of buckling tubes according to claim 2, characterized in that: The first positioning assembly comprises a first positioning seat, a first positioning block, a second positioning seat, a second positioning block, a third positioning seat, a third positioning block, a fourth positioning seat, a fourth positioning block, a fifth positioning seat and a fifth positioning block; The first positioning block is installed on the first positioning seat, is provided with a first positioning groove, and the first positioning groove is arranged in a left-right direction and is inclined; The second positioning seat is located at the right rear side of the first positioning seat, is provided with a second positioning groove, and the second positioning groove is arranged in the left-right direction and is horizontal, and the second positioning groove is provided with a first emptying groove; The third positioning seat is located at the right side of the second positioning seat, is provided with a fourth positioning groove, and the fourth positioning groove is arranged in the left-right direction and is horizontal, and the fourth positioning groove is provided with a second emptying groove; The fourth positioning block is installed on the fourth positioning seat, is provided with a sixth positioning groove, and the sixth positioning groove is arranged in the left-right direction and is horizontal, and the sixth positioning groove is located at the right rear side of the fifth positioning groove; The fifth positioning block is installed on the fifth positioning seat, is provided with a seventh positioning groove, and the seventh positioning groove is located at the right front side of the sixth positioning groove and faces the right side of the sixth positioning groove. The first positioning seat is provided with a first adjusting groove, the first positioning block is installed in the first positioning seat through the first adjusting groove, and the first positioning block can move up and down along the length direction of the first adjusting groove; The second positioning seat is provided with a second adjusting groove, the second positioning block is installed in the second positioning seat through the second adjusting groove, and the second positioning block can move up and down along the length direction of the second adjusting groove; The third positioning seat is provided with a third adjusting groove, the third positioning block is installed in the third positioning seat through the third adjusting groove, and the third positioning block can move up and down along the length direction of the third adjusting groove; The fourth positioning seat is provided with a fourth adjusting groove, the fourth positioning block is installed in the fourth positioning seat through the fourth adjusting groove, and the fourth positioning block can move up and down along the length direction of the fourth adjusting groove; The fifth positioning seat is provided with a fifth adjusting groove, the fifth positioning block is installed in the fifth positioning seat through the fifth adjusting groove, and the fifth positioning block can move up and down along the length direction of the fifth adjusting groove; The first clamping assembly comprises a first clamping cylinder and a first rotary down-pressing cylinder, the first clamping cylinder is arranged between the second positioning seat and the third positioning seat, and the first rotary down-pressing cylinder is installed in the third positioning seat.

4. The tube line of claim 2, wherein: The second positioning assembly comprises a sixth positioning seat, a sixth positioning block, a seventh positioning seat, a seventh positioning block, an eighth positioning seat, an eighth positioning block, a ninth positioning seat, an inclined block and a ninth positioning block; The ninth positioning block is provided with an eighth positioning groove, the rear end of the eighth positioning groove faces the left rear side of the double-layer frame, and the eighth positioning groove is arranged in an inclined mode; The sixth positioning seat is located at the right side of the ninth positioning block, the sixth positioning seat is installed with the sixth positioning block, the sixth positioning block is provided with a ninth positioning groove, one end of the ninth positioning groove faces the ninth positioning block, the other end of the ninth positioning groove faces the rear side of the seventh positioning block, and the ninth positioning groove is arranged in an inclined mode; The seventh positioning block is installed in the seventh positioning seat, the seventh positioning block is provided with a tenth positioning groove, the tenth positioning groove is located at the right side of the ninth positioning groove, the tenth positioning groove is arranged in an inclined mode, the seventh positioning seat is provided with a tenth positioning groove, the tenth positioning groove is arranged horizontally in the left-right direction, and the tenth positioning groove is provided with a third air-avoiding groove; The eighth positioning seat is located at the right side of the seventh positioning seat, the eighth positioning seat is provided with a twelfth positioning groove, the twelfth positioning groove is arranged horizontally in the left-right direction, and the twelfth positioning groove is provided with a fourth air-avoiding groove, the eighth positioning block is installed in the eighth positioning seat, the eighth positioning block is provided with a thirteenth positioning groove, the thirteenth positioning groove is located at the right side of the twelfth positioning groove, one end of the thirteenth positioning groove faces the twelfth positioning groove, and the other end of the thirteenth positioning groove faces the inclined block; The ninth positioning seat is located at the right side of the eighth positioning block, and the ninth positioning seat is installed with the inclined block. The sixth positioning seat is provided with a sixth adjusting groove, and the sixth positioning block is installed in the sixth positioning seat through the sixth adjusting groove and can move up and down along the length direction of the sixth adjusting groove; The seventh positioning seat is provided with a seventh adjusting groove, and the seventh positioning block is installed in the seventh positioning seat through the seventh adjusting groove and can move up and down along the length direction of the seventh adjusting groove; The eighth positioning seat is provided with an eighth adjusting groove, and the eighth positioning block is installed in the eighth positioning seat through the eighth adjusting groove and can move up and down along the length direction of the eighth adjusting groove; The ninth positioning seat is provided with a ninth adjusting groove, and the inclined block is installed in the ninth positioning seat through the ninth adjusting groove and can move up and down along the length direction of the ninth adjusting groove; The second clamping assembly comprises a second clamping cylinder and a second rotary down-pressing cylinder, the second clamping cylinder is located between the seventh positioning seat and the eighth positioning seat, and the second rotary down-pressing cylinder is installed on the eighth positioning seat. The double-layer feeding device further comprises a first mounting plate and a second mounting plate, the first mounting plate is detachably installed on the lower layer of the double-layer frame, the top surface of the first mounting plate is provided with the first positioning assembly, and the second mounting plate is detachably installed on the upper layer of the double-layer frame, and the top surface of the second mounting plate is provided with the second positioning assembly.

5. The tube line of claim 1, wherein: The servo manipulator comprises a first pneumatic connector, a second pneumatic connector, a six-axis driving device, a mounting frame, a first moving seat, a second moving seat, a fixed seat, a first clamping driving device, a second clamping driving device, a third clamping driving device and an adjusting driving device; The first pneumatic connector is installed on the output end of the six-axis driving device, the second pneumatic connector is installed on the back surface of the mounting frame, and the second pneumatic connector is detachably connected to the first pneumatic connector; The fixed seat is fixedly installed on the front surface of the mounting frame, the fixed seat is provided with the third clamping driving device, the left and right sides of the fixed seat are respectively provided with the first moving seat and the second moving seat, the first moving seat and the second moving seat are movably installed on the front surface of the mounting frame, the first moving seat is provided with the first clamping driving device, the second moving seat is provided with the second clamping driving device, and the adjusting driving device is used for driving the first moving seat and the second moving seat to move close to or away from each other.

6. A line of buckling tubes according to claim 5, characterized in that: The servo manipulator further comprises a suction head, a plug, a positioning piece and a rotating buckle; The outer periphery of the first pneumatic connector is provided with a plurality of first air holes, the plurality of first air holes are uniformly arranged along the outer periphery of the first pneumatic connector, the inner side of the first pneumatic connector is provided with a plurality of first mounting holes, and the plurality of first mounting holes are uniformly arranged along the circumferential direction of the first pneumatic connector; The suction head is installed in the first mounting hole, and the suction end of the suction head is in communication with the first air hole; The outer periphery of the second pneumatic connector is provided with a plurality of second air holes, the plurality of second air holes are uniformly arranged along the outer periphery of the second pneumatic connector, the inner side of the second pneumatic connector is provided with a plurality of second mounting holes, the plurality of second mounting holes are uniformly arranged along the circumferential direction of the second pneumatic connector, and the second mounting hole is communicated with the second air hole; The plug is installed in the second mounting hole, and the plug can be blocked in the adsorption end of the adsorption head; The first pneumatic connector is provided with a plurality of positioning holes, and the plurality of positioning holes are uniformly arranged along the circumferential direction of the first pneumatic connector; A plurality of positioning members are installed on the second pneumatic connector, a plurality of positioning members are uniformly arranged along the circumferential direction of the second pneumatic connector, and the positioning member is opposite to the positioning hole; The rotating buckle is rotatably installed on the first pneumatic connector, the rotating buckle is provided with a first through hole and a second through hole, the first through hole is communicated with the second through hole, and the second through hole is clamped on the positioning member; The rotating buckle is provided with a stroke groove, the inner side of the first pneumatic connector is provided with a protrusion, and the protrusion is located in the stroke groove.

7. The tube line of claim 5, wherein: The adjusting driving device comprises a first screw rod, a second screw rod, a first fixed block, a second fixed block, a mounting block, a shaft coupling and a first motor; The first motor, the first fixed block, the second fixed block and the mounting block are sequentially installed on the front surface of the mounting frame from left to right, one end of the first screw rod is connected to the output end of the first motor, the other end of the first screw rod is rotatably installed on the first fixed block, and the other end of the first screw rod is connected to one end of the shaft coupling, and the first movable seat is movably installed on the first screw rod; One end of the second screw rod is rotatably installed on the second fixed block, one end of the second screw rod is connected to the other end of the shaft coupling, the other end of the second screw rod is rotatably installed on the mounting block, and the second movable seat is movably installed on the second screw rod; The inner side of the fixed seat is provided with an empty area, and the second fixed block is installed in the empty area; The front surface of the mounting frame is provided with a first sliding rail and a second sliding rail, the first sliding rail is located on the left side of the second sliding rail, the first movable seat is provided with a first sliding block, the first sliding block is slidably installed on the first sliding rail, the second movable seat is provided with a second sliding block, and the second sliding block is slidably installed on the second sliding rail; The mounting frame is provided with a weight reduction area, and the weight reduction area is respectively located on both sides of the fixed seat.

8. The tube line of claim 1, wherein: The servo buckle tube machine comprises a machine body, a lower die seat, an upper die seat, a lower mounting table, an upper mounting table, a lower buckle tube assembly, an upper buckle tube assembly, a guide assembly and a second driving device; The lower die seat is installed on the machine body, the lower die seat is provided with the lower mounting table, the lower mounting table is provided with a lower special-shaped mounting surface, and the lower special-shaped mounting surface is provided with the lower buckle tube assembly; One end of the guide assembly is mounted on the machine body, the upper die holder is movably mounted on the other end of the guide assembly, the upper die holder is mounted with the upper mounting table, the upper mounting table is provided with an upper special-shaped mounting surface, the upper special-shaped mounting surface is mounted with the upper buckle pipe assembly, the upper buckle pipe assembly is opposite to the lower buckle pipe assembly, and the second driving device is used for driving the upper die holder to move up and down.

9. A line of buckling tubes according to claim 8, characterized in that: The lower special-shaped mounting surface comprises a first inclined surface, a second inclined surface, a third inclined surface, a fourth inclined surface, a fifth inclined surface and a sixth inclined surface; One end of the first inclined surface is connected to the second inclined surface in a vertical manner, the other end of the second inclined surface is connected to one end of the third inclined surface, the other end of the third inclined surface is connected to one end of the fourth inclined surface, the other end of the fourth inclined surface is connected to one end of the fifth inclined surface, and the other end of the fifth inclined surface is connected to the sixth inclined surface in a vertical manner; The first inclined surface and the sixth inclined surface are arranged in a mirror image symmetry, the second inclined surface and the fifth inclined surface are arranged in a mirror image symmetry, and the third inclined surface and the fourth inclined surface are arranged in a mirror image symmetry; The lower buckle pipe assembly comprises a first buckle pipe block, a second buckle pipe block, a third buckle pipe block, a fourth buckle pipe block, a fifth buckle pipe block, a baffle and a locking piece; The bottom of the first buckle pipe block is mounted on the first inclined surface and the second inclined surface, and the top of the first buckle pipe block is provided with a clamping groove; The second buckle pipe block is mounted on the third inclined surface, the two sides of the second buckle pipe block are respectively abutted against the first buckle pipe block and the third buckle pipe block, and the second buckle pipe block is provided with a second buckle pipe thread; The bottom of the third buckle pipe block is mounted on the third inclined surface and the fourth inclined surface, the two sides of the third buckle pipe block are respectively abutted against the second buckle pipe block and the fourth buckle pipe block, and the third buckle pipe block is provided with a third buckle pipe thread; The bottom of the fifth inclined surface is mounted on the fifth inclined surface and the sixth inclined surface, the top of the fifth inclined surface is provided with a clamping strip, the inner side of the fifth inclined surface is provided with an inner recess, and the fifth buckle pipe block is provided with a fifth buckle pipe thread; The fourth buckle pipe block is mounted on the fourth inclined surface, the two sides of the fourth buckle pipe block are respectively abutted against the inner recesses of the third buckle pipe block and the fifth buckle pipe block, and the fourth buckle pipe block is provided with a fourth buckle pipe thread; The second buckle pipe thread, the third buckle pipe thread, the fourth buckle pipe thread and the fifth buckle pipe thread are arranged in a circumferential direction in sequence; The number of the baffles is two, the lower regions of the two baffles are respectively mounted on the two sides of the lower mounting table, the upper regions of the two baffles are respectively provided with five mounting grooves, each mounting groove is respectively mounted with the locking piece, and the locking piece is used for fixing the corresponding buckle pipe block.

10. The tube line of claim 9, wherein: The servo buckle pipe machine further comprises a limiting rod, one end of the limiting rod is movably mounted on the machine body, and the other end of the limiting rod can abut against the lower die holder; The second driving device comprises a first belt pulley, a second belt pulley, a transmission belt, a second motor, a rotating sleeve, a third screw rod and a protective cover. The second motor is installed on the machine body, the output end of the second motor is installed with the first pulley, the rotating sleeve is rotatably installed on the machine body, the outer periphery of the top of the rotating sleeve is installed with the second pulley, the second pulley is connected with the first pulley through the transmission belt, one end of the third lead screw is movably installed in the interior of the rotating sleeve, the other end of the third lead screw is connected with the upper die seat. The protective cover is installed on the machine body, and the protective cover covers the first pulley, the second pulley and the transmission belt.

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