Automatic boxing equipment for pipe workpieces

Abstract

The utility model discloses automatic boxing equipment for tubular workpieces, and belongs to the technical field of automatic packaging equipment. Comprising a material distributing device, a multi-axis robot, a long-distance conveying line and a material box overturning device. The distributing device is used for quantitatively arranging and placing the pipe workpieces on the feeding table. The material box turnover device comprises a short-distance conveying line capable of being turned over, the short-distance conveying line is used for bearing and conveying material boxes, the material boxes arranged on the short-distance conveying line can be synchronously turned over to be inclined to the horizontal plane along with the short-distance conveying line, and when the short-distance conveying line can be turned over to be in butt joint with the long-distance conveying line, the short-distance conveying line can be turned over to be in butt joint with the long-distance conveying line. The output end of the multi-axis robot is provided with a clamp capable of taking in a plurality of pipe type workpieces, and the multiple pipe type workpieces can be transferred into a material box inclined to the horizontal plane at the same time. The automatic boxing equipment for the pipe type workpieces solves the problems that when transmission pipe type workpieces are boxed, labor intensity is large, and efficiency is low.

Description

TECHNICAL FIELD

[0001] The utility model belongs to automatic packaging equipment technical field, especially relate to a kind of automatic boxing equipment for pipe workpiece. BACKGROUND

[0002] In industrial production, the storage and workshop of pipe workpiece are an important process, in the process, pipe workpiece needs to be boxed to facilitate subsequent operation. However, the traditional boxing method mostly relies on manual operation, workers need to manually pick up and stand pipe workpiece in the material box. However, due to the long and slender shape of pipe workpiece, manual operation is not only labor-intensive, but also inefficient, which is difficult to meet the needs of efficient production. INVENTION CONTENTS

[0003] The utility model aims at overcoming the deficiencies in the prior art, and provides an automatic boxing equipment for pipe workpiece, which solves the problems of high labor intensity and low efficiency during pipe workpiece boxing.

[0004] To achieve the above purpose, the utility model adopts the technical scheme that an automatic boxing equipment for pipe workpiece includes a material distributing device, a multi-axis robot, a long-distance conveying line and a material box overturning device.

[0005] The material distributing device is used to quantitatively arrange and place pipe workpiece on the loading table.

[0006] The material box overturning device includes a short-distance conveying line that can be overturned, and the short-distance conveying line is used to carry and convey the material box. The material box placed on the short-distance conveying line can be overturned to be inclined to the horizontal plane synchronously with the short-distance conveying line, and the short-distance conveying line can be overturned to be connected with the long-distance conveying line.

[0007] The output end of the multi-axis robot is provided with a clamp that can take several pipe workpieces, and the clamp can simultaneously transfer several pipe workpieces to the material box inclined to the horizontal plane.

[0008] Optionally, the loading table is placed on a first rack, the first rack is provided with an inclined loading plate and a hollow mounting plate suspended above the lowermost end of the loading plate, the hollow mounting plate is provided with a transfer frame that can be connected with the lowermost end of the loading plate and a lower discharge baffle that can be abutted to the upper side of the loading plate.

[0009] The hollow mounting plate is provided with a blocking plate in the vertical direction, and when the transfer frame is connected with the lowermost end of the loading plate, the blocking plate can block the falling of pipe workpiece.

[0010] The transfer frame can carry a single tubular workpiece and can be lowered to the same level as the feeding table; and the first rack is provided with a pushing block in the horizontal direction for pushing the tubular workpiece on the transfer frame to the feeding table, and the feeding table is provided with a blocking block for blocking the rolling of the tubular workpiece.

[0011] Optionally, the feeding table is provided with arc-shaped grooves arranged in a linear array, and the tubular workpiece can be embedded in the arc-shaped grooves.

[0012] Optionally, the short-distance conveying line is rotationally connected to the second rack, the short-distance conveying line can be placed horizontally on the second rack, the second rack is hingedly connected with a hydraulic oil cylinder, and a piston rod on the hydraulic oil cylinder is hingedly connected to the bottom of the side of the short-distance conveying line away from the rotation axis thereof.

[0013] Among them, the side plate on the short-distance conveying line is in the shape of a V, and the side plate is provided with a limiting plate for pushing the material box placed on the short-distance conveying line to abut against the side plate.

[0014] Optionally, when the short-distance conveying line is placed horizontally on the second rack, the hydraulic oil cylinder drives the short-distance conveying line to be flipped at an angle less than 90°.

[0015] Optionally, the clamp comprises a tool plate mounted on the output end of the multi-axis robot, the tool plate is provided with a material taking cylinder, the output end of the material taking cylinder is provided with a double-head comb type rake, the double-head comb type rake is provided with a plurality of insertion rods corresponding to a plurality of tubular workpieces placed on the feeding table one by one, and the insertion rods can be movably inserted into the tubular workpieces.

[0016] Optionally, the tool plate is provided with a bidirectional cylinder, and the two output ends of the bidirectional cylinder are respectively provided with an inner strutting block that can be struttingly arranged on the inner side of the material box.

[0017] Optionally, the material box is provided with a plurality of material barrels for containing tubular workpieces, and a plurality of the material barrels are vertically arranged in the material box.

[0018] Compared with the prior art, the utility model discloses the following beneficial effects: the falling difference of the pipe workpiece when entering the box is reduced by tilting the material box to the horizontal plane, so that the damage risk of the workpiece caused by falling is reduced, and the multi-axis robot can be provided with a more favorable boxing angle, so that the multi-axis robot can put the workpiece into the material box in a more natural and efficient path. BRIEF DESCRIPTION OF DRAWINGS

[0019] The utility model is further described below in combination with the drawings and examples.

[0020] Figure 1 It is the structure schematic diagram of automatic boxing equipment for pipe workpiece in the preferred embodiment of the utility model;

[0021] Figure 2 It is the structure schematic diagram of the material distribution device in the preferred embodiment of the utility model;

[0022] Figure 3 It is the structure schematic diagram of the turnover device in the preferred embodiment of the utility model;

[0023] Figure 4 It is the structure schematic diagram of the clamp in the preferred embodiment of the utility model;

[0024] Wherein, 1, multi-axis robot;2, long-distance conveying line;3, feeding table;301, arc-shaped groove;4, short-distance conveying line;401, side plate;5, material box;501, material cylinder;6, clamp;601, tool plate;602, material taking cylinder;603, double-head comb type rake;6031, material inserting rod;604, two-way cylinder;605, inner supporting block;7, first rack;8, feeding plate;9, hollow mounting plate;10, transfer frame;11, discharging baffle;12, material blocking plate;13, material pushing block;14, material blocking block;15, second rack;16, hydraulic cylinder;17, limiting plate. DETAILED DESCRIPTION

[0025] The utility model will be further described in combination with the drawings and examples, and these drawings are all simplified schematic diagrams, only the basic structure of the utility model is schematically shown, therefore it only shows the relevant constitution of the utility model.

[0026] It should be noted that if the embodiment involves directional indications (such as up, down, bottom, top, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly. The terms "first", "second" are only for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included one or more features. Unless otherwise specified and limited, the terms "set", "connected", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0027] As shown in Figures 1-4 An automatic boxing equipment for pipe workpieces comprises a distributing device, a multi-axis robot 1, a long-distance conveying line 2 and a turnover device. The distributing device is used to arrange and place the pipe workpieces on the feeding table 3 in a fixed quantity. The turnover device comprises a short-distance conveying line 4 capable of being turned over, which is used to carry and convey the box 5. The box 5 placed on the short-distance conveying line 4 can be turned over synchronously with the short-distance conveying line 4 to be inclined to the horizontal plane, and when the short-distance conveying line 4 can be turned over to be connected with the long-distance conveying line 2. The output end of the multi-axis robot 1 is provided with a clamp 6 capable of taking several pipe workpieces, and the clamp 6 can simultaneously transfer the several pipe workpieces into the box 5 inclined to the horizontal plane.

[0028] When working, as shown in Figures 1-4 The distributing device can arrange and place the pipe workpieces on the feeding table 3 in a fixed quantity, so that the clamp 6 on the multi-axis robot 1 can take them. The box 5 placed on the short-distance conveying line 4 can be turned over with the short-distance conveying line 4 to be inclined to the horizontal plane, and the multi-axis robot 1 taking the pipe workpieces can stand the pipe workpieces in the inclined box 5. The pipe workpieces standing in the box 5 are in a reclining state and will not fall out of the box 5. Under the cooperation of the multi-axis robot 1 and the distributing device, several pipe workpieces can be stacked in the box 5 until the box 5 is full of pipe workpieces. Finally, the short-distance conveying line 4 can turn over the box 5 full of pipe workpieces to be parallel to the horizontal plane. Then the short-distance conveying line 4 can convey the box 5 full of pipe workpieces to the long-distance conveying line 2, and the long-distance conveying line 2 can transfer the full box 5 to the next link.

[0029] The multi-axis robot 1, the short-distance conveying line 4 and the long-distance conveying line 2 are all prior art. In the technical solution, the material box 5 is turned to be inclined to the horizontal plane, so that the falling difference of the tubular workpiece into the box is reduced, the damage risk of the workpiece caused by falling is reduced, and the multi-axis robot 1 is provided with a more favorable boxing angle, so that the multi-axis robot 1 can put the workpiece into the material box 5 in a more natural and efficient path. The output end of the multi-axis robot 1 is equipped with a clamp 6 specially for taking the tubular workpiece, which can accurately and accurately stack a plurality of tubular workpieces in the designated position of the material box 5 at one time, until the material box 5 is fully loaded. At the same time, the long-distance conveying line 2 cooperates with the short-distance conveying line 4 to construct a relatively flexible material conveying network, which is beneficial to the transfer of the material box 5 and improves the efficiency.

[0030] As shown in the above, Figure 1 , Figure 2 The feeding table 3 is arranged on the first rack 7, the first rack 7 is provided with an inclined feeding plate 8 and a hollow mounting plate 9 suspended above the lowermost end of the feeding plate 8, the hollow mounting plate 9 is provided with a transfer frame 10 capable of being connected with the lowermost end of the feeding plate 8 and a discharging baffle 11 capable of abutting on the upper side of the feeding plate 8. The hollow mounting plate 9 is provided with a blocking plate 12 in the vertical direction, and when the transfer frame 10 is connected with the lowermost end of the feeding plate 8, the blocking plate 12 can block the falling of the tubular workpiece. The transfer frame 10 can carry a single tubular workpiece and can be lowered to be flush with the feeding table 3, and the first rack 7 is provided with a pushing block 13 in the horizontal direction for pushing the tubular workpiece on the transfer frame 10 to the feeding table 3, and the feeding table 3 is provided with a blocking block 14 for blocking the rolling of the tubular workpiece.

[0031] That is, the distribution device can receive the rolling pipe workpieces on the feeding plate 8 when working. The uppermost end of the feeding plate 8 can be connected to the lower end of the existing automatic pipe cutting machine, numerical control pipe thread processing machine and other equipment for processing pipe workpieces. The corresponding equipment can intermittently discharge, and the lower end of the corresponding equipment is provided with a baffle clamped outside the feeding plate 8. Because the length of the feeding plate 8 is short, the pipe workpieces will not deviate greatly when rolling on the feeding plate 8. The frequency of the corresponding equipment conveying pipe workpieces to the feeding plate 8 can meet the requirements of the distribution device to complete the following actions. That is, the pipe workpieces can roll along the feeding plate to the transfer frame 10. After the transfer frame 10 carries a single pipe workpiece, the discharging baffle 11 can be moved to abut against the feeding plate 8 to block the subsequent pipe workpieces from continuing to roll along the feeding plate 8. Then the transfer frame 10 can lower the carried pipe workpiece to be flush with the feeding table 3, and the pushing block 13 can move to push the pipe workpiece on the transfer frame 10 to the feeding table 3. Then, after the pushing block 13 moves reversely along the moving path to reset, the transfer frame 10 can be raised to be connected to the lowermost end of the feeding plate 8. At this time, the discharging baffle 11 can be moved away from the feeding plate 8, and the blocked pipe workpieces can roll along the feeding plate 8 to the transfer frame 10. In this way, a certain number of pipe workpieces can be placed on the feeding table 3 for the gripper 6 on the multi-axis robot 1 to take.

[0032] As mentioned above, the transfer frame 10, the discharging baffle 11 and the pushing block 13 can be driven by the existing air cylinder. The blocking plate 12 is provided with a sensor that can detect whether the transfer frame 10 carries a pipe workpiece. The sensor and the air cylinder can realize position feedback control through the existing controller. That is, when the sensor detects that the transfer frame 10 carries a pipe workpiece, the air cylinder for controlling the movement of the discharging baffle 11 can drive the discharging baffle 11 to abut against the feeding plate 8. When the discharging baffle 11 abuts against the feeding plate 8, the air cylinder for driving the movement of the transfer frame 10 can drive the transfer frame 10 to be flush with the feeding table 3. After the transfer frame 10 completes the action, the air cylinder for driving the movement of the pushing block 13 can drive the pushing block 13 to push the pipe workpiece on the transfer frame 10 to the feeding table 3. Finally, the air cylinders can drive the pushing block 13, the transfer frame 10 and the discharging baffle 11 to reset in sequence to realize the sequential action of the air cylinders.

[0033] Further, in the technical solution, as Figure 2As shown, in order to limit the position of the tubular workpiece on the feeding table 3, the feeding table 3 is provided with arc-shaped grooves 301 arranged in a linear array, and the tubular workpiece can be embedded in the arc-shaped grooves 301, and each action of the pushing block 13 can push the tubular workpiece to a distance of the width of an arc-shaped groove 301, and through the mutual extrusion between the tubular workpieces, the tubular workpieces can be sequentially advanced in several arc-shaped grooves 301. At the same time, a sensor capable of detecting whether there is a tubular workpiece in the last arc-shaped groove 301 is suspended above the feeding table 3, and the sensor can be electrically connected with the multi-axis robot 1, when the sensor detects the tubular workpiece, then the feeding table 3 has placed a fixed number of tubular workpieces according to the spacing and order of the arc-shaped grooves 301, so that the multi-axis robot 1 can take a fixed number of tubular workpieces at one time.

[0034] As shown above, Figure 1 , Figure 3 As shown above, the short-distance conveying line 4 is rotationally connected to the second rack 15, and the short-distance conveying line 4 can be placed horizontally on the second rack 15, and the second rack 15 is hingedly connected with a hydraulic oil cylinder 16, and the piston rod of the hydraulic oil cylinder 16 is hingedly connected to the bottom of the side of the short-distance conveying line 4 away from the rotation axis, that is, through the extension and retraction action of the hydraulic oil cylinder 16, the short-distance conveying line 4 can be driven to perform a turnover action. At the same time, in the present technical solution, the short-distance conveying line 4 is composed of a conveying belt, rollers, a motor, side plates 401 and the like, two rollers are rotationally connected between the side plates 401, and the conveying belt is sleeved on the two rollers, and the motor is drivingly connected with one of the rollers, and the rollers are driven to rotate by the motor, thereby driving the conveying belt to rotate, so as to convey the material box 5 placed on the conveying belt. Further, in the present technical solution, the side plates 401 on the short-distance conveying line 4 are in the shape of a V, and the side plates 401 are provided with a limiting plate 17 for pushing the material box 5 placed on the short-distance conveying line 4 to abut against the side plates 401, and the limiting plate 17 can be driven by the existing air cylinder, and the air cylinder can drive the limiting plate 17 to abut against the material box 5 in a direction perpendicular to the conveying direction of the material box 5 on the short-distance conveying line 4, until the side of the material box 5 opposite to the limiting plate 17 abuts against the limiting plate 17. And since the relative position of the material box 5 on the short-distance conveying line 4 will affect the picking and placing action of the multi-axis robot 1. Therefore, in the present technical solution, before the limiting plate 17 is driven by the air cylinder to abut against the material box 5, the short-distance conveying line 4 will first perform a reverse conveying action, so that the material box 5 can abut against the side plates 401 on the side in the conveying direction of the short-distance conveying line 4, and then the limiting plate 17 is driven by the air cylinder to abut against the material box 5, so that the material box 5 can abut against the side plates 401 on the two sides perpendicular to each other, so as to limit the position of the material box 5 on the short-distance conveying line 4 to a fixed position.

[0035] The side plate 401 can be provided with a sensor electrically connected to the multi-axis robot 1 to detect whether the material box 5 is in place and prevent the multi-axis robot 1 from being empty.

[0036] To prevent the pipe-shaped workpiece from sliding out of the material box 5 due to excessive inclination angle, when the short-distance conveying line 4 is placed on the second rack 15, the hydraulic cylinder 16 drives the short-distance conveying line 4 to turn less than 90°. To prevent the pipe-shaped workpiece from colliding or extruding during stacking and transportation in the material box 5, a plurality of material barrels 501 for containing the pipe-shaped workpiece are arranged in the material box 5. The plurality of material barrels 501 are arranged vertically in the material box 5, the inner diameter of the material barrel 501 is greater than the outer diameter of the pipe-shaped workpiece, and the material of the material barrel 501 can be selected from one or more of metal, plastic, etc.

[0037] Further, the clamp 6 in the above includes a tool plate 601 mounted on the output end of the multi-axis robot 1, the tool plate 601 is provided with a material taking cylinder 602, the output end of the material taking cylinder 602 is provided with a double-head comb type rake 603, the double-head comb type rake 603 is provided with a plurality of insertion rods 6031 corresponding to the plurality of pipe-shaped workpieces placed on the feeding table 3 one by one, the outer diameter of the insertion rod 6031 is less than the inner diameter of the pipe-shaped workpiece, and the insertion rod 6031 can be movably inserted into the pipe-shaped workpiece. That is, when the multi-axis robot 1 drives the clamp 6 to take material, the plurality of insertion rods 6031 on the comb type rake can be driven by the material taking cylinder 602 to simultaneously insert into the plurality of pipe-shaped workpieces on the feeding table 3, then the multi-axis robot 1 can drive one end of the pipe-shaped workpiece to be lifted upward, so that the pipe-shaped workpiece is in an inclined state, and under the action of gravity, the pipe-shaped workpiece will not fall off the clamp 6. Finally, the multi-axis robot 1 can correspond the pipe-shaped workpiece on the clamp 6 to the material barrel 501 in the material box 5, and can make the pipe-shaped workpiece slide into the material barrel 501 along the insertion rod 6031 under the action of gravity, so as to complete the taking and placing of the pipe-shaped workpiece from the material dispensing device to the material box 5.

[0038] The tool plate 601 is provided with a double-way cylinder 604, and the two output ends of the double-way cylinder 604 are respectively provided with an inner support block 605 which can be supported inside the material box 5. That is, by the double-way cylinder 604 and the inner support block 605, the multi-axis robot 1 can transfer the empty material box 5 from the fixed position to the short-distance conveying line 4.

[0039] Working principle: the pipe workpiece can roll along the blanking plate to the transfer frame 10, after the transfer frame 10 carries a single pipe workpiece, the blanking baffle 11 can be moved to abut on the feeding plate 8 to block the later pipe workpiece from rolling along the feeding plate 8. Then the transfer frame 10 can be lowered to be flush with the feeding table 3, and the pushing block 13 moves to push the pipe workpiece on the transfer frame 10 to the feeding table 3. Then, after the pushing block 13 moves reversely along the moving path to reset, the transfer frame 10 can be raised to be in butt joint with the lowermost end of the feeding plate 8. At this time, the blanking baffle 11 can be moved away from the feeding plate 8, and the blocked pipe workpiece can roll along the feeding plate 8 to the transfer frame 10. In this way, a certain number of pipe workpieces can be placed on the feeding table 3 to be taken by the clamp 6 of the multi-axis robot 1. At the same time, the short-distance conveying line 4 will first perform the reverse conveying action, so that the material box 5 can abut on the side plate 401 on one side of the conveying direction of the short-distance conveying line 4, and then the limiting plate 17 driven by the cylinder abuts on the material box 5, so that the material box 5 can abut on the two sides of the side plate 401 perpendicular to each other. Then, the hydraulic cylinder 16 drives the short-distance conveying line 4 to overturn by a certain angle, and then the multi-axis robot 1 drives the clamp 6 to take the material, that is, a plurality of material inserting rods 6031 on the comb-shaped rake are driven by the material taking cylinder 602 to simultaneously insert the material with a plurality of pipe workpieces on the feeding table 3, and then the multi-axis robot 1 can drive one end of the pipe workpiece to be lifted upward, so that the pipe workpiece is in an inclined state, and under the action of gravity, the pipe workpiece will not fall off from the clamp 6. Finally, the multi-axis robot 1 can correspond the pipe workpiece on the clamp 6 to the material cylinder 501 in the material box 5 in this posture, and can make the pipe workpiece slide into the material cylinder 501 along the material inserting rod 6031 under the action of gravity. In this way, after the material box 5 is filled with pipe workpieces, the hydraulic cylinder 16 can drive the short-distance conveying line 4 to overturn to be placed on the second rack 15, and then the limiting plate 17 is withdrawn, and the short-distance conveying line 4 is forwardly conveyed to convey the full material box 5 to the long-distance conveying line 2, and the long-distance conveying line 2 transfers the material box 5.

[0040] The above is the ideal embodiment of the present application, and through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content in the specification, and the technical scope must be determined according to the scope of claims.

Claims

1. An automatic packing device for tubular workpieces, characterized in that: It includes a material sorting device, a multi-axis robot (1), a long-distance conveyor line (2), and a flipping device; The material distribution device is used to quantitatively arrange and place tubular workpieces on the loading platform (3); The flipping device includes a short-distance conveyor line (4) that can be flipped. The short-distance conveyor line (4) is used to carry and convey the material box (5). The material box (5) placed on the short-distance conveyor line (4) can be flipped synchronously with the short-distance conveyor line (4) to be inclined to the horizontal plane. The short-distance conveyor line (4) can be flipped to dock with the long-distance conveyor line (2). The output end of the multi-axis robot (1) is equipped with a clamp (6) capable of picking up several tubular workpieces, and can simultaneously transfer several tubular workpieces into the material box (5) which is inclined to the horizontal plane.

2. The automatic packing equipment for tubular workpieces according to claim 1, characterized in that: The loading platform (3) is placed on the first frame (7). The first frame (7) is equipped with an inclined loading plate (8) and a hollow mounting plate (9) suspended above the lowest end of the loading plate (8). The hollow mounting plate (9) is equipped with a transfer frame (10) that can dock with the lowest end of the loading plate (8) and a discharge baffle (11) that can abut against the upper side of the loading plate (8). Among them, the hollow mounting plate (9) is provided with a material blocking plate (12) along the vertical direction, and when the transfer frame (10) is connected to the bottom of the loading plate (8), the material blocking plate (12) can block the tube workpiece from falling. The transfer frame (10) can carry a single tubular workpiece and can be lowered to be flush with the loading platform (3); and the first frame (7) is provided with a pusher block (13) in the horizontal direction for pushing the tubular workpiece on the transfer frame (10) to the loading platform (3), and the loading platform (3) is provided with a stop block (14) for preventing the tubular workpiece from rolling.

3. The automatic packing equipment for tubular workpieces according to claim 1, characterized in that: The loading platform (3) is provided with arc-shaped grooves (301) arranged in a linear array, and tubular workpieces can be embedded in the arc-shaped grooves (301).

4. The automatic packing equipment for tubular workpieces according to claim 1, characterized in that: The short-distance conveyor line (4) is rotatably connected to the second frame (15). The short-distance conveyor line (4) can be laid flat on the second frame (15). A hydraulic cylinder (16) is hinged on the second frame (15). The piston rod on the hydraulic cylinder (16) is hinged to the bottom of the short-distance conveyor line (4) on the side away from its rotation axis. The side plate (401) on the short-distance conveyor line (4) is U-shaped, and the side plate (401) is provided with a limiting plate (17) for pushing the material box (5) placed on the short-distance conveyor line (4) to abut against the side plate (401).

5. The automatic packing equipment for tubular workpieces according to claim 4, characterized in that: When the short-distance conveyor line (4) is laid flat on the second frame (15), the hydraulic cylinder (16) can drive the short-distance conveyor line (4) to rotate at an angle of less than 90°.

6. The automatic packing equipment for tubular workpieces according to claim 1, characterized in that: The fixture (6) includes a tooling plate (601) installed at the output end of the multi-axis robot (1). A picking cylinder (602) is provided on the tooling plate (601). A double-headed comb rake (603) is provided at the output end of the picking cylinder (602). A number of inserting rods (6031) are provided on the double-headed comb rake (603) that can correspond one-to-one with a number of tubular workpieces placed on the loading platform (3). The inserting rods (6031) can be movably inserted into the tubular workpieces.

7. The automatic packing equipment for tubular workpieces according to claim 6, characterized in that: The tooling plate (601) is provided with a two-way cylinder (604), and the two output ends of the two-way cylinder (604) are respectively provided with an inner support block (605) that can be supported inside the material box (5).

8. The automatic packing equipment for tubular workpieces according to claim 1, characterized in that: The material box (5) is provided with a number of material cylinders (501) for holding tubular workpieces, and the material cylinders (501) are placed upright in the material box (5).

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