Double-station double-head pipe material processing equipment
By designing a pipe processing equipment with dual-station, dual-head material gripping, and utilizing synchronous translational transfer and water control mechanisms, the problems of flipping and recalibrating the axis during the processing of female and male pipe threads were solved, thereby improving processing accuracy and efficiency and optimizing the production process.
Patent Information
- Application Number
- CN202521987771.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-16
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-09-16
AI Technical Summary
In existing technologies, the processing of female and male threads on pipes requires flipping and recalibrating the axis, resulting in low positioning accuracy, cumbersome operation, and low processing efficiency.
Design a tube processing equipment with dual-station, dual-head gripping mechanism. The first and second feeding mechanisms are used to load and unload female and male threaded lathes respectively. The loading rack and temporary storage rack are used for material storage and positioning. The first and second dual-head gripping mechanisms are used to realize the synchronous translational transfer of tubes in the direction perpendicular to the axial direction to avoid overturning. The production process is optimized by combining a water control mechanism.
It ensures coaxiality during pipe processing, improves product quality and production efficiency, prevents axial misalignment, and optimizes the problem of cutting fluid residue in the production process.
Smart Images
Figure CN224673812U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of pipe thread processing technology, and in particular to a pipe processing equipment with dual-station dual-head gripping. Background Technology
[0002] A female thread lathe is used to machine internal threads (i.e., female threads) at one end of a pipe, which are then used to accommodate male threads to form a sealed connection. For example, in oil pipeline construction, a female thread lathe can machine internal threads that conform to ASME standards, ensuring a significantly improved welding success rate when connected to male fittings. A male thread lathe is used to machine external threads (i.e., male threads) at the other end of the pipe, which mate with the female threads to achieve a connection.
[0003] Currently, in the typical processing flow of female and male pipe threads, the pipe with the processed female thread needs to be flipped over, and the other end clamped into the chuck of the male thread lathe. At this point, the workpiece axis needs to be recalibrated to avoid misalignment between the male and female threads due to clamping errors. In other words, both ends of the pipe need to be clamped separately during processing. If the fixture accuracy is insufficient or the workpiece axis is not aligned, it can easily lead to misalignment between the male and female threads, affecting the connection's sealing performance. Furthermore, the processing of the female and male threads must be completed sequentially, involving steps such as workpiece flipping and reclamping, resulting in a long processing time per piece and low processing efficiency. Utility Model Content
[0004] To address the shortcomings of existing technologies, this utility model provides a tube processing equipment with dual-station, dual-head gripping, aiming to solve the technical problems in existing technologies where tube female and male threads need to be flipped and recalibrated during processing, resulting in low positioning accuracy and cumbersome operation.
[0005] The technical solution adopted in this utility model is as follows:
[0006] A pipe material processing equipment with dual-station dual-head gripping includes a loading rack, a first feeding mechanism, a temporary storage rack, a second feeding mechanism, and a unloading rack arranged sequentially along the pipe material conveying direction, as well as a first dual-head gripping mechanism and a second dual-head gripping mechanism arranged above the temporary storage rack.
[0007] The feeding rack is equipped with a first axial alignment mechanism, which is used to position the first end of a single tube.
[0008] The first dual-head gripping mechanism includes two synchronously moving grippers, which are respectively used to move the tube material on the first feeding mechanism to the temporary storage rack and to move the positioned tube material on the loading rack to the first feeding mechanism;
[0009] The temporary storage rack is equipped with a second axial alignment mechanism, which is used to position the second end of a single tube.
[0010] The second dual-head gripping mechanism includes two synchronously moving grippers, which are respectively used to move the tube material on the second feeding mechanism to the unloading rack and to move the positioned tube material on the temporary storage rack to the second feeding mechanism;
[0011] The first feeding mechanism and the second feeding mechanism respectively load and unload materials onto the female thread lathe and the male thread lathe along the tube material axis.
[0012] The preferred technical solution is as follows:
[0013] The temporary storage rack includes a second inclined rack that slopes downwards from front to back, and a water level control device is located at the front end. The water level control device has the following structure:
[0014] It includes two V-shaped lifting seats located outside the second inclined frame and symmetrically arranged at both ends along the axial direction of the pipe, with a first water receiving box provided on the outside of one of the V-shaped lifting seats;
[0015] The two V-shaped lifting seats are used to support the pipe material from the first double-headed gripping mechanism, and the two V-shaped lifting seats can move independently to adjust the pipe material to tilt axially so that the lower end of the pipe material is connected to the first water receiving box.
[0016] The two V-shaped lifting seats are used to raise the pipe above the second inclined frame or to lower the pipe onto the second inclined frame.
[0017] The rear end of the second tilting frame is provided with a tilting mechanism and a second axial alignment mechanism. The tilting mechanism is used to push a single tube on the second tilting frame to the second axial alignment mechanism, and its structure is as follows:
[0018] It includes two second V-shaped rollers that are symmetrically arranged at both ends along the axial direction of the tube and driven independently. The outer side of the second V-shaped roller near the second end of the tube is provided with a second alignment part, which is used to position the second end of the tube.
[0019] The structure of the material turning mechanism includes two symmetrically arranged lifting devices inside the second inclined frame. The output end of each lifting device is connected to a top plate. The top surface of the top plate is used to contact the pipe material to be conveyed, and the top surface is inclined downward along the conveying direction of the pipe material.
[0020] The second tilting frame is provided with a limiting block, which is located near the end of the second V-shaped roller.
[0021] The structure of the feeding rack includes a first tilting frame, and the rear end of the first axial alignment mechanism is provided with a first V-shaped roller that is symmetrically arranged at both ends along the axial direction of the tube and driven independently. The outer side of the first V-shaped roller near the first end of the tube is provided with a first alignment part, which is used to position the first end of the tube.
[0022] The first feeding mechanism and the second feeding mechanism have the same structure, including a base, on which a guide rail and a rack extending along its length are provided; a fixed support mechanism is provided at one end of the base, which includes a lifting V-shaped roller, and a movable support mechanism is provided on the guide rail, which includes a lifting V-shaped roller and a gripper.
[0023] The base is provided with a folding water receiving mechanism in the middle, which includes a horizontal drive device, a linkage folding mechanism and a second water receiving box. The output end of the horizontal drive device is connected to the bottom of the linkage folding mechanism, and the top of the linkage folding mechanism is connected to the bottom of the second water receiving box. Under the drive of the horizontal drive device, the linkage folding mechanism can move horizontally back and forth and vertically up and down, so that the second water receiving box extends to directly below the pipe or retracts to the side of the base.
[0024] The first and second double-headed material gripping mechanisms have the same structure, including a horizontal frame with a horizontal slide rail, a horizontal sliding plate, and a lifting frame. The bottom of the lifting frame is provided with a set of horizontally spaced crossbars. The length direction of the crossbars is perpendicular to the axis of the pipe. Each crossbar is provided with at least two robotic arms along its length direction.
[0025] The female thread lathe inlet and outlet are located on the side of the first feeding mechanism near the first end of the tube; the male thread lathe inlet and outlet are located on the side of the second feeding mechanism near the second end of the tube.
[0026] The technical solution of this utility model can achieve at least some of the following beneficial effects:
[0027] This utility model utilizes a first feeding mechanism and a second feeding mechanism to load and unload female and male threaded parts axially on a lathe, respectively. A loading rack and a temporary storage rack are used for material storage and positioning of different end faces of the tubing during unloading. A first double-headed gripping mechanism and a second double-headed gripping mechanism enable synchronous translational transfer of the tubing between adjacent workstations in a direction perpendicular to the axial direction. This allows the loading and unloading processes to proceed simultaneously, eliminating the need to flip the tubing throughout the process. This ensures coaxiality during the tubing flow, prevents axial deviation, improves the quality of the processed product, and simultaneously increases production efficiency.
[0028] This utility model incorporates a water control mechanism on the first feeding mechanism, the temporary storage rack, and the second feeding mechanism. This mechanism controls water during the loading and unloading process between processing steps, optimizes the production process, and effectively prevents cutting fluid residue.
[0029] Other features and advantages of this invention will be set forth in the following description or may be learned by practicing this invention. Attached Figure Description
[0030] Figure 1This is a three-dimensional structural diagram of an embodiment of the present utility model.
[0031] Figure 2 for Figure 1 The main view.
[0032] Figure 3 This is a schematic diagram of the structure of the temporary storage rack in an embodiment of this utility model.
[0033] Figure 4 for Figure 1 Top view.
[0034] Figure 5 This is a schematic diagram of the structure of the first feeding mechanism (second feeding mechanism) in an embodiment of the present utility model.
[0035] Figure 6 This is a schematic diagram of the structure of the first dual-head gripping mechanism (second dual-head gripping mechanism) of this utility model embodiment.
[0036] Explanation of reference numerals in the attached drawings: 1. Loading rack; 2. Female threaded lathe; 3. First double-headed gripping mechanism; 4. First feeding mechanism; 5. Temporary storage rack; 6. Unloading rack; 7. Second double-headed gripping mechanism; 8. Second feeding mechanism; 9. Male threaded lathe; 10. Pipe; 51. V-shaped lifting seat; 52. Second tilting frame; 53. Top plate; 54. Second V-shaped roller; 55. First water receiving box; 56. Second alignment part; 57. Limiting block; 101. First tilting frame; 102. First alignment part; 103. First V-shaped roller; 371; 37 2. Horizontal frame; 373. Horizontal sliding plate; 374. Lifting frame; 375. Horizontal drive cylinder; 376. Lifting motor; 377. Horizontal frame; 378. Robotic arm; 481. Base; 482. Lifting V-shaped roller; 483. Hand-cranked screw mechanism; 484. Second water receiving box; 485. Connecting rod; 486. Upper connecting rod; 487. Lower connecting rod; 488. Base plate; 489. Bottom connecting rod; 4810. Shaft; 4811. Gripper; 4812. Drive motor; 4813. L-shaped plate; 484. Second water receiving box. Detailed Implementation
[0037] The specific embodiments of this utility model are described below with reference to the accompanying drawings.
[0038] See Figures 1 to 3 The pipe material processing equipment with dual-station dual-head gripping in this embodiment includes a loading rack 1, a first feeding mechanism 4, a temporary storage rack 5, a second feeding mechanism 8, and a unloading rack 6 arranged sequentially along the pipe material conveying direction, as well as a first dual-head gripping mechanism 3 and a second dual-head gripping mechanism 7 arranged above the temporary storage rack 5.
[0039] The feeding rack 1 is equipped with a first axial alignment mechanism, which is used to position the first end of a single tube.
[0040] The first dual-head gripping mechanism 3 includes two grippers that move synchronously, which are respectively used to grip the pipe material on the first feeding mechanism 4 and move it to the temporary storage rack 5, and to grip the positioned pipe material on the loading rack 1 and move it to the first feeding mechanism 4.
[0041] The temporary storage rack 5 is equipped with a second axial alignment mechanism, which is used to position the second end of a single tube.
[0042] The second double-headed material-grabbing mechanism 7 includes two synchronously moving grippers, which are respectively used to grab the pipe material on the second feeding mechanism 8 and move it to the unloading rack 6, and to grab the positioned pipe material on the temporary storage rack 5 and move it to the second feeding mechanism 8;
[0043] The first feeding mechanism 4 and the second feeding mechanism 8 respectively load and unload materials onto the female thread lathe 2 and the male thread lathe 9 along the tube material axis.
[0044] Figure 2 for Figure 1 The first-person perspective, for ease of observation. Figure 2 The public fastener lathe was removed from the middle.
[0045] like Figure 3 As shown, in a preferred embodiment, the temporary storage rack 5 includes a second inclined rack 52, which slopes downwards from front to back, and has a water level control at the front end. The water level control structure is as follows:
[0046] It includes two V-shaped lifting seats 51 located outside the second tilting frame 52 and symmetrically arranged at both ends along the axial direction of the pipe, with a first water receiving box 55 provided on the outside of one of the V-shaped lifting seats 51.
[0047] Two V-shaped lifting seats 51 are used to support the pipe material from the first double-headed material gripping mechanism 3, and the two V-shaped lifting seats 51 can move independently to adjust the pipe material to tilt along the axial direction so that the lower end of the pipe material is connected to the first water receiving box 55.
[0048] Two V-shaped lifting seats 51 are used to raise the pipe above the second inclined frame 52, or to lower the pipe and place it onto the second inclined frame 52.
[0049] Specifically, the V-shaped lifting seat 51 includes a lifting cylinder, whose piston rod is equipped with a V-shaped block. The V-shaped blocks of the two V-shaped lifting seats 51 can form a two-end support.
[0050] Specifically, the first water collection box 55 is used to collect the liquid (cutting fluid) remaining inside the tube material after processing by the female lathe 2. When water control is performed, the two V-shaped lifting seats 51 are adjusted so that the tube material is higher than the second tilting frame 52, and one end is tilted towards the first water collection box 55 to facilitate the liquid flow out. After the water control is completed, the two V-shaped lifting seats 51 are adjusted again to make their height consistent to keep the tube material horizontal. Then the height of the tube material is lowered so that it falls onto the second tilting frame 52 and rolls towards the rear end of the second tilting frame 52 under the action of gravity.
[0051] As a preferred embodiment, the rear end of the second tilting frame 52 is provided with a tilting mechanism and a second axial alignment mechanism. The tilting mechanism is used to push the single tube on the second tilting frame 52 to the second axial alignment mechanism, and its structure is as follows:
[0052] It includes two second V-shaped rollers 54 that are symmetrically arranged at both ends along the axial direction of the pipe and driven independently. A second alignment portion 56 is provided on the outer side of the second V-shaped rollers 54 near the second end of the pipe.
[0053] Specifically, the two second V-shaped rollers 54 are driven by their respective drive devices (preferably servo motors) to rotate around their respective roller axes. By setting the rotation speed, the tube material can be driven to move axially, thereby causing the second end of the tube material to abut against the second alignment part 56, thus positioning the second end of the tube material. After positioning, the tube material can be gripped by the second double-headed gripping mechanism 7 and translated to the second feeding mechanism 8. The second feeding mechanism 8 then feeds it axially into the male thread lathe 9 for processing. After processing, it is pulled out by the second feeding mechanism 8 and translated by the second double-headed gripping mechanism 7 to the unloading rack 6.
[0054] Specifically, the second alignment part 56 includes a positioning plate and a detection switch.
[0055] As a preferred embodiment, the structure of the turning mechanism includes two symmetrically arranged lifting devices inside the second tilting frame 52. The output end of each lifting device is connected to a top plate 53. The top surface of the top plate 53 is used to contact the pipe material to be conveyed, and the top surface is inclined downward along the conveying direction of the pipe material.
[0056] In a preferred embodiment, the second tilting frame 52 is provided with a limiting block 57, which is located near one end of the second V-shaped roller 54. The limiting block 57 is used to limit multiple tubes in front of the second V-shaped roller 54, so that a single tube can be pushed onto the second V-shaped roller 54 by the material turning mechanism.
[0057] like Figure 4As shown, in a preferred embodiment, the structure of the feeding rack 1 includes a first tilting frame 101, which tilts downward from front to back, and a first axial alignment mechanism is provided at the rear end, which includes two first V-shaped rollers 103 that are symmetrically arranged at both ends along the axial direction of the tube and driven independently. A first alignment part 102 is provided on the outer side of the first V-shaped rollers 103 near the first end of the tube, which is used to position the first end of the tube.
[0058] Specifically, the two first V-shaped rollers 103 are driven by their respective drive devices (preferably servo motors) to rotate around their respective roller axes. By setting the rotation speed, the tube material can be driven to move axially, so that the first end of the tube material is brought into contact with the first alignment part 102, thereby positioning the first end of the tube material. After positioning, the tube material can be gripped by the first double-headed gripping mechanism 3 and translated onto the first feeding mechanism 4. The first feeding mechanism 4 then feeds it axially into the female thread lathe 2 for processing. After processing, it is pulled out by the first feeding mechanism 4 and translated by the first double-headed gripping mechanism 3 to the temporary storage rack 5.
[0059] Specifically, the first alignment part 102 includes a positioning plate and a detection switch.
[0060] See Figure 5 As a preferred embodiment, the first feeding mechanism 4 and the second feeding mechanism 8 have the same structure, including a base 481, on which a guide rail and a rack extending along its length are provided; a fixed support mechanism is provided at one end of the base 481, which includes a lifting V-shaped roller 482, and a movable support mechanism is provided on the guide rail, which includes a lifting V-shaped roller 482 and a gripper 4811.
[0061] Preferably, the lifting V-shaped roller 482 on the fixed support mechanism is driven by a lifting drive device for lifting. The lifting drive device includes a lower lifting mechanism and an upper lifting mechanism connected sequentially from bottom to top. The lower lifting mechanism preferably adopts a hand-cranked screw mechanism 483 with a support plate on it. The upper lifting mechanism is mounted on the support plate and preferably adopts a lifting cylinder. The roller body of the lifting V-shaped roller 482 is located at the top of the piston rod of the lifting cylinder. Two-stage lifting control can be achieved through the lower and upper lifting mechanisms to meet the precise positioning requirements of the pipe height.
[0062] Preferably, the driving method of the lifting V-shaped rollers 482 on the movable support mechanism is the same as that on the fixed support mechanism. The grippers 4811 are arranged parallel to the lifting V-shaped rollers 482 at intervals.
[0063] Specifically, the mobile support mechanism is also equipped with a main drive motor 4812, the output of which meshes with the rack via gears.
[0064] The lifting V-shaped rollers 482 on the fixed support mechanism and the moving support mechanism form two horizontal support parts to support the tube material. At the same time, the gripper 4811 is used to clamp the tube material and, under the action of the main drive motor 4812, realizes axial feeding to complete the loading and unloading of the lathe.
[0065] As a preferred embodiment, the base 481 is provided with a folding water receiving mechanism in the middle, which includes a horizontal drive device, a linkage folding mechanism, and a second water receiving box 484. The output end of the horizontal drive device is connected to the bottom of the linkage folding mechanism, and the top of the linkage folding mechanism is connected to the bottom of the second water receiving box 484. Driven by the horizontal drive device, the linkage folding mechanism can move horizontally back and forth and vertically up and down, so that the second water receiving box 484 extends to directly below the pipe or retracts to the side of the base 481. When the second water receiving box 484 extends to directly below the pipe, it is located above the base 481 and is used to collect the liquid (cutting fluid) remaining on the outside of the pipe after it has been machined in the lathe.
[0066] Specifically, the second water receiving box 484 has a base plate 488 at its bottom. The linkage folding mechanism includes two sets of linkage transmission units. The horizontal drive device preferably adopts a horizontal cylinder. The piston rod end is connected to a shaft 4810 through a bottom connecting rod 489. The two ends of the shaft 4810 are respectively hinged to the base plate 488 through one of the linkage transmission units.
[0067] Specifically, the linkage transmission unit includes an L-shaped plate 4813, which is fixed on the side of the base 481. The L-shaped plate 4813 has two hinge points, which are respectively hinged to the lower ends of the lower connecting rod 487 and the upper connecting rod 486. The upper ends of the lower connecting rod 487 and the upper connecting rod 486 are respectively connected to the connecting rod 485. The top side of the connecting rod 485 is connected to the second water receiving box 484 through the base plate 488.
[0068] See Figure 6 As a preferred embodiment, the first double-headed gripping mechanism 3 and the second double-headed gripping mechanism 7 have the same structure, including a horizontal frame 372 with a horizontal slide rail, a horizontal sliding plate 373, and a lifting frame 374. The bottom of the lifting frame 374 has a set of horizontally spaced crossbars 377, the length of which is perpendicular to the pipe axis. Each crossbar 377 has at least two robotic arms 378 along its length. For ease of understanding, the set of robotic arms 378 on the right side of the figure is gripping the pipe 10.
[0069] Specifically, the horizontal frame 372 is fixedly mounted on a fixed horizontal truss plate, and a horizontal drive cylinder 375 is provided on it. Its output end is connected to the horizontal frame 372, driving it to move along the horizontal slide rail. The lifting frame 374 is provided with a vertical guide rail and a vertical rack. The horizontal slide plate 373 is provided with a guide box, on which a lifting motor 376 is provided. Its output end meshes with the vertical rack through a gear. The inner side of the guide box is provided with a slider that cooperates with the vertical guide rail.
[0070] As a preferred embodiment, the inlet and outlet of the female threaded lathe 2 are located on the side of the first feeding mechanism 4 near the first end of the tube; the inlet and outlet of the male threaded lathe 9 are located on the side of the second feeding mechanism 8 near the second end of the tube.
[0071] In this embodiment, the first feeding mechanism 4 and the second feeding mechanism 8 can be used to load and unload the female and male threaded lathes respectively. The first double-headed gripping mechanism 3 and the second double-headed gripping mechanism 7 realize the synchronous translational transfer of the tube material between adjacent workstations, so that the loading and unloading processes of the tube material are carried out simultaneously. The entire process does not require the tube material to be flipped, which can fully ensure the coaxiality of the tube material during the process, prevent axial deviation, improve the quality of the processed product, and improve production efficiency.
[0072] It will be understood by those skilled in the art that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A pipe processing equipment with dual-station, dual-head gripping, characterized in that, It includes a loading rack (1), a first feeding mechanism (4), a temporary storage rack (5), a second feeding mechanism (8), and a unloading rack (6) arranged sequentially along the pipe material conveying direction, as well as a first double-headed gripping mechanism (3) and a second double-headed gripping mechanism (7) arranged above the temporary storage rack (5); The feeding rack (1) is provided with a first axial alignment mechanism, which is used to position the first end of a single tube. The first dual-head gripping mechanism (3) includes two grippers that move synchronously, which are respectively used to move the pipe material on the first feeding mechanism (4) to the temporary storage rack (5) and to move the positioned pipe material on the loading rack (1) to the first feeding mechanism (4); The temporary storage rack (5) is provided with a second axial alignment mechanism, which is used to position the second end of a single tube. The second double-headed material gripping mechanism (7) includes two grippers that move synchronously, which are used to move the pipe material on the second feeding mechanism (8) to the unloading rack (6) and to move the positioned pipe material on the temporary storage rack (5) to the second feeding mechanism (8), respectively. The first feeding mechanism (4) and the second feeding mechanism (8) respectively feed the female thread lathe (2) and the male thread lathe (9) along the tube material axis.
2. The pipe processing equipment with dual-station, dual-head gripping as described in claim 1, characterized in that, The temporary storage rack (5) includes a second inclined rack (52) that slopes downwards from front to back, and has a water level control at the front end. The structure of the water level control is as follows: It includes two V-shaped lifting seats (51) located outside the second inclined frame (52) and symmetrically arranged at both ends along the axial direction of the pipe, with a first water receiving box (55) provided on the outside of one of the V-shaped lifting seats (51); The two V-shaped lifting seats (51) are used to support the pipe material from the first double-headed gripping mechanism (3), and the two V-shaped lifting seats (51) can move independently to adjust the pipe material to tilt along the axial direction so that the lower end of the pipe material is connected to the first water receiving box (55). The two V-shaped lifting seats (51) are used to raise the pipe above the second inclined frame (52) or to lower the pipe onto the second inclined frame (52).
3. The pipe processing equipment with dual-station, dual-head gripping as described in claim 2, characterized in that, The rear end of the second tilting frame (52) is provided with a material turning mechanism and a second axial alignment mechanism. The material turning mechanism is used to push a single tube on the second tilting frame (52) to the second axial alignment mechanism. Its structure is as follows: It includes two second V-shaped rollers (54) that are symmetrically arranged at both ends along the axial direction of the pipe and driven independently. The second V-shaped rollers (54) near the second end of the pipe have a second alignment part (56) on their outer side, which is used to position the second end of the pipe.
4. The pipe processing equipment with dual-station, dual-head gripping as described in claim 3, characterized in that, The structure of the material turning mechanism includes two lifting devices symmetrically arranged inside the second tilting frame (52). The output end of each lifting device is connected to a top plate (53). The top surface of the top plate (53) is used to contact the pipe material to be conveyed, and the top surface is inclined downward along the pipe material conveying direction.
5. The pipe processing equipment with dual-station, dual-head gripping as described in claim 3, characterized in that, The second tilting frame (52) is provided with a limiting block (57), which is located near the end of the second V-shaped roller (54).
6. The pipe processing equipment with dual-station, dual-head gripping as described in claim 1, characterized in that, The structure of the feeding rack (1) includes a first tilting frame (101), and the rear end of the first axial alignment mechanism is provided. The mechanism includes two first V-shaped rollers (103) that are symmetrically arranged at both ends of the tube axial direction and driven independently. The outer side of the first V-shaped roller (103) near the first end of the tube is provided with a first alignment part (102), which is used to position the first end of the tube.
7. The pipe processing equipment with dual-station, dual-head gripping as described in claim 1, characterized in that, The first feeding mechanism (4) and the second feeding mechanism (8) have the same structure, including a base (481) on which a guide rail and a rack extending along its length are provided; a fixed support mechanism is provided at one end of the base (481), which includes a lifting V-shaped roller (482), and a movable support mechanism is provided on the guide rail, which includes a lifting V-shaped roller (482) and a gripper (4811).
8. The pipe processing equipment with dual-station, dual-head gripping as described in claim 7, characterized in that, The base (481) is provided with a folding water receiving mechanism in the middle, which includes a horizontal drive device, a linkage folding mechanism and a second water receiving box (484). The output end of the horizontal drive device is connected to the bottom of the linkage folding mechanism, and the top of the linkage folding mechanism is connected to the bottom of the second water receiving box (484). Under the drive of the horizontal drive device, the linkage folding mechanism can move horizontally back and forth and vertically up and down, so that the second water receiving box (484) extends to the bottom of the pipe or retracts to the side of the base (481).
9. The pipe processing equipment with dual-station, dual-head gripping as described in claim 1, characterized in that, The first double-headed material gripping mechanism (3) and the second double-headed material gripping mechanism (7) have the same structure, including a horizontal frame (372) with a horizontal slide rail, a horizontal sliding plate (373) on it, and a lifting frame (374) on it. The bottom end of the lifting frame (374) is provided with a set of horizontally spaced cross frames (377). The length direction of the cross frames (377) is perpendicular to the axial direction of the pipe material. Each cross frame (377) is provided with at least two robotic arms (378) along its length direction.
10. The pipe processing equipment with dual-station, dual-head gripping as described in claim 1, characterized in that, The inlet and outlet of the female threaded lathe (2) are located on the side of the first feeding mechanism (4) near the first end of the tube; the inlet and outlet of the male threaded lathe (9) are located on the side of the second feeding mechanism (8) near the second end of the tube.