CN112238350B

CN112238350B - Full-automatic headrest tube production line and headrest tube production method

Info

Publication number: CN112238350B
Application number: CN202011079639.5A
Authority: CN
Inventors: 吴志敏
Original assignee: Yuanchuang Guangzhou Intelligent Technology Co ltd
Current assignee: Yuanchuang Guangzhou Intelligent Technology Co ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-04-27
Anticipated expiration: 2040-10-10
Also published as: CN112238350A

Abstract

The invention discloses a full-automatic headrest tube production line and a headrest tube production method. The invention has the following beneficial effects: the full-automatic headrest tube production line can produce headrest tubes in a full-automatic mode, the automation degree is high, the production efficiency is high, only manual one-key starting equipment is needed, the manpower requirement is greatly reduced, the production cost is reduced, the full-automatic production can improve the product quality, the product quality is guaranteed, the equipment is compact, and the occupied area is small.

Description

Full-automatic headrest tube production line and headrest tube production method

Technical Field

The invention relates to the technical field of pipe processing, in particular to a full-automatic headrest pipe production line and a headrest pipe production method.

Background

In the process of pipe production and processing, the processing equipment on the existing market is mainly stand-alone equipment, each process needs to be finished manually, and each finished process needs to be picked up, stored and transported, so that the production efficiency is low, the product quality cannot be effectively controlled, a large amount of personnel are needed for production, the production cost is improved, and the stand-alone equipment is adopted, so that the occupied area of the equipment for production is large.

Disclosure of Invention

In order to solve the technical problems, one of the objectives of the present invention is to provide a full-automatic headrest tube production line, which includes a tube storage bin, a first mechanical arm, a double-head tube shrinking machine, a second mechanical arm, a horizontal gear shaping machine, a polishing machine, a checking machine, a third mechanical arm, a tube bending machine, a fourth mechanical arm, a vertical gear shaping machine and a correcting machine.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a full-automatic headrest tube production line comprises a tube material storage bin, a first mechanical arm, a double-head tube shrinking machine, a second mechanical arm, a horizontal gear shaping machine, a polishing machine, an inspection machine, a third mechanical arm, a tube bending machine, a fourth mechanical arm, a vertical gear shaping machine and a correcting machine which are sequentially arranged;

the pipe material storage bin comprises a bin body, a feeding assembly and a pipe storage assembly, wherein the feeding assembly is arranged in the bin body, and the pipe storage assembly is arranged on one side, facing the first manipulator, of the bin body; the first manipulator spans the pipe storage bin and the double-head pipe reducing machine; the double-head pipe reducing machine comprises a pipe reducing workbench and pipe reducing components which are respectively arranged on two sides of the pipe reducing workbench in the feeding direction perpendicular to the first manipulator; the second manipulator stretches across the double-head pipe reducing machine, the horizontal gear shaping machine and the polishing machine; the horizontal gear shaping machine comprises a horizontal gear shaping workbench, and a horizontal gear shaping assembly and a rotating assembly which are arranged on the horizontal gear shaping workbench, the polishing machine comprises a polishing workbench and a plurality of grinding wheel assemblies arranged on the polishing workbench, and a feeding assembly is arranged on one side of the polishing workbench, which faces the second manipulator; the inspection machine comprises an inspection workbench, and a material receiving assembly and an inspection assembly which are arranged on the inspection workbench; the third manipulator spans the inspection machine and the pipe bender; the pipe bending machine comprises a pipe bending workbench, and a material pushing assembly and a pipe bending assembly which are arranged on the pipe bending workbench; the fourth manipulator can be respectively butted with the pipe bender, the vertical gear shaper and the corrector; the vertical gear shaping machine comprises a vertical gear shaping workbench and a vertical gear shaping assembly arranged on the vertical gear shaping workbench; the correcting machine comprises a correcting workbench and a correcting component arranged on the correcting workbench.

Preferably, the feeding assembly comprises a fixed material bearing plate and a movable material feeding plate, the fixed material bearing plates are arranged on two sides of the bin body along the length direction of the pipe materials, the upper parts of the fixed material bearing plates are arranged in a step shape, the upper parts of the fixed material bearing plates comprise a plurality of material bearing surfaces which are arranged in an inclined mode, the movable material feeding plate is connected with the fixed material bearing plates in a sliding mode, a feeding cylinder is arranged on one side of each fixed material bearing plate, and a piston rod of each feeding cylinder is connected with the movable material feeding plate;

the pipe storage assembly comprises a pipe storage groove, a jacking cylinder and a pipe storage block, the pipe storage groove, the jacking cylinder and the pipe storage block are arranged in the bin body and are arranged on two sides along the length direction of the pipe materials, one side of the pipe storage groove is in butt joint with the top end of the fixed material bearing plate, the other side of the pipe storage groove is in butt joint with the pipe storage block, the jacking cylinder is positioned below the other side of the pipe storage groove, and a piston rod of the jacking cylinder faces towards the pipe storage groove;

through the arrangement, the piston rod of the feeding cylinder can stretch and drive the movable feeding plate to move in the vertical direction relative to the fixed material bearing plate, the movable feeding plate feeds the pipe materials in the bin body to the material bearing surface, and because the material bearing surface is arranged obliquely, the pipe materials are temporarily stored between the material bearing surface and the side wall of the fixed material bearing plate under the guiding action of the material bearing surface, after the piston rod of the feeding cylinder moves for multiple times, the pipe materials are gradually fed to the material bearing surface at the top end of the fixed material bearing plate, the material bearing surface guides the pipe materials to the pipe storage groove, and the fixed material bearing plate is provided with a plurality of material bearing surfaces, so that the stroke required by the feeding cylinder to move can be reduced, and the volume of the bin body is reduced;

when the pipe materials are fed into the pipe storage groove, the pipe materials are temporarily stored on the other side of the pipe storage groove under the guiding action of the pipe storage groove, a piston rod of the jacking cylinder extends out, and a single pipe material on the outer side of the other side of the pipe storage groove is conveyed to the pipe storage block to wait for the first manipulator to take away.

Preferably, the pipe reducing component comprises an eccentric rod pipe reducing component, the eccentric rod pipe reducing component comprises an eccentric rod base, the eccentric rod base is arranged on the pipe reducing workbench, an eccentric rod sliding seat and an eccentric rod first motor are arranged on the eccentric rod base, the eccentric rod sliding seat is connected with the eccentric rod base in a sliding mode, an output shaft of the eccentric rod first motor is connected with the eccentric rod sliding seat, an eccentric rod and an eccentric rod second motor are arranged on the eccentric rod sliding seat, and an output shaft of the eccentric rod second motor is connected with the eccentric rod;

through the arrangement, when the first mechanical arm sends the pipe material to the eccentric rod pipe reducing assembly, the axis of the pipe material is coincided with the axis of the output shaft of the eccentric rod second motor, the output shaft of the eccentric rod second motor drives the eccentric rod to rotate, meanwhile, the output shaft of the eccentric rod first motor drives the eccentric rod sliding seat to move relative to the direction of the eccentric rod base towards the pipe material, the eccentric rod generates pressure on the outer wall of the pipe material, and pipe reducing processing is carried out on one end of the pipe material.

Preferably, the pipe reducing assembly comprises a chuck pipe reducing assembly, the chuck pipe reducing assembly comprises a chuck base, the chuck base is arranged on the pipe reducing workbench, a chuck sliding seat and a chuck cylinder are arranged on the chuck base, the chuck sliding seat is in sliding connection with the chuck base, a piston rod of the chuck cylinder is connected with the chuck sliding seat, a chuck and a chuck first motor are arranged on the chuck sliding seat, an output shaft of the chuck first motor is connected with the chuck, and the chuck comprises a plurality of pipe reducing clamps which are uniformly distributed along the circumferential direction;

through setting up like this, work as first manipulator sends the tubular product to when chuck draw the pipe subassembly on, and make the axis of tubular product with the axis coincidence of chuck, the piston rod of chuck cylinder stretches out the drive the chuck slide is relative the chuck base removes towards the direction of tubular product, the pipe clamp is contradicted the one end of tubular product, simultaneously the output shaft drive of the first motor of chuck the chuck rotates, the pipe clamp produces pressure to the outer wall of tubular product, carries out the draw processing to the one end of tubular product.

Preferably, the horizontal gear shaping assembly comprises a lifting seat, the lifting seat is connected with the horizontal gear shaping workbench in a sliding manner, a horizontal gear shaping motor is arranged at the bottom end of the horizontal gear shaping workbench, an output shaft of the horizontal gear shaping motor is connected with the lifting seat, a horizontal gear shaping clamping jaw and a horizontal gear shaping first cylinder are arranged on the lifting seat, the horizontal gear shaping clamping jaw comprises a fixed clamping jaw and a movable clamping jaw, the movable clamping jaw is connected with the lifting seat in a sliding manner, and a piston rod of the horizontal gear shaping first cylinder is connected with the movable clamping jaw;

the horizontal gear shaping assembly further comprises a horizontal gear shaping cutter and a horizontal gear shaping second cylinder, the horizontal gear shaping cutter is connected with the horizontal gear shaping workbench in a sliding mode and is located above the horizontal gear shaping clamping jaw, and a piston rod of the horizontal gear shaping second cylinder is connected with the horizontal gear shaping cutter;

through the arrangement, when the second mechanical arm sends the pipe materials which are subjected to pipe shrinking to the horizontal gear shaping machine, the output shaft of the horizontal gear shaping motor drives the lifting seat to rise upwards, the piston rod of the horizontal gear shaping first cylinder stretches out to drive the movable clamping jaw to move towards the direction of the fixed clamping jaw, so that the fixed clamping jaw and the movable clamping jaw grasp the pipe materials, then the piston rod of the horizontal gear shaping second cylinder stretches out to drive the horizontal gear shaping cutter to move towards the direction of the pipe materials, and a gear shaping process is carried out on one end of the pipe materials.

Preferably, the rotating assembly comprises a first rotating cylinder, a second rotating cylinder and a turnover arm, the first rotating cylinder is arranged on the horizontal gear shaping workbench, a piston rod of the first rotating cylinder is connected with a rotating seat, the second rotating cylinder and the turnover arm are both arranged on the rotating seat, a piston rod of the second rotating cylinder is connected with the turnover arm, the axis of the piston rod of the first rotating cylinder is perpendicular to the axis of the piston rod of the second rotating cylinder, and a turnover clamping jaw is arranged on the turnover arm;

through the arrangement, after the horizontal gear shaping cutter finishes cutting and gear shaping on one end of a pipe material, the piston rod of the second rotary cylinder drives the turnover arm to rotate to the horizontal gear shaping clamping jaw, the turnover clamping jaw grabs the pipe material, the piston rod of the horizontal gear shaping first cylinder contracts to drive the movable clamping jaw to move away from the direction of the fixed clamping jaw, the horizontal gear shaping clamping jaw loosens the pipe material, the piston rod of the second rotary cylinder drives the turnover arm to rotate to an initial state, the piston rod of the first rotary cylinder drives the rotary arm to rotate, so that two ends of the pipe material are exchanged, the piston rod of the second rotary cylinder drives the turnover arm to rotate to the horizontal gear shaping clamping jaw, the horizontal gear shaping first cylinder drives the movable clamping jaw to move towards the direction of the fixed clamping jaw, and the horizontal gear shaping clamping jaw grabs the pipe material, the pipe material is loosened by the turnover clamping jaw, the turnover arm rotates to an initial state by the second rotary cylinder, the two ends of the pipe material are exchanged and rotate by 180 degrees at the moment, the piston rod of the horizontal gear shaping second cylinder drives the horizontal gear shaping cutter to cut the other end of the pipe material, and the two ends of the pipe material are cut and gear shaped.

Preferably, the feeding assembly comprises a feeding support, a material storage frame body which can only contain a single pipe material is arranged on the feeding support, a feeding sliding block and a feeding motor are arranged on the feeding support, the feeding sliding block is embedded into the material storage frame body and is in sliding connection with the feeding support, and an output shaft of the feeding motor is connected with the feeding sliding block;

through the arrangement, when the second mechanical arm sends the pipe materials subjected to gear shaping to the feeding assembly, the pipe materials are embedded into the material storage frame, the output shaft of the feeding motor drives the feeding sliding block to move towards the polishing workbench, and therefore the feeding sliding block sends the pipe materials to the grinding wheel assembly.

Preferably, the material receiving assembly comprises a material receiving bracket and a material receiving bin, a material receiving belt mechanism and a material receiving motor are arranged on the material receiving bracket, an output shaft of the material receiving motor is connected with the material receiving belt mechanism, a material pushing cylinder is arranged on one side of the material receiving bracket, which is far away from the inspection assembly, the material receiving bin is arranged on one side of the material receiving bracket, which faces the inspection assembly, and a conveying mechanism is arranged in the material receiving bin;

the inspection assembly comprises an inspection support, a groove for accommodating a pipe material is formed in the top end of the inspection support, an inspection cylinder and an inspection motor are respectively arranged on two sides of the inspection support along the length direction of the pipe material, clamping wheels are arranged on a piston rod of the inspection cylinder and an output shaft of the inspection motor, an inspection sensor is arranged in the inspection support, and a material abandoning cylinder is arranged below the groove of the inspection support;

through the arrangement, the output shaft of the material receiving motor drives the material receiving belt mechanism to work, the material receiving belt mechanism conveys the polished pipe materials to one side of the material receiving belt mechanism, the piston rod of the material pushing cylinder extends out to push the pipe materials into the material receiving bin, the conveying mechanism conveys the pipe materials in the material receiving bin to the groove of the inspection support, the piston rod of the inspection cylinder extends out, the clamping wheels at two ends of the pipe materials clamp the pipe materials, the output shaft of the inspection motor drives the pipe materials to rotate, the inspection sensor judges whether the gear insertion at two ends of the pipe materials is finished or not according to the detection distance, if the gear insertion is not finished, the piston rod of the material discarding cylinder extends out, and the pipe materials are ejected and discarded; and if the third mechanical arm is finished, waiting for the third mechanical arm to grab.

Preferably, the vertical gear shaping assembly comprises a vertical gear shaping clamp, a vertical gear shaping support and a vertical gear shaping cylinder, the vertical gear shaping support is arranged on the vertical gear shaping workbench, the vertical gear shaping clamp comprises a fixed clamp and a movable clamp, the fixed clamp is arranged in the vertical gear shaping support, the vertical gear shaping cylinder is arranged on the vertical gear shaping support, a piston rod of the vertical gear shaping cylinder is fixedly connected with the movable clamp, and a vertical gear shaping cutter is arranged on one side of the movable clamp, which faces the fixed clamp;

through the arrangement, the fourth manipulator conveys the bent pipe material to the fixed clamp, the piston rod of the vertical gear shaping cylinder stretches out to drive the movable clamp to move towards the direction of the fixed clamp, and gear shaping is performed on the pipe material.

The invention also aims to provide a headrest tube production method applying the full-automatic headrest tube production line, which comprises the following steps:

step 1: the feeding assembly feeds the pipe materials in the bin body onto the pipe storage assembly;

step 2: the first manipulator sequentially sends the pipe materials on the pipe storage component to the pipe reducing components on two sides in the feeding direction perpendicular to the first manipulator, and the pipe reducing components sequentially perform pipe reducing processing on two ends of the pipe materials;

and step 3: the second manipulator is used for sending the pipe material which is positioned on the pipe reducing assembly and is subjected to pipe reducing to the horizontal gear shaping assembly, and the horizontal gear shaping assembly is used for gear shaping of one end of the pipe material;

and 4, step 4: the rotating assembly exchanges two ends of a pipe material with one end completing gear shaping and rotates 180 degrees;

and 5: the horizontal gear shaping assembly is used for shaping gears at the other end of the pipe material, and the gear shaping at the two ends of the pipe material is centrosymmetric with the midpoint of the axis of the pipe material;

step 6: the second manipulator conveys the pipe materials with the gear shaping at two ends to the feeding assembly;

and 7: the feeding assembly feeds the pipe material into the grinding wheel assembly, and the grinding wheel assembly polishes the pipe material;

and 8: the material receiving assembly receives the polished pipe material and sends the pipe material to the inspection assembly, and the inspection assembly inspects whether the gear shaping processing is finished at two ends of the pipe material;

and step 9: the third manipulator conveys qualified pipe materials to the material pushing assembly, the material pushing assembly feeds materials towards the direction of the pipe bending assembly, and the pipe bending assembly bends the pipe materials;

step 10: the fourth manipulator conveys the bent pipe material to the vertical gear shaping assembly, and the vertical gear shaping assembly performs gear shaping on the pipe material;

step 11: the fourth manipulator conveys the pipe materials subjected to gear shaping to the correction assembly, and the correction assembly detects and corrects the pipe materials;

step 12: and the fourth manipulator conveys the corrected pipe material to a finished product area.

Compared with the prior art, the invention has the beneficial technical effects that:

the full-automatic headrest tube production line can be used for full-automatic production of headrest tubes, is high in automation degree and production efficiency, only needs manual one-key starting equipment, greatly reduces manpower requirements, reduces production cost, can improve product quality in full-automatic production, guarantees product quality, and is compact in equipment and small in occupied area.

Drawings

FIG. 1 is a schematic view of a fully automatic frame tube production line according to an embodiment of the present invention;

FIG. 2 is a schematic view of a pipe storage silo according to an embodiment of the present invention;

FIG. 3 is an enlarged partial view of portion A of FIG. 2 illustrating an embodiment of the present invention;

FIG. 4 is a schematic view of a loading assembly according to an embodiment of the invention;

FIG. 5 is a schematic illustration of a raw tubing of an embodiment of the present invention;

figure 6 is a schematic view of a first robot in accordance with an embodiment of the present invention;

FIG. 7 is a schematic view of a first robot of the present invention assembled with a double-head draw machine;

FIG. 8 is a schematic view of an eccentric rod and tube contracting assembly according to an embodiment of the present invention;

FIG. 9 is a schematic view of a chuck tube reducing assembly in accordance with an embodiment of the present invention;

FIG. 10 is a schematic view of a tube material after being shrunk in accordance with an embodiment of the present invention;

FIG. 11 is a schematic view of a portion of the assembly of a second robot to a horizontal gear shaping machine in accordance with an embodiment of the present invention;

FIG. 12 is a schematic view of a horizontal gear shaping assembly according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of a portion of the structure of FIG. 12 in accordance with an embodiment of the present invention;

FIG. 14 is a schematic view of a horizontal slotting cutter according to an embodiment of the present invention;

FIG. 15 is a schematic view of a portion of a horizontal gear shaping machine according to an embodiment of the present invention;

FIG. 16 is a schematic illustration of a tube stock after gear shaping by the horizontal gear shaping machine in accordance with an embodiment of the present invention;

FIG. 17 is a schematic view of a part of the structure of a polishing machine according to an embodiment of the present invention;

figure 18 is a schematic view of an inspection machine according to an embodiment of the present invention assembled with a third robot;

FIG. 19 is a schematic view of a bender in accordance with an embodiment of the present invention;

FIG. 20 is a schematic view of an elbow block according to an embodiment of the invention;

FIG. 21 is a schematic illustration of a tube stock after bending the tube according to an embodiment of the invention;

FIG. 22 is a schematic view of a vertical gear shaper and fourth robot assembly in accordance with an embodiment of the present invention;

FIG. 23 is a schematic view of a vertical gear shaping fixture according to an embodiment of the present invention;

FIG. 24 is a schematic illustration of a tube stock after gear shaping by the vertical gear shaper in accordance with an embodiment of the present invention;

FIG. 25 is a schematic view of a correction machine according to an embodiment of the present invention;

FIG. 26 is a schematic view of a calibration mechanism according to an embodiment of the present invention;

FIG. 27 is a schematic view of a ranging mechanism according to an embodiment of the invention.

Wherein, the technical characteristics that each reference numeral refers to are as follows:

1. a pipe material storage bin; 2. a first manipulator; 3. a double-head pipe reducing machine; 4. a second manipulator; 5. a horizontal gear shaper; 6. polishing the machine; 7. a checking machine; 8. a third manipulator; 9. a pipe bender; 10. a fourth manipulator; 11. a vertical gear shaper; 12. a correction machine; 101. a bin body; 102. a movable adjusting plate; 103. fixing a material bearing plate; 104. a movable feeding plate; 105. a feeding cylinder; 106. a gear; 107. a rack; 108. a rotating shaft; 109. a pipe storage groove; 110. a weld detection sensor; 111. a storage block; 112. detecting a motor; 113. a first NG box; 114. an infrared sensor; 115. jacking a cylinder; 116. a material abandoning cylinder; 117. detecting a cylinder; 301. a pipe-shrinking workbench; 201. a first cross member; 202. a first horizontal cylinder; 203. a first vertical cylinder; 204. a first jaw; 302. an eccentric rod pipe contracting assembly; 303. a chuck tube reducing assembly; 401. a second cross member; 402. a second horizontal motor; 403. a second vertical cylinder; 404. a second jaw; 501. a horizontal gear shaping workbench; 502. a horizontal gear shaping assembly; 503. a rotating assembly; 601. polishing the working table; 602. a feeding assembly; 603. a first grinding wheel mechanism; 604. a second grinding wheel mechanism; 605. a pipe support frame is supported; 606. positioning blocks; 701. an inspection workbench; 702. a material receiving belt mechanism; 703. a material receiving motor; 704. a material pushing cylinder; 705. a conveying cylinder; 706. a material receiving bin; 707. inspecting the bracket; 708. inspecting the cylinder; 709. inspecting the motor; 710. inspecting the sensor; 711. a second NG box; 801. a third cross member; 802. a third horizontal cylinder; 803. a third vertical cylinder; 804. a third jaw; 901. a pipe bending workbench; 902. a material pushing assembly; 903. a tube bending assembly; 1031. a material bearing surface; 1041. feeding the material; 1101. a vertical gear shaping workbench; 1102. a vertical gear shaping clamp; 1103. a vertical gear shaping bracket; 1104. a vertical gear shaping cylinder; 1201. a correction workbench; 1202. a correction mechanism; 1203. a distance measuring mechanism; 3021. an eccentric rod base; 3022. an eccentric rod first motor; 3023. an eccentric rod slide carriage; 3024. an eccentric rod second motor; 3025. an eccentric rod; 3031. a chuck base; 3032. a chuck second motor; 3033. a chuck slide; 3034. a chuck cylinder; 3035. a chuck; 3036. a chuck first motor; 5021. a horizontal gear shaping motor; 5022. a lifting seat; 5023. a horizontal gear shaping first cylinder; 5024. a horizontal gear shaping jaw; 5025. a horizontal gear shaping second cylinder; 5026. a tool holder; 5027. a horizontal gear shaping cutter; 5031. a first rotary cylinder; 5032. a rotating base; 5033. a turning arm; 5034. a second rotary cylinder; 5035. turning over the clamping jaw; 6021. a feeding bracket; 6022. a material storage frame body; 6023. a feeding slide block; 6031. a first wheel motor; 6032. a first grinding wheel; 6041. a second wheel motor; 6042. a second grinding wheel; 9031. a pipe bending block; 11021. a movable clamp; 11022. fixing the clamp; 12021. correcting the base; 12022. a supporting seat; 12023. correcting the sliding seat; 12024. correcting the motor; 12025. correcting the clamping jaw; 12026. a correction cylinder; 12031. a ranging base; 12032. a distance measuring slide seat; 12033. a distance measuring motor; 12034. a ranging sensor; 30351. a pinch clamp.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments, but the scope of the present invention is not limited to the following embodiments.

Referring to fig. 1 to 27, the embodiment discloses a full-automatic headrest tube production line, which includes a tube storage bin 1, a first manipulator 2, a double-head tube reducing machine 3, a second manipulator 4, a horizontal gear shaping machine 5, a polishing machine 6, a checking machine 7, a third manipulator 8, a tube bending machine 9, a fourth manipulator 10, a vertical gear shaping machine 11, and a correcting machine 12, which are sequentially arranged;

referring to fig. 1, the tube storage bin 1 includes a bin body 101, a feeding assembly disposed in the bin body 101, and a tube storage assembly disposed on one side of the bin body 101 facing the first manipulator 2; the first manipulator 2 spans the pipe storage bin 1 and the double-head pipe reducing machine 3; the double-head pipe reducing machine 3 comprises a pipe reducing workbench 301 and pipe reducing components which are respectively arranged on two sides of the pipe reducing workbench in the feeding direction perpendicular to the first manipulator 2; the second mechanical arm 4 spans the double-head pipe reducing machine 3, the horizontal gear shaping machine 5 and the polishing machine 6; the horizontal gear shaping machine 5 comprises a horizontal gear shaping workbench 501, and a horizontal gear shaping assembly 502 and a rotating assembly 503 which are arranged on the horizontal gear shaping workbench 501, the polishing machine 6 comprises a polishing workbench 601 and a plurality of grinding wheel assemblies arranged on the polishing workbench 601, and a feeding assembly 602 is arranged on one side of the polishing workbench 601 facing the second manipulator 4; the inspection machine 7 comprises an inspection workbench 701, and a material receiving assembly and an inspection assembly which are arranged on the inspection workbench 701; the third manipulator 8 spans the checking machine 7 and the pipe bender 9; the pipe bender 9 comprises a pipe bending workbench 901, and a material pushing assembly 902 and a pipe bending assembly 903 which are arranged on the pipe bending workbench 901; the fourth manipulator 10 can be respectively butted with the pipe bender 9, the vertical gear shaper 11 and the corrector 12; the vertical gear shaping machine 11 comprises a vertical gear shaping workbench 1101 and a vertical gear shaping assembly arranged on the vertical gear shaping workbench 1101; the aligner 12 includes an aligning table 1201 and an aligning member provided on the aligning table 1201.

The full-automatic headrest tube production line can produce headrest tubes in a full-automatic mode, the automation degree is high, the production efficiency is high, only manual one-key starting equipment is needed, the manpower requirement is greatly reduced, the production cost is reduced, the full-automatic production can improve the product quality, the product quality is guaranteed, the equipment is compact, and the occupied area is small.

Referring to fig. 2-4, a movable adjusting plate 102 is disposed in the bin 101, the movable adjusting plate 102 is slidably connected to the bin 101, specifically, a ball screw and a guide post are disposed in the bin 101 along a length direction of the pipe, the movable adjusting plate 102 is provided with a screw nut adapted to the ball screw and a guide block adapted to the guide post, the screw nut is sleeved outside the ball screw, the guide block is sleeved outside the guide post, and one end of the ball screw is provided with a hand wheel, the ball screw can be driven to rotate by the hand wheel, the movable adjusting plate 102 is driven to move along the length direction of the guide post through a connection relationship, and can be adjusted according to the length of the pipe, so that a distance between the movable adjusting plate and an inner wall of the bin 101 is equal to the; the feeding assembly comprises a fixed material bearing plate 103 and a movable material bearing plate 104, wherein the fixed material bearing plates 103 are arranged on two sides of the bin body 101 along the length direction of the pipe materials, specifically, the fixed material bearing plates 103 are arranged on the inner sides of the bin body 101 and the movable adjusting plate 102, the upper parts of the fixed material bearing plates 103 are arranged in a step shape, the upper parts of the fixed material bearing plates 103 comprise a plurality of material bearing surfaces 1031 arranged in an inclined mode, the height of the material bearing surfaces 1031 is gradually increased along the feeding direction of the pipe materials, each material bearing surface 1031 inclines downwards, the movable material bearing plates 104 are connected with the fixed material bearing plates 103 in a sliding mode, specifically, slide rails extending along the vertical direction are arranged on the fixed material bearing plates 103, slide blocks matched with the slide rails are arranged on the movable material bearing plates 104, the slide blocks are sleeved outside the slide rails, a feeding cylinder 105 is arranged on one side of the fixed material bearing plates 103, a piston rod of the feeding cylinder 105 is connected with the movable material bearing plates 104, the upper parts of the movable material bearing plates, the feeding surface 1041 is obliquely arranged, the inclination degree of the feeding surface 1041 is the same as that of the material bearing surface 1031, a plurality of connecting columns are arranged on the outer side of the fixed material bearing plate 103, on one hand, the fixed material bearing plate 103 is convenient to be connected with the bin body 101 or an adjusting movable plate, on the other hand, the movement of the movable material bearing plate 104 can be limited, inclined guide plates are further arranged on the inner sides of the bin body 101 and the adjusting movable plate, and the guide plates are butted with the feeding surface 1041 at the lowest position when the movable material bearing plate 104 is at the lowest point; further, a rotating shaft 108 penetrates through the fixed material bearing plate 103, gears 106 are sleeved at two ends of the rotating shaft 108, racks 107 are arranged on the movable material feeding plates 104, and the gears 106 are meshed with the racks 107 to ensure synchronous action of the movable material feeding plates 104 at two sides;

referring to fig. 2-4, the tube storage assembly comprises a tube storage groove 109, a jacking cylinder 115 and a tube storage block 111, which are arranged in the bin body 101 along two sides of the length direction of the tube, the jacking cylinder 115 and the tube storage block 111 are arranged on the opposite sides of the bin body 101 and the movable adjusting plate 102, a V-shaped groove for accommodating a single tube is arranged in the tube storage block 111, one side of the tube storage groove 109 is butted with the top end of the fixed material bearing plate 103, the other side of the tube storage groove 109 is butted with the tube storage block 111, the tube storage groove 109 comprises an upper clamping plate and a lower clamping plate, the lower clamping plate is fixedly connected with the bin body 101 and the movable adjusting plate 102 and is obliquely arranged, the lower clamping plate is inclined downwards along the feeding direction of the tube, the upper clamping plate is movably connected with the bin body 101 and the movable adjusting plate 102, and the upper clamping plate and the lower clamping plate are arranged in parallel and spaced, concretely, an adjusting seat, the fixed block is fixedly connected with the bin body 101 or the movable adjusting plate 102, the adjusting handle penetrates through the fixed block, the adjusting handle is in threaded connection with the adjusting block, the adjusting block is fixedly connected with the upper clamping plate, the axis of the adjusting handle is perpendicular to the upper clamping plate, when the adjusting handle is rotated, the upper clamping plate is driven to move through threaded matching between the adjusting handle and the adjusting block, so that the distance between the upper clamping plate and the lower clamping plate can be adjusted according to the diameter of a pipe material, the pipe material can be stored in the pipe storage groove 109 only in a single-row mode, the jacking cylinder 115 is located below the other side of the pipe storage groove 109, and the piston rod of the jacking cylinder 115 faces the pipe storage groove 109;

referring to fig. 2-4, the piston rod of the feeding cylinder 105 can stretch and retract to drive the movable feeding plate 104 to move in the vertical direction relative to the fixed material-bearing plate 103, the movable feeding plate 104 feeds the tube material in the bin 101 to the material-bearing surface 1031, and because the material-bearing surface 1031 is arranged obliquely, the tube material is temporarily stored between the material-bearing surface 1031 and the side wall of the fixed material-bearing plate 103 under the guiding action of the material-bearing surface 1031, after the piston rod of the feeding cylinder 105 moves for multiple times, the tube material is gradually fed to the material-bearing surface 1031 at the top end of the fixed material-bearing plate 103, the material-bearing surface 1031 guides the tube material to the tube storage groove 109, and the fixed material-bearing plate 103 is provided with a plurality of material-bearing surfaces 1031, so that the stroke required by the feeding cylinder 105 can be reduced, thereby reducing the volume of the bin 101;

when the pipe material loading to deposit the pipe box 109 in, under the guide effect of depositing pipe box 109, the pipe material exists the opposite side of depositing pipe box 109 temporarily, and the piston rod of jacking cylinder 115 stretches out, will be located and deposit a single pipe material in the outside of pipe box 109 opposite side and send to deposit pipe block 111 on, wait that first manipulator 2 takes away.

Referring to fig. 2-3, further, a weld detecting assembly is further disposed on the bin body 101, the weld detecting assembly includes a detecting cylinder 117 and a detecting motor 112, the detecting cylinder 117 is disposed outside the movable adjusting plate 102 and located outside the tube storage block 111, the detecting motor 112 is disposed outside the tube storage block 111 and located outside the bin body 101, the detecting cylinder 117 is fixedly connected to the movable adjusting plate 102, the detecting motor 112 is slidably connected to the bin body 101, specifically, a sliding cylinder is disposed outside the bin body 101, a piston rod of the sliding cylinder is fixedly connected to the detecting motor 112, a piston rod of the detecting cylinder 117 is coaxially disposed opposite to an output shaft of the detecting motor 112, a piston rod of the detecting cylinder 117 and an output shaft of the detecting motor 112 are both provided with a clamping wheel, a waste cylinder 116 is disposed outside the tube storage block 111 and located on the movable adjusting plate 102 and the bin body 101, the waste cylinder 116 is located below a V-shaped groove of the tube storage block 111, and a, the bin body 101 is further provided with a welding line detection sensor 110, when a pipe material is fed to a V-shaped groove of the pipe storage block 111, a piston rod of a sliding cylinder drives a detection motor 112 to move towards the direction of a detection cylinder 117, and a piston rod of the detection cylinder 117 extends out, so that a clamping wheel clamps the pipe material, an output shaft of the detection motor 112 rotates to drive the pipe material to rotate, the welding line detection sensor 110 detects whether the welding line is qualified or not through color difference, and if the welding line is unqualified, a piston rod of a waste cylinder 116 ejects the pipe material in the V-shaped groove; if the welding seam is qualified, waiting for the first manipulator 2 to be taken away; further, one side of the bin body 101 facing the first mechanical arm 2 is provided with a first NG box 113, a piston rod of the material abandoning cylinder 116 ejects out unqualified pipes and stores the unqualified pipes into the first NG box 113, and one side of the bin body 101 located in the first NG box 113 is further provided with an infrared sensor 114 for detecting whether the pipes in the first NG box 113 are filled.

Referring to fig. 6, first beams 201 are arranged on the bin body 101 and the pipe-retracting workbench 301, two ends of each first beam 201 are respectively located above the bin body 101 and the pipe-retracting workbench 301, a first manipulator 2 is arranged on each first beam 201, two first manipulators 2 (three first manipulators 2 are shown to be only used for indicating the working positions of the manipulators) are arranged on each first beam 201, a first horizontal cylinder 202 is arranged on each first beam 201, each first manipulator 2 comprises a first vertical cylinder 203, each first vertical cylinder 203 is slidably connected with each first beam 201, a piston rod of each first horizontal cylinder 202 is fixedly connected with the first vertical cylinder 203 of one first manipulator 2, the two first vertical cylinders 203 are fixedly connected through a connecting rod, and a piston rod of each first vertical cylinder 203 faces downwards and is provided with a first clamping jaw 204; when the piston rod of the first horizontal cylinder 202 and the piston rod of the first vertical cylinder 203 both extend out to limit, one of the first clamping jaws 204 is in butt joint with the pipe storage block 111 to grab the pipe material on the pipe storage block 111, and the other first clamping jaw 204 is in butt joint with the pipe reducing assembly; when the piston rod of the first horizontal cylinder 202 contracts to a limit position and the piston rod of the first vertical cylinder 203 extends to a limit position, the two first clamping jaws 204 are respectively butted with the two pipe reducing assemblies, and the two first manipulators 2 are arranged to improve the working efficiency.

Referring to fig. 7-8, the pipe contracting assembly comprises an eccentric rod pipe contracting assembly 302, a supporting assembly for supporting a pipe material is arranged along the other side perpendicular to the feeding direction of the first manipulator 2, the eccentric rod pipe contracting assembly 302 comprises an eccentric rod base 3021, the eccentric rod base 3021 is arranged on the pipe contracting worktable 301, the eccentric rod base 3021 is provided with an eccentric rod slide 3023 and an eccentric rod first motor 3022, the eccentric rod slide 3023 is slidably connected with the eccentric rod base 3021, an output shaft of the eccentric rod first motor 3022 is connected with the eccentric rod slide 3023, specifically, the eccentric rod base 3021 is further provided with a speed reducer, an output shaft of the eccentric rod first motor 3022 is connected with an input end of the speed reducer, an output end of the speed reducer is connected with a ball screw, the ball screw is sleeved with a screw nut, the screw nut is fixedly connected with the eccentric rod slide 3023, the sliding direction of the eccentric rod slide 3023 relative to the eccentric rod base 3021 is perpendicular to the feeding direction of, the eccentric rod base 3021 is further provided with a slide rail, the eccentric rod slide 3023 is provided with a slide block, the slide block is sleeved outside the slide rail, a ball screw and a screw nut are matched to form a screw assembly, the slide rail and the slide block are matched to form a guide rail assembly, the eccentric rod slide 3023 is provided with an eccentric rod 3025 and an eccentric rod second motor 3024, an output shaft of the eccentric rod second motor 3024 is connected with the eccentric rod 3025, specifically, the eccentric rod slide 3023 is provided with a rotating wheel, the eccentric rod 3025 is eccentrically disposed on the rotating wheel, and the output shaft of the eccentric rod second motor 3024 is coaxially and fixedly connected with the rotating wheel;

when the first manipulator 2 sends the tube material to the eccentric rod shrinking tube assembly 302, the axis of the tube material coincides with the axis of the output shaft of the eccentric rod second motor 3024, the output shaft of the eccentric rod second motor 3024 drives the eccentric rod 3025 to rotate, meanwhile, the output shaft of the eccentric rod first motor 3022 drives the eccentric rod slide 3023 to move towards the direction of the tube material relative to the eccentric rod base 3021, the eccentric rod 3025 generates pressure on the outer wall of the tube material, and the shrinking processing is performed on one end of the tube material.

Referring to fig. 7 and 9, the pipe shrinking assembly comprises a chuck pipe shrinking assembly 303, a support assembly for supporting a pipe is arranged along the other side perpendicular to the feeding direction of the first manipulator 2, the chuck pipe shrinking assembly 303 comprises a chuck base 3031, the chuck base 3031 is arranged on the pipe shrinking workbench 301 and is slidably connected with the pipe shrinking workbench 301, a screw rod assembly and a guide rail assembly are arranged between the pipe shrinking workbench 301 and the chuck base 3031, a chuck second motor 3032 is arranged on the pipe shrinking workbench 301, an output shaft of the chuck second motor 3032 is connected with the screw rod assembly to drive the chuck base 3031 to slide relative to the pipe shrinking workbench 301, a chuck sliding base 3033 and a chuck cylinder 3034 are arranged on the chuck base 3031, the chuck sliding base 3033 is slidably connected with the chuck base 3031, the guide rail assembly is arranged between the chuck sliding base 3033 and the chuck base 3031, the sliding directions of the chuck base 3031 and the chuck sliding base 3033 are both perpendicular to the feeding direction of the first manipulator, a piston rod of the chuck cylinder 3034 is connected with a chuck sliding seat 3033, the chuck sliding seat 3033 is provided with a chuck 3035 and a chuck first motor 3036, an output shaft of the chuck first motor 3036 is connected with the chuck 3035, the chuck 3035 comprises a plurality of pipe contracting clamps 30351 which are uniformly distributed along the circumferential direction, and each pipe contracting clamp 30351 comprises an arc surface which is abutted against a pipe material;

when the first manipulator 2 sends the pipe material to the chuck pipe contracting assembly 303, the axis of the pipe material is made to coincide with the axis of the chuck 3035, the piston rod of the chuck cylinder 3034 extends out to drive the chuck sliding base 3033 to move towards the direction of the pipe material relative to the chuck base 3031, the pipe contracting clamp 30351 abuts against one end of the pipe material, meanwhile, the output shaft of the chuck first motor 3036 drives the chuck 3035 to rotate, the pipe contracting clamp 30351 generates pressure on the outer wall of the pipe material, namely, the arc surface of the pipe contracting clamp 30351 generates pressure on the outer wall of the pipe material, and pipe contracting processing is performed on one end of the pipe material.

Referring to fig. 11 to 15, a second beam 401 is arranged above the pipe-retracting workbench 301, the horizontal gear shaping machine 5 and the feeding assembly 602, two second manipulators 4 are arranged on the second beam 401, a second horizontal motor 402 is arranged on the second beam 401, the second manipulator 4 comprises a second vertical cylinder 403, the second vertical cylinder 403 is slidably connected with the second beam 401, a screw rod assembly is arranged between the second vertical cylinder 403 and the second horizontal motor 402, an output shaft of the second horizontal motor 402 is connected with the screw rod assembly, the two second vertical cylinders 403 are fixedly connected through a connecting rod, and a piston rod of the second vertical cylinder 403 is provided with a second clamping jaw 404; when the output shaft of the second horizontal motor 402 drives the second manipulator 4 to move to the station, one second clamping jaw 404 is in butt joint with the pipe material assembly, and the other second clamping jaw 404 is in butt joint with the horizontal gear shaping assembly 502; or one of the second jaws 404 may interface with the horizontal gear shaping assembly 502 and the other second jaw 404 may interface with the feed assembly 602.

Referring to fig. 11 to 15, the horizontal type gear shaping assembly 502 includes a lifting seat 5022, the lifting seat 5022 is slidably connected with the horizontal type gear shaping worktable 501, a guide rail assembly extending in a vertical direction is arranged between the lifting seat 5022 and the horizontal type gear shaping worktable 501, a horizontal type gear shaping motor 5021 is arranged at the bottom end of the horizontal type gear shaping worktable 501, an output shaft of the horizontal type gear shaping motor 5021 is connected with the lifting seat 5022, the horizontal type gear shaping motor 5021 is connected with the lifting seat 5022 through a lead screw assembly, a horizontal type gear shaping jaw 5024 and a horizontal type gear shaping first cylinder 5023 are arranged on the lifting seat 5022, the horizontal type gear shaping jaw 5024 includes a fixed jaw and a movable jaw, the movable jaw is slidably connected with the horizontal type lifting seat 5022, and a piston rod of the gear shaping first cylinder 5023 is movably connected with the jaw;

referring to fig. 11 to 15, the horizontal type gear shaping assembly 502 further includes a horizontal type gear shaping cutter 5027 and a horizontal type gear shaping second cylinder 5025, the horizontal type gear shaping cutter 5027 is slidably connected with the horizontal type gear shaping worktable 501, the horizontal type gear shaping cutter 5027 is located above the horizontal type gear shaping clamping jaw 5024, a piston rod of the horizontal type gear shaping second cylinder 5025 is connected with the horizontal type gear shaping cutter 5027, specifically, a cutter holder 5026 is arranged on the horizontal type gear shaping worktable 501, the cutter holder 5026 is slidably connected with the horizontal type gear shaping worktable 501 through a guide rail assembly, the horizontal type gear shaping cutter 5027 is arranged above the cutter holder 5026, and a piston rod of the horizontal type gear shaping second cylinder 5025 is fixedly connected with the cutter holder 5026;

referring to fig. 11 to 15, when the second manipulator 4 delivers the tube material after the tube shrinking to the horizontal gear shaping machine 5, the output shaft of the horizontal gear shaping motor 5021 drives the lifting seat 5022 to rise upwards, the piston rod of the horizontal gear shaping first cylinder 5023 extends out to drive the movable jaw to move towards the direction of the fixed jaw, so that the fixed jaw and the movable jaw grasp the tube material, and then the piston rod of the horizontal gear shaping second cylinder 5025 extends out to drive the horizontal gear shaping cutter 5027 to move towards the direction of the tube material, so as to perform a gear shaping process on one end of the tube material.

Referring to fig. 11-15, since the horizontal gear shaping assembly 502 can only perform gear shaping on one end of the tubing, and the gear shaping at the two ends of the headrest tube is arranged symmetrically with respect to the midpoint of the axis of the tubing, the rotation assembly 503 needs to exchange and rotate 180 ° the two ends of the tubing, the rotation assembly 503 includes a first rotation cylinder 5031, a second rotation cylinder 5034 and a turning arm 5033, the first rotation cylinder 5031 is arranged on the horizontal gear shaping worktable 501, the axis of the piston rod of the first rotation cylinder 5031 is vertically arranged, the piston rod of the first rotation cylinder 5031 is connected to the rotation seat 5032, the second rotation cylinder 5034 and the turning arm 5033 are both arranged on the rotation seat 5032, the piston rod of the second rotation cylinder 5034 is connected to the turning arm 5033, the axis of the piston rod of the first rotation cylinder 5031 is perpendicular to the axis of the piston rod of the second rotation cylinder 5034, and the turning arm 5033 is provided with a turning clamping jaw 5035;

referring to fig. 11-15, after the horizontal type gear shaping cutter 5027 finishes cutting and gear shaping on one end of a pipe material, the piston rod of the second rotary cylinder 5034 rotates to drive the turning arm 5033 to rotate to the horizontal type gear shaping jaw 5024, the turning jaw 5035 grips the pipe material, the piston rod of the horizontal type gear shaping first cylinder 5023 contracts to drive the movable jaw to move away from the direction of the fixed jaw, the horizontal type gear shaping jaw 5024 loosens the pipe material, the piston rod of the second rotary cylinder 5034 rotates to drive the turning arm 5033 to rotate to the initial state, the piston rod of the first rotary cylinder 5031 drives the rotating arm to rotate, so that two ends of the pipe material are exchanged, the piston rod of the second rotary cylinder 5034 drives the turning arm 5033 to rotate to the horizontal type gear shaping jaw 5024, the horizontal type gear shaping first cylinder 5023 drives the movable jaw to move towards the direction of the fixed jaw, the horizontal type gear shaping jaw 5024 grips the pipe material, the turning jaw 5035 loosens the pipe material, the second rotary cylinder 5034 rotates to, at the moment, the two ends of the pipe material are exchanged and rotate 180 degrees, the piston rod of the horizontal gear shaping second cylinder 5025 drives the horizontal gear shaping cutter 5027 to cut the other end of the pipe material, and the two ends of the pipe material are cut and gear shaping procedures.

Referring to fig. 17, the feeding assembly 602 includes a feeding support 6021, a material storage frame 6022 capable of accommodating only a single tube material is disposed on the feeding support 6021, a feeding slide block 6023 and a feeding motor are disposed on the feeding support 6021, the feeding slide block 6023 is embedded in the material storage frame 6022 and is slidably connected to the feeding support 6021, the feeding slide block 6023 is connected to the feeding support 6021 through a screw rod assembly and a guide rail assembly, an output shaft of the feeding motor is connected to the feeding slide block 6023, that is, an output shaft of the feeding motor is connected to the screw rod assembly;

when the second manipulator 4 feeds the tube material with the gear shaping completed to the feeding assembly 602, the tube material is embedded in the material storage frame 6022, and the output shaft of the feeding motor drives the feeding slide block 6023 to move towards the polishing worktable 601, so that the feeding slide block 6023 feeds the tube material into the grinding wheel assembly.

Referring to fig. 17, a pipe supporting frame 605 is disposed on a polishing platen 601 along a length direction, pipe positioning blocks 606 are disposed at two ends of the pipe supporting frame 605 along the length direction, pipes penetrate through the pipe positioning blocks 606, the pipe positioning blocks 606 can position the pipes and send the pipes onto the pipe supporting frame 605, a plurality of grinding wheel assemblies are disposed on the polishing platen 601 along the length direction, each grinding wheel assembly includes a first grinding wheel mechanism 603 and a second grinding wheel mechanism 604, the first grinding wheel mechanism 603 and the second grinding wheel mechanism 604 are respectively disposed at two sides of the pipe supporting frame 605, the first grinding wheel mechanism 603 includes a first grinding wheel motor 6031 and a first grinding wheel 6032, an output shaft of the first grinding wheel motor 6031 is connected with the first grinding wheel 6032 through a belt, the second grinding wheel mechanism 604 includes a second grinding wheel motor 6041 and a second grinding wheel 6042, an output shaft of the second grinding wheel motor 6041 is connected with the second grinding wheel 6042, and the plurality of second grinding wheels 6042 are coaxially and fixedly connected through a coupling and a connecting rod, along the feeding direction of the tube material, the first grinding wheel 6032 and the second grinding wheel 6042 can not only perform a polishing function on the tube material, but also perform a certain driving function on the tube material, and convey the tube material to the inspection machine 7.

Referring to fig. 18, the material receiving assembly includes a material receiving bracket and a material receiving bin 706, the material receiving bracket is provided with a material receiving belt mechanism 702 and a material receiving motor 703, the material receiving belt is butted with the pipe supporting frame 605, an output shaft of the material receiving motor 703 is connected with the material receiving belt mechanism 702, the output shaft of the material receiving motor 703 drives the material receiving belt mechanism 702 to rotate, so that the polished pipe material can be received, one side of the material receiving bracket, which is away from the inspection assembly, is provided with a material pushing cylinder 704, one side of the material receiving bracket, which faces the inspection assembly, is provided with the material receiving bin 706, the material receiving bin 706 is provided with a conveying mechanism, the conveying mechanism includes a conveying cylinder 705, and the conveying cylinder 705;

referring to fig. 18, the inspection assembly includes an inspection bracket 707, a groove for accommodating the tube material is disposed at the top end of the inspection bracket 707, and the top end of the inspection bracket 707 is disposed in an inclined manner, when the piston rod of the conveying cylinder 705 conveys the tube material to the inspection bracket 707, the tube material moves into the groove under the guiding action of the inspection bracket 707, an inspection cylinder 708 and an inspection motor 709 are respectively disposed at two sides of the inspection bracket 707 along the length direction of the tube material, the inspection cylinder 708 and the inspection motor 709 are coaxially disposed oppositely, a clamping wheel is disposed at both the piston rod of the inspection cylinder 708 and the output shaft of the inspection motor 709, an inspection sensor 710 is disposed in the inspection bracket 707, and a waste material cylinder 116 is disposed below the groove of the inspection bracket 707; the front side of the inspection bracket 707 is also provided with a second NG cartridge 711, and the inside of the inspection bracket 707 is provided with an infrared sensor 114 for detecting whether the second NG cartridge 711 is full;

referring to fig. 18, an output shaft of the material receiving motor 703 drives the material receiving belt mechanism 702 to work, the material receiving belt mechanism 702 delivers the polished pipe material to one side of the material receiving belt mechanism 702, a piston rod of the material pushing cylinder 704 extends out to push the pipe material into the material receiving bin 706, the conveying mechanism delivers the pipe material in the material receiving bin 706 to a groove of the inspection bracket 707, a piston rod of the inspection cylinder 708 extends out, clamping wheels at two ends of the pipe material clamp the pipe material, an output shaft of the inspection motor 709 drives the pipe material to rotate, the inspection sensor 710 determines whether gear slotting at two ends of the pipe material is completed according to the detection distance, and if not, a piston rod of the waste material cylinder 116 extends out to jack the pipe material into the second NG box 711; if the process is finished, waiting for the third manipulator 8 to grab.

Referring to fig. 18, a third beam 801 is arranged above the inspection machine 7 and the pipe bender 9, a third manipulator 8 is arranged on the third beam 801, a third horizontal cylinder 802 is arranged on the third beam 801, the third manipulator 8 includes a third vertical cylinder 803, the third vertical cylinder 803 is slidably connected with the third beam 801, a piston rod of the third horizontal cylinder 802 is fixedly connected with the third vertical cylinder 803, and a piston rod of the third vertical cylinder 803 is provided with a third clamping jaw 804; when the piston rod of the third horizontal cylinder 802 and the piston rod of the third vertical cylinder 803 extend out to limit, the third clamping jaw 804 is butted with the groove of the inspection bracket 707; when the piston rod of the third horizontal cylinder 802 contracts to a limit position and the piston rod of the third vertical cylinder 803 extends to a limit position, the third clamping jaw 804 is butted with the pushing assembly 902.

Referring to fig. 19-20, the length direction of the bending work table 901 is perpendicular to the feeding direction of the third manipulator 8, the pushing assembly 902 is slidably connected to the bending work table 901, a screw assembly and a guide rail assembly are disposed between the pushing assembly 902 and the bending work table 901, a first pushing motor is disposed in the bending work table 901, the first pushing motor is connected to the screw assembly, the first pushing motor drives the pushing assembly 902 to move along the length direction of the bending work table 901, the pushing assembly 902 includes a pushing seat, a second pushing motor and a pushing jaw disposed in the pushing seat, an output shaft of the second pushing motor is connected to the pushing jaw, the second pushing motor drives the pushing jaw to rotate, so as to drive the tube grasped by the pushing jaw to rotate, the tube bending assembly 903 includes a tube bending block 9031 and a tube bending motor, the tube bending motor is disposed in the bending work table 901, and an output shaft of the tube bending motor is connected to the tube bending block 9031, the pipe bending block 9031 is provided with a pipe bending groove, when the third manipulator 8 sends a pipe material to the material pushing assembly 902, the material pushing clamping jaw tightly grasps the pipe material, the first material pushing motor drives the pipe material to move towards the direction of the pipe bending block 9031, the pipe bending motor drives the pipe bending block 9031 to rotate, and the second material pushing motor is matched with the pipe material to drive the pipe material to rotate to adjust the angle, so that the pipe material is bent.

Referring to fig. 22, the fourth robot 10 is a six-axis robot, and can flexibly grip the tube.

Referring to fig. 22-23, the vertical gear shaping assembly includes a vertical gear shaping fixture 1102, a vertical gear shaping bracket 1103 and a vertical gear shaping cylinder 1104, the vertical gear shaping fixture 1103 is disposed on a vertical gear shaping worktable 1101, the vertical gear shaping fixture 1102 includes a fixed fixture 11022 and a movable fixture 11021, the fixed fixture 11022 is disposed on the vertical gear shaping bracket 1103, the vertical gear shaping cylinder 1104 is disposed on the vertical gear shaping bracket 1103, a piston rod of the vertical gear shaping cylinder 1104 is fixedly connected with the movable fixture 11021, and one side of the movable fixture 11021 facing the fixed fixture 11022 is provided with a vertical gear shaping cutter;

referring to fig. 22-23, the fourth robot 10 sends the bent tube to the fixed clamp 11022, and the piston rod of the vertical gear shaping cylinder 1104 extends to drive the movable clamp 11021 to move toward the fixed clamp 11022, so as to perform gear shaping on the tube.

Referring to fig. 25-27, the calibration assembly includes a calibration mechanism and a distance measuring mechanism 1203, the calibration mechanism includes a calibration base 12021, the calibration base 12021 is disposed on the calibration workbench 1201, the calibration base 12021 includes a support base 12022 for placing the tube material thereon, a calibration slide 12023 and a calibration clamp claw 12025 are disposed on both sides of the support base 12022, the calibration slide 12023 is slidably connected to the calibration base 12021, a lead screw assembly and a guide rail assembly are disposed between the calibration slide 12023 and the calibration base 12021, the calibration base 12021 is disposed with a calibration motor 12024, an output shaft of the calibration motor 12024 is coaxially connected to the lead screw assembly, the calibration slide 12023 is disposed with a calibration clamp claw 12025 and a calibration electric cylinder, a piston rod of the calibration electric cylinder is connected to the calibration clamp claw 12025, when the tube material is on the support base 12022, the piston rod of the calibration electric cylinder can drive the calibration clamp claw 25 to grip both ends of the tube material, the distance, the ranging mechanism 1203 comprises a ranging base 12031 and a ranging sliding base 12032, the ranging sliding base 12032 is slidably connected with the ranging base 12031, a ranging motor 12033 is arranged on the correcting workbench 1201, an output shaft of the ranging motor 12033 is connected with the ranging sliding base 12032, a ranging sensor 12034 is arranged on the ranging sliding base 12032 and used for detecting the central distance X between two ends of a pipe material, when the fourth manipulator 10 sends the pipe material with the inserted teeth to the correcting mechanism, a correcting cylinder 12026 drives a correcting clamping jaw 12025 to clamp two ends of the pipe material, the ranging motor 12033 drives the ranging sliding base 12032 to move, the ranging sensor 12034 detects the central distance X between two ends of the pipe material, and if the pipe material is unqualified, the correcting clamping jaw 12025 is driven to move by the correcting motor 12024 until the central distance X between two ends of the pipe material is qualified; if the tube material is qualified, the fourth manipulator 10 places the tube material in the finished product area.

The embodiment also discloses a headrest tube production method applying the full-automatic headrest tube production line, which comprises the following steps:

step 1: the feeding assembly feeds the pipe material in the bin body 101 onto the pipe storage assembly;

step 2: the first manipulator 2 sequentially sends the pipe materials on the pipe storage component to pipe reducing components on two sides in the feeding direction perpendicular to the first manipulator 2, and the pipe reducing components sequentially perform pipe reducing processing on two ends of the pipe materials;

and step 3: the second manipulator 4 sends the pipe material which is positioned on the pipe reducing component and is subjected to pipe reducing to the horizontal gear shaping component 502, and the horizontal gear shaping component 502 performs gear shaping on one end of the pipe material;

and 4, step 4: the rotating assembly 503 exchanges two ends of the pipe material with one end completing gear shaping and rotates 180 degrees;

and 5: the horizontal gear shaping assembly 502 performs gear shaping on the other end of the pipe material, and the gear shaping at the two ends of the pipe material is centrosymmetric with the middle point of the axis of the pipe material;

step 6: the second manipulator 4 sends the pipe materials with the gear shaping completed at the two ends to the feeding assembly 602;

and 7: the feeding assembly 602 feeds the pipe material into the grinding wheel assembly, and the grinding wheel assembly polishes the pipe material;

and 8: the material receiving assembly receives the polished pipe material and sends the pipe material to the inspection assembly, and the inspection assembly inspects whether the two ends of the pipe material complete gear shaping processing or not;

and step 9: the third manipulator 8 sends the qualified tube material to the pushing assembly 902, the pushing assembly 902 feeds the tube material towards the tube bending assembly 903, and the tube bending assembly 903 bends the tube material;

step 10: the fourth manipulator 10 sends the bent pipe material to the vertical gear shaping assembly, and the vertical gear shaping assembly performs gear shaping on the pipe material;

step 11: the fourth manipulator 10 sends the pipe materials subjected to gear shaping to the correction assembly, and the correction assembly detects and corrects the pipe materials;

step 12: the fourth robot 10 delivers the calibrated tube to the finishing section.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A full-automatic headrest tube production line is characterized by comprising a tube storage bin (1), a first mechanical arm (2), a double-head tube reducing machine (3), a second mechanical arm (4), a horizontal gear shaping machine (5), a polishing machine (6), a checking machine (7), a third mechanical arm (8), a tube bending machine (9), a fourth mechanical arm (10), a vertical gear shaping machine (11) and a correcting machine (12) which are sequentially arranged;

the pipe material storage bin (1) comprises a bin body (101), a feeding assembly arranged in the bin body (101) and a pipe storage assembly arranged on one side, facing the first manipulator (2), of the bin body (101); the first manipulator (2) stretches across the pipe material storage bin (1) and the double-head pipe reducing machine (3); the double-head pipe reducing machine (3) comprises a pipe reducing workbench (301) and pipe reducing components which are respectively arranged on two sides of the pipe reducing workbench in the feeding direction perpendicular to the first manipulator (2); the second mechanical hand (4) stretches across the double-head pipe reducing machine (3), the horizontal gear shaping machine (5) and the polishing machine (6); the horizontal gear shaping machine (5) comprises a horizontal gear shaping workbench (501), and a horizontal gear shaping assembly (502) and a rotating assembly (503) which are arranged on the horizontal gear shaping workbench (501), the polishing machine (6) comprises a polishing workbench (601) and a plurality of grinding wheel assemblies which are arranged on the polishing workbench (601), and a feeding assembly (602) is arranged on one side, facing the second mechanical arm (4), of the polishing workbench (601); the inspection machine (7) comprises an inspection workbench (701), and a material receiving assembly and an inspection assembly which are arranged on the inspection workbench (701); the third manipulator (8) spans the inspection machine (7) and the pipe bender (9); the pipe bender (9) comprises a pipe bending workbench (901), and a material pushing assembly (902) and a pipe bending assembly (903) which are arranged on the pipe bending workbench (901); the fourth manipulator (10) can be respectively butted with the pipe bender (9), the vertical gear shaper (11) and the corrector (12); the vertical gear shaping machine (11) comprises a vertical gear shaping workbench (1101) and a vertical gear shaping assembly arranged on the vertical gear shaping workbench (1101); the correcting machine (12) comprises a correcting workbench (1201) and a correcting component arranged on the correcting workbench (1201).

2. The full-automatic headrest tube production line according to claim 1, wherein the feeding assembly comprises a fixed material bearing plate (103) and a movable material feeding plate (104), the fixed material bearing plate (103) is arranged on each of two sides of the cabin body (101) along the length direction of the tube, the upper portions of the fixed material bearing plates (103) are arranged in a step shape, the upper portions of the fixed material bearing plates (103) comprise a plurality of obliquely arranged material bearing surfaces (1031), the movable material feeding plate (104) is slidably connected with the fixed material bearing plates (103), a feeding cylinder (105) is arranged on one side of each fixed material bearing plate (103), and a piston rod of each feeding cylinder (105) is connected with the movable material feeding plate (104);

deposit the pipe assembly including setting up deposit tub groove (109), jacking cylinder (115) and deposit tub piece (111) along the pay-off direction of pipe material length direction both sides in storehouse body (101), deposit tub groove (109) including punch holder and lower plate, along the pay-off direction of pipe material, the lower plate downward sloping, punch holder and the parallel interval setting of lower plate, deposit one side of tub groove (109) with the top butt joint of fixed holding plate (103), deposit the opposite side of tub groove (109) with deposit tub piece (111) butt joint, jacking cylinder (115) are located deposit the below of tub groove (109) opposite side, just the piston rod orientation of jacking cylinder (115) deposit tub groove (109).

3. The production line of the full-automatic headrest tubes as claimed in claim 1, wherein the tube shrinking assembly comprises an eccentric rod shrinking tube assembly (302), the eccentric rod shrinking tube assembly (302) comprises an eccentric rod base (3021), the eccentric rod base (3021) is disposed on the tube shrinking workbench (301), an eccentric rod slide (3023) and an eccentric rod first motor (3022) are disposed on the eccentric rod base (3021), the eccentric rod slide (3023) and the eccentric rod base (3021) are slidably connected, an output shaft of the eccentric rod first motor (3022) is connected to the eccentric rod slide (3023), an eccentric rod (3025) and an eccentric rod second motor (3024) are disposed on the eccentric rod slide (3023), and an output shaft of the eccentric rod second motor (3024) is connected to the eccentric rod (3025).

4. The production line of the full-automatic headrest tube according to claim 1, wherein the tube shrinkage assembly comprises a chuck tube shrinkage assembly (303), the chuck tube shrinkage assembly (303) comprises a chuck base (3031), the chuck base (3031) is arranged on the tube shrinkage workbench (301), a chuck sliding base (3033) and a chuck cylinder (3034) are arranged on the chuck base (3031), the chuck sliding base (3033) is in sliding connection with the chuck base (3031), a piston rod of the chuck cylinder (3034) is connected with the chuck sliding base (3033), a chuck (3035) and a chuck first motor (3036) are arranged on the chuck sliding base (3033), an output shaft of the chuck first motor (3036) is connected with the chuck (3035), and the chuck (3035) comprises a plurality of circumferentially uniformly distributed tube shrinkage clamps (30351).

5. The full-automatic headrest tube production line according to claim 1, wherein the horizontal type gear shaping assembly (502) comprises a lifting seat (5022), the lifting seat (5022) is in sliding connection with the horizontal type gear shaping workbench (501), a horizontal type gear shaping motor (5021) is arranged at the bottom end of the horizontal type gear shaping workbench (501), an output shaft of the horizontal type gear shaping motor (5021) is connected with the lifting seat (5022), a horizontal type gear shaping clamping jaw (5024) and a horizontal type gear shaping first cylinder (5023) are arranged on the lifting seat (5022), the horizontal type gear shaping clamping jaw (5024) comprises a fixed clamping jaw and a movable clamping jaw, the movable clamping jaw is in sliding connection with the lifting seat (5022), and a piston rod of the horizontal type gear shaping first cylinder (5023) is connected with the movable clamping jaw;

the horizontal type gear shaping assembly (502) further comprises a horizontal type gear shaping cutter (5027) and a horizontal type gear shaping second cylinder (5025), the horizontal type gear shaping cutter (5027) is in sliding connection with the horizontal type gear shaping workbench (501), the horizontal type gear shaping cutter (5027) is located above the horizontal type gear shaping clamping jaw (5024), and a piston rod of the horizontal type gear shaping second cylinder (5025) is connected with the horizontal type gear shaping cutter (5027).

6. The full-automatic headrest tube production line according to claim 1, wherein the rotating assembly (503) comprises a first rotating cylinder (5031), a second rotating cylinder (5034) and a turning arm (5033), the first rotating cylinder (5031) is arranged on the horizontal gear shaping workbench (501), a piston rod of the first rotating cylinder (5031) is connected with a rotating base (5032), the second rotating cylinder (5034) and the turning arm (5033) are both arranged on the rotating base (5032), a piston rod of the second rotating cylinder (5034) is connected with the turning arm (5033), an axis of the piston rod of the first rotating cylinder (5031) is perpendicular to an axis of the piston rod of the second rotating cylinder (5034), and a turning clamping jaw (5035) is arranged on the turning arm (5033).

7. The full-automatic headrest tube production line according to claim 1, wherein the feeding assembly (602) comprises a feeding support (6021), a material storage frame body (6022) capable of accommodating only a single tube material is arranged on the feeding support (6021), a feeding slide block (6023) and a feeding motor are arranged on the feeding support (6021), the feeding slide block (6023) is embedded in the material storage frame body (6022) and is in sliding connection with the feeding support (6021), and an output shaft of the feeding motor is connected with the feeding slide block (6023).

8. The full-automatic headrest tube production line according to claim 1, wherein the material receiving assembly comprises a material receiving bracket and a material receiving bin (706), the material receiving bracket is provided with a material receiving belt mechanism (702) and a material receiving motor (703), an output shaft of the material receiving motor (703) is connected with the material receiving belt mechanism (702), one side of the material receiving bracket, which is far away from the inspection assembly, is provided with a material pushing cylinder (704), one side of the material receiving bracket, which faces the inspection assembly, is provided with the material receiving bin (706), and the material receiving bin (706) is internally provided with a conveying mechanism;

the inspection assembly comprises an inspection support (707), a groove for accommodating a pipe material is formed in the top end of the inspection support (707), an inspection cylinder (708) and an inspection motor (709) are respectively arranged on the two sides of the inspection support (707) in the length direction of the pipe material, a piston rod of the inspection cylinder (708) and an output shaft of the inspection motor (709) are respectively provided with a clamping wheel, an inspection sensor (710) is arranged in the inspection support (707), and the inspection support (707) is located below the groove and is provided with a material abandoning cylinder (116).

9. The full-automatic headrest tube production line according to claim 1, wherein the vertical gear shaping assembly comprises a vertical gear shaping clamp (1102), a vertical gear shaping support (1103) and a vertical gear shaping cylinder (1104), the vertical gear shaping support (1103) is arranged on the vertical gear shaping workbench (1101), the vertical gear shaping clamp (1102) comprises a fixed clamp (11022) and a movable clamp (11021), the fixed clamp (11022) is arranged on the vertical gear shaping support (1103), the vertical gear shaping cylinder (1104) is arranged on the vertical gear shaping support (1103), a piston rod of the vertical gear shaping cylinder (1104) is fixedly connected with the movable clamp (11021), and a vertical gear shaping cutter is arranged on one side, facing the fixed clamp (11022), of the movable clamp (11021).

10. A headrest tube production method using the fully automatic headrest tube production line according to any one of claims 1 to 9, characterized by comprising the steps of:

step 1: the feeding assembly feeds a pipe material in the bin body (101) onto the pipe storage assembly;

step 2: the first manipulator (2) sequentially sends the pipe materials on the pipe storage component to the pipe reducing components on two sides in the feeding direction perpendicular to the first manipulator (2), and the pipe reducing components sequentially perform pipe reducing processing on two ends of the pipe materials;

and step 3: the second manipulator (4) sends the pipe material which is positioned on the pipe reducing assembly and is subjected to pipe reducing to the horizontal gear shaping assembly (502), and the horizontal gear shaping assembly (502) performs gear shaping on one end of the pipe material;

and 4, step 4: the rotating assembly (503) exchanges two ends of the pipe material with one end completing gear shaping and rotates 180 degrees;

and 5: the horizontal gear shaping assembly (502) performs gear shaping on the other end of the pipe material, and the gear shaping at the two ends of the pipe material is centrosymmetric with the middle point of the axis of the pipe material;

step 6: the second mechanical arm (4) sends the pipe materials with the two ends subjected to gear shaping to the feeding assembly (602);

and 7: the feeding assembly (602) feeds the pipe material into the grinding wheel assembly, and the grinding wheel assembly polishes the pipe material;

and step 9: the third manipulator (8) sends qualified pipe materials to the material pushing assembly (902), the material pushing assembly (902) feeds materials towards the pipe bending assembly (903), and the pipe bending assembly (903) bends the pipe materials;

step 10: the fourth manipulator (10) sends the bent pipe material to the vertical gear shaping assembly, and the vertical gear shaping assembly performs gear shaping on the pipe material;

step 11: the fourth manipulator (10) sends the pipe materials subjected to gear shaping to the correcting assembly, and the correcting assembly detects and corrects the pipe materials;

step 12: and the fourth mechanical arm (10) sends the corrected pipe material to a finished product area.