CN210260178U

CN210260178U - Full-automatic elbow production feeding line

Info

Publication number: CN210260178U
Application number: CN201921022565.4U
Authority: CN
Inventors: 祝胜光; 吕宗兰
Original assignee: University of Electronic Science and Technology of China Zhongshan Institute
Current assignee: University of Electronic Science and Technology of China Zhongshan Institute
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2020-04-07
Anticipated expiration: 2029-07-01

Abstract

The utility model discloses a full-automatic return bend production feed line, including transfer table, shallow, fork mechanism and storage hopper, the shallow includes car base, left railing and right railing, right side railing is higher than left railing, piles up the straight tube in a large number and transports the straight tube through the shallow to through fork mechanism with automatic unloading into the storage hopper after the straight tube in the shallow rises, a large amount of storages of storage hopper, carry out the single row through the straight tube jack-up in the jacking board with the storage hopper in sending into the guide slot from rolling out the mouth and arrange the material, and orderly emits the straight tube one by one and up the jack-up with the straight tube through sending out the mechanism, supply the manipulator to grab the processing position of bending machine after the top location, realize the full automatic feed of straight tube, have simple structure, pay-off efficient, occupation space is little, the characteristics of using manpower sparingly.

Description

Full-automatic elbow production feeding line

[ technical field ] A method for producing a semiconductor device

The utility model relates to a full-automatic return bend production feed line.

[ background of the invention ]

When a straight pipe material is bent by using a pipe bending machine, the straight pipe material is generally cut to a fixed length on a cutting device, then is carried to the vicinity of the pipe bending machine, and then the cut straight pipe is manually put into the pipe bending machine one by one to be bent. Along with the popularization of automation, a plurality of automatic pipe bending machines are also available on the market, when a bent pipe is produced, the straight pipe is fed into the pipe bending machine in the existing manual feeding mode, the feeding efficiency is low, a specially-assigned person needs to stand in front of the pipe bending machine to continuously feed, and the labor cost is high. The present invention has been made in view of such circumstances.

[ Utility model ] content

The utility model aims to solve the technical problem that a full-automatic return bend production feed line is provided, have simple structure, pay-off efficient, occupation space is little, use manpower sparingly characteristics.

In order to solve the technical problem, the utility model relates to a full-automatic return bend production feed line, its characterized in that: including transfer table 1, the right side of transfer table 1 is equipped with the shallow 2 that can stimulate around and be used for carrying straight tube 100, the shallow 2 includes the vehicle bottom seat 21 that supplies straight tube 100 to crouch to put, be equipped with left railing 22 and right railing 23 that are used for blocking straight tube 100 from the left and right sides on the vehicle bottom seat 21, right railing 23 is higher than left railing 22, the right side of shallow 2 is equipped with the fork mechanism 3 that can follow straight tube 100 below on the shallow 2 and fork straight tube 100 up, be equipped with the storage hopper 4 that is used for supplying straight tube 100 to crouch to put on the transfer table 1, storage hopper 4 includes from the right side down-sloping hopper bottom plate 41, be located the first curb plate 42 of both sides around and be located the left side and be used for blocking the second curb plate 43 of straight tube 100, the top of left railing 22 is equipped with the curved hopper bottom plate 41 down to a left side in order to guide straight tube 100 to follow shallow 2 and roll down curved rod 221 on hopper bottom, a rolling outlet 431 for rolling out the straight pipes 100 is arranged above the hopper bottom plate 41 on the second side plate 43, a guide groove 51 with an inlet connected with the rolling outlet 431 is arranged on the left side of the second side plate 43, the guide groove 51 inclines leftwards and downwards and only allows the straight pipes 100 in a single row to roll in a guiding way, a jacking plate 44 capable of jacking the straight pipes 100 in the storage hopper 4 to the rolling outlet 431 is arranged between the second side plate 43 and the hopper bottom plate 41, the top surface of the jacking plate 44 inclines downwards towards the second side plate 43, a jacking device for driving the jacking plate 44 to move up and down is arranged on the conveying table 1, a delivery mechanism 5 capable of rolling out the straight pipes 100 in the guide groove 51 one by one and supporting the straight pipes 100 upwards one by one is arranged at one end of the outlet of the guide groove 51, two jacking heads 61 which are oppositely arranged and used for respectively jacking the straight pipes 100 supported by the delivery mechanisms 5 from two ends are arranged above the delivery mechanism 5, and the jacking air cylinders 62 respectively drive the two jacks 61 to move relatively, and the left side of the conveying table 1 is provided with a manipulator 7 for clamping the straight pipe 100 positioned by the two jacks 61 onto the pipe bender.

The full-automatic elbow production supply line is characterized in that: the top surface of the jacking plates 44 accommodates only one straight pipe 100.

The full-automatic elbow production supply line is characterized in that: the fork-lift mechanism 3 is including being located the lift mounting bracket 31 on shallow 2 right side, sliding connection has lift seat 32 on the lift mounting bracket 31, it has fork 33 of ability luffing motion to articulate on the lift seat 32, fork 33 is located the both sides of car base 21 and stretches out the left side at left railing 22, be equipped with piston rod and fork 33 articulated, cylinder body and lift seat 32 articulated swing cylinder 34 between lift seat 32 and the fork 33, be equipped with between lift mounting bracket 31 and the lift seat 32 and drive fork 33 through drive lift seat 32 and rise the lead screw drive arrangement above the knee rod 221 and fall under shallow 2.

The full-automatic elbow production supply line is characterized in that: the feeding mechanism 5 comprises a feeding plate 52 and a baffle plate 53, the feeding plate 52 is positioned between the baffle plate 53 and the outlet of the guide groove 51 and can move up and down, the feeding plate 52 supplies a straight pipe 100 to roll out from the guide groove 51 to the feeding plate 52 and support the straight pipe 100 when falling, the baffle plate 53 is used for blocking the straight pipe 100 rolling out from the guide groove 51 to the feeding plate 52 from the left side, the conveying table 1 is provided with a feeding driving device used for driving the feeding plate 52 to move up and down, and a discharging groove 54 which can support the straight pipe 100 to move upwards by the feeding plate 52 is arranged between the baffle plate 53 and the outlet of the guide groove 51.

The full-automatic elbow production supply line is characterized in that: the manipulator 7 is provided with a camera 8 for shooting and inputting image information to a control system.

The full-automatic elbow production supply line is characterized in that: and a proximity switch 9 for detecting whether the straight pipe 100 is placed on the feeding plate 52 is arranged on one side of the feeding plate 52.

The full-automatic elbow production supply line is characterized in that: the plug 61 is of a conical structure.

The full-automatic elbow production supply line is characterized in that: the top of the feeding plate 52 is of a V-shaped structure.

The full-automatic elbow production supply line is characterized in that: the hopper bottom plates 41 are two and are respectively fixed on the front and back two first side plates 42, the second side plates 43 are two and are respectively fixed on the left sides of the front and back two first side plates 42, the conveying table 1 is provided with first sliding supports 45 for slidably connecting the front and back two first side plates 42 in the front and back direction, the jacking device comprises a jacking mounting frame 46 fixed on the conveying table 1, the jacking mounting frame 46 is slidably connected with a jacking support 47 in the up and down direction, a jacking cylinder 48 for driving the jacking support 47 to lift is fixed on the conveying table, the two jacking plates 44 corresponding to the two hopper bottom plates 41 are slidably connected on the jacking support 47 in the front and back direction, the guide grooves 51 are oppositely arranged in the front and back direction so as to guide 100 rolling from two ends of the straight pipe, the conveying table 1 is provided with second sliding supports 55 for slidably connecting the front and back two guide grooves 51, pay-off drive arrangement is including fixing the pay-off mounting bracket 56 on transporting platform 1, pay-off mounting bracket 56 has pay-off support 57 at upper and lower direction sliding connection to and be fixed with the pay-off cylinder 58 that is used for driving pay-off support 57 up-and-down motion, sliding connection is on pay-off support 57 around two feed plates 52 corresponding to two guide slots 51, be equipped with the cylinder mounting bracket 63 that is used for installing two roof pressure cylinders 62 respectively on transporting platform 1 to and be equipped with the third sliding support 64 that is used for two cylinder mounting brackets 63 around the front and back direction sliding connection, it is fixed through screw 65 between cylinder mounting bracket 63 and the third sliding support 64.

The full-automatic elbow production supply line is characterized in that: the first sliding bracket 45 includes a first sliding bar 451 slidably connected to the first side plate 42, and a first bracket 452 supporting the first sliding bar 451. The second sliding bracket 55 includes a sliding plate 551 slidably coupled to the bottom of the guide groove 51, and a second bracket 552 supporting the sliding plate 551. The third sliding support 64 comprises a positioning plate 67 which forms a sliding groove 66 for the cylinder mounting frame 63 to slide back and forth with the baffle plate 53, and a strip-shaped hole 68 for the screw 65 to slide back and forth is formed in the positioning plate 67.

The full-automatic elbow production supply line is characterized in that: the manipulator 7 is a six-axis manipulator.

The full-automatic elbow production supply line is characterized in that: the screw rod driving device comprises a nut 35 fixedly connected with the lifting seat 32 and a screw rod 36 rotatably connected to the lifting mounting frame 31, the screw rod 36 is in threaded connection with the nut 35, and a screw rod motor 37 used for driving the screw rod 36 to rotate is arranged on the lifting mounting frame 31.

A full-automatic elbow production method applying the elbow production feeding line comprises the following steps:

A. the pipe bending production and feeding line is connected with a pipe bender 10 to form a full-automatic pipe bending production line, and a pit 300 which is concave downwards is arranged on the ground opposite to the pallet fork 33 to allow the pallet fork 33 to fall and be buried;

B. stacking a straight pipe 100 cut at a fixed length between a left railing 22 and a right railing 23 on the cart 2, wherein two ends of the straight pipe 100 extend out of the front side and the rear side of the cart base 21;

C. through the action of the screw rod driving device and the swing air cylinder 34, the pallet fork 33 falls into the pit 300, and the pallet fork 33 is flush with the ground, so that the truckles of the cart 2 can be pushed through the pallet fork 33, and the cart 2 is pushed into the space between the conveying table 1 and the fork-lift mechanism 3 from the front to the rear direction, wherein the bent rod 221 faces the storage hopper 4, and the cart base 21 is positioned between the front pallet fork 33 and the rear pallet fork 33;

D. the storage hopper 4 stores: the screw rod driving device drives the pallet fork 33 to rise, the pallet fork 33 is forked at two ends of the straight pipe 100 from two sides of the vehicle bottom base 21, the straight pipe 100 is forked along the left railing 22 and the right railing 23, when the straight pipe 100 rises to the bent rod 221 in the rising process, the stacked straight pipes 100 fall to one side of the bent rod 221 under the action of gravity and roll into the storage hopper 4 after being guided by the bent rod 221, and the straight pipes 100 in the storage hopper 4 roll along the hopper bottom plate 41 and are blocked by the second side plate 43 and are sequentially stored in the storage hopper 4;

E. the straight pipe 100 automatically discharges: the jacking device drives the jacking plate 44 to rise, the top surface of the jacking plate 44 and the second side plate 43 jointly position the straight pipes 100, the jacking plate 44 supports the straight pipes 100 on the top surface to rise to the rolling outlet 431 along the second side plate 43 in the rising process, after the positioning action of the second side plate 43 is lost, the straight pipes 100 roll into the guide groove 51 from the rolling outlet 431 under the action of gravity, the jacking plate 44 falls to roll other straight pipes 100 into the top surface of the jacking plate and rise again, and the straight pipes 100 are conveyed into the guide groove 51 to be sequentially arranged one by one through the cyclic rising and falling of the jacking plate 44; the straight pipes 100 automatically roll down along the guide groove 51, wherein the leftmost straight pipe 100 rolls out to the material conveying plate 52 and is blocked from the left side by the baffle plate 53, and the other straight pipes 100 are blocked in the guide groove 51 by the leftmost straight pipe 100; the feeding driving device drives the feeding plate 52 to support the straight pipe 100 to move upwards and move out of the discharging groove 54 until the straight pipe 100 is fed between the front top 61 and the rear top 61;

F. the top 61 is in a conical structure, the two jacking cylinders 62 respectively drive the two tops 61 to move relatively, the tops 61 are jacked at two ends of the straight pipe 100 to position the straight pipe 100 in the front and back direction, and the conical head of the top 61 is jacked into a pipe hole of the straight pipe 100 to automatically guide the center of the straight pipe 100;

G. the manipulator 7 is provided with a camera 8 for shooting and feeding image information back to the control system, the manipulator 7 moves above the straight pipe 100, the camera 8 shoots and detects the pipe diameter, the length and the shape of the straight pipe 100, the specification of the straight pipe 100 to be processed is confirmed through the pipe diameter and the length, and the straight pipe 100 is confirmed to have deformation and defect through the shape;

H. the manipulator 7 grabs and moves the straight pipe 100 meeting the requirements and specifications to the corresponding pipe bender 10, a camera 8 shoots and detects whether residues exist at the processing position of the pipe bender 10, meanwhile, a proximity switch 9 for detecting whether the straight pipe 100 is placed on the feeding plate 52 is arranged on one side of the feeding plate 52, and the proximity switch 9 sends a signal to the control system to control the feeding plate 52 to descend to take and send the pipe again after detecting that the straight pipe 100 is grabbed away;

I. the manipulator 7 puts the gripped straight pipe 100 into a processing position corresponding to the pipe bender 10 without residues;

J. the pipe bender 10 bends the inserted straight pipe 100, and takes out the bent pipe after the bending is completed.

The full-automatic elbow production supply line is characterized in that: in the step D, in the lifting process of the pallet fork 33, the swing cylinder 34 drives the pallet fork 33 to swing up and down, so that the straight pipe 100 rolls down into the storage hopper 4 in time; after the forks 33 are raised above the bent rods 221, the swing cylinders 34 drive the forks 33 to swing downward so that the straight pipes 100 at the bottom of the forks 33 roll into the storage hopper 4 along the forks 33 of the inclined storage hopper 4 under the action of gravity.

The full-automatic elbow production supply line is characterized in that: after the forks 33 dump all of the straight tubes 100 into the storage hopper 4, the swing cylinder 34 drives the forks 33 to swing to the horizontal position, the lead screw driving device drives the forks 33 to descend into the pit 300 and make the forks 33 flush with the ground, the cart 2 is pulled out and the straight tubes 100 are reloaded on the cart 2, and then the cart 2 is pushed again between the conveying table 1 and the forking mechanism 3 so as to continue feeding into the storage hopper 4.

Compared with the prior art, the utility model discloses there is following advantage:

1. the utility model discloses a full-automatic elbow production feed line stacks a large amount of straight pipes and transports the straight pipe through shallow 2, and storage hopper 4 stores a large amount of material, and through fork mechanism 3 with shallow 2 in the straight pipe rise automatically unload into storage hopper 4; the guide slot 51 arranges the material through the single row straight tube, and orderly emit the straight tube one by one, push up the straight tube one by one through the mechanism 5 that send out, so that the manipulator snatchs, through the reciprocal up-and-down motion of jacking board 44 in storage hopper 4 between guide slot 51 and the storage hopper 4 in the orderly feed of guide slot 51, through the slope structure of guide slot 51 and storage hopper 4 self, utilize straight tube gravity to carry out autoloading in the left and right directions, and between shallow 2 and storage hopper 4, between storage hopper 4 and guide slot 51, between guide slot 51 and the manipulator then carry out the transference of straight tube between these mechanisms through pay-off from top to bottom, make this full-automatic return bend production feed line can save the straight tube in a large number, when guaranteeing that the straight tube is enough to supply, have shorter feed line, reduce the area occupation of feed line, realize the full automatic feed.

2. The utility model discloses a full-automatic return bend production feed line makes the straight tube unify the location back in front and back direction through two top 61 from straight tube both ends roof pressure, on rethread manipulator 7 pressed from both sides straight tube 100 clamp to the bending machine, guaranteed that the position that manipulator 7 snatched is unified to on the processing position of bending machine 10 was put into to the accuracy. Furthermore, the top 61 is of a conical structure, and when the top is pressed, the conical head is inserted into the pipe hole of the straight pipe for center alignment, so that the positioning of the straight pipe is more accurate, the manipulator 7 can better guarantee the accuracy of grabbing the straight pipe and putting the straight pipe into the pipe bending machine 10, the abnormal production caused by the inclined placement of the straight pipe in the pipe bending machine 10 is avoided, and the ordered and efficient work of a full-automatic pipe bending production line is ensured.

3. The utility model discloses a full-automatic return bend production feed line is used for shooting and with image information to the camera 8 of control system input through setting up on manipulator 7, when manipulator 7 moved the top of the straight tube 100 that the top 61 was fixed a position, shoot the pipe diameter that detects this straight tube 100 through camera 8 earlier, length and shape, confirm through pipe diameter and length whether meet the demands of the specification of waiting to process straight tube 100, detect whether there is deformation and incomplete through the shape straight tube 100, quality defects such as finding straight tube 100 has deformation or incomplete meet the demands, shift out the production line with this straight tube 100, the straight tube that avoids having quality defects causes wastrel or bending machine 10 production abnormity in putting into bending machine 10. In addition, aiming at straight pipes with different specifications, particularly straight pipes with pipe diameters close to pipe lengths, a plurality of processing positions corresponding to the straight pipes with the specifications and corresponding pipe bending mechanisms can be arranged on the pipe bending machine 10, and the straight pipes with the different specifications are placed on the corresponding processing positions for processing through the manipulator 7 after being identified by the camera 8, so that full-automatic feeding of the straight pipes with the multiple specifications is realized, the equipment development cost is saved, the occupied area of the equipment is reduced, and the production efficiency is improved; of course, a plurality of pipe bending machines 10 may be provided around the manipulator 7, and each pipe bending machine 10 corresponds to pipe bending of a straight pipe of one specification.

4. The utility model discloses a full-automatic return bend production feed line snatchs the straight tube when removing bending machine 10 in manipulator 7, shoots earlier through camera 8 and detects whether there is the residue on the processing position that this bending machine 10 corresponds, if process the return bend that does not shift out, after confirming no residue, put the straight tube on this processing position again to avoid the straight tube to make mistakes after putting into bending machine 10, lead to bending machine 10 to take place to produce unusually, damage the machine even.

5. Should the utility model discloses a full-automatic return bend production line is constituteed with the bending machine line of feeding, realize full-automatic return bend production, simple process, and convenient operation, easy control, realize the full automatization from the feed of straight tube tubular product to the return bend processing, use manpower sparingly, high in production efficiency, and the combination through manipulator and camera, the straight tube specification of discernment and mistake proofing ability have, avoid because quality problems and the production that the reason of straight tube leads to are unusual, avoid simultaneously because there is the straight tube that the residue leads to newly putting into in the bending machine to place the return bend that the dislocation produced unusual, avoid the bending machine to damage, guarantee going on in order of full-automatic return bend production.

[ description of the drawings ]

The following detailed description of embodiments of the present invention is provided with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural view of a full-automatic elbow production feeding line of the present invention;

FIG. 2 is a partial enlarged view A of FIG. 1;

fig. 3 is a schematic structural view of the middle cart and the fork lift mechanism of the present invention;

fig. 4 is a schematic structural view of a jacking plate and a jacking device in the present invention;

FIG. 5 is a schematic structural view of a feeding plate and a feeding driving device of the present invention;

fig. 6 is a schematic structural view of a robot and a transfer table and related structures mounted on the transfer table according to the present invention;

fig. 7 is a schematic structural diagram of a fully automatic pipe bending production line formed by the connection installation of the pipe bending production feeding line and the pipe bending machine of the present invention.

[ detailed description ] embodiments

The invention will be further described with reference to the accompanying drawings:

as shown in fig. 1-7, a full-automatic return bend production supply line, including transfer table 1, the right side of transfer table 1 is equipped with the shallow 2 that can stimulate around the ability and be used for carrying straight tube 100, shallow 2 is including supplying the vehicle bottom seat 21 that straight tube 100 crouched to put, be equipped with on the vehicle bottom seat 21 and be used for blocking left railing 22 and the right railing 23 of straight tube 100 from the left and right sides, right railing 23 is higher than left railing 22, shallow 2's right side is equipped with the fork-lift mechanism 3 that can follow straight tube 100 below on shallow 2 and up fork straight tube 100, because left railing 22 is less than right railing 23, the straight tube is after fork-lift left railing 22's top, scatters from left railing 22 one side under the action of gravity. Be equipped with the storage hopper 4 that is used for supplying straight tube 100 to crouch to put on the transfer table 1, storage hopper 4 includes from the right side to the hopper bottom plate 41 of left downward sloping, be located the first curb plate 42 of front and back both sides and be located the second curb plate 43 that the left side is used for blocking straight tube 100, the top of left side railing 22 is equipped with and turns left the knee to hopper bottom plate 41 with guide straight tube 100 from shallow 2 toward the curved rod 221 that the hopper bottom plate 41 rolled down, the top that lies in hopper bottom plate 41 on the second curb plate 43 is equipped with the roll export 431 that supplies straight tube 100 to roll out, the left side of second curb plate 43 is equipped with import and rolls the guide slot 51 that export 431 links to each other, guide slot 51 down inclines left and only supplies single-row straight tube 100 to roll to carry out single-row sequencing to straight tube 100.

A jacking plate 44 capable of jacking the straight pipe 100 in the storage hopper 4 upwards to the rolling outlet 431 is arranged between the second side plate 43 and the hopper bottom plate 41, the top surface of the jacking plate 44 is inclined downwards to the second side plate 43, the top surface of the jacking plate 44 and the second side plate 43 are jointly positioned on the straight pipe 100 on the top surface of the jacking plate 44, and a jacking device for driving the jacking plate 44 to move up and down is arranged on the conveying table 1; the top width of the jacking plate 44 is only used for placing one straight pipe 100, one function is to reduce the resistance in the jacking process of the jacking plate 44, the other function is to enable the jacking plate 44 to jack up only one straight pipe on the top surface of the jacking plate 44 or one row of straight pipes in the same direction with the jacking plate 44, when the jacking device drives the jacking plate 44 to rise, the jacking plate 44 supports the straight pipe above the top surface of the jacking plate to move upwards against the second side plate 43, when the straight pipe rises to the rolling outlet 431, and after the positioning effect of the second side plate 43 is lost, the straight pipe 100 can smoothly roll into the guide groove 51 from the rolling outlet 431 under the action of gravity. When the second side plate 43 is vertically arranged, after the lifting plate 44 lifts a row of straight pipes, in the lifting process, except that the bottommost straight pipe can be stably placed on the lifting plate 44 due to the oblique action of the top surface of the lifting plate 44, other straight pipes roll down into the storage hopper 4 from the right due to no positioning on the right side, and the bottommost straight pipe automatically rolls into the guide groove 51 when lifted to the rolling outlet 431; when the second side plate 43 is tilted to the left, the lifting plate 44 can lift a row of straight pipes, when the uppermost straight pipe is lifted to the roller outlet 431, the uppermost straight pipe automatically rolls into the guide groove 51, and the lifting plate 44 is lifted continuously, so that the lifted straight pipes automatically roll into the guide groove 51 after being lifted to the roller outlet 431 one by one.

A delivery mechanism 5 which can roll out the straight pipes 100 in the guide groove 51 one by one and lift up the straight pipes 100 one by one is arranged at one end of the outlet of the guide groove 51, the delivery mechanism 5 comprises a feeding plate 52 and a baffle plate 53, the feeding plate 52 is positioned between the baffle plate 53 and the outlet of the guide groove 51 and can move up and down, the top of the feeding plate is of a V-shaped structure, the feeding plate 52 supplies one straight pipe 100 to roll out from the guide groove 51 to the feeding plate 52 and support the straight pipe 100 when falling, the baffle plate 53 is used for blocking the straight pipe 100 rolled out from the guide groove 51 to the feeding plate 52 from the left side, a feeding driving device for driving the feeding plate 52 to move up and down is arranged on the conveying table 1, a discharging groove 54 which can support the straight pipe 100 by the feeding plate 52 to move up is arranged between the baffle plate 53 and the outlet of the guide groove 51, two opposite top heads 61 which are used for respectively jacking the straight pipes 100 from two ends are arranged above the, and the jacking cylinders 62 are used for respectively driving the two jacks 61 to move relatively, the left side of the conveying table 1 is provided with a manipulator 7 for clamping the straight pipe 100 positioned by the two jacks 61 onto the pipe bender, the straight pipe is uniformly positioned in the front and back directions by jacking the two jacks 61 from the two ends of the straight pipe, and the positions where the manipulator 7 grabs are uniform, so that the straight pipe can be accurately placed into the processing position of the pipe bender 10. Furthermore, the top 61 is of a conical structure, and when the top is pressed, the conical head is inserted into the pipe hole of the straight pipe for center alignment, so that the positioning of the straight pipe is more accurate, the manipulator 7 can better guarantee the accuracy of grabbing the straight pipe and putting the straight pipe into the pipe bending machine 10, the abnormal production caused by the inclined placement of the straight pipe in the pipe bending machine 10 is avoided, and the ordered and efficient work of a full-automatic pipe bending production line is ensured.

The cart 2 can stack a large number of straight pipes and convey the straight pipes, the storage hopper 4 can store a large number of materials, and the straight pipes in the cart 2 are lifted by the fork-lift mechanism 3 and then automatically discharged into the storage hopper 4; the guide groove 51 discharges materials through a single row of straight pipes, the straight pipes are orderly discharged one by one, the straight pipes are pushed up one by one through the feeding plate 52 so as to be grabbed by a mechanical arm, and the guide groove 51 and the storage hopper 4 reciprocate up and down in the storage hopper 4 through the jacking plate 44 to orderly feed materials into the guide groove 51. Through the slope structure of guide slot 51 and storage hopper 4 self, utilize straight tube gravity to carry out autoloading in the left and right directions, and between shallow 2 and storage hopper 4, between storage hopper 4 and guide slot 51, then carry out the forwarding of straight tube between these mechanisms through pay-off from top to bottom between guide slot 51 and the manipulator, make this full-automatic return bend production feed line can save the straight tube in a large number, when guaranteeing the enough supply of straight tube, have shorter feed line, reduce the area of feed line and occupy, realize the full automatic feed of straight tube.

In addition, because the specifications of the straight pipes in the production workshop are various, such as different pipe diameters or different lengths, in order to enable the corresponding pipe bender 10 to process only the straight pipes with the corresponding specifications, the manipulator 7 is provided with a camera 8 for shooting and inputting image information to the control system. When the manipulator 7 moves to the position above the straight pipe 100 positioned by the top 61, the camera 8 is used for shooting and detecting the pipe diameter, the length and the shape of the straight pipe 100, whether the specification of the straight pipe 100 to be processed meets the requirements is confirmed through the pipe diameter and the length, whether the straight pipe 100 is deformed or incomplete is detected through the shape, if the straight pipe 100 has quality defects such as deformation or incomplete and the like which do not meet the requirements is found, the straight pipe 100 is moved out of the production line, and defective products or abnormal production of the pipe bender 10 caused by the fact that the straight pipe with the quality defects is placed into the pipe bender 10 are avoided.

Therefore, aiming at straight pipes with different specifications, particularly straight pipes with pipe diameters close to pipe lengths, a plurality of processing positions corresponding to the straight pipes with the specifications and corresponding pipe bending mechanisms can be arranged on the pipe bending machine 10, and the straight pipes with different specifications are placed on the corresponding processing positions for processing through the manipulator 7 after being identified by the camera 8, so that full-automatic feeding of the straight pipes with multiple specifications is realized, the equipment development cost is saved, the occupied area of the equipment is reduced, and the production efficiency is improved. Of course, a plurality of pipe bending machines 10 may be provided around the manipulator 7, and each pipe bending machine 10 corresponds to pipe bending of a straight pipe of one specification.

Moreover, when the manipulator 7 grabs and moves the straight pipe into the pipe bender 10, the camera 8 is used for shooting and detecting whether residues exist on the processing position corresponding to the pipe bender 10, if the bent pipe which is not moved out is processed, and after no residues are confirmed, the straight pipe is placed on the processing position, so that errors caused after the straight pipe is placed into the pipe bender 10 are avoided, and the pipe bender 10 is prevented from producing abnormity, and even the machine is damaged.

In addition, a proximity switch 9 for detecting whether the straight pipe 100 is placed on the feed plate 52 is provided on one side of the feed plate 52. After the manipulator 7 grabs the straight pipe positioned by the plug 61, the proximity switch 9 detects and sends a signal to the control system to control the feeding plate 52 to descend to take and send the pipe again so as to wait for the next grabbing of the manipulator 7.

Preferably, the robot 7 is a six-axis robot.

The fork-lift mechanism 3 is including being located the lift mounting bracket 31 on shallow 2 right side, sliding connection has lift seat 32 on the lift mounting bracket 31, it has fork 33 of ability luffing motion to articulate on the lift seat 32, fork 33 is located the both sides of car base 21 and stretches out the left side at left railing 22 to all straight tubes on the bottom will shallow 2 are forked simultaneously. A swing cylinder 34 with a piston rod hinged with the fork 33 and a cylinder body hinged with the lifting seat 32 is arranged between the lifting seat 32 and the fork 33, and a screw rod driving device which can drive the fork 33 to rise above the bent rod 221 and fall below the cart 2 by driving the lifting seat 32 is arranged between the lifting mounting frame 31 and the lifting seat 32. The screw rod driving device comprises a nut 35 fixedly connected with the lifting seat 32 and a screw rod 36 rotatably connected to the lifting mounting frame 31, the screw rod 36 is in threaded connection with the nut 35, and a screw rod motor 37 used for driving the screw rod 36 to rotate is arranged on the lifting mounting frame 31.

Because the straight pipes are stacked between the left railing 22 and the right railing 23 in a large number, in order to enable the straight pipe close to one side of the right railing 23 to roll to the left in time in the lifting process of the fork 33, the swing cylinder 34 can intermittently drive the fork 33 to swing up and down to enable the straight pipe 100 to roll to the storage hopper 4 in time, the load of the fork 33 is timely unloaded, and the power consumption for driving the fork 33 to lift is low; after the forks 33 are raised above the bent rods 221, the swing cylinders 34 drive the forks 33 to swing downward so that the straight pipes 100 at the bottom of the forks 33 roll into the storage hopper 4 along the forks 33 of the inclined storage hopper 4 under the action of gravity.

The hopper bottom plates 41 are respectively fixed on the front first side plate 42 and the rear first side plate 42, the two hopper bottom plates 41 are oppositely arranged, the second side plates 43 are respectively fixed on the left sides of the front first side plate 42 and the rear first side plate 42, the two second side plates 43 are oppositely arranged, the conveying table 1 is provided with a first sliding support 45 for slidably connecting the front first side plate 42 and the rear first side plate 42 in the front-rear direction, the jacking device comprises a jacking mounting frame 46 fixed on the conveying table 1, the jacking mounting frame 46 is slidably connected with a jacking support 47 in the up-down direction, a jacking cylinder 48 for driving the jacking support 47 to lift is fixed, the two jacking plates 44 corresponding to the two hopper bottom plates 41 are slidably connected to the jacking support 47 in the front-rear direction, the guide grooves 51 are oppositely arranged in the front-rear direction so as to guide the straight pipes 100 to roll from the two ends of the straight pipes, the conveying table 1 is provided with second sliding supports, pay-off drive arrangement is including fixing the pay-off mounting bracket 56 on transporting platform 1, pay-off mounting bracket 56 has pay-off support 57 at upper and lower direction sliding connection to and be fixed with the pay-off cylinder 58 that is used for driving pay-off support 57 up-and-down motion, sliding connection is on pay-off support 57 around two feed plates 52 corresponding to two guide slots 51, be equipped with the cylinder mounting bracket 63 that is used for installing two roof pressure cylinders 62 respectively on transporting platform 1 to and be equipped with the third sliding support 64 that is used for two cylinder mounting brackets 63 around the front and back direction sliding connection, it is fixed through screw 65 between cylinder mounting bracket 63 and the third sliding support 64.

The first sliding bracket 45 includes a first sliding bar 451 slidably connected to the first side plate 42, and a first bracket 452 supporting the first sliding bar 451. The second sliding bracket 55 includes a sliding plate 551 slidably coupled to the bottom of the guide groove 51, and a second bracket 552 supporting the sliding plate 551. The third sliding support 64 comprises a positioning plate 67 which forms a sliding groove 66 for the cylinder mounting frame 63 to slide back and forth with the baffle plate 53, and a strip-shaped hole 68 for the screw 65 to slide back and forth is formed in the positioning plate 67.

Through the arrangement, aiming at the pipes with different lengths, the distance between the two first side plates 42, the two second side plates 43, the two jacking plates 44, the two guide grooves 51, the two feeding plates 52, the two jacking air cylinders 62 and the two jacking heads 61 can be properly adjusted, so that the automatic feeding of the straight pipes with different lengths is met, the structure is simple, and the practicability is high.

D. the storage hopper 4 stores: the screw rod driving device drives the pallet fork 33 to rise, the pallet fork 33 is forked on two ends of the straight pipe 100 from two sides of the vehicle bottom base 21, the straight pipe 100 is forked along the left railing 22 and the right railing 23, when the straight pipe 100 rises to the bent rod 221 in the rising process, the stacked straight pipes 100 fall off to one side of the bent rod 221 under the action of gravity and roll into the storage hopper 4 after being guided by the bent rod 221, the straight pipes 100 in the storage hopper 4 roll off along the hopper bottom plate 41 and are blocked by the second side plate 43, and the straight pipes 100 are sequentially stored in the storage hopper 4 from the second side plate 43 upwards;

In the step D, in the lifting process of the pallet fork 33, the swing cylinder 34 drives the pallet fork 33 to swing up and down, so that the straight pipe 100 rolls down into the storage hopper 4 in time; after the forks 33 are raised above the bent rods 221, the swing cylinders 34 drive the forks 33 to swing downward so that the straight pipes 100 at the bottom of the forks 33 roll into the storage hopper 4 along the forks 33 of the inclined storage hopper 4 under the action of gravity.

After the forks 33 dump all of the straight tubes 100 into the storage hopper 4, the swing cylinder 34 drives the forks 33 to swing to the horizontal position, the lead screw driving device drives the forks 33 to descend into the pit 300 and make the forks 33 flush with the ground, the cart 2 is pulled out and the straight tubes 100 are reloaded on the cart 2, and then the cart 2 is pushed again between the conveying table 1 and the forking mechanism 3 so as to continue feeding into the storage hopper 4.

The full-automatic pipe bending production method is simple in process, convenient to operate and easy to control, full automation is realized from feeding of straight pipe pipes to pipe bending, manpower is saved, production efficiency is high, combination of a mechanical arm and a camera is achieved, the straight pipe specification identification and mistake proofing capabilities are achieved, quality problems and production abnormity caused by the fact that straight pipes are abnormal are avoided, meanwhile, the problem that the newly-placed straight pipes are placed and misplaced due to the fact that residues exist in a pipe bending machine is avoided, damage of the pipe bending machine is avoided, and ordered running of full-automatic pipe bending production is guaranteed.

Claims

1. The utility model provides a full-automatic return bend production feed line which characterized in that: including transporting platform (1), the right side of transporting platform (1) is equipped with the shallow (2) that can the front and back pulling and be used for carrying straight tube (100), shallow (2) is including supplying car base (21) that straight tube (100) crouched to put, be equipped with on car base (21) and be used for blocking left railing (22) and right railing (23) of straight tube (100) from the left and right sides, right railing (23) are higher than left railing (22), the right side of shallow (2) is equipped with can follow straight tube (100) below on shallow (2) and up fork-up mechanism (3) of fork-up straight tube (100), be equipped with on transporting platform (1) and be used for supplying storage hopper (4) that straight tube (100) crouched to put, storage hopper (4) are including from right side down sloping hopper bottom plate (41), be located around first curb plate (42) of both sides and be located the left side and be used for blocking second curb plate (43) of straight tube (100), the top of the left railing (22) is provided with a bent rod (221) which is bent to the hopper bottom plate (41) to the left to guide the straight pipe (100) to roll from the trolley (2) to the hopper bottom plate (41), a rolling outlet (431) for rolling out the straight pipe (100) is arranged above the hopper bottom plate (41) on the second side plate (43), the left side of the second side plate (43) is provided with a guide groove (51) with an inlet connected with the rolling outlet (431), the guide groove (51) inclines downwards to the left and only guides and rolls the single-row straight pipe (100), a jacking plate (44) which can jack up the straight pipe (100) in the storage hopper (4) to the rolling outlet (431) is arranged between the second side plate (43) and the hopper bottom plate (41), the top surface of the jacking plate (44) inclines downwards to the second side plate (43), and the conveying table (1) is provided with a jacking device for driving the jacking plate (44) to move up and down, the pipe bending machine is characterized in that an outlet end of the guide groove (51) is provided with a delivery mechanism (5) which can roll out straight pipes (100) in the guide groove (51) one by one and support the straight pipes (100) to rise upwards one by one, two opposite jacking heads (61) which are used for jacking the straight pipes (100) lifted by the delivery mechanism (5) from two ends respectively and jacking cylinders (62) which drive the two jacking heads (61) to move relatively are arranged above the delivery mechanism (5), and a manipulator (7) which is used for clamping the straight pipes (100) positioned by the two jacking heads (61) onto the pipe bending machine is arranged on the left side of the conveying table (1).

2. The full-automatic elbow production supply line according to claim 1, characterized in that: fork mechanism (3) including lift mounting bracket (31) that is located shallow (2) right side, sliding connection has lift seat (32) on lift mounting bracket (31), it has fork (33) of ability luffing motion to articulate on lift seat (32), fork (33) are located the both sides of car base (21) and stretch out the left side at left railing (22), it is articulated, cylinder body and lift seat (32) articulated swing cylinder (34) to be equipped with piston rod and fork (33) between lift seat (32) and fork (33), be equipped with between lift mounting bracket (31) and lift seat (32) and drive fork (33) through drive lift seat (32) and rise on knee-bar (221) and descend the lead screw drive arrangement under shallow (2).

3. The full-automatic elbow production supply line according to claim 2, characterized in that: the delivery mechanism (5) comprises a feeding plate (52) and a baffle (53), the feeding plate (52) is located between the baffle (53) and an outlet of a guide groove (51) and can move up and down, the feeding plate (52) supplies a straight pipe (100) to roll out from the guide groove (51) to the feeding plate (52) and support the straight pipe (100) when falling, the baffle (53) is used for blocking the straight pipe (100) which rolls out from the guide groove (51) to the feeding plate (52) from the left side, a feeding driving device used for driving the feeding plate (52) to move up and down is arranged on the conveying table (1), and a discharging groove (54) which can supply the feeding plate (52) to support the straight pipe (100) to move up and down is arranged between the baffle (53) and the outlet of the guide groove (51).

4. The full-automatic elbow production supply line according to claim 3, characterized in that: and a proximity switch (9) for detecting whether the straight pipe (100) is placed on the feeding plate (52) is arranged on one side of the feeding plate (52).

5. The full-automatic elbow production supply line according to claim 3, characterized in that: the top of the feeding plate (52) is of a V-shaped structure.

6. The full-automatic elbow production supply line according to claim 3, characterized in that: the hopper bottom plates (41) are two and are respectively fixed on the front and back two first side plates (42), the second side plates (43) are two and are respectively fixed on the left sides of the front and back two first side plates (42), the conveying table (1) is provided with a first sliding support (45) for sliding connecting the front and back two first side plates (42) in the front and back direction, the jacking device comprises a jacking mounting frame (46) fixed on the conveying table (1), the jacking mounting frame (46) is in sliding connection with a jacking support (47) in the up and down direction, and is fixed with a jacking cylinder (48) for driving the jacking support (47) to lift, the front and back of the two jacking plates (44) corresponding to the two hopper bottom plates (41) are in sliding connection on the jacking support (47), the guide groove (51) is provided with two relative settings in the front and back to guide the straight pipe (100) to roll from the two ends, a second sliding bracket (55) used for connecting the front guide groove (51) and the rear guide groove (51) in a sliding manner in the front-rear direction is arranged on the conveying platform (1), the feeding driving device comprises a feeding mounting rack (56) fixed on the conveying platform (1), the feeding mounting rack (56) is connected with a feeding bracket (57) in a sliding way in the vertical direction, and a feeding cylinder (58) for driving the feeding bracket (57) to move up and down is fixed on the feeding bracket, two feeding plates (52) corresponding to the two guide grooves (51) are connected on the feeding bracket (57) in a front-back sliding way, the conveying table (1) is provided with a cylinder mounting rack (63) for respectively mounting two jacking cylinders (62), and a third sliding bracket (64) which is used for connecting the front and the rear cylinder mounting brackets (63) in a sliding way in the front and rear direction, the cylinder mounting frame (63) and the third sliding support (64) are fixed through screws (65).

7. The full-automatic elbow production supply line according to claim 2, characterized in that: the screw rod driving device comprises a nut (35) fixedly connected with the lifting seat (32) and a screw rod (36) rotatably connected to the lifting mounting frame (31), the screw rod (36) is in threaded connection with the nut (35), and a screw rod motor (37) used for driving the screw rod (36) to rotate is arranged on the lifting mounting frame (31).

8. The full-automatic elbow production supply line according to claim 1, characterized in that: and a camera (8) for shooting and inputting image information to the control system is arranged on the manipulator (7).

9. The full-automatic elbow production supply line according to claim 1, characterized in that: the plug (61) is of a conical structure.

10. The full-automatic elbow production supply line according to claim 1, characterized in that: the top surface of the jacking plate (44) is used for placing only one straight pipe (100).