CN108946034B

CN108946034B - Step-by-step feed divider system, step-by-step feed divider and pipe fitting processing equipment

Info

Publication number: CN108946034B
Application number: CN201810652312.9A
Authority: CN
Inventors: 张良; 段冰
Original assignee: Zhengjiang Changxing Heliang Intelligent Equipment Co Ltd
Current assignee: Zhengjiang Changxing Heliang Intelligent Equipment Co Ltd
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2024-03-08
Anticipated expiration: 2038-06-22
Also published as: CN108946034A

Abstract

The invention relates to a stepping material distribution system, a stepping material distribution device and pipe fitting processing equipment, and belongs to the technical field of pipe fitting processing. The stepping material distribution system comprises a stepping material distribution unit and a first material moving manipulator unit; the stepping material distributing unit comprises a fixed groove seat, a shifting groove seat and a stepping driving unit; the fixed groove seat is provided with more than three positioning supporting grooves, and the shifting groove seat is provided with more than two shifting supporting grooves; the stepping driving unit is used for driving the shifting groove seat to move up and down relative to the fixed groove seat and move back and forth along the material shifting direction; the first material moving manipulator unit is used for rotating a plurality of workpieces generated by synchronous cutting around the same rotating shaft by a certain angle and then placing the workpieces on the material supporting groove of the fixed groove seat. The stepping feed distribution system can move forward synchronously cut workpiece raw materials in a stepping manner in a certain mode, can effectively improve the production efficiency and flexibility of pipe fitting processing equipment, and can be widely applied to the technical field of manufacturing of air conditioners, automobiles and the like.

Description

Step-by-step feed divider system, step-by-step feed divider and pipe fitting processing equipment

Technical Field

The invention relates to a pipe fitting processing and forming device and parts thereof, in particular to a stepping material distribution system, a stepping material distribution device and pipe fitting processing equipment constructed by the stepping material distribution system.

Background

The electronic expansion valve is a throttling element capable of adjusting the flow of refrigerant entering a refrigerating device according to a preset program, and generally comprises a valve seat, a valve core, a valve rod, an actuator and a connecting pipe connected to the valve seat.

According to the shape, the connecting pipe is provided with a straight pipe connecting pipe and a bent pipe connecting pipe, as shown in the figure 3 of the electronic expansion valve disclosed in patent document with the bulletin number of CN207111959U, the connecting pipe comprises a straight pipe connecting pipe 102 and a bent pipe connecting pipe 103, and the outer end parts of the two connecting pipes are of flaring end structures; as disclosed in patent document with publication number CN103836211a, as shown in fig. 2, the connection pipe comprises a straight pipe connection pipe 13 and a bent pipe connection pipe 14, the inner end of the connection pipe 13 is of a flared end structure, and the inner end of the connection pipe 14 is of a necked end structure; for some connecting pipes, one end of each connecting pipe is of a flaring end structure, the other end of each connecting pipe is of a necking end structure, or both ends of each connecting pipe are of flaring end structures.

When manufacturing the connecting pipes with various structures, a cutting device is generally required to cut long pipe materials into fixed-length pipe sections, and then the fixed-length pipe sections are conveyed to a pipe section processing unit for feeding so as to process pipe ends of more than one of two ends according to a preset structure; for the bent pipe-shaped connecting pipe, the pipe section treated by the pipe end is conveyed to a pipe bender to be subjected to pipe bending treatment, the automation degree of the whole treatment process is low, and the processing efficiency is low.

Disclosure of Invention

The invention mainly aims to provide a stepping material distributing system which can sort a plurality of workpiece raw materials cut synchronously and then move forward in a stepping mode;

another object of the present invention is to provide a step-feed device for constructing the step-feed system described above;

still another object of the present invention is to provide a pipe processing apparatus constructed with the above-mentioned step-by-step material-distributing system, so as to improve the production efficiency of the pipe while improving the automation degree of the pipe production.

In order to achieve the main purpose, the stepping material distribution system provided by the invention comprises a stepping material distribution unit and a material moving manipulator system, wherein the stepping material distribution unit comprises a fixed groove seat, a shifting groove seat and a stepping driving unit, and the material moving manipulator system comprises a first material moving manipulator unit; the fixed groove seat is provided with more than three positioning supporting grooves which are arranged at equal intervals along the material moving direction, and the shifting groove seat is provided with more than two shifting supporting grooves which are arranged at equal intervals along the material moving direction; the stepping driving unit comprises a lifting driving unit for driving the shifting groove seat to lift and move relative to the fixed groove seat and a travelling driving unit for moving back and forth along the material shifting direction; the first material moving manipulator unit comprises a mounting seat, more than two material clamping claws arranged on the mounting seat at a first interval, a moving sliding seat which is driven by a moving driving device to move along the direction close to and far away from the fixed groove seat, a lifting mechanism for driving the mounting seat to lift relative to the moving sliding seat, and a rotating mechanism for driving the mounting seat to rotate relative to the moving sliding seat around a vertical shaft.

Through the cooperation of a plurality of clamping claws on the first material moving manipulator unit, a plurality of workpieces which are arranged at equal intervals can be synchronously grabbed and moved above the groove seat, the workpieces are arranged along the material moving direction after rotating to the arrangement direction of the workpieces, and then the workpieces are placed on the material supporting groove, so that the workpieces which are transversely arranged side by side are arranged in sequence along the material moving direction; the fixed groove seat is matched with the position of the supporting groove on the shifting groove seat, so that the workpiece placed on the supporting groove can move forward in sequence in a stepping mode under the driving of the stepping driving device. When the stepping material distribution system is used on a production line, the matching of the feeding system and the processing forming system in the processing time can be better realized, and the pipe sections generated by each rotary cutting unit can be conveniently and alternately supplied to the pipe end processing unit.

The number of the shifting material supporting grooves is smaller than that of the positioning material supporting grooves, and the number of the clamping claws is smaller than that of the positioning material supporting grooves; the direction close to and far away from the fixed groove seat is the material moving direction.

The more specific scheme is that the number of the shifting support material grooves is one less than that of the positioning support material grooves, and the number of the clamping claws is equal to that of the shifting support material grooves. The workpiece which can be synchronously cut out can be fed at one time.

The preferable scheme is that the fixed groove seat comprises two middle groove plates, the shifting groove seat comprises side groove plates positioned on two sides of the two middle groove plates, the length directions of the groove plates are all arranged along the material shifting direction, the surfaces of the groove plates are vertically arranged, and V-shaped positioning grooves arranged on the upper side surfaces of the groove plates form parts of the material supporting groove; the travelling driving unit comprises a sliding plate seat and a driving device for driving the sliding plate seat to reciprocate along a material moving direction, the lifting driving unit comprises a lifting plate which is arranged on the sliding plate seat in a vertically movable manner and a driving device for driving the lifting plate to vertically lift, and the shifting groove seat is arranged on the lifting plate; and in the moving advancing direction, a workpiece positioning mechanism for positioning the workpiece on the positioning supporting groove is arranged beside the last positioning supporting groove, and comprises a positioning rod arranged on one groove side and a pushing rod arranged on the other groove side. The groove seat is formed by more than two groove plates, so that more than two points of support can be provided for the workpiece, and a gap can be formed between the groove plates, so that the clamping claw can conveniently place the workpiece in the material supporting groove and grasp the workpiece from the material supporting groove. By arranging the positioning mechanism at the side of the last material supporting groove, the compactness of the whole structure can be effectively improved.

In order to achieve the other purpose, the stepping feed divider provided by the invention comprises a fixed groove seat, a shifting groove seat and a stepping driving unit; the fixed groove seat is provided with more than three positioning supporting grooves which are arranged at equal intervals along the material moving direction, and the shifting groove seat is provided with more than two shifting supporting grooves which are arranged at equal intervals along the material moving direction; the stepping driving unit comprises a lifting driving unit for driving the shifting groove seat to lift and move relative to the fixed groove seat and a traveling driving unit for reciprocating along the shifting direction.

Based on the setting of the structure, through the position matching of the material supporting groove on the fixed groove seat and the shifting groove seat, the workpiece placed on the material supporting groove can move forward in a stepping mode in sequence under the driving of the stepping driving device, and when the stepping material distributing device is used on a production line, the matching of the feeding system and the processing forming system in the processing time can be better realized.

The number of the shift material supporting grooves is smaller than that of the positioning material supporting grooves.

The number of the shift holding tanks is one less than that of the positioning holding tanks; the fixed groove seat comprises two middle groove plates, the shifting groove seat comprises side groove plates positioned on two sides of the two middle groove plates, the length directions of the groove plates are all arranged along the material shifting direction, the surfaces of the groove plates are vertically arranged, and V-shaped positioning grooves arranged on the upper side surfaces of the groove plates form parts of the material supporting groove; the travelling driving unit comprises a sliding plate seat and a driving device for driving the sliding plate seat to reciprocate along a material moving direction, the lifting driving unit comprises a lifting plate which is arranged on the sliding plate seat in a vertically movable manner and a driving device for driving the lifting plate to vertically lift, and the shifting groove seat is arranged on the lifting plate; and in the moving advancing direction, a workpiece positioning mechanism for positioning the workpiece on the positioning supporting groove is arranged beside the last positioning supporting groove, and comprises a positioning rod arranged on one groove side and a pushing rod arranged on the other groove side. The groove seat is formed by more than two groove plates, so that more than two points of support can be provided for the workpiece, and a gap can be formed between the groove plates, so that the clamping claw can conveniently place the workpiece in the material supporting groove and grasp the workpiece from the material supporting groove. By arranging the positioning mechanism at the side of the last material supporting groove, the compactness of the whole structure can be effectively improved.

In order to achieve the above-mentioned still another object, the present invention provides a pipe processing apparatus, including a frame, a pipe section feeding system mounted on the frame, and a processing and forming system for processing a pipe section into a pipe connection; the pipe section feeding system comprises more than two pipe section feeding units which are arranged side by side; the pipe section feeding unit comprises a long pipe feeding unit and a chipless rotary cutting unit for cutting the fed long pipe into pipe sections; the forming system comprises a pipe end processing unit for performing pipe end processing on at least one end of a pipe section; the frame is provided with a material moving system which comprises the stepping material distributing system described in any technical scheme and is used for alternately moving more than two pipe sections cut by the pipe section feeding units which are arranged side by side to the pipe end processing unit; the axial distance between the rotating spindles of two adjacent chipless rotary cutting units is equal to the first distance.

The chipless rotary cutting unit is arranged in the feeding system so as to cut the long pipe material into the clean short pipe section with the preset length, thereby effectively reducing the generation of the cuttings, keeping the production environment clean, improving the automation degree and the production efficiency of the production line, simultaneously adjusting the preset length of the short pipe section according to the production working condition in real time and effectively improving the flexibility of the production line; by adopting more than two groups of pipe section feeding units to be matched with the processing and forming system in parallel, the difference of processing rates between the feeding system and the processing and forming system can be effectively matched, and the production efficiency is improved; and through the cooperation of the moving pipe system, automatic connection is established among the units, the procedures of manual carrying and the like are reduced, and the production efficiency of the production line is effectively improved.

The specific scheme is that the axial direction of the rotary main shaft is parallel to the material moving direction, and the axial direction of the main shaft of the pipe end processing unit is perpendicular to the material moving direction; the material transferring manipulator system comprises a second material transferring manipulator unit which transfers the pipe section from the stepping material distributing unit to the processing and forming system and transfers the pipe section among the processing units in the processing and forming system in sequence according to the sequence of the processing procedures; the second material moving manipulator unit comprises a synchronous moving slide seat which is driven by the moving driving device and can move back and forth along the material moving direction, and a plurality of manipulators fixedly arranged on the synchronous moving slide seat; the number of the mechanical arms is equal to the number of the processing units; the manipulator comprises a clamping claw, an installation seat fixedly arranged on the synchronous transfer sliding seat and a lifting mechanism for driving the clamping claw to lift relative to the installation seat; the spacing between two adjacent mounting seats is equal to the spacing between stations of two adjacent processing units. Based on the equidistant mechanical arm, the short pipe sections on the corresponding stations can be synchronously clamped and transferred, namely, the short pipe sections on all stations are synchronously clamped and transferred and synchronously placed on the next station, so that the working efficiency is improved, and the driving system and the control method are simplified.

The preferable scheme is that the processing and forming system sequentially comprises a pipe section positioning unit and a pipe bending unit which are positioned at the downstream of the pipe end processing unit along the transfer direction of the pipe section; the pipe bending unit comprises a pipe bending machine head, a core rod unit and a discharging unit; the pipe bending machine head comprises a clamping die, a round die and a swing arm; the mandrel unit comprises a mandrel and a mandrel driving mechanism for driving the mandrel to extend into or withdraw from the pipe section; the discharging unit comprises a pushing sleeve sleeved outside the core rod and a pushing driving device for driving the pushing sleeve to reciprocate along the axial direction of the core rod; the fixed end part of the swing arm is fixedly provided with a guide plate, and the guide plate is vertically positioned between the round die and the swing arm and comprises an inclined base plate with an avoidance port matched with the mounting seat of the round die; when the clamping cavity of the clamping die is axially arranged along the axial direction of the core rod, the inclined substrate is obliquely arranged downwards along the direction of the round die deviating from the core rod driving mechanism, and flanges are fixedly arranged on the edge part facing the clamping die and the edge part facing the core rod driving mechanism of the inclined substrate; the pipe section positioning unit comprises a supporting groove, a positioning rod arranged on one groove side and a pushing rod arranged on the other groove side. (1) The discharging unit is arranged to comprise a pushing sleeve sleeved outside the core rod, so that the discharging process is convenient to realize, and the integral structure of the equipment can be simplified; (2) By additionally arranging the material guide plate, the pipe section can be prevented from falling onto the swing arm to interfere with the clamping action of the clamping die or falling into a gap between the swing arm and the headstock to interfere with the subsequent pipe bending operation during unloading, so that the reliable operation of the whole automatic treatment process is effectively ensured; (3) By adding the positioning mechanism, the precision of the bent pipe is effectively ensured, and meanwhile, the mechanism structure for realizing the positioning before the bent pipe is simplified.

Drawings

FIG. 1 is a perspective view of an embodiment of a pipe machining apparatus of the present invention;

FIG. 2 is a schematic block diagram of an embodiment of the pipe machining apparatus of the present invention;

FIG. 3 is an enlarged view of part of A in FIG. 1;

FIG. 4 is an enlarged view of part of B in FIG. 1;

FIG. 5 is an enlarged view of part of C of FIG. 1;

FIG. 6 is a perspective view of a die clamping apparatus on a pipe end processing unit in accordance with an embodiment of the pipe processing apparatus of the present invention;

FIG. 7 is a perspective view of a tube end whirl-punch unit with die clamping means omitted in an embodiment of the tube processing apparatus of the present invention;

FIG. 8 is a perspective view of a tube end direct die unit with the die clamping apparatus omitted in an embodiment of the tube processing apparatus of the present invention;

FIG. 9 is an enlarged view of part of D of FIG. 1;

FIG. 10 is an enlarged view of part of E in FIG. 1;

FIG. 11 is a schematic view showing a state in which a pipe bending unit opens a clamping die after pipe bending is completed in an embodiment of pipe processing apparatus according to the present invention;

FIG. 12 is a schematic view of a pipe bending unit in accordance with an embodiment of the pipe machining apparatus of the present invention in a unloaded state;

FIG. 13 is an enlarged view of part F of FIG. 11;

FIG. 14 is a perspective view of a step feed divider unit in a first state of dividing in an embodiment of a pipe processing apparatus according to the present invention;

FIG. 15 is a perspective view of a step-by-step dispensing unit in a second, dispensing state in an embodiment of the pipe machining apparatus of the present invention;

FIG. 16 is a perspective view of a transfer robot unit in an embodiment of a pipe machining apparatus of the present invention;

FIG. 17 is a schematic view of a pipe processing apparatus embodiment of the present invention in which pipe segments are cut during the manufacture of a pipe connection;

FIG. 18 is a schematic view of a pipe segment after pipe end processing during manufacture of a pipe connection according to an embodiment of the present invention;

fig. 19 is a schematic view showing a pipe-end-treated pipe section after pipe bending treatment in the pipe-joining process according to the embodiment of the present invention.

Detailed Description

The invention is further described below with reference to examples and figures thereof.

Pipe machining apparatus embodiments

Referring to fig. 1 and 2, the pipe fitting processing apparatus 1 of the present invention includes a control unit, a frame 100, a pipe feeding system 11 mounted on the frame 100, a processing and forming system 15, a material transferring system for feeding pipe sections cut by the pipe feeding system 11 to the processing and forming system 15 according to a predetermined program, and an aggregate unit 19 for collecting pipes processed and produced by the processing and forming system 15. The control unit comprises a processor, a memory and a control screen 101, wherein the control screen 101 is used for receiving control instructions input by an operator, and the processor executes programs corresponding to the control instructions in the memory and sequentially performs tube cutting, transferring and processing forming treatment to manufacture a desired electronic expansion valve connecting tube.

The pipe section feeding system 11 comprises two pipe section feeding units which are arranged side by side, namely a pipe section feeding unit 12 and a pipe section feeding unit 13, wherein the pipe section feeding unit 12 comprises a long pipe feeding unit 121 and a chipless rotary cutting unit 122 for cutting the fed long pipe into fixed-length pipe sections, and the pipe section feeding unit 13 comprises a long pipe feeding unit 131 and a chipless rotary cutting unit 132 for cutting the fed long pipe into fixed-length pipe sections.

The long tube feeding units 121, 131 include coil mounting frames (not shown), tube straightening units 21, 23 and feeding units 22, 24 in this order, respectively, along the traveling direction of the long tube feeding, i.e., along the forward direction of the X-axis in the drawing. The coil pipe material arranged on the coil pipe mounting frame is straightened into straight pipe material by the extrusion of a plurality of groups of straightening rollers on the pipe material straightening unit. In this embodiment, the feeder units 24 and 22 are symmetrically arranged in structure about a first plane that is parallel to the OXZ plane and that feeds the corresponding chipless rotary cutting units synchronously during feeding.

As shown in fig. 1 and 3, the feeding unit 22 includes two guide rods 221 arranged along the X-axis direction, an up-and-down opening and closing type clamping die 222 slidably mounted on the guide rods 221, and a linear displacement output device 223 driving the clamping die 222 to reciprocate along the guide rods 221. The feeding unit 24 includes two guide rods 241 arranged in the X-axis direction, an up-and-down opening-and-closing type clamping die 242 slidably mounted on the guide rods 241, and a linear displacement output device 243 driving the clamping die 242 to reciprocate along the guide rods 241.

For the two feeding units, the opening and closing driving device of the clamping die and the sliding driving device sliding along the guide rod can share the same driving device, and can also be independently driven by adopting the driving device. In the present embodiment, the clamping mold 222 and the clamping mold 242 share the same set of opening and closing driving devices, and share the same set of transfer driving devices. As shown in fig. 3, the mold clamping opening and closing driving device comprises a sliding seat 27 fixed on a sliding block matched with a guide rod, two supporting seats 281 fixed on the sliding seat 27, and an opening and closing cylinder 25 supported and fixed on the supporting seats 281 through a transverse plate 282. The lower clamping dies of the two clamping dies are fixed on the sliding seat 27, and the upper clamping dies are fixed on the piston rod of the opening and closing cylinder 25 through the clamping die holder 283, so that the two clamping dies are synchronously driven to synchronously open and close to synchronously clamp or release the two aligned long pipe materials. The transfer drive device comprises a servo motor and a screw nut mechanism in transmission connection with a rotor shaft of the servo motor, and a screw nut of the screw nut mechanism is fixedly connected with the sliding seat 27. Based on the same set of transfer driving device and the opening and closing driving device, the two feeding clamping dies are synchronously driven, so that the use amount of parts can be reduced, and the aligned long pipe materials can be synchronously supplied to the two chipless rotary cutting units.

As shown in fig. 1, 2 and 5, the rotary spindles of the chipless rotary cutting unit 122 and the chipless rotary cutting unit 132 are all arranged along the X-axis direction, the space between the rotary axes is a first space, and the side of the rotary spindle mounting seat adjacent to the feeding unit is provided with a residual pipe part clamping unit 29. In this embodiment, the structure of the remaining pipe clamping unit 29 is the same as that of the clamping die in the feeding unit, so as to synchronously clamp two long pipes in the cutting process, and open in the feeding process of the feeding unit, so as to support and guide the two long pipes to smoothly enter the inner hole of the rotating spindle of the chipless rotary cutting unit. Cutting clamping dies 1220 and 1320 which are opened and closed in the Y-axis direction are fixedly arranged on one side of the rotary main shaft, which is away from the residual pipe part clamping die unit 29, and the cutting clamping dies 1220 and 1320 are composed of two movable clamping dies which synchronously move in opposite directions.

As shown in fig. 1 and 2, the forming system 15 includes a pipe end processing unit 16, a pipe section positioning unit 17, and a pipe bending unit 18 sequentially along the traveling direction of the pipe section, wherein the pipe section processing unit includes a pipe end whirling unit 161 and a pipe end direct punching unit 162 sequentially along the traveling direction of the pipe section processing process.

Referring to fig. 6 and 7, the pipe end whirling unit 161 includes a pipe section clamping die 31, and a first pipe end processing head 32 and a second pipe end processing head 33 which are located on both sides of the pipe section clamping die 31 with the processing sides facing the pipe section clamping die 31, and rotation spindles of the first pipe end processing head 32 and the second pipe end processing unit 33 are arranged in the Y axis direction. The pipe section clamping die 31 comprises a chute seat 310 fixed on the frame 100, a left clamping die seat 311 and a right clamping die seat 312 slidably installed on the chute seat 310 along the X-axis, a left clamping die 313 fixed on the left clamping die seat 311, a right clamping die 314 fixed on the right clamping die seat 312, a wedge-shaped pushing block arranged in a chute cavity 3100 of the chute seat 310, and a clamping die driver 315 for driving the wedge-shaped pushing block to reciprocate along the Z-axis. The clamping die driver 315 may be a linear displacement output device such as an air cylinder, an oil cylinder, a linear motor, etc., and in this embodiment, an oil cylinder is specifically selected.

The chute base 310 is provided with a cross-shaped chute 3100 arranged along the X-axis direction, and the left and right die holders are slidably mounted on the chute base 310 by cross-shaped sliders cooperating with the chute 3100. Two pushing grooves which are parallel to the XOZ plane and form a V-shaped structure are arranged on the wedge-shaped pushing block; and the left and right clamping die holders are provided with sliding blocks matched with the pushing grooves, so that the left and right clamping dies are synchronously pushed to move in opposite directions in the Y-axis direction in the process of pushing the wedge-shaped pushing blocks to reciprocate along the Z-axis direction through the clamping die driver 315, so as to realize closing to clamp the pipe fitting or opening to release the pipe fitting.

The first pipe end processing machine head 32 is a flaring device, the second pipe end processing unit 33 is a necking device, during pipe end processing, flaring and necking processes are simultaneously carried out on two ends of a pipe section clamped on the pipe section clamping die 31 through a flaring die 320 and a necking die 330, and chamfering blades synchronously driven by rotating spindles of the flaring die 320 and the necking die 330 are arranged beside the flaring die 320 and the necking die 330, so that chamfering processes are synchronously carried out on two ends of the pipe section during the spinning process.

As shown in fig. 8, the pipe end direct-punching unit 162 includes a pipe section clamping die 31, and a first pipe end processing head 34 and a second pipe end processing head 35 which are positioned on both sides of the pipe section clamping die 31 and have processing sides facing the pipe section clamping die 31, and drive spindles of the first pipe end processing head 34 and the second pipe end processing unit 35 are arranged along the Y-axis direction. The first pipe end processing machine head 34 and the second pipe end processing unit 35 are both flaring devices, and during the pipe end processing process, flaring is performed simultaneously on both ends of a pipe section clamped on the pipe section clamping die 31 through the flaring die 340 and the flaring die 350. And configuring flaring heads and necking heads of a plurality of subunits in the pipe end processing unit and the configuration of the quantity according to actual requirements.

As shown in fig. 9, the pipe section positioning unit 17 includes a bracket 40, a stock chest 41, a positioning rod 42 provided on one side of the stock chest 41 in the groove length direction, a pushing rod 43 provided on the other side of the groove length direction, and a pushing drive device 44 for pushing the pushing rod 43 to reciprocate in the Y axis direction. The pushing driving device can be a linear displacement output device such as a linear motor, an air cylinder, an oil cylinder and the like, and in the embodiment, the pushing air cylinder is specifically selected.

The material supporting groove 41 is composed of two groove plates 411 provided with V-shaped positioning grooves 410, the two groove plates 411 are spaced a certain distance in the Y-axis direction, the groove plates 411 are fixed on the frame 100 through the support 40, and the positioning rod 42 is adjustably arranged on the support 40 in the Y-axis direction. On the support 40, a guide rod mechanism composed of a guide rod 47 and a sliding bearing 45 is fixedly arranged on two sides of the pushing driving device 44, a connecting plate 46 is fixedly arranged at the front end of the guide rod 47, the pushing rod 43 is fixed on the front end face of the connecting plate 46, a stator of the pushing driving device 44 is fixed on the support 40, and a rotor is fixedly connected with the connecting plate 46, so that the end face of a pipe section placed in the positioning groove 410 is pushed to lean against the positioning rod 42, and the positioning of the pipe section in the Y-axis direction is realized. Wherein the positioning groove 410 is disposed in the Z-axis direction near the groove side of the pipe-end processing unit 16, and the other groove side is disposed obliquely to facilitate the taking of the material after the positioning of the pipe-segment. A material detection sensor for detecting whether the positioning groove 410 is filled or not is arranged beside the groove plate 411, wherein the material detection sensor can be a proximity switch, a shielding photoelectric sensor or a diffuse reflection photoelectric sensor, and a laser sensor is specifically selected in the embodiment; the material-presence detection sensor outputs a detection signal to the control unit, and the control unit controls the pipe section positioning unit 17 to position the pipe according to whether the material is present or not, and is used as one of judgment signals for controlling the second material-moving manipulator unit to take the material from the material-supporting groove.

Referring to fig. 10 to 13, the pipe bending unit 18 includes a pipe bender head 51, a mandrel unit 52, a discharge unit 53, and a guide plate 6. The tube bender 51 includes a clamping die 510, a round die 511, a guide die 512, and a swing arm 513. The swing arm 513 and the round die 511 are driven by the same driving spindle to synchronously rotate around the spindle axis; the clamping die 510 is reciprocally mounted on the swing arm 513 between a clamping tube section position and a tube section releasing position by the driving of the clamping die driving mechanism 5101, and clamps a tube section to be bent or releases the tube section after the tube bending is completed by being engaged with the round die 511.

The mandrel unit 52 includes a support 520, a mandrel 521 arranged in the Y-axis direction, and a mandrel driving mechanism 522 for driving the mandrel 521 into or out of the pipe section. The mandrel driving mechanism 522 may be a linear displacement output device such as a linear motor, a cylinder, and an oil cylinder, and in this embodiment, a mandrel cylinder is specifically selected.

The discharging unit 53 includes a bracket 530, a pushing sleeve 531 sleeved outside the core rod 521, and a pushing driving device 532 for driving the pushing sleeve 531 to reciprocate along the Y axis. The pushing driving device can be a linear displacement output device such as a linear motor, an air cylinder, an oil cylinder and the like, and in the embodiment, the pushing air cylinder is specifically selected. On the support 530, a guide rod mechanism composed of a guide rod 533 and a sliding bearing 534 is fixedly arranged on two sides of the pushing driving device 532, a connecting plate 535 is fixedly arranged at the front end of the guide rod 533, a pushing sleeve 531 is fixed on the front end surface of the connecting plate 535, a stator of the pushing driving device 532 is fixed on the support 530, and a rotor is fixedly connected with the connecting plate 535.

A support seat is fixed in front of the discharge unit 53, and a guide tube 55 arranged along the Y-axis direction is fixed on the support seat. During operation, the core rod driving mechanism 522 pushes and pulls the core rod 521 sequentially passing through the pushing sleeve 531 and the guide pipe 55 to extend into the pipe section to be bent, and performs auxiliary bending on the pipe section. After the pipe bending process is completed, the pushing driving device 532 drives the pushing sleeve 531 to move in the axial direction of the core rod 521 to push out the pipe material from the end of the core rod 521 and drop onto the guide plate 6, and slide into the collecting unit 19 along the surface of the inclined substrate 60 to be collected. In this embodiment, the aggregate unit 19 includes a guide plate 190 as shown in fig. 10 and a movable collecting basket disposed below the guide plate 190.

The guide plate 6 is fixedly arranged on the fixed end of the swing arm 513 between the round die 511 and the swing arm 513 in the Z-axis direction, and the guide plate 6 comprises an inclined base plate 60 with an avoidance port 63 matched with the mounting seat 5110 of the round die 511. When the clamping die 510 swings along with the swing arm 513 until the clamping die cavity is axially arranged along the axial direction of the core rod 531, the clamping die cavity and the guide die cavity of the guide die 512 are axially parallel and are both axially arranged along the Y direction, namely, are both positioned at a position for clamping the pipe material before the pipe bending; at this time, along the negative Y-axis, that is, along the direction of the round die 511 away from the mandrel driving mechanism 522, the inclined base plate 60 is obliquely arranged downward, so that the adapter tube pushed by the pushing sleeve 531 can slide along the inclined base plate 60 and fall into the collecting unit 19, and the inclined base plate 60 has a flange 61 fixed on the edge portion facing the clamping die 510 and a flange 62 fixed on the edge portion facing the mandrel driving mechanism 522, so as to stop and guide the sliding process of the adapter tube on the inclined base plate 60, and can slide along a desired path.

Referring to fig. 1, 2, 4 and 14 to 16, the transfer system includes a step-by-step material-dividing unit 14 and a transfer robot unit 10. The step-by-step material-dividing unit 14 includes a bracket 70, two intermediate trough plates 71, side trough plates 72 respectively provided on both sides of the intermediate trough plates 71, and a step-by-step driving unit. The transfer robot unit 10 includes a first transfer robot unit 8 for transferring pipe sections from the clamping dies 1220, 1320 of the chipless rotary cutting unit to the step-by-step material-dividing unit 14, and a second transfer robot unit 9 for transferring pipe sections from the step-by-step material-dividing unit 14 to the processing and shaping system and sequentially transferring the pipe sections in the processing sequence between the processing units in the processing and shaping system.

In the step-by-step material-distributing unit 14, a first material-supporting groove 710, a second material-supporting groove 711 and a third material-supporting groove 712 which are arranged at equal intervals along the X-axis direction at the first interval are arranged on the middle groove plate 71, a fourth material-supporting groove 720 and a fifth material-supporting groove 721 which are arranged at intervals along the Y-axis direction at the first interval are arranged on the side groove plate 72, and the groove lengths of the five material-supporting grooves are all arranged along the Y-axis direction and are of V-shaped positioning groove structures; in the present embodiment, the X-axis direction constitutes the material moving direction of the step-by-step powder unit 14.

The step driving unit includes a lift driving unit 73 for driving the two side grooved plates 72 to reciprocate between the low position and the high position in the Z-axis direction in synchronization, and a travel driving unit 74 for driving the two side grooved plates 72 to reciprocate between the front position and the rear position in the X-axis direction.

In the present embodiment, the traveling driving unit 74 includes a slide plate 740 and linear displacement output devices 741, the slide plate 740 is slidably mounted on the bracket 70 along the X-axis direction by a rail-slider mechanism, and the stators of the linear displacement output devices 741 are fixed on the bracket 70 and are two in number for pushing the slide plate 740 to reciprocate along the X-axis direction. The elevation driving unit 73 includes an elevation plate 730 slidably installed on the slide plate holder 740 along the Z-axis direction and a linear displacement output device 731 for pushing the elevation plate 730 to reciprocate along the Z-axis direction, both side grooved plates 72 are fixed to the elevation plate 730, and the middle grooved plate 71 is fixed to the bracket 70. The linear displacement output devices 741 and 731 can be linear motors, cylinders, etc., and in this embodiment, cylinders are specifically selected.

The side trough plate 72 is driven to move in a two-dimensional space in the XOZ plane relative to the middle trough plate by the combined driving of the lifting driving unit 73 and the travelling driving unit 74, and when the side trough plate 72 is positioned at the low position, the upper plate surface of the side trough plate is lower than the lower edge of the upper pipe section lifted on the first supporting trough 710, the second supporting trough 711 and the third supporting trough 712; when the side trough plate 72 is positioned at the high position, the lower edges of the upper pipe sections positioned at the fourth supporting trough 720 and the fifth supporting trough 721 are higher than the upper plate surface of the middle trough plate 71; with the side channel plate 72 in the aforementioned forward position, the fifth stock channel 721 is located at the third stock channel 712 in the X-axis direction; with the side chute plate 72 in the aforementioned rear position, the fifth stock chute 721 is located at the second stock chute 711 in the X-axis direction.

A pipe section positioning mechanism 74 is arranged beside the third supporting trough 712, and comprises a bracket 740, a positioning rod 742 arranged on one side of the third supporting trough 712 in the trough length direction, a pushing rod 743 arranged on the other side of the trough length direction, and a pushing driving device 744 for pushing the pushing rod 743 to reciprocate along the Y-axis direction. The pushing driving device 744 may be a linear displacement output device such as a linear motor, a cylinder, and an oil cylinder, and in this embodiment, a pushing cylinder is specifically selected.

The positioning lever 742 is adjustably mounted on the holder 740 at a position in the Y-axis direction. On the support 740, a guide rod mechanism composed of a guide rod 747 and a sliding bearing 745 is fixedly arranged at two sides of the pushing driving device 744, a connecting plate 746 is fixedly arranged at the front end of the guide rod 747, the pushing rod 743 is fixed on the front end face of the connecting plate 746, the stator of the pushing driving device 744 is fixed on the support 740, and the rotor is fixedly connected with the connecting plate 746, so that the end face of the pipe section placed in the third positioning groove 712 is pushed to lean against the positioning rod 742, and the positioning of the pipe section in the Y-axis direction is realized. And a material detection sensor 7120 for detecting whether a pipe material exists in the third material supporting groove 712 is installed beside the third material supporting groove, wherein the material detection sensor can be a proximity switch, a shielding photoelectric sensor or a diffuse reflection photoelectric sensor, and a laser sensor is specifically selected in the embodiment. The oil detection sensor outputs detection signals to the control unit, and when the detection signals represent that the third material supporting groove 712 is provided with the materials, the pipe section positioning mechanism 74 is controlled to start to perform positioning, and the detection signals are used as one of judging signals for controlling the first material moving manipulator unit to convey the materials to the stepping material distributing unit and one of judging signals for controlling the second material moving manipulator unit to take the materials from the third material supporting groove 712.

Referring to fig. 4 and 16, the first transfer robot unit 8 includes a mounting base 80, a first gripper 81 and a second gripper 82 mounted on the mounting base 80 at a first distance from each other, a transfer slide 84 reciprocally movable in the X-axis direction driven by a transfer driving device 83, a lifting mechanism 85 for driving the mounting base 80 to lift relative to the transfer slide 84, and a rotating mechanism 86 for driving the mounting base 80 to rotate about a vertical axis relative to the transfer slide 84. In this embodiment, the rotary mechanism 86 is a rotary cylinder, and the lifting mechanism 85 is a telescopic cylinder; the transfer driving device 83 is composed of a servo motor 830 and a gear rack mechanism 831, wherein the servo motor 830 is fixedly arranged on the transfer slide seat 84, a gear is coaxially fixed on a rotor shaft of the servo motor 830, a rack is fixed on the supporting beam 800, an I-shaped guide rail arranged along the X axis is fixedly arranged on the supporting beam 800, and an I-shaped slide block matched with the I-shaped guide rail is fixedly arranged on the transfer slide seat 84, so that the transfer slide seat 84 can be hung on the supporting beam 800 in a reciprocating sliding manner along the X axis. And a transverse position adjustable mechanism 87 is arranged between the rotating mechanism 86 and the lifting mechanism 85, and the transverse position adjustable mechanism 87 comprises a linear guide rail sliding block mechanism and a quick-dismantling mechanism for locking the relative positions between the guide rail and the sliding block, so that the position of the mounting seat 80 in the transverse direction is finely adjusted in the mounting process, and the position of the stepping material distributing unit 14 is better matched.

In the working process, two fixed-length pipe sections are grabbed on the pipe cutting clamp dies 1220 and 1320 with the first spacing between the two clamping claws 81 and 82 with the first spacing between the two clamping claws, the fixed-length pipe sections are driven by the lifting mechanism 85 to rise to a certain height, then rotated by 90 degrees until the length direction of the fixed-length pipe sections is arranged along the Y axis direction under the driving of the rotating mechanism 86, and the fixed-length pipe sections are driven by the conveying driving device 83 to move along the X axis direction until the two pipe sections are respectively positioned right above the first supporting groove 710 and the second supporting groove 711, and then are driven by the lifting mechanism 85 to descend into the two supporting grooves, and then the two clamping claws are opened to enable the two pipes Duan Fangru to be positioned in the first supporting groove 710 and the second supporting groove 711. Then, under the lifting drive of the linear displacement output device 731, the two side groove plates 72 lift the two fixed length pipe sections in the Z-axis direction to a position where the lower edge of the pipe section is higher than the upper plate surface of the middle groove plate 71, so as to move forward along the X-axis direction by the first distance under the forward drive of the linear displacement output device 741, and then under the lowering drive of the linear displacement output device 731, the two fixed length pipe sections are placed in the second supporting groove 711 and the third supporting groove 712, thereby realizing the step-by-step movement of the fixed length pipe sections. That is, the first material moving manipulator unit 8 is used for rotating a plurality of pipe sections generated by synchronous cutting around the same vertical axis by a certain angle and then placing the pipe sections on the material supporting groove, in this embodiment, two pipe sections are rotated by 90 degrees.

The second material transferring manipulator unit 9 comprises a synchronous transferring slide seat 95 driven by the transferring driving device 90 and capable of moving reciprocally along the X axis on the supporting beam 900, and four manipulators 91, 92, 93 and 94 fixedly arranged on the synchronous transferring slide seat, which correspond to the pipe end rotary punching unit 161, the pipe end direct punching unit 162, the pipe section positioning unit 17 and the pipe bending unit respectively, namely the number of the manipulators is equal to the number of the processing units in the processing and forming system; the four manipulators are identical in structure, and the manipulator 91 is taken as an example to describe the structure of the manipulators, and the manipulator 91 comprises a clamping claw 910, a mounting seat 911 fixedly arranged on the synchronous transfer sliding seat 95, and a lifting mechanism 912 for driving the clamping claw 910 to lift relative to the mounting seat 911. The pipe sections processed by the current unit are grasped from the third holding groove 712, the pipe end spin clamping mold, the pipe end direct clamping mold and the V-shaped positioning groove 410, and are raised, synchronously forward moved along the X-axis direction and lowered, so that four pipe sections are synchronously placed between the end spin clamping mold, the pipe end direct clamping mold, the V-shaped positioning groove 410 and the round mold and clamping mold of the pipe bending unit 18 for the next process. The material transferring system is used for alternately transferring the pipe sections cut by the two pipe section feeding units arranged side by side to the pipe end processing unit 16, and sequentially and synchronously transferring the pipe sections to each processing unit of the processing and forming system 15 according to the processing procedures. In this embodiment, the lifting of each manipulator may be independently controlled, and only the reciprocating movement along the X-axis direction is synchronous control; of course, the lifting of the four manipulators can be synchronously controlled. In this embodiment, the support beams 800, 900 are the same support beam.

Referring to fig. 1 to 19, the pipe joint production process using the pipe machining apparatus described above includes a feeding step S1 and a forming step S2, that is, the following feeding step S1 and forming step S2 can be implemented when the processor of the control unit executes a program stored in the memory.

And a feeding step S1, wherein more than two pipe section feeding units are utilized to synchronously straighten corresponding coils into straight pipe materials, and synchronously cut into short pipe sections in a chipless rotary cutting mode.

In this embodiment, as shown in fig. 17, a fixed-length pipe section 01 axially arranged in the X-axis direction is cut out in synchronization by a two-way pipe section feeding unit.

And a processing and forming step S2, wherein pipe ends are alternately processed by pipe sections cut by more than two pipe section feeding units. Specifically, the method comprises a sequencing step S21, a processing step S22 and a stepping step S23.

And S21, arranging the synchronously cut short pipe sections 01 at equal intervals in sequence along the direction of the rotating main shaft of the chipless rotary cutting device, namely along the X axial direction, and enabling the length direction of the short pipe sections to be perpendicular to the direction of the rotating main shaft, namely along the X axial direction.

The first material moving manipulator unit 8 is matched with the stepping material distributing unit, so that the fixed long pipe section 01 arranged along the Y axis is rotated to be arranged along the X axis, and the fixed long pipe section 01 is arranged on the middle groove plate 71 at equal intervals.

And a processing step S22, grabbing the pipe section arranged at the front end for pipe end processing.

The pipe section on the third holding groove 712 is grasped by the manipulator 91 and transferred to the pipe end whirling unit 161, and pipe end processing is simultaneously performed on both ends, specifically, flaring processing is performed on one end and necking processing is performed on the other end; next, the manipulator 92 grips the tube section and moves onto the tube end direct-piercing unit 162, and simultaneously performs flaring processing on both tube ends of the tube section, obtaining a tube section 02 as shown in fig. 18.

Next, the robot 93 grips the pipe section 02 and moves on the pipe section positioning unit 17 to position its position in the Y-axis direction.

Next, the manipulator 94 grips the pipe section 02 and moves the pipe section 02 onto the pipe bending unit 18, and the pipe bending unit 18 performs pipe bending processing on the pipe section 02 after the pipe end processing and the positioning processing in this order, obtains a pipe section 03 as shown in fig. 13 and 19, and drops into the aggregate unit 19 by pushing of the discharge unit 53.

Step S23, after the pipe sections in the third supporting trough 712 are grabbed, moving the orderly arranged pipe sections forward by the distance between two adjacent pipe sections, namely the first distance, so as to move the pipe sections in the second supporting trough 711 into the third supporting trough 712, synchronously moving the pipe sections in the first supporting trough 710 into the second supporting trough 711, and repeating the step S22 until the orderly arranged pipe sections are processed.

The sequencing step S21, the processing step S22 and the stepping step S23 are repeated to automatically and mass-manufacture the electronic expansion valve takeover.

The two middle trough plates 72 form a fixed trough seat in the present embodiment, and the first supporting trough 710, the second supporting trough 711 and the third supporting trough 712 form a positioning supporting trough in the present embodiment. The two side panels 72 form the shift gate in this embodiment, and the fourth and fifth holding gates 720, 721 form the shift holding gates in this embodiment. There is a plate spacing between adjacent channel plates, the plate spacing between intermediate channel plates 72 being adapted to the size of the robot gripper jaw.

Step-by-step feed System embodiment

The embodiments of the step-by-step material distribution system of the present invention have been described in the above embodiments of the pipe processing apparatus, and will not be described herein. Of course, the structure of the pipe processing device applicable to the stepping material distribution system has various obvious changes, and the stepping material distribution system is used for providing a device which can rotate a plurality of pipe materials generated by synchronous cutting around the same rotation shaft by a preset angle, then sequentially place the pipe materials in a plurality of material supporting grooves, and synchronously move forward the pipe materials along the material moving direction so as to realize that the pipe materials cut synchronously are alternately moved to a subsequent processing unit, thus being not only applicable to the pipe processing device embodiment.

For the number of holding tanks on the stepping material-distributing unit, depending on the number of chipless rotary cutting units arranged side by side, the number of holding tanks on the fixed tank seat is usually one more than the number of chipless rotary cutting units, while the number of holding tanks on the shifting tank seat is equal to the number of chipless rotary cutting units.

For the case of more shift holding slots than fixed holding slots, the manipulator may place all of the tubing in a row on a shift holding plate raised to a lower edge of the holding slot above the intermediate slot plate to advance the tubing in batches.

For some pipe fitting processing equipment, due to the limitation of a field, the axial direction of the rotary cutting main shaft can be set to form a certain angle with the material moving direction, but not form 90 degrees, and at the moment, the rotating mechanism on the first material moving mechanical arm unit drives the material clamping claw to rotate by an angle smaller than 90 degrees.

Step-by-step feed divider embodiment

The step-by-step feed divider embodiments of the present invention have been described in the step-by-step feed divider embodiments, and are not described herein.

In the above embodiment, for a pipe section whose both ends are required to be subjected to pipe end processing, the pipe end processing unit performs pipe end processing on both ends of the pipe section at the same time, and if only one end of the pipe section is required to be subjected to pipe end processing, the pipe end processing unit performs pipe end processing on the corresponding end of the pipe section.

In the present invention, "alternately transferring" of the pipe sections cut out by the pipe section feeding units arranged side by side in two or more paths "is configured such that the pipe sections cut out by the same round are transferred to the pipe section processing unit one by one, and then the pipe sections cut out by the next round are transferred to the pipe section processing unit one by one.

The main conception of the invention is that part of the structure in the feeding system is set to be in a stepping forward movement mode, so that the purpose of alternately transferring the cut pipes in the same batch can be realized; according to the present concept, the structure of the channel seat is not limited to be composed of two channel plates arranged side by side, and various obvious variations are also available; the step driving unit may be configured to position the advancing mechanism on the lifting end of the lifting mechanism, and in addition, there are obvious variations; the structures of the mandrel unit, the tube bender head, the clamping die and the guide die in the tube bending unit have various obvious changes.

Claims

1. A pipe fitting processing device comprises a frame, a pipe section feeding system and a processing and forming system, wherein the pipe section feeding system and the processing and forming system are arranged on the frame;

the method is characterized in that:

the pipe section feeding system comprises more than two pipe section feeding units which are arranged side by side; the pipe section feeding unit comprises a long pipe feeding unit and a chipless rotary cutting unit for cutting the fed long pipe into the pipe section; the forming system includes a pipe end processing unit that performs pipe end processing on at least one end of the pipe section;

The frame is provided with a material moving system which comprises a stepping material distributing system and is used for alternately moving the pipe sections cut by the pipe section feeding units which are arranged in parallel to the pipe end processing units;

the stepping material distribution system comprises a stepping material distribution unit and a material moving manipulator system, wherein the stepping material distribution unit comprises a fixed groove seat, a shifting groove seat and a stepping driving unit, and the material moving manipulator system comprises a first material moving manipulator unit;

the fixed groove seat is provided with more than three positioning supporting grooves which are arranged at equal intervals along the material moving direction, the shifting groove seat is provided with more than two shifting supporting grooves which are arranged at equal intervals along the material moving direction;

the step driving unit comprises a lifting driving unit for driving the shifting groove seat to lift and move relative to the fixed groove seat and a travelling driving unit for moving back and forth along the material shifting direction;

the first material moving manipulator unit comprises a mounting seat, more than two material clamping claws arranged on the mounting seat at a first interval, a moving sliding seat driven by a moving driving device to move along the direction approaching to and separating from the fixed groove seat, a lifting mechanism for driving the mounting seat to lift relative to the moving sliding seat, and a rotating mechanism for driving the mounting seat to rotate relative to the moving sliding seat around a vertical shaft; the rotating mechanism is used for driving the plurality of workpieces gripped on the gripping claw to synchronously rotate until the arrangement direction of the workpieces is along the material moving direction; the rotating mechanism is a rotating cylinder;

The axial distance between the rotating main shafts of two adjacent chipless rotary cutting units is equal to the first distance;

the processing and forming system sequentially comprises a pipe section positioning unit and a pipe bending unit which are positioned at the downstream of the pipe end processing unit along the transfer direction of the pipe section;

the pipe bending unit comprises a pipe bending machine head, a core rod unit and a discharging unit; the pipe bending machine head comprises a clamping die, a round die and a swing arm; the mandrel unit comprises a mandrel and a mandrel driving mechanism for driving the mandrel to extend into or withdraw from the pipe section; the discharging unit comprises a pushing sleeve sleeved outside the core rod and a pushing driving device for driving the pushing sleeve to reciprocate along the axial direction of the core rod;

the fixed end part of the swing arm is fixedly provided with a guide plate, and the guide plate is vertically positioned between the round die and the swing arm and comprises an inclined substrate with an avoidance port matched with a mounting seat of the round die;

when the clamping cavity of the clamping die is axially arranged along the axial direction of the core rod, the inclined substrate is obliquely arranged downwards along the direction of the round die deviating from the core rod driving mechanism, and flanges are fixedly arranged on the edge part facing the clamping die and the edge part facing the core rod driving mechanism of the inclined substrate; the pipe section positioning unit comprises a supporting groove, a positioning rod arranged on one groove side and a pushing rod arranged on the other groove side.

2. The pipe machining apparatus of claim 1, wherein:

the number of the shifting material supporting grooves is smaller than that of the positioning material supporting grooves, and the number of the clamping claws is smaller than that of the positioning material supporting grooves;

the direction of approaching and keeping away from the fixed groove seat is the material moving direction.

3. The pipe machining apparatus of claim 2, wherein:

the number of the shifting supporting grooves is one less than that of the positioning supporting grooves, and the number of the clamping claws is equal to that of the shifting supporting grooves.

4. The pipe machining apparatus of claim 1, wherein:

the fixed groove seat comprises two middle groove plates, the shifting groove seat comprises side groove plates positioned on two sides of the two middle groove plates, the length directions of the groove plates are all arranged along the material shifting direction, the surfaces of the groove plates are vertically arranged, and V-shaped positioning grooves arranged on the upper side surfaces of the groove plates form parts of a material supporting groove;

the travelling driving unit comprises a sliding plate seat and a driving device for driving the sliding plate seat to reciprocate along the material moving direction, the lifting driving unit comprises a lifting plate which can be vertically movably arranged on the sliding plate seat and a driving device for driving the lifting plate to vertically lift, and the shifting groove seat is arranged on the lifting plate;

In the direction of moving material, the side of the last positioning material supporting groove is provided with a workpiece positioning mechanism for positioning the workpiece on the positioning material supporting groove, and the workpiece positioning mechanism comprises a positioning rod arranged on one groove side and a pushing rod arranged on the other groove side.

5. A pipe machining apparatus according to any one of claims 1 to 4, wherein:

the axial direction of the rotary main shaft is parallel to the material moving direction, and the main shaft axial direction of the pipe end processing unit is perpendicular to the material moving direction;

the material moving manipulator system comprises a second material moving manipulator unit which is used for moving a pipe section from the stepping material distributing unit to the processing and forming system and sequentially moving the pipe section among the processing units in the processing and forming system according to the sequence of processing procedures;

the second material moving manipulator unit comprises a synchronous moving sliding seat which is driven by a moving driving device and can move back and forth along the material moving direction, and a plurality of manipulators fixedly arranged on the synchronous moving sliding seat; the number of the manipulators is equal to the number of the processing units; the manipulator comprises a clamping claw, an installation seat fixedly arranged on the synchronous transfer sliding seat and a lifting mechanism for driving the clamping claw to lift relative to the installation seat; the spacing between two adjacent mounting seats is equal to the spacing between stations of two adjacent processing units.