CN112276243A

CN112276243A - Full-automatic copper pipe double-end inner chamfering robot and chamfering method

Info

Publication number: CN112276243A
Application number: CN202011151304.XA
Authority: CN
Inventors: 黄文书
Original assignee: Dongguan Wind And Rain Technology Co ltd
Current assignee: Dongguan Wind And Rain Technology Co ltd
Priority date: 2020-10-25
Filing date: 2020-10-25
Publication date: 2021-01-29

Abstract

The invention relates to a full-automatic copper pipe double-end inner chamfering robot, which comprises: the supporting plate is vertically arranged; the positioning mechanism is arranged on one side of the supporting plate and used for positioning the copper pipe to be chamfered, the positioning mechanism comprises a first supporting seat which is L-shaped and horizontally arranged, and one side wall of the L-shaped is fixed on the supporting plate; the first positioning block is fixed on the other L-shaped side wall of the first supporting seat, a first positioning groove is formed in one side, away from the first supporting seat, of the first positioning block, the axis of the first positioning groove extends up and down, the first positioning groove is arc-shaped in plan view, the radian of the arc of the first positioning groove is not more than 180 degrees, the radius of the arc is equal to that of the copper pipe, and when the copper pipe is chamfered, one part of the circumferential surface of the copper pipe is located in the first positioning groove; the pressing mechanism is arranged on the same side of the supporting plate as the positioning mechanism and can press the copper pipe to be chamfered on the positioning mechanism or loosen the copper pipe from the positioning mechanism; and the two chamfering mechanisms are arranged on the same side of the supporting plate as the positioning mechanism and are respectively positioned on the upper side and the lower side of the positioning mechanism, and chamfer the inner end surfaces of the upper end and the lower end of the copper pipe. The robot can automatically complete the inner chamfering of the two ends of the copper pipe.

Description

Full-automatic copper pipe double-end inner chamfering robot and chamfering method

Technical Field

The invention relates to the field of part processing, in particular to a full-automatic copper pipe double-end inner chamfer and a chamfering method.

Background

Chamfering refers to machining the corners of a workpiece into a certain inclined plane. The chamfering is to remove burrs generated by machining on the parts, and is also to facilitate the assembly of the parts, the end portions of the parts are generally chamfered. The function of the common chamfer is to remove burrs and make the appearance of the product beautiful. However, chamfers particularly indicated in drawings are generally required by an installation process, such as installation guide of a bearing, and some arc chamfers (or arc transition) can also play a role in reducing stress concentration and strengthening the strength of shaft parts. In addition, assembly can be facilitated, and generally before the end of processing. On agricultural machine parts, especially end faces of round fittings and round holes are often machined to be chamfers of about 45 degrees. At present, when the inner chamfer is carried out on the cylindrical structure, a manual or semi-automatic mode is mostly adopted, the cost is high, and the efficiency is low.

Disclosure of Invention

In order to solve the technical problem, the full-automatic copper pipe double-end inner chamfering equipment is provided, and full-automatic chamfering can be realized.

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

the utility model provides a full-automatic copper pipe bi-polar inner chamfering robot which characterized in that includes:

the supporting plate is vertically arranged;

the positioning mechanism is arranged on one side of the supporting plate and used for positioning the copper pipe to be chamfered, the positioning mechanism comprises a first supporting seat which is L-shaped and horizontally arranged, and one side wall of the L-shaped is fixed on the supporting plate; the first positioning block is fixed on the other L-shaped side wall of the first supporting seat, a first positioning groove is formed in one side, away from the first supporting seat, of the first positioning block, the axis of the first positioning groove extends up and down, the first positioning groove is arc-shaped in plan view, the radian of the arc of the first positioning groove is not more than 180 degrees, the radius of the arc is equal to that of the copper pipe, and when the copper pipe is chamfered, one part of the circumferential surface of the copper pipe is located in the first positioning groove;

the pressing mechanism is arranged on the same side of the supporting plate as the positioning mechanism and can press the copper pipe to be chamfered on the positioning mechanism or loosen the copper pipe from the positioning mechanism;

and the two chamfering mechanisms are arranged on the same side of the supporting plate as the positioning mechanism and are respectively positioned on the upper side and the lower side of the positioning mechanism, and chamfer the inner end surfaces of the upper end and the lower end of the copper pipe.

Preferably, the pressing mechanism includes:

the second supporting seat is U-shaped and is fixed on the supporting plate;

the connecting block can be supported on the second supporting seat in a sliding mode along the direction close to or far away from the first positioning block;

the second positioning block is arranged on one side, facing the first positioning block, of the connecting block, a second positioning groove is formed in the surface of one side, facing the first positioning block, of the second positioning block, the second positioning groove is consistent with the cross section of the first positioning groove in shape, the openings of the second positioning groove and the first positioning groove are arranged in the opposite direction, and when the second positioning block moves to a certain distance in the direction of the first positioning block, the copper pipe to be chamfered can be clamped in the first positioning groove and the second positioning groove.

Preferably, the U-shaped opening of the second supporting seat faces the direction departing from the supporting plate, the middle part of the U-shaped support is fixed on the supporting plate, the two side parts are arranged oppositely from top to bottom, protruding strips protruding in opposite directions are arranged at the tail ends of the two side parts of the U-shaped support, the protruding strips extend along the moving direction of the connecting block, sliding grooves matched with the protruding strips are formed in the upper side surface and the lower side surface of the connecting block, and the protruding strips are slidably inserted into the sliding grooves.

Preferably, the blanking through holes are formed in the lower side portions of the two side portions of the second supporting seat, the blanking through holes extend along the moving direction of the connecting block, the second positioning block passes through the blanking through holes directly above the moving process, blanking slide ways are arranged at positions of the second supporting seat corresponding to the blanking through holes, the copper pipes can penetrate through the blanking through holes and fall into the blanking slide ways, and the lower ends of the blanking slide ways are provided with material receiving boxes, so that the copper pipes falling into the blanking slide ways can slide onto the material receiving boxes.

Preferably, the second positioning block is provided with a vent hole, one end of the vent hole extends to the position of the second positioning groove, the other end of the vent hole is provided with a connector, the connector is connected with the air pump through an air pipe, the air pump can generate negative pressure, and when the copper pipe is located at the position of the second positioning groove, the copper pipe can be sucked through the negative pressure.

Preferably, still include feed mechanism, feed mechanism includes:

the vibration disc is supported on the support frame, and the support frame is provided with a side of the support plate;

one end of the vibration guide rail is positioned at the discharge port of the vibration disc, the vibration guide rail can convey the copper pipe towards the other end of the vibration guide rail, the vibration guide rail extends along the moving direction of the connecting block, a rail groove is formed in the upper surface of the vibration guide rail, and the rail groove extends along the extending direction of the vibration guide rail;

the elevating block, its upper surface is provided with the third constant head tank, the third constant head tank is along the moving direction of vibration guide rail extends, the opening and both ends opening are made progress to the third constant head tank, the cross section of third constant head tank is the same with the cross section in track groove to when the elevating block is in extreme lower position department, the third constant head tank aligns with the track groove, when the elevating block is in extreme lower position department, the height that highly is less than the upper surface of vibration guide rail of the lower surface of elevating block, the length of third constant head tank is less than the length of copper pipe.

Preferably, the one end of keeping away from the vibration dish at vibration guide rail is provided with the baffle that is the U type, the baffle is kept flat, and its one end is connected with vibration guide rail, and the other end extends to the one end of keeping away from vibration guide rail of third constant head tank, overlooks when observing, the elevator is located the U type of baffle, the width of the U type of baffle is greater than the length of third constant head tank.

Preferably, the baffle is configured such that when one end of the copper pipe on the elevator block abuts against one side of the baffle away from the vibration guide rail, both ends of the copper pipe on the elevator block protrude from both ends of the third positioning groove.

Preferably, the copper pipe chamfering device further comprises a material moving mechanism which comprises a clamping jaw air cylinder, wherein the clamping jaw air cylinder can move a copper pipe to be chamfered on the lifting block to the position of the first positioning groove and can rotate the copper pipe by 90 degrees in the moving process.

The invention also provides a full-automatic copper pipe double-end chamfering method, which adopts the robot and is characterized by comprising the following steps:

step 1: the feeding mechanism feeds the copper pipe to be chamfered onto the lifting block, and the lifting block rises;

step 2: the material moving mechanism moves the copper pipe on the lifting block to the position of the first positioning groove on the first positioning block and rotates the copper pipe for 90 degrees in the moving process;

and step 3: the second positioning block moves towards the direction of the first positioning block and clamps the copper pipe in the first positioning groove and the second positioning groove;

and 4, step 4: the two chamfering mechanisms move towards the two ends of the copper pipe respectively to chamfer the inner rings at the two ends of the copper pipe.

Preferably, the method further comprises the following steps:

and 5: after chamfering is finished, the air pump works to adsorb the copper pipe on the second positioning block;

step 6: the second positioning block moves towards the direction far away from the first positioning block and moves the copper pipe to the position right above the blanking through hole;

and 7: the air pump stops working, the second positioning block loosens the adsorption of the copper pipe, and the copper pipe passes through the blanking through hole, falls onto the blanking slideway and finally slides into the material receiving box.

Compared with the prior art, the invention has the following beneficial effects:

the robot provided by the invention can perform full-automatic double-end inner chamfering operation on the copper pipe semi-finished product, can automatically collect the processed copper pipe, does not need manual participation, saves the cost, and simultaneously improves the production efficiency.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of the present invention.

Fig. 3 is a three-dimensional schematic view of the present invention.

Fig. 4 is a schematic perspective view of the feeding mechanism of the present invention.

Fig. 5 is a partial perspective view of the present invention.

Fig. 6 is a three-dimensional exploded view of the positioning carrier and the pressing fixture according to the present invention.

Fig. 7 is a schematic perspective view of a positioning block of the present invention.

Fig. 8 is a schematic perspective view of the chamfering mechanism according to the present invention.

Fig. 9 is an enlarged view of a structure shown in fig. 2.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

As shown in fig. 1-9, a full-automatic copper pipe double-end inner chamfering robot includes a vertically arranged support plate 1, a positioning mechanism 2 arranged on one side of the support plate 1 and used for positioning a copper pipe 100 to be chamfered, a pressing mechanism 3 arranged on the same side of the support plate 1 as the positioning mechanism 2 and capable of pressing the copper pipe 100 to be chamfered onto the positioning mechanism 2 or loosening the copper pipe 100 from the positioning mechanism 2, and two chamfering mechanisms 6 arranged on the same side of the support plate 1 as the positioning mechanism 2 and respectively located on the upper side and the lower side of the positioning mechanism 2, wherein the copper pipe 100 to be chamfered is vertically pressed onto the positioning mechanism 2 by the pressing mechanism 3, and the two chamfering mechanisms 6 chamfer the inner end faces of the upper end and the lower end of the copper pipe 100.

Positioning mechanism 2 includes first supporting seat 8 and the first locating piece 9 of L type, a lateral wall of the L type of first supporting seat 8 is fixed in backup pad 1 is last, first locating piece 9 is fixed on another lateral wall of the L type of first supporting seat 8 be provided with first constant head tank 10 on one side that deviates from first supporting seat 8 of first locating piece 9, the axis of first constant head tank 10 extends from top to bottom, when overlooking the observation, first constant head tank 10 is convex, the convex radian of first constant head tank 10 is not more than 180 degrees and convex radius equals the radius of copper pipe 100, and during the chamfer, a part of the circumferential surface of copper pipe 100 is located in first constant head tank 10.

The pressing mechanism 3 comprises a U-shaped second supporting seat 11, a connecting block 18 which can be slidably supported on the second supporting seat 11 along a direction close to or far away from the first positioning block 9, and a second positioning block 10 which is arranged on one side of the connecting block 18 facing the first positioning block 9, wherein a second positioning groove 15 is arranged on the surface of one side, facing the first positioning block 9, of the second positioning block 10, the second positioning groove 15 is consistent with the cross section of the first positioning groove 9, the openings of the second positioning groove 15 and the first positioning groove 9 are oppositely arranged, and the copper pipe 100 to be chamfered can be clamped in the first positioning groove 10 and the second positioning groove 15 after the second positioning block 10 moves to a certain distance towards the first positioning block 9.

Further, the U-shaped opening of the second support seat 11 faces the direction away from the support plate 1, the middle portion of the U-shaped support seat is fixed on the second support seat 11, the two side portions are arranged oppositely, protruding strips 111 protruding in opposite directions are arranged at the tail ends of the two side portions of the U-shaped support seat, the protruding strips 111 extend along the moving direction of the connecting block 18, sliding grooves 181 matched with the protruding strips 111 are arranged on the surfaces of the upper side and the lower side of the connecting block 18, and the protruding strips 111 are slidably inserted into the sliding grooves 181.

Further, blanking through holes 20 are formed in the lower side portions of the two side portions of the second support seat 11, the blanking through holes 20 extend along the moving direction of the connecting block 18, and the second positioning block 10 passes through the blanking through holes 20 in the moving process, so that the copper tube 100 with the chamfer finished can fall into the blanking through holes 20. A blanking slide 19 is arranged at the position, corresponding to the blanking through hole 20, of the second support seat 11, the copper pipe 100 can penetrate through the blanking through hole 20 and fall into the blanking slide 19, a material receiving box 21 is arranged at the lower end of the blanking slide 19, and the copper pipe 100 falling into the blanking slide 19 can slide onto the material receiving box 21.

Further, be provided with air vent 17 on the second locating piece 13, the one end of air vent 17 extends to the position department of second constant head tank 15, and the other end is provided with joint 16, and joint 16 passes through the trachea and is connected with the air pump, and the air pump can produce the negative pressure, when copper pipe 100 is located the position department of second constant head tank 15, can hold copper pipe 100 through the negative pressure, and when the chamfer was accomplished like this, copper pipe 100 removed to blanking through-hole 20 directly over can be held to second locating piece 10, then the air pump shut down or adopt other modes to make the negative pressure disappear, copper pipe 100 falls into blanking through-hole 20, realizes the recovery of copper pipe 100.

The supporting plate 1 is further provided with a first air cylinder 14, a cylinder body of the first air cylinder 14 is fixed on the supporting plate 1, a free end of an air cylinder rod is connected with the connecting block 18, an axis of the air cylinder rod is parallel to the moving direction of the connecting block 18, and the first air cylinder 14 can drive the second positioning block 10 to move.

The robot still includes feed mechanism 4, feed mechanism 4 is including supporting vibration dish 22 and the vibration guide rail 23 on support frame 41, the one end of vibration guide rail 23 is located the discharge gate department of vibration dish 22, treats that the copper pipe 100 of chamfer places at vibration dish 22, and the during operation, vibration dish 22 can carry copper pipe 100 on vibration guide rail 22, and vibration guide rail 22 can carry copper pipe 100 towards its other end, vibration guide rail 23 along the moving direction of connecting block 18 extends, is provided with track groove 25 at the upper surface of vibration guide rail 23, track groove 25 extends along the extending direction of vibration guide rail 23.

On support frame 41 and the position department that corresponds the one end of keeping away from vibration dish 22 of vibration guide rail 23 sets up the elevator 29 that can reciprocate, the upper surface of elevator 29 is provided with third constant head tank 30, third constant head tank 30 is along the moving direction of vibration guide rail 23 extends, the ascending opening of third constant head tank 30 and both ends opening, the cross section of third constant head tank 30 is the same with the cross section of track groove 25 to when elevator 29 is in the lowest position department, third constant head tank 30 aligns so that copper pipe 100 in the track groove 25 can enter into third constant head tank 30 smoothly with track groove 25. The height of the lower surface of the lifting block 29 is lower than the height of the upper surface of the vibration guide 22 when the lifting block 29 is at the highest position, so that when the lifting block 29 pushes up the copper pipe 100 positioned thereon, the lifting block 29 can prevent the copper pipe 100 positioned on the vibration guide 23 from continuing forward until the lifting block 29 is lowered to the lowest position. The length of the third positioning groove 30 is less than the length of the copper tube 100.

Specifically, the lifting block 29 is supported on a support frame 41 through a second air cylinder 28, a cylinder body of the second air cylinder 28 is fixed on the support frame 41, an air cylinder rod of the second air cylinder 28 extends upwards, and the upper end of the air cylinder rod is fixed on the lifting block 29.

Further, be provided with the baffle 26 that is the U-shaped at the one end of keeping away from vibration dish 22 of vibration guide rail 23, baffle 26 is kept flat, and its one end is connected with vibration guide rail 23, and the other end extends to the one end of keeping away from vibration guide rail 23 of third constant head tank 30, when overlooking, elevator 29 is located the U-shaped of baffle 26. The width of the U shape of the baffle 26 is greater than the length of the third positioning groove 30, and further, the baffle 26 is configured such that when one end of the copper tube 100 on the elevator block 29 abuts against one side of the baffle 26 away from the vibration guide rail 23, two ends of the copper tube 100 on the elevator block 29 extend out from two ends of the third positioning groove 30, so that the copper tube 100 is prevented from falling off from one end of the third positioning groove 30 away from the vibration guide rail 23, and the elevator block 29 is also ensured to be supported at the middle position of the copper tube 100 as much as possible.

The robot further comprises a material moving mechanism 5. Move material mechanism 5 and include supporting clamping jaw cylinder 7 on support frame 41 through XY slip table, the XY slip table includes X slip table 32 and Y slip table 33, the output of X slip table 32 moves along the X direction, the output of Y slip table 33 moves along the Y direction, Y slip table 33 is fixed on the output of X slip table 32, is provided with cylinder support 35 on the output of Y slip table 33, the X direction is on a parallel with the moving direction of connecting block 18. A rotary cylinder 34 is arranged on the cylinder bracket 35, a cylinder body of the rotary cylinder 34 is fixed on the cylinder bracket 35, a rotation axis of an output end of the rotary cylinder 34 is parallel to the Y direction, and a cylinder body of the clamping jaw cylinder 7 is arranged on the output end of the rotary cylinder 34. The height of the two clamping jaws of the clamping jaw air cylinder 7 in the horizontal state is equal to the height of the upper surface of the lifting block 29 at the highest position, and the distance between the two clamping jaws when being loosened is larger than the length of the copper pipe 100.

When the copper pipe clamping device works, the two clamping jaws of the clamping jaw air cylinder 7 are horizontally placed and move right above the lifting block 29, the lifting block 29 moves upwards to the highest position, the copper pipe on the lifting block 29 and the two clamping jaws are at the same height, and the two clamping jaws shrink to clamp the copper pipe 100; then, the clamping jaw air cylinder 7 is driven by the XY sliding table to move to a position between the first positioning groove 10 and the second positioning groove 15 and close to the first positioning groove 10, and in the moving process, the clamping jaw air cylinder 7 is driven by the rotating air cylinder 34 to rotate 90 degrees, so that the copper pipe 100 is converted from a horizontal state to a vertical state; thereafter, the second positioning slot 15 is moved in the direction of the first positioning slot 10 until the copper tube 100 is clamped between the second positioning slot 15 and the first positioning slot 10; thereafter, the jaws are released pneumatically 7 and retracted; the chamfering mechanism works to chamfer the inner surfaces of both ends of the copper pipe 100; after the chamfering is finished, the second positioning block 13 sucks the copper tube 100 and moves to a position right above the blanking through hole 20, then the second positioning block 13 releases the copper tube 100, and the copper tube 100 passes through the blanking through hole 20 and falls into the blanking slideway 19 and slides into the material receiving box 21 along the blanking slideway 19.

Each chamfering mechanism 6 includes a supporting side plate 36 fixed on the supporting plate 1, a spindle system 37 supported on the supporting side plate 36 in a movable manner up and down, and a cutter head 39 provided on an output shaft of the spindle system 37, when the copper tube 100 is held on the first and

second positioning grooves

10 and 20, the spindle system 3 moves toward the copper tube 100 together with the cutter head 39 and causes the tip portion of the cutter head 39 to be partially inserted into the copper tube 100, the spindle system 3 rotates the cutter head 39, and the cutter head 39 and the copper tube 100 are ground to realize chamfering. After the chamfering is completed, the spindle system 37 stops rotating and moves in a direction away from the copper pipe 100.

Further, a guide rail 40 which is vertically arranged is arranged on the supporting side plate 36, an upper set of sliding blocks 41 and a lower set of sliding blocks 41 are arranged on the guide rail 40, one set of sliding blocks 41 is far away from the copper pipe 100, the other set of sliding blocks 41 is close to the copper pipe 100, the spindle system 37 is arranged on the set of sliding blocks 41 which are far away from the copper pipe 100 through a first mounting plate 42, a second mounting plate 43 is arranged on the set of sliding blocks 41 which are close to the copper pipe 100, the tool bit 39 is rotatably arranged on the second mounting plate 43, and an output shaft of the spindle system 37 is configured to be capable of relatively sliding and not capable of relatively rotating with the tool bit 39. A link 44 is provided between the first mounting plate 42 and the second mounting plate 43, one end of the link 44 is fixed to one of the first mounting plate 42 and the second mounting plate 43, the other end slidably passes through the other of the first mounting plate 42 and the second mounting plate 43, and a stopper plate is provided at the other end to prevent the link 44 from slipping out of the other of the first mounting plate 42 and the second mounting plate 43, and a spring 43 is provided at a portion of the link 44 located at the first mounting plate 42 and the second mounting plate 43, the spring 43 is always in a compressed state, a third cylinder 38 is further mounted on the support side plate 36, a cylinder body of the third cylinder 38 is fixed on the support side plate 36, a cylinder rod thereof extends downward and a free end thereof is fixed on the first mounting plate 42, and the up-and-down movement of the cutter head 39 can be driven by the extension and contraction of the third cylinder 38, and the impact of the cutter head 39 and the copper pipe 100 can be buffered through the spring 45, and the cutter head 39 can always abut against the copper pipe 100 during operation.

Of course, the electric push rod can be used to replace the third cylinder 38, so that more accurate control can be realized, more accurate chamfering precision can be achieved, the spring 45 can be omitted under the condition, the tool bit 39 can be directly fixed on the output shaft of the spindle system 37, and the effect of avoiding collision can be achieved by controlling the slow extension of the electric push rod.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a full-automatic copper pipe bi-polar inner chamfering robot which characterized in that includes:

the supporting plate is vertically arranged;

2. The full-automatic copper pipe double-end inner chamfering robot as claimed in claim 1, wherein the pressing mechanism comprises:

the second supporting seat is U-shaped and is fixed on the supporting plate;

3. The robot for chamfering the inside of the double ends of the full-automatic copper pipe according to claim 2, wherein the U-shaped opening of the second supporting seat faces the direction away from the supporting plate, the middle part of the U-shaped opening is fixed on the supporting plate, the two side parts are arranged oppositely up and down, protruding strips protruding in opposite directions are arranged at the tail ends of the two side parts of the U-shaped opening, the protruding strips extend along the moving direction of the connecting block, sliding grooves matched with the protruding strips are arranged on the upper side surface and the lower side surface of the connecting block, and the protruding strips are slidably inserted into the sliding grooves.

4. The full-automatic copper pipe double-end inner chamfering robot as claimed in claim 3, wherein blanking through holes are formed in lower side portions of two side portions of the second supporting seat, the blanking through holes extend along the moving direction of the connecting block, the second positioning block passes through the blanking through holes in the moving process, a blanking slide way is arranged at a position of the second supporting seat corresponding to the blanking through holes, the copper pipe can penetrate through the blanking through holes and fall onto the blanking slide way, a material receiving box is arranged at the lower end of the blanking slide way, and the copper pipe falling onto the blanking slide way can slide onto the material receiving box.

5. The robot for automatically chamfering the two ends of the copper pipe according to claim 4, wherein the second positioning block is provided with a vent hole, one end of the vent hole extends to the position of the second positioning groove, the other end of the vent hole is provided with a connector, the connector is connected with an air pump through an air pipe, the air pump can generate negative pressure, and when the copper pipe is located at the position of the second positioning groove, the copper pipe can be sucked through the negative pressure.

6. The full-automatic copper pipe double-end inner chamfering robot according to claim 5, further comprising a feeding mechanism, wherein the feeding mechanism comprises:

7. The robot for the full-automatic inner chamfering of the double ends of the copper pipe according to claim 6, wherein a U-shaped baffle is arranged at one end of the vibration guide rail, which is far away from the vibration disc, the baffle is horizontally placed, one end of the baffle is connected with the vibration guide rail, the other end of the baffle extends to one end of the third positioning groove, which is far away from the vibration guide rail, when viewed from top, the lifting block is positioned in the U-shaped baffle, the width of the U-shaped baffle is greater than the length of the third positioning groove, and the baffle is configured such that when one end of the copper pipe positioned on the lifting block abuts against one side of the baffle, which is far away from the vibration guide rail, the two ends of the copper pipe positioned on the lifting.

8. The full-automatic copper pipe double-end inner chamfering robot according to claim 7, further comprising a material moving mechanism, wherein the material moving mechanism comprises a clamping jaw air cylinder, the clamping jaw air cylinder can move a copper pipe to be chamfered, located on the lifting block, to the position of the first positioning groove and can rotate the copper pipe by 90 degrees in the moving process.

9. A full-automatic copper pipe double-end chamfering method, which adopts the robot of claim 8, is characterized by comprising the following steps:

10. The full-automatic copper pipe double-end chamfering method according to claim 9, further comprising: