CN112605407B

CN112605407B - Synchronous full-automatic processing equipment for two end faces of drying frame pipe fitting

Info

Publication number: CN112605407B
Application number: CN202011411204.6A
Authority: CN
Inventors: 吴剑斌; 张卫; 林志辉
Original assignee: Jiangxi Avonflow Heating Ventilation Technology Co ltd
Current assignee: Jiangxi Avonflow Heating Ventilation Technology Co ltd
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2022-03-25
Anticipated expiration: 2040-12-03
Also published as: CN112605407A

Abstract

A drying frame pipe fitting two-end-face synchronous full-automatic processing device comprises an end face processing mechanism, a gantry grabbing mechanism and a control system, wherein the end face processing mechanism comprises a workbench, a storage bin is fixed on the workbench, axial feeding assemblies are fixed on two sides of the upper top surface of the workbench, and a radial feeding assembly is arranged between the axial feeding assemblies; the gantry grabbing mechanism comprises a gantry frame, two longitudinal slide rails are fixed at the top of the gantry frame, bearing plates are respectively mounted on the longitudinal slide rails, two cross beams are connected between the bearing plates, transverse slide rails are mounted on the cross beams, and grabbing components are mounted on the transverse slide rails; the control system performs linkage adjustment on the two sets of axial feeding assemblies and the grabbing assemblies before machining, and performs linkage adjustment on the two sets of axial feeding assemblies and the radial feeding assemblies during machining. The invention realizes the full-automatic processing of the two end faces of the drying frame pipe fitting, and greatly improves the processing efficiency and quality.

Description

Synchronous full-automatic processing equipment for two end faces of drying frame pipe fitting

Technical Field

The invention relates to the field of drying frame pipe fitting processing, in particular to synchronous full-automatic processing equipment for two end faces of a drying frame pipe fitting.

Background

The matching product of the high-grade bathroom of the drying towel rack is widely suitable for places with high requirements on humidity, such as families (bathroom spaces, kitchens and balconies), high-grade residences, villas, hotels, guesthouses, hotels, medical care institutions, public service places and the like.

The pipe fittings of the drying towel rack in the existing market need to be cut and blanked by a machining production device such as a pipe cutter, but the size precision of the cut and blanked pipe cutter is low, burrs exist on the inner surface and the outer surface of a cut end face, the requirements are not met, and further processing is needed. It is necessary to design and manufacture a drying rack full-automatic two-end-face processing device in order to improve the production efficiency.

Disclosure of Invention

According to the problems of the background art, the invention provides a synchronous full-automatic processing device for two end faces of a drying frame pipe fitting, and the invention is further explained in the following.

A drying frame pipe fitting two-end-face synchronous full-automatic processing device comprises an end face processing mechanism, a gantry grabbing mechanism and a control system, wherein the end face processing mechanism comprises a workbench, a storage bin is fixed on the workbench, axial feeding assemblies are fixed on two sides of the upper top surface of the workbench, and a radial feeding assembly is arranged between the axial feeding assemblies; the gantry grabbing mechanism comprises a gantry frame, two longitudinal slide rails are fixed at the top of the gantry frame, bearing plates are respectively mounted on the longitudinal slide rails, two cross beams are connected between the bearing plates, transverse slide rails are mounted on the cross beams, and grabbing components are mounted on the transverse slide rails; a longitudinal rack is fixed on one side surface of the top of the portal frame, a longitudinal motor is fixed on one bearing plate, a longitudinal gear is connected to the output of the longitudinal motor, and the longitudinal gear is meshed with the longitudinal rack; a transverse rack is fixedly arranged on one side of the cross beam, and a transverse gear meshed with the transverse rack is fixed on the grabbing component; the control system performs linkage adjustment on the two sets of axial feeding assemblies and the grabbing assemblies before machining, and performs linkage adjustment on the two sets of axial feeding assemblies and the radial feeding assemblies during machining.

Preferably, the axial feeding assembly comprises an axial sliding seat fixed on the workbench, an axial sliding rail is arranged on the axial sliding seat, an axial sliding table is mounted on the axial sliding rail, a first axial motor is arranged on the axial sliding table, the output of the first axial motor is connected with a rotating main shaft, and a forming cutter is mounted on the rotating main shaft; an axial screw rod is pivoted on the axial sliding seat, one end of the axial screw rod is connected and fixed on the output of a second axial motor at one end of the axial sliding seat, and the axial screw rod penetrates through the axial sliding table and is matched with the axial sliding table;

the radial feeding assembly comprises a radial sliding seat fixed on the workbench, a radial first sliding rail is mounted on the radial sliding seat, a radial sliding table is arranged on the radial first sliding rail, a fixed clamping seat and a radial second sliding rail are fixed on the radial sliding table, a movable clamping seat is connected to the radial second sliding rail, the movable clamping seat slides on the radial second sliding rail to be close to or far away from the fixed clamping seat, and clamping grooves are formed in opposite surfaces of the movable clamping seat and the fixed clamping seat; a horizontal cylinder is also fixed on the radial sliding table, and the output of the horizontal cylinder is connected to the movable clamping seat; the radial sliding seat is further fixedly provided with a radial motor, the output of the radial motor is connected with a radial screw rod, and the radial screw rod penetrates through the radial sliding table and then is pivoted on the radial sliding seat.

Preferably, the grabbing assembly further comprises a mounting plate mounted on the transverse sliding rail, a stand column is fixed on the mounting plate, the stand column is upwards connected with a top plate, a vertical cylinder is mounted on the top plate, the output end of the vertical cylinder penetrates through the mounting plate and then is connected with a lifting upper plate, the lifting height of the lifting upper plate is controlled through the vertical cylinder, the lifting upper plate is connected with a lifting lower plate through a connecting rod, a bidirectional output cylinder is mounted on the lifting lower plate, and the output of the bidirectional output cylinder is connected with a manipulator; and a transverse motor is further fixed on the mounting plate, the output of the transverse motor is connected with a transverse gear, and the transverse gear is meshed with the transverse rack.

Preferably, the mounting plate, the top plate and the lifting upper plate are connected through a chain; the stability of the action and the accuracy of the in-place are enhanced.

Preferably, a waste bin is arranged in the workbench, one end of the axial sliding seat is connected with a guide chute positioned below the forming cutter, and the guide chute is inclined towards the waste bin; and guiding the processed waste materials to a waste bin for collection.

Optionally, the width of the waste bin is consistent with the length of the pipe fitting, the two sets of axial feeding assemblies are symmetrical with respect to the radial feeding assembly, and when the manipulator grabs the pipe fitting and places the pipe fitting on the radial feeding assembly, the radial feeding assembly is clamped in the middle of the pipe fitting; the two sets of axial feeding assemblies can process the pipe fitting only by presetting the same travel distance.

Preferably, the width of the waste bin is consistent with the length of the pipe fitting, the radial feeding assemblies comprise two groups with the same structure, the two groups of axial feeding assemblies and the two groups of radial feeding assemblies are symmetrical about the middle position of the waste bin, the gripping position of the manipulator is the middle of the pipe fitting, the continuity and the efficiency of the working procedure are improved, and the processing stability is guaranteed.

Preferably, the material placing rack comprises a material rack standing on the ground, a plurality of material storage positioning clamping plates are arranged at the top of the material rack, and the pipe fittings are placed on the material storage positioning clamping plates.

Has the advantages that: compared with the prior art, the full-automatic processing device disclosed by the invention has the advantages that the full-automatic processing of the two end faces of the drying frame pipe fitting is realized, and both the processing efficiency and the quality are greatly improved.

Drawings

FIG. 1: the invention has a structure schematic diagram;

FIG. 2: the structural schematic diagram of the end face machining mechanism;

FIG. 3: the structure of the axial feeding assembly is schematic;

FIG. 4: the radial feeding assembly is structurally schematic;

FIG. 5: the structural schematic diagram of the gantry grabbing machine;

FIG. 6: the structure schematic diagram of the grabbing component;

FIG. 7: the structure at A in FIG. 5 is enlarged;

FIG. 8: the structure schematic diagram of the material placing rack;

FIG. 9: a schematic view of another embodiment of an end face machine having two sets of radial feed assemblies;

in the figure:

an end-face machining mechanism (10),

the device comprises a workbench 11, a waste bin 111, a guide chute 112, a storage bin 12, an axial feeding assembly 13 and a radial feeding assembly 14;

the axial feeding assembly 13 comprises an axial sliding seat 131, an axial sliding rail 132, an axial sliding table 133, a first axial motor 134, a rotating main shaft 135, a forming cutter 136, an axial screw 137 and a second axial motor 138;

the radial feeding assembly 14 comprises a radial sliding seat 141, a radial first slide rail 142, a radial sliding table 143, a fixed clamping seat 144, a radial second slide rail 145, a movable clamping seat 146, a clamping groove 147, a horizontal air cylinder 148, a radial motor 149 and a radial screw 1410;

the gantry gripping mechanism (20) is provided with,

the device comprises a portal frame 21, a longitudinal slide rail 22, a bearing plate 23, a cross beam 24, a transverse slide rail 25, a grabbing component 26, a longitudinal rack 27, a longitudinal motor 28, a longitudinal gear 29 and a transverse rack 210;

the grabbing assembly 26, a mounting plate 261, a vertical column 262, a top plate 263, a vertical cylinder 264, a lifting upper plate 265, a bidirectional output cylinder 266, a mechanical arm 267, a transverse motor 268, a transverse gear 2610 and a lifting lower plate 269;

a material placing rack (30) is arranged,

a material rack 31 and a material storage positioning clamping plate 32.

Detailed Description

A specific embodiment of the present invention will be described in detail with reference to fig. 1-9.

A full-automatic synchronous processing device for two end faces of drying frame pipe fittings comprises an end face processing mechanism 10, a gantry grabbing mechanism 20, a material placing frame 30 and a control system, wherein,

referring to fig. 1, the end face machining mechanism 10 includes a workbench 11 disposed on the ground, a storage bin 12 is fixed on the workbench 11, pipe fittings to be machined are stored in the storage bin 12, axial feeding assemblies 13 are further fixed on two sides of the upper top surface of the workbench 11, a radial feeding assembly 14 fixed on the workbench 11 is arranged between the axial feeding assemblies 13, a hanging piece to be machined is clamped on the radial feeding assembly 14 and is adjusted in the radial direction of the pipe fittings under the control of a control system, the axial feeding assemblies 13 and two sides of the pipe fittings are adjusted in position, the machining depth is controlled to machine the end face of the pipe fittings, and burrs are removed.

Referring to fig. 2-3, the axial feeding assembly 13 includes an axial slide 131 fixed to the working table 11, the axial slide 131 is provided with an axial slide rail 132, the axial slide rail 132 is provided with an axial slide table 133, the axial slide table 133 slides on the axial slide rail 132, the axial slide table 133 is provided with a first axial motor 134, an output of the first axial motor 134 is connected to a rotating spindle 135, and the rotating spindle 135 is provided with a forming cutter 136; the axial sliding seat 131 is further pivoted with an axial screw 137, one end of the axial screw 137 is connected and fixed to an output of a second axial motor 138 at one end of the axial sliding seat 131, and the axial screw 137 passes through the axial sliding table 133 and is matched with the axial sliding table. The forming cutter 136 is driven by the first axial motor 134 to rotate at a high speed, meanwhile, the second axial motor 138 drives the axial screw 137 to rotate, and further controls the axial sliding table 133 matched with the axial screw 137 to slide on the axial sliding table 133 and to be close to or far away from the radial feeding assembly 14, and the end face of the pipe fitting is machined by controlling the feeding depth of the axial sliding table 133, so that burrs are taken out.

Referring to fig. 4, the radial feeding assembly 14 includes a radial slide 141 fixed to the workbench 11, the radial slide 141 is mounted with a radial first slide rail 142, the radial first slide rail 142 is provided with a radial sliding table 143, the radial sliding table 143 is fixed with a fixed clamp holder 144 and a radial second slide rail 145, the radial second slide rail 145 is connected with a movable clamp holder 146, the movable clamp holder 146 slides on the radial second slide rail 145 to be close to or far from the fixed clamp holder 144, and the opposite surfaces of the movable clamp holder 146 and the fixed clamp holder 144 are provided with clamp grooves 147; a horizontal cylinder 148 is further fixed on the radial sliding table 143, and the output of the horizontal cylinder 148 is connected to the movable clamping seat 146; the radial sliding base 141 is further fixed with a radial motor 149, the output of the radial motor 149 is connected with a radial screw 1410, and the radial screw 1410 is pivoted on the radial sliding base 141 after passing through the radial sliding table 143. Like the axial feeding assembly 13, the radial motor 149 drives the radial screw 1410 to rotate so as to control the displacement of the radial sliding table 143, and the horizontal cylinder 148 operates to control the movable clamp holder 146 to slide on the radial second slide rail 145, so as to clamp the pipe between the movable clamp holder 146 and the fixed clamp holder 144 for machining.

Referring to fig. 5-7, the gantry grabbing mechanism 20 is used for grabbing pipe fittings, moving the pipe fittings to a position between the movable clamping seat 146 and the fixed clamping seat 144, and includes a gantry 21, two longitudinal slide rails 22 are fixed on the top of the gantry 21, bearing plates 23 are respectively installed on the longitudinal slide rails 22, two cross beams 24 are connected between the bearing plates 23, transverse slide rails 25 are installed on the cross beams 24, and grabbing components 26 are installed on the transverse slide rails 25; a longitudinal rack 27 is fixed on one side surface of the top of the portal frame 21, a longitudinal motor 28 is fixed on one bearing plate 23, a longitudinal gear 29 is connected to the output of the longitudinal motor 28, the longitudinal gear 29 is meshed with the longitudinal rack 27, the longitudinal motor 28 drives the longitudinal gear 29 to rotate, and the bearing plate 23 slides on the longitudinal slide rail 22 through the meshing action of the longitudinal gear 29 and the longitudinal rack 27 and the reaction action, so that the longitudinal position of the grabbing component 26 is changed.

Referring to fig. 6, the grabbing assembly 26 includes a mounting plate 261 mounted on the transverse sliding rail 25, a vertical column 262 is fixed on the mounting plate 261, a top plate 263 is connected to the vertical column 262, a vertical cylinder 264 is mounted on the top plate 263, an output end of the vertical cylinder 264 passes through the mounting plate 261 and is connected with a lifting upper plate 265, the lifting height of the lifting upper plate 265 is controlled by the vertical cylinder 264, the lifting upper plate 265 is connected with a lifting lower plate 269 through a connecting rod, a bidirectional output cylinder 266 is mounted on the lifting lower plate 269, an output of the bidirectional output cylinder 266 is connected with a manipulator 267, and a grabbing pipe fitting of the manipulator 267 is controlled by the action of the bidirectional output cylinder 266; the mounting plate 261 is further fixed with a transverse motor 268, a transverse rack 210 is fixedly arranged on one side of a cross beam 24, a transverse gear 2610 is connected to the output of the transverse motor 268 and meshed with the transverse rack 210, and the transverse gear 2610 rotates under the output of the transverse motor 268 and changes the transverse position of the grabbing assembly 26 through the meshing with the transverse rack 210.

The height of the mechanical arm 267 is changed by the grabbing component 26 through the vertical cylinder 264, and in order to enhance the action stability and the in-place accuracy, the mounting plate 261, the top plate 263 and the lifting upper plate 265 are connected through a chain.

The gripping assembly 26 can change any position of the gripping assembly in the horizontal plane through the meshing action of the longitudinal gear 29 and the longitudinal rack 27 and the meshing action of the transverse gear 2610 and the transverse rack 210, and then controls the height of the manipulator 267 in the vertical direction through the vertical cylinder 264, so that the tube can be gripped and moved between the movable clamp seat 146 and the fixed clamp seat 144.

The placement of the pipe fittings in the storage bin 12 is often uneven in end face, and the manipulator 267 has randomness when grabbing, so that the manipulator 267 places the pipe fittings at the movable clamping seat 146 and the fixed clamping seat 144 randomly, and at this time, the two sets of axial feeding assemblies 13 are required to be adjusted respectively to have different feeding distances, so that the two ends of the pipe fittings can be guaranteed to be processed; the position of the gripping assembly 26 also needs to be adjusted when the feed distance is beyond the range of the axial feed assembly 13, so in this case the control system needs to perform a coordinated adjustment of the two sets of axial feed assemblies 13 and gripping assemblies 26 before machining.

During machining, the pipe is clamped between the movable clamping seat 146 and the fixed clamping seat 144, the axial feeding assembly 13 moves towards the end face of the pipe, the forming cutter 136 machines the end face of the pipe, at the moment, the radial feeding assembly 14 controls the pipe to move relative to the forming cutter 136, machining of the whole end face is achieved, and in the machining process, the control system controls the two sets of axial feeding assemblies 13 and the radial feeding assembly 14 to perform linkage action.

Referring to fig. 2, in the machining process, the forming cutter 136 rotating at a high speed generates waste materials in the machining of the end face of the pipe fitting, the waste materials are collected in the embodiment, the waste material bin 111 is arranged in the workbench 11, one end of the axial sliding seat 131 is connected with the material guide groove 112 located below the forming cutter 136, the material guide groove 112 slopes to the waste material bin 111, and the machined waste materials are guided to the waste material bin 111 to be collected.

In order to reduce the time consumption for adjusting the positions of the axial feeding assembly 13 and the grabbing assembly 26 caused by the randomness of grabbing the pipe by the manipulator 267 and improve the continuity and efficiency of the process, the invention limits the waste bin 111, the width of the waste bin 111 is consistent with the length of the pipe, the pipe is positioned by two side walls of the storage bin 111, the two sets of axial feeding assemblies 13 are symmetrical relative to the radial feeding assembly 14, when the manipulator 267 grabs the pipe and places the pipe on the radial feeding assembly 14, the radial feeding assembly 14 is guaranteed to be clamped in the middle of the pipe, and at the moment, the two sets of axial feeding assemblies 13 can process the pipe only by the preset equal distance of travel.

In order to further improve the gripping and processing stability, in another embodiment, referring to fig. 9, the width of the waste bin 111 is the same as the length of the pipe, the radial feeding assembly 14 includes two sets with the same structure, the two sets of axial feeding assemblies 13 and radial feeding assemblies 14 are symmetrical with respect to the middle position of the waste bin 111, the gripping position of the manipulator 267 is the middle of the pipe, so that the gripping position of the manipulator 267 can be accurately quantified, and the pipe is fixed by the two sets of radial feeding assemblies 14 during processing, which ensures the processing stability.

Referring to fig. 8, the material placing frame 30 is arranged at one side of the end face machining mechanism 10 and below the gantry grabbing mechanism 20, after machining is completed, the grabbing component 26 grabs the pipe fitting and moves to the position above the material placing frame 30, and the position below the pipe fitting on the material placing frame 30 is stored in the middle; the material placing rack 30 comprises a material rack 31 standing on the ground, a plurality of material storage positioning clamping plates 32 are arranged at the top of the material rack 31, and the pipe fittings are placed on the material storage positioning clamping plates 32.

The invention realizes the full-automatic processing of the two end faces of the drying frame pipe fitting, and greatly improves the processing efficiency and quality.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a synchronous full-automatic processing equipment of stoving frame pipe fitting both ends face, includes that terminal surface processing agency (10), longmen snatch mechanism (20) and control system, its characterized in that:

the end face machining mechanism (10) comprises a workbench (11), wherein a storage bin (12) is fixed on the workbench (11), axial feeding assemblies (13) are fixed on two sides of the upper top face of the workbench (11), and radial feeding assemblies (14) are arranged between the axial feeding assemblies (13);

the gantry grabbing mechanism (20) comprises a gantry frame (21), two longitudinal slide rails (22) are fixed at the top of the gantry frame (21), bearing plates (23) are respectively mounted on the longitudinal slide rails (22), two cross beams (24) are connected between the bearing plates (23), transverse slide rails (25) are mounted on the cross beams (24), and grabbing components (26) are mounted on the transverse slide rails (25); a longitudinal rack (27) is fixed on one side surface of the top of the portal frame (21), a longitudinal motor (28) is fixed on one bearing plate (23), a longitudinal gear (29) is connected to the output of the longitudinal motor (28), and the longitudinal gear (29) is meshed with the longitudinal rack (27); a transverse rack (210) is fixedly arranged on one side of the cross beam (24), and a transverse gear (2610) meshed with the transverse rack (210) is fixed on the grabbing component (26);

the control system is used for adjusting the two groups of axial feeding assemblies (13) and the grabbing assembly (26) in a linkage manner before machining, and adjusting the two groups of axial feeding assemblies (13) and the radial feeding assembly (14) in a linkage manner during machining;

the axial feeding assembly (13) comprises an axial sliding seat (131) fixed on the workbench (11), an axial sliding rail (132) is arranged on the axial sliding seat (131), an axial sliding table (133) is mounted on the axial sliding rail (132), a first axial motor (134) is arranged on the axial sliding table (133), the output of the first axial motor (134) is connected with a rotating spindle (135), and a forming cutter (136) is mounted on the rotating spindle (135); an axial screw (137) is pivoted on the axial sliding seat (131), one end of the axial screw (137) is connected and fixed on the output of a second axial motor (138) at one end of the axial sliding seat (131), and the axial screw (137) penetrates through the axial sliding table (133) and is matched with the axial sliding table;

the radial feeding assembly (14) comprises a radial sliding seat (141) fixed on the workbench (11), a radial first sliding rail (142) is mounted on the radial sliding seat (141), a radial sliding table (143) is arranged on the radial first sliding rail (142), a fixed clamping seat (144) and a radial second sliding rail (145) are fixed on the radial sliding table (143), a movable clamping seat (146) is connected on the radial second sliding rail (145), the movable clamping seat (146) slides on the radial second sliding rail (145) to be close to or far away from the fixed clamping seat (144), and clamping grooves (147) are formed in opposite surfaces of the movable clamping seat (146) and the fixed clamping seat (144); a horizontal cylinder (148) is also fixed on the radial sliding table (143), and the output of the horizontal cylinder (148) is connected to the movable clamping seat (146); a radial motor (149) is further fixed on the radial sliding seat (141), the output of the radial motor (149) is connected with a radial screw rod (1410), and the radial screw rod (1410) penetrates through the radial sliding table (143) and then is pivoted on the radial sliding seat (141);

the grabbing assembly (26) further comprises a mounting plate (261) mounted on the transverse sliding rail (25), an upright post (262) is fixed on the mounting plate (261), the upright post (262) is upwards connected with a top plate (263), a vertical cylinder (264) is mounted on the top plate (263), the output end of the vertical cylinder (264) penetrates through the mounting plate (261) and then is connected with a lifting upper plate (265), the lifting height of the lifting upper plate (265) is controlled through the vertical cylinder (264), the lifting upper plate (265) is connected with a lifting lower plate (269) through a connecting rod, a bidirectional output cylinder (266) is mounted on the lifting lower plate (269), and the output of the bidirectional output cylinder (266) is connected with a manipulator (267); a transverse motor (268) is further fixed on the mounting plate (261), the output of the transverse motor (268) is connected with a transverse gear (2610), and the transverse gear (2610) is meshed with the transverse rack (210);

the mounting plate (261), the top plate (263) and the lifting upper plate (265) are connected through a chain.

2. The synchronous full-automatic processing equipment for the two end faces of the drying frame pipe fitting according to claim 1, which is characterized in that: the waste bin (111) is arranged in the workbench (11), one end of the axial sliding seat (131) is connected with a guide chute (112) located below the forming cutter (136), and the guide chute (112) slopes to the waste bin (111).

3. The drying rack pipe fitting two-end-face synchronous full-automatic processing equipment according to claim 2, characterized in that: the width of the waste bin (111) is consistent with the length of the pipe fitting, the two sets of axial feeding assemblies (13) are symmetrical relative to the radial feeding assembly (14), and when the mechanical arm (267) grabs the pipe fitting and places the pipe fitting on the radial feeding assembly (14), the radial feeding assembly (14) is clamped in the middle of the pipe fitting.

4. The drying rack pipe fitting two-end-face synchronous full-automatic processing equipment according to claim 3, characterized in that: the width of waste bin (111) is unanimous with the length of pipe fitting, radial feeding subassembly (14) including the unanimous two sets of structure, two sets of axial feeding subassemblies (13), radial feeding subassembly (14) are symmetrical about the middle part position of waste bin (111), manipulator (267) snatch the position and are the middle part of pipe fitting.

5. The drying rack pipe fitting two-end-face synchronous full-automatic processing equipment according to claim 4, characterized in that: the material storage rack is characterized by further comprising a material storage rack (30) which is arranged on one side of the end face machining mechanism (10) and located below the gantry grabbing mechanism (20), wherein the material storage rack (30) comprises a material rack (31) which is vertical to the ground, a plurality of material storage positioning clamping plates (32) are arranged at the top of the material rack (31), and the pipe fittings are placed on the material storage positioning clamping plates (32).