CN113879835A

CN113879835A - Pipe feeding equipment and pipe feeding method using same

Info

Publication number: CN113879835A
Application number: CN202111321496.9A
Authority: CN
Inventors: 黎俊良; 常勇
Original assignee: Guangdong Hongshi Laser Technology Co Ltd
Current assignee: Guangdong Hongshi Laser Technology Co Ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-01-04
Anticipated expiration: 2041-11-09
Also published as: CN113879835B

Abstract

The invention discloses a pipe feeding device and a pipe feeding method using the same. The equipment comprises a rack, wherein the rack is sequentially provided with a material storage device, a pipe limiting device, a single pipe conveying device, a jacking device, a clamping and feeding assembly, a material blocking and pipe dividing device and a length measuring device along the conveying direction of pipes; the material blocking and pipe distributing device comprises a rotating rod, a material blocking driving assembly for driving the rotating rod to rotate, and a vertical material blocking part arranged on the rotating rod; calculating the length of the pipe between the fixed-length push plate and the fixed-length baffle plate according to the moving distance of the fixed-length baffle plate; the feeding clamping jaws are started to feed according to pipes with different lengths, so that the best clamping, supporting and feeding effects are achieved, the feeding clamping jaws are started to not influence the measurement of the lengths of the pipes, the control logics used by the feeding clamping jaws are not mutually conflicted and wrong, and the starting of the feeding clamping jaws can be controlled independently or in a combined manner.

Description

Pipe feeding equipment and pipe feeding method using same

Technical Field

The invention relates to the field of pipe feeding, in particular to pipe feeding equipment and a pipe feeding method using the same.

Background

In the field of laser pipe cutting, in order to improve production efficiency, the current manufacturers of laser pipe cutting equipment are basically provided with a semi-automatic or full-automatic feeding system, namely a feeding machine, and in the automatic feeding system, how to accurately divide pipes into different materials by the machine is very important. In a feeding system, common pipes are divided into round pipes, square pipes, rectangular pipes, special pipes and the like according to shapes; the length of the steel wire rope varies from 3 meters to 9 meters. In the feeding mechanism of the full-automatic feeding system of the existing laser pipe cutting equipment manufacturer, pipes with different lengths cannot be automatically judged and clamping jaws with different numbers can not be used for clamping, supporting and feeding. And to the tubular product of different length, current material loading machine adopts to remove the pay-off clamping jaw along frame length direction more, thereby the distance of adjustment between the pay-off clamping jaw presss from both sides the tubular product of getting different length, but this kind of control logic of adjusting the pay-off clamping jaw position is complicated, and appears tubular product length change too much or tubular product length too long easily, and the problem that control logic conflict appears in the regulation of frame length direction in the different pay-off clamping jaws.

The chinese patent with application number 202010455179.5, which has been filed by the present applicant, discloses a pipe feeding apparatus and a pipe feeding method using the same. The scheme comprises a rack, wherein a material storage device, a pipe tiling device, a single pipe conveying device, a jacking device clamping and feeding assembly and a posture detection device are sequentially arranged on the rack from back to front, the posture detection device comprises a width measurement device and a height measurement device, and the width measurement device comprises a width measurement telescopic cylinder and a width measurement linear displacement sensor; the clamping feeding assembly comprises a clamping jaw assembly, the clamping jaw assembly comprises a chuck, an upper clamping jaw, a lower clamping jaw and a clamping driving piece, and the height measuring device is arranged on the chuck. The pipe feeding equipment and the feeding method are provided, the sizes of pipes fed in a single piece are measured in the horizontal direction and the vertical direction, the clamping state of the pipes and whether the pipes deform or not are judged, and the subsequent decision of pipe processing is taken as a reference, so that the automation degree of pipe processing is improved. However, when the pipes with different lengths are clamped, the distance between the feeding clamping jaws needs to be adjusted so as to clamp the pipes with different lengths, the control logic for adjusting the positions of the feeding clamping jaws is complex, and the problem of conflict of the control logic of the feeding clamping jaws is easy to occur.

Therefore, improvement needs to be made on the existing scheme for feeding the pipes, so that feeding is performed by using different numbers of feeding clamping jaws according to pipes with different lengths, and the best clamping, supporting and feeding effects are achieved.

Disclosure of Invention

In order to solve the above technical problems, a first object of the present invention is to provide a pipe feeding device, so as to solve the above problems, the pipe feeding device starts different numbers of feeding clamping jaws to feed according to pipes with different lengths, thereby achieving the best clamping, supporting and feeding effects, the starting of the feeding clamping jaws will not affect the measurement of the length of the pipes, the control logics used by the feeding clamping jaws will not conflict with each other and make mistakes, and the starting of the feeding clamping jaws can be controlled individually or in combination.

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

the utility model provides a tubular product feeding equipment, includes the frame, the frame has set gradually material storage device, tubular product stop device, single tubular product conveyor, jacking device and centre gripping material loading subassembly along the direction of delivery of tubular product, single tubular product of tubular product stop device restriction gets into between tubular product stop device and the single tubular product conveyor, and make one side at the biggest limit place in the tubular product cross-section with single tubular product conveyor contact still includes: the material blocking and pipe dividing device and the length measuring device are arranged on the base;

the material blocking pipe dividing device comprises a rotating rod, a material blocking driving assembly for driving the rotating rod to rotate or horizontally move, and a vertical material blocking part arranged on the rotating rod;

the length measuring device comprises a movable fixed-length push plate, a fixed-length baffle and a baffle driving device, the fixed-length push plate and the fixed-length baffle are arranged on two sides of the rack along the length direction of the rack, the baffle driving device drives the fixed-length push plate to move towards the fixed-length baffle along the length direction of the rack, and the length of a pipe positioned between the fixed-length push plate and the fixed-length baffle is calculated according to the moving distance of the fixed-length baffle;

the jacking device comprises a support frame, a lifting driving piece for driving the support frame to lift, a horizontal bearing part and a vertical positioning part which are arranged on the support frame; the pipe in the material storage device is conveyed to the horizontal bearing part of the jacking device through a pipe limiting device and a single pipe conveying device in sequence;

the clamping and feeding assembly comprises a plurality of feeding clamping jaws, and the feeding clamping jaws move along the width direction of the rack;

vertical fender portion sets up a plurality of, a plurality of vertical fender portion forms tubular product and keeps off material reference surface, horizontal accepting portion orientation single tubular product conveyor's one end with distance between the tubular product keeps off the material reference surface is d, longest limit size is B in the cross-section of tubular product, and the relation between d and the B is set up to: d is more than or equal to 0.5B and less than or equal to B, so that only one pipe is received from the single pipe conveying device on the horizontal receiving part, and one side of the pipe, facing the vertical receiving part, is abutted against the vertical material blocking part.

Preferably, the material blocking pipe distributing devices and the jacking devices are arranged in a plurality of numbers, so that the lifting of the supports at a plurality of positions of the pipe is guaranteed.

Preferably, fixed length push pedal, fixed length baffle set up in the frame along a straight line, and lie in the frame respectively along the both ends of perpendicular to tubular product material loading direction, baffle drive arrangement includes the edge conveyer belt, the cover that frame length direction set up are established drive wheel, the drive of conveyer belt both ends one of them drive wheel pivoted driving motor, the fixed length push pedal is fixed on a side band in the conveyer belt, slide rail set spare is passed through to the bottom of fixed length push pedal and is connected with the X pedestal of frame, slide rail set spare is including setting up the draw runner on the X pedestal and installing slide in the fixed length push pedal, the driving motor drive the conveyer belt transmission, thereby drive the fixed length push pedal is in the length direction of frame removes on the draw runner. The driving motor is servo motor, use servo control, can calculate the distance that the fixed length push pedal removed through the program operation, then the fixed length push pedal of measuring before not removing by the fixed length push pedal, the distance between the fixed length baffle subtracts the distance that the fixed length push pedal removed, just can calculate tubular product length, be provided with inductive pick up on the fixed length baffle, inductive pick up can be stroke sensor, the point contact switch, when the tip and the fixed length baffle butt of tubular product, inductive pick up triggers, send the butt signal.

Preferably, one side of the single-piece pipe conveying device is further provided with a material lifting detection sensor, the material lifting detection sensor is arranged in a region between the pipe material blocking reference surface and one end of the single-piece pipe conveying device, which faces towards the horizontal receiving portion, and the material lifting detection sensor is used for detecting whether a pipe material is on the vertical material blocking portion.

Preferably, the material blocking driving assembly comprises a driving mechanism, a linkage mechanism and a sliding mechanism;

the linkage mechanism comprises a plurality of connecting plates, connecting rods for connecting two adjacent connecting plates, a rotating part arranged on the connecting plates, and a sliding plate in sliding connection with the rotating part, wherein a sliding chute in sliding connection with the rotating part is arranged on the sliding plate, and the bottom of the rotating rod is connected with the sliding plate;

the sliding mechanism comprises a horizontal sliding rail arranged on the rack and a translation sliding block connected with the sliding rail in a sliding manner, and the translation sliding block is arranged at the bottom of the connecting plate;

the driving mechanism is connected with one of the connecting plates, and pushes one of the connecting plates to move so as to drive the other connecting plates to move together.

The arrangement can ensure that a plurality of connecting plates can be driven to move through one driving mechanism, in the moving process of the connecting plates, the rotating part arranged on the connecting plates and the sliding plates rotate, so that the rotating part slides along the sliding grooves in the rotating process in the sliding grooves of the sliding plates, and the rotating part drives the sliding plates to rotate. When actuating mechanism promoted a plurality of connecting plate and rotates together, the slide is in the rotation takes place under the drive of connecting plate, further makes the connection dwang on the slide rotates to adjust the position of the tubular product that vertical stock stop formed on the position of dwang and the dwang keeps off the material reference surface, guarantees that vertical stock stop only moves a root canal in jacking device top to the tubular product restriction on the single tubular product conveyor.

More preferably, the driving mechanism is a telescopic cylinder, the telescopic cylinder can be arranged in a pneumatic telescopic cylinder, a hydraulic telescopic cylinder and an electric telescopic cylinder, the rotating part comprises a supporting column arranged on the upper end face of the connecting plate and a bearing sleeved on the supporting column, and an outer ring of the bearing is in contact with the inner wall of the sliding groove of the sliding plate, so that the supporting column moves in the sliding groove under the action of the bearing.

Preferably, the connecting plate is fixedly provided with a nut, two ends of the connecting rod are arranged to be thread parts, and the two adjacent connecting plates are connected through the thread parts at the two ends of the connecting rod.

Preferably, the dwang is including rotating the montant, rotating the horizontal pole, the bottom of rotating the montant with the slide is connected, the top of rotating the montant with the one end of rotating the horizontal pole is connected, vertical fender material portion is perpendicular or the slope sets up the other end of rotating the horizontal pole, rotate the montant with the slide sets up perpendicularly, rotate the horizontal pole with it sets up perpendicularly to rotate the montant.

Preferably, the rotating vertical rod is inserted into the sliding plate, the rotating vertical rod is in interference fit with the sliding plate or is provided with an external thread at the bottom end of the rotating vertical rod, the rotating vertical rod is fixed on the sliding plate through a nut, and the rotating vertical rod can rotate along with the sliding plate, so that the rotating vertical rod drives the rotating transverse rod to rotate together.

Preferably, the dwang still includes the member fixed part, the member fixed part is established including the cover rotate the portion of cup jointing on the montant, with the fixed plate that the portion of cup jointing is connected, the fixed plate is fixed in the frame.

Set up like this, can make the member fixed part will rotate the montant restriction and be can only rotate, and the removal of other directions can't take place, simultaneously under the cooperation of member fixed part and slide for the slide can rotate under the drive of rotating the piece on the connecting plate, thereby further drives and rotates the montant and rotate.

More preferably, a bearing or a shaft hole is provided in the socket part to enable the rotation vertical rod to rotate in the socket part, thereby ensuring normal rotation of the rotation vertical rod.

Preferably, the fixed plate is detachably fixed to the frame, so that the rod fixing portion is conveniently disassembled and assembled, and the rotating rod is further detached from the frame.

Preferably, a material pushing mechanism is arranged on the pipe limiting device and comprises a material pushing cylinder and a material pushing component, the material pushing cylinder is arranged on the pipe limiting device, a telescopic rod of the material pushing cylinder is connected with the material pushing component, the telescopic rod of the material pushing cylinder faces the direction of the material storage device and moves, and the material pushing component is used for pushing other layers of pipes stacked above the single-layer pipe.

The arrangement is that when the material storage device conveys a plurality of pipes to the single pipe conveying device, the condition that more than two layers of pipes are stacked on the feeding chain of the single pipe conveying device along the height direction can occur, at the moment, the feeding chain is used for conveying the pipes, due to the pressure exerted by the dead weight of the upper layer of pipes and the friction force between the lowest layer of pipes and the pipes arranged above the lowest layer of pipes, the phenomena of pipe blockage, pipe slipping and the like can be caused to occur in the conveying of the feeding chain, the normal transmission of the feeding chain cannot be ensured, and after the material pushing cylinder is arranged, the pipes stacked above the lowest layer of pipes are pushed down from the upper layer to the lowest layer of pipes through the material pushing cylinder and the material pushing component, so that the pipes can be ensured to smoothly enter the inlet between the pipe limiting device and the single pipe conveying device.

Preferably, the material pushing cylinder is arranged on one side, facing the direction of the material storage device, of the vertical limiting part, and the material pushing cylinder can move along with the vertical limiting part, so that pushing of stacked pipes is guaranteed.

Preferably, an acute angle is formed between the horizontal bearing part and the upper end part of the vertical positioning part, and the horizontal bearing part is inclined upwards.

Set up like this and to make jacking device behind tubular product at the bearing, the pay-off clamping jaw pushes away tubular product from the tip of horizontal accepting portion to with vertical location portion contact back, the condition that tubular product toward the rollback fell can not appear, and can make tubular product hug closely in vertical location portion under the action of gravity.

Preferably, the feeding clamping jaws are coupled on a moving seat arranged along the width direction of the rack through a clutch mechanism, the moving seat is arranged on a Y-axis frame of the rack in a sliding manner, the moving seat can move along the width direction of the rack under the driving of a driving motor, the feeding clamping jaws at different positions are selected through measuring the length of the obtained pipe, the feeding clamping jaws at different positions move along the width direction of the rack on the Y-axis frame along with the respective moving seat, so that the feeding clamping jaws at different positions are controlled to clamp the adaptive pipe, the clamping of the pipe with different lengths is ensured, the feeding clamping jaws do not need to be driven to move along the X-axis direction, namely the length direction of the rack, the control logic is simple, the problem that the different feeding clamping jaws interfere with each other when the length of the pipe is changed too much or the length of the pipe is too long is prevented, and meanwhile, the pipe feeding equipment can accurately distribute the pipe according to the root, and the feeding clamping jaws with proper quantity can be reliably and automatically selected for distributing the pipes with the lengths of 3500mm-8500mm, and the problem of pipe sagging caused by improper clamping jaw positions in the process of distributing the pipes can be avoided.

Based on the same inventive concept, a second object of the present invention is to provide a pipe feeding method, wherein the pipe feeding device comprises the following steps:

s1: the method comprises the following steps that (1) pipe feeding equipment is initialized completely, the mechanical position is reset, the material storage device feeds materials to the single-piece pipe conveying device, at least one pipe is conveyed to the pipe limiting device, a feeding motor in the single-piece pipe conveying device rotates forwards, and a feeding chain in the single-piece pipe conveying device advances to the pipe limiting device;

s2: the pipe limiting device flatly spreads the pipes so that the pipes are conveyed in a single-layer horizontal state;

s3: the single-piece pipe conveying device conveys the tiled pipes forwards through the feeding chain until one pipe clings to the vertical material blocking part, only one pipe is arranged between the vertical material blocking part and the end part of the horizontal bearing part of the jacking device at the time, the pipe is in the lifting position, a material lifting detection sensor positioned on one side of the single-piece pipe conveying device senses the pipe and sends a sensing signal to a control system of pipe feeding equipment, so that the jacking device is controlled to lift the pipe up and down until the horizontal bearing part of the jacking device bears the pipe, and only one pipe is arranged on the horizontal bearing part of the jacking device at the time;

s4: when the jacking device ascends to move the pipe to be parallel to the center of the feeding clamping jaw in the clamping and feeding assembly, the feeding clamping jaw moves forwards along the width direction of the rack to push the pipe until the pipe is pushed to the side surface of the pipe to be abutted against the surface of the vertical positioning part of the jacking device, and the feeding clamping jaw returns to the original position after the pipe is tightly attached;

s5: after the pipe is tightly attached to the vertical positioning part, the fixed-length push plate is driven by the baffle driving device to move towards the fixed-length baffle along the length direction of the rack, the pipe is pushed to the end of the fixed-length baffle, the sensor on the baffle driving device or the fixed-length baffle detects that the pushing-out stroke is completed, the fixed-length push plate stops moving at the moment, the baffle driving device uses servo control, the distance for the baffle driving device to push the fixed-length push plate to move can be calculated through program operation, and then the distance for the fixed-length push plate to move is subtracted from the distance between the fixed-length push plate and the fixed-length baffle measured before the fixed-length push plate does not move, so that the length of the pipe between the fixed-length push plate and the fixed-length baffle can be calculated;

s6: continuously feeding or abandoning the pipes according to the detection and judgment result of S5, and selecting feeding clamping claws at different positions of the rack to grab the pipes according to the detection and judgment result;

s7: after the number and the positions of the feeding clamping jaws are selected according to the step S6, the feeding clamping jaws advance towards the direction of the pipe along the width of the rack, when the photoelectric switch detects the pipe, the feeding clamping jaws stop advancing, so that the feeding clamping jaws clamp the pipe, and then the lifting assembly descends;

s8: after the pipe is clamped by the feeding clamping jaw in the step S7, an upper signal is received, the feeding clamping jaw advances to the pipe cutting machine, the clamping hand is loosened after the feeding clamping jaw is in place, the feeding clamping jaw retracts, and the feeding process is completed.

Preferably, the process of feeding the tubes from the stock device to the single-piece tube conveying device in the step S1 is as follows: when a material pulling motor in the material storage device rotates in the forward direction to control the material pulling belt to ascend, a pipe in the material storage device can roll onto a feeding chain of the single pipe conveying device, a material pulling stopping sensing mechanism is arranged on one side of the single pipe conveying device, when the material pulling stopping sensing mechanism senses that the pipe enters the feeding chain, the material pulling motor rotates in the reverse direction to control the material pulling belt to descend, the pipe is not conveyed to the feeding chain from the material storage device, and material pulling is stopped.

Preferably, in step S6, the error range between the actual length of the pipe and the set length is set: the length of the pipe is-200 mm and the actual length of the pipe is less than the set length of the pipe plus 200mm, if the actual length of the pipe meets the length range, feeding clamping jaws in different positions and different quantities are selected to clamp the pipe according to the actual length of the pipe, otherwise, the alarm length error is overlarge.

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

1. the pipe feeding equipment starts different numbers of feeding clamping jaws to feed according to pipes with different lengths, so that the best clamping, supporting and feeding effects are achieved, the feeding clamping jaws are started, the measurement of the lengths of the pipes cannot be influenced, control logics used by the feeding clamping jaws cannot conflict with each other and make mistakes, and meanwhile, the starting of the feeding clamping jaws can be controlled independently or in a combined manner.

2. The position of a pipe material blocking reference surface formed by a vertical material blocking part on a rotating cross rod is driven to rotate through rotating a rotating vertical rod in the material blocking pipe distributing device, and the vertical material blocking part is guaranteed to limit a pipe material on a single pipe material conveying device to only operate one pipe above a jacking device, so that the clamping of the single pipe material is realized.

3. The pipe limiting device is provided with the material pushing mechanism, and the pipe stacked above the single-layer pipe at the bottom is pushed and dropped to the pipe at the bottom layer from the upper layer through the material pushing cylinder and the material pushing component, so that the pipe can smoothly enter an inlet between the pipe limiting device and the single-piece pipe conveying device.

Drawings

FIG. 1 is a side view of a pipe feeding apparatus in a first embodiment of the present invention;

FIG. 2 is a diagram of the position relationship among the pipe limiting device, the single pipe conveying device, the jacking device and the material blocking and pipe distributing device in FIG. 1;

FIG. 3 is a perspective view of a pipe feeding apparatus in accordance with a first embodiment of the present invention;

FIG. 4 is a front view of a pipe feeding apparatus according to a first embodiment of the present invention

FIG. 5 is an enlarged view of portion A of FIG. 3;

FIG. 6 is an enlarged view of portion B of FIG. 3;

FIG. 7 is a view of the construction of the tube stop of the present invention;

FIG. 8 is a block diagram of the linkage of a plurality of tube restraints of the present invention;

FIG. 9 is a front view of the material blocking and pipe separating device of the present invention;

FIG. 10 is a block and pipe separating device of the present invention;

FIG. 11 is a linkage structure diagram of a plurality of material blocking and pipe dividing devices of the invention;

FIG. 12 is a schematic view of a feeding jaw selected when the tube feeding device of the present invention grips a 7100mm to 8500mm tube;

FIG. 13 is a schematic view of a feeding jaw selected for gripping a 5800mm-7100mm pipe by the pipe feeding apparatus of the present invention;

FIG. 14 is a schematic view of a 4600mm-5800mm pipe gripping device using a gripping jaw according to the present invention;

FIG. 15 is a schematic view of a feeding jaw used when the pipe feeding device of the present invention grips 3500mm-4600mm pipes.

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

1. a material storage device; 10. a frame; 2. limiting the pipe; 21. a vertical stop; 22. a vertical drive motor; 23. a drive link; 24. a drive gear; 3. a single-piece tubing conveyor; 31. a feed chain; 4. clamping the feeding assembly; 41. a feeding clamping jaw; 42. a movable seat; 43. a Y-axis frame; 5. a jacking device; 51. a vertical positioning part; 52. a horizontal receiving part; 53. a lifting drive member; 54. a material lifting detection sensor; 6. a pipe; 7. a material pushing mechanism; 71. a material pushing cylinder; 72. a material pushing member; 8. a material blocking and pipe dividing device; 81. a vertical material blocking part; 82. rotating the rod; 821. rotating the vertical rod; 822. rotating the cross bar; 83. the material blocking driving assembly; 831. a connecting plate; 8311. a rotating member; 832. a connecting rod; 833. a slide plate; 8331. a chute; 834. a nut; 835. a horizontal slide rail; 836. a translation slide block; 837. a drive mechanism; 84. a rod member fixing portion; 841. a socket joint part; 842. a fixing plate; 9. a length measuring device; 91. a fixed-length push plate; 92. a fixed-length baffle plate; 93. a baffle plate driving device; 931. a conveyor belt; 941. a slide bar; 942. a slide base;

Detailed Description

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

Example one

Referring to fig. 1-4, this embodiment discloses a pipe feeding device, including a rack 10, the rack 10 is provided with a material storage device 1, a pipe limiting device 2, a single pipe conveying device 3, a jacking device 5 and a clamping material feeding assembly 4 in sequence along the conveying direction of the pipe, the pipe limiting device 2 limits a single pipe to enter between the pipe limiting device 2 and the single pipe conveying device 3, and makes one side of the largest side in the cross section of the pipe contact with the single pipe 6 conveying device 3, further including: a material blocking and pipe dividing device 8 and a length measuring device 9;

referring to fig. 5, the material blocking and pipe separating device 8 comprises a rotating rod 82, a material blocking driving assembly 83 for driving the rotating rod 82 to rotate or horizontally move, and a vertical material blocking portion 81 arranged on the rotating rod 82; referring to fig. 9-11, the material stop driving assembly 83 includes a driving mechanism 837, a linkage mechanism, and a sliding mechanism; the linkage mechanism comprises a plurality of connecting plates 831, connecting rods 832 for connecting two adjacent connecting plates 831, a rotating piece 8311 arranged on the connecting plates 831, and a sliding plate 833 slidably connected with the rotating piece 8311, wherein a sliding groove 8331 slidably connected with the rotating piece 8311 is arranged on the sliding plate 833, and the bottom of the rotating rod 82 is connected with the sliding plate 833; the sliding mechanism comprises a horizontal sliding rail 835 arranged on the frame 10 and a translation sliding block 836 slidably connected with the sliding rail, wherein the translation sliding block 836 is arranged at the bottom of the connecting plate 831; the driving mechanism 837 is connected to one of the connecting plates 831, and the driving mechanism 837 pushes one of the connecting plates 831 to move, so as to drive the other connecting plates 831 to move together. The arrangement can ensure that a plurality of connecting plates 831 can be driven to move through a driving mechanism 837, in the moving process of the connecting plates 831, a rotating piece 8311 arranged on the connecting plates 831 and the sliding plate 833 rotate, so that the rotating piece 8311 slides along the sliding groove 8331 in the rotating process in the sliding groove 8331 of the sliding plate 833, and the rotating piece 8311 drives the sliding plate 833 to rotate. When actuating mechanism 837 promoted a plurality of connecting plate 831 and rotated together, slide 833 was in the rotation takes place under the drive of connecting plate 831, further makes the connection to dwang 82 on slide 833 rotates to adjust the position of the tubular product that vertical fender portion 81 on the position of dwang 82 and the dwang 82 formed keeps off the material reference surface guarantees that vertical fender portion 81 only moves a root canal in jacking device 5 top to the tubular product restriction on the single tubular product conveyor 3.

The driving mechanism 837 is a telescopic cylinder, the telescopic cylinder can be a pneumatic telescopic cylinder, a hydraulic telescopic cylinder and an electric telescopic cylinder, the rotating piece 8311 is arranged on the supporting column of the upper end surface of the connecting plate 831, and is sleeved with a bearing on the supporting column, the outer ring of the bearing is contacted with the inner wall of the sliding groove 8331 of the sliding plate 833, so that the supporting column moves in the sliding groove 8331 under the action of the bearing.

Nuts 834 are fixedly arranged on the connecting plates 831, two ends of the connecting rod 832 are provided with threaded parts, and the two adjacent connecting plates 831 are connected through the threaded parts at the two ends of the connecting rod 832.

The dwang 82 is including rotating montant 821, rotating horizontal pole 822, the bottom of rotating montant 821 with the slide 833 is connected, the top of rotating montant 821 with the one end of rotating horizontal pole 822 is connected, vertical fender portion 81 is perpendicular or the slope sets up rotate the other end of horizontal pole 822, rotate montant 821 with the slide 833 sets up perpendicularly, rotate horizontal pole 822 with the perpendicular setting of rotating montant 821. Rotate montant 821 and peg graft in on the slide 833, rotate montant 821 through interference fit or the bottom of rotating montant 821 sets up the external screw thread, will through nut 834 the rotation montant 821 is fixed on the slide 833, it can along with the slide 833 rotates together to rotate montant 821, thereby realizes it rotates together to rotate the horizontal pole 822 to drive rotation montant 821.

The dwang 82 still includes member fixed part 84, member fixed part 84 establishes including the cover rotate the portion 841 that cup joints on the montant 821, with the fixed plate 842 that the portion 841 is connected, fixed plate 842 is fixed in on the frame 10, set up bearing or shaft hole in the portion 841 that cup joints, so that it can to rotate montant 821 cup joint in the portion 841 and rotate, thereby guarantee rotate the normal rotation of montant 821. The fixing plate 842 is detachably fixed on the frame 10, so as to facilitate the assembly and disassembly of the rod fixing part 84, thereby further detaching the rotating rod 82 from the frame 10. By such arrangement, the rod fixing portion 84 can limit the rotating vertical rod 821 to only rotate and cannot move in other directions, and meanwhile, under the cooperation of the rod fixing portion 84 and the sliding plate 833, the sliding plate 833 can rotate under the driving of the rotating component 8311 on the connecting plate 831, so that the rotating vertical rod 821 is further driven to rotate.

Referring to fig. 3 and 6, the length measuring device 9 includes a movable fixed-length push plate 91, a fixed-length baffle 92 and a baffle driving device 93, the fixed-length push plate 91 and the fixed-length baffle 92 are disposed on two sides of the rack 10 along the length direction of the rack 10, the baffle driving device 93 drives the fixed-length push plate 91 to move towards the fixed-length baffle 92 along the length direction of the rack 10, and the length of the pipe located between the fixed-length push plate 91 and the fixed-length baffle 92 is calculated according to the moving distance of the fixed-length baffle 92; fixed length push pedal 91, fixed length baffle 92 set up on frame 10 along a straight line, and lie in frame 10 respectively along the both ends of perpendicular to tubular product material loading direction, baffle drive arrangement 93 includes the edge conveyer belt 931, the cover that frame 10 length direction set up establish the drive wheel, the drive at conveyer belt 931 both ends one of them drive wheel pivoted driving motor, fixed length push pedal 91 is fixed on one side area in the conveyer belt 931, slide rail set spare is passed through to the bottom of fixed length push pedal 91 and is connected with the X pedestal of frame 10, slide rail set spare is including setting up the draw runner 941 on the X pedestal and installing slide 942 on the fixed length push pedal 91, the driving motor drive the conveyer belt 931 transmission, thereby drive fixed length push pedal 91 is in the length direction removal along frame 10 on the draw runner 941. The driving motor is a servo motor, servo control is used, the moving distance of the fixed length push plate 91 can be calculated through program operation, then the moving distance of the fixed length push plate 91 is subtracted from the distance between the fixed length push plate 91 and the fixed length baffle 92 measured before the fixed length push plate 91 does not move, the length of the pipe can be calculated, an induction sensor is arranged on the fixed length baffle 92 and can be a stroke sensor and a point contact switch, and when the end of the pipe is abutted to the fixed length baffle 92, the induction sensor is triggered to send an abutting signal;

the jacking device 5 comprises a support frame, a lifting driving piece 53 for driving the support frame to lift, a horizontal bearing part 52 arranged on the support frame and a vertical positioning part 51; the pipe in the storage device 1 is conveyed to the horizontal bearing part 52 of the jacking device 5 through the pipe limiting device 2 and the single-piece pipe conveying device 3 in sequence; the horizontal bearing part 52 and the upper end part of the vertical positioning part 51 are arranged at an acute angle, and the horizontal bearing part 52 is inclined upwards. The arrangement can ensure that the jacking device 5 pushes the pipe to be contacted with the vertical positioning part 51 from the end part of the horizontal bearing part 52 after bearing the pipe, the pipe cannot roll back and fall, and the pipe can be tightly attached to the vertical positioning part 51 under the action of gravity by the feeding clamping jaw 41.

Keep off the material and divide the quantity of tub device 8 and jacking device 5 to all set up a plurality ofly to the bearing of a plurality of positions of tubular product has been guaranteed and has been gone up and down.

Vertical material stopping portion 81 sets up a plurality of, a plurality of vertical material stopping portion 81 forms tubular product material stopping reference surface, horizontal accepting portion 52 orientation single piece tubular product conveyor 3's one end with distance between the tubular product material stopping reference surface is d, longest limit size is B in the cross-section of tubular product, and the relation between d and B is set up to: d is more than or equal to 0.5B and less than or equal to B, so that only one pipe is received from the single pipe conveying device 3 on the horizontal receiving part 52, and one side of the pipe facing the vertical receiving part is abutted against the vertical stopping part 81.

The clamping and feeding assembly 4 comprises a plurality of feeding clamping jaws 41, and the feeding clamping jaws 41 move along the width direction of the rack 10; the centre gripping material loading subassembly 4 includes feeding clamping jaw 41, feeding clamping jaw 41 includes the chuck, set up the clamping driving piece that clamping jaw, lower clamping jaw and drive upper clamping jaw on the chuck, lower clamping jaw are close to or keep away from, the height measurement device set up in on the chuck, the height measurement device includes height measurement linear displacement sensor, height measurement linear displacement sensor is connected with upper clamping jaw or lower clamping jaw, centre gripping material loading subassembly 4 is used for following press from both sides on the horizontal receiving part 52 of jacking device 5 and get tubular product.

Referring to fig. 7 and 8, the pipe limiting device 2 includes a vertical limiting member 21 and a vertical driving member, the vertical limiting member 21 is located above the single-piece pipe conveying device 3, the vertical limiting member 21 is movably disposed on the rack 10 along the vertical direction, the vertical driving member drives the vertical limiting member 21 to vertically lift, and a distance from a lower surface of the vertical limiting member 21 to an upper surface of the single-piece pipe conveying device 3 is H; if the section of the pipe is rectangular, the minimum side dimension of the section of the pipe is A, the maximum side dimension of the section of the pipe is B, and A is more than H and less than B; if the section size of the pipe is circular, the diameter of the pipe is D, and D is more than H and less than 2D; the vertical driving piece comprises a vertical driving motor 22, a driving connecting rod 23 and a driving gear 24, wherein the driving connecting rod 23 is provided with a plurality of driving gears 24, the vertical driving motor 22 drives the driving connecting rod 23 and the driving gears 24 to rotate, each driving gear 24 is meshed with a gear on the vertical driving piece, and therefore the vertical driving piece is driven by the driving gear 24 to move up and down.

The pipe feeding equipment further comprises a posture detection device, the posture detection device comprises a width measurement device and a height measurement device, the length direction of the pipe is the same as the length direction of the rack 10, the width direction of the pipe is the same as the width direction of the rack 10, the width measurement device is used for measuring the width of the pipe, and the height measurement device is used for measuring the height of the pipe.

The vertical material blocking part 81 is a vertical material blocking shaft or a vertical material blocking plate. Set up vertical stock stop 81 and can make single tubular product conveyor 3 carry tubular product to the vertical stock stop 81 back of contact, tubular product can only be put to the interval between the tubular product stock stop reference surface that vertical stock stop 81 formed and the horizontal accepting portion 52 of jacking device 5, thereby make the tubular product restriction on the feed chain 31 in single tubular product conveyor 3 only move a root canal in jacking device 5 top, make horizontal accepting portion 52 at the in-process that rises, only a tubular product is accepted to the up end of horizontal accepting portion 52, thereby realized the lift to single tubular product, guaranteed the length measurement to follow-up single tubular product, measure the width, height measurement and centre gripping transportation.

A material lifting detection sensor 54 is further arranged on one side of the single-piece pipe conveying device 3, the material lifting detection sensor 54 is arranged in a region between the pipe material blocking reference surface and one end, facing the single-piece pipe conveying device 3, of the horizontal bearing portion 52, and the material lifting detection sensor 54 is used for detecting whether a pipe material is on the vertical material blocking portion 81.

Referring to fig. 2, a material pushing mechanism 7 is arranged on the pipe limiting device 2, the material pushing mechanism 7 includes a material pushing cylinder 71 and a material pushing component 72, the material pushing cylinder 71 is arranged on the pipe limiting device 2, a telescopic rod of the material pushing cylinder 71 is connected with the material pushing component 72, the telescopic rod of the material pushing cylinder 71 moves towards the direction of the material storage device 1, and the material pushing component 72 is used for pushing other layers of pipes stacked above the single-layer pipe. According to the arrangement, when the storage device 1 conveys a plurality of pipes to the single pipe conveying device 3, the situation that more than two layers of pipes are stacked on the feeding chain 31 of the single pipe conveying device 3 along the height direction can occur, at the moment, when the feeding chain 31 conveys the pipes, due to the pressure exerted by the self weight of the upper layer of pipes and the friction force between the lowest layer of pipes and the pipes arranged above the lowest layer of pipes, the phenomena of pipe blocking, pipe slipping and the like can be caused to occur in the conveying of the feeding chain 31, the normal conveying of the feeding chain 31 cannot be ensured, and after the material pushing cylinder 71 is arranged, the pipes stacked above the lowest layer of pipes are dropped from the upper layer to the lowest layer of pipes through the material pushing cylinder 71 and the material pushing component 72, so that the pipes can be ensured to smoothly enter the inlet between the pipe limiting device 2 and the single pipe conveying device 3. The material pushing cylinder 71 is arranged on one side of the vertical limiting piece 21 facing the direction of the material storage device 1, and the material pushing cylinder 71 can move along with the vertical limiting piece 21, so that pushing of stacked pipes is guaranteed.

The feeding clamping jaws 41 are coupled on a moving seat 42 arranged along the width direction of the rack 10 through a clutch mechanism, the moving seat 42 is slidably arranged on a Y-axis frame 43 of the rack 10, the moving seat 42 can move along the width direction of the rack 10 under the drive of a drive motor, the feeding clamping jaws 41 at different positions are selected through measuring the length of the obtained pipe, the feeding clamping jaws 41 at different positions move along the width direction of the rack 10 on the Y-axis frame 43 along with the respective moving seat 42, the feeding clamping jaws 41 at different positions are controlled to clamp the adaptive pipe, the clamping of the pipes with different lengths is ensured, the feeding clamping jaws 41 do not need to be driven to move along the X-axis direction, namely the length direction of the rack 10, the control logic is simple, the problem that the pipe length is changed too much or the pipe length is too long, the adjustment of the different feeding clamping jaws 41 along the length direction of the rack 10 is interfered with each other is prevented, meanwhile, the pipe feeding equipment can accurately and unmistakably divide the pipes according to the root, reliably and automatically select the feeding clamping jaws 41 with proper quantity for the pipes with the length of 3500mm-8500mm to divide the pipes, and can avoid the problem that the pipes sag due to improper clamping jaw positions in the process of dividing the pipes.

Example two

The embodiment discloses a pipe feeding method, and the pipe feeding equipment comprises the following steps:

s1: the method comprises the following steps that (1) the whole machine of the pipe feeding equipment is initialized, the mechanical position is reset, the material storage device 1 feeds materials to the single-piece pipe conveying device 3, at least one pipe is conveyed to the pipe limiting device 2, a feeding motor in the single-piece pipe conveying device 3 rotates forwards, and a feeding chain 31 in the single-piece pipe conveying device 3 advances towards the pipe limiting device 2; the simultaneous transfer of the tubes from the magazine 1 to the single-piece tube conveyor 3 is as follows: when a material pulling motor in the material storage device 1 rotates forwards to control the material pulling belt to ascend, a pipe in the material storage device 1 can roll onto a feeding chain 31 of a single pipe conveying device 3, a material pulling stopping induction mechanism is arranged on one side of the single pipe conveying device 3, when the material pulling stopping induction mechanism senses that the pipe enters the feeding chain 31, the material pulling motor rotates backwards to control the material pulling belt to descend, the pipe is not sent to the feeding chain 31 from the material storage device 1, and material pulling is stopped.

S2: the pipe limiting device 2 is used for flatly paving the pipes so that the pipes can be conveyed in a single-layer horizontal state;

s3: the single-piece pipe conveying device 3 conveys the tiled pipes forwards through the feeding chain 31 until one pipe clings to the vertical stopping portion 81, only one pipe is arranged between the vertical stopping portion 81 and the end portion of the horizontal bearing portion 52 of the jacking device 5 at the moment, the pipe is in a lifting position, the lifting detection sensor 54 positioned on one side of the single-piece pipe conveying device 3 senses the pipe and sends a sensing signal to a control system of pipe feeding equipment, so that the jacking device 5 is controlled to lift the pipe until the horizontal bearing portion 52 of the jacking device 5 bears the pipe, and only one pipe is arranged on the horizontal bearing portion 52 of the jacking device 5 at the moment;

s4: when the jacking device 5 ascends to move the pipe to be parallel to the center of the feeding clamping jaw 41 in the clamping and feeding assembly 4, the feeding clamping jaw 41 moves forwards along the width direction of the rack 10 to push the pipe until the pipe is pushed to the side surface of the pipe to be abutted against the surface of the vertical positioning part 51 of the jacking device 5, and the feeding clamping jaw 41 returns to the original position after the pipe is tightly attached;

s5: after the pipe is tightly attached to the vertical positioning portion 51, the baffle driving device 93 drives the fixed-length push plate 91 to move towards the fixed-length baffle 92 along the length direction of the rack 10, the pipe is pushed to the end of the fixed-length baffle 92, the sensor on the baffle driving device 93 or the fixed-length baffle 92 detects that the fixed-length push plate 91 is pushed out, the fixed-length push plate 91 stops moving at the moment, the baffle driving device 93 uses servo control, the distance that the baffle driving device 93 pushes the fixed-length push plate 91 to move can be calculated through program operation, and then the distance that the fixed-length push plate 91 moves is subtracted from the distance between the fixed-length push plate 91 and the fixed-length baffle 92 measured before the fixed-length push plate 91 does not move, so that the length of the pipe between the fixed-length push plate 91 and the fixed-length baffle 92 can be calculated;

s6: continuously feeding or abandoning the pipes according to the detection and judgment result of S5, and selecting feeding clamping jaws 41 at different positions of the rack 10 to grab the pipes according to the detection and judgment result;

s7: after the number and the positions of the feeding clamping jaws 41 are selected according to the step S6, the feeding clamping jaws 41 advance along the width of the rack 10 toward the pipe, when the photoelectric switch detects the pipe, the feeding clamping jaws 41 stop advancing, so that the feeding clamping jaws 41 clamp the pipe, and then the lifting assembly descends;

s8: after the pipe is clamped by the feeding clamping jaw 41 in the step S7, the upper signal is received, the feeding clamping jaw 41 advances to the pipe cutting machine, the clamping handle is released after the feeding clamping jaw 41 is in place, the feeding clamping jaw 41 retracts, and the feeding process is completed.

In step S6, an error range between the actual length of the pipe and the set length is set: the length of the pipe is-200 mm and the actual length L1 of the pipe is less than the length of the pipe plus 200mm, if the actual length of the pipe meets the length range, the feeding clamping jaws 41 in different positions and different quantities are selected to clamp the pipe according to the actual length of the pipe, otherwise, the alarm length error is too large;

as shown in fig. 12 to 15, the following judgment of the activation of the feeding jaw 41 is made according to the measured actual length of the pipe as an example in this embodiment:

a 1: when the actual length L1 of the pipe is less than 3500mm, alarming for the shortage of the pipe length, and stopping feeding;

a 2: when the actual length L1 of the pipe is 3500mm-4600mm, starting the first feeding clamping jaw 41 and the second feeding clamping jaw 41, and moving the first feeding clamping jaw 41 and the second feeding clamping jaw 41 along the width direction of the rack 10 to clamp the pipe;

a 3: when the actual length L1 of the pipe is 4600mm-5800mm, starting the first feeding clamping jaw 41, the second feeding clamping jaw 41 and the third feeding clamping jaw 41, wherein the third feeding clamping jaw 41 is coupled to a moving seat 42 arranged along the width direction of the rack 10 through a clutch mechanism, and moves along a Y-axis frame 43 of the rack 10 along the width direction together with the first feeding clamping jaw 41 and the second feeding clamping jaw 41 to clamp the pipe;

a 4: when the actual length L1 of the pipe is 5800mm-7100mm, starting the first feeding clamping jaw 41, the second feeding clamping jaw 41, the third feeding clamping jaw 41 and the fourth feeding clamping jaw 41, wherein the third feeding clamping jaw 41 and the fourth feeding clamping jaw 41 are coupled to a moving seat 42 arranged along the width direction of the rack 10 through a clutch mechanism, and move along a Y-axis frame 43 in the width direction of the rack 10 together with the first feeding clamping jaw 41 and the second feeding clamping jaw 41 to clamp the pipe;

a 5: when the actual length L1 of the pipe is 7100mm-8500mm, starting the first feeding clamping jaw 41, the second feeding clamping jaw 41, the third feeding clamping jaw 41, the fourth feeding clamping jaw 41 and the fifth feeding clamping jaw 41, coupling the third feeding clamping jaw 41, the fourth feeding clamping jaw 41 and the fifth feeding clamping jaw 41 on a moving seat 42 arranged along the width direction of the rack 10 through a clutch mechanism, and moving along a Y-axis frame 43 in the width direction of the rack 10 together with the first feeding clamping jaw 41 and the second feeding clamping jaw 41 to clamp the pipe;

a6. and when the length of the pipe is more than 8500mm, alarming for overlong length of the pipe, and stopping feeding.

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

Claims

1. The utility model provides a tubular product feeding equipment, includes frame (10), and frame (10) have set gradually material storing device (1), tubular product stop device (2), single tubular product conveyor (3), jacking device (5) and centre gripping material loading subassembly (4) along the direction of delivery of tubular product, tubular product stop device (2) restriction single tubular product (6) get into between tubular product stop device (2) and the single tubular product conveyor (3), and make one side at the biggest limit place in the tubular product cross-section with single tubular product conveyor (3) contact, its characterized in that still includes: a material blocking and pipe dividing device (8) and a length measuring device (9);

the material blocking pipe dividing device (8) comprises a rotating rod (82), a material blocking driving assembly (83) for driving the rotating rod (82) to rotate or horizontally move, and a vertical material blocking part (81) arranged on the rotating rod (82);

the length measuring device (9) comprises a movable fixed-length push plate (91), a fixed-length baffle (92) and a baffle driving device (93), the fixed-length push plate (91) and the fixed-length baffle (92) are arranged on two sides of the rack (10) along the length direction of the rack (10), the fixed-length push plate (91) is driven to move towards the fixed-length baffle (92) along the length direction of the rack (10) through the baffle driving device (93), and the length of a pipe positioned between the fixed-length push plate (91) and the fixed-length baffle (92) is calculated according to the moving distance of the fixed-length baffle (92);

the jacking device (5) comprises a support frame, a lifting driving piece (53) for driving the support frame to lift, a horizontal bearing part (52) and a vertical positioning part (51) which are arranged on the support frame; the pipes in the storage device (1) are sequentially conveyed to a horizontal bearing part (52) of the jacking device (5) through a pipe limiting device (2) and a single-piece pipe conveying device (3);

the clamping and feeding assembly (4) comprises a plurality of feeding clamping jaws (41), and the feeding clamping jaws (41) move along the width direction of the rack (10);

vertical fender portion (81) sets up a plurality of, a plurality of vertical fender portion (81) forms tubular product and keeps off the material reference surface, horizontal receiving portion (52) orientation the one end of one-piece tubular product conveyor (3) with distance between the tubular product keeps off the material reference surface is d, longest limit size is B in the cross-section of tubular product, and the relation between d and the B is set up to: d is more than or equal to 0.5B and less than or equal to B, so that only one pipe is received from the single pipe conveying device (3) on the horizontal receiving part (52), and one side of the pipe, facing the vertical receiving part, is abutted against the vertical material blocking part (81).

2. The pipe feeding device according to claim 1, wherein a material lifting detection sensor (54) is further arranged on one side of the single-piece pipe conveying device (3), the material lifting detection sensor (54) is arranged in a region between the pipe material stopping reference surface and one end of the horizontal receiving portion (52) facing the single-piece pipe conveying device (3), and the material lifting detection sensor (54) is used for detecting whether a pipe material is on the vertical stopping portion (81).

3. The pipe feeding device according to claim 1, wherein the material blocking driving assembly (83) comprises a driving mechanism (837), a linkage mechanism and a sliding mechanism;

the linkage mechanism comprises a plurality of connecting plates (831), connecting rods (832) for connecting two adjacent connecting plates (831), a rotating piece (8311) arranged on the connecting plates (831), and a sliding plate (833) in sliding connection with the rotating piece (8311), wherein a sliding chute (8331) in sliding connection with the rotating piece (8311) is arranged on the sliding plate (833), and the bottom of the rotating rod (82) is connected with the sliding plate (833);

the sliding mechanism comprises a horizontal sliding rail (835) arranged on the rack (10) and a translation sliding block (836) connected with the sliding rail in a sliding manner, and the translation sliding block (836) is arranged at the bottom of the connecting plate (831);

the driving mechanism (837) is connected with one of the connecting plates (831), and the driving mechanism (837) pushes one of the connecting plates (831) to move so as to drive the other connecting plates (831) to move together.

4. The pipe feeding device according to claim 3, wherein a nut (834) is fixedly arranged on the connecting plate (831), two ends of the connecting rod (832) are provided with threaded parts, and two adjacent connecting plates (831) are connected through the threaded parts at the two ends of the connecting rod (832).

5. The pipe feeding device according to claim 3, wherein the rotating rod (82) comprises a rotating vertical rod (821) and a rotating cross rod (822), the bottom end of the rotating vertical rod (821) is connected with the sliding plate (833), the top end of the rotating vertical rod (821) is connected with one end of the rotating cross rod (822), the vertical material blocking part (81) is vertically or obliquely arranged at the other end of the rotating cross rod (822), the rotating vertical rod (821) is vertically arranged with the sliding plate (833), and the rotating cross rod (822) is vertically arranged with the rotating vertical rod (821).

6. The pipe feeding device according to claim 5, wherein the rotating rod (82) further comprises a rod fixing portion (84), the rod fixing portion (84) comprises a sleeve portion (841) sleeved on the rotating vertical rod (821) and a fixing plate (842) connected with the sleeve portion (841), and the fixing plate (842) is fixed on the rack (10).

7. The pipe feeding equipment according to claim 1, wherein a material pushing mechanism (7) is arranged on the pipe limiting device (2), the material pushing mechanism (7) comprises a material pushing cylinder (71) and a material pushing component (72), the material pushing cylinder (71) is arranged on the pipe limiting device (2), an expansion rod of the material pushing cylinder (71) is connected with the material pushing component (72), the expansion rod of the material pushing cylinder (71) moves towards the direction of the material storage device (1), and the material pushing component (72) is used for pushing other layers of pipes stacked above a single layer of pipes.

8. The pipe feeding device according to claim 1, wherein the horizontal receiving portion (52) is disposed at an acute angle with an upper end portion of the vertical positioning portion (51), and the horizontal receiving portion (52) is disposed to be inclined upward.

9. A method for feeding a pipe, characterized in that the pipe feeding apparatus according to any one of claims 1 to 8 is used, comprising the steps of:

s1: the method comprises the following steps that (1) pipe feeding equipment is initialized completely, the mechanical position is reset, the material storage device (1) feeds materials to the single pipe conveying device (3), at least one pipe is conveyed to the pipe limiting device (2), a feeding motor in the single pipe conveying device (3) rotates forwards, and a feeding chain (31) in the single pipe conveying device (3) advances to the pipe limiting device (2);

s2: the pipe limiting device (2) flatly spreads the pipes so that the pipes are conveyed in a single-layer horizontal state;

s3: the single-piece pipe conveying device (3) conveys the tiled pipes forwards through the feeding chain (31) until one pipe is tightly attached to the vertical material blocking part (81), only one pipe is arranged between the vertical material blocking part (81) and the end part of the horizontal bearing part (52) of the jacking device (5), the pipe is located at a lifting position, the lifting detection sensor (54) located on one side of the single-piece pipe conveying device (3) senses the pipe, and sends a sensing signal to a control system of pipe feeding equipment, so that the jacking device (5) is controlled to lift up and lower the pipe until the horizontal bearing part (52) of the jacking device (5) bears the pipe, and only one pipe is located on the horizontal bearing part (52) of the jacking device (5);

s4: when the jacking device (5) ascends to move the pipe to be parallel to the center of the feeding clamping jaw (41) in the clamping and feeding assembly (4), the feeding clamping jaw (41) moves forwards along the width direction of the rack (10) to push the pipe until the pipe is pushed to the side surface of the pipe to be abutted against the surface of the vertical positioning part (51) of the jacking device (5), and the feeding clamping jaw (41) returns to the original position after the pipe is tightly attached;

s5: when the pipe is tightly attached to the vertical positioning part (51), the fixed-length push plate (91) is driven by the baffle driving device (93) to move towards the fixed-length baffle (92) along the length direction of the rack (10) to push the pipe to the end of the fixed-length baffle (92), the induction sensor on the baffle driving device (93) or the fixed-length baffle (92) detects that the push stroke is completed, the fixed-length push plate (91) stops moving at the moment, and the baffle driving device (93) uses servo control, the distance of the baffle driving device (93) pushing the fixed-length push plate (91) to move can be calculated through program operation, then the distance of the fixed length push plate (91) moving is subtracted from the distance between the fixed length push plate (91) and the fixed length baffle (92) measured before the fixed length push plate (91) does not move, the length of the pipe between the fixed-length push plate (91) and the fixed-length baffle (92) can be calculated;

s6: continuously feeding or abandoning the pipes according to the detection and judgment result of S5, and selecting feeding clamping jaws (41) at different positions of the rack (10) to grab the pipes according to the detection and judgment result;

s7: after the number and the positions of the feeding clamping jaws (41) are selected according to the step S6, the feeding clamping jaws (41) move forward along the width of the rack (10) towards the direction of the pipe, when the photoelectric switch detects the pipe, the feeding clamping jaws (41) stop moving forward, so that the feeding clamping jaws (41) clamp the pipe, and then the lifting assembly descends;

s8: after the pipe is clamped by the feeding clamping jaw (41) in the step S7, an upper signal is received, the feeding clamping jaw (41) advances to the pipe cutting machine, the clamping handle is loosened after the feeding clamping jaw (41) is in place, the feeding clamping jaw (41) retracts, and the feeding process is finished.

10. The pipe feeding method according to claim 9, wherein in step S6, an error range between the actual length of the pipe and the set length is set: the length of the pipe is-200 mm and the actual length of the pipe is less than the set length of the pipe plus 200mm, if the actual length of the pipe meets the length range, feeding clamping jaws (41) in different positions and different quantities are selected to clamp the pipe according to the actual length of the pipe, otherwise, the alarm length error is overlarge.