CN114180330A

CN114180330A - Flat cantilever loading attachment

Info

Publication number: CN114180330A
Application number: CN202111532004.0A
Authority: CN
Inventors: 梁建斌; 毕志峰; 李育冰; 刘洪生; 李志军; 陈瑞峰; 安小旭; 苗建美
Original assignee: China Railway Electrification Engineering Group Co Ltd; Third Engineering Co Ltd of China Railway Electrification Engineering Group Co Ltd
Current assignee: China Railway Electrification Engineering Group Co Ltd; Third Engineering Co Ltd of China Railway Electrification Engineering Group Co Ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-03-15
Also published as: WO2023108886A1

Abstract

The invention relates to a flat cantilever feeding device, which comprises at least two long pipe buffer racks, at least two short pipe buffer racks, a lifting rack and a grabbing manipulator, wherein the long pipe buffer racks are transversely arranged in parallel at intervals and used for storing long pipes and continuously supplying and supplementing the long pipes to a flat cantilever production line through rotary motion; the short tube cache rack is positioned at the rear side of the long tube cache rack and used for storing the short tubes; the lifting frame is arranged on one side of the long pipe cache frame and used for supporting a long pipe placed on the long pipe cache frame, and the height of the lifting frame is adjustable; the grabbing manipulator is arranged above the long pipe cache frame and the short pipe cache frame and used for clamping and conveying the wrist arm pipes placed on the long pipe cache frame and the short pipe cache frame. The automatic feeding device realizes continuous feeding of the long pipe, storage of the short pipe and automatic grabbing and conveying of the wrist arm pipe in the production line of the flat wrist arm, realizes automatic feeding of the flat wrist arm and improves the production efficiency of the flat wrist arm.

Description

Flat cantilever loading attachment

Technical Field

The invention relates to the field of contact network simplified flat cantilever production, in particular to a flat cantilever feeding device.

Background

With the rapid development of railway construction in China, new requirements are put forward on the process quality standards of related parts in the railway industry, and the requirements on construction and maintenance accuracy of a driving line are higher and higher. In a railway train line, a contact network is an important component for ensuring the normal operation of a railway, is lapped on an electric railway power supply line, and directly undertakes the primary task of conveying energy for an electric train. The cantilever is a contact net supporting device, and the cantilever pre-assembly is an important content in the construction of the electrified railway. The high-speed railway has extremely high requirements on the installation precision of the contact net, most parts of the high-speed railway contact net project cannot be repeatedly disassembled and assembled, after accurate calculation, the cantilever supporting device must be accurately assembled in place at one time, the cantilever supporting device is limited by conditions such as on-site high altitude and the like, a mode of prefabricating in batches on the ground in advance needs to be adopted, the quality of one-time construction in the whole contact suspension is good, and the quality, the progress and the construction efficiency of subsequent construction are directly influenced. The wrist comprises a wrist arm tube, a combined messenger wire seat or an aluminum alloy positioning ring sleeved on the wrist arm tube and an aluminum alloy supporting connector. The production process of the cantilever comprises a plurality of procedures of material selection and feeding, material pushing to a processing area, mechanical processing, material returning to an assembly area, material pushing and assembling and the like. The wrist arm is divided into a flat wrist arm and an inclined wrist arm. In the production process of the flat cantilever, the raw material of the cantilever tube of the flat cantilever is called a long tube, the rest part of the machined cantilever tube is called a short tube if the length of the machined cantilever tube meets the production requirements of the flat cantilever with other specifications, and the rest part of the machined cantilever tube is called a waste tube if the length of the machined cantilever tube does not meet the production requirements of the flat cantilever with other specifications.

The sorting and feeding process of the existing flat cantilever has the following problems that the automation is difficult to realize, and the production efficiency is difficult to improve:

1) the manual feeding and supplementing are mostly adopted, and the processing position of the wrist arm tube after manual feeding and supplementing is difficult to accurately control, so that the efficiency of the processing process is low, the processing position is difficult to accurately control, and the automatic production requirement of the flat wrist arm cannot be met;

2) in the production process of the flat cantilever, the short pipe is randomly placed and is mutually doped with the waste pipe, so that the short pipe is not beneficial to reuse;

3) in the prior art, a manual feeding and discharging mode is adopted for machining, and a corresponding supporting device is lacked, so that the efficiency of the machining process is low, the machining position is difficult to control accurately, and the requirement on automatic production of the cantilever cannot be met.

In view of this, the invention provides a flat cantilever feeding device, which realizes continuous feeding of a long pipe, storage of a short pipe, and automatic grabbing and conveying of a wrist arm pipe in a flat cantilever production line, realizes automatic feeding of a flat cantilever, and improves production efficiency of the flat cantilever.

Disclosure of Invention

The invention aims to provide a flat cantilever feeding device to solve the defects in the prior art, and the technical problem to be solved by the invention is realized by the following technical scheme.

A flat cantilever feeding device comprises long pipe buffer storage frames, short pipe buffer storage frames, lifting frames and grabbing manipulators, wherein the number of the long pipe buffer storage frames is at least two, the long pipe buffer storage frames are transversely arranged in parallel at intervals and used for storing long pipes and continuously supplying and feeding the long pipes to a flat cantilever production line through rotary motion; the short tube cache rack is positioned at the rear side of the long tube cache rack and used for storing the short tubes; the lifting frame is arranged on one side of the long pipe cache frame and used for supporting a long pipe placed on the long pipe cache frame, and the height of the lifting frame is adjustable; the grabbing manipulator is arranged above the long pipe cache frame and the short pipe cache frame and used for clamping and conveying the wrist arm pipes placed on the long pipe cache frame and the short pipe cache frame.

Preferably, the long tube buffer rack comprises a first support frame, a chain which moves in a rotary manner is arranged on the first support frame, a plurality of support units are arranged on the chain, and the support units are driven by the rotary movement of the chain to circulate in an annular manner; the supporting unit is provided with a first supporting bedplate, the upper end face of the first supporting bedplate is downwards sunken to form a first cambered surface portion, and the first cambered surface portion is matched with the outer peripheral face of the long pipe.

Preferably, the chain is formed by connecting a plurality of chain links with each other, each chain link comprises two chain columns, adjacent chain columns of adjacent chain links are connected with the same connecting angle piece, and the connecting angle piece is rotatably connected with each chain column.

Preferably, the chain is formed by connecting a plurality of chain links with each other, each chain link comprises two chain columns, and the two chain columns of the same chain link are connected with the same connecting angle piece.

Preferably, the connecting angle piece is L-shaped, a vertical part of the connecting angle piece is connected with the chain post, and a horizontal part of the connecting angle piece is connected with the supporting unit.

Preferably, the support unit further comprises a connecting bedplate, the connecting bedplate is connected with the horizontal part of the connecting corner fitting, and the first support bedplate is arranged on the connecting bedplate.

Preferably, the two end parts of the connecting bedplate are provided with first connecting parts, and the first connecting parts are connected with the horizontal parts of the connecting corner fittings.

Preferably, the two end portions of the connection platen are provided with interference prevention grooves at both sides of the first connection portion.

Preferably, the two end parts of the connecting bedplate are provided with auxiliary supporting parts at the outer sides of the two interference preventing grooves.

Preferably, an anti-collapse plate is arranged below the chain.

Preferably, the short tube buffer frame comprises a second support frame, at least two second support platens are arranged on the upper end portion of the second support frame, a plurality of second arc-shaped surfaces which are recessed downwards are arranged on the upper surface of the second support platens and are uniformly arranged, the second arc-shaped surfaces are matched with the outer peripheral surface of the short tube, at least one row of proximity switches are arranged on the outer side of the second support platen on one side of the upper end portion of the second support frame, and the positions of the proximity switches are matched with the positions of the second arc-shaped surfaces.

Preferably, the depth of the second arc surface portion is no more than one third of the outer diameter of the short pipe.

Preferably, a mounting bar is arranged at the upper end of the second support frame, and the second support platen is mounted on the mounting bar.

Preferably, the upper end of the second support frame is provided with three second support platens, and the distances between every two adjacent second support platens in the three second support platens are not equal.

Preferably, a first mounting plate is arranged on the outer side of the second support platen on one side of the upper end of the second support frame, and the proximity switch is mounted on the first mounting plate.

Preferably, the proximity switches are arranged in two rows, and the positions of the two rows of proximity switches are corresponding to each other and the number of the proximity switches is the same.

Preferably, the row of proximity switches located on the outer side is mounted on the same first mounting plate, the row of proximity switches located on the inner side is mounted on the same first mounting plate, and the two first mounting plates are connected with each other through the connecting piece and fixedly connected with the second supporting frame.

Preferably, the crane includes the support column, the upper end of support column is equipped with lift cylinder, the tip of lift lever of lift cylinder is equipped with rotatable riding wheel, the global middle-section part of riding wheel inwards caves in and forms the cambered surface portion, the cambered surface portion matches with the outer peripheral face of long tube, the degree of depth of cambered surface portion is no longer than the third of long tube external diameter.

Preferably, the riding wheel is arranged on a U-shaped support, and the U-shaped support is connected with the end part of the lifting rod.

Preferably, a bedplate is arranged at the end part of the lifting rod, and the U-shaped support is fixedly connected with the bedplate.

Preferably, the lifting cylinder is provided with a slide rail bar, the slide rail bar is in sliding fit with a slide rail plate, and the slide rail plate is fixedly connected with the bedplate.

Preferably, the upper end of support column is equipped with the second mounting panel, lift cylinder install in on the second mounting panel.

Preferably, a first electromagnetic valve is arranged on the supporting column and connected with the lifting cylinder.

Preferably, the bottom of the supporting column is provided with a mounting bottom plate.

Preferably, a rib plate is arranged between the supporting column and the mounting bottom plate.

Preferably, the grabbing manipulator comprises a third supporting frame, driving cylinders are arranged at the left end and the right end of the third supporting frame, clamping claws are arranged on push-pull rods at the front end and the rear end of each driving cylinder, and the clamping claws are driven by the driving cylinders to open and close; and a third cambered surface part is arranged on the opposite surface of the two clamping claws on the same driving cylinder, the third cambered surface part is matched with the peripheral surface of the wrist arm pipe, the cross section of the third cambered surface part is a minor arc, and the upper end part of the third cambered surface part protrudes out of the lower end part of the third cambered surface part.

Preferably, the clamping jaw comprises a third mounting plate and a clamping plate connected with the third mounting plate, the third mounting plate is connected with the push-pull rod, and the third cambered surface portion is arranged on the clamping plate.

Preferably, the upper portion of grip block is the second connecting portion, the second connecting portion with the detachable fixed connection of third mounting panel.

Preferably, the number of the push-pull rods of the driving cylinder is four, the four push-pull rods are distributed in a rectangular shape, and the third mounting plate is detachably and fixedly connected with the two push-pull rods on one diagonal line of the rectangular shape.

Preferably, the end part of the push-pull rod close to the third mounting plate is provided with an external thread, a through hole is formed at the joint of the third mounting plate and the push-pull rod, a groove for accommodating a nut is formed in the position, located at the through hole, of the end surface of the third mounting plate far away from the driving cylinder, and the push-pull rod penetrates through the through hole and is fixedly connected with the third mounting plate through the nut.

Preferably, the third mounting plate is provided with a through hole for two push-pull rods positioned on the other diagonal line of the rectangle to pass through.

Preferably, an upper connecting plate is arranged at the upper part of the third supporting frame and is used for being connected with a driving device.

Preferably, lower connecting plates are arranged at the left end and the right end of the lower portion of the third supporting frame, and the driving air cylinder is mounted on the lower connecting plates.

Preferably, the driving cylinder is provided with an air pipe joint.

Preferably, a second electromagnetic valve is arranged on the third supporting frame and connected with the air pipe connector and an external air source through an air pipe.

According to the invention, the long pipe is stored through the long pipe caching frame, and the mechanical continuous supply and material supplement is carried out on the flat cantilever production line, so that the technical problems of low efficiency and inaccurate positioning caused by manual feeding and material supplement in the prior art are solved, and the automation degree in the flat cantilever production process is further improved; the technical problem that the short pipe is placed at will and is not beneficial to reuse in the prior art is solved by arranging the special short pipe caching frame which is adaptive to the short pipe of the flat cantilever; the lifting frame matched with the wrist arm tube is arranged, and the lifting frame is lifted and avoided to support the wrist arm tube in the machining process, so that the levelness of the wrist arm tube in the machining process is ensured, the lifting frame is matched with the grabbing manipulator to realize mechanical feeding and returning in the machining process, and the automation degree in the wrist arm production process is further improved; the clamping claw is used for grabbing the cantilever pipe specially and grabbing and feeding the cantilever pipe through the clamping claw, so that the technical problems of low efficiency and inaccurate positioning in manual feeding in the prior art are solved, and the automation degree in the production process of the cantilever is further improved.

In conclusion, the flat cantilever feeding device provided by the invention realizes continuous supply and supplement of long pipes, storage of short pipes and automatic grabbing and conveying of wrist cantilever pipes in a flat cantilever production line, realizes automatic feeding of flat cantilevers and improves the production efficiency of flat cantilevers.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a long tube buffer rack according to the present invention;

FIG. 3 is a schematic structural diagram of a first support frame in the long tube buffer rack according to the present invention;

FIG. 4 is a schematic view of a partial structure of a chain in the long tube buffer shelf according to the present invention;

FIG. 5 is a schematic structural diagram of a support unit in the long tube buffer rack according to the present invention;

FIG. 6 is a schematic structural diagram of a SMRT cache shelf according to the present invention;

FIG. 7 is a schematic structural diagram of the lifting frame in the invention;

FIG. 8 is a schematic structural view of a grasping robot according to the present invention;

FIG. 9 is a schematic structural view of a clamping plate in the grabbing manipulator of the present invention;

the reference numbers in the drawings are, in order: 1. a long pipe buffer frame 11, a first support frame 111, a gear 112, a rotating shaft 113, an anti-collapse plate 12, a chain 121, a connecting corner fitting 122, a chain link 123, a chain column 13, a support unit 131, a connecting bedplate 1311, a first connecting part 1312, an auxiliary support part 1313, an anti-interference groove 132, a first support bedplate 1321, a first arc part 2, a short pipe buffer frame 21, a second support frame 22, a mounting bar 23, a second support bedplate 231, a second arc part 24, a proximity switch 241, a first mounting plate 3, a lifting frame 31, a support pillar 311, a mounting base plate 312, a rib plate 313, a second mounting plate 314, a first electromagnetic valve 32, a lifting cylinder 321, a lifting rod 322, a sliding rail bar 323, a bedplate 33, a riding wheel 331, a U-shaped support 332, a sliding rail plate 4, a manipulator 41, a third support frame, 411. the device comprises an upper connecting plate, 412, a lower connecting plate, 42, a driving air cylinder, 421, a push-pull rod, 422, an air pipe joint, 423, a second electromagnetic valve, 43, a clamping claw, 431, a clamping plate, 4311, a third arc surface part, 4312, a second connecting part, 432, a third mounting plate, 5, a driving device, 6 and a truss.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Example 1:

referring to fig. 1, the improvement of a flat cantilever feeding device is as follows: the long pipe buffer storage rack comprises long pipe buffer storage racks 1, short pipe buffer storage racks 2, a lifting rack 3 and a grabbing manipulator 4, wherein the number of the long pipe buffer storage racks 1 is at least two, the long pipe buffer storage racks are transversely arranged in parallel at intervals and are used for storing long pipes and continuously supplying and supplementing the long pipes to a flat cantilever production line through rotary motion; the short tube cache frame 2 is positioned at the rear side of the long tube cache frame 1 and used for storing short tubes; the lifting frame 3 is arranged on one side of the long pipe cache frame 1 and is used for supporting a long pipe placed on the long pipe cache frame 1, and the height of the lifting frame 3 is adjustable; the grabbing manipulator 4 is arranged above the long pipe cache frame 1 and the short pipe cache frame 2 and used for clamping and conveying the wrist arm pipes placed on the long pipe cache frame 1 and the short pipe cache frame 2.

In this embodiment, the number of the long tube buffer racks 1 depends on the length of the long tube required for the production of the flat cantilever, so as to achieve the purpose of stably supporting, storing and supplying supplementary materials for the long tube. Before use, the long pipe is manually placed on the long pipe cache frame 1, and the lifting frame 3 is lowered to the lowest position; when the long pipe processing device is used, the long pipe moves to the lifting frame 3 on the long pipe cache frame 1 through rotary motion, the lifting frame 3 is lifted to lift the long pipe, the long pipe is separated from the long pipe cache frame 1, the grabbing manipulator 4 moves to the upper part of the long pipe, the long pipe is grabbed, and the long pipe is driven to move horizontally to the processing area; in the translation process, the lifting frame 3 supports the long pipe all the time so as to ensure the stability of the long pipe translation; after the right-hand member of long tube got into the processing district, carry out the chamfer processing to the right-hand member of long tube, the back manipulator snatchs and drives the long tube and continue translation right after the chamfer finishes, after translation to target distance, cut the long tube, the cantilever pipe on back right side carries out subsequent processing and assembles the production in order to accomplish the wrist arm, left wrist arm pipe after cutting is stayed on crane 3, if the length of remaining wrist arm pipe after cutting is shorter, then snatch manipulator 4 as the waste pipe and grab and send to the garbage bin in, if the length of remaining wrist arm pipe after cutting satisfies the production requirement of the wrist arm of other specifications, then remaining wrist arm pipe is grabbed as the nozzle stub and send to deposit on nozzle stub buffer frame 2 and in order to carry out reuse. After the cantilever pipe on the crane 3 is grabbed away, the crane 3 descends to the lowest position to give way the feed supplement of long tube buffer storage frame 1, and long tube buffer storage frame 1 carries out the continuous supply feed supplement of long tube through rotary motion. The short tube cache frame 2 is placed at the rear side of the long tube cache frame 1 and is positioned between the truss 6 and the long tube cache frame 1, and the space between the truss 6 and the long tube cache frame 1 is fully utilized, so that the whole structure is more compact; when short tubes on the short tube cache rack 2 need to be used, the short tubes are grabbed from the short tube cache rack 2 through the grabbing manipulator 4 and transferred to the next procedure.

According to the flat cantilever feeding device provided by the embodiment, the long tubes are stored through the long tube caching frame 1, and mechanical continuous supply and supplement are performed on the flat cantilever production line, so that the technical problems of low efficiency and inaccurate positioning caused by manual feeding and supplement in the prior art are solved, and the automation degree in the flat cantilever production process is further improved; the technical problem that the short pipe is placed randomly and is not beneficial to reuse in the prior art is solved by arranging the special short pipe cache frame 2 which is adaptive to the short pipe of the flat cantilever; the support of the wrist arm tube in the machining process is completed by arranging the lifting frame 3 and utilizing the lifting avoidance of the lifting frame 3, so that the levelness of the wrist arm tube in the machining process is ensured, the mechanical feeding and returning in the machining process are realized by mutually matching with the grabbing mechanical arm 4, and the automation degree in the wrist arm production process is further improved; snatch, the material loading to the cantilever pipe through the manipulator 4 that snatchs that is exclusively used in the cantilever pipe to solve the produced inefficiency of artifical material loading among the prior art, fix a position inaccurate technical problem, and then improve the degree of automation in the cantilever production process.

Example 2:

on the basis of the embodiment 1, referring to fig. 2 to 5, the long tube buffer rack 1 includes a first support frame 11, a chain 12 moving in a rotary manner is disposed on the first support frame 11, a plurality of support units 13 are disposed on the chain 12, and the support units 13 are driven by the rotary movement of the chain 12 to circulate in a ring shape; the supporting unit 3 is provided with a first supporting bedplate 132, the upper end surface of the first supporting bedplate 132 is downwards sunken to form a first cambered surface 1321, and the first cambered surface 1321 is matched with the outer peripheral surface of the long pipe.

In this embodiment, the first supporting frame 11 plays a supporting role, the chain 12 is driven by the gear 111 to perform a rotary motion and drive the supporting unit 13 to perform a circular circulation movement, the supporting unit 13 is used to support the long pipe of the arm and perform a continuous supply and feeding of the long pipe during the circular circulation movement, the first supporting platen 132 is used to support the long pipe, and the first cambered surface 1321 is used to limit the position of the long pipe to prevent the long pipe from rolling.

During this embodiment specifically uses, at first the manual work place the long pipe of flat cantilever on first cambered surface 1321 of first supporting platform 132, then external motor drives gear 111 and rotates, and support unit 13 begins annular cyclic movement along with chain 12, and when certain support unit 13 of placing the long pipe moved the tip of first braced frame 11, with crane 3's position phase-match, crane 3 held up the long pipe support and breaks away from with this support unit 13's first cambered surface 1321, and the long pipe on crane 3 is snatched manipulator 4 and is snatched and is carried out machining by propelling movement to the processing district. After the long tube is processed and enters the next station, the lifting frame 3 moves downwards to the lowest position, and the adjacent next supporting unit 13 moves continuously to the end part of the first supporting frame 11 to complete the feeding of the long tube. When the long tube is missing from the supporting unit 13, the long tube is manually placed on the supporting unit 13.

Further, two matched gears 111 are provided at both ends of the first supporting frame 11, and the two gears 111 are connected to each other by a rotating shaft 112 and rotate synchronously.

Further, the chain 12 is engaged with the gear 111.

Further, an anti-collapse plate 113 is arranged below the chain 12.

In this embodiment, through setting up the anti-collapse board 113, can support chain 12, prevent because of the pressurized deformation of chain 12 that leads to after placing the long tube on the supporting element 13 to the corresponding supporting element 13's of having guaranteed a plurality of buffer memory shelves highly flushes each other, and then realizes effectively supporting the long tube.

Further, referring to fig. 4, the chain 12 is formed by connecting a plurality of chain links 122 to each other, each chain link 122 includes two chain columns 123, adjacent chain columns 123 of adjacent chain links 122 are connected to the same connecting angle piece 121, and the connecting angle piece 121 is rotatably connected to each chain column 123; alternatively, the chain 12 is formed by connecting a plurality of chain links 122 to each other, each chain link 122 includes two chain posts 123, and the two chain posts 123 of the same chain link 122 are connected to the same connecting angle 121.

In this embodiment, the connecting angle member 121 is used to connect the chain 12 and the supporting unit 13. The present embodiment provides two ways of connecting the corner fitting 121 to the chain. In the first mode, which may be referred to as a cross-link connection, since the same connecting angle element 121 is connected to two adjacent chain posts 123 of two adjacent chain links 122, the connecting angle element 121 and the chain posts 123 are rotatably connected, so as to ensure that the chain 12 rotates under the driving of the gear 111 and the supporting unit 13 circulates annularly under the driving of the chain 12. In the second mode, which may be referred to as the same-link connection, the same connecting angle 121 is connected to the two posts 123 of the same link 122, and since the two posts 123 of the same link 122 are fixedly connected, the two posts 123 of the same link 122 limit the connecting angle 121, that is, the connecting angle 121 is fixedly connected to the link 122, and the same-link connection mode may also achieve the rotation motion of the chain 12 and the circular circulation of the supporting unit 13.

Further, the connecting angle member 121 is L-shaped, a vertical portion of the connecting angle member 121 is connected to the chain post 123, and a horizontal portion of the connecting angle member 121 is connected to the supporting unit 13.

In this embodiment, the L-shaped connecting angle member 121 facilitates the connection between the connecting angle member 121 and the chain link 122, and also facilitates the connection between the connecting angle member 121 and the supporting unit 13, thereby facilitating the connection between the supporting unit 13 and the chain 12 and the replacement and maintenance of the supporting unit 13.

Further, the supporting unit 13 further includes a connecting platen 131, the connecting platen 131 is connected to the horizontal portion of the connecting corner fitting 121, and the first supporting platen 132 is disposed on the connecting platen 131.

In this embodiment, the connecting plate 131 is provided to facilitate connection between the supporting unit 13 and the chain 12, and to provide a mounting platform for the first supporting plate 132.

Further, the two end portions of the connection platen 131 are provided with first connection portions 1311, and the first connection portions 1311 are connected to the horizontal portion of the connection corner fitting 121.

Further, the width of the first connection portion 1311 does not exceed the width of the horizontal portion of the connection corner piece 121.

Further, the first connection portion 1311 is connected to the horizontal portion of the connection corner member 121 by a screw.

In this embodiment, the first connection portion 1311 and the screw connection are provided, so that the connection between the supporting unit 13 and the chain 12 and the detachment and replacement of the supporting unit 13 are facilitated.

Further, interference preventing grooves 1313 are provided at both end portions of the connection platen 131 on both sides of the first connection portion 1311.

In this embodiment, the interference preventing groove 1313 is provided to prevent interference of the adjacent corner fitting 121 with the lifting of the connection table 131 when the corner fitting rotates with the chain 12. Referring to fig. 4, two adjacent chain columns 123 connect the same connecting corner piece 121, namely, the number of the chain links 122 and the connecting corner pieces 121 on the same chain 12 is the same, regardless of the cross-link connection mode or the same-link connection mode. The connection bedplate 131 is connected to a connection angle 121, which connection angle 121 can be named a connection angle. The two connection angles 121 adjacent to the a connection angle may be named B connection angle and C connection angle, respectively, and the connection platen 131 connected to the a connection angle is not connected to the B connection angle and the C connection angle because once connected, the chain 12 cannot move in a rotary manner. When the connection angle piece A, the connection angle piece B and the connection angle piece C move to the gear 111 along with the chain 12, the connection angle piece B and the connection angle piece C can lift up and interfere the connection bedplate 131 connected to the connection angle piece A, and due to the arrangement of the interference prevention groove 1313, interference parts of the connection angle piece B and the connection angle piece C can be just accommodated, namely, the interference prevention groove 1313 provides a stroke space for the cyclic movement of the connection angle piece B and the connection angle piece C, and the interference of the connection angle piece 121 to the connection bedplate 131 is avoided.

Further, auxiliary support portions 1312 are provided at both end portions of the connection base plate 131 outside the interference preventing grooves 1313.

In this embodiment, the support strength of the connection base plate 131 can be increased by providing the auxiliary support portion 1312.

It should be noted that the interference preventing grooves 1313 may not be provided on both sides of the first connecting portion 1311 of the connecting platen 131, and in this case, the connecting platen 131 may have a reduced width to prevent the connecting corner fitting 121 from interfering with it; both end portions of the connection platen 131 may be protruded outward to form the first connection portions 1311, and notches at both sides of the first connection portions 1311 may also function as the interference preventing grooves 1313. However, in both of the above-described methods, it is necessary to select a material having higher rigidity for the connection base plate 131 or increase the thickness of the connection base plate 131, while satisfying the requirement of the same support strength. In other words, the provision of the interference preventing groove 1313 and the auxiliary support 1312 can ensure the circulation of the support unit 13 and enhance the support strength of the connection platen 131, and can reduce the material consumption of the connection platen 131, thereby reducing the cost.

Further, the width of the connection platen 131 is three times the width of the horizontal portion of the connection corner fitting 121, the width of the first connection portion 1311 is equal to the width of the horizontal portion of the connection corner fitting 121, and the widths of the interference prevention groove 1313 and the auxiliary support portion 1312 are both half the width of the horizontal portion of the connection corner fitting 121.

This embodiment provides a preferable way of connecting the width of the platen 131, which can effectively avoid the interference of the connecting corner piece 121 to the platen 131, thereby ensuring the circular circulation of the supporting unit 13 and reducing the material consumption of the platen 131.

Example 3:

in addition to

embodiment

1 or 2, referring to fig. 6, the stub cache shelf 2 includes a second support frame 21, at least two second support platens 23 are disposed on an upper end portion of the second support frame 21, a plurality of second arc portions 231 recessed downward are disposed on an upper surface of the second support platen 23, the plurality of second arc portions 231 are uniformly arranged, the second arc portions 231 match with an outer peripheral surface of the stub, at least one row of proximity switches 24 is disposed on an outer side of the second support platen 23 located on one side of the upper end portion of the second support frame 21, and a position of the proximity switches 24 matches with a position of the second arc portions 231.

In this embodiment, the second support frame 21 is used for supporting, the second support platen 23 is used for carrying the short pipe of the wrist arm and limiting the position of the short pipe by using the second arc portion 231 to prevent the short pipe from rolling, the arrangement of the proximity switch 24 can be used for detecting whether the placement position of the short pipe is proper or not, when the short pipe is pressed against the proximity switch 24, the proximity switch 24 is triggered to indicate that the placement position of the short pipe is proper, and if the proximity switch 24 is not triggered, the placement position of the short pipe is improper.

The embodiment is used for placing the short pipe of the flat cantilever specially and utilizing the second arc surface part 231 to limit the short pipe by arranging the second supporting bedplate 23, thereby orderly placing the short pipes generated in the production process of the flat cantilever and further facilitating the reutilization of the short pipes.

Further, the depth of the second arc surface portion 231 is not more than one third of the outer diameter of the short pipe.

In the present embodiment, the depth of the second arc surface portion 231 is set to not more than one third of the outer diameter of the short pipe in order to avoid interference between the second support platen 23 and the grasping robot 4. In order to ensure effective gripping of the stub pipe by the gripping robot 4, there must be sufficient contact area between the gripping portion of the gripping robot 4 and the stub pipe, which may hinder the gripping of the stub pipe by the gripping robot 4 if the height of the second arc portion 231 of the second support platen 23 is too high.

Further, a mounting bar 22 is provided at an upper end of the second support frame 21, and the second support platen 23 is mounted on the mounting bar 22.

In this embodiment, the installation of the second supporting platen 23 and the second supporting frame 21 and the replacement and maintenance of the second supporting platen 23 can be facilitated by the installation of the installation bar 22.

Further, three second supporting platens 23 are disposed on the upper end portion of the second supporting frame 21, and the distances between every two adjacent second supporting platens 23 in the three second supporting platens 23 are not equal.

In this embodiment, three second supporting platens 23 are provided and the distances between every two second supporting platens 23 are not equal, so that a plurality of short tubes with different lengths can be placed, and therefore, the short tubes with corresponding lengths can be conveniently selected according to the specifications of the subsequent flat cantilever to be processed.

Further, a first mounting plate 241 is provided on the outer side of the second support base plate 23 on the upper end portion side of the second support frame 21, and the proximity switch 24 is mounted on the first mounting plate 241.

In this embodiment, the first mounting plate 241 is provided to facilitate the installation, replacement, and maintenance of the proximity switch 24.

Further, the proximity switches 24 are arranged in two rows, and the positions of the two rows of proximity switches 24 correspond to each other and the number of the proximity switches is the same.

Further, the outer row of proximity switches 24 is mounted on the same first mounting plate 241, the inner row of proximity switches 24 is mounted on the same first mounting plate 241, and the two first mounting plates 241 are connected to each other and fixedly connected to the second support frame 21 through a connecting member.

In this embodiment, by providing a double row of proximity switches 24, it is ensured that the ends of the stub at that location are as flush as possible. When the ends of the short tubes do not trigger the two proximity switches 24 in the corresponding positions, the short tubes are not placed properly; when the end of a short tube simultaneously triggers two proximity switches 24 at corresponding positions, indicating that the end of the short tube is beyond the ends of other short tubes, the short tube is not properly positioned; when the end of the spool only activates the inner proximity switch 24 and not the outer proximity switch 24, it indicates that the spool is properly positioned and that the end of the spool is relatively flush compared to the ends of the other spools.

Example 4:

on the basis of any of the above embodiments, referring to fig. 7, the lifting frame 3 includes a supporting column 31, the upper end of the supporting column 31 is provided with a lifting cylinder 32, the end of a lifting rod 321 of the lifting cylinder 32 is provided with a rotatable supporting roller 33, the middle section of the peripheral surface of the supporting roller 33 is recessed inwards to form an arc surface portion, the arc surface portion is matched with the peripheral surface of the long tube, and the depth of the arc surface portion is not more than one third of the outer diameter of the long tube.

In this embodiment, the supporting column 31 is used for supporting the lifting cylinder 32 and the riding wheel 33 thereon, the lifting cylinder 32 is used for driving the riding wheel 33 to perform lifting movement, and the riding wheel 33 is used for supporting a long tube.

It is worth to be noted that, the middle section of the circumferential surface of the riding wheel 33 is concave to form an arc surface portion matched with the outer circumferential surface of the long pipe, so that the riding wheel 33 and the long pipe are in line contact in the process of clamping the long pipe by the grabbing manipulator 4 to advance, retreat and push, and the resistance in the process of advancing, retreating and pushing the long pipe is reduced by utilizing the rotation of the riding wheel 33.

It should be noted that the depth of the arc surface portion of the supporting roller 33 is not more than one third of the outer diameter of the long pipe, so as to avoid mutual interference between the supporting roller 33 and the grabbing manipulator 4 during the process of feeding, returning and pushing the long pipe clamped by the grabbing manipulator 4. This is because, in order to ensure effective gripping of the long tube by the gripping manipulator 4, the gripping portion of the gripping manipulator 4 and the long tube must have a sufficient contact area, and if the height of the arc surface portion of the riding wheel 33 is too high, the gripping portion of the gripping manipulator 4 is obstructed during feeding and returning, and thus the feeding and returning operations cannot be completed effectively.

In this embodiment, the riding wheel 33 needs to be driven by the lifting cylinder 32 to ascend and descend, because the long tube buffer storage rack 1 supplements the long tube from the side of the lifting rack 3, when the grabbing manipulator 4 clamps the long tube to advance, return and push the long tube, the riding wheel 33 is in a rising state, the long tube is lifted to be separated from the long tube buffer storage rack 1, so as to eliminate the resistance of the long tube feeding, returning and pushing caused by the contact between the long tube and the long tube buffer storage rack 1, at this time, the riding wheel 33 is higher than the long tube buffer storage rack 1, when the long tube is processed and enters a next procedure, and then a new long tube is supplemented, only after the riding wheel 33 descends, the long tube on the buffer storage long tube buffer storage rack 1 can be supplemented to the position right above the riding wheel 33, so as to continue the next feeding, returning and pushing operation, and thus the riding wheel 33 is arranged on the lifting rod 321 of the lifting cylinder 32 to realize the ascending and descending of the riding wheel 33.

Further, the riding wheel 33 is arranged on a U-shaped bracket 331, and the U-shaped bracket 331 is connected with the end of the lifting rod 321.

In this embodiment, the idler 33 is supported by the U-shaped support 331 and provides a rotation center for the idler 33, so that the sliding friction between the long pipe and the idler 33 is converted into rolling friction.

Further, a bedplate 323 is arranged at the end of the lifting rod 321, and the U-shaped support 331 is fixedly connected with the bedplate 323.

In this embodiment, the arrangement of the bedplate 323 facilitates the installation, replacement and maintenance of the U-shaped bracket 331 and the bedplate 323.

Further, a slide rail bar 322 is arranged on the lifting cylinder 32, a slide rail plate 332 is slidably fitted on the slide rail bar 322, and the slide rail plate 332 is fixedly connected with the platen 323.

In this embodiment, by providing the slide rail bar 322 and the slide rail plate 332, the supporting force of the riding wheel 33 can be enhanced, and the up-and-down movement of the riding wheel 33 can be guided and limited, thereby increasing the supporting stability of the riding wheel 33.

Further, the upper end of the supporting column 31 is provided with a second mounting plate 313, and the lifting cylinder 32 is mounted on the second mounting plate 313.

In this embodiment, the second mounting plate 313 is provided to facilitate the installation, replacement and maintenance of the lifting cylinder 32.

Further, a first electromagnetic valve 314 is arranged on the supporting column 31, and the first electromagnetic valve 314 is connected with the lifting cylinder 32.

In this embodiment, the air inlet and outlet direction of the first electromagnetic valve 314 is controlled to control the ascending and descending of the riding wheel 33 so as to complete the support of the riding wheel 33 on the long tube and the feeding of the long tube.

Further, a mounting bottom plate 311 is arranged at the bottom of the supporting column 31.

Further, a rib plate 312 is disposed between the supporting column 31 and the mounting base plate 311.

In this embodiment, the mounting base plate 311 may mount the supporting column 31 on a base plate of the cantilever production line, and the rib plate 312 may enhance the supporting stability of the supporting column 31.

Example 5:

on the basis of any of the above embodiments, referring to fig. 8 and 9, the grasping manipulator 4 includes a third supporting frame 41, driving cylinders 42 are respectively disposed at the left and right ends of the third supporting frame 41, a holding claw 43 is disposed on a push-pull rod 421 at the front end and the rear end of each driving cylinder 42, and the holding claws 43 are driven by the driving cylinders 42 to perform opening and closing motions; a third arc surface part 4311 is arranged on the opposite surface of the two clamping claws 43 on the same driving cylinder 42, the third arc surface part 4311 is matched with the outer peripheral surface of the wrist arm pipe, the cross section of the third arc surface part 4311 is a minor arc, and the upper end part of the third arc surface part 4311 protrudes out of the lower end part of the third arc surface part 4311.

In this embodiment, the third supporting frame 41 is used for supporting the driving cylinder 42 and the clamping claw 43, and is connected to the driving device 5, so as to drive the driving cylinder 42 and the clamping claw 43 to clamp and feed the selected cantilever pipe; the driving cylinder 42 is used for providing driving force for opening and closing of the clamping claws 43; the gripper jaw 43 is used for gripping the wrist arm tube.

It should be noted that, in this embodiment, the third arc-shaped portion 4311 contacts with the outer peripheral surface of the wrist tube and clamps the wrist tube under the driving of the driving cylinder 42, which is a basic function of the third arc-shaped portion 4311. The reason why the cross section of the third arc 4311 is set to be a minor arc and the upper end of the third arc 4311 protrudes out of the lower end is that the wrist tube is in a long tube shape and is stored on the long tube buffer frame 1 or the short tube buffer frame 2, and the feeding is horizontally pushed along the truss 6 when reaching the processing area, so that the long tube buffer frame 1, the short tube buffer frame 2 and the lifting frame 3 all have arc accommodating parts for better supporting and supporting the wrist tube, and the third arc 4311 with the minor arc cross section can well avoid the arc accommodating parts of the long tube buffer frame 1, the short tube buffer frame 2 and the lifting frame 3 in the process of grabbing the wrist tube and pushing the wrist tube, i.e. mutual interference is avoided, thereby smoothly grabbing and feeding. The upper end of the third arc-shaped part 4311 protrudes from the lower end, so that the opening and closing stroke of the clamping claw 43 can be reduced on the premise of meeting the contact area required for grabbing, for example, to complete grabbing, the minimum distance for the lower end of the third arc-shaped part 4311 to open is the diameter of the wrist arm tube, and the opening and closing stroke of the clamping claw 43 whose upper end protrudes from the lower end of the third arc-shaped part 4311 is obviously smaller than that of the clamping claw 43 whose upper and lower ends are flush. In addition, the reduction of the opening and closing stroke of the clamping claws 43 can also enable more cantilever tubes to be placed on the buffer storage rack with the same width.

When the manipulator grabbing device is used, the whole manipulator grabbing device moves to a preset position along the truss 6 under the action of the driving device 5, the cantilever pipe with the proper length is placed at the preset position, the driving cylinder 42 drives the clamping claws 43 to open and close to clamp the cantilever pipe, and then the whole manipulator grabbing device moves to a machining area to wait for machining of the cantilever pipe.

Further, an upper portion of the third supporting frame 41 is provided with an upper connecting plate 411, and the upper connecting plate 411 is used for connecting with the driving device 5.

In this embodiment, the upper connection plate 411 is provided, which facilitates connection, replacement, and maintenance of the entire manipulator and the driving device 5.

Further, lower connection plates 412 are provided at left and right ends of a lower portion of the third support frame 41, and the driving cylinder 42 is mounted on the lower connection plates 412.

In the present embodiment, the lower third mounting plate 412 is provided for the purpose of facilitating mounting, maintenance, and replacement between the driving cylinder 42 and the third support frame 41.

Further, an air pipe joint 422 is arranged on the driving air cylinder 42.

Further, a second electromagnetic valve 423 is disposed on the third supporting frame 41, and the second electromagnetic valve 423 is connected to the air pipe joint 422 and an external air source through an air pipe.

In this embodiment, the gripping and detaching of the wrist-arm tube are completed by controlling the air inlet and outlet direction of the second solenoid valve 423 to control the opening and closing of the gripper jaws 43.

Further, referring to fig. 8 and 9, the clamping claw 43 includes a third mounting plate 432 and a clamping plate 431 connected to the third mounting plate 432, the third mounting plate 432 is connected to the push-pull rod 421, and the third arc-shaped portion 4311 is disposed on the clamping plate 431.

In this embodiment, the clamping jaw 43 is divided into two split parts, on one hand, the two split parts are easy to manufacture, and each part is easier to process compared with the integrated clamping jaw; on the other hand, it is convenient for installation and replacement maintenance, and when a certain part is damaged, only the part can be replaced.

Further, the upper portion of the clamping plate 431 is a second connection portion 4312, and the second connection portion 4312 is detachably and fixedly connected with the third mounting plate 432; furthermore, the second connecting portion 4312 is provided with a through hole or a screw hole, the third mounting plate 432 is provided with a screw hole, and the second connecting portion 4312 and the third mounting plate 432 are detachably and fixedly connected by a flat head screw.

Furthermore, the number of the push-pull rods 421 of the driving cylinder 42 is four, the four push-pull rods 421 are distributed in a rectangular shape, and the third mounting plate 432 is detachably and fixedly connected with the two push-pull rods 421 on one diagonal of the rectangular shape.

Furthermore, an external thread is arranged at the end of the push-pull rod 421 close to the third mounting plate 432, a through hole is arranged at the joint of the third mounting plate 432 and the push-pull rod 421, a groove for accommodating a nut is arranged at the position of the through hole on the end surface of the third mounting plate 432 far away from the driving cylinder 42, and the push-pull rod 421 passes through the through hole and is fixedly connected with the third mounting plate 432 through the nut.

Further, a through hole for passing through two push-pull rods 421 located on the other diagonal line of the rectangle is formed in the third mounting plate 432.

In this embodiment, four push-pull rods 421 of the driving cylinder 42 are arranged and distributed in a rectangular shape, and the third mounting plate 432 is connected to two push-pull rods 421 located on a diagonal line of the rectangular shape, because the two push-pull rods 421 can perform mutual limiting during telescopic movement, the problem of unstable gripping caused by deflection of the clamping claws 43 is avoided.

It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than those illustrated or otherwise described herein.

Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may also be oriented in other different ways, such as by rotating it 90 degrees or at other orientations, and the spatially relative descriptors used herein interpreted accordingly.

In the foregoing detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components, unless context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here.

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 flat cantilever loading attachment which characterized in that: the long pipe buffer storage rack comprises long pipe buffer storage racks (1), short pipe buffer storage racks (2), lifting racks (3) and a grabbing manipulator (4), wherein the number of the long pipe buffer storage racks (1) is at least two, the long pipe buffer storage racks are transversely arranged in parallel at intervals and used for storing long pipes and continuously supplying and supplementing the long pipes to a flat cantilever production line through rotary motion; the short tube cache rack (2) is positioned at the rear side of the long tube cache rack (1) and is used for storing the short tubes; the lifting frame (3) is arranged on one side of the long pipe cache frame (1) and is used for supporting a long pipe placed on the long pipe cache frame (1), and the height of the lifting frame (3) is adjustable; the grabbing manipulator (4) is arranged above the long pipe cache frame (1) and the short pipe cache frame (2) and used for clamping and conveying the cantilever pipes placed on the long pipe cache frame (1) and the short pipe cache frame (2).

2. The flat cantilever feeding device according to claim 1, wherein: the long pipe buffer rack (1) comprises a first supporting frame (11), a chain (12) which moves in a rotary manner is arranged on the first supporting frame (11), a plurality of supporting units (3) are arranged on the chain (2), and the supporting units (13) are driven by the rotary movement of the chain (12) to circulate in a ring shape; the supporting unit (13) is provided with a first supporting bedplate (132), the upper end surface of the first supporting bedplate (132) is downwards sunken to form a first arc surface part (1321), and the first arc surface part (1321) is matched with the outer peripheral surface of the long pipe.

3. The flat cantilever feeding device according to claim 2, wherein: the chain (12) is formed by mutually connecting a plurality of chain links (122), each chain link (122) comprises two chain columns (123), adjacent chain columns (123) of adjacent chain links (122) are connected with the same connecting angle piece (121), and the connecting angle piece (121) is rotatably connected with each chain column (123).

4. The flat cantilever feeding device according to claim 2, wherein: the chain (12) is formed by mutually connecting a plurality of chain links (122), each chain link (122) comprises two chain columns (123), and the two chain columns (123) of the same chain link (122) are connected with the same connecting angle piece (121).

5. The flat cantilever feeding device according to claim 3 or 4, wherein: the connecting angle piece (121) is L-shaped, the vertical part of the connecting angle piece (121) is connected with the chain post (123), and the horizontal part of the connecting angle piece (121) is connected with the supporting unit (13);

preferably, the supporting unit (13) further comprises a connecting platen (131), the connecting platen (131) is connected with the horizontal part of the connecting corner piece (121), and the first supporting platen (132) is arranged on the connecting platen (131);

preferably, two ends of the connecting bedplate (131) are provided with first connecting parts (1311), and the first connecting parts (1311) are connected with the horizontal part of the connecting corner piece (121);

preferably, interference prevention grooves (1313) are provided at both end portions of the connection platen (131) on both sides of the first connection portion (1311);

preferably, auxiliary support parts (1312) are arranged at the two end parts of the connecting bedplate (131) and positioned at the outer sides of the two interference preventing grooves (1313);

preferably, an anti-collapse plate (113) is arranged below the chain (12).

6. The flat cantilever feeding device according to claim 1, wherein: the short tube buffer frame (2) comprises a second supporting frame (21), at least two second supporting bedplate (23) are arranged on the upper end portion of the second supporting frame (21), a plurality of second arc-shaped surface portions (231) which are sunken downwards are arranged on the upper surface of each second supporting bedplate (23), the second arc-shaped surface portions (231) are uniformly arranged, the second arc-shaped surface portions (231) are matched with the outer peripheral surface of the short tube, at least one row of proximity switches (24) are arranged on the outer side of the second supporting bedplate (23) positioned on one side of the upper end portion of the second supporting frame (21), and the positions of the proximity switches (24) are matched with the positions of the second arc-shaped surface portions (231);

preferably, the depth of the second cambered surface part (231) is not more than one third of the outer diameter of the short pipe;

preferably, a mounting bar (22) is arranged at the upper end of the second support frame (21), and the second support platen (23) is mounted on the mounting bar (22);

preferably, three second supporting bedplate (23) are arranged at the upper end part of the second supporting frame (21), and the distance between every two adjacent second supporting bedplate (23) in the three second supporting bedplate (23) is unequal;

preferably, a first mounting plate (241) is provided on the outer side of the second support platen (23) located on the upper end side of the second support frame (21), and the proximity switch (24) is mounted on the first mounting plate (241); preferably, the proximity switches (24) are arranged in two rows, and the positions of the two rows of proximity switches (24) are corresponding to each other and the number of the proximity switches is the same;

preferably, the outer row of proximity switches (24) is mounted on the same first mounting plate (241), the inner row of proximity switches (24) is mounted on the same first mounting plate (241), and the two first mounting plates (241) are connected with each other through a connecting piece and fixedly connected with the second supporting frame (21).

7. The flat cantilever feeding device according to claim 1, wherein: the lifting frame (3) comprises a supporting column (31), a lifting cylinder (32) is arranged at the upper end of the supporting column (31), a rotatable supporting roller (33) is arranged at the end part of a lifting rod (321) of the lifting cylinder (32), the middle section of the peripheral surface of the supporting roller (33) is inwards sunken to form an arc surface part, the arc surface part is matched with the peripheral surface of the long pipe, and the depth of the arc surface part is not more than one third of the outer diameter of the long pipe;

preferably, the riding wheel (33) is arranged on a U-shaped support (331), and the U-shaped support (331) is connected with the end part of the lifting rod (321);

preferably, a bedplate (323) is arranged at the end part of the lifting rod (321), and the U-shaped support (331) is fixedly connected with the bedplate (323);

preferably, a slide rail bar (322) is arranged on the lifting cylinder (32), a slide rail plate (332) is slidably matched on the slide rail bar (322), and the slide rail plate (332) is fixedly connected with the bedplate (323);

preferably, a second mounting plate (313) is arranged at the upper end of the supporting column (31), and the lifting cylinder (32) is mounted on the second mounting plate (313);

preferably, a first electromagnetic valve (314) is arranged on the supporting column (31), and the first electromagnetic valve (314) is connected with the lifting cylinder (32);

preferably, the bottom of the supporting column (31) is provided with a mounting bottom plate (311);

preferably, a rib plate (312) is arranged between the supporting column (31) and the mounting bottom plate (311).

8. The flat cantilever feeding device according to claim 1, wherein: the grabbing manipulator (4) comprises a third supporting frame (41), driving cylinders (42) are arranged at the left end and the right end of the third supporting frame (41), a clamping claw (43) is arranged on a push-pull rod (421) at the front end and the rear end of each driving cylinder (42), and the clamping claws (43) are driven by the driving cylinders (42) to open and close; and a third arc surface part (4311) is arranged on the opposite surface of two clamping claws (43) on the same driving cylinder (42), the third arc surface part (4311) is matched with the peripheral surface of the cantilever pipe, the cross section of the third arc surface part (4311) is in a minor arc shape, and the upper end part of the third arc surface part (4311) protrudes out of the lower end part of the third arc surface part (4311).

9. The flat cantilever feeding device according to claim 8, wherein: the clamping claw (43) comprises a third mounting plate (432) and a clamping plate (431) connected with the third mounting plate (432), the third mounting plate (432) is connected with the push-pull rod (421), and the third arc-shaped surface portion (4311) is arranged on the clamping plate (431).

10. The flat cantilever loading device according to claim 9, wherein: the upper part of the clamping plate (431) is provided with a second connecting part (4312), and the second connecting part (4312) is detachably and fixedly connected with the third mounting plate (432);

preferably, the number of the push-pull rods (421) of the driving cylinder (42) is four, the four push-pull rods (421) are distributed in a rectangular shape, and the third mounting plate (432) is detachably and fixedly connected with the two push-pull rods (421) on one diagonal of the rectangular shape;

preferably, an external thread is arranged at the end part of the push-pull rod (421) close to the third mounting plate (432), a through hole is arranged at the connecting part of the third mounting plate (432) and the push-pull rod (421), a groove for accommodating a nut is arranged on the end surface of the third mounting plate (432) far away from the driving cylinder (42) and at the position of the through hole, and the push-pull rod (421) penetrates through the through hole and is fixedly connected with the third mounting plate (432) through the nut;

preferably, the third mounting plate (432) is provided with a through hole for two push-pull rods (421) positioned on the other diagonal line of the rectangle to pass through;

preferably, the upper part of the third supporting frame (41) is provided with an upper connecting plate (411), and the upper connecting plate (411) is used for being connected with a driving device (5);

preferably, lower connecting plates (412) are arranged at the left and right ends of the lower part of the third supporting frame (41), and the driving air cylinder (42) is installed on the lower connecting plates (412);

preferably, the driving cylinder (42) is provided with an air pipe joint (422);

preferably, a second electromagnetic valve (423) is arranged on the third supporting frame (41), and the second electromagnetic valve (423) is connected with the air pipe joint (422) and an external air source through an air pipe.