CN210794950U - Automatic unloader that goes up of panel - Google Patents
Automatic unloader that goes up of panel Download PDFInfo
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- CN210794950U CN210794950U CN201921322904.0U CN201921322904U CN210794950U CN 210794950 U CN210794950 U CN 210794950U CN 201921322904 U CN201921322904 U CN 201921322904U CN 210794950 U CN210794950 U CN 210794950U
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 238000007599 discharging Methods 0.000 claims description 36
- 230000003028 elevating effect Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 5
- 230000007723 transport mechanism Effects 0.000 abstract description 14
- 230000032258 transport Effects 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000003698 laser cutting Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of the mobile phone panel manufacturing, specifically provide an unloader in panel automation, including the year material tray that is used for the loading end sheet material, still include the frame, install year material tray transport mechanism, ferry-boat dish in the frame and get and put material arm mechanism, transport a plurality of year material trays that pile up and place to the track of ferry-boat dish of material portion through carrying material tray transport mechanism on, ferry-boat dish takes off a year material tray and supplies to get to put material arm mechanism and snatch the panel on year material tray, then ferry-boat dish transports empty tray to unloading portion to transport out through year material tray transport mechanism. The device simple structure goes up the unloading structure the same, and the back is debugged to the loading structure, can copy the unloading structure, has reduced the work load of debugging, installation easy maintenance, and the part kind is few, is convenient for prepare material, and main body frame adopts the section bar to build and forms, and is with low costs.
Description
Technical Field
The utility model belongs to the technical field of the mobile phone panel manufacturing, concretely relates to unloader in panel automation.
Background
Along with the appearance of artificial intelligence, automation is the development trend of all walks of life, at present in the field of laser cutting cell-phone display panel, market competition can be said more and more fierce, customer's demand is also more and more high, when satisfying basic function, still need raise the efficiency, reduce cost etc., and the last unloader structure that has now on the market is complicated, motion module is more, be not convenient for the installation and the maintenance of equipment, the transmission part adopts present module concatenation to form more, there is certain requirement to the size and the installation space of equipment, the space occupies greatly, with high costs, and motion control is comparatively complicated, the debugging degree of difficulty of equipment has been increased.
Disclosure of Invention
The utility model aims at overcoming the problem that the structure of the feeding and discharging device in the prior art is complex and high in cost.
Therefore, the utility model provides an automatic unloader that goes up of panel, including the material carrying tray that is used for the loading end sheet material, still include the frame, install material carrying tray transport mechanism, ferry plate and get and put material arm mechanism in the frame, material carrying tray transport mechanism includes ferry vehicle group and elevating platform group, ferry vehicle group includes material loading ferry vehicle and unloading ferry vehicle, elevating platform group includes material loading elevating platform and unloading elevating platform that correspond the setting respectively with material loading ferry vehicle and unloading ferry vehicle, the material loading position of material loading elevating platform is located the unloading position of material loading ferry vehicle, the unloading position of unloading elevating platform is located the material loading position of unloading ferry vehicle;
the discharging position of the feeding lifting platform and the feeding position of the discharging lifting platform are respectively positioned at two ends of the track of the ferry plate;
the material taking and placing arm mechanism is used for grabbing a panel on a material carrying tray on the ferry plate to a processing position.
Preferably, the guide rails of the feeding ferry vehicle and the guide rails of the discharging ferry vehicle are longitudinally arranged in parallel, and the guide rails of the feeding lifting table and the guide rails of the discharging lifting table are respectively vertically arranged above the guide rails of the feeding ferry vehicle and the guide rails of the discharging ferry vehicle in parallel.
Preferably, the frame includes upper strata and lower floor, ferry plate and get and put the material arm mechanism and install in the upper strata, ferry car group installs in the lower floor, elevating platform group slidable installs in upper strata and lower floor.
Preferably, the guide rails of the ferry plate are transversely arranged on the upper layer of the frame.
Preferably, the material taking and placing arm mechanism is slidably mounted above the upper layer of the rack.
Preferably, the material taking and placing arm mechanism comprises a piece suction cylinder and a servo motor, and the servo motor drives the piece suction cylinder to move between the ferry plate and the processing position.
Preferably, the device further comprises a disc separating mechanism, the disc separating mechanism comprises a disc separating sheet and a disc separating cylinder, and the disc separating cylinder drives the disc separating sheet to be inserted between the upper and lower material loading trays which are stacked.
Preferably, the tray separating mechanism further comprises a feeding lifting cylinder, a tray sucking disc is arranged on the lifting cylinder, and the tray sucking disc can be adsorbed on the side wall of the material loading tray.
Preferably, the lifting platform group comprises a lifting screw rod and a material rack installed on the lifting screw rod, and the material rack is located below the ferry vehicle group.
Preferably, the device further comprises a transversely-arranged material moving mechanism, the material moving mechanism comprises a transverse guide rail and a moving block which is slidably arranged on the transverse guide rail, and the ferry plate is fixedly connected with the moving block.
The utility model has the advantages that: the utility model provides an automatic unloader that goes up of this kind of panel, including the year material tray that is used for the loading end sheet material, still include the frame, install year material tray transport mechanism in the frame, ferry to the dish and get and put material arm mechanism, through carrying material tray transport mechanism with a plurality of year material trays that pile up and place transport to the track of the ferry to the dish of material portion, ferry to the dish and take off a year material tray and supply to get to put the panel on the material tray that material arm mechanism snatchs year material tray, then ferry to the dish and transport empty tray to unloading portion to transport out through year material tray transport mechanism. The device simple structure goes up the unloading structure the same, and the back is debugged to the loading structure, can copy the unloading structure, has reduced the work load of debugging, installation easy maintenance, and the part kind is few, is convenient for prepare material, and main body frame adopts the section bar to build and forms, and is with low costs.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the overall structure of the automatic feeding and discharging device for panels of the present invention;
FIG. 2 is a schematic view of the installation of a rodless cylinder of the automatic feeding and discharging device for panels of the present invention;
fig. 3 is a schematic structural view of a ferry plate of the automatic loading and unloading device for panels of the present invention;
fig. 4 is a schematic structural view of the ferry vehicle of the automatic feeding and discharging device for panels of the present invention.
Description of reference numerals: the device comprises a frame 1, a ferry vehicle group 2, a ferry disk 3, a material taking and placing arm mechanism 4, a lifting platform group 5, a lifting cylinder 6, a disk dividing cylinder 7, a tray sucker 8, a disk dividing sheet 9, a rodless cylinder 10, a feeding cylinder 11 and a guide rail 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The utility model provides an automatic unloader that goes up of panel, including the material carrying tray that is used for the loading end sheet material, still include frame 1, install material carrying tray transport mechanism, ferry plate 3 and get on and off the material arm mechanism on frame 1, material carrying tray transport mechanism includes ferry vehicle group 2 and elevating platform group 5, ferry vehicle group 2 includes material loading ferry vehicle and unloading ferry vehicle, elevating platform group 5 includes material loading elevating platform and unloading elevating platform that correspond the setting respectively with material loading ferry vehicle and unloading ferry vehicle, the material loading level of material loading elevating platform is located the unloading position of material loading ferry vehicle, the unloading level of unloading elevating platform is located the material loading level of unloading ferry vehicle;
the blanking position of the feeding lifting platform and the feeding position of the blanking lifting platform are respectively positioned at two ends of the track of the ferry plate 3;
the material taking and placing arm mechanism 4 is used for grabbing a panel on a material carrying tray on the ferry plate to a processing position.
Therefore, as shown in fig. 1 to 4, two sets of automatic tray loading and unloading devices are symmetrically arranged in the rack from left to right, and the whole set of loading and unloading operations of the panel can be independently completed on any side. The ferry vehicle group 2 longitudinally drives the stacked material carrying trays to move to the lower part of the lifting platform group 5, a lifting plate extends out of the lower part of the material loading lifting platform in the lifting platform group 5, when the material carrying trays move past, the lifting plate is just inserted into the lower part of the lowest material carrying tray, and therefore the stacked material carrying trays can be lifted by the lifting platform. The ferry plate 3 can also be similar in working principle, when the feeding lifting platform runs to a specified height, the side wall of the material carrying tray is sucked by a tray sucker on a feeding lifting cylinder of the tray dividing mechanism, here, two groups of lifting cylinders 6 are arranged, one group is used for conveying the material carrying tray to a grabbing position of the material taking and placing arm mechanism 4, and the other group is used for sucking and conveying the empty tray to a blanking position after a panel on the material carrying tray is grabbed so as to convey the empty tray. The front end of the first group of lifting cylinders is provided with a disc separating sheet 9, the disc separating sheet 9 is inserted between the two uppermost material carrying trays, then the feeding lifting platform descends by a height to separate the uppermost material carrying tray, then the ferry plate 3 is moved to receive the material carrying trays, and then the material taking and placing arm mechanism 4 is operated to a grabbing position. After the panel on the material carrying tray is taken out, the tray suckers on the other group of lifting cylinders suck the side wall of the material carrying tray, the material carrying tray is an empty tray, and after the ferry plate 3 is moved away, the empty tray falls onto a discharging lifting platform and is removed after discharging. The process of feeding and discharging is a reciprocal process, and the principle is similar and is not repeated. Wherein, ferry plates 3 can also be a plurality of and correspond to the ferry cars one by one.
According to the preferable scheme, the guide rails of the feeding ferry vehicle and the guide rails of the discharging ferry vehicle are longitudinally arranged in parallel, and the guide rails of the feeding lifting table and the guide rails of the discharging lifting table are respectively vertically arranged above the guide rails of the feeding ferry vehicle and the guide rails of the discharging ferry vehicle in parallel.
According to the preferred scheme, the rack comprises an upper layer and a lower layer, the ferry plate and the material taking and placing arm mechanism are arranged on the upper layer, the ferry vehicle group is arranged on the lower layer, and the lifting platform group can be arranged on the upper layer and the lower layer in a sliding mode. The whole device is divided into an upper layer and a lower layer, so that the space is saved.
Preferably, the guide rails of the ferry plate are transversely arranged on the upper layer of the frame. As shown in fig. 2, the reciprocating motion of the ferry plate 3 is realized by the rodless cylinder 10, which saves space, the rodless cylinder is composed of a cylinder body and a slide block, the slide block is arranged outside the cylinder body, and after ventilation, the slide block slides on the cylinder body, and the reciprocating motion of the slide block drives the reciprocating motion of the ferry plate 3 to realize loading and unloading operation.
Preferably, the material taking and placing arm mechanism is slidably mounted above the upper layer of the rack.
According to the preferable scheme, the material taking and placing arm mechanism comprises a piece sucking cylinder and a servo motor, and the servo motor drives the piece sucking cylinder to move between the ferry plate and the processing position. Therefore, the material taking and placing arm mechanism is also used for translating the linear guide rail.
According to the preferable scheme, the device further comprises a disc separating mechanism, the disc separating mechanism comprises a disc separating sheet and a disc separating cylinder, and the disc separating cylinder drives the disc separating sheet to be inserted between an upper material carrying tray and a lower material carrying tray which are stacked.
According to the preferable scheme, the tray separating mechanism further comprises a feeding lifting cylinder, a tray sucker is arranged on the lifting cylinder, and the tray sucker can be adsorbed on the side wall of the material carrying tray. The lifting cylinders are two groups, one group is used for sucking the material carrying tray conveyed by the feeding lifting platform, then the sub-discs 9 are inserted and clamped, the ferry disc 3 is positioned below the material carrying tray and then is moved to the grabbing position of the arm, after the panel is grabbed, the other group of lifting cylinders suck the empty tray, the ferry disc is moved away, and the empty tray can be lowered onto the discharging lifting platform.
According to the preferable scheme, the lifting table group comprises a lifting screw rod and a material rack arranged on the lifting screw rod, and the material rack is located below the ferry vehicle group. Therefore, as shown in fig. 1, the lifting screw rod comprises a blanking lifting screw rod and a loading lifting screw rod, the material rack comprises a feeding rack and a discharging rack, the feeding and blanking principle is similar, and only the blanking process is described here. The blanking lifting screw rod moves the discharging frame to the lower part of the ferry plate on the upper layer to catch the empty tray on the ferry plate.
Preferably, the device further comprises a transversely-arranged material moving mechanism, the material moving mechanism comprises a transverse guide rail and a moving block which is slidably arranged on the transverse guide rail, and the ferry plate is fixedly connected with the moving block. Therefore, the moving block drives the ferry plate to move on the transverse guide rail, the material loading tray can be conveyed to the material taking position of the material taking and placing arm mechanism, and the hole tray can also be conveyed to the material loading position of the blanking lifting platform.
The preferred scheme, this unloader can include that the multiunit carries material tray transport mechanism, ferry plate and get and put material arm mechanism, each other does not influence, and bilateral symmetry sets up independently, about both sides can independently carry out and go up the unloading action, when the needs maintenance breaks down on one side, the another side still can continue work, guarantees customer's productivity demand, controls both sides structure unanimously moreover.
The blanking process of the device is as follows: as shown in fig. 1 to 4, the frame 1 is a truss structure, and a material loading tray transfer mechanism, a ferry plate 3 and a material taking and placing arm mechanism 4 are installed inside the frame. The frame 1 is fixed with a section bar and a door frame, and the material taking and placing arm mechanism 4 is fixed at the topmost end of the frame 1 and used for grabbing a panel on a material loading tray, and the panel can move along the transverse direction and the longitudinal direction, namely respectively corresponding to the direction of the X, Y shafts. The tail end of the tray is provided with a sucker, and the mobile phone display panel in the tray can be sucked by the sucker to be placed in a material waiting area of the laser cutting equipment. And the tray separating mechanism is provided with a lifting cylinder 6 and a tray separating cylinder 7 for sucking the material loading tray. The lifting cylinder 6 is provided with a tray sucking disc 8, the tray sucking disc 8 sucks the uppermost layer of material carrying tray to stabilize the tray, then the tray separating cylinder 7 drives the tray separating disc 9 to be inserted between the upper and lower material carrying trays which are stacked, then the lifting platform descends by a height, so that the uppermost material carrying tray is separated from the lower material carrying tray, then the material carrying tray is placed on the ferry plate 3 on the material moving mechanism, the ferry plate 3, the rodless cylinder 10 and the positioning cylinder are fixed on the material moving mechanism, the positioning cylinder is fixed on the ferry plate, the material carrying tray is positioned by the positioning cylinder, and the rodless cylinder 10 drives the ferry plate 3 to move. The ferry plate 3 on the rodless cylinder 10 can move, and the material carrying tray is moved to the grabbing position of the arm. After the panel on the material carrying tray is sucked by the sucking discs on the material taking and placing arm mechanism 4, the empty tray is moved to the feeding position of the discharging lifting platform by the material moving mechanism, the discharging lifting platform descends by a height position, the operation is repeated until all the empty trays are stacked, finally the discharging lifting platform descends to the feeding position of the discharging transfer car, the discharging transfer car is longitudinally transported out after receiving the stack of empty trays, and the discharging operation of the mobile phone display panel is completed after the mobile phone display panel is manually moved away.
The feeding process comprises the following steps: the stacked material carrying trays are placed on a material loading ferry vehicle, the material loading ferry vehicle drives a stack of material carrying trays to longitudinally move to a material loading position of a material loading lifting platform, and the specific moving mode is that the material loading ferry vehicle is driven by a material loading cylinder 11 to longitudinally move along a guide rail 12. The stack of pallets is then lifted up onto the ferry plate 3. And then the tray dividing mechanism starts to divide the tray, a feeding lifting cylinder fixed on the tray dividing mechanism extends out, the material carrying trays are sucked through a sucker, the tray dividing cylinder extends out, the tray dividing sheets fixed on the tray dividing cylinder are inserted between the two uppermost material carrying trays, then the feeding lifting cylinder retracts, the uppermost material carrying tray is separated, the blanking step is carried out, after the ferry tray carries one material carrying tray, the feeding lifting platform rises by a height, and a new uppermost material carrying tray moves to a specified position to be subjected to next tray dividing by the tray dividing mechanism.
The utility model has the advantages that: the utility model provides an automatic unloader that goes up of this kind of panel, including the year material tray that is used for the loading end sheet material, still include the frame, install year material tray transport mechanism in the frame, ferry to the dish and get and put material arm mechanism, through carrying material tray transport mechanism with a plurality of year material trays that pile up and place transport to the track of the ferry to the dish of material portion, ferry to the dish and take off a year material tray and supply to get to put the panel on the material tray that material arm mechanism snatchs year material tray, then ferry to the dish and transport empty tray to unloading portion to transport out through year material tray transport mechanism. The device simple structure goes up the unloading structure the same, and the back is debugged to the loading structure, can copy the unloading structure, has reduced the work load of debugging, installation easy maintenance, and the part kind is few, is convenient for prepare material, and main body frame adopts the section bar to build and forms, and is with low costs.
The above examples are merely illustrative of the present invention and do not limit the scope of the present invention, and all designs identical or similar to the present invention are within the scope of the present invention.
Claims (10)
1. The utility model provides an unloader in panel automation, is including the year material tray that is used for the loading end sheet material, its characterized in that: the material loading device comprises a material loading tray transfer mechanism, a ferry plate and a material taking and placing arm mechanism, wherein the material loading tray transfer mechanism comprises a ferry vehicle set and a lifting platform set, the ferry vehicle set comprises a feeding ferry vehicle and a discharging ferry vehicle, the lifting platform set comprises a feeding lifting platform and a discharging lifting platform which are respectively arranged corresponding to the feeding ferry vehicle and the discharging ferry vehicle, the feeding position of the feeding lifting platform is located at the discharging position of the feeding ferry vehicle, and the discharging position of the discharging lifting platform is located at the feeding position of the discharging ferry vehicle;
the discharging position of the feeding lifting platform and the feeding position of the discharging lifting platform are respectively positioned at two ends of the track of the ferry plate;
the material taking and placing arm mechanism is used for grabbing a panel on a material carrying tray on the ferry plate to a processing position.
2. The automated panel loading and unloading device of claim 1, wherein: the guide rails of the feeding ferry vehicle and the guide rails of the discharging ferry vehicle are longitudinally arranged in parallel, and the guide rails of the feeding lifting platform and the guide rails of the discharging lifting platform are respectively vertically arranged above the guide rails of the feeding ferry vehicle and the guide rails of the discharging ferry vehicle in parallel.
3. The automated panel loading and unloading device of claim 1, wherein: the frame includes upper strata and lower floor, ferry plate and get and put the material arm mechanism and install in the upper strata, ferry car group installs in the lower floor, elevating platform group slidable installs in upper strata and lower floor.
4. The automated panel loading and unloading device of claim 3, wherein: the guide rails of the ferry plate are transversely arranged on the upper layer of the rack.
5. The automated panel loading and unloading device of claim 3, wherein: the material taking and placing arm mechanism is slidably arranged above the upper layer of the rack.
6. The automated panel loading and unloading device of claim 5, wherein: the material taking and placing arm mechanism comprises a piece suction cylinder and a servo motor, and the servo motor drives the piece suction cylinder to move between the ferry plate and the processing position.
7. The automated panel loading and unloading device of claim 1, wherein: the device also comprises a disc separating mechanism, wherein the disc separating mechanism comprises a disc separating sheet and a disc separating cylinder, and the disc separating cylinder drives the disc separating sheet to be inserted between the upper and lower material carrying trays which are stacked.
8. The automated panel loading and unloading device of claim 7, wherein: the tray separating mechanism further comprises a feeding lifting cylinder, a tray sucker is arranged on the lifting cylinder, and the tray sucker can be adsorbed on the side wall of the material carrying tray.
9. The automated panel loading and unloading device of claim 1, wherein: the lifting platform group comprises a lifting screw rod and a material rack arranged on the lifting screw rod, and the material rack is positioned below the ferry vehicle group.
10. The automated panel loading and unloading device of claim 1, wherein: the device also comprises a transversely-arranged material moving mechanism, the material moving mechanism comprises a transverse guide rail and a movable block which can be slidably arranged on the transverse guide rail, and the ferry plate is fixedly connected with the movable block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921322904.0U CN210794950U (en) | 2019-08-15 | 2019-08-15 | Automatic unloader that goes up of panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921322904.0U CN210794950U (en) | 2019-08-15 | 2019-08-15 | Automatic unloader that goes up of panel |
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| Publication Number | Publication Date |
|---|---|
| CN210794950U true CN210794950U (en) | 2020-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921322904.0U Active CN210794950U (en) | 2019-08-15 | 2019-08-15 | Automatic unloader that goes up of panel |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889913A (en) * | 2020-09-03 | 2020-11-06 | 福建省亿顺机械设备有限公司 | A truss end face automatic welding equipment |
| CN112058690A (en) * | 2020-08-27 | 2020-12-11 | 江阴市查克拉科技有限公司 | LED frame product test system unloader |
| CN113001299A (en) * | 2021-01-27 | 2021-06-22 | 石伟 | Automatic chamfering device for copper bush |
| CN115783791A (en) * | 2023-02-07 | 2023-03-14 | 中电科风华信息装备股份有限公司 | Feeding machine in butt joint with AGV trolley |
| CN119262824A (en) * | 2024-11-22 | 2025-01-07 | 苏州瑞美科材料科技有限公司 | A pipe feeding and assembly system |
-
2019
- 2019-08-15 CN CN201921322904.0U patent/CN210794950U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112058690A (en) * | 2020-08-27 | 2020-12-11 | 江阴市查克拉科技有限公司 | LED frame product test system unloader |
| CN111889913A (en) * | 2020-09-03 | 2020-11-06 | 福建省亿顺机械设备有限公司 | A truss end face automatic welding equipment |
| CN111889913B (en) * | 2020-09-03 | 2025-05-13 | 福建省亿顺机械设备有限公司 | A truss end face automatic welding equipment |
| CN113001299A (en) * | 2021-01-27 | 2021-06-22 | 石伟 | Automatic chamfering device for copper bush |
| CN115783791A (en) * | 2023-02-07 | 2023-03-14 | 中电科风华信息装备股份有限公司 | Feeding machine in butt joint with AGV trolley |
| CN115783791B (en) * | 2023-02-07 | 2023-04-14 | 中电科风华信息装备股份有限公司 | Feeding machine butted with AGV trolley |
| CN119262824A (en) * | 2024-11-22 | 2025-01-07 | 苏州瑞美科材料科技有限公司 | A pipe feeding and assembly system |
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