阅读说明：本技术 一种金属管状工件加工设备的自动上料装置及其控制方法 (Automatic feeding device of metal tubular workpiece machining equipment and control method thereof ) 是由 不公告发明人 于 2021-05-18 设计创作，主要内容包括：本发明属于金属材料加工设备技术领域,尤其涉及一种金属管状工件加工设备的自动上料装置及其控制方法。该加工设备包括机床,其上端具有加工台；所述自动上料装置用于将待加工的金属管状工件依次向加工台输送,并将其从加工台推出；包括接料部件,设置于所述加工台上,用于承载金属管状工件；上料输送部件,将若干个待加工金属管状工件依次向接料部件输送；以及上料推送部件,将接料部件上的金属管状工件向外推出。采用自动化方式对金属管状工件进行上料,不仅能够降低人力成本,而且还提高了上料效率,提高了金属管状工件的加工效率。(The invention belongs to the technical field of metal material processing equipment, and particularly relates to an automatic feeding device of metal tubular workpiece processing equipment and a control method thereof. The processing equipment comprises a machine tool, wherein the upper end of the machine tool is provided with a processing table; the automatic feeding device is used for sequentially conveying the tubular metal workpieces to be processed to the processing table and pushing the tubular metal workpieces out of the processing table; the device comprises a material receiving component, a material collecting component and a processing platform, wherein the material receiving component is arranged on the processing platform and is used for bearing a metal tubular workpiece; the feeding conveying component is used for conveying a plurality of metal tubular workpieces to be processed to the receiving component in sequence; and the feeding pushing component is used for pushing the metal tubular workpiece on the receiving component outwards. The automatic feeding device has the advantages that the metal tubular workpiece is fed in an automatic mode, so that the labor cost can be reduced, the feeding efficiency is improved, and the machining efficiency of the metal tubular workpiece is improved.)

1. An automatic feeding device of a metal tubular workpiece machining device comprises a machine tool (1) with a machining table (11) at the upper end; the method is characterized in that: the automatic feeding device (5) is used for sequentially conveying metal tubular workpieces to be processed to the processing table (11) and pushing the metal tubular workpieces out of the processing table (11); the device comprises a material receiving component (51) which is arranged on the processing table (11) and is used for bearing a metal tubular workpiece; the feeding conveying component (52) is used for conveying a plurality of metal tubular workpieces to be processed to the receiving component (51) in sequence; and the feeding pushing component (53) is used for pushing the metal tubular workpiece on the receiving component (51) outwards.

2. The automatic feeding device of a metal tubular workpiece processing device according to claim 1, characterized in that: the feeding conveying component (52) comprises a conveying groove (521) which is formed by a cover plate, a bottom plate and two side plates in a surrounding mode, the conveying groove (521) is obliquely arranged, the high end of the conveying groove is a material inlet end, the low end of the conveying groove is a material outlet end, the material outlet end is close to the material receiving component (51), and a notch which is used for enabling a metal tubular workpiece to slide in and penetrates through the conveying groove (521) from left to right is formed in one side end, right opposite to the conveying groove (521), of the material receiving component (51).

3. The automatic feeding device of a metal tubular workpiece processing device according to claim 2, characterized in that: the feeding pushing component (53) comprises a pushing block (531) which is arranged close to the right end face of the receiving component (51); the driving device (532) is used for driving the push block (531) to transversely reciprocate left and right, so that the push block (531) enters the material receiving part (51) and then pushes the metal tubular workpiece to move outwards or the push block (531) is reset; and the middle axis position is arranged on the push block (531) and used for clamping and adjusting the metal tubular workpiece.

4. The automatic feeding device of a metal tubular workpiece processing device according to claim 3, characterized in that: the driving device (532) comprises a first hydraulic cylinder (5321), an oil groove (5322), a first three-position four-way reversing valve (5323) and an oil pump (5324), wherein an oil inlet port a1 and an oil inlet port a2 are respectively arranged on a rodless cavity and a rod cavity of the first hydraulic cylinder (5321), the first three-position four-way reversing valve (5323) is provided with an oil inlet P1, an oil return port T1, a working oil port A1 and a working oil port B1, the oil inlet port a1 is connected with the working oil port A1, the oil inlet port a2 is connected with the working oil port B1, an input port of the oil pump (5324) is connected with the oil groove (5322), an output port of the oil pump is connected with the oil inlet P1 through an oil pipe, and the oil return port T1 is connected to the oil groove (5322) through an oil pipe;

the first three-position four-way reversing valve (5323) has three working states; when the oil inlet is in a left position, the oil inlet P1 is communicated with a working oil port A1, and the oil return port T1 is communicated with a working oil port B1; when the oil inlet is positioned at the right position, the oil inlet P1 is communicated with the working oil port B1, and the oil return port T1 is communicated with the working oil port A1; when the oil port is positioned at the middle position, the oil ports are not communicated with each other;

the extension end of a piston rod on the first hydraulic cylinder (5321) is arranged on the push block (531), the driving device (532) further comprises a controller, and the push block (531) pushes a metal tubular workpiece on the material receiving component (51) outwards or resets the push block (531) by controlling the running states of the first three-position four-way reversing valve (5323) and the oil pump (5324).

5. The automatic feeding device of a metal tubular workpiece processing device according to claim 4, characterized in that: one end face, close to the metal tubular workpiece, of the push block (531) is provided with a sliding groove arranged in the vertical direction, the adjusting device (533) comprises two adjusting blocks (5331), two adjusting blocks (5331) are arranged on the sliding groove in a sliding mode, and one end face, back to the upper portion and the lower portion, of each adjusting block (5331) is an arc-shaped clamping face; the power part is used for driving the two adjusting blocks (5331) to move oppositely or reversely; after the push block (531) is close to the metal tubular workpiece and the two adjusting blocks (5331) are embedded into the metal tubular workpiece, the two adjusting blocks (5331) move backwards to adjust and clamp the metal tubular workpiece; after the metal tubular workpiece moves to the corresponding position, the two adjusting blocks (5331) move oppositely to loosen the metal tubular workpiece.

6. The automatic feeding device of a metal tubular workpiece processing device according to claim 5, characterized in that: the power part comprises a cylinder body (5332), a piston ring (5333), a piston cylinder (5334), a sealing cylinder (5335) and a sealing cover (5336); the first cylinder body (5332) is vertically arranged, the upper end and the lower end of the first cylinder body are provided with mounting ports communicated with the inner cavity of the first cylinder body, the sealing covers (5336) are of annular structures, and two sealing covers respectively cover the two mounting ports; the outer diameter of the sealing cylinder (5335) is smaller than the inner diameter of the cylinder body (5332), the sealing cylinder (5332) is fixed in the cylinder body (5332) through a connecting rib circumferentially arranged in the middle of the outer wall, the cylinder body (5332) and the sealing cylinder (5335) are coaxially arranged, two piston rings (5333) are respectively sleeved on the upper side and the lower side of the sealing cylinder (5335), the inner wall and the outer wall of the piston rings (5333) are respectively in sliding sealing arrangement with the inner wall of the cylinder body (5332) and the outer wall of the sealing cylinder (5335), two piston cylinders (5334) are respectively sleeved on the upper end and the lower end of the sealing cylinder (5335) in a sliding manner, one end of each piston cylinder (5334) located in the cylinder body (5332) is fixedly connected with the piston rings (5333), one end of each piston cylinder (5334) extending out of the sealing cylinder body (5335) is fixedly connected with the adjusting block (5331), and an oil inlet port 1 b is further formed in the cylinder body (5332), The oil inlet port b1 and the oil inlet port b2 are respectively communicated with two cavities formed by enclosing of a sealing cover (5336), a piston cylinder (5334), piston rings (5333) and a cylinder body (5332), and the oil inlet port b3 is communicated with a cavity formed by enclosing of two piston rings (5333), a sealing cylinder (5335) and a cylinder body (5332);

the power part further comprises a second three-position four-way reversing valve (5337), the structure of the second three-position four-way reversing valve (5337) is the same as that of the first three-position four-way reversing valve (5323), an oil inlet P2, an oil return port T2, a working oil port A2 and a working oil port B2 are arranged, an oil inlet port B1 and an oil inlet port B2 are connected with the working oil port A2, an oil inlet port B3 is connected with the working oil port B2, the oil inlet P2 is connected with an output port of an oil pump (5324), and the oil return port T2 is connected with the oil groove (5322).

7. The automatic feeding device of a metal tubular workpiece processing apparatus according to any one of claims 4 to 6, characterized in that: the automatic feeding device (5) further comprises a buffer device (54) which is arranged in a conveying groove (521) on the feeding conveying component (52) and used for limiting the metal tubular workpieces in the conveying groove (521) to slide outwards at the same time, and one metal tubular workpiece close to the material receiving component (51) in the conveying groove (521) slides into the material receiving component (51) within one-time processing time;

the buffer device (54) comprises a second hydraulic cylinder (541), a third hydraulic cylinder (542), a third three-position four-way reversing valve (543), a first two-position three-way reversing valve (544) and a second two-position three-way reversing valve (545); the second hydraulic cylinder (541) and the third hydraulic cylinder (542) are arranged on the conveying trough (521) side by side along the length direction of the conveying trough (521), the height from the second hydraulic cylinder (541) to the ground is lower than the height from the third hydraulic cylinder (542) to the ground, an oil inlet port a3 and an oil inlet port a4 are respectively arranged on a rodless cavity and a rod cavity of the second hydraulic cylinder (541), an oil inlet port a5 and an oil inlet port a6 are respectively arranged on a rodless cavity and a rod cavity of the third hydraulic cylinder (542), after the rodless cavities of the second hydraulic cylinder (541) and the third hydraulic cylinder (542) are fed with oil, piston rods of the second hydraulic cylinder and the piston rods of the third hydraulic cylinder both penetrate through and extend into the conveying trough (521) to limit the downward sliding of the metal tubular workpiece in the conveying trough (521), and the distance between the two piston rods is 1.3-1.7 times of the outer diameter of the metal tubular workpiece;

the third three-position four-way reversing valve (543) is the same as the first three-position four-way reversing valve (5323) in structure, and is provided with an oil inlet P3, an oil return port T3, a working oil port A3 and a working oil port B3, the first two-position three-way reversing valve (544) is the same as the second two-position three-way reversing valve (545) in structure, and is respectively provided with an oil inlet P4, an oil inlet P5, a working oil port A4, a working oil port A5, and working oil ports B4 and B5;

an oil inlet P3 of the third three-position four-way reversing valve (543) is connected with an output port of the oil pump (5324), an oil return port T3 is connected with the oil groove (5322), a working oil port A3 is connected with an oil inlet P4, and a working oil port B3 is connected with an oil inlet P5; a working oil port A4 of the first two-position three-way reversing valve (544) is connected with an oil inlet port a3, and a working oil port B4 is connected with an oil inlet port a 5; a working oil port A5 of the second two-position three-way reversing valve (545) is connected with an oil inlet port a4, and a working oil port B5 is connected with an oil inlet port a 6; the controller controls the running states of the oil pump (5324), the third three-position four-way reversing valve (543), the first two-position three-way reversing valve (544) and the second two-position three-way reversing valve (545) to control the extending amount of piston rods on the second hydraulic cylinder (541) and the third hydraulic cylinder (542) extending into the conveying groove (521), so that the metal tubular workpiece in the conveying groove (521) can be allowed or limited to slide out.

8. A control method for the automatic loading apparatus according to claim 7, characterized in that: the controller comprises

The first pressure sensing unit (5325) is arranged on one end face, close to the material receiving part (51), of the push block (531), and used for detecting a pressure value between the push block (531) and the metal tubular workpiece, converting the pressure signal and then sending the pressure signal to the PLC control unit (5328);

the second pressure sensing unit (5326) is provided with two pressure sensing units which are respectively arranged on the arc-shaped clamping surfaces of the two adjusting blocks (5331) and used for detecting the pressure value between the adjusting blocks (5331) and the metal tubular workpiece, converting the pressure signal and then sending the pressure signal to the PLC control unit (5328);

the third pressure sensing unit (5327) is arranged at the end part of the piston rod of the third hydraulic cylinder (542) and used for detecting the pressure value between the piston rod of the third hydraulic cylinder (542) and the metal tubular workpiece, converting the pressure signal and sending the converted pressure signal to the PLC control unit (5328);

the PLC control unit (5328) is used for controlling the working states of the oil pump (5324), the first three-position four-way reversing valve (5323), the second three-position four-way reversing valve (5337), the third three-position four-way reversing valve (543), the first two-position three-way reversing valve (544) and the second two-position three-way reversing valve (545); the control method comprises the following specific steps of,

the method comprises the following steps: the PLC control unit (5328) controls the oil pump (5324) to be started, and the third three-position four-way reversing valve (543) is switched from the middle position to the left position;

step two: the first two-position three-way reversing valve (544) is switched to the left position, the second two-position three-way reversing valve (545) is switched to the left position, hydraulic oil in the oil groove (5322) sequentially flows to an oil inlet P3, a working oil port A3, an oil inlet P4, a working oil port A4 and an oil inlet port A3 through an oil pump (5324), and finally flows to a rodless cavity of the second hydraulic cylinder (541), so that a piston rod of the second hydraulic cylinder (541) extends outwards, and the third three-position four-way reversing valve (543) is switched to the middle position after the extension amount of the piston rod reaches a preset threshold value;

step three: transversely and sequentially putting the metal tubular workpieces into a conveying groove (521);

step four: when the third pressure sensing unit (5327) detects a pressure value, the PLC control unit (5328) switches the third three-position four-way reversing valve (543) to the left position, the first two-position three-way reversing valve (544) to the right position, the second two-position three-way reversing valve (545) to the right position, hydraulic oil in the oil groove (5322) sequentially flows to the oil inlet P3, the working oil port A3, the oil inlet P4, the working oil port B4 and the oil inlet port a5 through the oil pump (5324), and finally flows to a rodless cavity of the third hydraulic cylinder (542), so that a piston rod of the third hydraulic cylinder (542) extends outwards and extends into a second metal tubular workpiece close to the lower port of the conveying groove (521), and after the extension amount of the piston rod of the third hydraulic cylinder (542) reaches a preset threshold value, the third three-position four-way reversing valve (543) is switched to the middle position;

step five: when detecting that a clamping device on the processing equipment is over against the material receiving component (51) and does not clamp the metal tubular workpiece, the PLC control unit (5328) switches the third three-position four-way reversing valve (543) to the right position, the first two-position three-way reversing valve (544) to the left position, the second two-position three-way reversing valve (545) to the left position, the rod cavity of the second hydraulic cylinder (541) is filled with oil, the rodless cavity is filled with oil, resetting is carried out, and the metal tubular workpiece slides onto the material receiving component (51) after a piston rod on the second hydraulic cylinder (541) is separated from the metal tubular workpiece;

then the third three-position four-way reversing valve (543) is switched to the left position, the first two-position three-way reversing valve (544) is switched to the left position, the second two-position three-way reversing valve (545) is switched to the left position, oil enters the rodless cavity of the second hydraulic cylinder (541), oil returns from the rod cavity, and the piston rod of the second hydraulic cylinder (541) extends out; next, the third three-position four-way reversing valve (543) is switched to the right position, the first two-position three-way reversing valve (544) is switched to the right position, the second two-position three-way reversing valve (545) is switched to the right position, so that the piston rod on the third hydraulic cylinder (542) is reset, the metal tubular workpiece blocked by the piston rod of the third hydraulic cylinder (542) falls onto the piston rod on the second hydraulic cylinder (541), a feeding process is completed, and then the fourth step is returned;

step six: after the metal tubular workpiece slides onto the material receiving component (51), the PLC control unit (5328) switches the first three-position four-way reversing valve (5323) to the left position, hydraulic oil in the oil groove (5322) flows to the oil inlet P1, the working oil port A1 and the oil inlet port a1 through the oil pump (5324) and then enters a rodless cavity of the first hydraulic cylinder (5321), so that a piston rod on the first hydraulic cylinder (5321) extends out, the push block (531) is pushed to move towards the metal tubular workpiece on the material receiving component (51), and the metal tubular workpiece is pushed to move outwards;

step seven: after the first pressure sensing unit (5325) detects the pressure value, the PLC control unit (5328) switches the second three-position four-way reversing valve (5337) to the right position, so that the two adjusting blocks (5331) move back to back and approach the inner wall of the metal tubular workpiece, after the two second pressure sensing units (5326) detect the pressure value and gradually increase to a preset threshold value, the second three-position four-way reversing valve (5337) is switched to the middle position, and the metal tubular workpiece is clamped and adjusted; after the pressure value detected by the first pressure sensing unit (5325) is gradually increased and reaches a preset threshold value, namely the metal tubular workpiece reaches a corresponding position, the PLC control unit (5328) switches the first three-position four-way reversing valve (5323) to a middle position;

step eight: after the metal tubular workpiece reaches the corresponding position, the PLC control unit (5328) switches the second three-position four-way reversing valve (5337) to the left position, so that the two adjusting blocks (5331) move oppositely to loosen the metal tubular workpiece, and then switches the first three-position four-way reversing valve (5323) to the right position to reset the piston rod on the first hydraulic cylinder (5321) to complete a material pushing process.

Technical Field

The invention belongs to the technical field of metal material processing equipment, and particularly relates to an automatic feeding device for metal tubular workpiece processing equipment and a control method thereof.

Background

With the deep popularization of automation and semi-automation in various economic industries, the automatic feeding device becomes an indispensable link on a production and manufacturing line. However, the lathes generally used for machining tubular metal workpieces do not have automatic feeding equipment, and improvements are needed for this purpose.

Disclosure of Invention

The invention aims to solve the technical problems, and provides an automatic feeding device for metal tubular workpiece processing equipment and a control method thereof, which can convey metal tubular workpieces to a processing table conveniently and effectively improve the production efficiency of the whole processing equipment.

The purpose of the invention is realized as follows: an automatic feeding device of a metal tubular workpiece machining device comprises a machine tool, wherein a machining table is arranged at the upper end of the machine tool; the method is characterized in that: the automatic feeding device is used for sequentially conveying the tubular metal workpieces to be processed to the processing table and pushing the tubular metal workpieces out of the processing table; the device comprises a material receiving component, a material collecting component and a processing platform, wherein the material receiving component is arranged on the processing platform and is used for bearing a metal tubular workpiece; the feeding conveying component is used for conveying a plurality of metal tubular workpieces to be processed to the receiving component in sequence; and the feeding pushing component is used for pushing the metal tubular workpiece on the receiving component outwards.

The invention is further configured to: the feeding conveying component comprises a conveying groove which is formed by enclosing a cover plate, a bottom plate and two side plates, the conveying groove is obliquely arranged, the high end of the conveying groove is a material inlet end, the low end of the conveying groove is a material outlet end, the material outlet end is close to the material receiving component, and a notch which is used for a metal tubular workpiece to slide in and penetrates through the conveying groove from left to right is formed in one side end of the material receiving component, which is right opposite to the conveying groove.

The invention is further configured to: the feeding pushing component comprises a pushing block which is arranged close to the right end face of the receiving component; the driving device is used for driving the push block to transversely reciprocate left and right so as to drive the metal tubular workpiece to move outwards or reset the push block after the push block enters the material receiving part; and the middle axis position is arranged on the push block and used for clamping and adjusting the metal tubular workpiece.

The invention is further configured to: the driving device comprises a first hydraulic cylinder, an oil groove, a first three-position four-way reversing valve and an oil pump, wherein an oil inlet port a1 and an oil inlet port a2 are respectively arranged on a rodless cavity and a rod cavity of the first hydraulic cylinder, the first three-position four-way reversing valve is provided with an oil inlet P1, an oil return port T1, a working oil port A1 and a working oil port B1, the oil inlet port a1 is connected with the working oil port A1, the oil inlet port a2 is connected with the working oil port B1, an input port of the oil pump is connected with the oil groove, an output port of the oil pump is connected with the oil inlet P1 through an oil pipe, and the oil return port T1 is connected to the oil groove through an oil pipe;

the first three-position four-way reversing valve has three working states; when the oil inlet is in a left position, the oil inlet P1 is communicated with a working oil port A1, and the oil return port T1 is communicated with a working oil port B1; when the oil inlet is positioned at the right position, the oil inlet P1 is communicated with the working oil port B1, and the oil return port T1 is communicated with the working oil port A1; when the oil port is positioned at the middle position, the oil ports are not communicated with each other;

the extension end of a piston rod on the first hydraulic cylinder is arranged on the push block, the driving device further comprises a controller, and the push block pushes a metal tubular workpiece on the material receiving component outwards or resets the push block by controlling the running states of the first three-position four-way reversing valve and the oil pump.

The invention is further configured to: one end face, close to the metal tubular workpiece, of the push block is provided with a sliding groove which is arranged along the vertical direction, the adjusting device comprises two adjusting blocks, two adjusting blocks are arranged on the sliding groove in a sliding mode, and one end faces, back to each other, of the two adjusting blocks are arc-shaped clamping faces; the power part is used for driving the two adjusting blocks to move oppositely or reversely; after the push block is close to the metal tubular workpiece and the two adjusting blocks are embedded into the metal tubular workpiece, the two adjusting blocks move back to adjust and clamp the metal tubular workpiece; after the metal tubular workpiece moves to the corresponding position, the two adjusting blocks move oppositely to loosen the metal tubular workpiece.

The invention is further configured to: the power part comprises a cylinder body, a piston ring, a piston cylinder, a sealing cylinder and a sealing cover; the first cylinder body is vertically arranged, the upper end and the lower end of the first cylinder body are provided with mounting ports communicated with the inner cavity of the first cylinder body, the sealing covers are of annular structures, and two sealing covers are arranged and respectively cover the two mounting ports; the outer diameter of the sealing cylinder is smaller than the inner diameter of the cylinder body, the sealing cylinder is fixed in the cylinder body through a connecting rib circumferentially arranged in the middle of the outer wall, the cylinder body and the sealing cylinder are coaxially arranged, two piston rings are respectively sleeved on the upper side and the lower side of the sealing cylinder, the inner wall and the outer wall of the piston ring are respectively arranged in a sliding and sealing manner with the inner wall of the cylinder body and the outer wall of the sealing cylinder, two piston cylinders are respectively sleeved on the upper end and the lower end of the sealing cylinder in a sliding manner, one end of the piston cylinder positioned in the cylinder body is fixedly connected with the piston ring, one end of the piston cylinder extending out of the sealing cylinder and the cylinder body is fixedly connected with the adjusting block, the cylinder body is further provided with an oil inlet port b1, an oil inlet port b2 and an oil inlet port b3, and the oil inlet port b1 and the oil inlet port b2 are respectively communicated with two cavities formed by the sealing cover, the piston cylinder body, the piston ring and the cylinder body, the oil inlet port b3 is communicated with a cavity formed by enclosing the two piston rings, the sealing cylinder and the cylinder body;

the power part further comprises a second three-position four-way reversing valve, the structure of the second three-position four-way reversing valve is the same as that of the first three-position four-way reversing valve, the second three-position four-way reversing valve is provided with an oil inlet P2, an oil return port T2, a working oil port A2 and a working oil port B2, an oil inlet port B1 and an oil inlet port B2 are connected with the working oil port A2, an oil inlet port B3 is connected with the working oil port B2, an oil inlet P2 is connected with an output port of an oil pump, and an oil return port T2 is connected with the oil groove.

The invention is further configured to: the automatic feeding device also comprises a buffer device which is arranged in a conveying groove on the feeding conveying component and used for limiting the metal tubular workpieces in the conveying groove to slide outwards at the same time, and one metal tubular workpiece close to the material receiving component in the conveying groove slides into the material receiving component within one processing time;

the buffer device comprises a second hydraulic cylinder, a third three-position four-way reversing valve, a first two-position three-way reversing valve and a second two-position three-way reversing valve; the second hydraulic cylinder and the third hydraulic cylinder are arranged on the conveying trough side by side along the length direction of the conveying trough, the height from the second hydraulic cylinder to the ground is lower than the height from the third hydraulic cylinder to the ground, the rodless cavity and the rod cavity of the second hydraulic cylinder are respectively provided with an oil inlet port a3 and an oil inlet port a4, the rodless cavity and the rod cavity of the third hydraulic cylinder are respectively provided with an oil inlet port a5 and an oil inlet port a6, after the rodless cavities of the second hydraulic cylinder and the third hydraulic cylinder are fed with oil, piston rods of the second hydraulic cylinder and the third hydraulic cylinder penetrate through and extend into the conveying trough to limit the metal tubular workpiece in the conveying trough to slide downwards, and the distance between the two piston rods is 1.3-1.7 times of the outer diameter of the metal tubular workpiece;

the third three-position four-way reversing valve and the first three-position four-way reversing valve have the same structure and are provided with an oil inlet P3, an oil return port T3, a working oil port A3 and a working oil port B3, the first two-position three-way reversing valve and the second two-position three-way reversing valve have the same structure and are respectively provided with an oil inlet P4, an oil inlet P5, a working oil port A4, a working oil port A5 and working oil ports B4 and B5;

an oil inlet P3 of the third three-position four-way reversing valve is connected with an output port of the oil pump, an oil return port T3 is connected with the oil groove, a working oil port A3 is connected with an oil inlet P4, and a working oil port B3 is connected with an oil inlet P5; a working oil port A4 of the first two-position three-way reversing valve is connected with an oil inlet port a3, and a working oil port B4 is connected with an oil inlet port a 5; a working oil port A5 of the second two-position three-way reversing valve is connected with an oil inlet port a4, and a working oil port B5 is connected with an oil inlet port a 6; the controller controls the extending amount of piston rods on the second hydraulic cylinder and the third hydraulic cylinder extending into the conveying groove by controlling the running states of the oil pump, the third three-position four-way reversing valve, the first two-position three-way reversing valve and the second two-position three-way reversing valve so as to allow or limit the metal tubular workpiece in the conveying groove to slide outwards.

The invention also provides a control method for the automatic feeding device, which is characterized by comprising the following steps: the controller comprises

The first pressure sensing unit is arranged on one end face, close to the metal tubular workpiece in the material receiving component, of the push block, and is used for detecting a pressure value between the push block and the metal tubular workpiece, converting the pressure signal and then sending the pressure signal to the PLC control unit;

the second pressure sensing units are provided with two pressure sensing units which are respectively arranged on the arc-shaped clamping surfaces of the two adjusting blocks and used for detecting the pressure value between the adjusting blocks and the metal tubular workpiece, converting the pressure signal and then sending the pressure signal to the PLC control unit;

the third pressure sensing unit is arranged at the end part of the piston rod of the third hydraulic cylinder, is used for detecting the pressure value between the piston rod of the third hydraulic cylinder and the metal tubular workpiece, converts the pressure signal and sends the pressure signal to the PLC control unit;

the PLC control unit is used for controlling the working states of the oil pump, the first three-position four-way reversing valve, the second three-position four-way reversing valve, the third three-position four-way reversing valve, the first two-position three-way reversing valve and the second two-position three-way reversing valve; the control method comprises the following specific steps of,

the method comprises the following steps: the PLC control unit controls the oil pump to be started, and the third three-position four-way reversing valve is switched from the middle position to the left position;

step two: the first two-position three-way reversing valve is switched to the left position, the second two-position three-way reversing valve is switched to the left position, hydraulic oil in the oil groove sequentially flows to an oil inlet P3, a working oil port A3, an oil inlet P4, a working oil port A4 and an oil inlet port A3 through an oil pump, and finally flows to a rodless cavity of the second hydraulic cylinder, so that a piston rod of the second hydraulic cylinder extends outwards, and after the extension amount of the piston rod reaches a preset threshold value, the third three-position four-way reversing valve is switched to the middle position;

step three: transversely and sequentially placing the metal tubular workpieces into a conveying groove;

step four: when the third pressure sensing unit detects a pressure value, the PLC control unit switches the third three-position four-way reversing valve to the left position, the first two-position three-way reversing valve to the right position, the second two-position three-way reversing valve to the right position, hydraulic oil in the oil groove sequentially flows to the oil inlet P3, the working oil port A3, the oil inlet P4, the working oil port B4 and the oil inlet port a5 through the oil pump, and finally flows to a rodless cavity of the third hydraulic cylinder, so that a piston rod of the third hydraulic cylinder extends outwards and extends into a second metal tubular workpiece close to the lower port of the conveying groove, and the third three-position four-way reversing valve is switched to the middle position after the extension amount of the piston rod of the third hydraulic cylinder reaches a preset threshold value;

step five: when detecting that a clamping device on the processing equipment is over against the material receiving component and does not clamp the metal tubular workpiece, the PLC control unit switches a third three-position four-way reversing valve to a right position, a first two-position three-way reversing valve to a left position, a second two-position three-way reversing valve to a left position, a rod cavity of a second hydraulic cylinder is filled with oil, a rodless cavity is filled with oil, resetting is carried out, and the metal tubular workpiece slides onto the material receiving component after a piston rod on the second hydraulic cylinder is separated from the metal tubular workpiece;

then the third three-position four-way reversing valve is switched to the left position, the first two-position three-way reversing valve is switched to the left position, the second two-position three-way reversing valve is switched to the left position, oil enters a rodless cavity of the second hydraulic cylinder, oil returns from a rod cavity, and a piston rod of the second hydraulic cylinder extends out; switching the third three-position four-way reversing valve to the right position, switching the first two-position three-way reversing valve to the right position, switching the second two-position three-way reversing valve to the right position, resetting the piston rod on the third hydraulic cylinder, enabling the metal tubular workpiece blocked by the piston rod of the third hydraulic cylinder to fall onto the piston rod on the second hydraulic cylinder, completing a feeding process, and then returning to the fourth step;

step six: after the metal tubular workpiece slides onto the material receiving component, the PLC control unit switches the first three-position four-way reversing valve to the left position, hydraulic oil in the oil groove flows to the oil inlet P1, the working oil port A1 and the oil inlet port a1 through the oil pump and then enters a rodless cavity of the first hydraulic cylinder, so that a piston rod on the first hydraulic cylinder extends out, and pushes the push block to move towards the metal tubular workpiece on the material receiving component and pushes the metal tubular workpiece to move outwards;

step seven: after the first pressure sensing units detect the pressure values, the PLC control unit switches the second three-position four-way reversing valve to the right position to enable the two adjusting blocks to move back to the right and approach the inner wall of the metal tubular workpiece, and after the two second pressure sensing units detect the pressure values and gradually increase to a preset threshold value, the second three-position four-way reversing valve is switched to the middle position to clamp and adjust the metal tubular workpiece; after the pressure value detected by the first pressure sensing unit is gradually increased and reaches a preset threshold value, namely the metal tubular workpiece reaches a corresponding position, the PLC control unit switches the first three-position four-way reversing valve to a middle position;

step eight: after the metal tubular workpiece reaches the corresponding position, the PLC control unit switches the second three-position four-way reversing valve to the left position, so that the two adjusting blocks move oppositely, the metal tubular workpiece is loosened, then the first three-position four-way reversing valve is switched to the right position, the piston rod on the first hydraulic cylinder is reset, and a material pushing process is completed.

The invention has the beneficial effects that:

1. the automatic feeding device has the advantages that the metal tubular workpiece is fed in an automatic mode, so that the labor cost can be reduced, the feeding efficiency is improved, and the machining efficiency of the metal tubular workpiece is improved.

2. For the feeding ejection, the conventional means is to directly eject the workpiece outwards by using an air cylinder, although the purpose can be achieved, there are some problems, such as the fact that whether the center of the metal tubular workpiece is aligned with the clamping device cannot be controlled, when the clamping device clamps the metal tubular workpiece, the clamping force acting on the surface of the metal tubular workpiece is not uniform due to the inclination of the clamping device, a light person scratches the surface of the metal tubular workpiece, and when the clamping device automatically clamps the metal tubular workpiece, the center of the metal tubular workpiece is dislocated, so that the machined metal tubular workpiece is not qualified. The invention adopts a hydraulic mode to drive the push block to move, clamps the metal tubular workpiece through the adjusting device and adjusts the metal tubular workpiece so as to protect one end of the metal tubular workpiece clamped by the clamping device.

3. The clamping device can be controlled by the adjusting device to align the center of the metal tubular workpiece, so that the clamping device can accurately clamp the metal tubular workpiece, the machining precision of the metal tubular workpiece is guaranteed, the clamping device is also suitable for metal tubular workpieces of different models, compared with the traditional mode, the position of the material receiving part does not need to be additionally adjusted, and the clamping device is very convenient and practical.

4. For the reason that the metal tubular workpiece slides down to the material receiving component from the material feeding groove, the buffer device for buffering the metal tubular workpiece in the material feeding groove is further arranged, the metal tubular workpiece can sequentially fall into the material receiving groove under the action of the second hydraulic cylinder and the third hydraulic cylinder, and the material receiving device is very convenient to feed materials for multiple times at one time.

Drawings

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

FIG. 2 is a cross-sectional view taken at A-A of FIG. 1;

FIG. 3 is an enlarged view at A in FIG. 1;

FIG. 4 is a control connection diagram of the automatic feeding device of the present invention;

FIG. 5 is a schematic structural view of a feeding and pushing component of the present invention;

FIG. 6 is a schematic view of the adjusting device of the present invention;

FIG. 7 is a schematic view of the internal structure of the feeding and conveying member of the present invention;

FIG. 8 is a schematic view of the internal structure of the feeding and conveying member of the present invention;

FIG. 9 is a block diagram of the connections of the controller of the present invention;

FIG. 10 is a control connection diagram between the throttle governor device of the present invention and the oil pump and the first three-position, four-way reversing valve;

the reference numbers in the figures are: 100. a metal tubular workpiece; 1. a machine tool; 11. a processing table; 2. a cutter arranging device; 3. a clamping device; 4. a mobile device; 5. an automatic feeding device; 51. a receiving component; 52. a feeding conveying part; 521. a conveying trough; 53. a feeding and pushing component; 531. a push block; 532. a drive device; 5321. a first hydraulic cylinder; 5322. an oil sump; 5323. a first three-position four-way reversing valve; 5324. an oil pump; 5325. a first pressure sensing unit; 5326. a second pressure sensing unit; 5327. a third pressure sensing unit; 5328. a PLC control unit; 533. an adjustment device; 5331. an adjusting block; 5332. a cylinder body; 5333. a piston ring; 5334. a piston cylinder; 5335. a sealing cylinder; 5336. a sealing cover; 5337. a second three-position four-way reversing valve; 534. a throttle speed regulating device; 5341. a throttle valve; 5342. an on-off valve; 54. a buffer device; 541. a second hydraulic cylinder; 542. a third hydraulic cylinder; 543. a third three-position four-way reversing valve; 544. a first two-position three-way reversing valve; 545. and a second two-position three-way reversing valve.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention is clearly and completely described below with reference to the accompanying drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. 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. For convenience of description, the dimensions of the various features shown in the drawings are not necessarily drawn to scale. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

An automatic loading device for a metal tubular workpiece machining apparatus, as shown in fig. 1 and 2, comprises a machine tool 1 having a machining table 11 at an upper end thereof; the tool arranging device 2 is arranged on one side of a processing table 11 of the machine tool 1 and is provided with a plurality of groups of tool arranging devices for processing metal tubular workpieces; the clamping device 3 is arranged on the other side of the processing table 11 of the machine tool 1, is opposite to the tool arranging device 2, and is used for clamping the metal tubular workpiece 100 and driving the metal tubular workpiece to rotate; the moving device 4 is used for driving the clamping device 3 to approach or separate from the knife row on the knife row device 2 along the transverse and/or longitudinal direction; the automatic feeding device 5 is used for conveying the tubular metal workpiece 100 to be machined to the clamping device 3 and enabling the clamping device 3 to clamp the tubular metal workpiece; the device comprises a material receiving component 51, a material collecting component and a processing platform 11, wherein the material receiving component is arranged on the same side of a tool setting device 2 and is used for bearing a metal tubular workpiece 100; a feeding conveying component 52, which is used for conveying a plurality of metal tubular workpieces 100 to be processed to a receiving component 51 in sequence; and a feeding pushing component 53 which pushes the metal tubular workpiece 100 on the receiving component 51 to the clamping device 3 and is automatically clamped by the clamping device 3.

The automatic feeding device has the advantages that the metal tubular workpiece is fed in an automatic mode, so that the labor cost can be reduced, the feeding efficiency is improved, and the machining efficiency of the metal tubular workpiece is improved.

The feeding conveying component 52 comprises a conveying groove 521 which is formed by enclosing a cover plate, a bottom plate and two side plates, the conveying groove 521 is obliquely arranged, the high end of the conveying groove 521 is a material inlet end, the low end of the conveying groove is a material outlet end, the material outlet end is abutted against the material receiving component 51, and one side end of the material receiving component 51, which is opposite to the conveying groove 521, is provided with a notch which is used for a metal tubular workpiece to slide in and penetrates through left and right. For rough machining of the metal tubular workpiece, low cost and high efficiency are key points, and for this purpose, a relatively direct mode is adopted for feeding, namely, the metal tubular workpiece is conveyed to the workbench under the action of gravity, so that the metal tubular workpiece is very convenient to use.

The feeding pushing component 53 of the invention comprises a pushing block 531 arranged close to the right end face of the receiving component 51; the driving device 532 is used for driving the push block 531 to transversely reciprocate left and right, so that the push block 531 enters the material receiving part 51 and then pushes the metal tubular workpiece to approach the clamping device 3 or reset the push block 531; and an adjusting means 533 provided on the pushing block 531 for clamping and adjusting the position of the metal tubular workpiece so that the central axis thereof is aligned with the center of the holding means 3.

For the feeding ejection, the conventional means is to directly eject the workpiece outward by using an air cylinder, although the purpose can be achieved, there are some problems, such as that whether the center of the metal tubular workpiece is aligned with the clamping device 3 cannot be controlled, so that when the clamping device 3 clamps the metal tubular workpiece, the clamping force acting on the surface of the metal tubular workpiece is not uniform due to the inclination of the clamping device, a light person scratches the surface of the metal tubular workpiece, and when the clamping device is automatically clamped, the center of the metal tubular workpiece is dislocated, so that the processed metal tubular workpiece is not qualified. For this purpose, the present invention employs a hydraulic manner to drive the pushing block 531 to move, and the adjusting device 533 is used to clamp and adjust the metal tubular workpiece, so as to protect one end of the metal tubular workpiece clamped by the clamping device 3.

As shown in fig. 3 and 4, the driving device 532 of the present invention includes a first hydraulic cylinder 5321, an oil groove 5322, a first three-position four-way directional control valve 5323, and an oil pump 5324, wherein the rodless cavity and the rod cavity of the first hydraulic cylinder 5321 are respectively provided with an oil inlet port a1 and an oil inlet port a2, the first three-position four-way directional control valve 5323 is provided with an oil inlet P1, an oil return port T1, a working oil port a1, and a working oil port B1, the oil inlet port a1 is connected to the working oil port a1, the oil inlet port a2 is connected to the working oil port B1, an input port of the oil pump 5324 is connected to the oil groove 5322, an output port thereof is connected to the oil inlet P1 through an oil pipe, and the oil return port T1 is connected to the oil groove 5322 through an oil pipe;

the first three-position four-way reversing valve 5323 has three operating states; when the oil inlet is in a left position, the oil inlet P1 is communicated with a working oil port A1, and the oil return port T1 is communicated with a working oil port B1; when the oil inlet is positioned at the right position, the oil inlet P1 is communicated with the working oil port B1, and the oil return port T1 is communicated with the working oil port A1; when the oil port is positioned at the middle position, the oil ports are not communicated with each other;

the extending end of the piston rod of the first hydraulic cylinder 5321 is disposed on the pushing block 531, and the driving device 532 further includes a controller, which causes the pushing block 531 to push the metal tubular workpiece on the material receiving member 51 to the clamping device 3 or causes the pushing block 531 to reset by controlling the operating states of the first three-position four-way reversing valve 5323 and the oil pump 5324.

As shown in fig. 5, one end surface of the pushing block 531 close to the metal tubular workpiece has a sliding groove arranged along the vertical direction, the adjusting device 533 includes an adjusting block 5331, two adjusting blocks 5331 are both slidably arranged on the sliding groove, and the upper and lower back end surfaces of the two adjusting blocks 5331 are arc-shaped clamping surfaces; the power part is used for driving the two adjusting blocks 5331 to move oppositely or reversely; after the push block 531 is close to the metal tubular workpiece and the two adjusting blocks 5331 are embedded into the metal tubular workpiece, the two adjusting blocks 5331 move backwards to adjust and clamp the metal tubular workpiece; after the metal tubular workpiece is clamped by the clamping device 3, the two adjusting blocks 5331 move towards each other to loosen the metal tubular workpiece.

Be provided with adjusting device 533 on ejector pad 531, can control the center of metal tubular workpiece through adjusting device 533 and aim at clamping device 3 for clamping device 3 can be accurate press from both sides tight metal tubular workpiece, has ensured the machining precision of metal tubular workpiece, and is also suitable for the metal tubular workpiece of different models size, compares in traditional mode, does not need extra adjustment again and connects the position of material part 51, and is very convenient, and practical. For the adjusting device 533, not only the metal tubular workpiece needs to be clamped, but also the center of the metal tubular workpiece needs to be calibrated, and it is intuitive to overlap the center of the metal tubular workpiece with the center of the pushing block 531. In this process, since the center of the metal tubular workpiece is lower than the center of the push block 531 in the initial stage, the upper adjusting block 5331 contacts the inner wall of the metal tubular workpiece first, and lifts the metal tubular workpiece up in an inclined manner, and then the lower adjusting block 5331 contacts the inner wall of the metal tubular workpiece, so that the center of the metal tubular workpiece and the center of the push block 531 are on the same axis.

As shown in fig. 4 and 6, the power element of the present invention includes a cylinder 5332, a piston ring 5333, a piston cylinder 5334, a seal cylinder 5335, and a seal cover 5336; the first cylinder 5332 is vertically arranged, the upper end and the lower end of the first cylinder are provided with mounting ports communicated with the inner cavity of the first cylinder, the sealing covers 5336 are of annular structures, and the two sealing covers respectively cover the two mounting ports; the outer diameter of the sealing cylinder 5335 is smaller than the inner diameter of the cylinder 5332, the sealing cylinder 5332 and the sealing cylinder 5335 are coaxially arranged, two piston rings 5333 are respectively sleeved on the upper side and the lower side of the sealing cylinder 5335, the inner wall and the outer wall of the piston ring 5333 are respectively arranged in a sliding and sealing manner with the inner wall of the cylinder 5332 and the outer wall of the sealing cylinder 5335, two piston cylinders 5334 are respectively arranged and sleeved on the upper end and the lower end of the sealing cylinder 5335 in a sliding manner, one end of the piston cylinder 5334 in the cylinder 5332 is fixedly connected with the piston ring 5333, one end of the piston cylinder 5334 extending out of the sealing cylinder 5335 and the cylinder 5332 is fixedly connected with the adjusting block 5331, the cylinder 5332 is further provided with an oil inlet port b1, an oil inlet port b2 and an oil inlet port b3, the oil inlet port b1 and the oil inlet port b2 are respectively communicated with two cavities formed by the sealing cover 5336, the piston cylinder 5334, the piston ring 5333 and the cylinder 5332, the oil inlet port b3 is communicated with a cavity formed by enclosing the two piston rings 5333, the sealing cylinder 5335 and the cylinder body 5332;

the power part further comprises a second three-position four-way reversing valve 5337, the structure of the second three-position four-way reversing valve 5337 is the same as that of the first three-position four-way reversing valve 5323, the second three-position four-way reversing valve 5337 is provided with an oil inlet P2, an oil return port T2, a working oil port A2 and a working oil port B2, an oil inlet port B1 and an oil inlet port B2 are connected with the working oil port A2, the oil inlet port B3 is connected with the working oil port B2, an oil inlet P2 is connected with an output port of an oil pump 5324, and an oil return port T2 is connected with an oil groove 5322.

As for the power part, the most reliable way is to adopt a hydraulic driving way, the oil pump 5324 is used to deliver the hydraulic oil in the oil groove 5322 to the oil inlet b3 in the cylinder 5332, so as to drive the two piston rings 5333 and the two piston cylinders 5334 to move back to back, and further drive the two adjusting blocks 5331 to move back to back, so as to clamp and adjust the metal tubular workpiece, which is very convenient, and can control the moving speed and reduce the abrasion to the inner wall of the metal tubular workpiece; when the oil inlet ports b1 and b2 are used for oil inlet, the two piston rings 5333 and the two piston cylinders 5334 move oppositely to drive the two adjusting blocks 5331 to move oppositely, so that the aim of loosening the metal tubular workpiece is fulfilled.

As shown in fig. 3, 4, 7 and 8, the automatic feeding device 5 of the present invention further includes a buffer device 54, which is disposed in the conveying trough 521 on the feeding conveying component 52, and is configured to limit the metal tubular workpieces in the conveying trough 521 to slide outwards at the same time, so that one metal tubular workpiece close to the receiving component 51 in the conveying trough 521 slides into the receiving component 51 within one processing time;

the buffering device 54 includes a second hydraulic cylinder 541, a third hydraulic cylinder 542, a third three-position four-way directional valve 543, a first two-position three-way directional valve 544, and a second two-position three-way directional valve 545; the second hydraulic cylinder 541 and the third hydraulic cylinder 542 are arranged on the conveying trough 521 side by side along the length direction of the conveying trough 521, the height of the second hydraulic cylinder 541 from the ground is lower than the height of the third hydraulic cylinder 542 from the ground, the rod-free cavity and the rod-shaped cavity of the second hydraulic cylinder 541 are respectively provided with an oil inlet a3 and an oil inlet a4, the rod-free cavity and the rod-shaped cavity of the third hydraulic cylinder 542 are respectively provided with an oil inlet a5 and an oil inlet a6, after the oil is fed into the rod-free cavities of the second hydraulic cylinder 541 and the third hydraulic cylinder 542, piston rods of the second hydraulic cylinder 541 and the third hydraulic cylinder 542 penetrate through and extend into the conveying trough 521 to limit the metal tubular workpiece in the conveying trough 521 from sliding down, and the distance between the two piston rods is 1.3 to 1.7 times of the outer diameter of the metal tubular workpiece;

the third three-position four-way reversing valve 543 has the same structure as the first three-position four-way reversing valve 5323, and is provided with an oil inlet P3, an oil return port T3, a working oil port A3 and a working oil port B3, the first two-position three-way reversing valve 544 and the second two-position three-way reversing valve 545 have the same structure and are respectively provided with an oil inlet P4, an oil inlet P5, a working oil port a4, a working oil port a5 and working oil ports B4 and B5;

an oil inlet P3 of the third three-position four-way reversing valve 543 is connected with an output port of an oil pump 5324, an oil return port T3 is connected with an oil groove 5322, a working oil port A3 is connected with an oil inlet P4, and a working oil port B3 is connected with an oil inlet P5; a working oil port A4 of the first two-position three-way reversing valve 544 is connected with an oil inlet port a3, and a working oil port B4 is connected with an oil inlet port a 5; a working oil port A5 of the second two-position three-way reversing valve 545 is connected with an oil inlet port a4, and a working oil port B5 is connected with an oil inlet port a 6; the controller controls the running states of the oil pump 5324, the third three-position four-way reversing valve 543, the first two-position three-way reversing valve 544 and the second two-position three-way reversing valve 545 so as to control the extending amount of the piston rods of the second hydraulic cylinder 541 and the third hydraulic cylinder 542 extending into the conveying groove 521, so that the metal tubular workpiece in the conveying groove 521 can be enabled or limited to slide outwards.

For the reason that the tubular metal workpiece slides down from the feeding chute to the receiving member 51, the buffer device 54 for buffering the tubular metal workpiece in the feeding chute is further provided, so that the tubular metal workpiece can sequentially fall into the receiving chute under the action of the second hydraulic cylinder 541 and the third hydraulic cylinder 542, which is very convenient.

The invention also provides a control method for the automatic feeding device 5, which can effectively improve the feeding efficiency of the metal tubular workpiece, wherein as shown in fig. 9, the controller comprises

The first pressure sensing unit 5325 is arranged on one end face of the push block 531, close to the metal tubular workpiece in the material receiving part 51, and is used for detecting a pressure value between the push block 531 and the metal tubular workpiece, converting the pressure signal and sending the pressure signal to the PLC control unit 5328;

the second pressure sensing units 5326 are provided with two pressure sensing units which are respectively arranged on the arc-shaped clamping surfaces of the two adjusting blocks 5331 and used for detecting the pressure value between the adjusting blocks 5331 and the metal tubular workpiece, converting the pressure signal and sending the converted pressure signal to the PLC control unit 5328;

the third pressure sensing unit 5327 is arranged at the end of the piston rod of the third hydraulic cylinder 542, and is used for detecting the pressure value between the piston rod of the third hydraulic cylinder 542 and the metal tubular workpiece, converting the pressure signal and sending the converted pressure signal to the PLC control unit 5328;

the PLC control unit 5328 is used for controlling the working states of the oil pump 5324, the first three-position four-way reversing valve 5323, the second three-position four-way reversing valve 5337, the third three-position four-way reversing valve 543, the first two-position three-way reversing valve 544 and the second two-position three-way reversing valve 545; the control method comprises the following concrete steps of,

the method comprises the following steps: the PLC control unit 5328 controls the oil pump 5324 to be opened, the third three-position four-way reversing valve 543 is switched from the middle position to the left position, the oil inlet P3 is communicated with the working oil port A3, and the oil return port T3 is communicated with the working oil port B3;

step two: the first two-position three-way reversing valve 544 is switched to the left position, the second two-position three-way reversing valve 545 is switched to the left position, so that the oil inlet P4 is communicated with the working oil port a4, the oil inlet P5 is communicated with the working oil port a5, hydraulic oil in the oil groove 5322 sequentially flows to the oil inlet P3, the working oil port A3, the oil inlet P4, the working oil port a4 and the oil inlet port A3 through the oil pump 5324, and finally flows into the rodless cavity of the second hydraulic cylinder 541, hydraulic oil in the rod cavity of the second hydraulic cylinder 541 flows to the oil inlet port a4, the working oil port a5, the oil inlet P5, the working oil port B3 and the oil return port T3, and finally flows to the oil groove 5322, so that a piston rod of the second hydraulic cylinder 541 extends outwards, and the third three-position three-way reversing valve 543 is switched to the middle position after the extension amount of the piston rod reaches a preset threshold value;

step three: transversely and sequentially placing the metal tubular workpieces into a conveying groove 521;

step four: when the third pressure sensing unit 5327 detects a pressure value, the PLC control unit 5328 switches the third three-position four-way directional valve 543 to the left position, the first two-position three-way directional valve 544 to the right position, the second two-position three-way directional valve 545 to the right position, such that the oil inlet P4 is communicated with the working oil port B4, the oil inlet P5 is communicated with the working oil port B5, hydraulic oil in the oil tank 5322 flows sequentially to the oil inlet P3, the working oil port A3, the oil inlet P4, the working oil port B4, and the oil inlet a5 through the oil pump 5324, and finally flows to the rodless cavity of the third hydraulic cylinder 542, hydraulic oil in the rod cavity of the third hydraulic cylinder 542 flows to the oil inlet a6, the working oil port B5, the oil inlet P5, the working oil port B3, and the oil return port T3, and finally flows to the oil tank 5322, such that the piston rod of the third hydraulic cylinder 542 extends outward and extends into a second metal tubular workpiece near the lower port 521 of the conveying trough, after the extension amount of the piston rod of the third hydraulic cylinder 542 reaches a preset threshold value, the third three-position four-way reversing valve 543 is switched to the middle position;

step five: when the clamping device 3 is detected not to clamp the metal tubular workpiece and is opposite to the material receiving part 51, the PLC control unit 5328 switches the third three-position four-way reversing valve 543 to the right position, the first two-position three-way reversing valve 544 to the left position, and the second two-position three-way reversing valve 545 to the left position, so that the oil inlet P3 is communicated with the working oil port B3, the oil return port T3 is communicated with the working oil port A3, the rod cavity of the second hydraulic cylinder 541 is filled with oil, the rodless cavity is filled with oil, the resetting is performed, and after a piston rod on the second hydraulic cylinder 541 is separated from the metal tubular workpiece, the metal tubular workpiece slides onto the material receiving part 51;

then, the third three-position four-way reversing valve 543 is switched to the left position, the first two-position three-way reversing valve 544 is switched to the left position, the second two-position three-way reversing valve 545 is switched to the left position, the rodless cavity of the second hydraulic cylinder 541 takes oil, the rod cavity returns oil, and the piston rod of the second hydraulic cylinder 541 extends out; next, the third three-position four-way reversing valve 543 is switched to the right position, the first two-position three-way reversing valve 544 is switched to the right position, and the second two-position three-way reversing valve 545 is switched to the right position, so that the piston rod on the third hydraulic cylinder 542 is reset, the metal tubular workpiece blocked by the piston rod of the third hydraulic cylinder 542 falls onto the piston rod on the second hydraulic cylinder 541, a feeding process is completed, and then the fourth step is returned;

step six: after the metal tubular workpiece slides onto the receiving part 51, the PLC control unit 5328 switches the first three-position four-way directional valve 5323 to the left position, so that the oil inlet P1 is communicated with the working oil port a1, the oil return port T1 is communicated with the working oil port B1, hydraulic oil in the oil groove 5322 flows to the oil inlet P1, the working oil port a1 and the oil inlet port a1 through the oil pump 5324 and then enters the rodless cavity of the first hydraulic cylinder 5321, and hydraulic oil in the rod cavity flows to the oil groove 5322 through the oil inlet port a2, the working oil port B1 and the oil return port T1, so that the piston rod on the first hydraulic cylinder 5321 extends out, and pushes the push block 531 to move towards the metal tubular workpiece on the receiving part 51 and pushes the metal tubular workpiece to move towards the clamping device 3;

step seven: after the first pressure sensing unit 5325 detects the pressure value, the PLC control unit 5328 switches the second three-position four-way reversing valve 5337 to the right position, so that the oil inlet P2 is communicated with the working oil port B2, the oil return port T2 is communicated with the working oil port A2, the two adjusting blocks 5331 move back to back and approach the inner wall of the metal tubular workpiece, and after the two second pressure sensing units 5326 detect the pressure value and gradually increase to the preset threshold value, the second three-position four-way reversing valve 5337 is switched to the middle position to clamp and adjust the metal tubular workpiece; after the pressure value detected by the first pressure sensing unit 5325 gradually increases and reaches a preset threshold value, which indicates that the metal tubular workpiece is embedded and tightly abutted on the clamping device 3, the PLC control unit 5328 switches the first three-position four-way reversing valve 5323 to a neutral position;

step eight: after the clamping device 3 clamps the metal tubular workpiece, the PLC control unit 5328 switches the second three-position four-way reversing valve 5337 to the left position, so that the two adjusting blocks 5331 move in opposite directions to loosen the metal tubular workpiece, and then switches the first three-position four-way reversing valve 5323 to the right position to reset the piston rod on the first hydraulic cylinder 5321, thereby completing a material pushing process.

Further, as shown in fig. 3 and 10, in order to avoid the collision when the metal tubular workpiece slides onto the material receiving component 51, the pushing block 531 and the adjusting device 533 have a certain distance from the material receiving component 51, that is, after the metal tubular workpiece slides onto the material receiving component 51, the metal tubular workpiece has a certain distance from the pushing block 531 and the adjusting device 533, on the premise that stable ejection of the metal tubular workpiece is ensured, and in order to improve ejection efficiency, the present invention further provides a throttling speed adjusting device 534 located on the oil pipe between the oil pump 5324 and the first three-position four-way reversing valve 5323, wherein the throttling speed adjusting device 534 includes a throttling valve 5341 and an on-off valve 5342, the throttling valve 5341 and the on-off valve 5342 are connected in parallel, and the on-off valve 5342 is controlled by the PLC control unit 5328 to be in an on-off state.

In the above control method, further comprising

In the sixth step, after the metal tubular workpiece slides down to the receiving part 51, the PLC control unit 5328 further opens the on-off valve 5342, and a part of the hydraulic oil in the oil groove 5322 flows to the oil inlet P1 through the throttle valve 5341 and the on-off valve 5342, so that the push block 531 rapidly moves toward the metal tubular workpiece;

in step seven, after the first pressure sensing unit 5325 detects the pressure value, the PLC control unit 5328 further opens the on-off valve 5342, so that the hydraulic oil flows to the oil inlet P1 through the throttle valve 5341, and the push block 531 slowly pushes the metal tubular workpiece to move toward the clamping device 3 because the hydraulic oil entering the oil inlet P1 is reduced; the hydraulic oil entering the oil inlet P2 is increased, so that the two adjusting blocks 5331 quickly move towards the inner wall of the metal tubular workpiece; after the second pressure sensing units 5326 on the lower adjusting block 5331 detect the pressure value, the on-off valve 5342 is opened again, so that the pressure values detected by the two second pressure sensing units 5326 are slowly increased, the push block 531 rapidly moves again, and the metal tubular workpiece is pushed to move towards the clamping device 3;

in step eight, after the clamping device 3 clamps the metal tubular workpiece, the PLC control device also opens the on-off valve 5342, so that the first hydraulic cylinder 5321 is quickly reset.

By adopting the control method, the feeding efficiency can be improved, the inner wall of the metal tubular workpiece can be prevented from being scratched, and the adjusting device 533 can be stably clamped and adjusted in the moving process of the metal tubular workpiece.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to 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.