CN221694886U - Full-automatic pipe end forming machine - Google Patents

Abstract

The utility model discloses a full-automatic pipe end forming machine, which comprises: a compression pipe mold structure, a clamping mold structure, an XYZ truss transport structure, and an electrical box; the XYZ truss transport structure is used for clamping a plurality of pipes, the clamping mold structure is used for fixing the pipes to be processed, and has a plurality of clamping stations, the compression pipe mold structure has a plurality of different punches arranged transversely corresponding to the clamping stations, a control device in the electrical box controls the XYZ truss transport structure to punch the pipes once at different clamping stations in sequence and unload the pipes, and the utility model realizes that the feeding and unloading of the pipe end forming machine are carried out simultaneously and automatically, which greatly shortens the processing time and improves the production efficiency.

Description

A fully automatic pipe end forming machine

Technical Field

The invention relates to the technical field of pipe end forming equipment, and in particular to a full-automatic pipe end forming machine.

Background Art

At present, the tube end forming machines used to produce engine cooling nozzles are mainly semi-automatic. Most cooling nozzle tube end forming machines are manually loaded, and have fewer processing stations, low efficiency, and when encountering pipes with higher requirements, multiple clamping or even mold replacement is required, resulting in low production efficiency. The market needs a new automatic multi-station tube end forming machine for the production of engine cooling nozzles.

Patent "CN218395635U-A horizontal fully automatic pipe end forming machine" discloses a horizontal fully automatic pipe end forming machine, a conveying unit is set up on one side of the upper surface of the workbench, a feeding freedom robot is installed on one side of the conveying unit on the workbench, an assembly table is installed in the middle of the workbench on one side of the feeding freedom robot, and a clamping and fixing unit is installed on the assembly table, and an adjustable forming component is installed on one side of the clamping and fixing unit on the workbench.

This structure cannot perform multiple stamping on the workpiece. If it is forced to stamp once, the pipe fittings will suddenly deform greatly and have problems such as wrinkles and cracks. The processing quality and processing accuracy cannot be guaranteed.

Summary of the invention

In order to overcome the above-mentioned deficiencies of the prior art, the utility model provides a tube end forming machine which can simultaneously carry out loading and unloading and simplify the tube shrinking procedure, and the structure thereof comprises: a compression tube mold structure, a clamping mold structure, an XYZ truss transport structure, and an electrical box; the compression tube mold structure is arranged on the top of the electrical box, and comprises a plurality of different punches which are arranged side by side and driven to feed by a push-up device; a clamping mold structure is arranged on the top of the electrical box on the side opposite to the compression tube mold structure, and the clamping mold structure is provided with a plurality of clamping stations arranged side by side and a unloading station; the clamping station The XYZ truss transport structure is formed by an upper die that moves up and down driven by a hydraulic mechanism and a lower die that is fixed on the top of the electric box. The clamping stations are the same in number and coaxial with the punch, and the unloading station is formed by the lower die. The XYZ truss transport structure includes a clamping mechanism that can move in three directions, namely, X, Y and Z. The clamping mechanism is provided with a plurality of clamping stations. The number of the clamping stations is the same as the number of the clamping stations, and the spacing between adjacent clamping stations is also the same as the spacing between adjacent clamping stations. The compression tube mold structure and the clamping mold structure are both provided with sensors for sensing the position of the driving end thereof, and the process status of the driving end is fed back to the control end.

Preferably, the compression tube mold structure includes: a punch, a punch connecting flange, a push plate connecting flange, a propulsion hydraulic cylinder, a propulsion hydraulic cylinder base, a hydraulic cylinder slider, a hydraulic cylinder guide rail, a sensor, a sensor guide shaft, a sensor support, a stainless steel sensor sheet, and a sensor connection block; the hydraulic cylinder guide rail is installed on a groove reserved on the top of the electric box, the through hole on the hydraulic cylinder guide rail corresponds to the threaded hole on the groove of the electric box, the hydraulic cylinder guide rail is fixed to the electric box by screws, a mounting seat is also fixed between the hydraulic cylinder guide rails, the propulsion hydraulic cylinder is fixed on the mounting seat, and there is a boss on the hydraulic cylinder guide rail; the groove of the hydraulic cylinder slider is matched and placed on the boss of the hydraulic cylinder guide rail, each There are four threaded holes on the surface of each hydraulic cylinder slider; there are 16 countersunk holes at the bottom of the propulsion hydraulic cylinder base, which correspond to the threaded holes on the hydraulic cylinder slider, and the propulsion hydraulic cylinder base is installed on the hydraulic cylinder slider by screws; 8 threaded holes are evenly distributed on the front of the propulsion hydraulic cylinder base; a countersunk through hole is opened at the center of the front of the propulsion hydraulic cylinder base; the end of the output shaft of the propulsion hydraulic cylinder is a stud, which corresponds to the countersunk through hole on the propulsion hydraulic cylinder base, and the output shaft of the propulsion hydraulic cylinder is passed through the countersunk through hole and fixed with a nut; the front of the push plate connecting flange has 8 countersunk holes, which correspond to the threaded holes on the propulsion hydraulic cylinder base, and the push plate connecting flange is screwed Installed on the front end of the propulsion hydraulic cylinder base; the front end of the push plate connecting flange is also evenly distributed with three groups of threaded holes, each group of threaded holes has four threaded holes, and a through hole is also opened in the center of each group of threaded holes; the punch connecting flange is distributed with four countersunk holes, corresponding to a group of threaded holes on the push plate connecting flange, and the punch connecting flange is connected to the push plate connecting flange by screws; a through hole is opened in the center of the punch connecting flange, and the punch is cylindrical and screwed into the through hole installed in the center of the punch connecting flange; there are 2 sensor supports, with grooves at the bottom corresponding to the threaded holes on the surface of the electric box, and the sensor support is connected to the electric box with screws; the side of the sensor support is opened There is a through hole; the sensor guide shaft is cylindrical, corresponding to the through hole of the sensor support, installed between the two sensor supports and fixed with screws; the sensor connecting block is a rectangular parallelepiped, with a through hole, matching the sensor guide shaft, and sleeved on the sensor guide shaft; the upper surface of the sensor connecting block is provided with a threaded hole; the sensor is provided with a threaded hole, corresponding to the threaded hole of the sensor connecting block, and the sensor is installed on the sensor mounting block with screws; the stainless steel sensing sheet is "L"-shaped, with two through holes on the surface, corresponding to the threaded holes on the propulsion hydraulic cylinder base, and the stainless steel sensing sheet is installed on the propulsion hydraulic cylinder base with screws.

Preferably, the clamping mold structure includes: a C-shaped die base, which is installed on the electrical box body by screws; reinforcing ribs are installed on the side of the die base without columns by screws; an L-shaped guide plate is installed under the upper beam of the die base by screws; the sensor guide shaft is installed on the groove of the guide plate and connected to the top of the cylinder connecting plate; the induction sheet is sleeved on the upper part of the sensor guide shaft; two sensors are installed on the side of the guide plate by screws; the cylinder is installed on the guide plate by screws; the cylinder connecting plate is installed on the lower end of the output shaft of the cylinder; the clamping mold upper base is fixed to the bottom of the cylinder connecting plate by screws; three upper clamping molds are installed on the bottom of the clamping mold upper base by screws; the clamping mold lower base is installed on the lower beam of the die base by screws; and four lower clamping molds are installed on the top of the clamping mold lower base by screws.

Preferably, the XYZ truss handling structure includes: a truss rail; the truss rail is installed on the top of the upper beam of the die base with screws; the truss slider is installed on the boss of the truss rail through the groove at its bottom; the aluminum block connecting support is installed on the truss slider with screws; the transverse linear guide module is installed on the die base with screws; the transverse connecting plate is installed on the groove on the transverse linear guide module by means of the boss; the truss connecting plate is connected to the transverse connecting plate and the aluminum block connecting support with screws; the longitudinal linear guide module is connected to the truss connecting plate with screws; the longitudinal connecting plate is installed on the groove on the upper part of the longitudinal linear guide module by means of the boss; the truss hydraulic cylinder mounting plate is installed on the longitudinal connecting plate with screws; the truss hydraulic cylinder is connected to the truss hydraulic cylinder mounting plate with screws; the air claw mounting plate is installed on the output shaft at the lower end of the truss hydraulic cylinder with screws; the four finger cylinders are installed on the air claw mounting plate with screws; the parallel clamp is installed on the groove on the finger cylinder 312, and the finger cylinder is fixed with screws to drive one end of the parallel clamp to move horizontally to clamp the pipe.

Preferably, the electric box is directly connected to the hydraulic cylinder guide rail and the die base with screws; the rear positioning plate is connected to the die base and the electric box body with screws for positioning; the hydraulic station and the control device are installed inside the electric box body.

The utility model has the following advantages:

1. The present invention adopts an XYZ truss handling mechanism to realize the loading and unloading of steel pipes, which has a high degree of automation and is conducive to the online production of steel pipes;

2. The present invention performs multiple punching on the workpiece, and will not force a single punching, which will cause the pipe to suddenly deform greatly and cause wrinkles and cracks, thereby ensuring the processing quality and processing accuracy;

3. The present invention adopts an XYZ truss to adjust the feeding distance, meet the feeding requirements of workpieces of different lengths, have wide adaptability and a large application range.

When the utility model is in operation, a plurality of pipes are clamped by the XYZ truss transport mechanism, one of the pipes is moved to the first clamping station on the lower clamping die of the clamping die structure, and then the oil cylinder is controlled to drive the upper base of the clamping die to press down and clamp the pipe, and then the compression pipe die mechanism is controlled to punch the pipe end, and then the pipe is moved to the second clamping station, and the adjacent pipes enter the first clamping station for punching at the same time, and the pipe is compressed and unloaded at the unloading station after several punchings in the horizontal direction, so that the workpiece that previously required several steps to complete the shrinking and forming can now be completed in one shrinking cycle, which greatly shortens the processing time, improves the production efficiency, ensures the uniformity and qualified rate of the products, and further improves the economic benefits of the products.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

Figure 1 is an overall schematic diagram of a fully automatic tube end forming machine.

FIG. 2 is a schematic diagram of the compression tube mold structure from the first perspective.

FIG. 3 is a schematic diagram of the compression tube mold structure from a second viewing angle.

FIG. 4 is a schematic diagram of the clamping mold structure from a first viewing angle.

FIG. 5 is a schematic diagram of the clamping mold structure from a second viewing angle.

FIG. 6 is a schematic diagram of the XYZ truss handling unit structure.

Figure 7 is a schematic diagram of the electrical box structure.

In the figure: 1-compression tube mold mechanism; 2-clamping mold mechanism; 3-XYZ truss handling mechanism; 4-electric box; 101-hydraulic cylinder guide rail; 102-hydraulic cylinder slider; 103-propelling hydraulic cylinder base; 104-propelling hydraulic cylinder; 105-push plate connecting flange; 106-punch connecting flange; 107-first punch; 108-second punch; 109-sensor support; 110-sensor guide shaft; 111-sensor connection block; 112-sensor; 113-stainless steel sensor sheet; 201-die base; 202-reinforcement rib; 203-guide plate; 204-oil cylinder; 205-sensor guide shaft; 206-sensor sheet; 207-sensor; 208-cylinder connecting plate; 209-clamping mold upper base; 210-upper clamping mold; 211-clamping mold lower base; 212-lower clamping mold; 301-truss guide rail; 302-truss slider; 303-aluminum block connecting support; 304-transverse linear guide rail module; 305-transverse connecting plate; 306-truss connecting plate; 307-longitudinal linear guide rail module; 308-longitudinal connecting plate; 309-truss hydraulic cylinder mounting plate; 310-truss hydraulic cylinder; 311-pneumatic claw mounting plate; 312-finger cylinder; 313-parallel clamp; 401-electric box body; 402-rear positioning plate; 403-hydraulic station.

Implementation

The various devices selected in this application (components whose specific structures are not described) are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present utility model may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

Example

As shown in FIG. 1 , the compression tube mold mechanism 1 is mounted on the electrical box 4 by screws, the clamping mold mechanism 2 is mounted on the electrical box 4 by screws, and the XYZ truss transport mechanism 3 is mounted above the clamping mold mechanism 2 by screws.

As shown in Fig. 2 and Fig. 3, there are two hydraulic cylinder rails 101, which are installed on the electric box body 401 by screws. There are four hydraulic cylinder sliders 102, and the grooves of the hydraulic cylinder sliders 102 are installed on the bosses on the hydraulic cylinder rails 101. The propulsion hydraulic cylinder base 103 is installed on the four hydraulic cylinder sliders 102 by screws. The output end of the propulsion hydraulic cylinder 104 is screwed into one side of the propulsion hydraulic cylinder base 103, and the propulsion hydraulic cylinder 104 is fixed to the top of the electric box body through the mounting seat fixed between the two hydraulic cylinder rails 101. The push plate connecting flange 105 is screwed on the front of the propulsion hydraulic cylinder base 103, that is, the right side of Fig. 2. There are three punch connecting flanges 106, which are screwed on the front of the push plate connecting flange 105. The punch includes a first punch 107 and a second punch 108 screwed together. There are three punches in total, which are screwed to the punch connecting flange 106 by threads. There are two sensor supports 109, which are installed on the electrical box body 401 by screws. The sensor guide shaft 110 is installed on the corresponding through hole of the sensor support 109 and fixed with screws. The sensor connection block 111 is sleeved on the sensor guide shaft 110 and fixed with screws. The sensor 112 is installed on the sensor connection block 111 with screws. The stainless steel sensor sheet 113 is installed on the propulsion hydraulic cylinder base 103 with screws.

As shown in Figs. 3 and 4, the die base 201 of the clamping die mechanism 2 is mounted on the electrical box body 401 by screws. The reinforcing rib 202 is mounted on the die base 201 by screws, so that the clamping die mechanism 2 has better strength and a more stable structure. The guide plate 203 is mounted on the upper part of the die base 201 by screws. The sensor guide shaft 205 is mounted on the groove of the guide plate 203 and connected to the cylinder connecting plate 208. The induction sheet 206 is sleeved on the sensor guide shaft 205. There are two sensors 207, which are mounted on the guide plate 203 by screws. The cylinder 204 is mounted on the guide plate 203 by screws. The cylinder connecting plate 208 is mounted on the lower end of the output shaft of the cylinder 204. The clamping die upper base 209 is connected to the cylinder connecting plate 208 by screws. There are three upper clamping dies 210, which are mounted on the clamping die upper base 209 by screws. The clamping mold lower base 211 is screwed to the lower part of the die base 201. There are 4 lower clamping molds 212, which are screwed to the clamping mold lower base 211. One of the lower clamping molds 212 that does not correspond to the upper clamping mold 210 is a discharge station, and the rest are clamping stations.

As shown in Figs. 5 and 6, the truss rail 301 is mounted on the upper part of the die base 201 by screws. The groove of the truss slider 302 is mounted on the boss on the truss rail 301. The aluminum block connecting support 303 is mounted on the truss slider 302 by screws. The transverse linear guide module 304 is mounted on the die base 201 by screws. The transverse connecting plate 305 is mounted on the groove on the transverse linear guide module 304 by means of the boss. The truss connecting plate 306 is connected to the transverse connecting plate 305 and the aluminum block connecting support 303 by screws. The longitudinal linear guide module 307 is connected to the truss connecting plate 306 by screws. The longitudinal connecting plate 308 is mounted on the groove on the longitudinal linear guide module 307 by means of the boss. The truss hydraulic cylinder mounting plate 309 is mounted on the longitudinal connecting plate 308 by screws. The truss hydraulic cylinder 310 is connected to the truss hydraulic cylinder mounting plate 309 by screws. The air gripper mounting plate 311 is screwed to the lower end of the truss hydraulic cylinder 310. There are 4 finger cylinders 312, which are screwed to the air gripper mounting plate 311. The parallel clamp 313 is installed on the groove on the finger cylinder 312 and fixed with screws.

As shown in FIG7 , the electrical box body 401 is mainly used to carry all the mechanisms and is directly connected to the hydraulic cylinder guide rail 101 and the die base 201 with screws. The rear positioning plate 402 is connected to the die base 201 and the electrical box body 401 with screws for positioning. The hydraulic station 403 and the control device are installed inside the electrical box body. The control device receives the process information of the clamping mold mechanism 2 and the compression tube mold mechanism 1 fed back by the sensor 112 and the sensor 207, and controls the entire molding machine to run according to the preset program to realize the automatic operation of the molding machine.

When the utility model is in operation, a plurality of pipes are clamped by the XYZ truss transport mechanism, one of the pipes is moved to the first clamping station on the lower clamping die of the clamping die structure, and then the oil cylinder is controlled to drive the upper base of the clamping die to press down and clamp the pipe, and then the compression pipe die mechanism is controlled to punch the pipe end, and then the pipe is moved to the second clamping station, and the adjacent pipes enter the first clamping station for punching at the same time, and the pipe is compressed and unloaded at the unloading station after several punchings in the horizontal direction, so that the workpiece that previously required several steps to complete the shrinking and forming can now be completed in one shrinking cycle, which greatly shortens the processing time, improves the production efficiency, ensures the uniformity and qualified rate of the products, and further improves the economic benefits of the products.

Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. A fully automatic tube end forming machine, characterized in that it comprises: a compression tube die structure, a clamping die structure, an XYZ truss transport structure, and an electrical box; the compression tube die structure is arranged on the top of the electrical box, and comprises a plurality of different punches, which are arranged side by side and driven by a push-up device to feed; a clamping die structure is arranged on the top of the electrical box on the side opposite to the compression tube die structure, and the clamping die structure is provided with a plurality of clamping stations arranged side by side, and a material unloading station; the clamping station is driven by a hydraulic mechanism to move up and down The mold is formed with a lower mold fixed on the top of the electric box, the clamping stations are the same in number and coaxial with the punch, and the blanking station is formed by the lower mold; the XYZ truss transport structure includes a clamping mechanism that can move in three directions of X, Y and Z, the clamping mechanism is provided with a plurality of clamping stations, the number of the clamping stations is the same as the number of the clamping stations, and the spacing between adjacent clamping stations is also the same as the spacing between adjacent clamping stations; the compression tube mold structure and the clamping mold structure are both provided with sensors for sensing the position of the driving end thereof, and the process status of the driving end is fed back to the control end. 2. The fully automatic tube end forming machine according to claim 1 is characterized in that: the compression tube mold structure includes: a punch, a punch connecting flange, a push plate connecting flange, a propulsion hydraulic cylinder, a propulsion hydraulic cylinder base, a hydraulic cylinder slider, a hydraulic cylinder guide rail, a sensor, a sensor guide shaft, a sensor support, a stainless steel sensor sheet, and a sensor connection block; the hydraulic cylinder guide rail is installed on the groove reserved on the top of the electric box, the through hole on the hydraulic cylinder guide rail corresponds to the threaded hole on the groove of the electric box, the hydraulic cylinder guide rail is fixed to the electric box by screws, a mounting seat is also fixed between the hydraulic cylinder guide rails, the propulsion hydraulic cylinder is fixed on the mounting seat, and there is a boss on the hydraulic cylinder guide rail; the groove of the hydraulic cylinder slider The surface of each hydraulic cylinder slide block is provided with four threaded holes on the boss mounted on the hydraulic cylinder guide rail; the bottom of the propulsion hydraulic cylinder base has 16 countersunk holes corresponding to the threaded holes on the hydraulic cylinder slide block, and the propulsion hydraulic cylinder base is installed on the hydraulic cylinder slide block by screws; 8 threaded holes are evenly distributed on the front of the propulsion hydraulic cylinder base; a countersunk through hole is opened at the center of the front of the propulsion hydraulic cylinder base; the output shaft of the propulsion hydraulic cylinder has a stud at the end, corresponding to the countersunk through hole on the propulsion hydraulic cylinder base, and the output shaft of the propulsion hydraulic cylinder is passed through the countersunk through hole and fixed with a nut; the front of the push plate connecting flange has 8 countersunk holes corresponding to the threaded holes on the propulsion hydraulic cylinder base, The push plate connecting flange is installed on the front end of the push hydraulic cylinder base by screws; three groups of threaded holes are evenly distributed on the front end of the push plate connecting flange, each group of threaded holes has four threaded holes, and a through hole is also opened in the center of each group of threaded holes; four countersunk holes are distributed on the punch connecting flange, corresponding to a group of threaded holes on the push plate connecting flange, and the punch connecting flange is connected to the push plate connecting flange by screws; a through hole is opened in the center of the punch connecting flange, and the punch is cylindrical and screwed into the through hole installed in the center of the punch connecting flange; there are 2 sensor supports, and a groove is opened at the bottom, corresponding to the threaded holes on the surface of the electric box, and the sensor support is connected to the electric box with screws; the sensor A through hole is provided on the side of the support; the sensor guide shaft is cylindrical, corresponding to the through hole of the sensor support, installed between the two sensor supports and fixed with screws; the sensor connecting block is a rectangular parallelepiped, with a through hole, matching the sensor guide shaft, and sleeved on the sensor guide shaft; a threaded hole is provided on the upper surface of the sensor connecting block; the sensor is provided with a threaded hole, corresponding to the threaded hole of the sensor connecting block, and the sensor is installed on the sensor mounting block with screws; the stainless steel sensing sheet is "L"-shaped, with two through holes on the surface, corresponding to the threaded holes on the propulsion hydraulic cylinder base, and the stainless steel sensing sheet is installed on the propulsion hydraulic cylinder base with screws. 3. The fully automatic pipe end forming machine according to claim 2 is characterized in that: the clamping mold structure includes: a C-shaped die base, the die base is installed on the electrical box body by screws; the reinforcing ribs are installed on the side of the die base without columns by screws; the L-shaped guide plate is installed under the upper beam of the die base by screws; the sensor guide shaft is installed on the groove of the guide plate and connected to the top of the cylinder connecting plate; the induction sheet is sleeved on the upper part of the sensor guide shaft; two sensors are installed on the side of the guide plate by screws; the cylinder is installed on the guide plate by screws; the cylinder connecting plate is installed on the lower end of the output shaft of the cylinder; the clamping mold upper base is fixed to the bottom of the cylinder connecting plate by screws; three upper clamping molds are installed on the bottom of the clamping mold upper base by screws; the clamping mold lower base is installed on the lower beam of the die base by screws; and four lower clamping molds are installed on the top of the clamping mold lower base by screws. 4. The fully automatic tube end forming machine according to claim 3 is characterized in that: the XYZ truss handling structure includes: a truss rail; the truss rail is installed on the top of the upper beam of the die base with screws; the truss slider is installed on the boss of the truss rail through the groove at its bottom; the aluminum block connecting support is installed on the truss slider with screws; the transverse linear guide module is installed on the die base with screws; the transverse connecting plate is installed on the groove on the transverse linear guide module by relying on the boss; the truss connecting plate is connected to the transverse connecting plate and the aluminum block connecting support with screws; the longitudinal The linear guide module is connected to the truss connecting plate by screws; the longitudinal connecting plate is installed on the groove on the upper part of the longitudinal linear guide module by means of a boss; the truss hydraulic cylinder mounting plate is installed on the longitudinal connecting plate by screws; the truss hydraulic cylinder is connected to the truss hydraulic cylinder mounting plate by screws; the air claw mounting plate is installed on the output shaft at the lower end of the truss hydraulic cylinder by screws; four finger cylinders are installed on the air claw mounting plate by screws; the parallel clamp is installed on the groove on the finger cylinder (312), and the finger cylinder is fixed by screws to drive one end of the parallel clamp to move horizontally to clamp the pipe. 5. According to the fully automatic tube end forming machine described in claim 4, it is characterized in that: the electric box is directly connected to the hydraulic cylinder guide rail and the die base with screws; the rear positioning plate is connected to the die base and the electric box body with screws for positioning; the hydraulic station and the control device are installed inside the electric box body.