CN104690122A - Control method of pipe bender - Google Patents
Control method of pipe bender Download PDFInfo
- Publication number
- CN104690122A CN104690122A CN201510132845.0A CN201510132845A CN104690122A CN 104690122 A CN104690122 A CN 104690122A CN 201510132845 A CN201510132845 A CN 201510132845A CN 104690122 A CN104690122 A CN 104690122A
- Authority
- CN
- China
- Prior art keywords
- bending machine
- tubing
- robot
- feed spool
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/12—Bending rods, profiles, or tubes with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Manipulator (AREA)
Abstract
The invention provides a control method of a pipe bender. The control method of the pipe bender orderly comprises a detection step for detecting the length of a pipe on a feeding shaft by use of the detection device of the pipe bender, and a judgment execution step for controlling the feeding shaft and the robot of the bender to keep away from each other by use of the controller of the pipe bender if the length of the pipe is greater than or equal to a preset value, and controlling the feeding shaft and the robot to get close to each other if the length of the pipe is smaller than the preset value. The control method of the pipe bender is applicable to the pipes different in length, and convenient for bending the pipes different in length, and therefore, the adaptability of the pipe bender to the pipes different in length is improved; the control logic is simple and convenient to realize.
Description
Technical field
The present invention relates to bending machine technical field, in particular to a kind of control method of bending machine.
Background technology
Existing angle pipe equipment is mainly divided into two classes: the first is general NC bending machine, and the second is common six-joint robot bending machine.
For the first general NC bending machine, bulky, floor space is many, complicated in mechanical structure, and fault rate is high, and efficiency is low, and the inertia of bending pipes is large.For common six-joint robot bending machine, because the range of movement of robot limits, generally can bending pipe length at about 1M, bend pipe can not be carried out to long tube material, low to the adaptability of different length tubing.
In sum, little in the urgent need to a kind of floor space, to pipe length strong adaptability, the bending machine of bend pipe can be carried out to long tube simultaneously.
Summary of the invention
Main purpose of the present invention is the control method providing a kind of bending machine, to solve the bending machine of the prior art problem low to the tubing adaptability of different length.
To achieve these goals, the invention provides a kind of control method of bending machine, comprise successively: detecting step: utilize the checkout gear of bending machine to detect the length of the tubing on feed spool; Judge to perform step: if the length of tubing is more than or equal to preset value, then utilize the controller of bending machine to control between feed spool and the robot of bending machine mutually away from; If the length of tubing is less than preset value, then control between feed spool and robot close to each other.
Further, before detecting step, the control method of bending machine also comprises pre-treatment step: utilize checkout gear to detect on feed spool whether tubing is housed, if had, perform detecting step, if no, then continue to wait for until detect feed spool is equipped with tubing.
Further, perform in step in judgement, preset value is 1m.
Further, perform in step in judgement, if the length of tubing is more than or equal to preset value, then utilizes controller to control feed spool and move to the direction away from robot.
Further, perform in step in judgement, if the length of tubing is less than preset value, then utilize controller control to move near the direction of feed spool.
Further, judge to perform in step, utilize controller control and feed spool generation relative motion, and after detecting that the two ends of tubing are fixed respectively, then utilize controller to control bending machine and perform bend pipe operation.
Further, perform at bending machine in the process of bend pipe operation, utilize controller control to rotate, make the swan neck system of bending machine carry out bend pipe operation.
Further, after judgement performs step, also comprise post-processing step: utilize controller to control feed spool and unclamp tubing, and tubing is moved to assigned address by control.
Further, the artificial six-joint robot of machine.
Apply technical scheme of the present invention, controller can according to the distance between the length adjustment robot of tubing and feed spool, the tubing of different length can be adapted to, be convenient to carry out bend pipe operation to the tubing of different length, improve the adaptability of the bending machine in the present invention to the tubing of different length, control logic is simple and be convenient to realize.
Accompanying drawing explanation
The Figure of description forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the flow chart of bending machine control method of the present invention; And
Fig. 2 diagrammatically illustrates the three-dimensional structure diagram of bending machine of the present invention.
Wherein, above-mentioned accompanying drawing comprises the following drawings mark:
10, feed spool; 20, tubing; 30, robot; 40, swan neck system.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Shown in Fig. 1 and Fig. 2, according to embodiments of the invention, provide a kind of control method of bending machine.
Shown in composition graphs 2, the bending machine in the present embodiment comprise the robot 30 with spinfunction, the swan neck system 40 be arranged in robot 30, for carrying the feed spool 10 of tubing 20, checkout gear (not shown) and controller (not shown) to swan neck system 40.
The control method of the bending machine of the present embodiment is used for the bending machine shown in control chart 2.The control procedure of the control method of the bending machine in the present embodiment is specifically introduced below in conjunction with Fig. 1.
First, pre-treatment step is carried out, in pre-treatment step, utilize checkout gear to detect on feed spool 10 whether tubing 20 is housed, if feed spool 10 is equipped with tubing 10, then perform detecting step, if no, then continue to wait for until detect feed spool 10 is equipped with tubing 20.Pre-treatment step is set between detecting step, for bending machine realizes the full-automatic preparation providing necessity.
After detecting feed spool 10 has tubing 10, carry out detecting step.In the process of carrying out detecting step, utilize the checkout gear of bending machine to detect the length of the tubing 20 on feed spool 10, carry out judgement after having detected the length of tubing 20 and perform step.
Judge that the specific operation process performing step is as follows:
The numerical value detected by checkout gear and preset value compare, if the length of tubing 20 is more than or equal to preset value, then utilize the controller of bending machine control feed spool 10 and between robot 30 mutually away from, the end of the tubing 20 that feed spool 10 is carried successfully is set up on the swan neck system 40 of bending machine, until bending machine completes bend pipe operation; If the length of tubing 20 is less than preset value, then control between feed spool 10 and robot 30 close to each other, the end of the tubing 20 that feed spool 10 is carried successfully is set up on the swan neck system 40 of bending machine, until bending machine completes bend pipe operation.
Visible, according to the control method of bending machine of the present invention, controller can according to the distance between the length adjustment robot 30 of tubing 20 and feed spool 10, the tubing 20 of different length can be adapted to, be convenient to carry out bend pipe operation to the tubing 20 of different length, improve the adaptability of the bending machine in the present embodiment to the tubing 20 of different length, control logic is simple and be convenient to realize.
Perform in step in judgement, preset value is 1m, is convenient to the control realized on existing bending machine bending machine, without the need to improving bending machine, greatly can lower the bend pipe cost of enterprise.
Preferably, perform in step in judgement, if the length of tubing 20 is more than or equal to preset value, then controls feed spool 10 and move to the direction away from robot 30.In the present embodiment, robot 30 distance that feed spool 10 moves relatively only has 1m usually, and the stroke opposed robots 30 of feed spool 10 is much bigger, in order to the tubing 20 more grown can be adapted to, therefore, when tubing 20 is greater than preset value, utilizes controller to control feed spool 10 and move to the direction away from robot 30, be convenient to make bending machine adapt to longer tubing 20.
Preferably, perform in step in judgement, if the length of tubing 20 is less than preset value, then control 30 moves near the direction of feed spool 10, effectively can improve the bend pipe efficiency of bending machine.
Perform in step in judgement, after there is relative motion in controller control 30 and feed spool 10, and detect that the two ends of tubing 20 are separately fixed at after between robot 30 and feed spool 10, then utilize controller to control bending machine and perform bend pipe operation, until bending machine completes bend pipe operation.Specifically, utilize controller control 30 to rotate, and then drive the swan neck system 40 of bending machine to carry out bend pipe operation.
Preferably, after judgement performs step, also comprise post-processing step: utilize controller to control feed spool 10 and unclamp tubing 20, and tubing 20 is moved to assigned address by control 30.
Preferably, the robot 30 in the present embodiment is six-joint robot, and floor space is little, and structure is simple, is convenient to control.
As depicted in figs. 1 and 2, when detecting that pipe length is less than 1m, feed spool 10 plays fixing tubing 20, and bent tube technique is made up of robot 30 forward rotation and the action of swan neck system 40 bend pipe.When detecting that tubing 20 length is more than or equal to 1m, bent tube technique is advanced by feed spool 10, and robot 30 rotates and swan neck system 40 bend pipe action composition.By above control, just complete the design of self-adapting tube length.
Figure 2 shows that the structure chart of the self adaptation bend pipe length robot bending machine that the present invention proposes, mainly can comprise: six-joint robot 30, swan neck system 40, feed spool 10, automatic charging device (not shown), checkout gear and controller etc.Swan neck system 40 is arranged on the 6th axle of six-joint robot 30, and feed spool 10 is arranged on swan neck system 40 opposite, with it angle in 90 °.Feed spool 10 can be fixed by open and close and unclamp tubing 20, controls tubing 20 move forward and backward by moving forward and backward.This equipment realizes Unmanned operation, can select applicable motion mode, carry out optimal treatment, substantially increase sport efficiency, can meet the bent tube technique of different length pipe material product on uniform machinery to motion mode according to pipe length.Automatic charging device is common automatic charging device.
Detailed description of the invention is as follows:
(1) tubing 20 is delivered on feed spool 10 by automatic charging device, feed spool 10 closed clamp cornue material 20;
(2) program judges pipe length according to the bend pipe data of tubing 20.When pipe length is less than 1m, perform step (3) and (4); When tubing 20 length is more than or equal to 1m, perform step (5) and (6).
(3) six-joint robot moves to the opposite side of tubing 20, is advanced by six-joint robot, rotates and swan neck system 40 bend pipe, carries out bend pipe action.
(4) after completing bend pipe operation, feed spool 10 is opened and is unclamped tubing 20, clamps tubing 20 move to assigned address by six-joint robot, and then automatic charging device then gives next root tubing 20.
(5) six-joint robot moves to the opposite side of tubing 20, is advanced by feed spool 10, and six-joint robot rotates and swan neck system 40 bend pipe, carries out bend pipe action.
(6) after completing bend pipe operation, feed spool 10 is opened and is unclamped tubing 20, clamps tubing 20 move to assigned address by six-joint robot, and then automatic charging device then gives next root tubing 20.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
1, degree of intelligence is high, and by the cooperation that robot advances and feed spool advances, the forming elbow of self adaptation different length tubing, can meet the bend pipe demand of different length tubing, applied widely.
2, efficiency is high, has merged the advantage of general elbow machine and robot bending machine.
3, expand the range of movement of robot bending machine, bend pipe can be carried out to long tube material.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a control method for bending machine, is characterized in that, comprises successively:
Detecting step: utilize the checkout gear of bending machine to detect the length of the tubing (20) on feed spool (10);
Judge to perform step: if the length of described tubing (20) is more than or equal to preset value, then between the robot (30) utilizing the controller of bending machine to control described feed spool (10) and described bending machine mutual away from; If the length of described tubing (20) is less than described preset value, then control between described feed spool (10) and described robot (30) close to each other.
2. the control method of bending machine according to claim 1, it is characterized in that, before described detecting step, the control method of described bending machine also comprises pre-treatment step: utilize described checkout gear to detect on described feed spool (10) whether described tubing (20) is housed, if had, perform described detecting step, if no, then continue to wait for until detect described feed spool (10) is equipped with described tubing (20).
3. the control method of bending machine according to claim 1, is characterized in that, perform in step in described judgement, described preset value is 1m.
4. the control method of bending machine according to claim 1, it is characterized in that, perform in step in described judgement, if the length of described tubing (20) is more than or equal to described preset value, then utilizes described controller to control described feed spool (10) and move to the direction away from described robot (30).
5. the control method of bending machine according to claim 1, it is characterized in that, perform in step in described judgement, if the length of described tubing (20) is less than described preset value, then utilizes described controller to control described robot (30) and move near the direction of described feed spool (10).
6. the control method of bending machine according to claim 1, it is characterized in that, described judgement performs in step, described controller is utilized to control described robot (30) and described feed spool (10) generation relative motion, and after detecting that the two ends of described tubing (20) are fixed respectively, then utilize described controller to control described bending machine and perform bend pipe operation.
7. the control method of bending machine according to claim 6, it is characterized in that, perform in the process of described bend pipe operation at described bending machine, utilize described controller to control described robot (30) to rotate, make the swan neck system (40) of described bending machine carry out bend pipe operation.
8. the control method of bending machine according to claim 1, it is characterized in that, after described judgement performs step, also comprise post-processing step: utilize described controller to control described feed spool (10) and unclamp described tubing (20), and control described robot (30) described tubing (20) is moved to assigned address.
9. the control method of bending machine according to any one of claim 1 to 8, is characterized in that, described robot (30) is six-joint robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510132845.0A CN104690122B (en) | 2015-03-25 | 2015-03-25 | Control method of pipe bender |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510132845.0A CN104690122B (en) | 2015-03-25 | 2015-03-25 | Control method of pipe bender |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104690122A true CN104690122A (en) | 2015-06-10 |
| CN104690122B CN104690122B (en) | 2017-04-12 |
Family
ID=53337888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510132845.0A Active CN104690122B (en) | 2015-03-25 | 2015-03-25 | Control method of pipe bender |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104690122B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001191121A (en) * | 1999-11-01 | 2001-07-17 | Honda Motor Co Ltd | Control data preparation method for twisting |
| CN1438079A (en) * | 2001-12-21 | 2003-08-27 | 伯尔奥克工具及量规公司 | Back-bending machine with pin-length measure and regulation structure |
| CN101791644B (en) * | 2009-12-26 | 2011-10-26 | 中山市奥美森工业有限公司 | Tube bender |
| CN103028640A (en) * | 2012-12-18 | 2013-04-10 | 宁波钜智自动化装备有限公司 | Pipe bending machine and method for carrying out real-time detection on same |
| CN103785725A (en) * | 2014-01-14 | 2014-05-14 | 湖北诺伯特科技有限公司 | Seven-shaft elbow robot |
| CN204122532U (en) * | 2014-09-15 | 2015-01-28 | 杭州和良机电设备有限公司 | A kind of five axle bending machines |
-
2015
- 2015-03-25 CN CN201510132845.0A patent/CN104690122B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001191121A (en) * | 1999-11-01 | 2001-07-17 | Honda Motor Co Ltd | Control data preparation method for twisting |
| CN1438079A (en) * | 2001-12-21 | 2003-08-27 | 伯尔奥克工具及量规公司 | Back-bending machine with pin-length measure and regulation structure |
| CN101791644B (en) * | 2009-12-26 | 2011-10-26 | 中山市奥美森工业有限公司 | Tube bender |
| CN103028640A (en) * | 2012-12-18 | 2013-04-10 | 宁波钜智自动化装备有限公司 | Pipe bending machine and method for carrying out real-time detection on same |
| CN103785725A (en) * | 2014-01-14 | 2014-05-14 | 湖北诺伯特科技有限公司 | Seven-shaft elbow robot |
| CN204122532U (en) * | 2014-09-15 | 2015-01-28 | 杭州和良机电设备有限公司 | A kind of five axle bending machines |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104690122B (en) | 2017-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102785246B (en) | Robot calibration method capable of achieving automatic trajectory correction | |
| CN103658266B (en) | CNC tube bending machine | |
| CN107097140A (en) | A kind of fully-automatic metal bend pipe polishing machine | |
| CN102806560A (en) | Method capable of automatically eliminating motion accumulated error of robot | |
| CN103264117B (en) | Multi-section bending radius numerical-control die-free bending shaping method and equipment | |
| CN106180299A (en) | Folder | |
| CN110666011B (en) | Bending device and U-shaped pipe processing equipment | |
| CN206287163U (en) | A kind of automatic handgrip of robot | |
| CN106180298B (en) | Automatic plate bending machine | |
| CN104690122A (en) | Control method of pipe bender | |
| CN107598433B (en) | A kind of automatic welding machine people | |
| CN207624541U (en) | A kind of twisted sector of inductance coil winding machine | |
| CN106180315A (en) | Automatic pipebender | |
| CN104826901A (en) | Curvature-variable large-radius steel pipe bending forming device and manufacturing method for steel pipe bending forming device | |
| CN204503871U (en) | Bending machine | |
| CN111659780A (en) | Robot pipe bending method and pipe bending device | |
| CN105415363A (en) | Displacement device, robot and singular point processing method for robot | |
| CN202438580U (en) | Tube bending machine | |
| CN207464930U (en) | A kind of fully-automatic metal bend pipe polishing machine | |
| CN104690116A (en) | Pipe bender and control method thereof | |
| CN203380238U (en) | Multistage bending radius numerical control shaping device without bending mould | |
| CN205552571U (en) | Be used for industry transport robot arm mechanism | |
| CN108166166A (en) | A kind of swivel feeding device and double-station ELASTIC SEWING MACHINE | |
| CN110155700B (en) | System and method for conveying workpieces in a forming machine | |
| CN106984726A (en) | A kind of transmission mould manipulator of digital controlled rotary punching press angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |