CN104690122B - Control method of pipe bender - Google Patents
Control method of pipe bender Download PDFInfo
- Publication number
- CN104690122B CN104690122B CN201510132845.0A CN201510132845A CN104690122B CN 104690122 B CN104690122 B CN 104690122B CN 201510132845 A CN201510132845 A CN 201510132845A CN 104690122 B CN104690122 B CN 104690122B
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- bending machine
- tubing
- robot
- feed spool
- control method
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005452 bending Methods 0.000 claims abstract description 62
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000002203 pretreatment Methods 0.000 claims description 5
- 238000012805 post-processing Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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 sequentially comprises the following steps: a detection step: detecting the length of the pipe on the feeding shaft by using a detection device of the pipe bender; and a judging and executing step: if the length of the pipe is larger than or equal to the preset value, the controller of the pipe bender is used for controlling the feeding shaft and the robot of the pipe bender to be away from each other; and if the length of the pipe is smaller than the preset value, controlling the feeding shaft and the robot to approach each other. The control method of the pipe bender can adapt to pipes with different lengths, is convenient for pipe bending operation of the pipes with different lengths, improves the adaptability of the pipe bender to the pipes with different lengths, and has simple control logic and convenient realization.
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 broadly divided into two classes：The first is general NC bending machine, and second is common six axles machine
People's bending machine.
For the first general NC bending machine, bulky, floor space is more, complicated in mechanical structure, fault rate
Height, efficiency are low, and the inertia of bending pipes is big.For common six-joint robot bending machine, due to the range of movement of robot
Limit, typically can bending pipe length in 1M or so, it is impossible to bend pipe is carried out to long tubing, the adaptability to different length tubing
It is low.
In sum, in the urgent need to a kind of floor space is little, to pipe length strong adaptability, while can carry out to long tube curved
The bending machine of pipe.
The content of the invention
Present invention is primarily targeted at a kind of control method of bending machine is provided, to solve bending machine of the prior art
The problem low to the tubing adaptability of different length.
To achieve these goals, the invention provides a kind of control method of bending machine, includes successively：Detecting step：
Using the length of the tubing on the detection means detection feed spool of bending machine；Judge execution step：If the length of tubing is more than
Or be equal to preset value, then control to be located remotely from each other between feed spool and the robot of bending machine using the controller of bending machine；If
The length of tubing is less than preset value, then control close to each other between feed spool and robot.
Further, before detecting step, the control method of bending machine also includes pre-treatment step：Using detection means
Whether tubing is housed, if then perform detection step, if it is not, continuing waiting for until detecting sending on detection feed spool
Tubing is housed on material axle.
Further, in execution step is judged, preset value is 1m.
Further, in execution step is judged, if the length of tubing is more than or equal to preset value, using controller
Control feeding is moved axially away from the direction of robot.
Further, in execution step is judged, if the length of tubing is less than preset value, using controller control machine
Device people is moved to the direction near feed spool.
Further, in judging execution step, robot is controlled using controller and feed spool occurs relative motion, and
After the two ends for detecting tubing are fixed respectively, then bend pipe operation is performed using controller control bending machine.
Further, during bending machine performs bend pipe operation, using the rotation of controller control robot, make bend pipe
The swan neck system of machine carries out bend pipe operation.
Further, also including post-processing step after execution step is judged：Unclamped using controller control feed spool
Tubing, and control robot tubing is moved to into specified location.
Further, the artificial six-joint robot of machine.
Using technical scheme, controller can be according between the length adjustment robot of tubing and feed spool
Distance, can adapt to the tubing of different length, is easy to the tubing to different length to carry out bend pipe operation, improves in the present invention
Adaptability of the bending machine to the tubing of different length, control logic is simple and facilitates implementation.
Description of the drawings
The Figure of description for constituting the part of the application is used for providing a further understanding of the present invention, and the present invention's shows
Meaning property embodiment and its illustrated for explaining the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
The flow chart that Fig. 1 diagrammatically illustrates the bending machine control method of the present invention；And
Fig. 2 diagrammatically illustrates the three-dimensional structure diagram of the bending machine of the present invention.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling：
10th, feed spool；20th, tubing；30th, robot；40th, swan neck system.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
Referring to shown in Fig. 1 and Fig. 2, a kind of embodiments in accordance with the present invention, there is provided control method of bending machine.
With reference to shown in Fig. 2, the bending machine in the present embodiment includes the robot 30 with spinfunction, installed in robot
Swan neck system 40 on 30, for the feed spool 10 to 40 colliery carries tubing 20 of swan neck system, detection means (not shown) with
And controller (not shown).
The control method of the bending machine of the present embodiment is used to control the bending machine shown in Fig. 2.Specifically it is situated between with reference to Fig. 1
The control process of the control method of the bending machine continued in the present embodiment.
First, pre-treatment step is carried out, in pre-treatment step, detects whether be equipped with feed spool 10 using detection means
Tubing 20, if tubing 10, perform detection step are equipped with feed spool 10, if it is not, continuing waiting for until detecting
Tubing 20 is housed on feed spool 10.Pre-treatment step is set between detecting step, realizes that full-automatic offer must for bending machine
The preparation wanted.
When detect on feed spool 10 have tubing 10 after, carry out detecting step.During detecting step is carried out, profit
With the length of the tubing 20 on the detection means detection feed spool 10 of bending machine, judged after the length for having detected tubing 20
Execution step.
Judge that the specific operation process of execution step is as follows：
The numerical value that detection means is detected is compared with preset value, if the length of tubing 20 is more than or equal to default
Value, then be located remotely from each other using the controller control feed spool 10 of bending machine and between robot 30, make what feed spool 10 was conveyed
The end of tubing 20 successfully can be ridden upon 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 close to each other between control feed spool 10 and robot 30, makes what feed spool 10 was conveyed
The end of tubing 20 successfully can be ridden upon on the swan neck system 40 of bending machine, until bending machine completes bend pipe operation.
It can be seen that, the control method of bending machine of the invention, controller can be according to the length adjustment machines of tubing 20
The distance between people 30 and feed spool 10, can adapt to the tubing 20 of different length, be easy to carry out the tubing 20 of different length
Bend pipe operation, improves the adaptability of bending machine in the present embodiment to the tubing 20 of different length, and control logic is simply and just
In realization.
In execution step is judged, preset value is 1m, is easy to the control to bending machine, nothing are realized on existing bending machine
Bending machine need to be improved, can greatly lower the bend pipe cost of enterprise.
Preferably, in execution step is judged, if the length of tubing 20 is more than or equal to preset value, control feed spool
10 move to the direction away from robot 30.In the present embodiment, the distance of the 30 relative motion of feed spool 10 of robot is usual only
There is 1m, and the stroke opposed robots 30 of feed spool 10 are much bigger, in order to adapt to longer tubing 20, therefore, work as tubing
20 more than preset value when, move to the direction away from robot 30 using controller control feed spool 10, is easy to make bending machine suitable
Answer longer tubing 20.
Preferably, in execution step is judged, if the length of tubing 20 is less than preset value, control robot 30 is to leaning on
The direction motion of nearly feed spool 10, can effectively improve the bend pipe efficiency of bending machine.
In execution step is judged, after controller controls robot 30 and relative motion feed spool 10 occurs, and detect
To tubing 20 two ends be separately fixed between robot 30 and feed spool 10 after, then using controller control bending machine perform it is curved
Pipe operation, until bending machine completes bend pipe operation.Specifically, rotated using controller control robot 30, and then driven curved
The swan neck system 40 of pipe machine carries out bend pipe operation.
Preferably, also including post-processing step after execution step is judged：Unclamped using controller control feed spool 10
Tubing 20, and control robot 30 tubing 20 is moved to into specified location.
Preferably, the robot 30 in the present embodiment is six-joint robot, and floor space is little, simple structure, is easy to control.
As depicted in figs. 1 and 2, when pipe length is detected less than 1m, feed spool 10 plays fixed tubing 20,
Bent tube technique is made up of 30 forward rotation of robot and 40 bend pipe action of swan neck system.It is more than or equal to when 20 length of tubing is detected
During 1m, bent tube technique is advanced by feed spool 10, and the rotation of robot 30 and 40 bend pipe action of swan neck system are constituted.Control by more than
System, just completes the design of self-adapting tube length.
Fig. 2 show the structure chart of self adaptation bend pipe length robot proposed by the present invention bending machine, mainly may include：Six
Axle robot 30, swan neck system 40, feed spool 10, automatic charging device (not shown), detection means 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 40 opposite of swan neck system, in 90 ° therewith
Angle.Tubing 20 can be fixed and be unclamped to feed spool 10 by opening and closing, before the control tubing 20 that moves forward and backward
Enter and retreat.This equipment is realized carrying out Unmanned operation, can select suitable motion mode according to pipe length, motion mode is entered
The process of row optimization, substantially increases sport efficiency, the bent tube technique of different length pipe material product can be met on uniform machinery.
Automatic charging device is common automatic charging device.
Specific embodiment is as follows：
(1) automatic charging device delivers to tubing 20 on feed spool 10, the closure angle of feed spool 10 tubing 20；
(2) program judges pipe length according to the bend pipe data of tubing 20.When pipe length is less than 1m, execution step
And (4) (3)；When 20 length of tubing is more than or equal to 1m, execution step (5) and (6).
(3) six-joint robot moves to the opposite side of tubing 20, is advanced by six-joint robot, and rotation and swan neck system 40 are curved
Pipe, carries out bend pipe action.
(4), after completing bend pipe operation, feed spool 10 is opened and unclamps tubing 20, is clamped tubing 20 by six-joint robot and is moved to finger
Positioning is put, and then automatic charging device then send next 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 bend pipe
40 bend pipe of device, carries out bend pipe action.
(6), after completing bend pipe operation, feed spool 10 is opened and unclamps tubing 20, is clamped tubing 20 by six-joint robot and is moved to finger
Positioning is put, and then automatic charging device then send next tubing 20.
As can be seen from the above description, the above embodiments of the present invention realize following technique effect:
1st, degree of intelligence is high, is advanced by robot and cooperation that feed spool advances, self adaptation different length tubing it is curved
Pipe molding, can meet the bend pipe demand of different length tubing, applied widely.
2nd, efficiency high, has merged the advantage of general elbow machine and robot bending machine.
3rd, the range of movement of robot bending machine is expanded, bend pipe can be carried out to long tubing.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of control method of bending machine, it is characterised in that include successively：
Detecting step：Using the length of the tubing (20) in detection means detection feed spool (10) of bending machine；
Judge execution step：If the length of the tubing (20) is more than or equal to preset value, using the controller of bending machine
Control to be located remotely from each other between the feed spool (10) and the robot (30) of the bending machine；If the length of the tubing (20)
Less than the preset value, then control close to each other between the feed spool (10) and the robot (30)；
In the judgement execution step, if the length of the tubing (20) is more than or equal to the preset value, using institute
State the controller control feed spool (10) to move to the direction away from the robot (30).
2. the control method of bending machine according to claim 1, it is characterised in that before the detecting step, described
The control method of bending machine also includes pre-treatment step：Detect whether be equipped with the feed spool (10) using the detection means
The tubing (20), if then performing the detecting step, if it is not, continuing waiting for until detecting the feed spool
(10) tubing (20) is housed on.
3. the control method of bending machine according to claim 1, it is characterised in that in the judgement execution step, institute
Preset value is stated for 1m.
4. the control method of bending machine according to claim 1, it is characterised in that in the judgement execution step, such as
The length of really described tubing (20) is less than the preset value, then control the robot (30) near institute using the controller
State the direction motion of feed spool (10).
5. the control method of bending machine according to claim 1, it is characterised in that in the judgement execution step, utilizes
The controller controls the robot (30) and the feed spool (10) occurs relative motion, and is detecting the tubing
(20) after two ends are fixed respectively, then the bending machine is controlled using the controller and perform bend pipe operation.
6. the control method of bending machine according to claim 5, it is characterised in that perform the bend pipe in the bending machine
During operation, robot (30) rotation is controlled using the controller, make the swan neck system (40) of the bending machine
Carry out bend pipe operation.
7. the control method of bending machine according to claim 1, it is characterised in that after the judgement execution step also
Including post-processing step：The feed spool (10) is controlled using the controller and unclamps the tubing (20), and control the machine
The tubing (20) is moved to specified location by device people (30).
8. the control method of bending machine according to any one of claim 1 to 7, it is characterised in that the robot
(30) it 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 CN104690122A (en) | 2015-06-10 |
| CN104690122B true CN104690122B (en) | 2017-04-12 |
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ID=53337888
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510132845.0A Active CN104690122B (en) | 2015-03-25 | 2015-03-25 | Control method of pipe bender |
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| Country | Link |
|---|---|
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| 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 |
-
2015
- 2015-03-25 CN CN201510132845.0A patent/CN104690122B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
|---|---|
| CN104690122A (en) | 2015-06-10 |
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