CN111389975A - Full-automatic robot pipe bending system - Google Patents
Full-automatic robot pipe bending system Download PDFInfo
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- CN111389975A CN111389975A CN202010191470.6A CN202010191470A CN111389975A CN 111389975 A CN111389975 A CN 111389975A CN 202010191470 A CN202010191470 A CN 202010191470A CN 111389975 A CN111389975 A CN 111389975A
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- Prior art keywords
- pipe
- machine body
- guide rod
- plug
- rods
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
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- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/16—Advancing work in relation to the stroke of the die or tool by gravity, e.g. chutes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a full-automatic robot pipe bending system, which comprises a pipe conveyor, wherein a detection assembly capable of detecting a welding line of a pipe is arranged on the pipe conveyor, a pipe bending forming machine is arranged on one side of the pipe conveyor, a material taking assembly capable of grabbing the pipe on the pipe conveyor and conveying the pipe into the pipe bending forming machine for pipe bending is arranged on one side of the pipe bending forming machine, the full-automatic robot pipe bending system also comprises a mechanical arm controller and a control unit, the pipe is placed into the pipe conveyor and then conveyed one by one, the welding line of the pipe is detected and identified through the detection assembly, after the detection and identification are finished, the pipe is clamped and conveyed into the pipe bending forming machine through the material taking assembly, the pipe is clamped through the material taking assembly and works in cooperation with the pipe bending forming machine, and the quick bending forming of the pipe is realized, so that the high-efficiency and low-cost continuous production is, meets the requirement of high-efficiency production.
Description
Technical Field
The invention relates to the field of pipe machining and manufacturing, in particular to a full-automatic robot pipe bending system.
Background
In the production and processing of pipes, the pipe bending processing and the forming processing are the most common processing methods in the market at present. The pipe bending and forming equipment in the market at present is single-stage equipment, and each process all needs the manual work to be accomplished, and every completion process needs to pick up, store and transport the material, and such production mode manufacturing cost is high, and production efficiency is low, and the quality of product can not obtain effectual control to need a large amount of personnel to produce, manufacturing cost is high, and the shared place of equipment and personnel is big.
Therefore, it is desirable to provide a fully automatic robot pipe bending system to solve this problem.
Disclosure of Invention
The invention aims to provide a vehicle-mounted charging head with an angle capable of being adjusted at will.
In order to achieve the purpose, the invention adopts the following scheme:
a full-automatic robot pipe bending system comprises a pipe conveyor, wherein a detection assembly capable of detecting welding seams of pipes is arranged on the pipe conveyor, a pipe bending forming machine is arranged on one side of the pipe conveyor, a material taking assembly capable of grabbing the pipes on the pipe conveyor and conveying the pipes into the pipe bending forming machine for pipe bending is arranged on one side of the pipe bending forming machine, the full-automatic robot pipe bending system further comprises a mechanical arm controller and a control unit, the pipes are placed into the pipe conveyor and are conveyed one by one, the welding seams of the pipes are detected and identified through the detection assembly, after the detection and identification are completed, the pipes are clamped and conveyed into the pipe bending forming machine through the material taking assembly, the pipes are clamped through the material taking assembly to be matched with the pipe bending forming machine to work, the quick bending forming of the pipes is realized, and the high efficiency and low cost continuous production is realized, meets the requirement of high-efficiency production.
Further, the pipe conveyor comprises a machine body, a conveying sloping table is arranged on the machine body and inclines backwards from front to back, longitudinal guide rods are arranged on the machine body on the left side and the right side of the rear portion of the conveying sloping table, each longitudinal guide rod is a sloping rod, the interval between the lower end face of each longitudinal guide rod and the upper end face of the conveying sloping table is larger than the diameter of one pipe and smaller than the diameter of two pipes, a gap is arranged between the rear side of the conveying sloping table and the machine body, telescopic electric push rods capable of pushing up the pipes are symmetrically arranged in the gap from left to right, guide rods are symmetrically arranged on the machine body on the rear side of the gap from left to right, the upper end faces of the guide rods are inclined planes, arc-shaped grooves for supporting the pipes are arranged on the guide rods on the left side, first air cylinders are arranged on the guide rods on the left side, and first inserting connectors capable of being inserted with, the pipe jacking device is characterized in that a first motor is arranged on a guide rod on the right side, a second plug-in connector is arranged on a motor shaft of the first motor, the axle centers of the first plug-in connector and the second plug-in connector coincide with the axle center of the arc-shaped groove, the detection assembly is arranged on the guide rod under the arc-shaped groove, a pipe is placed on the conveying sloping table, the pipe slides towards the rear side through the inclination of the conveying sloping table, only one pipe can pass through the longitudinal guide rod when passing through the longitudinal guide rod, then the pipe is jacked upwards through the telescopic electric ejector rod, the longitudinal guide rod is the sloping rod in the jacking process, the pipe moves upwards while being guided towards the guide rod on the rear side through the inclination of the sloping rod, the pipe gradually approaches the guide rod and finally falls onto the guide rod, meanwhile, the pipe slides into the arc-shaped groove through the inclined surface on the upper end surface of the guide rod, and the first plug-in connector is driven, make tubular product insert in the first bayonet joint simultaneously with push up the other end of tubular product in the second bayonet joint, then it is rotatory to drive the second bayonet joint through first motor, make tubular product rotatory, in the rotatory in-process of tubular product, carry out the welding seam discernment to tubular product through detecting component, after the discernment is accomplished, take away tubular product through getting the material subassembly, data is given the control unit to detection structure transport through detecting component, the control unit control is got the direction that the material subassembly removed tubular product, detect not passing the pass and then put into the pending district with tubular product through getting the material subassembly, detect passing the pass and then send tubular product to the return bend make-up machine in with getting the material subassembly and carry out the return bend, realize high-efficient return bend and reduce labour's the payment simultaneously, and the production efficiency is improved, the processing.
Further, the pipe conveyor comprises a machine body, a conveying sloping table is arranged on the machine body and inclines from front to back, a movable guide rod is transversely arranged above the conveying sloping table, a movable partition plate is inserted into the movable guide rod, longitudinal guide rods are respectively arranged on the left side and the right side of the rear side of the conveying sloping table, the longitudinal guide rods are sloping rods, one longitudinal guide rod is fixedly arranged on the inner wall of the right side of the machine body, the other longitudinal guide rod is arranged on the wall surface of the right side of the movable partition plate, the two longitudinal guide rods correspond to each other, the interval between the lower end surface of each longitudinal guide rod and the upper end surface of the conveying sloping table is larger than the diameter of one pipe and smaller than the diameter of the two pipes, a gap is arranged between the rear side of the conveying sloping table and the machine body, an installation connecting rod is arranged on the movable partition plate above the gap and extends into the gap, telescopic electric push rods capable of upwards pushing the pipes are symmetrically arranged in, one of the telescopic electric ejector rods is fixed on the machine body on the right side, the other telescopic electric ejector rod is installed on the installation connecting rod through the connecting rod, guide rods are symmetrically arranged on the machine body on the rear side of the gap in the left-right direction, the upper end face of each guide rod is an inclined plane, one of the guide rods is fixed on the machine body on the right side, the other guide rod is installed on the movable partition plate through an installation seat, an arc-shaped groove for supporting a pipe is arranged on each guide rod, a first air cylinder is installed on each installation seat, a first plug-in connector capable of being plugged in the pipe is installed on a piston rod of each first air cylinder, a first motor is installed on the guide rod on the right side, a second plug-in connector is arranged on a motor shaft of each first motor, the shaft centers of the first plug-in connector and the second plug-in connector are overlapped, through the setting of removing the baffle, can carry out the condition to removing the baffle according to the length of tubular product, the tubular product of the multiple size of being convenient for is carried, and the suitability is high, reduces the machine cost, accords with the processing demand.
Further, the detection component comprises a light sensation identifier arranged on the guide rod under the arc-shaped groove, the light sensation identifier is wirelessly connected with the control unit, the pipe is identified in the pipe rotating process through the light sensation identifier, the structure is simple, the detection is convenient, the production requirement is met, and the quality of the pipe is ensured simultaneously.
Further, get the material subassembly including six manipulators install the gas claw on the six manipulators, six manipulators and manipulator controller wireless connection, gas claw and the control unit wireless connection drive the gas claw through six manipulators and remove, and the gas claw is responsible for snatching tubular product, simple structure, and efficiency is high-efficient, and six manipulators realize the multi-angle, and omnidirectional position removes, and high-efficient return bend improves production efficiency.
Preferably, the pipe clamping block is arranged on the grabbing clamp of the air claw, and the grabbing of the air claw is firmer and more stable in the pipe grabbing process through the pipe clamping block.
Further, the return bend make-up machine is including the host computer body be equipped with the return bend board on the host computer body, the return bend board with the control unit wireless connection, this return bend make-up machine can adopt the product of selling on the market, drive the gas claw through six manipulators and remove, the gas claw is responsible for snatching tubular product, with the return bend board department that tubular product sent, six manipulators cooperation return bend board work, carry out the return bend, improve return bend efficiency, realize full-automatic return bend simultaneously, accord with the production demand.
Preferably, get material subassembly one side and be equipped with the blowing frame, can be after tubular product return bend shaping, six manipulators drive tubular product and remove, place tubular product on the blowing frame, realize accomodating the tubular product after the production is accomplished.
Preferably, the front side of the movable partition plate is provided with an insertion plate, the insertion plate is inserted below the machine body, the insertion plate and the mounting connecting rod are provided with transverse connecting rods, the insertion plate is provided with a guide block, the machine body is transversely provided with guide columns, and the guide blocks are sleeved on the guide columns, so that the movable partition plate is more stable and firm in whole.
In summary, compared with the prior art, the invention has the beneficial effects that:
according to the invention, the pipes are placed into the pipe conveyor and are conveyed one by one, the detection assembly is used for detecting and identifying the welding seams of the pipes, after the detection and identification are completed, the pipes are clamped and conveyed into the elbow forming machine through the material taking assembly, and the pipes are clamped through the material taking assembly and matched with the elbow forming machine to work, so that the pipes are quickly bent and formed, the high-efficiency and low-cost continuous production is realized, and the requirement of high-efficiency production is met.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of one of the tube conveyors of the present invention;
FIG. 3 is a second perspective view of the tube conveyor of the present invention;
FIG. 4 is a third perspective view of the pipe conveyor of the present invention;
FIG. 5 is a fourth perspective view of the tube conveyor of the present invention;
FIG. 6 is a perspective view of a take-off assembly of the present invention;
FIG. 7 is a perspective view of a pipe bending machine according to one embodiment of the present invention;
fig. 8 is a second perspective view of the elbow forming machine of the present invention.
The following are the reference number descriptions;
1. a pipe conveyor; 191. a detection component; 3. a pipe bending forming machine; 2. a material taking assembly; 5. a manipulator controller; 6. a control unit; 120. a body; 107. a conveying ramp; 12. a movable guide bar; 11. moving the partition plate; 102. a longitudinal guide bar; 108. a gap; 103. installing a connecting rod; 109. an electric mandril is stretched; 15. a guide bar; 16. an arc-shaped groove; 100. a first cylinder; 10. a first plug-in connector; 18. a first motor; 17. a second plug-in connector; 19. a light sensation identifier; 21. a six-axis manipulator; 22. a pneumatic claw; 23. a pipe clamping block; 31. a main body; 32. a pipe bending machine station; 4. a material placing frame; 13. a plugboard; 104. a transverse connecting rod; 106. a guide block; 105. and a guide post.
Detailed Description
The invention will be further described with reference to the following description and embodiments in conjunction with the accompanying drawings:
as shown in fig. 1 to 8, a full-automatic robot pipe bending system comprises a pipe conveyor 1, a detection assembly 191 capable of detecting a welding seam of a pipe is arranged on the pipe conveyor 1, a pipe bending forming machine 3 is arranged on one side of the pipe conveyor 1, a material taking assembly 2 capable of grabbing the pipe on the pipe conveyor 1 and conveying the pipe into the pipe bending forming machine 3 for pipe bending is arranged on one side of the pipe bending forming machine 3, the full-automatic robot pipe bending system further comprises a manipulator controller 5 and a control unit 6, the pipe is placed into the pipe conveyor and conveyed one by one, the welding seam of the pipe is detected and identified through the detection assembly, after the detection and identification are completed, the pipe is clamped and conveyed into the pipe bending forming machine through the material taking assembly, the pipe is clamped through the material taking assembly and matched with the pipe bending forming machine to work, so as to realize rapid bending and forming of the pipe, therefore, the continuous production with high efficiency and low cost is realized, and the requirement of high-efficiency production is met.
As shown in fig. 1 to 8, the pipe conveyor 1 includes a machine body 120, a conveying ramp 107 is provided on the machine body 120, the conveying ramp 107 is inclined from front to back, longitudinal guide rods 102 are provided on the machine body 120 on the left and right sides behind the conveying ramp 107, the longitudinal guide rods 102 are inclined rods, the distance between the lower end surface of the longitudinal guide rod 102 and the upper end surface of the conveying ramp 107 is larger than the diameter of one pipe and smaller than the diameters of two pipes, a gap 108 is provided between the rear side of the conveying ramp 107 and the machine body 120, telescopic electric push rods 109 capable of pushing up the pipe are symmetrically provided in the gap 108 in the left and right direction, guide rods 15 are symmetrically provided on the machine body on the rear side of the gap 108 in the left and right direction, the upper end surface of the guide rod 15 is an inclined surface, an arc-shaped groove 16 for supporting the pipe is provided on the guide rod 15, a first air cylinder 100 is mounted on the, a first plug-in connector 10 capable of being plugged with a pipe is arranged on a piston rod of the first air cylinder 100, a first motor 18 is arranged on a guide rod 15 on the right side, a second plug-in connector 17 is arranged on a motor shaft of the first motor 18, the axle centers of the first plug-in connector 10 and the second plug-in connector 17 are overlapped with the axle center of an arc groove 16, the detection component 191 is arranged on the guide rod 15 right below the arc groove 16, the pipe is placed on the conveying inclined table, the pipe slides towards the rear side through the inclination of the conveying inclined table, only one pipe passes through the longitudinal guide rod 102 when passing through the longitudinal guide rod 102, then the pipe is jacked upwards through the telescopic electric ejector rod 109, the longitudinal guide rod 102 is an inclined rod in the jacking process, the pipe moves upwards while guiding the flow of the guide rod 15 on the rear side through the inclination of the inclined rod, so that the pipe gradually falls close to the guide rod 15 and finally falls onto the guide rod 15, meanwhile, the upper end surface of the guide rod 15 is an inclined surface, so that the pipe slides into the arc-shaped groove 16, the first air cylinder drives the first plug connector to move, the pipe is inserted into the first plug connector, the other end of the pipe is pushed into the second plug connector, the second plug connector is driven to rotate through the first motor, the pipe rotates, the pipe is identified through the detection assembly in the rotating process, after the pipe is identified, the pipe is taken away through the material taking assembly, data is transmitted to the control unit through the detection structure of the detection assembly, the control unit controls the moving direction of the pipe by the material taking assembly, the pipe is placed into a region to be processed through the material taking assembly when the detection is not passed, the pipe is sent into the pipe bending forming machine 3 through the material taking assembly to be bent when the detection is passed, the high-efficiency pipe bending is realized, the labor force is reduced, and the production efficiency is improved, the processing requirements are met.
As shown in fig. 1 to 8, the pipe conveyor 1 includes a machine body 120, a conveying ramp 107 is provided on the machine body 120, the conveying ramp 107 inclines from front to back, a movable guide rod 12 is transversely provided above the conveying ramp 107, a movable partition 11 is inserted into the movable guide rod 12, longitudinal guide rods 102 are respectively provided on the left and right sides of the rear side of the conveying ramp 107, the longitudinal guide rods 102 are inclined rods, one longitudinal guide rod 102 is fixedly provided on the inner wall of the right side of the machine body 120, the other longitudinal guide rod 102 is provided on the wall of the right side of the movable partition 11, the two longitudinal guide rods 102 correspond to each other, the interval between the lower end surface of the longitudinal guide rod 102 and the upper end surface of the conveying ramp 107 is larger than the diameter of one pipe and smaller than the diameter of two pipes, a gap 108 is provided between the rear side of the conveying ramp 107 and the machine body 120, a mounting link 103 is provided on the movable partition 11 above the gap, the mounting connecting rod 103 extends into the gap 108, telescopic electric push rods 109 capable of jacking the pipe upwards are symmetrically arranged in the gap 108 in the left and right direction, one telescopic electric push rod 109 is fixed on the machine body 120 on the right side, the other telescopic electric push rod 109 is mounted on the mounting connecting rod 103 through a connecting rod 110, guide rods 15 are symmetrically arranged on the machine body on the rear side of the gap 108 in the left and right direction, the upper end surface of each guide rod 15 is an inclined surface, one guide rod 15 is fixed on the machine body 120 on the right side, the other guide rod 15 is mounted on the movable partition plate 11 through a mounting seat 101, an arc-shaped groove 16 for supporting the pipe is arranged on each guide rod 15, a first air cylinder 100 is mounted on the mounting seat 101, a first plug 10 capable of being plugged with the pipe is mounted on a piston rod of the first air cylinder 100, a first motor 18 is mounted on the guide rod 15 on the right side, a second plug 17 is arranged on a, the axle center of first bayonet joint 10 and second bayonet joint 17 coincides with the axle center of arc recess 16, detecting component 191 installs on guide bar 15 under arc recess 16, through the setting of removing the baffle, can carry out the condition to removing the baffle according to the length of tubular product, and the tubular product of the multiple size of being convenient for is carried, and the suitability is high, reduces machine cost, accords with the processing demand.
As shown in fig. 1 to 8, the detecting component 191 includes the light sensation identifier 19 arranged on the guide rod 15 right below the arc-shaped groove 16, the light sensation identifier 19 is wirelessly connected with the control unit 6, and the pipe is identified in the rotating process of the pipe through the light sensation identifier, so that the structure is simple, the detection is convenient, the production requirement is met, and meanwhile, the quality of the pipe is ensured.
As shown in fig. 1 to 8, get material subassembly 2 including six manipulators 21 install gas claw 22 on the six manipulators 21, six manipulators 21 and 5 wireless connection of manipulator controller, gas claw 22 and 6 wireless connection of the control unit drive the gas claw through six manipulators and remove, and the gas claw is responsible for snatching tubular product, simple structure, and efficiency is high-efficient, and six manipulators realize the multi-angle, and omnidirectional position removes, and high-efficient return bend improves production efficiency.
As shown in fig. 1 to 8, a tube clamping block 23 is mounted on the grasping clamp of the air claw 22, and the tube clamping block 23 can ensure that the air claw can grasp a tube more firmly and stably in the tube grasping process.
As shown in fig. 1 to 8, the elbow forming machine 3 includes a main machine body 31, an elbow machine table 32 is arranged on the main machine body 31, the elbow machine table 32 is wirelessly connected with a control unit 6, the elbow forming machine can adopt a commercially available product, a pneumatic claw is driven by a six-axis manipulator to move, the pneumatic claw is responsible for grabbing a pipe, the pipe is conveyed to the elbow machine table, the six-axis manipulator is matched with the elbow machine table to work, the pipe is bent, the pipe bending efficiency is improved, meanwhile, full-automatic pipe bending is realized, and the production requirements are met.
As shown in fig. 1 to 8, get material subassembly 2 one side and be equipped with blowing frame 4, be equipped with the blowing frame, can be after tubular product return bend shaping, six manipulators drive tubular product and remove, place tubular product on the blowing frame, realize accomodating the tubular product after the production is accomplished.
As shown in fig. 1 to 8, a plug board 13 is disposed at the front side of the movable partition 11, the plug board 13 is inserted below the machine body 120, the transverse connecting rod 104 is mounted on the plug board 13 and the mounting connecting rod 103, the plug board 13 is provided with a guide block 106, the machine body 120 is transversely provided with a guide post 105, and the guide block 106 is sleeved on the guide post 105, so that the movable partition is more stable and firm as a whole.
While there have been shown and described the fundamental principles and principal features of the invention and advantages thereof, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are given by way of illustration of the principles of the invention, but is susceptible to various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a full-automatic robot pipe bending system which characterized in that: including tubular product conveyer (1) be equipped with on tubular product conveyer (1) and carry out detection subassembly (191) that the welding seam detected to tubular product conveyer (1) one side is equipped with return bend make-up machine (3) one side is equipped with and can snatch tubular product on tubular product conveyer (1) and send to return bend make-up machine (3) in carry out the material subassembly (2) of getting of return bend, full-automatic robot return bend system still includes mechanical hand controller (5) and the control unit (6).
2. The full-automatic robot pipe bending system according to claim 1, wherein the pipe conveyor (1) comprises a machine body (120), a conveying sloping table (107) is arranged on the machine body (120), the conveying sloping table (107) inclines from front to back, longitudinal guide rods (102) are arranged on the machine body (120) on the left side and the right side behind the conveying sloping table (107), the longitudinal guide rods (102) are sloping rods, the interval between the lower end surface of the longitudinal guide rod (102) and the upper end surface of the conveying sloping table (107) is larger than the diameter of one pipe and smaller than the diameter of two pipes, a gap (108) is arranged between the rear side of the conveying sloping table (107) and the machine body (120), telescopic electric push rods (109) capable of pushing up the pipes are symmetrically arranged on the left and right in the gap (108), guide rods (15) are symmetrically arranged on the machine body on the rear side of the gap (108), the detection device is characterized in that the upper end face of the guide rod (15) is an inclined plane, an arc-shaped groove (16) for supporting a pipe is formed in the guide rod (15), a first air cylinder (100) is installed on the guide rod (15) on the left side, a first plug-in connector (10) capable of being plugged with the pipe is installed on a piston rod of the first air cylinder (100), a first motor (18) is installed on the guide rod (15) on the right side, a second plug-in connector (17) is arranged on a motor shaft of the first motor (18), the axle centers of the first plug-in connector (10) and the second plug-in connector (17) are overlapped with the axle center of the arc-shaped groove (16), and the detection component (191) is installed on the guide rod (15) under the arc-shaped groove (.
3. The full-automatic robot pipe bending system according to claim 1, wherein the pipe conveyor (1) comprises a machine body (120), a conveying ramp (107) is arranged on the machine body (120), the conveying ramp (107) is inclined from front to back, movable guide rods (12) are transversely arranged above the conveying ramp (107), a movable partition plate (11) is inserted into the movable guide rods (12), longitudinal guide rods (102) are respectively arranged on the left side and the right side of the rear side of the conveying ramp (107), the longitudinal guide rods (102) are inclined rods, one longitudinal guide rod (102) is fixedly arranged on the inner wall of the right side of the machine body (120), the other longitudinal guide rod (102) is arranged on the wall surface of the right side of the movable partition plate (11), the two longitudinal guide rods (102) correspond to each other, the interval between the lower end surface of the longitudinal guide rod (102) and the upper end surface of the conveying ramp (107) is larger than the diameter of one pipe and smaller than the diameters of the two pipes, a gap (108) is arranged between the rear side of the conveying sloping table (107) and the machine body (120), mounting connecting rods (103) are arranged on the movable partition plate (11) above the gap (108), the mounting connecting rods (103) extend into the gap (108), telescopic electric ejector rods (109) capable of jacking pipes upwards are symmetrically arranged in the gap (108) in the left-right direction, one telescopic electric ejector rod (109) is fixed on the machine body (120) on the right side, the other telescopic electric ejector rod (109) is arranged on the mounting connecting rod (103) through a connecting rod (110), guide rods (15) are symmetrically arranged on the machine body on the rear side of the gap (108) in the left-right direction, the upper end surfaces of the guide rods (15) are inclined planes, one guide rod (15) is fixed on the machine body (120) on the right side, the other guide rod (15) is arranged on the movable partition plate (11) through a mounting seat (101), the pipe fitting detection device is characterized in that an arc-shaped groove (16) for supporting a pipe is formed in the guide rod (15), a first air cylinder (100) is installed on the installation seat (101), a first plug-in connector (10) capable of being plugged with the pipe is installed on a piston rod of the first air cylinder (100), a first motor (18) is installed on the guide rod (15) on the right side, a second plug-in connector (17) is arranged on a motor shaft of the first motor (18), the shaft centers of the first plug-in connector (10) and the second plug-in connector (17) coincide with the shaft center of the arc-shaped groove (16), and the detection component (191) is installed on the guide rod (15) under the arc-shaped groove (16).
4. The fully automatic robotic elbow system according to any of claims 1-3, characterized in that the detection assembly (191) comprises a light-sensitive identifier (19) arranged on the guide bar (15) directly below the arc-shaped groove (16), the light-sensitive identifier (19) being wirelessly connected with the control unit (6).
5. The full-automatic robot pipe bending system according to any one of claims 1-3, wherein the material taking assembly (2) comprises a six-axis manipulator (21), a gas claw (22) is mounted on the six-axis manipulator (21), the six-axis manipulator (21) is wirelessly connected with a manipulator controller (5), and the gas claw (22) is wirelessly connected with the control unit (6).
6. The fully automatic robot pipe bending system according to claim 5, wherein a pipe clamping block (23) is mounted on the gripping clamp of the air claw (22).
7. The fully automatic robot pipe bending system according to any one of claims 1-3, wherein the pipe bending machine (3) comprises a main body (31), a pipe bending machine (32) is disposed on the main body (31), and the pipe bending machine (32) is wirelessly connected to the control unit (6).
8. A fully automatic robotic pipe bending system according to any of claims 1-3, wherein a discharge rack (4) is provided at one side of the take-out assembly (2).
9. The full-automatic robot pipe bending system according to claim 3, wherein a plug board (13) is arranged at the front side of the movable partition board (11), the plug board (13) is inserted below the machine body (120), a transverse connecting rod (104) is arranged on the plug board (13) and the mounting connecting rod (103), a guide block (106) is arranged on the plug board (13), a guide column (105) is transversely arranged on the machine body (120), and the guide block (106) is sleeved on the guide column (105).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191470.6A CN111389975A (en) | 2020-03-18 | 2020-03-18 | Full-automatic robot pipe bending system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191470.6A CN111389975A (en) | 2020-03-18 | 2020-03-18 | Full-automatic robot pipe bending system |
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| CN111389975A true CN111389975A (en) | 2020-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010191470.6A Pending CN111389975A (en) | 2020-03-18 | 2020-03-18 | Full-automatic robot pipe bending system |
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| CN (1) | CN111389975A (en) |
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| CN111922145A (en) * | 2020-09-07 | 2020-11-13 | 山东龙口油管有限公司 | Bending and forming equipment for high-pressure oil pipe of engine |
| TWI740792B (en) * | 2021-03-15 | 2021-09-21 | 銧榮興業有限公司 | Intelligent manufacturing method of bent pipe |
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