CN113020354A - Pipe fitting forming processing method and forming device for pre-welded branch pipe - Google Patents

Pipe fitting forming processing method and forming device for pre-welded branch pipe Download PDF

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Publication number
CN113020354A
CN113020354A CN202110231203.1A CN202110231203A CN113020354A CN 113020354 A CN113020354 A CN 113020354A CN 202110231203 A CN202110231203 A CN 202110231203A CN 113020354 A CN113020354 A CN 113020354A
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China
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pipe
bending
clamping
rotating shaft
forming
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CN202110231203.1A
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CN113020354B (en
Inventor
刘春梅
郭训忠
黄祖树
郑�硕
程诚
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
    • 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
    • B21D43/003—Positioning devices
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention discloses a pipe fitting forming processing method and a forming device for a pre-welded branch pipe, which comprises the following steps: a pipe bending robot and a clamping rotating device; the tail end bending forming device is used for bending and forming the tube blank according to a system instruction, the clamping and rotating device comprises a clamping device, a first rotating shaft and a second rotating shaft, the clamping device is installed on the second rotating shaft, the second rotating shaft can drive the clamping device to rotate around a horizontal axis, the first rotating shaft can drive the second rotating shaft and the clamping device to rotate around a vertical axis together, the clamping device is used for clamping a main tube of the tube blank, and the first rotating shaft and the second rotating shaft are matched with the tube bending robot to adjust the position and the posture of the tube blank and rotate in a linkage manner; the problem of integral bending forming of a component with a plurality of branch branches is solved; the economic benefit is obvious, and high efficiency has realized intelligent bending.

Description

Pipe fitting forming processing method and forming device for pre-welded branch pipe
Technical Field
The invention relates to the technical field of elbow forming, in particular to a method and a device for forming and processing a pipe fitting of a pre-welded branched branch pipe based on a digital intelligent robot.
Background
At present, the automatic forming equipment of pipe bending processing is numerical control bending machine usually to often be the bending of single tube and take shape in the tubular product forming process, follow-up mode such as adopting the joint or welding through the manual work to connect.
The structure of the existing numerical control pipe bender enables a pipe fitting to be formed by single bending at a time, and the pipe fitting with a plurality of pre-welded branch pipes cannot be formed at one time, and each part still needs to be pre-bent and formed firstly, and then the branch pipes are connected manually in a welding mode. If the main pipe configuration is too complex or the branch pipe needs to be welded inside the space configuration, the operation space required by the movement of the welding gun and the conveying of the welding rod cannot be met, so that the quality of a welding seam is poor, and even complete welding cannot be carried out.
Disclosure of Invention
The invention aims to provide a pipe fitting forming processing method and a pipe fitting forming device for a pre-welded branch pipe aiming at the defects of the prior art.
The invention adopts the following technical scheme:
a pipe forming and processing forming device for pre-welding branch pipes, wherein the pipe of the branch pipes comprises a main pipe, a plurality of branch pipes are pre-welded on the main pipe, and the device comprises: the pipe bending robot (1) and the clamping and rotating device (2); the pipe bending robot (1) comprises an industrial six-axis robot (11) and a tail end bending forming device (12), wherein the industrial six-axis robot (11) is used for controlling the position and the posture of the tail end bending forming device (12), the industrial six-axis robot (11) sends the tail end bending forming device (12) to a specified bending position according to a system instruction, the tail end bending forming device (12) is used for bending and forming a pipe blank (3) according to the system instruction, a clamping and rotating device (2) comprises a clamping device, a first rotating shaft (21) and a second rotating shaft (22), the clamping device is installed on the second rotating shaft (22), the second rotating shaft (22) can drive the clamping device to rotate around a horizontal axis, the first rotating shaft (21) can drive the second rotating shaft (22) and the clamping device to rotate together around a vertical axis, and the clamping device is used for clamping a main pipe of the pipe blank (3), the first rotating shaft (21) and the second rotating shaft (22) are matched with the pipe bending robot (1) to adjust the position and the posture of the pipe blank (3) and rotate in a linkage manner; after bending forming at each position is finished, the pipe bending robot (1) releases the pipe blank (3), and the clamping and rotating device (2) rotates the pipe blank (3) and adjusts the pipe blank to the next bending position; the pipe bending robot (1) bends the next part of the pipe blank (3).
According to the pipe fitting forming and processing forming device for the pre-welded branch pipe, the tail end bending forming device (12) is fixed on the industrial six-axis robot (11) in a threaded connection mode, the industrial six-axis robot (11) conveys the tail end bending forming device (12) to a specified position, and the tail end bending forming device (12) is used for bending and forming a pipe blank.
The pipe fitting forming and processing forming device for the pre-welded branched pipe is characterized in that a first rotating shaft (21) is vertical to the ground, and a second rotating shaft (22) is parallel to the ground and vertical to the first rotating shaft (21); the main pipe moves to a corresponding accurate position through the rotating motion of the first rotating shaft (21); and then, the second rotating shaft (22) rotates to enable the branch pipe to move to a position to be processed, and the branch pipe is linked with the pipe bending robot 1.
The pipe fitting forming processing method of any forming device comprises the following steps: the first rotating shaft (21) and the second rotating shaft (22) are matched with the pipe bending robot (1) to adjust the position and the posture of the pipe blank (3) and rotate in a linkage manner; after bending forming at each position is finished, the pipe bending robot (1) releases the pipe blank (3), and the clamping and rotating device (2) rotates the pipe blank (3) and adjusts the pipe blank to the next bending position; the pipe bending robot (1) bends the next part of the pipe blank (3).
The pipe fitting forming processing method specifically comprises the following steps:
s1, the pipe bending robot (1) conveys the pipe blank (3) with the branch pipes welded in advance to the clamping and rotating device (2), and the clamping and rotating device (2) clamps the pipe blank (3);
s2 clamping the first rotating shaft (21) and the second rotating shaft (22) of the rotating device (2) according to the required compositionThe two rotary shafts are respectively rotated in a specific direction by alpha1、β1Adjusting the position and the posture of the tube blank (3) to a state to be processed;
s3 the industrial six-axis robot (11) moves the end bending forming device (12) to one end of the tube blank (3), the clamping and rotating device 2 clamps the tube blank 3 and keeps the tube blank stationary, and the end bending forming device 12 bends the first partial main tube 31;
s4, after the bending forming of the first partial main pipe (31) is finished, the tail end bending forming device (12) is released and moves to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates the tube blank (3) in a specific direction alpha2The second rotating shaft (22) rotates in a specific direction beta2Moving the first branch pipe (32) to a designated position, and performing bending forming on the first branch pipe (32) by the pipe bending robot (1) in cooperation with the clamping and rotating device (2);
s5, after the bending forming of the first branch pipe (32) is finished, the tail end bending forming device (12) is released to move to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates along a specific direction3The second rotation axis (22) rotates in a specific direction beta3Adjusting the tube blank (3) to a specified position; the clamping and rotating device (2) is matched with the pipe bending robot (1) to bend and form the second part main pipe (33);
s6, after the bending forming of the second part main pipe (33) is finished, the tail end bending forming device (12) is released and moves to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates along a specific direction4The second rotation axis (22) rotates in a specific direction beta4Adjusting the pre-bent second branch pipe (34) to a designated position, and bending and forming the second branch pipe (34) by the clamping and rotating device (2) in cooperation with the pipe bending robot (1);
s7 after the bending forming of the tube blank (3) is finished, the clamping and rotating device (2) is released;
s8, the pipe bending robot (1) takes off the formed components, puts the components to a designated position, and then clamps, feeds and bends the next pipe blank (3).
The method for forming a pipe fitting, wherein the step S2:
the pipe bending robot (1) conveys the pre-welded pipe blank (3) to the clamping and rotating device (2), and the clamping and rotating device (2) clamps the pipe blank (3); the first rotating shaft (21) and the second rotating shaft (22) are both kept still, the rotating angle is 0 degrees, and the first branch pipe (32) of the tube blank (3) is in a posture vertical to the ground.
The method for forming a pipe fitting, wherein the step S4: the bending forming of the first part main pipe (31) is completed, and the tail end bending forming device (12) is released and moved to a designated position; a first rotating shaft (21) of the clamping and rotating device (2) rotates the tube blank (3) anticlockwise by 90 degrees, a second rotating shaft (22) rotates anticlockwise by 90 degrees, the first branch pipe (32) is made to be parallel to the tail end bending forming device (12), and the pipe bending robot (1) is matched with the clamping and rotating device (2) to bend and form the first branch pipe (32).
The method for forming a pipe fitting, wherein the step S5: after the bending forming of the first branch pipe (32) is finished, the tail end bending forming device (12) is released and moves to a designated position; a first rotating shaft (21) of the clamping rotating device (2) rotates 90 degrees clockwise, a second rotating shaft (22) rotates 140 degrees clockwise, and the tube blank (3) is adjusted to a specified position; the clamping and rotating device (2) is matched with the pipe bending robot (1) to bend and form the second part main pipe (33).
The method for forming a pipe fitting, wherein the step S6: after the bending forming of the second part main pipe (33) is finished, the tail end bending forming device (12) is released and moves to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates clockwise by 90 degrees, the second rotating shaft (22) rotates anticlockwise by 140 degrees, the formed part is transferred to the upper left of the pipe bending robot (1), the pre-bent second branch pipe (34) is located in front of the pipe bending robot (1), the formed part is effectively prevented from interfering the branch pipe forming process, and the clamping and rotating device (2) is matched with the pipe bending robot (1) to bend and form the second branch pipe (34).
The invention has the beneficial effects that: 1) the problem of integral bending forming of a component with a plurality of branch branches is solved; 2) the intelligent bending forming device has obvious economic benefit and high efficiency, and realizes intelligent bending forming, including feeding and discharging by a robot and bending forming; 3) the forming process is optimized, and the complexity of the process flow is reduced; 4) the problems of development of special welding tool fixtures and difficulty in welding in complex shapes are solved, and the product research and development period is shortened; 5) the flexibility is high, and the complex bending component forming can be realized.
Drawings
FIG. 1 is a schematic structural diagram of a pipe bending robot according to the present invention;
FIG. 2 is a schematic view of the structure of the clamping and rotating device of the present invention;
FIG. 3 is a schematic structural view of a tube blank to be formed in the present invention;
FIG. 4 is a schematic view of the pipe blank clamping robot for pipe bending in the invention;
FIG. 5 is a schematic view of a first portion of a main tube being bent in accordance with the present invention;
FIG. 6 is a schematic diagram of the position and attitude adjustment of the first leg to be bent in the present invention;
FIG. 7 is a schematic view of a first leg bend forming of the present invention;
FIG. 8 is a schematic view of the adjustment of the position and attitude of the second portion main tube to be bent in the present invention;
FIG. 9 is a schematic view of a second partial main tube bending operation according to the present invention;
FIG. 10 is a schematic view showing the position and posture adjustment of the second branch pipe to be bent in the present invention;
FIG. 11 is a schematic view of a second branch pipe bend forming in the present invention;
FIG. 12 is a schematic structural view of a final formed member of the present invention;
in the figure: 1. a pipe bending robot, 11, an industrial six-axis robot, 12, a tail end bending forming device, 2, a clamping rotating device, 21, a first rotating shaft, 22, a second rotating shaft, 3, a pipe blank, 31, a first part main pipe, 32, a first branch pipe, 33, a second part main pipe and 34, a second branch pipe;
Detailed Description
The present invention will be described in detail with reference to specific examples.
FIG. 1 is a schematic view showing the structure of a pipe bending robot according to the present invention, FIG. 2 is a schematic view showing the structure of a holding and rotating means according to the present invention, FIG. 3 is a schematic view showing the structure of a pipe blank to be formed according to the present invention, FIG. 4 is a schematic view showing the holding and holding of the pipe blank by the pipe bending robot according to the present invention, FIG. 5 is a schematic view showing the bending and forming of a first partial main pipe according to the present invention, FIG. 6 is a schematic view showing the position and posture adjustment of a first branch pipe to be bent according to the present invention, FIG. 7 is a schematic view showing the bending and forming of a first branch pipe according to the present invention, FIG. 8 is a schematic view showing the position and posture adjustment of a second partial main pipe according to the present invention, FIG. 9 is a schematic view showing the, please refer to fig. 1 to 12.
A pipe forming and processing forming device for pre-welding a branched branch pipe comprises: the pipe bending robot 1 and the clamping and rotating device 2; the pipe bending robot 1 comprises an industrial six-axis robot 11 and a tail end bending forming device 12, wherein the industrial six-axis robot 11 is used for controlling the position and the posture of the tail end bending forming device 12, the industrial six-axis robot 11 sends the tail end bending forming device 12 to a specified bending position according to a system command, the tail end bending forming device 12 is used for bending and forming a pipe blank 3 according to the system command, a clamping and rotating device 2 comprises a clamping device, the pipe bending robot comprises a first rotating shaft 21 and a second rotating shaft 22, a clamping device is installed on the second rotating shaft 22, the second rotating shaft 22 can drive the clamping device to rotate around a horizontal axis, the first rotating shaft 21 can drive the second rotating shaft 22 and the clamping device to rotate around a vertical axis together, the clamping device is used for clamping a main pipe of a pipe blank 3, and the first rotating shaft 21 and the second rotating shaft 22 are matched with the pipe bending robot 1 to adjust the position and the posture of the pipe blank 3 and rotate in a linkage mode. After each bending forming at one position is completed, the pipe bending robot 1 releases the pipe blank 3, and the clamping and rotating device 2 rotates the pipe blank 3 to adjust to the next bending position. The bending robot 1 bends the next hollow shell 3.
The pipe bending robot 1 is divided into two parts: an industrial six-axis robot 11 and a distal end bending apparatus 12. The end bending forming device 12 is fixed to the industrial six-axis robot 11 by means of a screw connection. The industrial six-axis robot 11 conveys the end bending apparatus 12 to a predetermined position, and bends the blank tube by the end bending apparatus 12.
The clamping and rotating device 2 presents two rotation axes: a first rotating shaft 21 and a second rotating shaft 22. The first rotation axis 21 is perpendicular to the ground, and the second rotation axis 22 is parallel to the ground and perpendicular to the first rotation axis 21. By the rotational movement of the first rotation shaft 21, the main pipe is moved to the corresponding accurate position. Subsequently, the second rotating shaft 22 rotates to move the branch pipe to the position to be processed, and the branch pipe is linked with the pipe bending robot 1.
In a preferred embodiment, a method for forming a pipe fitting of a pre-welded branch pipe includes the following steps:
s1 is to weld the pipe material in advance by a welding robot, and weld a plurality of branch pipes in advance on the main pipe, to prepare the required tube blank 3 (fig. 3).
The S2 pipe bending robot 1 conveys the pre-welded pipe blank 3 to the holding and rotating device 2, and the holding and rotating device 2 clamps the pipe blank 3. The first and second rotating shafts 21 and 22 of the clamping and rotating device 2 can perform a rotational motion of 0 to 360 degrees, respectively. According to the required forming requirements, the first rotating shaft 21 and the second rotating shaft 22 are both kept stationary, the rotating angle is 0 degrees, and the first branch pipe 32 of the tube blank 3 is in a posture vertical to the ground (fig. 4, 5, 6).
S3 the industrial six-axis robot 11 moves the end bending apparatus 12 to one end of the raw pipe 3, clamps the raw pipe 3 with the pinching and rotating apparatus 2, holds the raw pipe still, and bends the first partial main pipe 31 with the end bending apparatus 12 (fig. 5 and 6).
S4 bending of the first partial main tube 31 is completed, and the distal end bending formation device 12 is released to move to a prescribed position. The first rotation shaft 21 of the holding and rotating device 2 rotates the pipe blank 3 counterclockwise by 90 °, the second rotation shaft 22 rotates counterclockwise by 90 °, the first branch pipe 32 is made parallel to the terminal bending device 12, and the bending robot 1 performs bending of the first branch pipe 32 in cooperation with the holding and rotating device 2 (fig. 7 and 8).
S5 after the first branch pipe 32 is bent, the end bending forming device 12 is released to move to a predetermined position. The first rotary shaft 21 of the holding rotary device 2 is rotated clockwise by 90 °, the second rotary shaft 22 is rotated clockwise by 140 °, and the tube blank 3 is adjusted to a prescribed position. The clamp rotating device 2 bends the second partial main pipe 33 in accordance with the pipe bending robot 1 (fig. 9 and 10).
S6 after the bending of the second partial main tube 33 is completed, the distal end bending apparatus 12 is released and moved to a predetermined position. The first rotating shaft 21 of the clamping and rotating device 2 rotates clockwise by 90 degrees, the second rotating shaft 22 rotates anticlockwise by 140 degrees, the formed part is transferred to the upper left of the pipe bending robot 1, the pre-bent second branch pipe 34 is positioned in front of the pipe bending robot 1, interference of the formed part to the branch pipe forming process is effectively prevented, and the clamping and rotating device 2 cooperates with the pipe bending robot 1 to bend and form the second branch pipe 34 (fig. 11 and 12).
After completion of the bending of the tube blank 3 in S7, the holding and rotating device 2 is released.
The S8 pipe bending robot 1 takes off the formed member, puts it at a predetermined position, and then grips and feeds the next pipe blank 3 and bends it.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (9)

1. A pipe fitting forming processing forming device of a prewelded branch pipe, wherein the pipe fitting of the prewelded branch pipe comprises a main pipe, a plurality of branch pipes are prewelded on the main pipe, and the pipe fitting forming processing forming device is characterized by comprising: the pipe bending robot (1) and the clamping and rotating device (2); the pipe bending robot (1) comprises an industrial six-axis robot (11) and a tail end bending forming device (12), wherein the industrial six-axis robot (11) is used for controlling the position and the posture of the tail end bending forming device (12), the industrial six-axis robot (11) sends the tail end bending forming device (12) to a specified bending position according to a system instruction, the tail end bending forming device (12) is used for bending and forming a pipe blank (3) according to the system instruction, a clamping and rotating device (2) comprises a clamping device, a first rotating shaft (21) and a second rotating shaft (22), the clamping device is installed on the second rotating shaft (22), the second rotating shaft (22) can drive the clamping device to rotate around a horizontal axis, the first rotating shaft (21) can drive the second rotating shaft (22) and the clamping device to rotate together around a vertical axis, and the clamping device is used for clamping a main pipe of the pipe blank (3), the first rotating shaft (21) and the second rotating shaft (22) are matched with the pipe bending robot (1) to adjust the position and the posture of the pipe blank (3) and rotate in a linkage manner; after bending forming at each position is finished, the pipe bending robot (1) releases the pipe blank (3), and the clamping and rotating device (2) rotates the pipe blank (3) and adjusts the pipe blank to the next bending position; the pipe bending robot (1) bends the next part of the pipe blank (3).
2. The pipe fitting forming and processing device for the pre-welded bifurcated branch pipe according to claim 1, wherein the end bending forming device (12) is fixed to an industrial six-axis robot (11) by a screw connection, the industrial six-axis robot (11) carries the end bending forming device (12) to a predetermined position, and the end bending forming device (12) bends the pipe blank.
3. The pipe forming device of the pre-welded bifurcated branch pipe as claimed in claim 1, wherein the first rotation axis (21) is perpendicular to the ground, and the second rotation axis (22) is parallel to the ground and perpendicular to the first rotation axis (21); the main pipe moves to a corresponding accurate position through the rotating motion of the first rotating shaft (21); and then, the second rotating shaft (22) rotates to enable the branch pipe to move to a position to be processed, and the branch pipe is linked with the pipe bending robot 1.
4. A method of forming a tubular article using a forming apparatus according to any one of claims 1 to 3, comprising the steps of: the first rotating shaft (21) and the second rotating shaft (22) are matched with the pipe bending robot (1) to adjust the position and the posture of the pipe blank (3) and rotate in a linkage manner; after bending forming at each position is finished, the pipe bending robot (1) releases the pipe blank (3), and the clamping and rotating device (2) rotates the pipe blank (3) and adjusts the pipe blank to the next bending position; the pipe bending robot (1) bends the next part of the pipe blank (3).
5. The pipe fitting forming processing method according to claim 4, characterized by comprising the following steps:
s1, the pipe bending robot (1) conveys the pipe blank (3) with the branch pipes welded in advance to the clamping and rotating device (2), and the clamping and rotating device (2) clamps the pipe blank (3);
s2 clamping the first rotating shaft (21) and the second rotating shaft (22) of the rotating device (2), according to the forming requirement, the two rotating shafts rotate alpha in the specific direction1、β1Adjusting the position and the posture of the tube blank (3) to a state to be processed;
s3 the industrial six-axis robot (11) moves the end bending forming device (12) to one end of the tube blank (3), the clamping and rotating device 2 clamps the tube blank 3 and keeps the tube blank stationary, and the end bending forming device 12 bends the first partial main tube 31;
s4, after the bending forming of the first partial main pipe (31) is finished, the tail end bending forming device (12) is released and moves to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates the tube blank (3) in a specific direction alpha2The second rotating shaft (22) rotates in a specific direction beta2Moving the first branch pipe (32) to a designated position, and performing bending forming on the first branch pipe (32) by the pipe bending robot (1) in cooperation with the clamping and rotating device (2);
s5, after the bending forming of the first branch pipe (32) is finished, the tail end bending forming device (12) is released to move to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates along a specific direction3The second rotation axis (22) rotates in a specific direction beta3Adjusting the tube blank (3) to a specified position; the clamping and rotating device (2) is matched with the pipe bending robot (1) to bend and form the second part main pipe (33);
s6, after the bending forming of the second part main pipe (33) is finished, the tail end bending forming device (12) is released and moves to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates along a specific direction4The second rotation axis (22) rotates in a specific direction beta4Adjusting the pre-bent second branch pipe (34) to a designated position, and bending and forming the second branch pipe (34) by the clamping and rotating device (2) in cooperation with the pipe bending robot (1);
s7 after the bending forming of the tube blank (3) is finished, the clamping and rotating device (2) is released;
s8, the pipe bending robot (1) takes off the formed components, puts the components to a designated position, and then clamps, feeds and bends the next pipe blank (3).
6. The pipe fitting forming process of claim 5, wherein the step S2:
the pipe bending robot (1) conveys the pre-welded pipe blank (3) to the clamping and rotating device (2), and the clamping and rotating device (2) clamps the pipe blank (3); the first rotating shaft (21) and the second rotating shaft (22) are both kept still, the rotating angle is 0 degrees, and the first branch pipe (32) of the tube blank (3) is in a posture vertical to the ground.
7. The pipe fitting forming process of claim 6, wherein the step S4: the bending forming of the first part main pipe (31) is completed, and the tail end bending forming device (12) is released and moved to a designated position; a first rotating shaft (21) of the clamping and rotating device (2) rotates the tube blank (3) anticlockwise by 90 degrees, a second rotating shaft (22) rotates anticlockwise by 90 degrees, the first branch pipe (32) is made to be parallel to the tail end bending forming device (12), and the pipe bending robot (1) is matched with the clamping and rotating device (2) to bend and form the first branch pipe (32).
8. The pipe fitting forming process of claim 7, wherein the step S5: after the bending forming of the first branch pipe (32) is finished, the tail end bending forming device (12) is released and moves to a designated position; a first rotating shaft (21) of the clamping rotating device (2) rotates 90 degrees clockwise, a second rotating shaft (22) rotates 140 degrees clockwise, and the tube blank (3) is adjusted to a specified position; the clamping and rotating device (2) is matched with the pipe bending robot (1) to bend and form the second part main pipe (33).
9. The pipe forming method according to claim 8, wherein the step S6: after the bending forming of the second part main pipe (33) is finished, the tail end bending forming device (12) is released and moves to a designated position; the first rotating shaft (21) of the clamping and rotating device (2) rotates clockwise by 90 degrees, the second rotating shaft (22) rotates anticlockwise by 140 degrees, the formed part is transferred to the upper left of the pipe bending robot (1), the pre-bent second branch pipe (34) is located in front of the pipe bending robot (1), the formed part is effectively prevented from interfering the branch pipe forming process, and the clamping and rotating device (2) is matched with the pipe bending robot (1) to bend and form the second branch pipe (34).
CN202110231203.1A 2021-03-02 2021-03-02 Pipe fitting forming processing method and forming device for pre-welded branch pipe Active CN113020354B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113714348A (en) * 2021-08-02 2021-11-30 上海发那科机器人有限公司 Full-servo robot pipe bending machine
CN113787122A (en) * 2021-09-06 2021-12-14 南京航空航天大学 Flexible support core rod, support device and pipe bending robot forming control method

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