CN113458216B

CN113458216B - Numerical control pipe bending equipment control system for inhibiting pipe bending from becoming elliptic

Info

Publication number: CN113458216B
Application number: CN202110882126.6A
Authority: CN
Inventors: 林姚辰; 曾元松; 吴为; 吕凤工; 闫晶; 黄宏; 林伟明; 宫志民; 林敏建
Original assignee: Zhejiang Kingmasun Intelligent Manufacturing Co ltd; AVIC Beijing Aeronautical Manufacturing Technology Research Institute
Current assignee: Zhejiang King Mazon Machinery Co ltd; AVIC Beijing Aeronautical Manufacturing Technology Research Institute
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2023-05-09
Anticipated expiration: 2041-08-02
Also published as: CN113458216A

Abstract

The invention discloses a numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical, which comprises a frame, an automatic feeding and transferring device, an anti-wrinkling mechanism, a supporting mechanism, a clamping device, a bending mechanism and a control assembly, wherein the automatic feeding and transferring device, the anti-wrinkling mechanism, the supporting mechanism, the clamping device, the bending mechanism and the control assembly are arranged on the frame; the control assembly comprises a controller, a first position sensor and a second position sensor; the controller is used for controlling the second semicircular groove to be matched with the fourth semicircular groove to clamp the catheter, and controlling the first semicircular groove to be matched with the fifth semicircular groove to clamp the catheter; and controlling the automatic feeding and turning device to push the guide pipe to move forwards, and controlling the clamping die and the bending die to rotate around the central shaft of the bending die so as to bend the guide pipe; according to the technical scheme, the supporting mechanism is controlled to sufficiently support the outer side wall of the bending part of the catheter, so that the ovality of the bending part of the catheter is further reduced, and the outer side wall of the bending part of the catheter can be effectively prevented from being stretched and broken.

Description

Numerical control pipe bending equipment control system for inhibiting pipe bending from becoming elliptic

Technical Field

The invention relates to the technical field of pipe processing, in particular to a numerical control pipe bending equipment control system for inhibiting pipe bending from becoming elliptical.

Background

The aircraft and rocket conduit are in preparation for important works such as fuel input, mechanism opening, pressure control, environment regulation and the like, any part is damaged by faults, the aircraft and rocket conduit can possibly cause major tragedy of aircraft 'aircraft death' and rocket 'rocket death', and the direct relationship officers and soldiers have the safety of passengers.

The air-jet engine is characterized in that a plurality of metal hollow pipe components are arranged on the air-jet engine and the rocket, commonly called as 'guide pipes', the guide pipes are mainly used for conveying various liquids and gases, supporting fuel oil, power and the like required by the air-jet engine and the rocket to finish various work tasks, and the air-jet engine is a very important part on the air-jet engine and the rocket. The hollow structure of the conduit has severe requirements on the importance of the aircraft and the rocket, so that the lighter the conduit is, the better the conduit is, and the weight index of the conduit is measured usually in grams, so that the importance of the lightweight is seen for the aircraft and the rocket, therefore, the conduit wall of the conduit is usually thin, and the thin-walled tube is usually called as a thin-walled tube, and is more prone to generating defects such as ellipse, instability and wrinkling in the bending process. The shape of the guide pipe is complex due to the limitation of the installation environment of the airplane and the rocket, and the deformation of a plurality of guide pipe bending parts is serious in the bending process due to small bending radius, so that the guide pipe is extremely easy to become elliptical and even unstably wrinkled, which is a common technical problem in the guide pipe bending industry and cannot be thoroughly solved until now.

In the early stage of the starting stage of the aircraft and the rocket, the roundness in the bending process is guaranteed by manually filling fine sand, rosin and the like in a hollow pipe due to weak foundation of the manufacturing industry, but the traditional manual process is difficult to meet the development requirements on the number of the aircraft and the rocket, so that a hydraulic pipe bender and a numerical control pipe bender are gradually used for bending and processing a guide pipe along with the development of the industrialized process, the bending part of the guide pipe is always in a semi-closed state in the bending process due to the structural characteristics of process equipment, the guide pipe is lack of protection in the bending process under the bending condition, the bending part is easy to aggravate deformation, the bending roundness of the guide pipe is reduced to be elliptical (the technical problem of common industry exists in the global scope), and the instability and wrinkling technical defect in the bending process is also caused due to lack of sufficient constraint, the quality of the products of the aircraft and the rocket is influenced, and the reliability and the safety of the aircraft and the rocket are reduced.

Along with the development of the pipe bending technology, in the high-precision pipe bending process, a mandrel is often used for supporting the inner side wall of the pipe, so that the ellipticity of the bent part of the pipe is reduced, and the inner side wall of the pipe can be effectively prevented from being wrinkled and damaged; however, there is still a certain ovality and a certain risk of stretch breaking for the outer side wall of the catheter due to the lack of sufficient support.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical, which forms enough support for the outer side wall of the pipe bending part by controlling the supporting mechanism, further reduces the ellipticity of the pipe bending part and can effectively prevent the outer side wall of the pipe bending part from being stretched and broken.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptic comprises a frame, an automatic feeding and transferring device, an anti-wrinkling mechanism, a supporting mechanism, a clamping device, a bending mechanism and a control assembly, wherein the automatic feeding and transferring device, the anti-wrinkling mechanism, the supporting mechanism, the clamping device, the bending mechanism and the control assembly are arranged on the frame;

the supporting mechanism is provided with a first semicircular groove;

the clamping mechanism comprises a rotating frame and a clamping die, the rotating frame is rotatably arranged on the frame, and the clamping die is arranged on the rotating frame;

the bending die mechanism comprises a bending die rotatably arranged on the frame, wherein the side wall of the bending die is provided with a third semicircular groove in an arc shape and a fourth semicircular groove in a linear shape, and the third semicircular groove is tangent with the fourth semicircular groove;

the crease-resistant mechanism comprises a crease-resistant die, and a linear fifth semicircular groove is formed in the crease-resistant die; the front half section of the crease-resist die stretches into the third semicircular groove and is attached to the third semicircular groove, and the fifth semicircular groove is communicated with the fourth semicircular groove;

The control assembly comprises a controller, a first position sensor and a second position sensor;

the automatic feeding and transferring device can automatically convey the guide pipe to the positions among the anti-wrinkle mechanism, the supporting mechanism, the clamping die device and the bending die mechanism after clamping the guide pipe;

when the catheter is conveyed to a designated position, the first position sensor sends a signal to a controller, and the controller controls the second semicircular groove to be matched with the fourth semicircular groove to clamp the catheter, and controls the first semicircular groove to be matched with the fifth semicircular groove to clamp the catheter;

when the supporting mechanism and the clamping die move to the designated positions, the second position sensor sends a signal to the controller, and the controller controls the automatic feeding and material transferring device to push the guide pipe to move forwards and controls the clamping die and the bending die to rotate around the central shaft of the bending die so as to bend the guide pipe, and meanwhile, the clamping die can also drive the supporting mechanism to move so that the first semicircular groove can be attached to the outer side wall of the bending portion of the guide pipe.

Preferably, a third position sensor and a fourth position sensor are further arranged, when the bending die or the rotating frame rotates to a designated position, the third position sensor sends a signal to the controller, and the controller controls the supporting mechanism to move in a direction away from the catheter and simultaneously controls the clamping die to move in a direction away from the catheter;

When the supporting mechanism and the clamping die are retracted to the designated positions, the fourth position sensor sends signals to the controller, and the controller controls the clamping die and the bending die to rotate to the initial positions around the central shaft of the bending die.

Preferably, a fifth position sensor is further arranged, and after the clamping die and the bending die rotate around the bending die central shaft to the initial position, the fifth position sensor sends a signal to the controller, and the controller controls the automatic feeding and material turning device to push the guide pipe forwards, so that the next bending operation is completed.

Preferably, after the fifth position sensor sends a signal to the controller according to the pre-input angle, the controller controls the automatic feeding and transferring device to rotate the guide pipe around the central axis by the input angle and then push the guide pipe forwards.

Preferably, a sixth position sensor is further provided, and after the automatic feeding and transferring device moves to the designated position, the sixth position sensor sends a signal to the controller, and the controller controls the automatic feeding and transferring device to loosen the guide pipe and retract to the initial position, so that all pipe bending operations of the same guide pipe are completed.

Preferably, the automatic feeding and transferring device comprises an installation seat which is slidably installed on the frame, an inner sleeve, an outer sleeve, a material clamping assembly, a first driving assembly, a second driving assembly and a third driving assembly, wherein the inner sleeve, the outer sleeve and the material clamping assembly are installed on the installation seat, the first driving assembly is used for driving the installation seat to move back and forth on the frame, the second driving assembly is used for driving the outer sleeve to move back and forth, and the third driving assembly is used for driving the inner sleeve to rotate, and the outer sleeve is sleeved on the inner sleeve in a hollow mode;

The clamping assembly comprises an outer cylinder, an inner cylinder and a plurality of clamping blocks, wherein the outer cylinder is arranged at the front end of the outer sleeve, the inner cylinder is fixedly connected with the front end of the inner cylinder, the outer cylinder is sleeved on the inner cylinder and can rotate along with the inner cylinder, the outer cylinder, the inner cylinder, the outer cylinder and the inner cylinder are coaxially distributed, and the plurality of clamping blocks are fixedly arranged at the front end of the inner cylinder and uniformly distributed around the axial lead of the inner cylinder;

the second driving assembly drives the outer sleeve to move forwards, the clamping assembly can be caused to clamp the guide pipe, and when the clamping assembly clamps the guide pipe, the first driving assembly and the third driving assembly enter a working state.

Preferably, the numerical control pipe bending device is further provided with a first electrode and a second electrode, the first electrode and the second electrode are arranged on the clamping assembly at intervals, and when the clamping assembly clamps the guide pipe, the first electrode and the second electrode are in conductive connection through the guide pipe, so that a controller of the numerical control pipe bending device obtains a feedback signal for clamping the guide pipe.

Preferably, the supporting mechanism comprises a guide seat and a plurality of movable joint pressing blocks, the guide seat is arranged on the frame, the plurality of movable joint pressing blocks are distributed side by side and are slidably arranged on the guide seat, and two adjacent movable joint pressing blocks are hinged with each other; a semicircular groove is formed in the right end face of the movable joint pressing block, and the semicircular grooves on the movable joint pressing blocks are matched to form a first semicircular groove;

The clamping die is hinged with the movable joint pressing block positioned at the forefront end.

Preferably, the movable joint pressing block comprises a front side wall, a rear side wall and a front side wall and a rear side wall which are symmetrically distributed, wherein the first side wall is positioned at the left half part of the movable joint pressing block, the second side wall is positioned at the right half part of the movable joint pressing block, an included angle formed between the first side wall and the second side wall at the same side is an obtuse angle, and the distance between the two second side walls is gradually reduced from left to right;

adjacent two movable joint pressing blocks are hinged at the junction of the first side wall and the second side wall.

Preferably, the movable joint pressing blocks are provided with front and rear symmetrical arc-shaped grooves, the arc-shaped grooves are positioned at the junction of the first side wall and the second side wall, and two adjacent arc-shaped grooves on two adjacent movable joint pressing blocks are matched to form a hinge hole;

the device is also provided with a plurality of hinge shafts, the hinge shafts are respectively positioned in the hinge holes, and two adjacent movable joint pressing blocks are hinged through the hinge shafts;

the movable joint pressing block is also provided with a containing cavity with an opening end, and the opening end of the containing cavity is respectively positioned on the front side wall and the rear side wall of the movable joint pressing block;

the device is characterized by further comprising a plurality of chain links which are respectively arranged in the accommodating cavities on the movable joint pressing blocks, and two adjacent chain links are both in rotary connection with the hinge shaft between the two adjacent chain links.

The invention has the technical effects that: before the bending operation is carried out on the catheter, the first semicircular groove is attached to the outer side wall of the straight line part of the catheter, so that the guiding and preliminary positioning functions are realized; when carrying out the bending operation to the pipe, this first semicircle groove can laminate with the lateral wall of the bight of pipe, plays the effect to the lateral wall support of pipe, and then further reduces the ovality of pipe to can effectively avoid the lateral wall of pipe to be stretched fracture.

Drawings

FIG. 1 is a schematic structural diagram of a numerical control pipe bending device for suppressing the bending and the ellipse of a pipe bending in a first embodiment of the invention;

FIG. 2 is a schematic diagram of the cooperation of the anti-wrinkle mechanism, the support mechanism, the clamping device and the bending mechanism (before the bending operation) according to the first embodiment of the present invention;

FIG. 3 is a second schematic diagram of the cooperation of the anti-wrinkle mechanism, the support mechanism, the clamping device and the bending mechanism (in the bending operation) according to the first embodiment of the present invention;

FIG. 4 is a schematic view of a supporting mechanism (omitting a part of the movable joint block) according to the first embodiment of the present invention;

FIG. 5 is a schematic view of the construction of an articulating press block according to an embodiment of the invention;

FIG. 6 is a schematic structural view of a clamping device according to a first embodiment of the present invention;

FIG. 7 is a schematic view of a clamping die according to a first embodiment of the present invention;

FIG. 8 is an exploded view of a clamping die according to a first embodiment of the present invention;

FIG. 9 is a cross-sectional view I of an automatic feeding and transferring device according to a first embodiment of the present invention;

FIG. 10 is a second cross-sectional view of the automatic feeding and transferring device according to the first embodiment of the present invention;

FIG. 11 is a schematic structural view of an automatic feeding and transferring device according to a first embodiment of the present invention;

FIG. 12 is a schematic view of an inner barrel according to a first embodiment of the present invention;

FIG. 13 is a schematic view of a first embodiment of an anti-wrinkle mechanism;

FIG. 14 is a schematic diagram of a second embodiment of an anti-wrinkle mechanism;

FIG. 15 is a schematic diagram III of an anti-wrinkle mechanism according to the first embodiment of the invention;

FIG. 16 is a schematic diagram of an anti-wrinkle module according to an embodiment of the invention;

FIG. 17 is a schematic diagram of a second embodiment of a mold guiding mechanism;

FIG. 18 is a second schematic structural view of a mold guiding mechanism according to the second embodiment of the present invention;

FIG. 19 is a third schematic structural view of a mold guiding mechanism according to the second embodiment of the present invention;

FIG. 20 is a schematic diagram of a second embodiment of the present invention;

FIG. 21 is a schematic diagram showing the cooperation of an anti-wrinkle mechanism, a die holder, a clamping device and a bending mechanism in a third embodiment of the present invention;

FIG. 22 is a schematic diagram showing the cooperation of an anti-wrinkle mechanism, a die holder, a clamping device and a bending mechanism according to the third embodiment of the present invention.

Reference numerals illustrate: 1. a frame;

2. an automatic feeding and transferring device; 20. a mounting base; 21. an inner sleeve; 22. an outer sleeve; 23. a clamping assembly; 230. an outer cylinder; 231. an inner cylinder; 232. a clamping block; 240. a first servo motor; 250. a second servo motor; 260. a first cylinder; 261. a first connector; 262. a fork member; 263. a second connector; 220. an annular groove; 27. a first housing; 251. a first drive tooth; 252. a first passive tooth; 280. an oil tank; 281. a second passive tooth; 282. a cam shaft; 283. a cam plate; 284. oiling pins; 285. a spring; 2310. a circular ring portion; 2311. a first connection portion; 2312. a second connecting portion; 233. a bolt member;

3. an anti-wrinkle mechanism; 30. a first adjustment motor; 31. an adjusting seat; 32. a support; 33. a support post; 34. a first mounting plate; 35. crease-resist mould; 350. a fifth semicircular groove; 360. a speed reduction housing; 361. a large gear; 362. a pinion gear; 363. a rotating shaft; 310. a first chute; 364. a small motor; 365. a first screw rod; 366. a first slider; 367. a second slider; 38. a fixing clamp; 380. a first clamping part; 381. a second clamping portion; 382. a first gap; 383. clamping the round hole; 384. a second gap; 368. a threaded rod; 369. tightly pushing the nut; 370. adjusting a screw; 385. a first extension; 371. a nipple; 352. an oil outlet channel; 372. a first heating pipe; 351. a third mounting hole;

4. A support mechanism; 40. a first semicircular groove; 41. a guide seat; 42. a movable joint pressing block; 420. a semicircular groove; 421. a first sidewall; 422. a second sidewall; 423. an arc-shaped groove; 43. a hinge shaft; 424. a receiving chamber; 44. a chain link; 410. a first guide groove; 45. a guide block; 46. a support frame;

5. a clamping device; 50. a rotating frame; 51. clamping a die; 510. a second semicircular groove; 52. clamping a die holder; 514. a base; 511. an elastic block; 512. a clamping piece; 5140. an upper blocking plate; 5141. a lower blocking plate; 5120. a first long hole; 5142. a second long hole; 5143. a third long hole; 513. a guide pin;

6. a bending die mechanism; 60. bending a die; 600. a third semicircular groove; 602. an upper flange; 603. a lower flange;

7. a conduit;

80. a mounting frame; 81. a fourth driving member; 82. a first guide die; 83. a second guide die; 84. a third guide die; 820. a first cambered surface; 830. a second cambered surface; 840. a third cambered surface; 85. a second mounting plate; 86. a second screw rod; 87. a guide rod; 88. an orthodontic nut; 89. a back tooth nut;

90. a guide die holder; 91. a second heating pipe; 900. and a fourth mounting hole.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Embodiment one:

the numerical control pipe bending equipment for inhibiting the bending from wrinkling and becoming elliptic comprises a frame 1, and an automatic feeding and transferring device 2, an anti-wrinkling mechanism 3, a supporting mechanism 4, a clamping die device 5 and a bending die mechanism 6 which are arranged on the frame 1, wherein the automatic feeding and transferring device 2 sends a pipe 7 to the position between the anti-wrinkling mechanism 3, the supporting mechanism 4, the clamping die device 5 and the bending die mechanism 6, and the pipe bending operation of the pipe 7 is completed under the joint coordination of the anti-wrinkling mechanism 3, the supporting mechanism 4, the clamping die device 5 and the bending die mechanism 6, wherein before the pipe bending operation is carried out, the anti-wrinkling mechanism 3 and the bending die mechanism 6 are positioned on the right side of the pipe 7, and the supporting mechanism 4 and the clamping die device 5 are positioned on the left side of the pipe 7.

In the embodiment of the present invention, as shown in fig. 2 and 3, the supporting mechanism 4 is provided with a first semicircular groove 40, the first semicircular groove 40 can be attached to the outer side wall of the straight line portion on the conduit 7, and when the conduit 7 is subjected to the pipe bending operation, the first semicircular groove 40 can also be attached to the outer side wall of the curved portion on the conduit 7; in this way, before the bending operation is performed on the catheter 7, the first semicircular groove 40 is attached to the outer side wall of the straight line portion of the catheter 7, and plays a role in guiding and preliminary positioning; when the catheter 7 is subjected to bending operation, the first semicircular groove 40 can be attached to the outer side wall of the bending part of the catheter 7, so that the outer side wall of the catheter 7 is supported, ovality of the catheter 7 is further reduced, and the outer side wall of the catheter 7 can be effectively prevented from being stretched and broken;

in addition, since the support mechanism 4 in the embodiment of the present invention supports the outer side wall of the catheter 7 to achieve the purpose of reducing ovality of the catheter 7, the support mechanism 4 in the embodiment of the present invention may also cooperate with the mandrel to achieve the purpose of further reducing ovality of the catheter 7.

In the embodiment of the present invention, as shown in fig. 2, 3 and 4, the supporting mechanism 4 includes a guide seat 41 and a plurality of movable joint pressing blocks 42, the guide seat 41 is installed on the frame 1, the plurality of movable joint pressing blocks 42 are distributed side by side and slidably installed on the guide seat 41, and two adjacent movable joint pressing blocks 42 are hinged with each other;

A semicircular groove 420 is formed in the right end face of the movable joint pressing block 42, and the semicircular grooves 420 on the movable joint pressing blocks 42 are matched to form a first semicircular groove 40.

Thus, when the movable joint pressing blocks 42 are in the same straight line segment, the first semicircular groove 40 formed by the semicircular grooves 420 is linear, and when the movable joint pressing blocks 42 are in an arc line segment, the first semicircular groove 40 formed by the semicircular grooves 420 is arc-shaped, so that the first semicircular groove 40 can be always attached to the guide pipe 7 during pipe bending operation, and the function of supporting the outer side wall of the bent part of the guide pipe 7 is achieved.

In the embodiment of the present invention, as shown in fig. 5, the movable joint pressing block 42 includes a front side wall 421 and a rear side wall 421 which are symmetrically distributed, and a front side wall 422 and a rear side wall 422 which are symmetrically distributed, wherein the first side wall 421 is located at a left half portion on the movable joint pressing block 42, the second side wall 422 is located at a right half portion on the movable joint pressing block 42, an included angle formed between the first side wall 421 and the second side wall 422 on the same side is an obtuse angle, and a distance between the two second side walls 422 is gradually reduced from left to right;

adjacent two articulating compacts 42 are hinged at the juncture of the first and

second side walls

421, 422.

Further preferably, the first side wall 421 and the second side wall 422 on the same side form an included angle ranging from 150 ° to 175 °; thus, there is a space for movement between two adjacent articulated blocks 42; at the same time, the contact area between the movable joint blocks 42 and the bending part of the guide pipe 7 can be increased as much as possible, so that the bending part of the guide pipe 7 can be covered by the first semicircular groove 40 as much as possible, and the bending part of the guide pipe 7 is fully supported.

In the embodiment of the present invention, the two adjacent movable joint pressing blocks 42 may be hinged to each other in a manner of crossing up and down, or as shown in the drawing, the movable joint pressing blocks 42 are provided with two symmetrical arc grooves 423, the arc grooves 423 are located at the junction of the first side wall 421 and the second side wall 422, and the two adjacent arc grooves 423 on the two adjacent movable joint pressing blocks 42 cooperate to form a hinge hole;

and a plurality of hinge shafts 43 are further arranged, the hinge shafts 43 are respectively positioned in the hinge holes, and two adjacent movable joint pressing blocks 42 are hinged through the hinge shafts 43.

So arranged, the rotation between two adjacent articulation blocks 42 is more flexible.

It should be noted that the hinge openings formed by the two arcuate slots 423 are notched, i.e., the arc of the arcuate slot 423 does not exceed 180 degrees, so that there is room for rotation between adjacent articulating compacts 42.

Still more preferably, as shown in fig. 4 and 5, the movable joint block 42 is further provided with a receiving cavity 424 having an open end, and the open ends of the receiving cavity 424 are located on the front side wall and the rear side wall of the movable joint block 42, respectively;

there are also several links 44, said links 44 being mounted in respective receiving cavities 424 on the articulated blocks 42, two adjacent links 44 being in rotational connection with the articulation shaft 43 between two adjacent links 44.

The articulated blocks 42 are connected in a chain-like manner, so that the flexibility of the articulated blocks 42 in rotation with each other is ensured.

In the embodiment of the present invention, the chain links 44 include a plurality of chain pieces stacked one above the other and spaced apart, and the plurality of chain pieces in two adjacent chain links 44 are stacked one above the other in a crossing manner, and the plurality of chain pieces in two adjacent chain links 44 are rotatably mounted on the hinge shaft 43 between the two adjacent chain links 44.

In the embodiment of the present invention, a linear first guiding groove 410 is provided on the guiding seat 41, the plurality of movable joint pressing blocks 42 are slidably mounted on the first guiding groove 410, and a part of movable joint pressing blocks 42 in the plurality of movable joint pressing blocks 42 can move in and out of the first guiding groove 410; so that the articulation pressing block 42 can always follow the movement of the guide tube 7 when the guide tube 7 is advanced under the pushing of the automatic feeding and transferring device 2.

Further preferably, a plurality of guide blocks 45 are further arranged in one-to-one correspondence with the movable joint pressing blocks 42, the guide blocks 45 are fixedly connected with the left half section of the movable joint pressing blocks 42 or are integrally formed, the guide blocks 45 are slidably arranged on the first guide grooves 410, and the guide blocks 45 can move in and out of the first guide grooves 410 along with the movable joint pressing blocks 42;

the first guide groove 410 is a T-shaped groove or a dovetail groove.

The arrangement is such that the guide blocks 45 can only move out of and into the first guide grooves 410 in the direction of the first guide grooves 410.

In the embodiment of the present invention, as shown in fig. 2, 3 and 6, the die clamping device 5 includes a rotating frame 50 and a die clamping 51, the rotating frame 50 is rotatably mounted on the frame 1, the die clamping 51 is mounted on the rotating frame 50, and the die clamping 51 is hinged with the movable joint pressing block 42 located at the foremost end; a second semicircular groove 510 with a straight line shape is arranged on the right end surface of the clamping die 51;

as shown in fig. 2 and 3, the bending mechanism 6 includes a bending die 60 rotatably mounted on the frame 1, the bending die 60 rotates around a central axis thereof, the rotating frame 50 rotates around a central axis of the bending die 60, a third semicircular groove 600 of an arc line type and a fourth semicircular groove of a linear type are provided on a side wall of the bending die 60, the third semicircular groove 600 is tangential to the fourth semicircular groove, and the clamping die 51 can abut against the bending die 60 to enable the second semicircular groove 510 and the fourth semicircular groove to cooperate to form a clamping hole, so as to clamp and fix the catheter 7.

In this embodiment of the present invention, the same motor is preferably used to drive and rotate, so that when the bending operation is performed, the rotating frame 50 and the bending mold 60 jointly rotate, and the rotation of the clamping mold 51 can drive the plurality of movable joint pressing blocks 42 to jointly move, and the right end surfaces of the plurality of movable joint pressing blocks 42 are sequentially abutted against the bending mold 60, and meanwhile, the first semicircular groove 40 is gradually bent and then matched with the third semicircular groove 600 to form a supporting hole for supporting the outer side wall of the bending portion of the conduit 7, so that the bending portion of the conduit 7 is clamped.

Thus, since the supporting hole formed by the cooperation of the first semicircular groove 40 and the third semicircular groove 600 is a standard circular hole, the supporting hole can reduce the whole ovalization amplitude of the catheter 7 by giving enough support to the outer half side of the outer side wall of the catheter 7 during the bending process of the catheter 7;

the rotating and bending directions of the movable joint pressing blocks 42 are the inner side directions, namely the full coverage of the first semicircular groove 40 on the outer half side of the outer side wall of the bent part of the guide pipe 7 can be realized, and further, the uniform support on the outer half side of the outer side wall of the bent part of the guide pipe 7 is realized, so that the phenomenon of local excessive ovalization in the outer half side of the outer side wall of the bent part of the guide pipe 7 is avoided;

Finally, the outer half side of the outer side wall of the bent portion of the duct 7 is abutted against the first semicircular groove 40, so that the friction force existing between the outer half side of the bent portion of the duct 7 and the first semicircular groove 40 can prevent the bent portion of the duct 7 from being excessively stretched when the bent portion of the duct is stretched.

Further preferably, the right end surface of the movable joint pressing block 42 is a concave cambered surface and can be attached to the side wall of the bending die 60; thereby ensuring the stability of the several articulation blocks 42 against the support of the outer side wall of the bent portion of the catheter 7 during bending operations.

Further preferably, an upper flange 602 and a lower flange 603 are disposed on the side wall of the bending die 60, the third semicircular groove 600 and the fourth semicircular groove are located between the upper flange 602 and the lower flange 603, when the clamping die 51 abuts against the bending die 60 and the plurality of movable joint pressing blocks 42 abut against the bending die 60, the upper end face and the lower end face of the clamping die 51 abut against the upper flange 602 and the lower flange 603, respectively, and the upper end face and the lower end face of the plurality of movable joint pressing blocks 42 abut against the upper flange 602 and the lower flange 603, respectively. In this way, the stability of the support of the several articulation blocks 42 against the outer side wall of the curved portion of the catheter 7 during the bending operation can be ensured even further.

In the embodiment of the present invention, the die clamping device 5 further includes a die clamping seat 52 and a first driving member, where the die clamping seat 51 is fixedly installed on the die clamping seat 52, and the first driving member is used to drive the die clamping seat 52 to slide on the rotating frame 50;

The supporting mechanism 4 further comprises a second driving piece and a supporting frame 46, the guide seat 41 is installed on the supporting frame 46, and the second driving piece is used for driving the supporting frame 46 to slide left and right on the frame 1;

wherein, before the pipe bending operation, the clamping die holder 52 is located at an initial position, and the supporting frame 46 is located at an initial position;

when the bending operation is performed, the first driving member drives the clamping die holder 52 to move to the clamping position in a direction approaching the bending die 60, and at this time, the clamping die 51 abuts against the bending die 60;

the second driving member drives the die holder 52 to move to the clamping position in a direction approaching the bending die 60, and at this time, at least one movable joint pressing block 42 abuts against the bending die 60;

after the bending operation is completed once, the first driving member drives the die holder 52 to return to the initial position in a direction away from the bending die 60, and the second driving member drives the supporting frame 46 to return to the initial position in a direction away from the bending die 60.

It should be noted that, the distance that the clamping seat 52 moves from the initial position to the clamping position is equal to the distance that the supporting frame 46 moves from the initial position to the clamping position; and

the clamping die holder 52 is of an L-shaped structure, and a plurality of clamping dies 51 can be installed in the vertical direction so as to adapt to the guide pipes 7 with different radiuses; and

A plurality of bending moulds 60 may be superimposed on the intermediate shaft for mounting the bending moulds 60 to accommodate different radii of the conduit 7.

In the embodiment of the present invention, when the movable joint block 42 slides on the first guide groove 410, two adjacent first sidewalls 421 of two adjacent movable joint blocks 42 are fitted to each other. In this way, after the bending operation is completed once, when the clamping mold 51 pushes the movable joint pressing blocks 42 to enter the first guide groove 410 in the process of rotating the rotating frame 50 backwards, after the first side wall 421 of the movable joint pressing block 42 entering the first guide groove 410 abuts against the first side wall 421 of the movable joint pressing block 42 in the first guide groove 410, the movable joint pressing block 42 can be automatically adjusted to be in a state of being distributed in parallel with the movable joint pressing block 42 on the first guide groove 410, so that the movable joint pressing block enters the first guide groove 410 smoothly, and the clamping is avoided.

Still further preferably, the supporting mechanism 4 further includes a third driving member for driving the guide holder 41 to slide back and forth on the supporting frame 46, wherein, when the bending operation is completed once, the third driving member drives the guide holder 41 to move back by at least one distance of the movable joint pressing block 42, and when the rotating frame 50 rotates back to the initial position, the third driving member drives the guide holder 41 to move back to the initial position.

This arrangement further ensures that the joint block 42 can enter the first guide groove 410 smoothly when retracted.

In an embodiment of the present invention, the first driving member, the second driving member, and the third driving member may be motors or hydraulic cylinders.

The clamping die 51 may adopt a specific structure disclosed in chinese patent document with publication number CN 101096041B; as shown in fig. 6, 7 and 8, the clamping mold 51 may further include a base 514, an elastic block 511 and a plurality of vertically stacked clamping pieces 512, the base 514 is mounted on the clamping mold base 52 and hinged to the movable joint pressing block 42 located at the forefront end, the plurality of clamping pieces 512 are mounted on the base 514 in a manner of sliding left and right, the elastic block 511 is mounted between the base 514 and the plurality of clamping pieces 512 and located at the left side of the plurality of clamping pieces 512, so as to provide an elastic resistance for preventing the plurality of clamping pieces 512 from moving toward the base 514, and the right end surfaces of the plurality of clamping pieces 512 jointly form the right end surface of the clamping mold 51 and form the second semicircular groove 510.

Thus, each clamping piece 512 can move independently, and the right end face of each clamping piece 512 can be attached to the outer side wall of the guide pipe 7 under the action of the elastic piece, so that the bent pipe is prevented from becoming elliptic.

Further preferably, the base 514 includes an upper blocking plate 5140 and a lower blocking plate 5141, the plurality of clamping plates 512 are located between the upper blocking plate 5140 and the lower blocking plate 5141, the uppermost clamping plate 512 of the plurality of clamping plates 512 abuts against the upper blocking plate 5140, and the lowermost clamping plate 512 of the plurality of clamping plates 512 abuts against the lower blocking plate 5141.

In the embodiment of the present invention, two parallel first long holes 5120 are provided on the clamping plate 512, two parallel second long holes 5142 are provided on the upper blocking plate 5140, and two parallel third long holes 5143 are provided on the lower blocking plate 5141; the second long hole 5142 of the upper blocking plate 5140, the first long holes 5120 of the plurality of clamping plates 512, and the third long holes 5143 of the lower blocking plate 5141 together form two long hole-shaped through holes;

two guide pins 513 are further provided, and the two guide pins 513 are respectively installed in the two through holes and can restrict the movement of the grip piece 512 in the front-rear direction.

Further preferably, both ends of the first long hole 5120, both ends of the second long hole 5142, and both ends of the third long hole 5143 are directed in the left-right direction, respectively.

Further preferably, the top of the guide pin 513 is in interference fit with the second long hole 5142, and the bottom of the guide pin 513 is in interference fit with the third long hole 5143.

Further preferably, the guide pin 513 abuts against the left end of the first long hole 5120 and leaves a gap with the right end of the first long hole 5120; this allows the grip tab 512 room for movement.

In the embodiment of the present invention, the die holder 52 is provided with a vertical second guide groove, where the second guide groove is a T-shaped groove or a dovetail groove, and the base 514 is mounted on the second guide groove through a first connection block. The arrangement is that the clamping dies 51 can be conveniently disassembled and assembled, and a plurality of clamping dies 51 can be installed to adapt to bending operation of the guide pipes 7 with different diameters.

It should be noted that, in other embodiments, the clamping die 51 of the present embodiment may be applied to a pipe bender without the movable joint blocks 42;

and, the multi-piece up-down superimposed design structure adopted in the clamping die 51 in the embodiment of the invention to prevent the conduit 7 from becoming elliptic can also be applied to the bending die 60, the crease-resistant die 35 and the movable joint pressing block 42 in the crease-resistant mechanism 3, and can also be applied to a guide die for being matched with the crease-resistant die 35 in a common pipe bender.

In the embodiment of the present invention, as shown in fig. 13, 14, 15 and 16, the anti-wrinkle mechanism 3 includes a first adjusting motor 30, an adjusting seat 31, a support 32, a strut 33 and a plurality of anti-wrinkle modules, the anti-wrinkle modules include a first mounting plate 34 and an anti-wrinkle mold 35, the anti-wrinkle mold 35 is provided with a linear fifth semicircular groove 350, an arc bending portion for fitting with the bending mold 60 is further provided on the opposite back of the fifth semicircular groove 350, the front half section of the anti-wrinkle mold 35 can extend into the third semicircular groove 600 and fit with the third semicircular groove 600, and the fifth semicircular groove 350 is in communication with the fourth semicircular groove, the anti-wrinkle mold 35 is slidably mounted on the first mounting plate 34, the first mounting plate 34 is fixedly mounted on the strut 33, the strut 33 is fixedly mounted on the support 32, the support 32 is slidably mounted on the adjusting seat 31, the adjusting seat 31 is rotatably mounted on the frame 1,

Wherein the sliding direction of the crease-resist die 35 forms an included angle with the sliding direction of the support 32, preferably an included angle of 90 °, and the first adjusting motor 30 is used for driving the adjusting seat 31 to rotate on the frame 1.

In this way, the adjustment of the position of the crease-resist die 35 is realized through the sliding of the crease-resist die 35 on the first mounting plate 34 and the sliding of the support 32 on the adjusting seat 31, the adjustment of the angle of the crease-resist die 35 is realized through the rotation of the adjusting seat 31, and finally, the requirements of the bend pipes 7 with different specifications are met.

In the embodiment of the present invention, the anti-wrinkle mechanism 3 further includes a speed reducing assembly, where the speed reducing assembly includes a speed reducing housing 360, a large gear 361, a pinion 362 and a rotating shaft 363, the rotating shaft 363 is mounted on the speed reducing housing 360, the top end of the rotating shaft 363 passes through the frame 1 and is fixedly connected with the adjusting seat 31, the pinion 362 is sleeved on an output shaft of the first adjusting motor 30, the large gear 361 is sleeved on the rotating shaft 363, and the pinion 362 and the large gear 361 are meshed for transmission.

In the embodiment of the present invention, as shown in fig. 14 and 15, two parallel first sliding grooves 310 are provided on the adjusting seat 31, and the first sliding grooves 310 are T-shaped grooves;

The device is further provided with a small motor 364, a first lead screw 365, a first sliding block 366 and a second sliding block 367, wherein the first sliding block 366 and the second sliding block 367 are T-shaped blocks, the first sliding block 366 and the second sliding block 367 are respectively and slidably arranged in the two first sliding grooves 310 and fixedly connected with the support 32, the first sliding block 366 is provided with a threaded hole matched with the first lead screw 365, the first lead screw 365 and the small motor 364 are both arranged on the adjusting seat 31, and the small motor 364 drives the first lead screw 365 to rotate so as to enable the support 32 to slide on the adjusting seat 31; thereby achieving the purpose of adjusting the position of the crease-resist die 35 and improving the stability of the crease-resist die 35 in the left-right direction.

Further preferably, as shown in fig. 16, the anti-wrinkle module further includes a fixing clip 38, a clamping bolt and a clamping nut, the first mounting plate 34 is slidably mounted on the fixing clip 38, the fixing clip 38 includes a first clamping portion 380 and a second clamping portion 381, a first gap 382, a clamping circular hole 383 and a second gap 384 are sequentially disposed between the first clamping portion 380 and the second clamping portion 381, and the first gap 382 and the second gap 384 are respectively located at two opposite ends of the clamping circular hole 383 and are communicated with the clamping circular hole 383; the fixing clamp 38 is initially sleeved and mounted on the support column 33 through the clamping round hole 383, and the clamping bolt sequentially passes through the first clamping part 380, the first gap 382 and the second clamping part 381 and then is fixedly mounted on the fixing clamp 38 through the clamping nut, so that the fixing clamp 38 is clamped and mounted on the support column 33.

Still more preferably, a threaded rod 368 and a plurality of jacking nuts 369 sleeved on the threaded rod 368 are further provided, the threaded rod 368 is fixedly installed on the support 32, three anti-wrinkle modules are installed on the support 33 in total, the diameters of the fifth semicircular grooves 350 on the anti-wrinkle modules 35 in the three anti-wrinkle modules are different, the fixing clips 38 in the three anti-wrinkle modules are sleeved on the threaded rod 368 through first installation holes, and the jacking nuts 369 are respectively abutted against the upper end faces and the lower end faces of the fixing clips 38 in the three anti-wrinkle modules; this further ensures the stability of the mounting of the retaining clip 38 on the post 33; i.e. to ensure stability of the crease-resist die 35 in the up-down direction.

Further preferably, an adjusting screw 370 is further provided, a threaded hole is provided on the first mounting plate 34, the left side wall of the fixing clip 38 extends leftwards to form a first extension part 385, and a second mounting hole is provided on the first extension part 385; the adjusting screw 370 is in threaded fit with the threaded hole after passing through the second mounting hole; this arrangement allows the first mounting plate 34 to slide on the retaining clip 38 while ensuring stability when the first mounting plate 34 stops sliding.

In the embodiment of the present invention, the anti-wrinkle module further includes a nipple 371, and the nipple 371 is fixedly installed on the fixing clip 38;

the fixing clamp 38 is provided with an oil inlet channel, and the oil inlet channel is connected with the oil nozzle 371;

the crease-resist die 35 is provided with a plurality of oil outlet channels 352, the oil outlet channels 352 are communicated with the oil inlet channels on the fixing clamp 38, and the oil outlets of the oil outlet channels 352 are positioned on the wall of the fifth semicircular groove 350;

the oil outlets of the oil outlet channels 352 are respectively provided with a ball, the balls form spherical sealing at the oil outlets, the balls protrude out of the groove walls of the fifth semicircular groove 350, and when the balls contact with the guide pipe 7 and generate relative motion, the balls rotate around the center of the balls so as to send out oil.

It should be noted that, the structure and the function of the ball in the embodiment of the present invention that the ball rotates around the center of the ball can refer to the structure and the function of the ball in the pen point of the ball pen, the surface of the ball is full of lubricating oil, and the lubricating oil can be supplemented during the rotation of the ball, so when the crease-resist die 35 is matched with the movable joint pressing blocks 42 to clamp the guide tube 7, the plurality of balls on the crease-resist die 35 are contacted with the guide tube 7, and lubricating oil is present between the balls and the guide tube 7;

Then when pipe 7 moves forward under the promotion of autoloading material transfer device 2, the frictional force between pipe 7 and ball impels the ball to take place to rotate, and then constantly will go out the oil in the oil passageway 352, and when pipe 7 no longer moves forward, the ball no longer rotates and just no longer goes out the oil in the oil passageway 352, and then realized the self-lubricating to pipe 7, still guaranteed good lubrication effect simultaneously, still greatly reduced the use amount of lubricating oil simultaneously.

In other embodiments, the balls may be replaced by contact sensors, specifically, the oil outlets of the oil outlet channels 352 are all provided with a contact sensor, and when the conduit 7 contacts with the contact sensor, the oil nozzle 371 can be triggered to perform oil injection to lubricate the conduit 7, and the amount and the times of oil injection can be controlled by a system program.

In the embodiment of the present invention, as shown in fig. 21 and 22, a plurality of first heating pipes 372 are further provided, a plurality of parallel third mounting holes 351 are further provided on the crease-resist die 35, the third mounting holes 351 are in a front-back direction, and the plurality of first heating pipes 372 are mounted in the third mounting holes 351. In this way, the heating greatly improves the material properties of the conduit 7 with poor material elongation properties in normal temperature environment, so that the qualified conduit 7 is bent.

Further preferably, a first temperature sensor is provided for detecting the temperature of the crease-resist die 35.

Further preferably, the crease-resist die 35 is made of high-temperature resistant steel.

In the embodiment of the invention, the adjustment method of the anti-wrinkle mechanism 3 is as follows:

step one: according to the requirement of the conduit 7, the crease-resist die 35 is rotated to a designated angle by the first adjusting motor 30, and at the designated angle, an included angle of not more than 2 degrees is formed between the crease-resist die 35 and the conduit 7, preferably an included angle of not more than 1 degree is formed between the crease-resist die 35 and the conduit 7;

step two: the position of the crease-resist die 35 is then fine-tuned by means of small motors 364 and adjusting screws 370, respectively.

In the embodiment of the present invention, as shown in fig. 9, 10 and 11, the automatic feeding and transferring device 2 includes a mounting seat 20 slidably mounted on the frame 1, and an inner sleeve 21, an outer sleeve 22, a clamping assembly 23, a first driving assembly for driving the mounting seat 20 to move back and forth on the frame 1, a second driving assembly for driving the outer sleeve 22 to move back and forth, and a third driving assembly for driving the inner sleeve 21 to rotate, where the outer sleeve 22 is sleeved on the inner sleeve 21 in an empty manner;

The clamping assembly 23 comprises an outer cylinder 230, an inner cylinder 231 and a plurality of clamping blocks 232, wherein the outer cylinder 230 is fixedly arranged at the front end of the outer sleeve 22, the inner cylinder 231 is fixedly connected with the front end of the inner cylinder 21, the outer cylinder 230 is sleeved on the inner cylinder 231 and can rotate along with the inner cylinder 231, the outer cylinder 22, the inner cylinder 21, the outer cylinder 230 and the inner cylinder 231 are coaxially distributed, and the plurality of clamping blocks 232 are fixedly arranged at the front end of the inner cylinder 231 and uniformly distributed around the axial lead of the inner cylinder 231;

wherein, the second driving component drives the outer sleeve 22 to move forwards to enable the clamping component 23 to clamp the guide pipe 7, and when the clamping component 23 clamps the guide pipe 7, the first driving component and the third driving component enter into working states; further, under the control of the control system in the embodiment of the present invention, the first driving component can drive the mount 20 to move back and forth on the frame 1 to drive the conduit 7 to move back and forth, and the third driving component can drive the inner cylinder 231 to rotate to drive the conduit 7 to rotate.

In this way, before the automatic feeding and transferring device 2 can feed and transfer materials, a plurality of clamping blocks clamp the guide pipe 7, so that an automatic sensing function of the automatic feeding and transferring device 2 is realized.

In the embodiment of the present invention, the first driving assembly drives the mount 20 to move on the frame 1 through the first servo motor 240, and the third driving assembly drives the inner sleeve 21 to rotate through the second servo motor 250.

In the embodiment of the invention, a first electrode and a second electrode are further arranged, the first electrode and the second electrode are arranged on the clamping blocks 232 at intervals, when the clamping assembly 23 clamps the guide pipe 7, the first electrode and the second electrode are in conductive connection through the guide pipe 7, so that a controller of the numerical control pipe bending equipment obtains a feedback signal for clamping the guide pipe 7; specifically, the first electrode and the second electrode are connected in a sensing circuit, and when the first electrode and the second electrode are conducted, the sensing circuit generates a signal for clamping the conduit 7 and feeds the signal back to the controller of the numerical control pipe bending equipment.

Further preferably, the inner sleeve 21 is provided with a first conductive ring, a second conductive ring and a change-over switch, the first electrode is in conductive connection with an induction circuit arranged on the stand 1 through the first conductive ring and the first carbon brush, and the second electrode is in conductive connection with the induction circuit arranged on the stand 1 through the second conductive ring and the second carbon brush; the change-over switch converts the electric signal into a digital signal and sends the digital signal to the controller, and the controller then controls the first servo motor 240 to drive the mounting seat 20 to move on the frame 1, and controls the second servo motor 250 to drive the inner sleeve 21 to rotate according to specific settings.

In the embodiment of the present invention, the first driving assembly further includes a running gear and a rack, the mounting seat 20 is slidably mounted on the frame 1 through the cooperation of the sliding block and the sliding groove, the running gear is mounted on the mounting seat 20, the rack is mounted on the frame 1, the running gear is meshed with the rack for transmission, and the first servo motor 240 drives the running gear to rotate so as to drive the mounting seat 20 to move back and forth on the frame 1.

In the embodiment of the present invention, as shown in fig. 9 and 10, the second driving assembly includes a first cylinder 260, a first connecting member 261, two fork members 262 and two second connecting members 263, the two second connecting members 263 are fixedly installed on the installation base 20 and located below the outer sleeve 22, the extension rod of the first cylinder 260 is rotatably installed on the installation base 20, and the first cylinder 260 is located above the outer sleeve 22;

the first connecting piece 261 is H-shaped, the upper end of the first connecting piece 261 is hinged with the first oil cylinder 260, and the lower ends of the first connecting piece 261 are respectively hinged with the two second connecting pieces 263;

the outer sleeve 22 is provided with an annular groove 220; the two fork members 262 are mounted on the lower half of the first connecting member 261, the two fork members 262 are positioned in the annular groove 220 and are respectively positioned at the left and right sides of the outer sleeve 22, and the fork members 262 are abutted against the front side wall and the rear side wall of the annular groove 220.

Thus, the extension and retraction of the extension rod of the first cylinder 260 can be converted into the rotation of the first link 261, and the rotation of the second link 263 can cause the two fork members 262 to drive the outer sleeve 22 to move forward or backward.

In the embodiment of the present invention, the third driving assembly further includes a first housing 27, a first driving tooth 251 and a first driven tooth 252, the first housing 27 is fixedly mounted on the mounting base 20, the second servo motor 250 is mounted on the first housing 27, and the first driving tooth 251 is located in the first housing 27; the first driving teeth 251 are mounted on the output shaft of the second servo motor 250 through a key connection, the first driven teeth 252 are mounted on the inner sleeve 21 through a key connection, and the first driving teeth 251 and the first driven teeth 252 are engaged in transmission.

Further preferably, the diameter of the first active teeth 251 is smaller than the diameter of the first passive teeth 252; with this arrangement, the rotation rate of the inner sleeve 21 can be reduced and the rotation accuracy of the inner sleeve 21 can be improved.

In the embodiment of the present invention, an oiling mechanism is further provided, and the oiling mechanism is mounted at the upper end of the first housing 27, and when the third driving assembly drives the inner sleeve 21 to rotate, the oiling mechanism can be driven to simultaneously perform oiling into the first housing 27.

Further preferably, the oil filling mechanism comprises an oil tank 280, a second driven tooth 281, a cam shaft 282, a cam plate 283 and an oil filling pin 284, wherein the oil tank 280 is arranged at the top of the first shell 27, an oil filling channel communicated with the interior of the first shell 27 is arranged in the oil tank 280, and the oil filling pin 284 is positioned in the oil filling channel;

the cam shaft 282 is rotatably mounted in the first housing 27, the cam plate 283 and the second driven teeth 281 are mounted on the cam shaft 282 through key connection, the second driven teeth 281 and the first driving teeth 251 are in meshed transmission, and in the rotation process of the cam plate 283, the cam plate 283 can jack up the oiling pin 284 to open an oiling channel; and further realizes the automatic oiling of the oiling mechanism.

Further preferably, the oiling pin 284 includes an integrally formed pin portion capable of passing through the oiling passage and contacting the cam plate 283, and a blocking portion having a diameter larger than that of the pin portion so as to block the oiling passage.

Further preferably, a spring 285 is further provided, the spring 285 is located in the oil tank 280 and sleeved on the oiling pin 284, the top end of the spring 285 abuts against the top of the oil tank 280, and the bottom end of the spring 285 abuts against the blocking portion.

Further preferably, the cam plate 283 is located directly above the first driving teeth 251, and the first driving teeth 251 are located directly above the first driven teeth 252; thus, the lubrication effect can be further ensured.

In the embodiment of the present invention, as shown in fig. 12, the inner cylinder 231 includes an integrally formed annular portion 2310, four first connection portions 2311 and four second connection portions 2312, the four first connection portions 2311 are located in front of the annular portion 2310 and are uniformly distributed circumferentially, the four first connection portions 2311 are matched to form a cylindrical side surface, the four second connection portions 2312 are located in front of the four first connection portions 2311 and are uniformly distributed circumferentially, the four second connection portions 2312 are matched to form a side surface of a circular truncated cone, and the diameter of the side surface of the circular truncated cone gradually increases from back to front; thus, when the second driving assembly drives the outer sleeve 22 to move forward, the outer sleeve 22 pushes the outer sleeve 230 to move forward, and four second connecting portions 2312 are continuously compressed, so that the purpose of clamping the catheter 7 is achieved.

Further preferably, a bolt member 233 is further provided, a guide hole is formed in a gap between adjacent two of the first connection portions 2311, and the outer cylinder 230 is mounted in the guide hole by the bolt member 233.

A pipe bending processing method for inhibiting the pipe bending from becoming elliptic comprises the following specific steps:

step one: extending the front half section of the crease-resist die 35 into the third semicircular groove 600 and attaching the front half section to the third semicircular groove 600, and communicating the fifth semicircular groove 350 with the fourth semicircular groove;

step two, a step two is carried out; the automatic feeding and transferring device 2 sends the guide pipe 7 to the space between the crease-resist die 35, the supporting mechanism 4, the clamping die 51 and the bending die 60;

step three: the supporting mechanism 4 moves towards the direction approaching the guide tube 7 until the supporting mechanism abuts against the crease-resist die 35, so that the first semicircular groove 40 and the fifth semicircular groove 350 cooperate to clamp the guide tube 7; and simultaneously, the clamping die 51 moves in a direction approaching to the guide pipe 7 until abutting against the bending die 60, so that the second semicircular groove 510 is matched with the fourth semicircular groove to clamp the guide pipe 7;

step four: the bending die 60 rotates around the central axis thereof, and the rotating frame 50 rotates around the central axis of the bending die 60 and is consistent with the rotation direction of the bending die 60, so that the clamping die 51 pulls the movable joint pressing blocks 42 to move, so that the movable joint pressing blocks 42 sequentially abut against the bending die 60, and the first semicircular groove 40 and the third semicircular groove 600 which are gradually bent cooperate to clamp the catheter 7.

It is further preferred that after bending the catheter 7, the plurality of articulated blocks 42, the clamping die 51 and the bending die 60 are returned to the initial position as follows:

Fifthly, the supporting mechanism 4 moves in a direction away from the guide pipe 7, and simultaneously the clamping die 51 moves in a direction away from the guide pipe 7;

step six: the bending die 60 rotates around the central axis thereof to an initial position, and the rotating frame 50 rotates around the central axis of the bending die 60 to an initial position; thereby pushing the plurality of articulated blocks 42 to move so that the plurality of articulated blocks 42 return to the initial position;

repeating the second to sixth steps to finish the next pipe bending operation.

The numerical control pipe bending equipment control system for inhibiting the bend from becoming elliptical is used for controlling the numerical control pipe bending equipment for inhibiting the bend from becoming elliptical, and further comprises a control assembly, a first position sensor, a second position sensor, a third position sensor, a fourth position sensor, a fifth position sensor and a sixth position sensor, wherein the first position sensor, the second position sensor, the third position sensor, the fourth position sensor, the fifth position sensor and the sixth position sensor can be contact time sensors or light shadow sensors.

When the catheter 7 is conveyed to a designated position, the first position sensor sends a signal to a controller, and the controller controls the automatic feeding and transferring device 2 to stop feeding and controls the supporting mechanism 4 to move in the direction close to the catheter 7 until the supporting mechanism abuts against the crease-resist die 35, so that the first semicircular groove 40 and the fifth semicircular groove 350 cooperate to clamp the catheter 7; and controlling the clamping die 51 to move towards the direction approaching to the guide pipe 7 until the clamping die is propped against the bending die 60, so that the second semicircular groove 510 is matched with the fourth semicircular groove to clamp the guide pipe 7;

When the supporting mechanism 4 and the clamping die 51 move to the designated positions, the second position sensor sends a signal to the controller, and the controller controls the automatic feeding and transferring device 2 to push the guide pipe 7 to move forwards, and controls the clamping die 51 and the bending die 60 to rotate around the central shaft of the bending die 60 so as to bend the guide pipe 7, and meanwhile, the clamping die 51 can drive the supporting mechanism 4 to move so that the first semicircular groove 40 can be attached to the outer side wall of the bending portion of the guide pipe 7.

When the bending die 60 or the rotating frame 50 rotates to a designated position, the third position sensor sends a signal to the controller, and the controller controls the supporting mechanism 4 to move in a direction away from the catheter 7 and simultaneously controls the clamping die 51 to move in a direction away from the catheter 7;

when the supporting mechanism 4 and the clamping die 51 are retracted to the specified positions, the fourth position sensor sends a signal to a controller, and the controller controls the clamping die 51 and the bending die 60 to rotate around the central axis of the bending die 60 to the initial positions.

After the clamping die 51 and the bending die 60 rotate around the central shaft of the bending die 60 to the initial position, the fifth position sensor sends a signal to the controller, and the controller controls the automatic feeding and material transferring device 2 to deduce the pipe 7 before the pipe is further used for completing the next pipe bending operation; further preferably, after the fifth position sensor sends a signal to the controller according to the pre-input angle, the controller controls the automatic feeding and transferring device 2 to rotate the guide pipe 7 around the central axis thereof by the input angle and deduce the pipe 7.

When the automatic feeding and transferring device 2 moves to the designated position, the sixth position sensor sends a signal to the controller, and the controller controls the automatic feeding and transferring device 2 to loosen the guide pipe 7 and retract to the initial position, so that all pipe bending operations of the same guide pipe 7 are completed.

Example two

The present embodiment differs from the first embodiment in that the articulated pressure block 42 and the guide holder 41 in the first embodiment are not used in the present embodiment; but instead by a guided mode mechanism.

It should be noted that the clamping die 51 in this embodiment is not hinged to the die guiding mechanism.

In the embodiment of the present invention, as shown in fig. 17, 18, 19 and 20, the guide mold mechanism includes a mounting frame 80 and a fourth driving member 81 mounted on the frame 1, and a first guide mold 82, a second guide mold 83 and a third guide mold 84 mounted on the mounting frame 80 from top to bottom, wherein a right end surface of the first guide mold 82 is provided with a linear first arc surface 820, a right end surface of the second guide mold 83 is provided with a linear second arc surface 830, and a right end surface of the third guide mold 84 is provided with a linear third arc surface 840;

the fourth driving member 81 is used for driving two of the first guide die 82, the second guide die 83 and the third guide die 84 to move up and down; and further, the first guide mold 82, the second guide mold 83 and the third guide mold 84 are separated or closed, and when the first guide mold 82, the second guide mold 83 and the third guide mold 84 are closed, the first cambered surface 820, the second cambered surface 830 and the third cambered surface 840 cooperate to form a semi-elliptical groove with a semi-elliptical cross section.

In this way, before the pipe 7 is bent, the fourth driving member 81 drives the first guide die 82, the second guide die 83, and the third guide die 84 to close, so that the portion of the pipe 7 to be bent can be first shaped like an ellipse, the height of the pipe 7 is reduced, and the width of the pipe 7 is widened;

when the pipe 7 is bent, the elliptic direction of the bending part is that the height of the pipe 7 is increased and the width of the pipe 7 is narrowed; namely, the guide die mechanism in the embodiment of the invention can neutralize the ovalization generated by the guide tube 7 during the bending operation by pressing the guide tube 7 into ovalization, thereby finally achieving the purpose of reducing the ovality of the guide tube 7.

In the embodiment of the present invention, the fourth driving member 81 drives the first guide die 82 and the third guide die 84 to approach or separate from the second guide die 83; by doing so, the catheter 7 can be better made elliptical.

In the embodiment of the present invention, the fourth driving member 81 may be an oil cylinder or a servo motor; in this embodiment, the fourth driving member 81 is a servo motor, and is further provided with a second mounting plate 85, a second screw rod 86 and a plurality of guide rods 87, the mounting plate is fixedly mounted on the mounting frame 80 and located above the first guide die 82, the fourth driving member 81 and the plurality of guide rods 87 are fixedly mounted on the mounting plate, the first guide die 82 and the third guide die 84 can be mounted on the plurality of guide rods 87 in a vertically movable manner, the second guide die 83 is fixedly mounted on the mounting frame 80, the mounting plate or the plurality of guide rods 87, the second screw rod 86 is in positive threaded fit with the first guide die 82, the second screw rod 86 is in reverse threaded fit with the third guide die 84, and the fourth driving member 81 drives the second screw rod 86 to rotate so that the first guide die 82 and the third guide die 84 are close to or far away from the second guide die 83.

Further preferably, an orthodontic nut 88 and an anti-orthodontic nut 89 are further provided, the orthodontic nut 88 is fixedly connected with the first guide die 82 and is in positive threaded fit with the second screw rod 86, and the anti-orthodontic nut 89 is fixedly connected with the third guide die 84 and is in anti-threaded fit with the second screw rod 86.

In the embodiment of the present invention, the second driving member, that is, the servo motor, may also drive the mounting frame 80 to slide left and right on the frame 1.

Example III

The present embodiment differs from the first embodiment in that the articulated pressure block 42 and the guide holder 41 in the first embodiment are not used in the present embodiment; but instead by a guide shoe 90.

It should be noted that the clamping die 51 in this embodiment is not hinged to the guide die holder 90.

In this embodiment, as shown in fig. 21 and 22, a plurality of second heating pipes 91 are further provided, a plurality of parallel fourth mounting holes 900 are further provided on the guide die holder 90, the fourth mounting holes 900 are in a front-rear direction, and the plurality of second heating pipes 91 are mounted in the fourth mounting holes 900.

Further preferably, a second temperature sensor is further provided, and the second temperature sensor is used for detecting the temperature of the guide die holder 90.

More preferably, the material of the guide die holder 90 is high temperature resistant steel.

It should be noted that, the second heating pipes 91 in the present embodiment may also be applied to the mold guiding mechanism in the second embodiment, that is, the first mold guiding 82, the second mold guiding 83 and the third mold guiding 84 in the second embodiment together form the mold guiding base 90 in the present embodiment.

In the description of the present specification, a description referring to the terms "one embodiment," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptic is characterized in that; comprises a frame (1), an automatic feeding and transferring device (2), an anti-wrinkling mechanism (3), a supporting mechanism (4), a clamping die device (5), a bending die mechanism (6) and a control assembly, wherein the automatic feeding and transferring device is arranged on the frame (1);

the supporting mechanism (4) is provided with a first semicircular groove (40);

the die clamping device (5) comprises a rotating frame (50) and a die clamping device (51), wherein the rotating frame (50) is rotatably arranged on the frame (1), and the die clamping device (51) is arranged on the rotating frame (50);

the bending mechanism (6) comprises a bending die (60) rotatably arranged on the frame (1), wherein a third semicircular groove (600) in an arc shape and a fourth semicircular groove in a linear shape are arranged on the side wall of the bending die (60), and the third semicircular groove (600) is tangential to the fourth semicircular groove;

the anti-wrinkle mechanism (3) comprises an anti-wrinkle die (35), and a linear fifth semicircular groove (350) is formed in the anti-wrinkle die (35); the front half section of the crease-resist die (35) stretches into the third semicircular groove (600) and is attached to the third semicircular groove (600), and the fifth semicircular groove (350) is communicated with the fourth semicircular groove;

the automatic feeding and transferring device (2) can automatically convey the guide pipe (7) to the positions among the anti-wrinkle mechanism (3), the supporting mechanism (4), the clamping device (5) and the bending mechanism (6) after clamping the guide pipe (7);

When the catheter (7) is conveyed to a designated position, the first position sensor sends a signal to a controller, and the controller controls the second semicircular groove (510) to be matched with the fourth semicircular groove to clamp the catheter (7) and controls the first semicircular groove (40) to be matched with the fifth semicircular groove (350) to clamp the catheter (7);

when the supporting mechanism (4) and the clamping die (51) move to a designated position, the second position sensor sends a signal to the controller, the controller controls the automatic feeding and transferring device (2) to push the guide pipe (7) to move forwards, and controls the clamping die (51) and the bending die (60) to rotate around the central shaft of the bending die (60) so as to bend the guide pipe (7), and meanwhile, the clamping die (51) can also drive the supporting mechanism (4) to move so that the first semicircular groove (40) can be attached to the outer side wall of the bending part of the guide pipe (7);

the supporting mechanism (4) comprises a guide seat (41) and a plurality of movable joint pressing blocks (42), wherein the guide seat (41) is arranged on the frame (1), the movable joint pressing blocks (42) are distributed side by side and are slidably arranged on the guide seat (41), and two adjacent movable joint pressing blocks (42) are hinged with each other; a semicircular groove (420) is formed in the right end face of the movable joint pressing block (42), and the semicircular grooves (420) on the movable joint pressing blocks (42) are matched to form a first semicircular groove (40);

The clamping die (51) is hinged with the movable joint pressing block (42) positioned at the forefront end;

the movable joint pressing block (42) comprises a front side wall and a rear side wall which are symmetrically distributed, and a front side wall and a rear side wall which are symmetrically distributed, wherein the first side wall (421) is positioned at the left half part of the movable joint pressing block (42), the second side wall (422) is positioned at the right half part of the movable joint pressing block (42), an included angle formed between the first side wall (421) and the second side wall (422) on the same side is an obtuse angle, and the distance between the two second side walls (422) is gradually reduced from left to right;

two adjacent movable joint pressing blocks (42) are hinged at the junction of the first side wall (421) and the second side wall (422);

the movable joint pressing blocks (42) are provided with front and rear symmetrical arc grooves (423), the arc grooves (423) are positioned at the junction of the first side wall (421) and the second side wall (422), and two adjacent arc grooves (423) on two adjacent movable joint pressing blocks (42) are matched to form a hinge hole;

the device is also provided with a plurality of hinge shafts (43), wherein the hinge shafts (43) are respectively positioned in the hinge holes, and two adjacent movable joint pressing blocks (42) are hinged through the hinge shafts (43);

the movable joint pressing block (42) is also provided with a containing cavity (424) with an open end, and the open ends of the containing cavity (424) are respectively positioned on the front side wall and the rear side wall of the movable joint pressing block (42);

The device is also provided with a plurality of chain links (44), the chain links (44) are respectively arranged in the accommodating cavities (424) on the movable joint pressing blocks (42), and two adjacent chain links (44) are rotationally connected with the hinge shaft (43) between the two adjacent chain links (44);

the chain links (44) comprise a plurality of chain pieces which are stacked up and down and distributed at intervals, the chain pieces in two adjacent chain links (44) are stacked up and down in a crossing manner, and the chain pieces in two adjacent chain links (44) are all rotatably arranged on a hinge shaft (43) between the two adjacent chain links (44).

2. The numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical according to claim 1, wherein a third position sensor and a fourth position sensor are further arranged, when the bending die (60) or the rotating frame (50) rotates to a specified position, the third position sensor sends a signal to a controller, and the controller controls the supporting mechanism (4) to move in a direction away from the guide pipe (7) and simultaneously controls the clamping die (51) to move in a direction away from the guide pipe (7);

when the supporting mechanism (4) and the clamping die (51) are retracted to the designated positions, the fourth position sensor sends signals to the controller, and the controller controls the clamping die (51) and the bending die (60) to rotate to the initial positions around the central shaft of the bending die (60).

3. The numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical according to claim 2, further comprising a fifth position sensor, wherein after the clamping die (51) and the bending die (60) rotate around the central axis of the bending die (60) to the initial positions, the fifth position sensor sends a signal to a controller, and the controller controls the automatic feeding and transferring device (2) to deduce the pipe (7) before the next pipe bending operation is completed.

4. A numerical control pipe bending apparatus control system for suppressing the ovalization of a bent pipe according to claim 3, characterized in that, according to a pre-input angle, after the fifth position sensor sends a signal to the controller, the controller controls the automatic feeding and turning device (2) to turn the pipe (7) around its center by the input angle and then deduce the pipe (7).

5. The numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical according to claim 1, further comprising a sixth position sensor, wherein after the automatic feeding and transferring device (2) moves to a designated position, the sixth position sensor sends a signal to a controller, and the controller controls the automatic feeding and transferring device (2) to loosen the guide pipe (7) and retract to an initial position, so that all pipe bending operations of the same guide pipe (7) are completed.

6. The numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical according to claim 1, wherein the automatic feeding and transferring device (2) comprises a mounting seat (20) which is slidably mounted on a frame (1), an inner sleeve (21) which is mounted on the mounting seat (20), an outer sleeve (22), a clamping assembly (23), a first driving assembly for driving the mounting seat (20) to move back and forth on the frame (1), a second driving assembly for driving the outer sleeve (22) to move back and forth, and a third driving assembly for driving the inner sleeve (21) to rotate, and the outer sleeve (22) is sleeved on the inner sleeve (21) in a hollow manner;

the clamping assembly (23) comprises an outer cylinder (230), an inner cylinder (231) and a plurality of clamping blocks (232), wherein the outer cylinder (230) is arranged at the front end of the outer sleeve (22), the inner cylinder (231) is fixedly connected with the front end of the inner cylinder (21), the outer cylinder (230) is sleeved on the inner cylinder (231) and can rotate along with the inner cylinder (231), the outer cylinder (22), the inner cylinder (21), the outer cylinder (230) and the inner cylinder (231) are coaxially distributed, and the clamping blocks (232) are fixedly arranged at the front end of the inner cylinder (231) and uniformly distributed around the axial lead of the inner cylinder (231);

wherein the second driving assembly drives the outer sleeve (22) to move forwards, so that the clamping assembly (23) can be caused to clamp the guide pipe (7), and when the clamping assembly (23) clamps the guide pipe (7), the first driving assembly and the third driving assembly enter the working state.

7. The numerical control pipe bending equipment control system for inhibiting the pipe bending from becoming elliptical according to claim 6, further comprising a first electrode and a second electrode, wherein the first electrode and the second electrode are arranged on the clamping assembly (23) at intervals, and when the clamping assembly (23) clamps the guide pipe (7), the first electrode and the second electrode are in conductive connection through the guide pipe (7), so that a controller of the numerical control pipe bending equipment obtains a feedback signal for clamping the guide pipe (7).