CN114192628B - Multi-sensor fusion pipe bending forming state real-time monitoring device - Google Patents
Multi-sensor fusion pipe bending forming state real-time monitoring device Download PDFInfo
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- CN114192628B CN114192628B CN202111505431.XA CN202111505431A CN114192628B CN 114192628 B CN114192628 B CN 114192628B CN 202111505431 A CN202111505431 A CN 202111505431A CN 114192628 B CN114192628 B CN 114192628B
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- bending
- state detection
- universal joint
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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
- B21D7/08—Bending rods, profiles, or tubes by passing between rollers or through a curved die
- B21D7/085—Bending rods, profiles, or tubes by passing between rollers or through a curved die by passing through a curved die
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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
- B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
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Abstract
The invention discloses a real-time monitoring device for a bending forming state of a multi-sensor fused pipe fitting. Including intraductal fixing device, quick assembly disassembly universal joint and bending state detection module, first bending state detection module passes through the quick assembly disassembly universal joint and is connected with intraductal fixing device, other a plurality of bending state detection module constitute the structure of opening the chain through quick assembly disassembly universal joint end to end, it is intraductal spacing fixed through intraductal fixing device, linear displacement sensor through bending state detection module, metal thickness sensor, the section shape change of gyroscope sensor monitoring pipe fitting respectively, wall thickness change and resilience information, the quick assembly disassembly universal joint can select bending state detection module quantity to realize quick assembly disassembly according to pipe fitting bending segment length. The invention is used for monitoring the changes of the pipe wall shape, the wall thickness and the axis information of each position of the bending section of the pipe fitting in the bending process of the pipe fitting in real time, can obtain the bending dynamic information of the pipe fitting, shortens the bending test process and improves the production efficiency.
Description
Technical Field
The invention belongs to the field of pipe bending forming, and particularly relates to a multi-sensor fusion pipe bending forming state real-time monitoring device.
Background
The elbow pipe component is used as a structural part or a fluid conveying carrier, is widely applied to the fields of aviation, aerospace, ships, vehicles, petroleum transportation and the like, and has strict requirements on the bending quality of the pipe in various fields in engineering application. The pipe fitting is processed into the bent pipe through plastic deformation, when the pipe is bent and deformed, pipe bending forming defects such as cross section distortion, pipe wall collapse, pipe wall convex side thinning or cracking, pipe wall concave side thickening or wrinkling, unloading springback and the like are easily generated, and monitoring, predicting and controlling of the forming defects in the bending process are problems which need to be solved for high-quality bending forming of the pipe.
At present, the forming defects are mainly that after the pipe is bent and unloaded from the pipe bending equipment, defect assessment is carried out through related measuring tools, and then the forming defects are controlled through adjusting the process parameters of the pipe bending equipment and the like. The intelligent pipe bending equipment and the application of the digital twinning technology to the pipe bending process can shorten the bending test process, effectively control the bending quality, and improve the production efficiency, and the real-time monitoring of the bending state of the pipe and the state changes of the shape and the thickness of the pipe wall in the pipe bending process become problems to be solved urgently.
With the development of intelligent automation equipment and the application of a digital twin technology in the field of processing and manufacturing, intelligent sensing equipment based on a multi-sensor fusion technology is continuously developed. Because the bending section of the outer side of the pipe wall of the pipe fitting is mostly leaned against the die in the bending process, a real-time monitoring device installed in the pipe is absent at present for monitoring the pipe bending process in real time to obtain the real-time state of pipe bending, so that the bending process of the pipe fitting is effectively predicted, the pipe bending equipment can make a decision on reasonable process parameters, and the forming defect of the bent pipe is controlled.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a multi-sensor fusion pipe bending forming state real-time monitoring device which is used for monitoring the forming state, the shape of the pipe wall, the wall thickness and the change of axis information in the pipe bending process in real time, and can improve the pipe bending quality, shorten the bending test process and improve the production efficiency.
The technical scheme adopted by the invention is as follows:
multi-sensor fusion pipe bending forming state real-time monitoring device
The device comprises an in-pipe fixing device, a quick dismounting universal joint and an open chain structure formed by connecting a plurality of bending state detection modules; the fixing device in the pipe comprises a fixing support, a pushing screw rod and a supporting block, wherein the fixing support is mainly formed by sequentially connecting a cylindrical section, a first rectangular block, a second rectangular block and a third rectangular block from front to back; a rectangular groove II is formed in the rear end face of the third rectangular block; each side surface of the second rectangular block is hinged with a supporting block through a connecting rod, and a pressure sensor is mounted on each supporting block; the first rectangular block is axially provided with a rectangular groove I for mounting the sliding block I, each side surface of the first rectangular block is radially provided with a through groove communicated with the rectangular groove I, and four side surfaces of the sliding block I are hinged with four supporting blocks through connecting rods penetrating through the through grooves; the front end of the cylindrical section is provided with a flange plate used for fixing a hollow shaft motor, a rotating shaft of the hollow shaft motor is coaxially provided with a screw nut, and the end part of a push screw sequentially penetrates through the screw nut, the hollow shaft motor, the flange plate and a through hole axially formed in the cylindrical section to be fixedly connected with the sliding block I.
The bending state detection module comprises a support frame, a linear displacement sensor and a metal thickness sensor, the support frame is a polygonal cylinder, the linear displacement sensor is installed on each side face of the support frame, the metal thickness sensor is installed on a probe of each linear displacement sensor, and an installation groove is axially formed in the center of the support frame.
The quick assembly disassembly universal joint is installed on the front end face of each bending state detection module, the quick assembly disassembly universal joint of the next bending state detection module is hinged to the installation through groove of the previous bending state detection module to form an open chain structure, and the quick assembly disassembly universal joint of the first bending state detection module in the front of the open chain structure is hinged to the rectangular groove II of the rear end face of the third rectangular block of the pipe internal fixing device.
Each side surface of the second rectangular block is hinged with a supporting block through a connecting rod II and a connecting rod III, each side surface of the sliding block I is hinged with one end of the connecting rod I through an ear seat penetrating through the through groove, and the other end of the connecting rod I is connected to the middle part of the connecting rod II; the fixed support, the sliding block I, the connecting rod I and the connecting rod II form a sliding block rocker mechanism, and the fixed support, the connecting rod II, the supporting block and the connecting rod III form a parallelogram mechanism.
The pushing screw rod is connected with the screw nut through threads, and is in clearance fit with the hollow shaft motor, the flange plate and the cylindrical section; the hollow shaft motor rotates to drive the lead screw nut to rotate, and the lead screw nut drives the sliding block I to move linearly along the rectangular groove I by pushing the lead screw.
The support frame is a positive 2 n A polygonal column.
The quick dismounting universal joint comprises a cross shaft, a sliding block II, a return spring, a toggle pin and a universal joint fork; the universal joint fork comprises a joint fork seat and an upper fork head and a lower fork head which are connected with the joint fork seat, a cross shaft is connected between the upper fork head and the lower fork head, the cross shaft is of a cross structure with four shaft heads, counter bores for mounting sliding blocks II are formed in the four shaft heads along the end faces, a reset spring is connected between the sliding blocks II and the bottoms of the counter bores, a limiting groove communicated with the counter bores is formed in the side face of each shaft head, and a poking pin penetrating out of the limiting groove is fixedly connected to the side face of each sliding block II; a notch for mounting a gyroscope sensor is axially formed in the center of the cross shaft; the sliding block II extends out of the counter bore under the action of the return spring and is limited by the poking pin; and a toggle pin is toggled towards the center of the cross shaft, and the sliding block II overcomes the acting force of the return spring and retracts into the counter bore.
The front end face of the support frame of each bending state detection module is connected with a joint fork seat of the quick dismounting universal joint.
Two sliding blocks II in the vertical axis direction of the cross shaft are in clearance fit with through holes formed in the upper fork head and the lower fork head; spacing counter bores that two ascending slider II of cross axle horizontal axis and II both sides of third rectangular block rear end face rectangular channel opened have pass through clearance fit, or pass through clearance fit with spacing counter bore that support frame mounting groove both sides were opened some.
Method for monitoring bending forming state of pipe fitting in real time by adopting device
The method comprises the following steps:
step 1: selecting a plurality of bending state detection modules according to the lengths of the bending sections of the pipe, and installing the quick-dismounting universal joint on the front end surface of the support frame of each bending state detection module through a joint fork seat of the universal joint fork;
step 2: taking one bending state detection module, manually or by using a tool, enabling two poking pins in the direction of a cross shaft horizontal shaft of the quick assembly and disassembly universal joint to move towards the center, enabling a sliding block II to overcome the acting force of a return spring and retract into a counter bore, inserting the cross shaft into a supporting frame mounting groove of the other bending state detection module, and loosening the poking pins to enable the sliding block II of the quick assembly and disassembly universal joint on one bending state detection module to be inserted into limiting counter bores on two sides of the supporting frame mounting groove of the other bending state detection module under the action of the return spring;
repeating the steps, and connecting all the bending state detection modules end to end through the quick dismounting universal joints to form an open chain structure;
and step 3: installing a cross shaft of a quick assembly disassembly universal joint on a first bending state detection module in the front of the open chain structure into a rectangular groove II on the rear end face of a third rectangular block in the pipe fixing device by adopting the method in the step 2, and finishing the integral installation of the pipe bending forming state real-time monitoring device;
and 4, step 4: inserting the pipe bending forming state real-time monitoring device into the side to be bent of a pipe, turning on a motor switch to enable a hollow shaft motor to rotate forward to drive a screw nut to rotate, driving a sliding block I to do linear motion towards the rear part in a rectangular groove I of a fixing support through a pushing screw rod, driving a connecting rod II and a connecting rod III to rotate through the connecting rod I, expanding four supporting blocks outwards to enable the supporting blocks to be in contact with and extruded with the pipe wall, stopping the motor when the pressure detected by a pressure sensor on the supporting blocks reaches a set value, and fixing the pipe bending forming state real-time monitoring device in the pipe;
and 5: the metal thickness sensor on each bending state detection module support frame is in contact with the pipe wall, when the pipe is bent and deformed, the bending state detection module rotates along with the bending of the pipe, the sensor of each bending state detection module monitors the section information, the wall thickness information and the change of the central axis information of each position of the whole pipe bending section in real time, the linear displacement sensor monitors the section change of the pipe (the displacement change of the action point of the bending state detection module and the pipe), the metal thickness sensor monitors the wall thickness change of the pipe, and the gyroscope sensor monitors the change of the central axis of the pipe;
step 6: after the pipe is bent, a motor switch is turned on to enable a hollow shaft motor to rotate reversely to drive a screw nut to rotate, a slide block I is driven to do linear motion towards the front part along a rectangular groove I of a fixing support through a push screw, a connecting rod II and a connecting rod III are driven to rotate through a connecting rod I, four supporting blocks contract inwards, an in-pipe fixing device is separated from a pipe wall, and a real-time monitoring device for the bending forming state of the pipe fitting is withdrawn from the pipe;
and 7: through manual or use tools, two toggle pins in the direction of a horizontal shaft of the universal joint cross shaft of the quick dismounting and mounting are moved towards the center, the slide block II overcomes the acting force of the reset spring and retracts into the counter bore, the cross shaft is pulled out from a rectangular groove of a fixing support of the fixing device in the pipe, or pulled out from a mounting groove of a support frame of the bending state detection module, and the quick dismounting process is realized.
The invention has the beneficial effects that:
(1) the invention can realize the change of the pipe wall shape, the wall thickness and the axis information of each position of the bending section of the pipe fitting in the bending process of the pipe fitting, and can obtain the bending dynamic information of the pipe fitting in real time.
(2) The invention realizes that the real-time monitoring device for the bending state of the pipe fitting based on multi-sensor fusion can adapt to the bending of the pipe fitting in space through the quick dismounting and mounting universal joint device with two rotational degrees of freedom, has no degree of freedom of rotation around the axis of the pipe fitting, prevents the relative rotation of the real-time monitoring device and the pipe fitting, and better detects the characteristic information of the convex side and the concave side of the pipe fitting.
(3) According to the invention, the bending process of the pipe fitting is monitored by the sensor, so that the defect detection of the bent pipe is more intelligent, digital and informationized, and the result is more comprehensive, accurate and visual; the method can be used as intelligent sensing equipment to apply the technology of the Internet of things to the pipe bending process, and further realize the mapping from the physical end to the twin body in the digital twin technology of the pipe fitting.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the fixing device in pipe according to the present invention;
FIG. 3 is a sectional view of the fixing device in pipe according to the present invention;
FIG. 4 is a schematic view of the fixing bracket of the present invention;
FIG. 5 is a cross-sectional view of the mounting bracket of the present invention;
FIG. 6 is a schematic view of a bending status detection module according to the present invention;
FIG. 7 is a schematic view of a support frame of the bending status detecting module according to the present invention;
FIG. 8 is a schematic view of a gyroscope sensor mounting location of the present invention;
FIG. 9 is a schematic diagram showing the change of the cross-sectional shape and the change of the wall thickness of the bent section of the tube according to the present invention, (a) and (b) are respectively in two states before and after bending;
FIG. 10 is a schematic view of the change of the unload rebound axis of the bent segment of the tube material according to the present invention, wherein (a) and (b) are respectively before unload rebound and after unload rebound;
FIG. 11 is a schematic structural view of a quick release universal joint of the present invention;
FIG. 12 is a schematic view of a cross of the present invention;
FIG. 13 is a schematic view of a yoke structure according to the present invention;
FIG. 14 is a block diagram of the bending state detection module of the present invention with a quick release gimbal mounted.
In the figure: 1. the fixing device in the pipe, 2, quick assembly disassembly universal joint, 3, bending state detection module, 4, a fixed bolster, 5, a hollow shaft motor, 6, screw nut, 7, promote the lead screw, 8, slider I, 9, connecting rod I, 10, connecting rod II, 11, connecting rod III, 12, the supporting shoe, 13, pressure sensor, 14, the support frame, 15, linear displacement sensor, 16, metal thickness sensor, 17, gyroscope sensor, 18, the cross axle, 19, slider II, 20, reset spring, 21, the stirring round pin, 22, the universal joint fork, 401, the ring flange, 402, the cylinder section, 403, first rectangular block, 404, second rectangular block, 405, third rectangular block.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in figure 1, a pipe fitting bending forming state real-time supervision device that multisensor fuses includes intraductal fixing device 1, quick assembly disassembly universal joint 2 and a plurality of bending state detection module 3, intraductal fixing device 1 is used for the pipe fitting bending forming state real-time supervision device that fuses with the multisensor at intraductal fixed spacing, first bending state detection module 3 installs at 1 afterbody of intraductal fixing device through quick assembly disassembly universal joint 2, other a plurality of bending state detection module 3 are through 2 end to end connections of quick assembly disassembly universal joint, a plurality of bending state detection module 3 constitute the structure of opening the chain.
As shown in fig. 2 and fig. 3, the tube internal fixing device 1 includes a fixing bracket 4, a hollow shaft motor 5, a lead screw nut 6, a push lead screw 7, a slider i 8, a connecting rod i 9, a connecting rod ii 10, a connecting rod iii 11, a supporting block 12, and a pressure sensor 13. As shown in fig. 4 and 5, the front end of the fixing bracket 4 is provided with a flange plate 401 for fixing the hollow shaft motor 5, the cylindrical section 402 of the fixing bracket 4 is axially provided with a through hole, the push screw 7 penetrates through the through hole, the first rectangular block 403 is radially provided with a rectangular through hole groove for the sliding of the sliding block i 8, the second rectangular block 404 is provided with an ear seat hinged with the connecting rod, the rear end face of the third rectangular block 405 is provided with a rectangular groove, and the left side and the right side of the rectangular groove are both provided with limiting counter holes for installing the quick assembly and disassembly universal joint 2.
As shown in figures 2 and 3, a hollow shaft motor 5 is coaxially arranged on a fixed support 4, a screw nut 6 is coaxially arranged on a rotating shaft of the hollow shaft motor 5, the hollow shaft motor 5 can rotate to drive the screw nut 6 to rotate, a push screw 7 is fixedly connected with a slide block I8, the slide block I8 is arranged in a rectangular through hole groove of the fixed support 4, the screw nut 6 is matched with the push screw 7, the screw nut 6 can rotate to enable the push screw 7 to push the slide block I8 to linearly move in the sliding groove of the fixed support 4, four surfaces of the slide block I8 are respectively hinged with one end of four connecting rods I9, the other end of the connecting rod I9 is hinged with an ear seat at the middle part of the connecting rod II 10, one end of each of four connecting rods II 10 is respectively hinged on four surfaces of the fixed support 4, the slide block I8, the connecting rods I9 and the connecting rods II 10 form a slide block I8 rocker mechanism, and the other end of the four connecting rods II 10 is hinged with four supporting blocks 12, one end of each of four connecting rods III 11 is hinged to four faces of the fixed support 4, the other end of each of the four connecting rods III 11 is hinged to four supporting blocks 12, the fixed support 4, the connecting rod II 10, the supporting blocks 12 and the connecting rods III 11 form a parallelogram mechanism, a pressure sensor 13 is arranged on each supporting block 12, when a sliding block I8 moves linearly rightwards in a sliding chute of the fixed support 4, the connecting rod II 10 is driven to rotate clockwise under the driving of the connecting rod I9, the four supporting blocks 12 expand outwards to enable the supporting blocks 12 to be in contact with and extruded with a pipe wall, the position of a multi-sensor fused pipe bending forming state real-time monitoring device in a pipe is fixed, when the sliding block I8 moves linearly leftwards in the sliding chute of the fixed support 4, the connecting rod II 10 is driven to rotate anticlockwise under the driving of the connecting rod I9, the four supporting blocks 12 contract inwards to enable the supporting blocks 12 to be separated from the pipe wall, the device for monitoring the bending forming state of the multi-sensor fused pipe in real time can be withdrawn from the pipe.
As shown in fig. 6, the bending state detection module 3 includes a support frame 14, a linear displacement sensor 15, a metal thickness sensor 16, and a gyroscope sensor 17, and as shown in fig. 7, the support frame 14 is a polygonal cylinder. FIG. 7 is a schematic view of a hexagon, in which a groove for installing the quick-release universal joint 2 is axially formed in the supporting frame 14, and for better detecting the characteristic information of the convex side and the concave side of the pipe, the polygon is regular 2 n And a polygon shape. As shown in FIG. 6, 2 n A linear displacement sensor 15 is arranged on the 2 of the support frame 14 n On each side face, a metal thickness sensor 16 is mounted on the probe of each linear displacement sensor 15. As shown in fig. 8, the metal thickness sensor 16 is in contact with the pipe wall, and can monitor the change of the pipe wall thickness in real time, so as to measure the change of the pipe wall thickness, when the pipe wall is recessed inwards, the linear displacement sensors 15 are pressed, and each linear displacement sensor 15 can monitor the displacement of pipe collapse at each position, so as to measure the deformation of the pipe section. As shown in FIGS. 9-10, the gyroscope sensor 17 is mounted in the quick-release universal joint 2 at the center of the support frame 14, and is used for measuring the bending resilience defect of the pipe by monitoring the change of the axis of the pipe.
As shown in FIG. 11, the quick release universal joint 2 comprises a cross 18, a slider II 19, a return spring 20, a toggle pin 21 and a universal joint fork 22. As shown in FIG. 12, the cross shaft 18 is cross-shaped, counter bores for mounting a return spring 20 and a sliding block II 19 are arranged along the end surface in four directions, a limit groove communicated with the counter bores is arranged on the axial end surface, a notch for mounting a gyroscope sensor 17 is arranged in the center of the axial end surface, the four return springs 20 are respectively arranged at the bottoms of the four counter bores of the cross shaft 18, the sliding block II 19 is respectively contacted with the springs, mounted in the hole and can slide in the hole, a poking pin 21 penetrates through the limit groove and is fixedly connected with the sliding block II 19, the sliding block II 19 extends out of the hole under the action of the return spring 20 and is limited by the poking pin 21, when the poking pin 21 moves inwards, the sliding block II 19 moves inwards and retracts into the hole against the acting force of the return spring 20, the sliding block II 19 in the horizontal axis direction of the cross shaft 18 is mounted in the limit counter bores on two sides of the rectangular groove of the fixing bracket 4 in the fixing device or in the limit counter bores on two sides of the groove of the supporting frame 14 of the bending state detection module 3, the sliding block II 19 in the direction of the vertical axis of the cross 18 is connected with a universal joint fork 22. As shown in fig. 13, the universal joint yoke 22 includes a yoke base and two upper and lower yoke heads connected to the yoke base, the yoke base is fixedly connected to the support frame 14 of the bending state detection module 3 through a bolt, the two upper and lower yoke heads are both provided with a through hole connected to the slider ii 19 in the vertical direction, the cross 18 can rotate between the two yoke heads, and the slider ii 19 is in clearance fit with the limiting counter bore or the through hole.
The use process of the device is as follows:
(1) as shown in fig. 14, the joint yoke seats of the quick-release universal joint 2 are fixedly connected to the support frame 14 of the bending state detection module 3 by bolts for use, and a suitable number of bending state detection modules 3 are selected according to the length of the bent section of the pipe.
(2) The quick assembly disassembly universal joint 2 with one bending state detection module 3 installed together is taken, two poking pins 21 on a cross shaft 18 of the quick assembly disassembly universal joint 2 in the horizontal axis direction are enabled to move inwards through manual operation or tools, a sliding block II 19 overcomes the acting force of a return spring 20 to move inwards and retract into a hole, the cross shaft 18 is inserted into a groove of a supporting frame 14 of the bending state detection module 3, the poking pins 21 are loosened, the sliding block II 19 is inserted into limiting counter bores on two sides of the groove of the supporting frame 14 of the other bending state detection module 3 under the action of the return spring 20, and the steps are repeated to enable all the bending state detection modules 3 to be connected end to end through the quick assembly disassembly universal joint 2 to form an open chain structure.
(3) For the quick assembly disassembly universal joint 2 of the first bending state detection module 3 in the front of the open chain structure, two poking pins 21 on the cross shaft 18 of the quick assembly disassembly universal joint 2 in the horizontal shaft direction move inwards through manual operation or using tools, so that the sliding block II 19 overcomes the acting force of the return spring 20 to move inwards and retract into a hole, the cross shaft 18 is inserted into a rectangular groove of a fixing support 4 in the fixing device, the poking pins 21 are loosened, and the sliding block II 19 is inserted into a limiting counter hole of the rectangular groove of the fixing support 4 in the fixing device 1 in the pipe under the action of the return spring 20.
(4) The installed real-time monitoring device for the bending forming state of the multi-sensor fused pipe fitting is inserted into the side, to be bent, of a pipe, the position is adjusted, a motor switch is turned on, a hollow shaft motor 5 rotates positively to drive a lead screw nut 6 to rotate, a lead screw 7 is pushed to drive a sliding block I8 to move linearly rightwards in a sliding groove of a fixing support 4, a connecting rod II 10 rotates clockwise under the drive of a connecting rod I9, four supporting blocks 12 expand outwards to enable the supporting blocks 12 to be in contact with and extruded with the pipe wall, when the pressure detected by a pressure sensor 13 reaches a set value, the motor stops rotating, and the position of the real-time monitoring device for the bending forming state of the multi-sensor fused pipe fitting in the pipe is fixed.
(5) When the pipe is bent and deformed, the bending state detection modules 3 rotate along with the bending of the pipe, the linear displacement sensor 15 monitors the section change of the pipe, the metal thickness sensor 16 monitors the wall thickness change of the pipe, the gyroscope sensor 17 monitors the central axis change of the pipe, and the bending state detection modules 3 monitor the change of the section information, the wall thickness information and the central axis information of each position of the bending section of the whole pipe.
(6) After the pipe bending is finished, a motor switch is turned on to enable a hollow shaft motor 5 to rotate reversely to drive a screw nut 6 to rotate, a screw 7 is pushed to drive a sliding block I8 to do linear motion leftwards in a sliding groove of a fixed support 4, a connecting rod II 10 is driven by a connecting rod I9 to rotate anticlockwise, four supporting blocks 12 contract inwards, a fixing device is separated from the pipe, and a real-time monitoring device for the bending forming state of the pipe fitting with the fusion of multiple sensors is withdrawn from the pipe.
(7) Optionally, the two toggle pins 21 on the cross shaft 18 of the quick-release universal joint 2 in the horizontal axis direction are moved inwards manually or by using a tool, so that the sliding blocks II 19 overcome the acting force of the return spring 20 to move inwards and retract into the holes, and the cross shaft 18 is pulled out of the rectangular groove of the fixing bracket 4 of the pipe internal fixing device 1 or the groove of the supporting frame 14 of the bending state detection module 3, thereby realizing the quick-release process.
Claims (8)
1. A real-time monitoring device for the bending forming state of a multi-sensor fused pipe fitting is characterized by comprising an in-pipe fixing device (1), a quick assembly and disassembly universal joint (2) and an open chain structure formed by connecting a plurality of bending state detection modules (3);
the fixing device (1) in the pipe comprises a fixing support (4), a pushing screw rod (7) and a supporting block (12), wherein the fixing support (4) is mainly formed by sequentially connecting a cylindrical section (402), a first rectangular block (403), a second rectangular block (404) and a third rectangular block (405) from front to back; the rear end face of the third rectangular block (405) is provided with a rectangular groove II; each side surface of the second rectangular block (404) is hinged with a supporting block (12) through a connecting rod, and a pressure sensor (13) is installed on each supporting block (12); a rectangular groove I for mounting the sliding block I (8) is axially formed in the first rectangular block (403), a through groove communicated with the rectangular groove I is radially formed in each side face of the first rectangular block (403), and four side faces of the sliding block I (8) are hinged to the four supporting blocks (12) through connecting rods penetrating through the through grooves; a flange plate (401) used for fixing a hollow shaft motor (5) is arranged at the front end of the cylindrical section (402), a screw nut (6) is coaxially installed on a rotating shaft of the hollow shaft motor (5), and the end part of a push screw rod (7) sequentially penetrates through a through hole formed in the screw nut (6), the hollow shaft motor (5), the flange plate (401) and the cylindrical section (402) in the axial direction and is fixedly connected with a sliding block I (8);
the bending state detection module (3) comprises a support frame (14), linear displacement sensors (15) and metal thickness sensors (16), wherein the support frame (14) is a polygonal cylinder, each side surface of the support frame (14) is provided with the linear displacement sensor (15), a probe of each linear displacement sensor (15) is provided with the metal thickness sensor (16), and the center of the support frame (14) is axially provided with a mounting groove;
quick assembly disassembly universal joint (2) are installed to the terminal surface before every crooked state detection module (3), constitute in quick assembly disassembly universal joint (2) articulated connection to the mounting groove of preceding crooked state detection module (3) of back crooked state detection module (3) and open the chain structure, open the chain structure anterior quick assembly disassembly universal joint (2) articulated connection to the rectangular channel II of intraductal fixing device (1) third rectangular block (405) rear end face of first crooked state detection module (3).
2. The device for monitoring the bending forming state of the multi-sensor fused pipe fitting in real time as claimed in claim 1, wherein each side surface of the second rectangular block (404) is hinged with a supporting block (12) through a connecting rod II (10) and a connecting rod III (11), each side surface of the sliding block I (8) is hinged with one end of a connecting rod I (9) through an ear seat penetrating through the through groove, and the other end of the connecting rod I (9) is connected to the middle part of the connecting rod II (10);
the fixed support (4), the sliding block I (8), the connecting rod I (9) and the connecting rod II (10) form a sliding block rocker mechanism, and the fixed support (4), the connecting rod II (10), the supporting block (12) and the connecting rod III (11) form a parallelogram mechanism.
3. The device for monitoring the bending forming state of the multi-sensor fused pipe fitting in real time according to claim 1, wherein a push screw rod (7) is in threaded connection with a screw nut (6), and the push screw rod (7) is in clearance fit with a hollow shaft motor (5), a flange plate (401) and a cylindrical section (402); a hollow shaft motor (5) rotates to drive a lead screw nut (6) to rotate, and the lead screw nut (6) drives a sliding block I (8) to move linearly along a rectangular groove I through a pushing lead screw (7).
4. The device for real-time monitoring of the bending forming state of a multi-sensor fused pipe fitting according to claim 1, wherein the supporting frame (14) is a positive 2 n A polygonal column.
5. The device for monitoring the bending forming state of the multi-sensor fused pipe fitting in real time according to claim 2, wherein the quick-assembly and disassembly universal joint (2) comprises a cross shaft (18), a sliding block II (19), a return spring (20), a toggle pin (21) and a universal joint fork (22);
the universal joint fork (22) comprises a joint fork seat and an upper fork head and a lower fork head which are connected with the joint fork seat, a cross shaft (18) is connected between the upper fork head and the lower fork head, the cross shaft (18) is of a cross structure with four shaft heads, counter bores for mounting sliding blocks II (19) are formed in the four shaft heads along the end faces, a reset spring (20) is connected between the sliding blocks II (19) and the bottoms of the counter bores, a limiting groove communicated with the counter bores is formed in the side face of each shaft head, and a shifting pin (21) penetrating out of the limiting grooves is fixedly connected to the side face of each sliding block II (19); a notch for mounting a gyroscope sensor (17) is axially formed in the center of the cross shaft (18);
the sliding block II (19) extends out of the counter bore under the action of a return spring (20) and is limited by a toggle pin (21); the toggle pin (21) is toggled towards the center of the cross shaft (18), and the sliding block II (19) overcomes the acting force of the return spring (20) and retracts into the counter bore.
6. The device for monitoring the bending forming state of the multi-sensor fused pipe fitting in real time according to claim 5, wherein the front end face of the support frame of each bending state detection module (3) is connected with a joint fork seat of the quick-assembly and disassembly universal joint (2).
7. The device for monitoring the bending forming state of the multi-sensor fusion pipe fitting in real time as claimed in claim 5, wherein two sliding blocks II (19) in the vertical axis direction of a cross shaft (18) are in clearance fit with through holes formed in an upper fork head and a lower fork head; two sliding blocks II (19) on the cross shaft (18) in the horizontal axis direction are in clearance fit with limiting counter bores formed in two sides of a rectangular groove on the rear end face of a third rectangular block (405) or are in clearance fit with limiting counter bores formed in two sides of a mounting groove of a support frame (14).
8. The method for monitoring the pipe bending forming state of the device according to claim 5, is characterized by comprising the following steps:
step 1: a plurality of bending state detection modules (3) are selected according to the lengths of the bending sections of the pipes, and the quick-dismounting universal joint (2) is arranged on the front end face of the support frame of each bending state detection module (3) through a joint fork seat of a universal joint fork (22);
and 2, step: taking one bending state detection module (3), enabling two shifting pins (21) on a cross shaft (18) of a quick dismounting universal joint (2) in the horizontal axis direction to move towards the center through manual operation or using tools, enabling a sliding block II (19) to overcome the acting force of a return spring (20) to retract into a counter bore, inserting the cross shaft (18) into a mounting groove of a support frame (14) of the other bending state detection module (3), loosening the shifting pins (21), and enabling the sliding block II (19) of the quick dismounting universal joint (2) on one bending state detection module (3) to be inserted into limiting counter bores on two sides of the mounting groove of the support frame (14) of the other bending state detection module (3) under the action of the return spring (20);
repeating the steps, and connecting all the bending state detection modules (3) end to end through the quick dismounting universal joint (2) to form an open chain structure;
and step 3: installing a cross shaft (18) of a quick assembly disassembly universal joint (2) on a first bending state detection module (3) in the front of the open chain structure into a rectangular groove II on the rear end face of a third rectangular block (405) in the pipe internal fixing device (1) by adopting the method in the step 2, and finishing the integral installation of the pipe bending forming state real-time monitoring device;
and 4, step 4: inserting the pipe bending forming state real-time monitoring device into the side to be bent of a pipe, turning on a motor switch to enable a hollow shaft motor (5) to rotate forward to drive a screw nut (6) to rotate, driving a sliding block I (8) to do linear motion towards the rear part in a rectangular groove I of a fixed support (4) by pushing a screw rod (7), driving a connecting rod II (10) and a connecting rod III (11) to rotate by a connecting rod I (9), expanding four supporting blocks (12) outwards to enable the supporting blocks (12) to be in contact with and extruded with the pipe wall, and stopping the motor when the pressure detected by a pressure sensor (13) on the supporting blocks (12) reaches a set value, so that the position of the pipe bending forming state real-time monitoring device in the pipe is fixed;
and 5: the metal thickness sensors (16) on the support frames (14) of the bending state detection modules (3) are in contact with the pipe wall, when the pipe is bent and deformed, the bending state detection modules (3) rotate along with the bending of the pipe, the sensors of the bending state detection modules (3) monitor the change of section information, wall thickness information and central axis information of each position of the bending section of the whole pipe in real time, the linear displacement sensors (15) monitor the section change of the pipe, the metal thickness sensors (16) monitor the wall thickness change of the pipe, and the gyroscope sensors (17) monitor the central axis change of the pipe;
and 6: after the pipe is bent, a motor switch is turned on to enable a hollow shaft motor (5) to rotate reversely to drive a screw nut (6) to rotate, a slide block I (8) is driven to do linear motion towards the front part along a rectangular groove I of a fixed support (4) by pushing a screw rod (7), a connecting rod II (10) and a connecting rod III (11) are driven to rotate by a connecting rod I (9), four supporting blocks (12) contract inwards, a pipe inner fixing device (1) is separated from the pipe wall, and a real-time monitoring device for the bending forming state of the pipe fitting is withdrawn from the pipe;
and 7: through manual operation or using tools, two shifting pins (21) in the horizontal axis direction of a cross shaft (18) of the quick dismounting universal joint (2) move towards the center, a sliding block II (19) overcomes the acting force of a return spring (20) and retracts into a counter bore, the cross shaft (18) is pulled out from a rectangular groove II of a fixing support (4) of the pipe fixing device (1) or is pulled out from a mounting groove of a support frame (14) of a bending state detection module (3), and the quick dismounting process is realized.
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| CN202111505431.XA CN114192628B (en) | 2021-12-10 | 2021-12-10 | Multi-sensor fusion pipe bending forming state real-time monitoring device |
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| DE2642743C3 (en) * | 1976-09-23 | 1981-12-17 | Benteler-Werke Ag Werk Neuhaus, 4790 Paderborn | Device for manufacturing a motor vehicle axle |
| KR101605759B1 (en) * | 2009-12-08 | 2016-03-23 | 주식회사 포스코 | Tube bending apparatus |
| HUE045774T2 (en) * | 2015-04-01 | 2020-01-28 | Blm Spa | Apparatus for improving the quality of tube bending and method that uses such apparatus |
| CN105215112A (en) * | 2015-10-16 | 2016-01-06 | 哈尔滨飞机工业集团有限责任公司 | A kind of ball-and-socket joint plug with interchangeability |
| CN107138569B (en) * | 2017-05-27 | 2019-07-23 | 浙江大学 | Active synchronization is curved crease-resistant to split core bar device |
| CN112058930B (en) * | 2020-08-18 | 2021-06-29 | 浙江大学 | A terrace die and supporting production facility structure for drawing eccentric blank pipe |
| CN112620430B (en) * | 2020-10-27 | 2023-03-14 | 北京星航机电装备有限公司 | Guide pipe sample tube, guide pipe bending measuring scale and guide pipe sample tube forming method |
| CN113020355B (en) * | 2021-04-07 | 2023-06-16 | 苏州帝航防护设施有限公司 | Lining device for bending thin-wall metal pipe |
| CN113182403B (en) * | 2021-05-11 | 2022-10-21 | 浙江大学 | Diameter-variable multipoint contact radial support mandrel for bending pipe fitting |
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