CN114871312B - Heterogeneous bimetal composite pipe bending forming method based on pipe bending robot - Google Patents
Heterogeneous bimetal composite pipe bending forming method based on pipe bending robot Download PDFInfo
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- CN114871312B CN114871312B CN202210441261.1A CN202210441261A CN114871312B CN 114871312 B CN114871312 B CN 114871312B CN 202210441261 A CN202210441261 A CN 202210441261A CN 114871312 B CN114871312 B CN 114871312B
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- composite pipe
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- bimetal composite
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- pipe
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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
- B21D7/06—Bending rods, profiles, or tubes in press brakes or between rams and anvils or abutments; Pliers with forming dies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
Abstract
The invention discloses a heterogeneous bimetal composite pipe bending forming method based on a pipe bending robot, which is characterized in that the pipe bending robot 1 is controlled to reach a first appointed bending position, a bending module 21 of an end effector 2 is used for clamping a bimetal composite pipe 3, the heating temperature of the bimetal composite pipe 3 is controlled through a temperature control box 212, so that the temperature of the bimetal composite pipe reaches the vicinity of the recrystallization temperature of metal with lower recrystallization temperature in the bimetal composite pipe, meanwhile, a high-temperature and high-pressure resistant oil pressure control system 5 charges the inside of the bimetal composite pipe 3 according to a pressure control formula, and the defects of internal bonding failure and lining collapse in the bending forming process of the bimetal composite pipe are effectively inhibited by controlling the heating temperature and the charging pressure during forming and the heat preservation and pressure maintaining time after the forming of each bending section, so that the defects of section distortion, instability, cracking and the like of a pipe in the bending forming process of the bimetal composite pipe are effectively improved.
Description
Technical Field
The invention belongs to the technical field of forming of bent components of bimetal composite pipes, and particularly relates to a heterogeneous bimetal composite pipe bending forming method based on a pipe bending robot.
Background
The bimetal composite pipe is composed of two heterogeneous metal pipes, and the inner pipe layer and the outer pipe layer are tightly combined by various deformation and connection technologies such as a mechanical rolling method, an explosion compounding method, a drawing compounding method, a hydraulic compounding method and the like. At present, the bending forming process of the bimetal composite pipe mainly comprises numerical control coiling, stretch bending, press bending and other room-temperature cold bending, and the formed bimetal composite bending member can have common failure modes such as internal bonding failure, lining collapse and the like. The failure modes enable the usability of the bent bimetal composite bending member to be greatly reduced, the bending member cannot be normally used, cost waste is caused, and the forming process is complex, and time and labor are wasted.
Disclosure of Invention
Aiming at the defects and the forming characteristics of the heterogeneous bimetal composite pipe in the prior art, the invention provides a heterogeneous bimetal composite pipe bending forming method based on a pipe bending robot.
The invention is realized by the following technical scheme:
a heterogeneous bimetal composite pipe bending forming method based on a pipe bending robot comprises the following steps: before forming, the bending robot 1 is controlled to reach the first designated bending position, the bending module 21 of the end effector 2 is used for clamping the bimetal composite pipe 3, the heating temperature of the bimetal composite pipe 3 is controlled by the temperature control box 212, so that the temperature of the bimetal composite pipe reaches the vicinity of the recrystallization temperature of the metal with lower recrystallization temperature in the bimetal composite pipe, and meanwhile, the high-temperature high-pressure resistant oil pressure control system 5 is used for controlling the temperature according to a pressure control formula:
pressurizing the inside of the bimetal composite pipe 3, wherein P is the liquid filling pressure of high-temperature-resistant high-pressure oil in the bimetal composite pipe 3, and the unit is MPa; sigma (sigma) s Yield strength in MPa at the recrystallization temperature of the metal having the lower recrystallization temperature of the bimetallic composite tube 3; t is the wall thickness of the bimetal composite pipe 3, and the unit is mm; d is the inner diameter of the bimetal composite pipe 3, and the unit is mm; k is an empirical coefficient, and the value is between 0.6 and 0.8.
The heterogeneous bimetal composite pipe bending forming method based on the pipe bending robot further comprises the following steps before forming:
(1) The inner diameter d and the wall thickness t of the bimetal composite pipe 3 are determined, the recrystallization temperatures corresponding to the two metals are determined simultaneously, and the bimetal composite pipe 3 is subjected to a tensile test to determine that the yield strength at the recrystallization temperature of the metal with lower recrystallization temperature is sigma s 。
The heterogeneous bimetal composite pipe bending forming method based on the pipe bending robot further comprises the following steps before forming: one end of the bimetal composite pipe 3 is plugged in a thermal screwing shrinkage way, so that leakage is prevented when high-temperature high-pressure resistant oil is introduced into the pipe; the other end is inserted into an external beam tube device 4 to be clamped and sealed and connected into a high-temperature and high-pressure resistant oil pressure control system 5;
the method for controlling the heating temperature of the bimetal composite pipe 3 by the heterogeneous bimetal composite pipe bending forming method based on the pipe bending robot is that all the resistance heating rods 211 arranged on the bending module 21 are connected with the temperature control box 212, so that the temperature control box 212 can accurately control the temperature of the resistance heating rods 211.
According to the heterogeneous bimetal composite pipe bending forming method based on the pipe bending robot, during forming, the pipe bending robot 1 controls the bending module 21 of the end effector 2 to bend and form the bimetal composite pipe 3 in a heating state, after bending and forming are finished, the bending module 21 of the end effector 2 keeps a bending state and continuously clamps the bimetal composite pipe 3, so that the bimetal composite pipe 3 is kept at a high temperature and high pressure loading state for 3-5 minutes, then the temperature control box 212 is closed to heat so that the bimetal composite pipe 3 is air-cooled to room temperature, and then the bending module 21 is opened to reset, so that the forming of a first bending section is completed; the bending robot 1 is controlled to reach the next designated bending position, the bending module 21 of the end effector 2 is used for clamping the bimetal composite pipe 3, the next bending section is started to form until all the bending sections are formed, and the forming of the bimetal composite pipe part is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a flexible bending forming process method of a bimetal composite pipe based on a pipe bending robot, which is based on the heating and liquid filling composite action, and realizes the effective inhibition of defects of internal combination failure and liner collapse in the bending forming process of the bimetal composite pipe by controlling the heating temperature and liquid filling pressure during forming and the heat preservation and pressure maintaining time after the forming of each bending section, thereby effectively improving the defects of section distortion, instability, cracking and the like of the pipe in the bending forming process of the bimetal composite pipe, simultaneously having high continuity, obviously improving the forming performance of the bimetal composite pipe and having higher engineering application value.
2. A group of resistance wire heating rods are additionally arranged on a bending module of the end effector of the pipe bending robot, the heating temperature of the bimetal composite pipe is controlled, the temperature of the bimetal composite pipe reaches the vicinity of the recrystallization temperature of metal with lower recrystallization temperature in the bimetal composite pipe, after the metal temperature reaches the recrystallization temperature, the forming force can be reduced, meanwhile, after the metal reaches the recrystallization temperature, the metal can be diffused to a bimetal bonding interface in the bending forming process due to the increase of the atomic diffusion capability, and the plastic toughness of the metal is enhanced at the recrystallization temperature, so that the internal stress disappears, thereby being beneficial to inhibiting the defects of the internal bonding failure of the bimetal, the collapse of a lining and the like. The other metal is heated to lower the forming force to some extent, but the temperature is lower than the recrystallization temperature, so that the strength and hardness are not obviously reduced, and the occurrence of section distortion is restrained to some extent.
Drawings
FIG. 1 is a schematic diagram of a flexible bending system for a bimetallic composite tube based on a pipe bending robot;
FIG. 2 is a schematic of an end effector with a charge heating rod;
FIG. 3 is a schematic diagram of a bending module and resistive heating rod distribution;
FIG. 4 is a schematic diagram of a bending module bending process;
in the figure: 1. the bending robot comprises a bending robot body 2, an end effector 21, a bending module 211, a resistance heating rod 212, a temperature control box 213, an auxiliary clamp 214, a main clamp 215, a bending die 3, a bimetal composite pipe 4, an external pipe binding device 5 and a high-temperature and high-pressure resistant oil pressure control system;
Detailed Description
The present invention will be described in detail with reference to specific examples.
The flexible bending forming device of the bimetal composite pipe based on the pipe bending robot mainly comprises a bending die 215, a main clamp 214 and an auxiliary clamp 213, wherein the bending die 215 and the main clamp 214 are mainly used for clamping the pipe 3, and the auxiliary clamp 213 is mainly used for being matched with the bending die 215 to bend and form the pipe 3; and the bending die 215, the main clamp 214 and the auxiliary clamp 213 are uniformly provided with heating holes near the grooves of the pipe, and are filled with the resistance heating rods 211.
As shown in fig. 1 to 4, a flexible bending forming method of a bimetal composite pipe based on a pipe bending robot is disclosed, which is characterized by comprising the following steps:
(1) The inner diameter d and the wall thickness t of the bimetal composite pipe 3 were determined, and the bimetal composite pipe 3 was subjected to a tensile test, and the yield strength at the recrystallization temperature of the metal having a lower recrystallization temperature in the bimetal composite pipe was measured to be sigma s ；
(2) One end of the bimetal composite pipe 3 is plugged in a thermal screwing shrinkage way, so that leakage is prevented when high-temperature high-pressure resistant oil is introduced into the pipe; the other end is inserted into an external beam tube device 4 to be clamped and sealed and connected into a high-temperature and high-pressure resistant oil pressure control system 5;
(3) All the resistance heating rods 211 arranged on the bending module 21 are connected to the temperature control box 212, so that the temperature control box 212 can precisely control the temperature of the resistance heating rods 211.
(4) Before forming, the bending robot 1 is controlled to reach the first designated bending position, the bending module 21 of the end effector 2 is used for clamping the bimetal composite pipe 3, the heating temperature of the bimetal composite pipe 3 is controlled by the temperature control box 212, so that the temperature of the bimetal composite pipe reaches the vicinity of the recrystallization temperature of the metal with lower recrystallization temperature in the bimetal composite pipe, and meanwhile, the high-temperature high-pressure resistant oil pressure control system 5 is used for controlling the temperature according to a pressure control formula:
(wherein P is the liquid filling pressure of high-temperature resistant high-pressure oil in the bimetal composite pipe 3, and the unit is MPa; sigma s Yield strength in MPa at the recrystallization temperature of the bimetal composite pipe 3; t is the wall thickness of the bimetal composite pipe 3, and the unit is mm; d is the inner diameter of the bimetal composite pipe 3, and the unit is mm; k is an empirical coefficient, and the value is between 0.6 and 0.8) and pressurizing the inside of the bimetal composite pipe 3.
(5) During forming, the bending robot 1 controls the bending module 21 of the end effector 2 to bend the bimetal composite pipe 3 in a heated state, after the bending forming is finished, the bending module 21 of the end effector 2 keeps a bending state and continuously clamps the bimetal composite pipe 3, so that the bimetal composite pipe 3 is kept at a high temperature and high pressure loaded state for 3-5 minutes, then the temperature control box 212 is closed to heat to cool the bimetal composite pipe 3 to room temperature, and then the bending module 21 is opened to reset to finish forming of a first bending section.
(6) The bending robot 1 is controlled to reach the next designated bending position, the bending module 21 of the end effector 2 is used for clamping the bimetal composite pipe 3, the next bending section is started to form until all the bending sections are formed, and the forming of the bimetal composite pipe part is completed.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (1)
1. The heterogeneous bimetal composite pipe bending forming method based on the pipe bending robot is characterized by comprising the following steps of:
before forming: determining the inner diameter d and the wall thickness t of the bimetal composite pipe (3), simultaneously determining the recrystallization temperatures corresponding to the two metals, and carrying out a tensile test on the bimetal composite pipe (3) to determine that the yield strength of the bimetal composite pipe (3) at the recrystallization temperature of the metal with lower recrystallization temperature is sigma s The method comprises the steps of carrying out a first treatment on the surface of the One end of the bimetal composite pipe (3) is plugged in a thermal screwing shrinkage way, so that leakage is prevented when high-temperature-resistant high-pressure oil is introduced into the pipe; the other end is inserted into an external beam tube device (4) to be clamped and sealed and connected into a high-temperature and high-pressure resistant oil pressure control system (5);
the bending robot (1) is controlled to reach the first designated bending position, the bending module (21) of the end effector (2) is used for clamping the bimetal composite pipe (3), the temperature control box (212) is used for controlling the heating temperature of the bimetal composite pipe (3) to be close to the recrystallization temperature of the metal with lower recrystallization temperature in the bimetal composite pipe, and the high-temperature high-pressure resistant oil pressure control system (5) is used for controlling according to the pressureThe formula is:
pressurizing the inside of the bimetal composite pipe (3), wherein P is the liquid filling pressure of high-temperature-resistant high-pressure oil in the bimetal composite pipe (3), and the unit is MPa; sigma (sigma) s Yield strength in MPa at the recrystallization temperature of the metal of which the recrystallization temperature is lower for the bimetallic composite tube (3) measured; t is the wall thickness of the bimetal composite pipe (3) and the unit is mm; d is the inner diameter of the bimetal composite pipe (3) and the unit is mm; k is an empirical coefficient, and the value is between 0.6 and 0.8; the method for controlling the heating temperature of the bimetal composite pipe (3) is that all the resistance heating rods (211) arranged on the bending module (21) are connected with the temperature control box (212), so that the temperature control box (212) can accurately control the temperature of the resistance heating rods (211); during forming, the bending robot (1) controls the bending module (21) of the end effector (2) to bend the bimetal composite pipe (3) in a heating state, after the bending forming is finished, the bending module (21) of the end effector (2) keeps a bending state and continuously clamps the bimetal composite pipe (3) so as to keep the bimetal composite pipe at a high temperature and high pressure loading state for 3-5 minutes, then the temperature control box (212) is closed to heat so as to cool the bimetal composite pipe (3) to room temperature, and then the bending module (21) is opened for resetting to finish forming of a first bending section; the bending robot (1) is controlled to reach the next appointed bending position, the bending module (21) of the end effector (2) is used for clamping the bimetal composite pipe (3), the next bending section is started to form until all the bending sections are formed, and the forming of the bimetal composite pipe part is completed.
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