CN115582465A - Robot-based bending forming method and device with variable bending radius and variable pipe diameter - Google Patents
Robot-based bending forming method and device with variable bending radius and variable pipe diameter Download PDFInfo
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- CN115582465A CN115582465A CN202211158772.9A CN202211158772A CN115582465A CN 115582465 A CN115582465 A CN 115582465A CN 202211158772 A CN202211158772 A CN 202211158772A CN 115582465 A CN115582465 A CN 115582465A
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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
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/10—Die sets; Pillar guides
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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
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Abstract
The invention discloses a bending forming method and device with variable bending radius and variable pipe diameter based on a robot, comprising a bending forming device (2) with variable bending radius and variable pipe diameter; the variable-bending-radius and variable-pipe-diameter forming device (2) comprises a rotating mechanism (21), a pressing mechanism (22) and a forming mechanism (23); the pressing mechanism (22) is arranged on a rotating shaft (213) of the rotating mechanism (21) through a rotating arm (225), and a servo motor (211) controls the rotating arm (225) to rotate anticlockwise around the rotating shaft (213) to complete the pipe bending operation; the invention realizes the aims of bending different pipe diameters and different bending radii in the same set of mould through the innovative design of the bending mould, adapts to the development trend of the pipe processing industry for integrating pipe forming, reduces the manufacturing cost of the mould and improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of bending forming of complex hollow components, in particular to a robot-based analytical method and device for a variable bending radius and variable pipe diameter bending forming process.
Background
With the development of industrial manufacturing products towards the trend of miniaturization, precision and light weight, various complex hollow bending components have wider application in the fields of aerospace, automobiles, ships, petrochemicals and the like, and can reduce the production cost, improve the product quality and improve the factory benefits.
For complex hollow curved members, common forming processes include bending around, stretch bending, press bending, and push bending techniques. The traditional bending process can only form a member with fixed bending radius and fixed pipe diameter under the condition of not replacing a mould, and a plurality of sets of bending moulds are often required to be replaced for complex hollow members, so that the production and manufacturing cost is greatly increased. And after the mould is replaced, the formed component needs to be repositioned, so that the manufacturing difficulty is increased easily, and the component forming precision is reduced.
At present, industrial robots are applied to the fields of automobile manufacturing, electronics and electrics, metal forming and the like, and the end device of the industrial robot is designed based on the industrial robot, so that a complex hollow component with variable bending radius and variable pipe diameter can be formed without replacing a mould. Robot manipulator compares in traditional digit control machine tool, has higher degree of freedom, and degree of automation is higher, and stability is better, accords with modern industrial development more.
Disclosure of Invention
The invention provides a robot-based variable bending radius and variable pipe diameter bending forming process analysis method and device for solving the defects in the prior art. Saving the manufacturing cost and improving the production efficiency and the factory income.
The invention adopts the following technical scheme:
a bending forming device with variable bending radius and variable pipe diameter based on a robot comprises a bending forming device (2) with variable bending radius and variable pipe diameter; the variable-bending-radius and variable-pipe-diameter forming device (2) comprises a rotating mechanism (21), a pressing mechanism (22) and a forming mechanism (23); the pressing mechanism (22) is arranged on a rotating shaft (213) of the rotating mechanism (21) through a rotating arm (225), and a servo motor (211) controls the rotating arm (225) to rotate anticlockwise around the rotating shaft (213) to complete pipe bending operation;
in the pressing mechanism (22), an air cylinder (221) is connected with a piston rod (224), the air cylinder (221) controls the piston rod (224) to move downwards to drive a bent arm three-hole plate (226) to rotate around a bent arm pin (227) in the anticlockwise direction, and then a floating slide block (223) is pushed to move horizontally towards the rotating mechanism (21) to press the pipe (3); the bent arm cover plate (222) is arranged on one side of the pressing mechanism (22) through a bent arm pin (227), and the other side of the pressing mechanism (22) is arranged on a rotating shaft (213) of the rotating mechanism (21) through a rotating arm (225);
the forming mechanism (23) is divided into a left part and a right part, the left half part is fixed on a floating sliding block (223) of the pressing mechanism (22) through a main die holder (231) and moves horizontally along with the floating sliding block (223), and the right half part is fixed on a rotating shaft (213) of the rotating mechanism (21) through a fixed disc (2311); the left half part is sequentially provided with an upper cover plate (2313), an upper pressing block (232), a lower base plate (234) and an adjusting motor I (235) from top to bottom, the upper cover plate (2313), the upper pressing block (232), the lower base plate (234) are connected through a screw I (2314), the upper part and the lower part of the screw I (2314) are respectively provided with a left-handed screw and a right-handed screw, and when the adjusting motor I (235) controls the screw I (2314) to rotate, the upper pressing block (232) and the lower pressing block (232) move oppositely to be separated or close to each other, so that pipes with different pipe diameters can be clamped; the upper cover plate (2313) is fixed on the main die holder (231) through a bolt I (2315), and the lower bottom plate (234) is also fixed on the main die holder (231) through a bolt II (233);
the right half part is provided with a fixed disc (2311), a clamping block box body (239), a square clamping block (236), a round clamping block (238) and an adjusting motor II (237) from top to bottom in sequence, the fixed disc (2311), the clamping block box body (239) and the round clamping block (238) are connected through a screw II (2310), and the square clamping block (236) and the round clamping block (238) are integrated;
the square clamping block (236) comprises an upper square clamping plate and a lower square clamping plate with arc grooves, the arc grooves are arranged along one edge of the square clamping plates, when the two square clamping plates are closed together, the two arc notches form a semi-elliptical groove, the horizontal direction of the semi-elliptical groove is an elliptical long axis, and the vertical direction of the semi-elliptical groove is an elliptical short axis, so that a circular tube is clamped; the semi-elliptical groove which is the same as Fang Gakuai (236) and is formed when the semi-elliptical groove upper and lower pressing blocks (232) are folded together, and a complete ellipse is formed between the square clamping block (236) and the pressing block (232);
the circular clamping block (238) also comprises an upper circular clamping plate and a lower circular clamping plate which are provided with circular arc grooves, the circular arc grooves are arranged along the circumference of the circular clamping plates, when the two circular clamping plates are folded together, the two circular arc notches form a semi-elliptical groove, the horizontal direction of the semi-elliptical groove is an elliptical short shaft, the vertical direction of the semi-elliptical groove is an elliptical long shaft, and the purpose is that the elliptical tube and the clamping block can be better attached along with the change of the bending direction when the elliptical tube is bent; the square clamping plate and the round clamping plate adjusting motor (237) controls the screw rod (2310) to rotate, so that the upper and lower clamping blocks (236) and the round clamping block (238) move oppositely, and pipes with different pipe diameters are clamped.
The forming device is characterized in that the upper square clamping block (236) and the upper round clamping block (238), the lower Fang Gakuai (236) and the lower round clamping block (238) are all formed into an integral clamping block, the round clamping block (238) is provided with a notch, the width of the notch in the horizontal direction is equal to that of the square clamping block (236), the tangent of the groove of the round clamping block (238) is the same as that of the groove of the square clamping block (236), and the groove of the round clamping block (238) is smoothly connected with the groove of the square clamping block (236).
According to the forming method of the forming device, when the formed bending radius is smaller, the adjusting motor I (235) controls the screw rod I (2314) to rotate so that the upper pressing block (232) and the lower pressing block (232) move relatively, and the adjusting motor II (237) controls the screw rod II (2310) to rotate so that the upper clamping block (236) and the lower clamping block (236) move relatively; thereby enabling the pipe (3) to be closer to the rotating shaft (213) and enabling the formed bending radius to be smaller; when the formed bending radius is larger, the clamping block (232) and the square clamping block (236) move in the opposite direction of the formed smaller bending radius, so that the pipe (3) is far away from the rotating shaft (213) and is closer to the clamping block (232). The relative positions of the upper clamping block (232) and the lower clamping block (236) and the square clamping block (236) can be adjusted to realize different bending radiuses of the same set of die.
The forming method specifically comprises the following steps:
step 1: the pipe clamping part of the pressing block and the square clamping block is oval, the center O of the oval is superposed with the center of the pipe, and the bending radius of the formed pipe is in the middle position; wherein, the half of the minor axis of the ellipse is b, the radius of the pipe is R, the distance between the compression block and the square clamping block to the horizontal central axis is h, the bending radius of the pipe forming is R, and the radius of the round clamping block is R 0 The following relationship is satisfied:
step 2: the adjusting motor I controls the screw rod I to rotate, so that the upper and lower compressing blocks move oppositely, and the distance of the compressing end is increased; meanwhile, the adjusting motor II controls the screw rod II to rotate, so that the upper square clamping block and the lower square clamping block move relatively, the distance between the clamping blocks is reduced, and the pipe forming position is close to the pressing end; when the upper and lower clamping blocks are overlapped, the forming mechanism can form the maximum bending radius R max Center position of pipe material O 1 The distance between the ellipse center O and the ellipse center is x, and the following relation is satisfied:
and step 3: forming minimum bend radius R min And (3) contrary to the step (2), the upper and lower pressing blocks are controlled to coincide by the adjusting motor I, and the upper and lower clamping blocks are controlled to move oppositely by the adjusting motor II, so that the distance between the clamping blocks is increased. Center position O of pipe 2 The distance between the ellipse center O and the ellipse center is also x, and the following relation is satisfied:
according to the forming method of the forming device, when different pipe diameters are formed, firstly, the axis of a pipe (3) needs to be superposed at the center of an ellipse formed by a pressing block (232) and a square clamping block (236); secondly, the adjusting motor I and the adjusting motor II control the screw rod I and the screw rod II to rotate, so that the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) simultaneously move in the same direction, the floating slide block (223) is controlled by the cylinder (221) to drive the main clamping die holder (231) to press towards the direction of the square clamping blocks (236), the rotating arm (225) is controlled by the servo motor (211) to rotate anticlockwise around the rotating shaft (213), the left half part of the forming mechanism (23) is further driven to rotate, and finally, the winding forming is realized; when the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) are relatively moved to be in contact, the radius of the formed pipe is minimum; when the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) move to the maximum distance from each other, the radius of the formed pipe is maximum.
The forming method specifically comprises the following steps:
step 1: when the pipe diameter is formed, firstly, the axis of the pipe needs to be superposed at the center of an ellipse formed by the pressing block and the square clamping block; secondly, the adjusting motor I and the adjusting motor II control the screw rod I and the screw rod II to rotate, and the upper and lower pressing blocks and the upper and lower clamping blocks relatively move to be overlapped; meanwhile, the floating slide block is controlled by the air cylinder to drive the main clamping die holder to compress towards the direction of the round clamping block until the compression block is superposed with the side surface of the round clamping block, and the radius of the formed pipe is r at the minimum min The following relationship is satisfied: r is a radical of hydrogen min ＝b；
Step 2: maximum pipe diameter r of the pipe max Similar with the minimum pipe diameter of shaping, the adjustment motor control screw rod is rotatory for upper and lower compact heap and upper and lower clamp splice take place to remove in opposite directions to the maximum position.
According to the forming method of the forming device, when the oval tubes with different bending directions are formed, when the bending direction is parallel to the short axis of the oval tube, the square clamping block (236) and the round clamping block (238) need to be rotated 90 degrees anticlockwise, so that the round clamping block (238) clamps the tube (3); when the bending direction is parallel to the long axis of the elliptical tube, the square clamping block (236) and the round clamping block (238) need to be rotated 90 degrees clockwise, so that the Fang Gakuai (236) clamps the tube (3), and the purpose is to enable the shape of the side surface of the tube (3) to be well attached to the shape of the side surface of the clamping block, so that the formed tube has better quality.
The invention has the beneficial effects that: 1) The invention provides a high-freedom bending radius and pipe diameter variable bending forming method based on the design of an end actuating mechanism of an industrial robot arm. 2) The invention realizes the aims of bending different pipe diameters and different bending radii in the same set of mould through the innovative design of the bending mould, adapts to the development trend of the pipe processing industry for integrating pipe forming, reduces the manufacturing cost of the mould and improves the production efficiency. 3) The bending forming of the pipe is mainly realized through the industrial robot, the automation degree of the whole process is high, the pursuit of modern industry on intellectualization is met, and the bending forming method has important engineering application value in the fields of aerospace, automobile manufacturing, marine ships and the like.
Drawings
FIG. 1 is a schematic diagram of a robot-based variable bend radius and variable pipe diameter bend forming system;
FIG. 2 is a schematic view of a variable bend radius and variable pipe diameter forming apparatus;
FIG. 3 is a schematic structural view of a rotating mechanism;
FIG. 4 is a schematic structural view of a pressing mechanism;
FIG. 5 is a schematic structural view of a forming mechanism;
FIG. 6 is an analytic schematic view of a variable bend radius process;
FIG. 7 is a schematic view of a bending process for forming different bending radii;
FIG. 8 shows the analytic view of the variable pipe diameter process;
FIG. 9 is a schematic diagram of a bending process for forming different pipe diameters;
FIG. 10 is a schematic sectional view of a shaped round tube;
FIG. 11 is a schematic view of an oval tube with different bending directions;
figure 12 is a schematic sectional view of a shaped oval tube;
in the figure: 1. the pipe forming machine comprises an industrial robot arm, 2, a forming device with variable bending radius and variable pipe diameter, 3, a pipe, 4, a pipe clamping device, 21, a rotating mechanism, 22, a pressing mechanism, 23, a forming mechanism, 211, a servo motor, 212, a connecting disc, 213, a rotating shaft, 221, a cylinder, 222, a bent arm cover plate, 223, a floating slide block, 224, a piston rod, 225, a rotating arm, 226, a bent arm three-hole plate, 227, a bent arm pin, 231, a main clamping block seat, 232, a pressing block, 233, a bolt II, 234, a lower base plate, 235, an adjusting motor I, 236, a square clamping block, 237, an adjusting motor II, 238, a round clamping block, 239, a clamping block box body, 2310, a screw II, 2311, a fixed plate, 2312, a bolt III, 2313, an upper cover plate, 2314, a screw I and a bolt I of 2315;
Detailed Description
The present invention will be described in detail with reference to specific examples.
Referring to fig. 1, the robot-based variable bending radius and variable pipe diameter bending forming device comprises an industrial robot arm 1, a variable bending radius and variable pipe diameter forming device 2 and a pipe clamping device 4; the variable bending radius and variable pipe diameter forming device 2 is arranged on an end effector of an industrial robot arm 1, and the posture and the position of the variable bending radius and variable pipe diameter forming device 2 are controlled through the high-freedom motion of the industrial robot arm 1. The pipe clamping device 4 clamps the tail end of the pipe 3, and the complex component is formed at one time by matching with the industrial robot arm 1 and the variable bending radius and variable pipe diameter forming device 2.
Referring to fig. 2-5, the variable bend radius and variable pipe diameter forming device 2 includes a rotating mechanism 21, a pressing mechanism 22, and a forming mechanism 23.
The rotating mechanism 21 includes a servo motor 211, a connecting disc 212, a rotating shaft 213; the servo motor 211 can drive the rotation shaft 213 to rotate;
the pressing mechanism 22 comprises an air cylinder 221, a bent arm cover plate 222, a floating slide block 223, a piston rod 224, a rotating arm 225, a bent arm three-hole plate 226 and a bent arm pin 227;
the forming mechanism 23 comprises a main clamping die holder 231, a pressing block 232, a bolt II 233, a lower bottom plate 234, an adjusting motor 235, a square clamping block 236, an adjusting motor 237 II, a round clamping block 238, a clamping block box 239, a screw II 2310, a fixed plate 2311, a bolt III 2312, an upper cover plate 2313, a screw I2314 and a bolt I2315;
the variable bending radius and variable pipe diameter forming device 2 is mounted on the industrial robot arm 1 through a connecting disc 212. The pressing mechanism 22 is arranged on a rotating shaft 213 of the rotating mechanism 21 through a rotating arm 225, and a servo motor 211 controls the rotating arm 225 to rotate anticlockwise around the rotating shaft 213 to complete the pipe bending operation; the forming mechanism 23 is divided into a left half and a right half, wherein the left half is fixed on the floating slide block 223 of the pressing mechanism 22 through the main die holder 231 and moves horizontally along with the floating slide block 223, and the right half is fixed on the rotating shaft 213 of the rotating mechanism 21 through the fixed disk 2311.
Referring to fig. 4, in the pressing mechanism 22, the cylinder 221 is connected to the piston rod 224, and the cylinder 221 controls the piston rod 224 to move downward, so as to drive the curved arm three-hole plate 226 to rotate counterclockwise around the curved arm pin 227, and further push the floating slider 223 to move horizontally toward the rotating mechanism 21, so as to press the pipe 3. The arm cover 222 is mounted on one side of the pressing mechanism 22 by an arm pin 227, and the other side of the pressing mechanism 22 is mounted on the rotary shaft 213 of the rotary mechanism 21 by a rotating arm 225.
Referring to fig. 5, the forming mechanism 23 is divided into a left part and a right part, the left half part comprises an upper cover plate 2313, an upper pressing block 232, a lower pressing block 232 (two blocks), a lower base plate 234 and an adjusting motor I235 from top to bottom, and all parts are connected in series through a screw I2314. The screw I2314 is respectively provided with a left-handed screw and a right-handed screw up and down, so that when the screw I2314 is controlled by the adjusting motor I235 to rotate, the upper and lower pressing blocks 232 move oppositely to be separated from each other, and pipes with different pipe diameters can be clamped. The upper cover plate 2313 is fixed on the main die holder 231 through a bolt I2315, and the lower bottom plate 234 is also fixed on the main die holder 231 through a bolt II 233.
The right half part is provided with a fixed disc 2311, a clamping block box body 239, a square clamping block 236, a round clamping block 238 and an adjusting motor II 237 from top to bottom in sequence, all parts are connected in series through a screw II 2310, and the square clamping block 236 and the round clamping block 238 are integrated.
The square clamping block 236 comprises two square clamping plates (one square clamping plate at the upper part and the lower part) with arc grooves, the arc grooves are arranged along one edge of the square clamping plates, when the two square clamping plates are folded together, the two arc notches form a semi-elliptical groove (a linear groove), the horizontal direction of the semi-elliptical groove is an elliptical long axis, and the vertical direction of the semi-elliptical groove is an elliptical short axis, so that a circular tube is clamped; the semi-elliptical groove is the same as Fang Gakuai formed when the upper and lower pressing blocks 232 of the semi-elliptical groove are folded together, and a complete elliptical shape is formed between the square clamping block 236 and the pressing block 232.
The circular clamping block 238 also comprises two (upper and lower) circular clamping plates with circular arc grooves, the circular arc grooves are arranged along the perimeter of the circular clamping plates, when the two circular clamping plates are closed together, the two circular arc notches form a semi-elliptical groove, the horizontal direction of the groove is an elliptical short axis, the vertical direction of the groove is an elliptical long axis, and the purpose is that the elliptical tube can be better attached to the clamping block along with the change of the bending direction when the elliptical tube is bent. The square clamping plate and round clamping plate adjusting motor II 237 controls the screw II 2310 to rotate, so that the upper and lower clamping blocks 236 and the round clamping block 238 move oppositely, and pipes with different pipe diameters are clamped. The clamping block box 239 is fixed on the fixing disc 2311 through a bolt III 2312.
The upper square clamping block 236, the upper round clamping block 238, the lower Fang Gakuai and the lower round clamping block 238 are all formed into an integral clamping block, the round clamping block 238 is provided with a notch, the width of the notch in the horizontal direction is equal to that of the square clamping block 236, the tangent line of the groove of the round clamping block 238 is the same as that of the groove of the square clamping block 236, and the groove of the round clamping block 238 is smoothly connected with the groove of the square clamping block 236.
Referring to fig. 6-7, in the process of forming the variable bending radius, when the formed bending radius is smaller, the adjusting motor i 235 controls the screw rod i 2314 to rotate, so that the upper pressing block 232 and the lower pressing block 232 move relatively, and the adjusting motor ii 237 controls the screw rod ii 2310 to rotate, so that the upper clamping block 236 and the lower clamping block 236 move relatively. Thereby allowing the tube 3 to be brought closer to the rotation axis 213 and forming a smaller bending radius. When the formed bending radius is larger, the clamping block 232 and the square clamping block 236 move in the opposite direction to the formed smaller bending radius, so that the tube 3 is closer to the clamping block 232 away from the rotation axis 213. That is, different bending radii of the same set of mold can be achieved by adjusting the relative positions of the upper and lower clamping blocks 232 and the square clamping block 236.
Referring to fig. 8-9, during forming different pipe diameters, the axis of the pipe 3 needs to be coincided with the center of the ellipse formed by the pressing block 232 and the square clamping block 236. And then the adjusting motor I and the adjusting motor II control the screw rod I and the screw rod II to rotate, so that the upper and lower pressing blocks 232 and the upper and lower clamping blocks 236 simultaneously move, the air cylinder 221 controls the floating slide block 223 to drive the main clamping die holder 231 to press towards the direction of the square clamping block 236, the servo motor 211 controls the rotating arm 225 to rotate anticlockwise around the rotating shaft 213, the left half part of the forming mechanism 23 is further driven to rotate, and finally, the winding forming is realized. When the upper and lower compression blocks 232 and the upper and lower clamp blocks 236 are relatively moved into contact, the radius of the formed tube is at a minimum; when the upper and lower clamp blocks 232, 236 are moved toward each other to a maximum distance, the radius of the formed tubing is at a maximum.
Referring to fig. 11, in the process of forming the oval tubes with different bending directions, when the bending direction is parallel to the short axis of the oval tube, the square clamping block 236 and the circular clamping block 238 need to be rotated counterclockwise by 90 ° first, so that the circular clamping block 238 clamps the tube 3; when the bending direction is parallel to the major axis of the elliptical tube, the square clamping block 236 and the round clamping block 238 need to be rotated clockwise by 90 degrees, so that the square clamping block 236 clamps the tube 3, and the purpose is to make the shape of the side surface of the tube 3 fit with the shape of the side surface of the clamping block better, so that the formed tube has better quality.
Example 1:
in the first step, the pipe clamping device 4 clamps the circular pipe, and the adjusting motor I235 and the adjusting motor II 237 control the upper and lower pressing blocks 232 and the upper and lower clamping blocks (the integral clamping block formed by the square clamping block 236 and the circular clamping block 238) to be opened to the maximum position.
Second, determining the process parameters
Thirdly, forming the large diameter of the round pipe
60mm, small pipe diameter
Is 20mm, and has a bending radius R 1 40mm, bending radius R 2 50mm, bending radius R 3 Is 60mm. Half b of the minor axis of the ellipse is 10mm, and the radius r of the round clamping block 0 Is 40mm. The analytical process of the forming process of each section of the bent pipe is as follows:
as shown in fig. 9 to 10, when forming the small-diameter circular tube portion:
need to firstlyThe axis of the pipe 3 is coincided with the center of the ellipse formed by the pressing block 232 and the square clamping block 236, and the diameter is small
20mm, with a radius equal to half b of the size of the minor axis of the ellipse (figure 8), so that h is equal to 0, the radius of curvature being shaped
The diameter of the pipe is just equal to the length of the minor axis of the ellipse formed by the pressing block 232 and the square clamping block 236, the servo motor 211 controls the rotating arm 225 to rotate 90 degrees anticlockwise around the rotating shaft 213 so as to drive the pressing mechanism 22 to rotate, the bending forming is completed, and the bending radius R is formed 1 And a round pipe with small pipe diameter.
When the variable-bending-radius round pipe part is formed:
firstly, calculating the h value corresponding to the coincidence of the center of the circular tube and the center of the ellipse,
determining the maximum bending radius and the minimum bending radius as follows:
the bending radius satisfying the forming is R 2 =50mm and R 3 Target of =60 mm. Forming bend radius R 2 When the central position of the circular tube is different from the central position of the ellipse by x = R-R 2 And 5mm, the round tube is closer to one side of the square clamping block 236, and then the adjusting motor I235 controls the screw I2314 to rotate, so that the upper and lower clamping blocks 232 relatively move to clamp the pipe, and meanwhile, the adjusting motor II 237 controls the screw II 2310 to rotate, so that the upper and lower clamping blocks 236 are mutually separated to clamp the pipe. The servo motor 211 controls the rotating arm 225 to rotate 90 degrees counterclockwise around the rotating shaft 213 to complete the wrap-around forming. Then forming the bent halfDiameter R 3 When the clamping device is used, the adjusting motor I and the adjusting motor II control the upper and lower pressing blocks 232 and the upper and lower clamping blocks 236 to be opened to the maximum position. Because the difference between the central position of the circular tube and the central position of the ellipse is x = R-R 3 And =55-60= -5mm, so that the round tube is closer to one side of the pressing block 232, the distance of the adjustment motor i for controlling the upper and lower pressing blocks 232 to move relatively is smaller than the distance of the upper and lower clamping blocks 236 to move relatively, until the round tube is clamped, the servo motor 211 controls the rotating arm 225 to rotate 90 degrees counterclockwise around the rotating shaft 213 to complete the bending forming, and finally the target tube as shown in fig. 10 is formed.
Example 2:
FIGS. 11-12 are schematic views of elliptical tubes with different bending directions and segments of elliptical tubes;
firstly, the pipe clamping device 4 clamps the oval pipe, and the adjusting motor I235 and the adjusting motor II 237 control the upper and lower pressing blocks 232 and the upper and lower clamping blocks to be opened to the maximum position.
Secondly, determining technological parameters, and forming an oval tube with a large tube diameter and a long shaft of 20mm and a short shaft of 14mm; the small tube diameter is 14mm long axis and 8mm short axis. Radius of curvature R 4 Is 20mm, and has a bending radius R 5 30mm, bending radius R 6 Is 40mm.
And thirdly, forming a large-diameter part, and enabling the axis of the elliptical tube to coincide with the center of an ellipse formed by the pressing block 232, wherein the bending direction is parallel to the minor axis of the elliptical tube, so that the square clamping block 236 and the round clamping block 238 need to be rotated counterclockwise by 90 degrees firstly, and the round clamping block 238 is enabled to be close to the elliptical tube. The upper and lower pressing blocks 232 and the upper and lower circular clamping blocks 238 are controlled by an adjusting motor I235 and an adjusting motor II 237 to move relatively to clamp the elliptical tube, and the rotating arm 225 is controlled by the servo motor 211 to rotate counterclockwise by 90 degrees around the rotating shaft 213 to form a bending radius R 4 (ii) a Because of the bending radius R 5 Ratio R 4 When the size is 10mm, according to the analysis method, the adjusting motor I235 is required to control the upper and lower pressing blocks 232 to move oppositely to separate the elliptical tube from the pressing blocks 232, then the arm 1 of the industrial robot moves 10mm horizontally towards the direction of the circular clamping blocks 238 to enable the pressing blocks 232 to press the elliptical tube again, the adjusting motor II 237 controls the upper and lower circular clamping blocks 238 to move relatively to clamp the elliptical tube, and the servo motor 211 controls the rotating arm 225 to rotate around the rotating shaft 21 again3 rotating 90 degrees counterclockwise to form a bending radius R 5 . Forming a small-diameter part, namely, firstly, the pipe clamping device 4 drives the elliptical tube to rotate 90 degrees clockwise, secondly, because the bending direction is parallel to the long axis of the elliptical tube, the square clamping block 236 and the round clamping block 238 need to rotate 90 degrees clockwise, so that the square clamping block 236 is close to the elliptical tube, the adjusting motor I235 and the adjusting motor II 237 control the upper and lower pressing blocks 232 and the upper and lower clamping blocks 236 to move relatively to clamp the elliptical tube, and the servo motor 211 controls the rotating arm 225 to rotate 90 degrees counterclockwise around the rotating shaft 213 to form a last section of bending section R 6 And finally, the space member as shown in fig. 12 is formed.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (7)
1. A bending forming device with variable bending radius and variable pipe diameter based on a robot is characterized by comprising a bending forming device (2) with variable bending radius and variable pipe diameter; the variable-bending-radius and variable-pipe-diameter forming device (2) comprises a rotating mechanism (21), a pressing mechanism (22) and a forming mechanism (23); the pressing mechanism (22) is arranged on a rotating shaft (213) of the rotating mechanism (21) through a rotating arm (225), and a servo motor (211) controls the rotating arm (225) to rotate anticlockwise around the rotating shaft (213) to complete the pipe bending operation;
in the pressing mechanism (22), an air cylinder (221) is connected with a piston rod (224), the air cylinder (221) controls the piston rod (224) to move downwards to drive a bent arm three-hole plate (226) to rotate around a bent arm pin (227) in the anticlockwise direction, and then a floating slide block (223) is pushed to move horizontally towards the rotating mechanism (21) to press the pipe (3); the bent arm cover plate (222) is arranged on one side of the pressing mechanism (22) through a bent arm pin (227), and the other side of the pressing mechanism (22) is arranged on a rotating shaft (213) of the rotating mechanism (21) through a rotating arm (225);
the forming mechanism (23) is divided into a left part and a right part, the left half part is fixed on a floating slide block (223) of the pressing mechanism (22) through a main die holder (231) and moves horizontally along with the floating slide block (223), and the right half part is fixed on a rotating shaft (213) of the rotating mechanism (21) through a fixed disc (2311); the left half part is sequentially provided with an upper cover plate (2313), an upper pressing block (232), a lower bottom plate (234) and an adjusting motor I (235) from top to bottom, the upper cover plate (2313), the upper pressing block (232), the lower pressing block (234) and the adjusting motor I (235) are connected through a screw I (2314), the upper part and the lower part of the screw I (2314) are respectively provided with a left-handed screw and a right-handed screw, and when the adjusting motor I (235) controls the screw I (2314) to rotate, the upper pressing block (232) and the lower pressing block (232) move oppositely to be separated or close to each other, so that pipes with different pipe diameters can be clamped; the upper cover plate (2313) is fixed on the main die holder (231) through a bolt I (2315), and the lower bottom plate (234) is also fixed on the main die holder (231) through a bolt II (233);
the right half part is provided with a fixed disc (2311), a clamping block box body (239), a square clamping block (236), a round clamping block (238) and an adjusting motor II (237) from top to bottom in sequence, the fixed disc (2311), the clamping block box body (239) and the round clamping block (238) are connected through a screw II (2310), and the square clamping block (236) and the round clamping block (238) are integrated;
the square clamping block (236) comprises an upper square clamping plate and a lower square clamping plate with arc grooves, the arc grooves are arranged along one edge of the square clamping plates, when the two square clamping plates are closed together, the two arc notches form a semi-elliptical groove, the horizontal direction of the semi-elliptical groove is an elliptical long axis, and the vertical direction of the semi-elliptical groove is an elliptical short axis, so that a circular tube is clamped; the semi-elliptical groove which is the same as Fang Gakuai (236) and is formed when the upper and lower pressing blocks (232) of the semi-elliptical groove are folded together, and a complete ellipse is formed between the square clamping block (236) and the pressing block (232);
the circular clamping block (238) also comprises an upper circular clamping plate and a lower circular clamping plate which are provided with circular arc grooves, the circular arc grooves are arranged along the circumference of the circular clamping plates, when the two circular clamping plates are folded together, the two circular arc gaps form a semi-elliptical groove, the horizontal direction of the semi-elliptical groove is an elliptical short axis, and the vertical direction of the semi-elliptical groove is an elliptical long axis, so that the elliptical pipe and the clamping block can be better attached along with the change of the bending direction when the elliptical pipe is bent; the square clamping plate and the round clamping plate adjusting motor (237) controls the screw rod (2310) to rotate, so that the upper and lower clamping blocks (236) and the round clamping block (238) move oppositely, and pipes with different pipe diameters are clamped.
2. The forming device according to claim 1, characterized in that the upper square clamping block (236) and the upper round clamping block (238), the lower Fang Gakuai (236) and the lower round clamping block (238) are formed as a whole clamping block, the round clamping block (238) has a gap, the horizontal width of the gap is equal to the width of the square clamping block (236), the tangent of the groove of the round clamping block (238) is the same as the tangent of the groove of the square clamping block (236), so that the groove of the round clamping block (238) is smoothly connected with the groove of the square clamping block (236).
3. The forming method of the forming device according to claim 1 or 2, wherein in the forming of the variable bending radius, when the formed bending radius is smaller, the adjusting motor I (235) controls the screw I (2314) to rotate, so that the upper and lower pressing blocks (232) move relatively, and the adjusting motor II (237) controls the screw II (2310) to rotate, so that the upper and lower clamping blocks (236) move relatively; thereby enabling the pipe (3) to be closer to the rotating shaft (213) and enabling the formed bending radius to be smaller; when the formed bending radius is larger, the clamping block (232) and the square clamping block (236) move in the opposite direction of the formed smaller bending radius, so that the pipe (3) is far away from the rotating shaft (213) and is closer to the clamping block (232). Namely, different bending radiuses can be achieved by adjusting the relative positions of the upper clamping block (232), the lower clamping block (232) and the square clamping block (236) in the same set of die.
4. The forming method according to claim 3, characterized by comprising in particular the steps of:
step 1: the pipe clamping part of the pressing block and the square clamping block is oval, the center O of the oval is superposed with the center of the pipe, and the bending radius of the formed pipe is in the middle position; wherein, the half of the minor axis of the ellipse is b, the radius of the pipe is R, the distance between the compression block and the square clamping block to the horizontal central axis is h, the bending radius of the pipe forming is R, and the radius of the round clamping block is R 0 The following relationship is satisfied:
step 2: adjusting motor I control screw IRotating to enable the upper and lower compressing blocks to move oppositely and increase the distance of the compressing end; meanwhile, the adjusting motor II controls the screw rod II to rotate, so that the upper square clamping block and the lower square clamping block move relatively, the distance between the clamping blocks is reduced, and the pipe forming position is close to the pressing end; when the upper and lower clamping blocks are overlapped, the forming mechanism can form the maximum bending radius R max Center position of pipe material O 1 The distance between the ellipse center O and the ellipse center is x, and the following relation is satisfied:
and step 3: forming minimum bend radius R min And (3) when the process is opposite to the step (2), the adjusting motor I controls the upper and lower pressing blocks to coincide, and meanwhile, the adjusting motor II controls the upper and lower clamping blocks to move oppositely, so that the distance between the clamping blocks is increased. Center position O of pipe 2 The distance between the ellipse center O and the ellipse center is also x, and the following relation is satisfied:
5. the forming method of the forming device according to claim 1 or 2, wherein when forming different pipe diameters, the axis of the pipe (3) is firstly coincided with the center position of an ellipse formed by the pressing block (232) and the square clamping block (236); secondly, the adjusting motor I and the adjusting motor II control the screw rod I and the screw rod II to rotate, so that the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) simultaneously move in the same direction, the floating slide block (223) is controlled by the cylinder (221) to drive the main clamping die holder (231) to press towards the direction of the square clamping blocks (236), the rotating arm (225) is controlled by the servo motor (211) to rotate anticlockwise around the rotating shaft (213), the left half part of the forming mechanism (23) is further driven to rotate, and finally, the winding forming is realized; when the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) are relatively moved to be in contact, the radius of the formed pipe is minimum; when the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) move to the maximum distance from each other, the radius of the formed pipe is maximum.
6. The forming method according to claim 5, characterized by comprising in particular the steps of:
step 1: when the pipe diameter is formed, firstly, the axis of the pipe needs to be superposed at the center of an ellipse formed by the pressing block and the square clamping block; secondly, the adjusting motor I and the adjusting motor II control the screw rod I and the screw rod II to rotate, and the upper and lower pressing blocks and the upper and lower clamping blocks relatively move to be overlapped; meanwhile, the floating slide block is controlled by the air cylinder to drive the main clamping die holder to compress towards the direction of the round clamping block until the compression block is superposed with the side surface of the round clamping block, and the radius of the formed pipe is r at the minimum min The following relationship is satisfied: r is min ＝b；
Step 2: maximum pipe diameter r of the pipe max Similar with the minimum pipe diameter of shaping, the adjustment motor control screw rod is rotatory for upper and lower compact heap and upper and lower clamp splice take place to remove in opposite directions to the maximum position.
7. The forming method of the forming device according to claim 1 or 2, wherein when forming the oval tube with different bending directions, when the bending direction is parallel to the minor axis of the oval tube, the square clamping block (236) and the round clamping block (238) are rotated counterclockwise by 90 ° to make the round clamping block (238) clamp the tube (3); when the bending direction is parallel to the long axis of the elliptical tube, the square clamping block (236) and the round clamping block (238) need to be rotated 90 degrees clockwise, so that the Fang Gakuai (236) clamps the tube (3), and the purpose is to enable the shape of the side surface of the tube (3) to be well attached to the shape of the side surface of the clamping block, so that the formed tube has better quality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211158772.9A CN115582465A (en) | 2022-09-22 | 2022-09-22 | Robot-based bending forming method and device with variable bending radius and variable pipe diameter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211158772.9A CN115582465A (en) | 2022-09-22 | 2022-09-22 | Robot-based bending forming method and device with variable bending radius and variable pipe diameter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116879067A (en) * | 2023-09-08 | 2023-10-13 | 江苏百年制冷设备有限公司 | Condenser pipeline performance detection device and detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116879067A (en) * | 2023-09-08 | 2023-10-13 | 江苏百年制冷设备有限公司 | Condenser pipeline performance detection device and detection method |
| CN116879067B (en) * | 2023-09-08 | 2024-01-09 | 江苏百年制冷设备有限公司 | Condenser pipeline performance detection device and detection method |
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