CN115673056A - Flexible robot pipe bending automation system and pipe fitting pipe bending method - Google Patents
Flexible robot pipe bending automation system and pipe fitting pipe bending method Download PDFInfo
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- CN115673056A CN115673056A CN202211312507.1A CN202211312507A CN115673056A CN 115673056 A CN115673056 A CN 115673056A CN 202211312507 A CN202211312507 A CN 202211312507A CN 115673056 A CN115673056 A CN 115673056A
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Abstract
The invention discloses a flexible robot pipe bending automation system and a pipe fitting pipe bending method, wherein the system comprises the following steps: a robot guide rail and a robot movable along the robot guide rail; the device comprises a feeding mechanism guide rail, a feeding mechanism code scanning gun arranged on the feeding mechanism guide rail and a feeding mechanism pipe fitting holder capable of moving along the feeding mechanism guide rail; the rotary gripper is arranged on one side of the robot guide rail and comprises a gripping mechanism and a rotating mechanism, the gripping mechanism is used for gripping the pipe fitting, and the rotating mechanism is used for enabling the pipe fitting to rotate around the central axis of the pipe fitting; the auxiliary supporting mechanism guide rail is arranged at the rotary clamper, and the auxiliary supporting mechanism can move along the auxiliary supporting mechanism guide rail; the pipe bender is arranged on the robot and comprises a main clamp and an auxiliary clamp, wherein the main clamp is operable to clamp or loosen the pipe, and the auxiliary clamp is operable to clamp, semi-clamp or loosen the pipe.
Description
Technical Field
The invention relates to the technical field of pipe bending, in particular to a flexible robot pipe bending automation system and a pipe fitting pipe bending method.
Background
The processing and forming of the bent pipe is one of the processing technologies commonly used in the field of pipe fitting plastic processing, the bent pipe is processed into a bent part with a specific bending radius, bending angle and shape by a certain pipe processing and forming method, and the quality of the bent pipe directly influences the safety, stability and reliability of the product in the industries such as heavy industry, furniture, bridges, automobile industry and the like.
At present, most of pipe bending equipment adopts a numerical control pipe bender or a hydraulic pipe bender to bend pipes, loading and unloading are carried out by manual assistance, the upper and lower processes cannot be completely automated, and the difficulty of mixed line production is high. The processing technology has low production efficiency and higher required labor cost, and is not beneficial to full-automatic production and transformation of the bent pipe.
Because the pipe fitting automated production degree is not high, and the last process is disconnected, relies on the manual work to realize linking between the process, requires highly to workman's operation proficiency, is difficult to realize pipe fitting full automated processing. Secondly, most of the existing robots are used for loading and unloading in pipe bending, and robot pipe bending equipment and process are yet to be developed and improved.
Meanwhile, the lengths of the pipe fittings are different, the pipe bending parameters are different, the existing pipe bending equipment has the defects in mixed line automatic production, if the whole production planning of the pipe fittings is lacked, the pipe fitting clamp cannot be compatible with the clamping of the pipe fittings with various diameters, the clamping block needs to be replaced manually, the fixed pipe bender has high interference, the pipe bending of the pipe fittings with various specifications cannot be realized, an offline programming system is lacked for planning the pipe bending track in advance, and a matched feeding and blanking planning system is lacked.
Disclosure of Invention
In view of the above, the present invention provides an automatic system for bending a flexible robot tube and a tube bending method thereof under the condition that the automation degree of the existing tube bending is not high and the robot tube bending process is not mature, so as to achieve the mixed-line tube bending production of tubes with different diameters and lengths.
The technical scheme adopted by the invention is as follows:
a flexible robotic bend automation system, comprising:
a robot guide, and a robot movable along the robot guide;
the device comprises a feeding mechanism guide rail, a feeding mechanism code scanning gun arranged on the feeding mechanism guide rail and a feeding mechanism pipe clamp holder capable of moving along the feeding mechanism guide rail;
the rotary gripper is arranged on one side of the robot guide rail and comprises a gripping mechanism and a rotating mechanism, the gripping mechanism is used for gripping a pipe fitting, and the rotating mechanism is used for enabling the pipe fitting to rotate around the central axis of the pipe fitting;
the auxiliary supporting mechanism guide rail is arranged at the rotary clamper, and the auxiliary supporting mechanism can move along the auxiliary supporting mechanism guide rail;
the pipe bending machine is arranged on the robot and comprises a main clamp and an auxiliary clamp, wherein the main clamp can be used for clamping or loosening a pipe fitting in an operable mode, and the auxiliary clamp can be used for clamping or half-clamping or loosening the pipe fitting in an operable mode.
Above-mentioned flexible robot return bend automation system, wherein, supplementary supporting mechanism includes:
an auxiliary support bracket movable along the auxiliary support rail;
an auxiliary support guide rail motor for driving the auxiliary support bracket to move along the auxiliary support guide rail;
a support member rotatably connected with the auxiliary support bracket;
the rotary cylinder drives the supporting piece to rotate relative to the auxiliary supporting bracket;
the jacking cylinder is arranged on the supporting piece; and
and the supporting block is connected with a piston rod of the jacking cylinder.
In the automatic system for bending the pipe by the flexible robot, the robot guide rail, the feeding mechanism guide rail and the auxiliary supporting mechanism guide rail are all arranged along a first direction;
the feeding mechanism guide rail is positioned on one side of the robot guide rail, and the auxiliary supporting mechanism guide rail is positioned on the other side of the robot guide rail;
the rotary clamping device comprises two auxiliary supporting mechanism guide rails, and the rotary clamping device is positioned between the two auxiliary supporting mechanism guide rails.
The pipe bending method is suitable for the flexible robot pipe bending automation system, and comprises the following steps:
providing a corresponding straight pipe according to the information of the pipe fitting to be processed;
generating a pipe fitting digifax according to the information of the pipe fitting to be processed, determining to adopt a single-side pipe bending method or a double-side pipe bending method by a pipe fitting screening method, determining a pipe fitting clamping point, and determining a pipe fitting discharging point;
executing the single-side bent pipe method or the double-side bent pipe method.
The pipe bending method comprises a pipe clamping method and a pipe bending method;
wherein the tubular gripping method comprises:
the main clamp clamps a pipe to be machined, the auxiliary supporting mechanism moves to a pipe supporting position according to the pipe discharging point, and the robot carries the main clamp to place the pipe to be machined on the rotary clamp holder;
the rotary clamp holder clamps the pipe fitting to be processed, the main clamp loosens the pipe fitting to be processed, and the auxiliary clamp semi-clamps the pipe fitting to be processed;
wherein the pipe bending method comprises:
the robot carries the pipe bender to move to a bending point of a pipe to be machined, the rotary clamp rotates the pipe to be machined according to the information of the pipe to be machined, the main clamp clamps the pipe to be machined, the auxiliary clamp clamps the pipe to be machined, and the pipe bender bends the pipe;
the auxiliary clamp loosens the pipe fitting to be machined and retreats to the initial position, and the main clamp loosens the pipe fitting to be machined.
The pipe bending method is repeated to bend all bending points of the pipe to be processed.
In the above pipe bending method, in the single-side pipe bending method, the pipe bending method is performed from one end of the pipe to be processed to the other end of the pipe to be processed according to the key information to be processed;
in the double-sided pipe bending method, the pipe bending method is simultaneously or respectively implemented from two critical ends to be processed.
The pipe bending method comprises the following steps:
s1: judging the diameter of the pipe fitting to be processed;
s2: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than a first length, if so, executing S3, and otherwise, executing S4;
s3: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing the single-side pipe bending method, and otherwise, executing the double-side pipe bending method;
s4: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than a second length, if so, executing S5, and otherwise, executing S6;
s5: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing the single-side pipe bending method, and otherwise, executing the double-side pipe bending method;
s6: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than a third length, if so, executing S7, and otherwise, bending the pipe fitting;
s7: judging whether the sum of two adjacent straight line sections of the pipe fitting to be processed is greater than a second length, if so, executing S8, and if not, bending the pipe fitting;
s8: and judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing the single-side pipe bending method, and otherwise, executing the double-side pipe bending method.
The pipe bending method for the pipe fitting, wherein the information of the pipe fitting to be processed includes: straight line segment information, rotation angle information, and bend angle information.
The pipe bending method of the above pipe fitting further includes:
before providing a straight pipe corresponding to a pipe to be processed, scheduling production orders of customers through a production management system, and determining a processing sequence of the pipe to be processed;
and after the straight pipe corresponding to the pipe to be processed is provided, marking and tracking the pipe to be processed.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
(1) The bending device can realize the bending of the mixed material bent pipe of the pipe fittings with various specifications. The flexibility of the bent pipe is greatly improved by the aid of the robot hand-held pipe bending machine, and left and right bent pipes of the long pipe fitting can be realized.
(2) The invention adopts the elbow off-line software to automatically generate the elbow process and the robot elbow program, realizes a plurality of procedures of pipe fitting feeding, elbow bending, blanking and the like, greatly improves the automation degree of elbow bending, and is beneficial to the upgrading and the reconstruction of an automatic elbow production line.
(2) The motor control in the pipe bending execution system can be controlled by the robot, the robot and the pipe bending system are highly integrated, and the robot pipe bending process is perfected.
Drawings
Fig. 1 is a perspective view of a flexible robotic elbow automation system of the present invention.
Fig. 2 is a perspective view of a bender of the flexible robotic bend automation system of the present invention.
Fig. 3 is a perspective view of a rotary gripper of the flexible robotic elbow automation system of the present invention.
Fig. 4 is a perspective view of an auxiliary support mechanism of the flexible robotic elbow automation system of the present invention.
Fig. 5 is a flow chart of a method for screening the pipe elements of the automated system for bending the pipe using the flexible robot according to the present invention.
Fig. 6 is an exemplary diagram of the tubing of the flexible robotic elbow automation system of the present invention.
In the drawings: 1. a robot guide rail; 2. a robot; 3. a feed mechanism guide rail; 4. a loading mechanism scans the code gun; 5. the feeding mechanism is a pipe clamp; 6. rotating the gripper; 61. a clamping mechanism; 62. a rotation mechanism; 7. an auxiliary support mechanism guide rail; 8. an auxiliary support mechanism; 81. an auxiliary support bracket; 82. an auxiliary support guide rail motor; 83. a rotating cylinder; 84. a jacking cylinder; 85. a support block; 86. a support member; 9. a pipe bender; 91. a main clamp; 92. and (5) auxiliary clamping.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Fig. 1 is a perspective view of a flexible robot pipe bending automation system of the present invention, fig. 2 is a perspective view of a pipe bender of the flexible robot pipe bending automation system of the present invention, fig. 3 is a perspective view of a rotary gripper of the flexible robot pipe bending automation system of the present invention, fig. 4 is a perspective view of an auxiliary support mechanism of the flexible robot pipe bending automation system of the present invention, fig. 5 is a flowchart of a pipe screening method of the flexible robot pipe bending automation system of the present invention, fig. 6 is an exemplary diagram of a pipe of the flexible robot pipe bending automation system of the present invention, please refer to fig. 1 to 6, which illustrate a flexible robot pipe bending automation system of a preferred embodiment, including: robot guide rail 1 and can follow robot guide rail motion 1's robot 2, feed mechanism guide rail 3, locate feed mechanism on feed mechanism guide rail 3 and sweep sign indicating number rifle 4 and can follow feed mechanism pipe fitting holder 5 of feed mechanism guide rail 3 motion.
Further, as a preferred embodiment, the flexible robot pipe bending automation system further comprises: and the rotary gripper 6, the rotary gripper 6 is arranged on one side of the robot guide rail 1, the rotary gripper 6 comprises a gripping mechanism 61 and a rotating mechanism 62, the gripping mechanism 61 is used for gripping the pipe, and the rotating mechanism 62 is used for rotating the pipe around the central axis of the pipe.
Specifically, rotary clamp 6 is full servo rotary clamp, contains 2 FANUC motors altogether, and wherein presss from both sides tight motor and is responsible for pressing from both sides tight pipe fitting, and rotary motor is responsible for rotating the pipe fitting around the center pin. The clamping blocks of the rotary clamp holder 6 are V-shaped clamping blocks, and can be simultaneously compatible with pipe fittings with different diameters for clamping.
Further, as a preferred embodiment, the flexible robot pipe bending automation system further comprises: an auxiliary support mechanism guide rail 7 provided at the rotary clamper 6, and an auxiliary support mechanism 8 movable along the auxiliary support mechanism guide rail 7.
Further, as a preferred embodiment, the flexible robot pipe bending automation system further comprises: the pipe bender 9 is arranged on the robot 2, and the pipe bender 9 comprises a main clamp 91 and an auxiliary clamp 92, wherein the main clamp 91 is operable to clamp or release a pipe, and the auxiliary clamp 92 is operable to clamp, half-clamp or release a pipe.
Specifically, when the pipe is clamped, the pipe cannot move or rotate relative to the main clamp 91 or the auxiliary clamp 92; when the pipe fitting is loosened, the key can be separated from the main clamp 91 or the auxiliary clamp 92; in the half-pipe-gripping state, the pipe can be moved or rotated relative to the auxiliary gripper 92, but cannot be detached from the auxiliary gripper 92.
Further, as a preferred embodiment, the pipe bending motor controls the pipe bending machine 9 to bend the pipe at an angle. The pipe bender 9 further comprises a multi-layer die, preferably a three-layer die, and can simultaneously be compatible with pipe bending of 3 diameters, so that pipe mixing processing can be realized.
Specifically, parameter information (such as Y: a straight line segment, B: a rotation angle, C: a bending angle, or information of space point positions X, Y and Z) of a pipe fitting to be processed is imported into full-automatic pipe bending off-line software, and a pipe fitting digital model is generated through the software; and then, a bent pipe screening method is utilized to generate a bent pipe process, and the robot bent pipe program is output by full-automatic bent pipe off-line software.
Specifically, the production management system arranges production for the production order of the customer, determines the pipe fitting processing sequence, reads pipe fitting information through an automatic feeding system (comprising the feeding mechanism guide rail 3, the feeding mechanism code scanning gun 4 and the feeding mechanism pipe fitting holder 5), then cuts out a corresponding straight pipe according to the pipe length, prints codes for the pipe fittings and tracks the pipe fittings, simultaneously transmits related information to a bent pipe execution system, and the robot 2 grabs the pipe fittings from a feeding position, performs pipe bending operation according to the process planned by full-automatic pipe bending off-line software, and finally realizes full-automatic pipe bending operation of the pipe fittings.
Further, as a preferred embodiment, the auxiliary supporting mechanism 8 includes: an auxiliary support bracket 81 movable along the auxiliary support rail 7; an auxiliary support rail motor 82 that drives the auxiliary support bracket 81 to move along the auxiliary support rail 7; a support member 86 rotatably connected to the auxiliary support bracket 81; a rotary cylinder 83 for driving the support member 86 to rotate with respect to the auxiliary support bracket 81; a jacking cylinder 84 provided on the support 86; and a supporting block 85 connected to a piston rod of the jacking cylinder 84.
In particular, the long pipe may sag due to its own weight and flexibility, and thus the pipe needs to be supported at a suitable position. When supporting, the rotating cylinder 83 rotates the supporting piece 86 to a vertical upward position, and the jacking cylinder 84 jacks up the supporting block 85 for supporting. When the support is not needed, the jacking cylinder 84 descends, and the rotating cylinder 83 swings the support 86 to be horizontal.
Further, as a preferred embodiment, the robot guide rail 1, the feeding mechanism guide rail 3, and the auxiliary supporting mechanism guide rail 7 are all disposed along the first direction.
Further, as a preferred embodiment, the feeding mechanism guide rail 3 is located at one side of the robot guide rail 1, and the auxiliary supporting mechanism guide rail 7 is located at the other side of the robot guide rail 1.
Further, as a preferred embodiment, two auxiliary support mechanism rails 7 are included, and the rotary clamper 6 is located between the two auxiliary support mechanism rails 7.
Further, as a preferred embodiment, the present invention relates to a pipe bending method for pipe fittings, comprising:
a1: the production management system reads the order of the customer, plans the production plan and determines the pipe fitting processing sequence.
A2: the automatic feeding system cuts out a corresponding straight pipe according to the information of the pipe to be processed and sends the pipe to the upper material level. And meanwhile, transmitting the information (Y, B and C) of the current pipe fittings to be processed to the elbow execution system.
A3: the full-automatic pipe bending off-line software generates a pipe fitting digifax according to the corresponding pipe fitting information (Y, B and C), determines a pipe fitting process (a single-side pipe bending method or a double-side pipe bending method) through a pipe fitting screening method, and determines a pipe fitting clamping point and a pipe fitting discharging point.
A4: the pipe bender 9 is held by the robot 2, and the robot 2 controls the main clamp motor to drive the main clamp 91 to clamp the pipe fitting, so that the pipe fitting is grabbed. Meanwhile, the auxiliary supporting mechanisms on the two sides move to the supporting positions according to the discharging points, and then the robot 2 places the pipe fitting in the rotary clamper 6.
A5: the robot 2 controls a clamping motor of the rotary clamper 6 to drive the rotary clamper 6 to clamp the pipe fitting. After the rotary clamper 6 clamps the pipe, the main clamp 91 of the pipe bender 9 is released, and the auxiliary clamp 92 clamps the pipe in half, so that the pipe is in a half-clamping state and can rotate and move in the die.
A6: the robot 2 carries the pipe bender 9 to move to a first bending point of the pipe fitting, the robot 2 controls a main clamp motor of a main clamp 91 of the pipe bender 9 to clamp the pipe fitting, an auxiliary clamp motor of an auxiliary clamp 92 clamps the pipe fitting, and the pipe fitting is completely clamped at the moment. The robot 2 controls the pipe bending motor to enable the main clamp 91 and the wheel die to integrally rotate, and meanwhile, the robot 2 controls the follow-up motor or the cylinder to enable the auxiliary clamp 92 to follow the pipe fitting direction to move, so that the pipe fitting is bent to a required angle.
A7: the robot 2 controls the auxiliary clamp motor to release the auxiliary clamp 92, and causes the auxiliary clamp 92 to retract to the home position, and controls the main clamp motor to release the main clamp 91. At the moment, the pipe bender 9 loosens the pipe fittings, and the robot 2 controls the pipe bending motor to return the rotary arm of the pipe bender head to the zero position.
A8: the robot 2 carries the pipe bending head to move to the next bending point of the pipe fitting, meanwhile, the rotary clamp 6 rotates the pipe fitting around the axis of the pipe fitting, A6 and A7 are repeated, and the next bending point of the pipe fitting is completed.
A9: after all the pipe fittings are bent, the robot 2 clamps the pipe fittings and then places the pipe fittings in a blanking area, and the whole process of automatic pipe bending of the pipe fittings is completed.
Further, as another preferred embodiment, the present invention relates to a pipe bending method for pipe fittings, comprising:
providing a corresponding straight pipe according to the information of the pipe fitting to be processed;
generating a pipe fitting digital model according to the information of the pipe fitting to be processed, determining to adopt a single-side pipe bending method or a double-side pipe bending method through a pipe fitting screening method, determining a pipe fitting clamping point, and determining a pipe fitting discharging point;
a single-sided tube bending method or a double-sided tube bending method is performed.
Further, as a preferred embodiment, both the single-side tube bending method and the double-side tube bending method include a tube clamping method and a tube bending method; .
Further, as a preferred embodiment, the method for clamping a pipe comprises:
the main clamp 91 clamps a pipe to be processed, the auxiliary supporting mechanism 8 moves to a pipe supporting position according to a pipe discharging point, and the robot 2 carries the main clamp 91 to place the pipe to be processed on the rotary clamp holder 6;
the rotary clamper 6 clamps the pipe to be processed, the main clamper 91 releases the pipe to be processed, and the auxiliary clamper 92 half clamps the pipe to be processed.
Further, as a preferred embodiment, the pipe bending method includes:
the robot 2 carries the pipe bender 9 to move to a bending point of a pipe to be machined, the rotary clamp 6 rotates the pipe to be machined according to the information of the pipe to be machined, the main clamp 91 clamps the pipe to be machined, the auxiliary clamp 92 clamps the pipe to be machined, and the pipe bender 9 bends the pipe;
the auxiliary gripper 92 releases the pipe to be worked and returns to the initial position, and the main gripper 91 releases the pipe to be worked.
Further, as a preferred embodiment, the pipe bending method is repeated to bend all the bending points of the pipe to be processed.
Further, as a preferred embodiment, in the single-side tube bending method, the tube bending method is performed from one end of the tube to be processed to the other end thereof according to the key information to be processed.
Further, as a preferred embodiment, in the double-sided tube bending method, the tube bending method is performed from both ends of the key to be processed simultaneously or separately.
Further, as a preferred embodiment, the method for screening pipes includes:
b1: judging the diameter of the pipe fitting to be processed;
b2: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than the first length, if so, executing B3, and otherwise, executing B4;
b3: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing a single-side pipe bending method, and otherwise, executing a double-side pipe bending method;
b4: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than a second length, if so, executing B5, and otherwise, executing B6;
b5: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing a single-side pipe bending method, and otherwise, executing a double-side pipe bending method;
b6: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than the third length, if so, executing B7, otherwise, bending the pipe fitting;
b7: judging whether the sum of two adjacent straight line sections of the pipe fitting to be processed is greater than a second length, if so, executing B8, and otherwise, not bending;
b8: and judging whether the longest straight-line segment of the pipe fitting to be processed is a head-tail segment, if so, executing a single-side pipe bending method, and otherwise, executing a double-side pipe bending method.
Further, as another more specific example, please refer to fig. 5, the method for screening pipes includes:
c1: judging that the diameter of the pipe fitting to be processed is 16mm;
c2: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than 692mm, if so, executing C3, and otherwise, executing C4;
c3: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing a single-side pipe bending method, and otherwise, executing a double-side pipe bending method;
c4: judging whether the longest straight-line segment of the pipe to be processed is larger than 411mm, if so, executing C5, and otherwise, executing C6;
c5: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing a single-side pipe bending method, and otherwise, executing a double-side pipe bending method;
c6: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than 317mm, if so, executing C7, and otherwise, bending the pipe fitting;
c7: judging whether the sum of two adjacent straight line segments of the pipe fitting to be processed is larger than 411mm, if so, executing C8, otherwise, not bending;
c8: and judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing a single-side pipe bending method, and otherwise, executing a double-side pipe bending method.
Further, as a preferred embodiment, the information of the pipe to be processed includes: straight line segment information, rotation angle information, and bend angle information.
Further, as a preferred embodiment, the method further comprises: before providing a straight pipe corresponding to a pipe to be processed, scheduling production orders of customers through a production management system, and determining a processing sequence of the pipe to be processed; after the straight pipe corresponding to the pipe to be processed is provided, the pipe to be processed is marked and tracked.
Preferably, the production management system is used for realizing automatic planning of pipe fitting mixing production, and can transport the pipe fitting to the position through a feeding mechanism in the execution system.
Preferably, the full-automatic pipe bending off-line programming software is used for automatically planning and simulating the pipe bending track of the pipe fittings, producing the pipe bending process track of the equipment, generating the task plan, and transferring the task plan to the corresponding executing mechanism.
Preferably, the feeding mechanism, the rotary clamper 6, the auxiliary supporting mechanism 8, the motor of the pipe bender 9 and the cylinder are all controlled by the robot control system in a unified way, the task planning of the upper system is received, the program generated by the pipe bender off-line programming software is automatically called, the flexible production is realized, and the whole process from the planning to the production is reached.
The following examples are given by taking a 16mm diameter engineering truck oil pipe as an example. Referring to the subscripts, the following table shows the pipe parameters, and fig. 6 shows the corresponding pipe after forming.
Further, as a preferred embodiment, the present invention provides a method for bending a pipe fitting of an oil pipe of a 16mm diameter engineering truck, comprising:
d1: and (3) bent pipe process analysis: according to the parameters of the pipe fittings Y, B and C, the longest section is P5-P6:1318mm, and the longest straight line segment is the middle segment, then the pipe fitting can be bent by selecting a double-side bent pipe method.
D2: cut the straight tube by automatic feeding mechanism, cut out 2619.5mm length pipe fitting according to the pipe fitting parameter to beat sign indicating number to its pipe fitting information, sweep the sign indicating number and pass to robot return bend actuating system.
D3: the robot 2 holds the pipe bender 9 to grab the pipe fitting, and the grabbing position is that the center of the pipe fitting is 500mm to the left. The diameter of the pipe fitting is 16mm, and a corresponding 16mm die is selected for clamping the pipe fitting. At this time, the main clamp 91 of the bender 9 completely clamps the pipe, and the auxiliary clamp 92 is in a released state.
D41: the auxiliary supporting mechanism 8 on the left side moves to a 200mm supporting point to support the pipe, the auxiliary supporting mechanism 8 on the right side moves to a 2000mm position, and at the moment, the auxiliary supporting mechanism 8 on the right side does not support the pipe.
D5: the robot 2 grabs the pipe fitting and places on the rotary clamp holder 6, the pipe fitting is placed the position and is 1200mm department apart from P1 point, then the rotary clamp holder 6 drives the clamping motor and carries out the pipe fitting and presss from both sides tightly.
D6: the main clamp 91 of the pipe bender 9 is released, the auxiliary clamp 92 is half clamped and moves to a first bending point P7, then the main clamp 91 and the auxiliary clamp 92 clamp the pipe simultaneously, and the pipe bending motor controls the rotating arm of the pipe bender to rotate 29.1 degrees. When the auxiliary clamp 92 rotates, the whole auxiliary clamp moves, and the robot 2 moves the corresponding bending angle arc length distance to the center of the pipe fitting.
D7: after the pipe bending at the bending point P7 is completed, the auxiliary clamp motor drives the auxiliary clamp 92 to be loosened to a half-clamping position, and meanwhile, the auxiliary clamp 92 is moved back to the original position in a follow-up mode. The pipe bending motor drives the main clamping module (rotating arm) to return to a zero position, and the robot holds the pipe bending machine head to move to a P6 bending point.
D8: d5 and D6 are repeated to finish bending at the point P6, and the middle rotary clamper 6 rotates according to the pipe fitting parameter B.
D9: after the pipe bending at the points P7 and P6 is completed, the pipe needs to be bent by changing the edge, the robot 2 holds the pipe bender 9 to move to the other side of the pipe, after the robot 2 holds the pipe bender 9 to clamp the pipe, the auxiliary supporting mechanism 8 controls the jacking cylinder 84 to descend, and the rotary cylinder 83 swings the supporting piece 86 to the horizontal position.
D10: d5 and D6 are repeated to finish the pipe bending operation of the other side P2, P3, P4 and P5 in sequence, after all bending points finish the pipe bending, the main clamp 91 of the robot 2 clamps the pipe fitting, the rotary clamp 6 controls the rotary motor to move to 0 degree, and the rotary clamp 6 controls the clamping motor to loosen the pipe fitting.
D1: and the robot 2 blanks the pipe fittings to the corresponding blanking areas according to the requirements, and the whole pipe fitting bending operation is completed.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A flexible robot pipe bending automation system, comprising:
a robot guide rail, and a robot movable along the robot guide rail;
the device comprises a feeding mechanism guide rail, a feeding mechanism code scanning gun arranged on the feeding mechanism guide rail and a feeding mechanism pipe clamp holder capable of moving along the feeding mechanism guide rail;
the rotary gripper is arranged on one side of the robot guide rail and comprises a gripping mechanism and a rotating mechanism, the gripping mechanism is used for gripping a pipe fitting, and the rotating mechanism is used for enabling the pipe fitting to rotate around the central axis of the pipe fitting;
the auxiliary supporting mechanism guide rail is arranged at the rotary clamper, and the auxiliary supporting mechanism can move along the auxiliary supporting mechanism guide rail;
the pipe bending machine is arranged on the robot and comprises a main clamp and an auxiliary clamp, wherein the main clamp can be used for clamping or loosening a pipe fitting in an operable mode, and the auxiliary clamp can be used for clamping or half-clamping or loosening the pipe fitting in an operable mode.
2. The flexible robotic elbow automation system as set forth in claim 1, wherein the auxiliary support mechanism comprises:
an auxiliary support bracket movable along the auxiliary support rail;
an auxiliary support guide rail motor for driving the auxiliary support bracket to move along the auxiliary support guide rail;
a support member rotatably connected with the auxiliary support bracket;
the rotary cylinder drives the supporting piece to rotate relative to the auxiliary supporting bracket;
the jacking cylinder is arranged on the support piece; and
and the supporting block is connected with a piston rod of the jacking cylinder.
3. The flexible robotic pipe bending automation system according to claim 1, wherein the robotic guide, the feed mechanism guide, the auxiliary support mechanism guide are all disposed along a first direction;
the feeding mechanism guide rail is positioned on one side of the robot guide rail, and the auxiliary supporting mechanism guide rail is positioned on the other side of the robot guide rail;
the rotary clamping device comprises two auxiliary supporting mechanism guide rails, and the rotary clamping device is positioned between the two auxiliary supporting mechanism guide rails.
4. A pipe bending method applied to the automated flexible robotic pipe bending system of claim 1, the pipe bending method comprising:
providing a corresponding straight pipe according to the information of the pipe fitting to be processed;
generating a pipe fitting digital model according to the information of the pipe fitting to be processed, determining to adopt a single-side pipe bending method or a double-side pipe bending method through a pipe fitting screening method, determining a pipe fitting clamping point, and determining a pipe fitting discharging point;
executing the single-side bent pipe method or the double-side bent pipe method.
5. The pipe bending method according to claim 4, wherein each of the single-side pipe bending method and the double-side pipe bending method includes a pipe clamping method and a pipe bending method;
wherein the tubular gripping method comprises:
the main clamp clamps a pipe to be machined, the auxiliary supporting mechanism moves to a pipe supporting position according to the pipe discharging point, and the robot carries the main clamp to place the pipe to be machined on the rotary clamp holder;
the rotary clamp holder clamps the pipe fitting to be processed, the main clamp loosens the pipe fitting to be processed, and the auxiliary clamp half clamps the pipe fitting to be processed;
wherein the pipe bending method comprises:
the robot carries the pipe bender to move to a bending point of a pipe to be machined, the rotary clamp rotates the pipe to be machined according to information of the pipe to be machined, the main clamp clamps the pipe to be machined, the auxiliary clamp clamps the pipe to be machined, and the pipe bender bends the pipe;
the auxiliary clamp loosens the pipe fitting to be machined and retreats to the initial position, and the main clamp loosens the pipe fitting to be machined.
6. The pipe bending method according to claim 5, wherein the pipe bending method is repeated to bend all bending points of the pipe to be processed.
7. The pipe bending method according to claim 5, wherein in the single-side pipe bending method, the pipe bending method is performed from one end of a pipe to be processed to the other end thereof according to the key information to be processed;
in the double-side pipe bending method, the pipe bending method is simultaneously or respectively implemented from two critical ends to be processed.
8. The pipe bending method according to claim 4, wherein the pipe screening method comprises:
s1: judging the diameter of the pipe fitting to be processed;
s2: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than a first length, if so, executing S3, and otherwise, executing S4;
s3: judging whether the longest straight-line section of the pipe fitting to be processed is a head-tail section, if so, executing the single-side pipe bending method, and otherwise, executing the double-side pipe bending method;
s4: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than a second length, if so, executing S5, and otherwise, executing S6;
s5: judging whether the longest straight-line segment of the pipe fitting to be processed is a head-tail segment or not, if so, executing the single-side pipe bending method, and otherwise, executing the double-side pipe bending method;
s6: judging whether the longest straight-line segment of the pipe fitting to be processed is larger than the third length, if so, executing S7, and otherwise, bending the pipe fitting;
s7: judging whether the sum of two adjacent straight line sections of the pipe fitting to be processed is greater than a second length, if so, executing S8, and if not, bending the pipe fitting;
s8: and judging whether the longest straight-line segment of the pipe fitting to be processed is a head-tail segment, if so, executing the single-side pipe bending method, and otherwise, executing the double-side pipe bending method.
9. The pipe bending method according to claim 4, wherein the information on the pipe to be processed includes: straight line segment information, rotation angle information, and bend angle information.
10. The pipe bending method according to claim 4, further comprising:
before providing a straight pipe corresponding to a pipe to be processed, scheduling production orders of customers through a production management system, and determining a processing sequence of the pipe to be processed;
and after the straight pipe corresponding to the pipe to be processed is provided, marking and tracking the pipe to be processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211312507.1A CN115673056A (en) | 2022-10-25 | 2022-10-25 | Flexible robot pipe bending automation system and pipe fitting pipe bending method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211312507.1A CN115673056A (en) | 2022-10-25 | 2022-10-25 | Flexible robot pipe bending automation system and pipe fitting pipe bending method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115673056A true CN115673056A (en) | 2023-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211312507.1A Pending CN115673056A (en) | 2022-10-25 | 2022-10-25 | Flexible robot pipe bending automation system and pipe fitting pipe bending method |
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| Country | Link |
|---|---|
| CN (1) | CN115673056A (en) |
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2022
- 2022-10-25 CN CN202211312507.1A patent/CN115673056A/en active Pending
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