CN117225929A - High-precision bent pipe forming and detecting integrated machine - Google Patents
High-precision bent pipe forming and detecting integrated machine Download PDFInfo
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- CN117225929A CN117225929A CN202311492073.2A CN202311492073A CN117225929A CN 117225929 A CN117225929 A CN 117225929A CN 202311492073 A CN202311492073 A CN 202311492073A CN 117225929 A CN117225929 A CN 117225929A
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- 238000012546 transfer Methods 0.000 claims abstract description 74
- 238000005452 bending Methods 0.000 claims abstract description 66
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- 238000007689 inspection Methods 0.000 claims description 5
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- 238000001514 detection method Methods 0.000 abstract description 38
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- 238000005259 measurement Methods 0.000 description 6
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- 238000009434 installation Methods 0.000 description 5
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- 230000004888 barrier function Effects 0.000 description 2
- 239000013065 commercial product Substances 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000013003 hot bending Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
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- 238000011897 real-time detection Methods 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
Abstract
The invention relates to the technical field of pipe bending, in particular to a high-precision pipe bending forming and detecting integrated machine. The invention is based on the frame of the bending detection integrated machine and is provided with a transfer assembly, wherein the transfer assembly comprises a linear guide rail, a sliding block, a movable arm, a mechanical finger, a linear drive, a rotary drive and a controller; the controller is respectively connected with the linear driving, the rotary driving and the mechanical finger through electric signals. The bent pipe bent on the pipe bending machine is moved to the conveyor belt conveying device below the detection device through the transfer assembly, and the transfer assembly does not influence the movement of the bent pipe and does not block the detection of the detection device.
Description
Technical Field
The invention relates to the technical field of pipe bending, in particular to a high-precision pipe bending forming and detecting integrated machine.
Background
The pipe bending process is a process for changing the shape of a metal material in a three-dimensional space through a bending mode under the action of the metal material. The pipe bending method mainly comprises a plurality of processes such as cold bending, hot bending, extrusion bending and the like.
The pipe bending machine is common pipe bending processing equipment, and the processed and molded bent pipe also needs to be detected by a detection device. The pipe bending processing equipment and the detection equipment have two design ideas of split design and integrated design. The split design is to separate the pipe bending machine and the detection device, and two sets of independent equipment are adopted. In this case, it is generally necessary to carry the processed bent pipe to the detection device for detection by a manual work or a transfer robot, and the transfer route is long and the efficiency is low. Because of manual transportation, the problem of losing the catheter posture after bending exists, and therefore the detection device generally carries out once-for-once identification on the catheter appearance and then carries out comparison analysis with a theoretical requirement value. There are two common detection devices: one is to clamp the position of the center of gravity of the catheter, scan the catheter along it using a vector measurement device, then extract the catheter centerline in software and perform a second fit. For long catheters, this solution has an angular deviation due to the dead weight of the distal end of the catheter; the second is to take the shape of the catheter in a measuring box by using an industrial camera at multiple angles, process and denoise the point cloud data in software, and then fit. Due to the visual errors, there are large measurement errors for parts with a bending angle <10 °. Under the large background of digital manufacturing, if the bent catheter gesture is transmitted to the detection device, the matching of the catheter gesture can be realized in software by a method for positioning the catheter coordinate and the shaft, the measurement process is simplified, and the measurement precision and the measurement efficiency are improved. Based on this consideration, an integrated design has been created.
The integrated design is to integrate the pipe bending machine and the detection device, and adopts a set of equipment, such as: the invention discloses an angle real-time detection device of a seamless steel pipe bender, which is disclosed in Chinese patent application No. 202310315276.8, wherein two displacement sensors arranged at specific positions are arranged on a straight groove 212 of a bending disc 21, and the recovery angle of a pipe bending section in the pipe bending process is detected in real time through the displacement sensors, so that a correction basis is provided for a control system of the pipe bender. According to the technical scheme, bending and detection of the pipe can be simultaneously carried out, part transportation in the process is avoided, but due to rebound of a metal guide pipe, particularly, hysteresis rebound exists for materials with large rebound coefficients, such as titanium alloy, and difference exists between data measured by detection equipment and guide pipe data after final stress release is finished under the condition that clamping force on a pipe bending machine is not completely unloaded, so that the conditions that on-machine measurement is qualified and assembly requirements are not met after the pipe bending machine is taken off are easily generated.
The main stream solution idea at present is as follows: the recognition accuracy is improved through the integrated design, but the catheter in the detection device is in a free state. The bent pipe is not fixed in the visual detection process of the industrial camera, so that the detection device becomes a preferred scheme of the detection device. But the industrial camera cannot block the line of sight when detecting, and the bent pipe needs to be moved into the field of view of the industrial camera.
Based on the prior art, in the integrated design mode, except for the consideration of software analysis, comparison and data extraction, how to physically move the bent pipe bent on the pipe bending machine to the conveyor belt conveying device below the detection device does not influence the movement of the bent pipe or block the detection of the detection device, and becomes the technical difficulty to be overcome.
Disclosure of Invention
The invention provides a high-precision bent pipe forming and detecting integrated machine aiming at the current state of the art, wherein a transfer assembly is arranged on a rack of the bent pipe forming and detecting integrated machine, bent pipes which are bent on the pipe bending machine are moved to a conveyor belt conveying device below a detecting device through the transfer assembly, and the transfer assembly does not influence the movement of the bent pipes and does not block the detection of the detecting device.
The invention provides a high-precision bent pipe forming and detecting integrated machine, which comprises a frame, a bending machine arranged on the frame, a visual detector and a conveyor belt conveying device, wherein the bending machine is arranged on the frame; the pipe bending machine is arranged on an operation table at the front section of the frame; the visual detector is arranged on a portal frame in the middle section of the frame; the conveying belt conveying device is positioned at the middle and rear sections of the frame and can drive the bent pipe to pass through the visual field of the visual detector from the output end of the pipe bending machine and continuously convey the bent pipe backwards; a transfer assembly is arranged at a portal frame of the frame;
The transfer assembly comprises a linear guide rail, a sliding block, a movable arm, a mechanical finger, a linear drive, a rotary drive and a controller; the controller is respectively connected with the linear drive, the rotary drive and the mechanical finger through electric signals; the linear guide rail is arranged on the portal frame along the conveying direction of the conveyor belt conveying device; the linear drive is in transmission connection with the sliding block provided with the fork lugs, and drives the sliding block to linearly move along the linear guide rail; the connecting end of the movable arm is rotatably arranged at the fork lug; the rotary drive is in transmission connection with the connecting end of the movable arm rotatably arranged at the fork lug to drive the movable arm to rotate around the connecting end; the mechanical fingers are arranged at the clamping ends of the movable arms, the mechanical fingers can be opened and closed to be used for grabbing and placing bent pipes, and meanwhile, the mechanical fingers can change positions along with linear movement and/or rotary movement of the movable arms.
The transfer assembly is mainly used for grasping and placing the bent pipe through the mechanical finger and driving the bent pipe to change positions through the movable arm so as to be finally and completely transferred to the conveying surface of the conveying belt conveying device. The transfer assembly has two typical modes of operation: the first is "one grab, one turn, one release, one continuous turn"; the second is "one grab, one withdraw, one put, one turn".
The first working mode specifically refers to that when the mechanical finger contacts the bent pipe, the bent pipe is gripped by closing the mechanical finger, and the mechanical finger grips the pipe, namely, a grip is performed; the rotary drive then drives the movable arm to rotate from upstream to downstream, i.e., one revolution; after the mass center of the bent pipe completely falls into the corresponding area of the conveying surface of the conveying belt conveying device, the mechanical finger is opened, and the bent pipe is separated from the mechanical finger under the action of the friction force provided by the conveying belt conveying device, the gravity of the bent pipe and the like, so that the pipe is put by the mechanical finger, namely, the pipe is put by one; after the pipe is put, the transfer assembly is completely separated from the bent pipe, and the movable arm is driven to rotate from the upstream to the downstream by rotary driving, namely, one rotation is realized, and the pipe is put by a mechanical finger, namely, one release is realized; after the pipe is put, the transfer assembly is completely separated from the bent pipe, and the movable arm drives the mechanical arm to continuously rotate downwards to a channel for letting the conveyer belt conveying device to convey the bent pipe, namely, continuously rotate.
The second working mode specifically refers to that when the mechanical finger contacts the bent pipe, the bent pipe is gripped by closing the mechanical finger, and the mechanical finger grips the pipe, namely, a grip is performed; then the movable arm is driven to integrally and linearly move from the upstream to the downstream through a linear guide rail and a sliding block by linear driving, and at the moment, the movable arm drives the grabbed bent pipe to accelerate and retreat through a mechanical finger, namely, retreating; after the mass center of the bent pipe completely falls into the corresponding area of the conveying surface of the conveying belt conveying device, the mechanical finger is opened, and the bent pipe is separated from the mechanical finger under the action of the friction force provided by the conveying belt conveying device, the gravity of the bent pipe and the like, so that the pipe is put by the mechanical finger, namely, the pipe is put by one; after the pipe is put, the transfer assembly is completely separated from the bent pipe, and the movable arm is driven to rotate from the upstream to the downstream by the rotary drive, namely, one rotation.
On the one hand, in the two working modes, the detection of the visual detector can be not blocked as long as the transfer component is completely separated from the bent pipe before the bent pipe moves to the field of view of the visual detector.
On the other hand, in the two working modes, only after the bent pipe is released to the conveyor belt conveying device by the mechanical finger, the relation between the working speeds of the movable arm and the conveyor belt conveying device or the relation between the working speeds of the movable arm and the conveyor belt conveying device can be controlled, and the bent pipe can not interfere with the transfer assembly before the bent pipe completely removes the working area of the transfer assembly.
Generally, the first comparison is applicable to smaller sized elbows and the second comparison is applicable to larger sized elbows, as compared to the two typical modes of operation described above.
Further, in order to better realize the invention, the middle section of the movable arm is provided with a roller mounting groove; the roller mounting groove is rotatably provided with a moving wheel capable of guiding and supporting on the conveying surface of the conveyer belt conveying device.
Further, in order to better realize the invention, the mechanical finger adopts a pneumatic finger or an electric finger.
Further, in order to better realize the invention, the mechanical finger comprises a rotating plate, an upper clamping plate, a lower clamping plate and a clamping plate electric push rod; one end of the rotating plate is rotatably arranged at the clamping end of the movable arm, and the other end of the rotating plate is simultaneously connected with the upper clamping plate and the lower clamping plate; a pipe clamping space for clamping the bent pipe is formed between the upper clamping plate and the lower clamping plate, and the part of the pipe clamping space, which faces the front end of the mechanical finger, is an opening; the clamp plate electric push rod is arranged at the opening of the pipe clamping space, and the opening and closing of the pipe clamping space are realized by the telescopic push rod of the clamp plate electric push rod: when the push rod of the clamping plate electric push rod is contracted to enable the opening of the pipe clamping space to be opened, the pipe clamping space is opened, and the mechanical fingers can clamp the bent pipe; when the push rod of the clamping plate electric push rod stretches to completely and transversely block the opening of the pipe clamping space, the pipe clamping space is closed, the bent pipe cannot be separated from the mechanical finger if the bent pipe is clamped, and the bent pipe cannot be clamped by the mechanical finger if the bent pipe is not clamped.
Further, in order to better realize the invention, the barrel of the clamping plate electric push rod is arranged on the upper clamping plate, and the push rod extension direction of the clamping plate electric push rod faces to the lower clamping plate; or the barrel of the clamping plate electric push rod is arranged on the lower clamping plate, and the extension direction of the push rod of the clamping plate electric push rod faces to the upper clamping plate.
Further, in order to better realize the invention, when the barrel body of the clamping plate electric push rod is arranged on the upper clamping plate, the lower clamping plate is provided with a clamping groove for the push rod of the clamping plate electric push rod to extend in so as to strengthen the connection stability; when the barrel of the clamping plate electric push rod is installed on the lower clamping plate, the clamping groove used for enabling the push rod of the clamping plate electric push rod to extend in to strengthen connection stability is formed in the upper clamping plate.
Further, in order to better realize the invention, one side of the upper clamping plate and the lower clamping plate, which faces the pipe clamping space, is provided with an arc-shaped groove for better fitting the bent pipe molded surface.
Further, in order to better realize the invention, the linear drive is formed by a rotary servo motor and a threaded rod fixedly connected with an output shaft of the rotary servo motor, the sliding block which is arranged in the linear guide rail in a limiting way is in threaded connection with the threaded rod, and at the moment, the rotation output of the rotary servo motor is converted into linear movement of the sliding block.
Further, in order to better implement the present invention, the linear driving adopts a linear electric push cylinder or a linear hydraulic cylinder.
Further, in order to better realize the invention, a set of transferring components is respectively arranged at the left side and the right side of the conveying direction of the conveyer belt conveying device, and movable arms in the two sets of transferring components can be overlapped at the conveying center line of the conveyer belt conveying device.
Further, in order to better realize the invention, the two sets of transfer assemblies are respectively denoted as an A transfer assembly and a B transfer assembly, wherein a movable arm in the A transfer assembly is denoted as an A movable arm, and a movable arm in the B transfer assembly is denoted as a B movable arm;
the mechanical finger comprises an upper short shaft, a lower short shaft, an upper clamping plate, a lower clamping plate and a clamping plate electric push rod; the upper clamping plate is rotatably arranged at the clamping end of the movable arm A through the upper short shaft, and the lower clamping plate is rotatably arranged at the clamping end of the movable arm B through the lower short shaft;
when the clamping ends of the movable arm A and the movable arm B are overlapped, a pipe clamping space for clamping the bent pipe is formed between the upper clamping plate and the lower clamping plate, and the part of the pipe clamping space, which faces the front end of the mechanical finger, is an opening; the clamp plate electric push rod is arranged at the opening of the pipe clamping space, and the opening and closing of the pipe clamping space are realized by the telescopic push rod of the clamp plate electric push rod: when the push rod of the clamping plate electric push rod is contracted to enable the opening of the pipe clamping space to be opened, the pipe clamping space is opened, and the mechanical fingers can clamp the bent pipe; when the push rod of the clamping plate electric push rod stretches to completely and transversely block the opening of the pipe clamping space, the pipe clamping space is closed, the bent pipe cannot be separated from the mechanical finger if the bent pipe is clamped, and the bent pipe cannot be clamped by the mechanical finger if the bent pipe is not clamped.
The application has the following beneficial effects.
(1) According to the high-precision bent pipe forming and detecting integrated machine, a transfer assembly which is different from the structure in the prior art is additionally arranged on the bent pipe forming and detecting integrated machine which is integrally arranged on a pipe bending machine and a visual detector; the bent pipe bent on the pipe bending machine is moved to the conveyor belt conveying device below the detection device through the transfer assembly, and the transfer assembly does not influence the movement of the bent pipe and does not block the detection of the detection device.
(2) The transfer assembly is directly arranged on a rack of the bending detection integrated machine, an additional mounting structure is not required to be added, the cost is reduced, and the transfer assembly can be applied to transformation of the existing bending detection integrated machine.
(3) The transfer assembly has a simple structure, reduces the production cost and is convenient to maintain.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a schematic perspective view of an angle of the high-precision pipe bending forming and detecting integrated machine according to the present invention.
Fig. 2 is a schematic perspective view of another angle of the high-precision elbow molding and detecting integrated machine according to the present invention.
Fig. 3 is an enlarged schematic view of the structure at a in fig. 2.
Fig. 4 is a schematic view of an angled installation of the transfer assembly of the present invention.
Fig. 5 is a schematic view of a connection structure between the slider and the threaded rod in fig. 4.
Fig. 6 is a schematic view of another angular installation of the transfer assembly of the present invention.
Fig. 7 is an enlarged schematic view of the structure B in fig. 6 provided by the present invention.
Fig. 8 is a schematic structural view of the mechanical finger according to the present invention.
Fig. 9 is a schematic view of another structure of the mechanical finger according to the present invention.
Reference numerals illustrate:
1. a frame; 101. an operation table; 102. a portal frame; 2. a pipe bending machine; 3. a visual detector; 4. a conveyor belt conveyor; 5. a transfer assembly; 6. a linear guide rail; 7. a slider; 701. fork ears; 8. a movable arm; 801. a roller mounting groove; 802. rotating the limit groove; 803. a finger rotation shaft; 9. a mechanical finger; 901. a rotating plate; 902. an upper clamping plate; 903. a lower clamping plate; 904. a clamping plate electric push rod; 905. a clamping groove; 906. an arc-shaped groove; 907. an upper stub shaft; 908. a lower stub shaft; 10. driving linearly; 11. rotationally driving; 12. a moving wheel; 13. rotating the servo motor; 14. a threaded rod; 15. and a limiting plate.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments, and therefore should not be considered as limiting the scope of protection. All other embodiments, which are obtained by a worker of ordinary skill in the art without creative efforts, are within the protection scope of the present invention based on the embodiments of the present invention.
Example 1:
the embodiment provides a high-precision pipe bending forming and detecting integrated machine, which is shown in fig. 1, and comprises a frame 1, a pipe bending machine 2 arranged on the frame 1, a visual detector 3 and a conveyor belt conveying device 4; the pipe bending machine 2 is arranged on an operation table 101 at the front section of the frame 1; the visual detector 3 is arranged on a portal frame 102 in the middle section of the frame 1; the conveyor belt conveying device 4 is positioned at the rear section of the frame 1 and can drive the bent pipe to pass through the visual field of the visual detector 3 from the output end of the pipe bender 2 and continuously convey the bent pipe backwards; a transfer assembly 5 is arranged at a portal frame 102 of the frame 1.
In this embodiment, the pipe bending machine 2 is a pipe bending device, the vision detector 3 is a detecting device, and the conveyor belt conveying device 4 is a conveying device, and the essence of the device provided by the implementation is a bending detection integrated machine. The bending detection all-in-one machine performs various detection on the bent pipe processed by the bending machine through the configuration of the visual detector 3. Most of the commercial visual detectors 3 consist of industrial cameras, image acquisition cards, machine vision software and the like, and can be configured according to the detection precision requirements in actual use. Since the vision detector 3 itself belongs to the high-precision detection device, the integrated machine provided in this embodiment can realize high-precision bent pipe molding detection. The improvement point of the embodiment compared with the prior art is not in the pipe bending machine 2, the visual detector 3 and the conveyor belt conveying device 4, nor in the bending detection integrated machine which integrates the pipe bending machine 2 and the visual detector 3 through the same frame 1. The bending machine 2, the visual detector 3 and the conveyor belt conveying device 4 can be purchased independently, and the bending machine with the bending machine 2, the visual detector 3 and the conveyor belt conveying device 4 can also be purchased directly. It should be noted that, in this embodiment, the visual inspection apparatus 3 adopts the prior art, so in the drawing, only the installation position of the whole visual inspection apparatus 3 in the bending inspection integrated machine is illustrated, and the specific structure and installation position of the parts such as the industrial camera and the image acquisition card are not directly shown.
The main improvement of this embodiment is the self-developed transfer assembly 5. As in the prior art, the transfer assembly 5 in the bending and inspection integrated machine meets the basic requirements:
firstly, the bent pipe which is bent on the pipe bending machine 2 is required to be moved to a conveyor belt conveying device 4 below the visual detector 3;
when the conveyor belt of the conveyor belt conveying device 4 is required to move along the bent pipe, the bent pipe cannot be influenced;
third, the visual detector 3 cannot block the field of view of its industrial camera, nor can it block the partial structure of the elbow when the industrial camera performs image acquisition.
Although the intelligent manipulator can meet the basic requirements, on one hand, the intelligent manipulator is complex in structure and high in purchase and maintenance cost, and on the other hand, the core technology is mastered in hands of other people, and the instability factor is large, so that the intelligent manipulator is unfavorable for production. Thus, a technical need arises to autonomously develop a transfer assembly 5 that circumvents the prior art solutions, with a simple structure. Next, on the premise of meeting the above basic requirements, it is also desirable to compress the total volume of the device as much as possible, and finally, the self structure and the mounting structure of the transfer assembly 5 are uniformly designed by adopting a compact design concept, so as to obtain the transfer assembly 5 disclosed in this embodiment. The transferring assembly 5 in this embodiment is directly installed on the frame 1 of the bending and inspection integrated machine, and no additional installation structure is required, so that the cost is reduced, and the transferring assembly can be applied to the transformation of the existing bending and inspection integrated machine.
Specifically, as shown in fig. 2, 3 and 4, the transfer assembly 5 provided in this embodiment includes a linear guide rail 6, a slider 7, a movable arm 8, a mechanical finger 9, a linear drive 10, a rotary drive 11 and a controller; the controller is respectively connected with the linear drive 10, the rotary drive 11 and the mechanical finger 9 in an electric signal manner; the linear guide rail 6 is arranged on the portal frame 102 along the conveying direction of the conveyor belt conveying device 4; the linear drive 10 is in transmission connection with the sliding block 7 provided with the fork lug 701, and drives the sliding block 7 to linearly move along the linear guide rail 6; the connecting end of the movable arm 8 is rotatably arranged at the fork lug 701; the rotary drive 11 is in transmission connection with the connecting end of the movable arm 8 rotatably installed at the fork lug 701, and drives the movable arm 8 to rotationally move around the connecting end; the mechanical finger 9 is mounted at the clamping end of the movable arm 8, the mechanical finger 9 can be opened and closed to be used for grabbing and placing the bent pipe, and meanwhile, the mechanical finger 9 can change positions along with linear movement and/or rotary movement of the movable arm 8.
The transferring assembly 5 in this embodiment is mainly configured to grasp and release the bent pipe by a mechanical finger 9, and drive the bent pipe to change its position by a movable arm 8, so as to be finally and completely transferred onto the conveying surface of the conveyor belt conveying device 4. The transfer assembly 5 has two typical modes of operation: the first is "one grab, one turn, one release, one continuous turn"; the second is "one grab, one withdraw, one put, one turn".
The first working mode specifically means that when the mechanical finger 9 contacts the bent pipe, the bent pipe is gripped by closing the mechanical finger 9, and the mechanical finger 9 grips the pipe, namely, a grip; the rotary drive 11 then drives the movable arm 8 to rotate, i.e. one revolution, from upstream to downstream; after the mass center of the bent pipe completely falls into the corresponding area of the conveying surface of the conveying belt conveying device 4, the mechanical finger 9 is opened, the bent pipe is separated from the mechanical finger 9 under the action of friction force provided by the conveying belt conveying device 4, gravity of the bent pipe and the like, and the mechanical finger 9 is put in a pipe, namely a pipe is put in a first mode; after the pipe is put, the transfer assembly 5 is completely separated from the bent pipe, and the rotary drive 11 drives the movable arm 8 to rotate from the upstream to the downstream, namely, one rotation, and the mechanical finger 9 puts the pipe once; after the pipe is put, the transfer assembly 5 is completely separated from the bent pipe, and the movable arm 8 drives the mechanical arm to continuously rotate downwards to a channel for letting the conveyer belt conveying device 4 convey the bent pipe, namely, continuously rotate.
The second working mode specifically means that when the mechanical finger 9 contacts the bent pipe, the bent pipe is gripped by closing the mechanical finger 9, and the mechanical finger 9 grips the pipe, namely, a grip; then the linear drive 10 drives the movable arm 8 to move linearly from upstream to downstream integrally through the linear guide rail 6 and the sliding block 7, and at the moment, the movable arm 8 drives the grabbed bent pipe to accelerate and retreat through the mechanical finger 9, namely, retreating; after the mass center of the bent pipe completely falls into the corresponding area of the conveying surface of the conveying belt conveying device 4, the mechanical finger 9 is opened, the bent pipe is separated from the mechanical finger 9 under the action of friction force provided by the conveying belt conveying device 4, gravity of the bent pipe and the like, and the mechanical finger 9 is put in a pipe, namely a pipe is put in a first mode; after tube release, the transfer assembly 5 is completely separated from the bent tube, and the rotary drive 11 drives the movable arm 8 to rotate from upstream to downstream, namely one rotation.
On the one hand, in both working modes, the detection of the visual detector 3 can be not blocked as long as the transfer assembly 5 is ensured to be completely separated from the bent pipe before the bent pipe moves to the field of view of the visual detector 3.
On the other hand, in both modes of operation, by controlling the relation between the operating speeds of the movable arm 8 and the conveyor belt conveyor 4 or the relation between the operating beats of the two conveyor belt conveyor 4 after the bent pipe is released to the conveyor belt conveyor 4 by the robot finger 9, it is possible to avoid interference with the transfer assembly 5 until the bent pipe is completely removed from the operating area of the transfer assembly 5.
Generally, the first comparison is applicable to smaller sized elbows and the second comparison is applicable to larger sized elbows, as compared to the two typical modes of operation described above.
Example 2:
in this embodiment, the mechanical finger 9 of the transfer unit 5 will be described in detail based on embodiment 1.
The mechanical finger 9 of the transfer assembly 5 can directly purchase commercial products such as pneumatic fingers, electric fingers and the like, and can also be designed by self. The pneumatic finger and the electric finger are all commercially available products with mature technology, and the size, the power and the like are selected according to actual requirements. In most cases, the performance and use situations of pneumatic fingers and electric fingers are not quite different, and in this case, a more suitable mechanical finger 9 is usually selected from the viewpoint of a power source. If no other pneumatic equipment exists, the electric finger is more convenient to select. Since the pneumatic finger and the electric finger are commercial products, the improvement point of the embodiment is not described here, and therefore, the description is omitted.
The present embodiment also provides an autonomously developed mechanical finger 9, which is structurally different from the prior art, bypassing the prior art barrier. As shown in fig. 6 and 7, the self-developed mechanical finger 9 includes a rotating plate 901, an upper clamping plate 902, a lower clamping plate 903, and a clamping plate electric push rod 904. One end of the rotating plate 901 is rotatably installed at the clamping end of the movable arm 8, and the other end of the rotating plate 901 is simultaneously connected with the upper clamping plate 902 and the lower clamping plate 903; a pipe clamping space for clamping the bent pipe is formed between the upper clamping plate 902 and the lower clamping plate 903, and the part of the pipe clamping space facing the front end of the mechanical finger 9 is an opening; the clamping plate electric push rod 904 is arranged at the opening of the pipe clamping space, and the opening and closing of the pipe clamping space are realized through the telescopic push rod of the clamping plate electric push rod 904: when the push rod of the clamping plate electric push rod 904 is contracted to enable the opening of the pipe clamping space to be opened, the pipe clamping space is opened, and the mechanical finger 9 can clamp the bent pipe; when the push rod of the clamping plate electric push rod 904 stretches to completely block the opening of the pipe clamping space transversely, the pipe clamping space is closed, the bent pipe cannot be separated from the mechanical finger 9 if the bent pipe is clamped, and the bent pipe cannot be clamped by the mechanical finger 9 if the bent pipe is not clamped.
In another embodiment, as shown in fig. 7, the barrel of the clamp plate electric push rod 904 is mounted on the upper clamp plate 902, and the push rod of the clamp plate electric push rod 904 extends toward the lower clamp plate 903; or the cylinder of the clamp electric push rod 904 is mounted on the lower clamp 903, and the push rod of the clamp electric push rod 904 extends toward the upper clamp 902. At this time, the clamping plate electric push rod 904 acts as a lock catch, and when the lock catch is closed, the bent pipe cannot enter or exit; when the lock catch is opened, the mechanical finger 9 can grasp the bent pipe and release the bent pipe.
In another embodiment, as shown in fig. 7, when the cylinder of the clamp electric push rod 904 is mounted on the upper clamp 902, a clamping groove 905 for extending the push rod of the clamp electric push rod 904 to enhance connection stability is provided on the lower clamp 903; when the cylinder of the clamp electric push rod 904 is mounted on the lower clamp 903, a clamping groove 905 for extending the push rod of the clamp electric push rod 904 to strengthen the connection stability is provided on the upper clamp 902. The mounting end of the clamp plate electric push rod 904 is mounted on either one of the upper clamp plate 902 and the lower clamp plate 903, so long as the push rod of the clamp plate electric push rod 904 faces the other clamp plate, the opening/closing of the clamp pipe space can be realized.
In another embodiment, as shown in fig. 7, the sides of the upper clamping plate 902 and the lower clamping plate 903 facing the pipe clamping space are provided with arc-shaped grooves 906 for better fitting the curved pipe profile. The preferable scheme is as follows: the diameter of the arc-shaped groove 906 corresponds to the pipe diameter of the bent pipe, and the two dimensions are not greatly different. At this time, the mechanical finger 9 is more stable when grabbing the bent pipe.
In another embodiment, as shown in fig. 8, the movable arm 8 is formed with a rotation limiting groove 802 for limiting the rotation angle of the mechanical finger 9. The rotating plate 901 of the mechanical finger 9 is rotatably mounted at the rotation limiting groove 802 of the movable arm 8 through the finger rotating shaft 803.
Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.
Example 3:
this embodiment will be described in detail based on embodiment 1 or embodiment 2.
The linear drive 10 in the transfer assembly 5 is used for driving the movable arm 8 to move linearly along the conveying surface of the conveyer belt conveying device 4, so that the moving space of the mechanical finger 9 on the movable arm 8 is indirectly increased. The design can be better suitable for grabbing and releasing the long-size bent pipe.
The linear drive 10 and the movable arm 8 may be directly or indirectly connected. In indirect connection, the linear drive 10 is connected to the movable arm 8 via a transmission structure.
This embodiment provides a way of indirectly connecting the linear drive 10 with the movable arm 8. As shown in fig. 4 and 5, the linear drive 10 in the transfer assembly 5 is formed by a rotary servo motor 13 and a threaded rod 14 fixedly connected with an output shaft of the rotary servo motor 13, the sliding block 7 which is limitedly installed in the linear guide rail 6 is in threaded connection with the threaded rod 14, and at this time, the rotation output of the rotary servo motor 13 is converted into linear movement of the sliding block 7.
The transmission structure indirectly connecting the linear drive 10 and the movable arm 8 can also adopt a commercially available linear guide rail 6 pair. At this time, the sliding block on the pair of linear guide 6 is fixedly connected with the sliding block 7 with a special structure in the embodiment.
In this embodiment, the slider 7 has a special structure because the slider 7 is required for mounting the movable arm 8 and the rotation drive 11. As shown in fig. 4 and 5, the output end of the rotary drive 11 extends into the slider 7 and is fixedly connected with the movable arm 8, and the connecting end of the movable arm 8 is hinged with the slider 7, so that the rotary drive 11 can drive the movable arm 8 to rotate and indirectly drive the mechanical finger 9 to rotate and move. The most important purpose of such a design is to enable complete removal of the entire movable arm 8 from the conveying surface of the conveyor belt conveyor 4. Because the working mode of the transferring assembly 5 is that after the bent pipe is grabbed by the upstream bending machine, the bent pipe is firstly dragged to the conveying surface of the conveying belt conveying device 4 and then released, in the process, most structures of the mechanical finger 9 and the movable arm 8 are positioned at the downstream of the conveying direction of the conveying belt conveying device 4, and if the movable arm 8 is not moved after the bent pipe is released, the movable arm 8 can prevent the bent pipe from continuously moving. Therefore, it is necessary to remove the movable arm 8 after the mechanical finger 9 releases the bent pipe. The transferring assembly 5 provided in this embodiment adopts a rotation manner, so that the movable arm 8 can continue to move rotationally downstream after the mechanical finger 9 releases the bent pipe, until the movable arm 8 is substantially parallel to the conveying direction of the conveyor belt conveying device 4, the space for the movable arm 8 to continue to move the bent pipe is completely yielded, and interference cannot occur.
In another embodiment, as shown in fig. 3, a roller mounting groove 801 is formed in the middle section of the movable arm 8; the roller mounting groove 801 is rotatably provided with a moving wheel 12 which is guided and supported on the conveying surface of the belt conveyor 4. The moving wheel 12 serves as a support and guide.
Example 4:
the present embodiment is optimally designed based on any one of embodiment 1 to embodiment 3, and the linear drive 10 refers to a driving device for driving the movable arm 8 to linearly move in the conveying direction of the belt conveying device 4 as a whole. The output mode of the driving device can be divided into rotary output and linear output.
When the linear drive 10 adopts a rotary output mode, as shown in fig. 4 and 5, the linear drive 10 is formed by a rotary servo motor 13 and a threaded rod 14 fixedly connected with an output shaft of the rotary servo motor 13, the slide block 7 which is limitedly mounted in the linear guide rail 6 is in threaded connection with the threaded rod 14, and at this time, the rotary output of the rotary servo motor 13 is converted into linear movement of the slide block 7.
In another embodiment, as shown in fig. 5, the side of the sliding block 7 facing the pipe bender 2 is further provided with a limiting plate 15, and the limiting plate 15 is used for limiting the rotation angle of the movable arm 8 above the conveying surface of the conveyer belt conveying device 4, so as to prevent the movable arm 8 from excessively swinging upwards to collide with the pipe bender 2.
When the linear driving 10 adopts a linear output mode, the linear driving 10 adopts a linear electric pushing cylinder or a linear hydraulic cylinder. Regarding whether the linear driving 10 is electric or hydraulic, a suitable commercial product can be selected in combination with various aspects such as a power source, a response speed, a load, etc., and the improvement point of the present embodiment is not limited thereto, so that the description is omitted.
Other portions of this embodiment are the same as any one of embodiments 1 to 3, and thus will not be described again.
Example 5:
in this embodiment, an optimal design is performed on the basis of any one of embodiments 1 to 4, as shown in fig. 2 and 6, a set of transfer assemblies 5 are respectively disposed on the left and right sides of the conveying direction of the conveyor belt conveying device 4, and movable arms 8 in the two sets of transfer assemblies 5 can overlap at the conveying center line of the conveyor belt conveying device 4.
When a set of transfer components 5 are respectively arranged on the left side and the right side of the conveying direction of the conveyor belt conveying device 4 in the high-precision pipe bending forming detection integrated machine, the setting mode of the mechanical fingers 9 can be divided into three main types: the first type is that two sets of transferring assemblies 5 are respectively provided with a set of independent mechanical fingers 9; the second type is that one set of the two sets of transferring components 5 is provided with a complete mechanical finger 9, and the other set of transferring components is not provided with the mechanical finger 9; the third type is that the two transfer assemblies 5 are respectively provided with different parts of the same mechanical finger 9, but when the movable arms 8 of the two transfer assemblies 5 are overlapped, the two transfer assemblies are combined into one mechanical finger 9.
For the first type of arrangement mode of the mechanical fingers 9, the bending tube with larger width direction dimension after bending is more suitable, two mechanical fingers 9 can clamp from different positions of the same bending tube or one mechanical finger 9 of the two mechanical fingers 9 can clamp the bending tube conveniently, and the working modes of the bending tube are classified into one grabbing, one retreating, one placing and one rotating, and the same working modes are basically the same as those of the embodiment 1, so that the description is omitted.
For the second type of mechanical finger 9, the operation mode of the transfer assembly 5 provided with the mechanical finger 9 is the same as that of embodiment 1, and the transfer assembly 5 without the mechanical finger 9 only plays a role in assisting and stably grabbing the bent pipe, so that the description is omitted.
For the third type of mechanical finger 9 setting mode, two sets of transport assemblies 5 are respectively marked as an A transport assembly and a B transport assembly, a movable arm 8 in the A transport assembly is marked as an A movable arm, and a movable arm 8 in the B transport assembly is marked as a B movable arm. In the third type of mechanical finger 9 setting mode, two sets of transfer assemblies 5 are arranged left and right, and the device is suitable for transferring the bent pipe with heavy dead weight. In this embodiment, a part of the parts of the mechanical finger 9 are disposed on the movable arm a, another part of the parts are disposed on the movable arm B, and when the clamping ends of the movable arm a and the movable arm B overlap, the two parts of the mechanical finger 9 are combined to form a complete mechanical finger 9. Under the structure, the linear driving 10 of the two sets of transferring assemblies 5 drives the movable arms A and B to synchronously and linearly move under the guiding action of the linear guide rail 6, and the rotary driving 11 of the two sets of transferring assemblies 5 respectively drives the movable arms A and B to rotationally move on the plane above the conveying surface of the conveyer belt conveying device 4. When the movable arm A and the movable arm B rotate towards the middle of the conveying surface of the conveying belt conveying device 4 and are overlapped, the mechanical fingers 9 are combined and can be used for grabbing bent pipes; when the movable arm A and the movable arm B reversely rotate towards the outer side of the conveying surface of the conveying belt conveying device 4, not only the mechanical arm is detached, but also a channel for conveying the bent pipe by the conveying belt conveying device 4 is reserved.
Therefore, the working modes of the transfer mechanism provided with the two sets of transfer assemblies 5 in the third type of mechanical finger 9 setting mode are 'holding, withdrawing, releasing and rotating'. The working mode specifically refers to that when the rotary driving 11 drives the movable arm A and the movable arm B to rotate towards the middle of the conveying surface of the conveying belt conveying device 4 and lap joint, the mechanical fingers 9 are combined, and after the mechanical fingers 9 contact the bent pipe, the bent pipe is grasped, namely the bent pipe is grasped in a uniform manner; then two linear drives 10 in the two groups of transfer assemblies 5 synchronously move to drive the movable arms A and B to move linearly from upstream to downstream respectively through respective linear guide rails 6 and sliding blocks 7, and at the moment, the movable arms A and B drive the grabbed bent pipes to accelerate and retreat, namely to retreat through the same mechanical finger 9; after the mass center of the bent pipe completely falls into the corresponding area of the conveying surface of the conveying belt conveying device 4, the mechanical finger 9 is opened, the bent pipe is separated from the mechanical finger 9 under the action of friction force provided by the conveying belt conveying device 4, gravity of the bent pipe and the like, and the mechanical finger 9 is put in a pipe, namely the pipe is put in a line; after the pipe is put, the two sets of transfer assemblies 5 are completely separated from the bent pipe, and the two rotary drives 11 in the two sets of transfer assemblies 5 respectively drive the movable arm A and the movable arm B to rotate from upstream to downstream until the pipe is discharged from a channel of the conveyer belt conveying device 4 for conveying the bent pipe, namely, the pipe rotates respectively.
Other portions of this embodiment are the same as those of embodiments 1 to 4, and thus will not be described in detail.
Example 6:
in embodiment 5, the mechanical fingers 9 used in the first type of mechanical finger 9 arrangement mode and the second type of mechanical finger 9 arrangement mode can directly purchase commercial products such as pneumatic fingers, electric fingers and the like, and can also be designed by themselves. The present embodiment provides a self-designed mechanical finger 9 structure suitable for the first type of mechanical finger 9 arrangement mode and the second type of mechanical finger 9 arrangement mode, and particularly suitable for the third type of mechanical finger 9 arrangement mode, based on embodiment 5.
The present embodiment provides an autonomous developing mechanical finger 9, which is structurally different from the prior art, bypassing the prior art barrier. As shown in fig. 9, the self-developed mechanical finger 9 includes an upper stub shaft 907, a lower stub shaft 908, an upper clamp plate 902, a lower clamp plate 903, and a clamp electric push rod 904; the upper clamp plate 902 is rotatably mounted to the clamping end of the a movable arm via the upper stub shaft 907, while the lower clamp plate 903 is rotatably mounted to the clamping end of the B movable arm via the lower stub shaft 908. When the clamping ends of the movable arm A and the movable arm B are overlapped, a pipe clamping space for clamping the bent pipe is formed between the upper clamping plate 902 and the lower clamping plate 903, and the part of the pipe clamping space facing the front end of the mechanical finger 9 is an opening; the clamping plate electric push rod 904 is arranged at the opening of the pipe clamping space, and the opening and closing of the pipe clamping space are realized through the telescopic push rod of the clamping plate electric push rod 904: when the push rod of the clamping plate electric push rod 904 is contracted to enable the opening of the pipe clamping space to be opened, the pipe clamping space is opened, and the mechanical finger 9 can clamp the bent pipe; when the push rod of the clamping plate electric push rod 904 stretches to completely block the opening of the pipe clamping space transversely, the pipe clamping space is closed, the bent pipe cannot be separated from the mechanical finger 9 if the bent pipe is clamped, and the bent pipe cannot be clamped by the mechanical finger 9 if the bent pipe is not clamped.
In another embodiment, a structure is provided in which the clamping plate is hinged to the movable arm 8. As shown in fig. 9, the upper clamping plate 902 is provided with an a-bayonet with an opening, the upper short shaft 907 is integrally provided with the a-movable arm, and the upper clamping plate 902 is directly clamped on the upper short shaft 907 through the a-bayonet and can also rotate at a certain angle. Similarly, the lower clamp plate 903 is provided with a B-shaped bayonet with an opening, the lower short shaft 908 and the B-shaped movable arm are integrally provided, and the lower clamp plate 903 is directly clamped on the lower short shaft 908 through the B-shaped bayonet, and can also rotate at a certain angle.
In another embodiment, another structure is provided in which the clamping plate is hinged to the movable arm 8. The upper clamping plate 902 is provided with an A unthreaded hole, the movable arm A is provided with an A internal threaded hole, and the upper short shaft 907 is provided with an A unthreaded column section and an A external threaded section; after the a light hole of the upper clamping plate 902 is coaxially arranged with the a internal threaded hole of the a movable arm, the upper short shaft 907 is screwed in, so that the a external threaded section of the upper short shaft 907 is in threaded connection with the a internal threaded hole of the a movable arm, and meanwhile, the a light column section of the upper short shaft 907 is matched with the a light hole of the upper clamping plate 902, so that the upper clamping plate 902 can freely rotate at a certain angle relative to the a movable arm. Likewise, the lower clamp plate 903 is provided with a B-shaped light hole, the B movable arm is provided with a B-shaped internal threaded hole, and the lower short shaft 908 is provided with a B-shaped light column section and a B-shaped external threaded section; after the B light hole of the lower clamp plate 903 is coaxially arranged with the B internal threaded hole of the B movable arm, the lower short shaft 908 is screwed in, so that the B external threaded section of the lower short shaft 908 is in threaded connection with the B internal threaded hole of the B movable arm, and meanwhile, the B light pillar section of the lower short shaft 908 is matched with the B light hole of the lower clamp plate 903, so that the lower clamp plate 903 can freely rotate at a certain angle relative to the B movable arm.
The upper clamping plate 902 and the lower clamping plate 903 of the mechanical finger 9 can freely rotate at a certain angle relative to the movable arm 8, and the structure enables the mechanical finger 9 to be capable of adaptively adjusting at a certain angle when clamping the bent pipe, so that the bent pipe can be clamped flexibly.
Other structures in which the clamping plates are hinged with the movable arm 8 can be adopted, so that the function that the mechanical finger 9 can freely rotate at a certain angle relative to the movable arm 8 is realized.
In another embodiment, as shown in fig. 9, the sides of the upper clamping plate 902 and the lower clamping plate 903 facing the pipe clamping space are provided with arc-shaped grooves 906 for better fitting the curved pipe profile. The preferable scheme is as follows: the diameter of the arc-shaped groove 906 corresponds to the pipe diameter of the bent pipe, and the two dimensions are not greatly different. At this time, the mechanical finger 9 is more stable when grabbing the bent pipe.
In another embodiment, the linear driving device 10 in the transferring assembly 5 is used for driving the movable arm 8 to move linearly along the conveying surface of the conveyor belt conveying device 4, so that the movement space of the mechanical finger 9 on the movable arm 8 is indirectly increased. The design can be better suitable for grabbing and releasing the long-size bent pipe.
The linear drive 10 and the movable arm 8 may be directly or indirectly connected. In indirect connection, the linear drive 10 is connected to the movable arm 8 via a transmission structure.
In another embodiment, the linear drive 10 employs a linear electric push cylinder or a linear hydraulic cylinder. Regarding whether the linear driving 10 is electric or hydraulic, a suitable commercial product can be selected in combination with various aspects such as a power source, a response speed, a load, etc., and the improvement point of the present embodiment is not limited thereto, so that the description is omitted.
In another specific embodiment, a roller mounting groove 801 is formed in the middle section of the movable arm 8; the roller mounting groove 801 is rotatably provided with a moving wheel 12 which is guided and supported on the conveying surface of the belt conveyor 4. The illustrated mobile wheel 12 serves as a support and guide.
Other portions of this embodiment are the same as those of embodiment 5, and thus will not be described in detail.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification and equivalent variation of the above embodiment according to the technical matter of the present invention falls within the scope of the present invention.
Claims (10)
1. The high-precision pipe bending forming and detecting integrated machine comprises a frame (1), a pipe bending machine (2) arranged on the frame (1), a visual detector (3) and a conveyor belt conveying device (4); the pipe bending machine (2) is arranged on an operating table (101) at the front section of the frame (1); the visual detector (3) is arranged on a portal frame (102) at the middle section of the frame (1); the conveying belt conveying device (4) is positioned at the middle and rear sections of the frame (1) and can drive the bent pipe to pass through the visual field of the visual detector (3) from the output end of the pipe bending machine (2) and continuously convey the bent pipe backwards; the method is characterized in that: a transfer assembly (5) is arranged at the portal frame (102) of the frame (1);
The transfer assembly (5) comprises a linear guide rail (6), a sliding block (7), a movable arm (8), a mechanical finger (9), a linear drive (10), a rotary drive (11) and a controller; the controller is respectively connected with the linear drive (10), the rotary drive (11) and the mechanical finger (9) in an electric signal manner; the linear guide rail (6) is arranged on the portal frame (102) along the conveying direction of the conveyor belt conveying device (4); the linear drive (10) is in transmission connection with the sliding block (7) provided with the fork lugs (701) and drives the sliding block (7) to linearly move along the linear guide rail (6); the connecting end of the movable arm (8) is rotatably arranged at the fork lug (701); the rotary drive (11) is in transmission connection with the connecting end of the movable arm (8) rotatably arranged at the fork lug (701) and drives the movable arm (8) to rotate around the connecting end; the mechanical fingers (9) are arranged at the clamping ends of the movable arms (8), the mechanical fingers (9) can be opened and closed to be used for grabbing and placing bent pipes, and meanwhile, the mechanical fingers (9) can change positions along with linear movement and/or rotary movement of the movable arms (8).
2. The high-precision bent pipe forming and detecting integrated machine according to claim 1, wherein: the middle section of the movable arm (8) is provided with a roller mounting groove (801); the roller mounting groove (801) is rotatably provided with a moving wheel (12) which can be guided and supported on the conveying surface of the conveyor belt conveying device (4).
3. The high-precision bent pipe forming and detecting integrated machine according to claim 1, wherein: the mechanical finger (9) adopts a pneumatic finger or an electric finger.
4. The high-precision bent pipe forming and detecting integrated machine according to claim 1, wherein: the mechanical finger (9) comprises a rotating plate (901), an upper clamping plate (902), a lower clamping plate (903) and a clamping plate electric push rod (904); one end of the rotating plate (901) is rotatably arranged at the clamping end of the movable arm (8), and the other end of the rotating plate (901) is simultaneously connected with the upper clamping plate (902) and the lower clamping plate (903); a pipe clamping space for clamping the bent pipe is formed between the upper clamping plate (902) and the lower clamping plate (903), and the part of the pipe clamping space, which faces the front end of the mechanical finger (9), is an opening; the clamping plate electric push rod (904) is arranged at the opening of the pipe clamping space, and the opening and closing of the pipe clamping space are realized by the telescopic push rod of the clamping plate electric push rod (904): when the push rod of the clamping plate electric push rod (904) is contracted to enable the opening of the pipe clamping space to be opened, the pipe clamping space is opened, and the mechanical finger (9) can clamp the bent pipe; when the push rod of the clamping plate electric push rod (904) stretches to completely and transversely block the opening of the pipe clamping space, the pipe clamping space is closed, the bent pipe cannot be separated from the mechanical finger (9) if the bent pipe is clamped, and the bent pipe cannot be clamped by the mechanical finger (9) if the bent pipe is not clamped.
5. The high-precision bent pipe forming and detecting integrated machine according to claim 4, wherein: the cylinder body of the clamping plate electric push rod (904) is arranged on the upper clamping plate (902), and the push rod extension direction of the clamping plate electric push rod (904) faces the lower clamping plate (903); or the cylinder of the clamping plate electric push rod (904) is arranged on the lower clamping plate (903), and the push rod extension direction of the clamping plate electric push rod (904) faces to the upper clamping plate (902).
6. The high-precision bent pipe forming and detecting integrated machine according to claim 5, wherein: when the cylinder body of the clamping plate electric push rod (904) is arranged on the upper clamping plate (902), a clamping groove (905) for enabling the push rod of the clamping plate electric push rod (904) to extend in to strengthen connection stability is formed in the lower clamping plate (903); when the cylinder body of the clamping plate electric push rod (904) is arranged on the lower clamping plate (903), a clamping groove (905) used for enabling the push rod of the clamping plate electric push rod (904) to extend in to strengthen connection stability is formed in the upper clamping plate (902).
7. The high-precision bent pipe forming and detecting integrated machine according to claim 4, wherein: and an arc-shaped groove (906) for better fitting the bent pipe molded surface is formed in one side, facing the pipe clamping space, of the upper clamping plate (902) and the lower clamping plate (903).
8. The high-precision bent pipe forming and detecting integrated machine according to claim 1, wherein: the linear drive (10) is formed by a rotary servo motor (13) and a threaded rod (14) fixedly connected with an output shaft of the rotary servo motor (13), the sliding block (7) which is arranged in the linear guide rail (6) in a limiting mode is in threaded connection with the threaded rod (14), and at the moment, the rotation output of the rotary servo motor (13) is converted into linear movement of the sliding block (7); the linear driving device (10) adopts a linear electric pushing cylinder or a linear hydraulic cylinder.
9. The high-precision bend forming inspection all-in-one machine according to any one of claims 1-8, wherein: and a set of transfer components (5) are respectively arranged at the left side and the right side of the conveying direction of the conveyor belt conveying device (4), and movable arms (8) in the two sets of transfer components (5) can be lapped on the conveying center line of the conveyor belt conveying device (4).
10. The high-precision elbow molding and detecting integrated machine according to claim 9, wherein: the two sets of transfer assemblies (5) are respectively marked as an A transfer assembly and a B transfer assembly, wherein a movable arm (8) in the A transfer assembly is marked as an A movable arm, and a movable arm (8) in the B transfer assembly is marked as a B movable arm;
The mechanical finger (9) comprises an upper short shaft (907), a lower short shaft (908), an upper clamping plate (902), a lower clamping plate (903) and a clamping plate electric push rod (904); the upper clamping plate (902) is rotatably arranged at the clamping end of the movable arm A through the upper short shaft (907), and the lower clamping plate (903) is rotatably arranged at the clamping end of the movable arm B through the lower short shaft (908);
when the clamping ends of the movable arm A and the movable arm B are overlapped, a pipe clamping space for clamping the bent pipe is formed between the upper clamping plate (902) and the lower clamping plate (903), and the part of the pipe clamping space, which faces the front end of the mechanical finger (9), is an opening; the clamping plate electric push rod (904) is arranged at the opening of the pipe clamping space, and the opening and closing of the pipe clamping space are realized by the telescopic push rod of the clamping plate electric push rod (904): when the push rod of the clamping plate electric push rod (904) is contracted to enable the opening of the pipe clamping space to be opened, the pipe clamping space is opened, and the mechanical finger (9) can clamp the bent pipe; when the push rod of the clamping plate electric push rod (904) stretches to completely and transversely block the opening of the pipe clamping space, the pipe clamping space is closed, the bent pipe cannot be separated from the mechanical finger (9) if the bent pipe is clamped, and the bent pipe cannot be clamped by the mechanical finger (9) if the bent pipe is not clamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311492073.2A CN117225929B (en) | 2023-11-10 | High-precision bent pipe forming and detecting integrated machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311492073.2A CN117225929B (en) | 2023-11-10 | High-precision bent pipe forming and detecting integrated machine |
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| Publication Number | Publication Date |
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| CN117225929A true CN117225929A (en) | 2023-12-15 |
| CN117225929B CN117225929B (en) | 2024-04-12 |
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