CN209753726U - move material system, divide material system and make production line that D was taken over - Google Patents

Abstract

The utility model relates to a move material system, divide material system and make production line that D was taken over belongs to tubular product processing field. The material moving system comprises a material discharging frame, a pose adjusting unit, a first material distributing manipulator unit and a second material distributing manipulator unit; the discharging frame comprises an installation frame and an inclined material sliding rod arranged on the installation frame; the posture adjusting unit is positioned at the downstream of the tail end of the material sliding rod along the sliding direction of the curved tube on the material sliding rod, is configured to receive the curved tube sliding out of the tail end of the material sliding rod and adjust the posture of the curved tube to a state to be clamped; the first material distributing manipulator unit is configured to synchronously suspend a plurality of curved tubes on the discharging rods at the transverse material hanging positions; the second material distributing manipulator unit is configured to separate the curved pipe which is adjusted to the state to be clamped from the position adjusting unit. The D connection pipe production line constructed by the material moving system has high automation degree, high production efficiency and flexibility and can be widely applied to the technical field of manufacturing of air conditioners and the like.

Description

move material system, divide material system and make production line that D was taken over

Technical Field

the utility model relates to a machine-shaping equipment of pipe fitting, specifically speaking relates to a production line that makes four-way reversing valve D takeover and be used for founding moving material system and dividing the material system of this production line.

Background

The four-way reversing valve is one of the main elements of the refrigeration equipment, is commonly used for controlling the switching between a heat cycle and a refrigeration cycle, and comprises an E connecting pipe, an S connecting pipe, a C connecting pipe and a D connecting pipe, wherein the specific structure of the four-way valve disclosed by patent documents with the publication number of CN201391635Y and the like is as shown in attached drawings 1 and 2, and the D connecting pipe is provided with an arc-shaped transition pipe part used for being connected with a main valve in an installing way.

Because the D adapter has the arc-shaped transition pipe portion, in the manufacturing process, firstly, the straight pipe section 01 shown in fig. 1 needs to be bent into the semi-finished adapter 02 with the arc-shaped transition pipe portion 021 shown in fig. 2 by using a pipe bending machine, that is, the semi-finished adapter 02 includes a long pipe end portion 022 and a short pipe end portion 023 connected by the transition pipe portion 021; next, the corresponding end of the semi-finished adapter tube 02 is subjected to tube end processing by using a necking, flaring, or punching machine tube end processing apparatus to obtain a finished adapter tube, for example, the end of the long tube end 022 is subjected to flaring, and the end of the short tube end 023 is subjected to necking and punching to obtain a D adapter tube 03 having a flared end 031, a necked end 032, and a bypass hole 033 as shown in fig. 3.

The patent document with publication number CN107756039A discloses a production line for manufacturing a four-way reversing valve D adapter tube, which comprises a feeding system and a processing and forming system; the feeding system comprises a long pipe feeding unit, a sawing unit and a cleaning unit; the processing and forming system comprises more than two groups of processing and forming units for independently processing and forming the short pipe sections; the processing and forming unit comprises a bent pipe unit and a composite pipe end unit; and the production line is provided with a pipe moving manipulator system, and the pipe moving manipulator system comprises a first manipulator unit and a second manipulator unit, wherein the first manipulator unit is used for moving the sawed short pipe sections to the cleaning units and sequentially moving the short pipe sections among the sub-units in the cleaning units, and the second manipulator unit is used for sequentially distributing the cleaned pipe sections to each group of processing and forming units in turn and sequentially moving the cleaned pipe sections among the sub-units in the processing and forming units. This production line matches with same feeding system through setting up the machine-shaping unit more than two sets of to improve holistic machining efficiency, nevertheless in the use, still have the not matched problem of the pipe end treatment effeciency of the return bend efficiency of bending machine and pipe end processing unit, and have the overall machining efficiency problem on the low side of equipment.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims at providing a material moving system which can be used for constructing a D connecting pipe production line with higher production efficiency;

Another object of the present invention is to provide a D connection pipe production line constructed by the above material moving system, so as to improve the production and processing efficiency of connection pipes;

It is still another object of the present invention to provide a material distribution system for constructing the above production line.

In order to achieve the main purpose, the utility model provides a material moving system is used for moving curved pipe with hook structure, including the rack of arranging, position appearance adjustment unit, first branch material manipulator unit and second branch material manipulator unit; the discharging frame comprises an installation frame and material sliding rods which are obliquely arranged and fixedly arranged on the installation frame; the posture adjusting unit is positioned at the downstream of the tail end of the material sliding rod along the sliding direction of the curved tube on the material sliding rod, is configured to receive the curved tube sliding out of the tail end of the material sliding rod and adjusts the posture of the curved tube to a state to be clamped; the first distributing manipulator unit is configured to suspend a plurality of curved tubes on the discharging rack synchronously; the second material distributing manipulator unit is configured to separate the curved pipe which is adjusted to the state to be clamped from the position adjusting unit.

according to the advancing direction of curved tubes in the material moving process, a first material distributing mechanical arm unit, a material discharging frame, a pose adjusting unit and a second material distributing mechanical arm unit are sequentially arranged, a plurality of curved tubes can be synchronously hung on the material discharging frame by the first material distributing mechanical arm unit, then the pose of a single curved tube sliding out of the tail end of the material discharging rod is adjusted by the pose adjusting unit, so that a single curved tube can be separated from the plurality of curved tubes, and the separated single curved tube is moved to subsequent processing equipment by the second material distributing mechanical arm unit. If the material moving system is installed on a production line for manufacturing the D connecting pipe, a plurality of semi-finished connecting pipes can be synchronously bent by using a multi-pipe bending machine and distributed to a plurality of pipe end processing units for pipe end processing, so that the production efficiency of the D connecting pipe can be improved.

The specific scheme is that the pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after pose adjustment so that the second material distribution manipulator unit can grab the hanging pipe part of the curved pipe at a preset position; the adjusting unit comprises a clamping block for receiving a single curved pipe which slides out from the tail end of the material sliding rod, so that the hook structure is clamped on the clamping block; the adjusting unit comprises a posture adjusting unit and a posture adjusting actuator, wherein the posture adjusting unit comprises a posture adjusting actuator which is used for driving the clamping block to rotate so as to drive the curved tube on the clamping block to rotate, so that the posture of the curved tube can be adjusted.

more specifically, the adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base; the transfer unit comprises a push block which is driven by a transfer actuator to force the curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and move to the clamping gap, and the hook structure is decoupled from the clamping block; along the moving direction of the curved tube along the transfer guide rail, the positioning unit comprises a positioning backer which is positioned at the downstream of the transfer guide rail and is used for stopping and positioning the moving action of the curved tube.

the other more specific proposal is that the posture adjusting actuator comprises an air cylinder, a rotary driving shaft which is fixedly connected with a clamping block to drive the clamping block to rotate, a rack which is fixedly connected with a piston rod of the air cylinder, and a gear which is meshed with the rack; the gear is coaxially fixed to the rotary drive shaft. The rotary driving mechanism of the clamping block is provided with a gear rack structure, so that the layout of the whole structure can be better optimized.

The preferable scheme is that the discharging frame comprises a discharging rod, a swinging actuator and a discharging rod, wherein the fixed end of the discharging rod can be rotatably arranged on the upper end part of the sliding rod around a rotating shaft, and the swinging actuator is used for driving the discharging rod to swing back and forth between a transverse material hanging position and an inclined material sliding position around the rotating shaft; the feeding rod is fixedly provided with a limiting support rod positioned below the feeding rod and used for forcing the curved pipe hung on the feeding rod to be kept in a preset pose state; the mounting frame is fixedly provided with a sliding limiting guide groove which is positioned beside the sliding material rod and used for limiting the swinging motion of the curved tube in the sliding process along the sliding material rod, and a limiting anti-jumping rod which is positioned above the sliding material rod and used for stopping and limiting the jumping motion of the curved tube in the sliding process along the sliding material rod so as to force the curved tube to sequentially slide along the sliding material rod and sequentially slide out of the tail end of the sliding material rod one by one. By arranging the limiting support rod, the semi-finished product connecting pipe can be effectively ensured to be better slid onto the material sliding rod in the material sliding process along the material discharging rod; through setting up the spacing guide way of sliding and spacing prevent jumping the material pole to ensure that semi-manufactured goods takeover can be in order and slide one by one to the transfer unit of transferring appearance.

In order to achieve the above another object, the present invention provides a production line for manufacturing a D connection tube, including a multi-tube bending machine, a tube end processing unit, and a material transferring system for transferring a semi-finished connection tube bent by the multi-tube bending machine to the tube end processing unit; the material moving system is the material moving system described in any one of the technical schemes; the N sleeve end processing units are arranged beside the machine head side of the multi-tube bending machine, and N is more than or equal to 2; the first material distributing manipulator unit is matched with the N sets of material distributing systems to move materials, and each material distributing system comprises a material discharging frame, a pose adjusting unit and a second material distributing manipulator unit; each set of material distribution system is matched with the single sleeve pipe end processing unit to feed the pipe end processing unit; the round die of the multi-tube bending machine is a horizontal round die which is axially arranged along a first transverse direction.

A plurality of straight pipe sections are synchronously bent into semi-finished product connecting pipes by adopting a multi-pipe bending machine, so that a plurality of semi-finished product connecting pipes can be synchronously obtained in the same batch of bent pipes in single bending treatment; the first material distributing manipulator unit is used for transferring the semi-finished product connecting tubes of a single batch to the same semi-finished product discharging frame, the pose adjusting unit is matched with the discharging frame to distribute the semi-finished product connecting tubes on the material discharging frame, and the second material distributing manipulator unit is used for transferring the distributed semi-finished product connecting tubes to the pipe end processing unit one by one to perform pipe end processing, so that the processing speed difference between the pipe bending unit and the pipe end processing unit can be effectively matched, and the overall production efficiency is effectively improved; and through the cooperation of manipulator unit to establish automatic linking between each unit, reduce processes such as artifical transport, improved the production efficiency of this production line effectively.

the specific scheme is that the N sleeve pipe end processing units are configured into two groups of pipe end processing units which are arranged on two transverse sides of a machine head end of the multi-pipe bending machine, wherein the two transverse sides are two sides arranged along a first transverse direction so as to be arranged into a convex structure with the multi-pipe bending machine; an installation space in front of the machine head of the multi-pipe bending machine is reserved between the two groups of pipe end processing units, and the first material distribution manipulator unit, the material discharge frame and the pose adjusting unit are arranged in the installation space; a group of material distribution systems for feeding a group of pipe end processing units form a group, and a moving avoiding space for accommodating the clamping end part of the first material distribution manipulator unit is reserved between the two groups of material distribution systems; the installation space has a maintenance space located below the stocker and the first dispensing manipulator unit up to the head of the multi-tube bending machine.

In order to achieve the above-mentioned another purpose, the utility model provides a material distributing system includes a material discharging rack and a pose adjusting unit; the discharging frame comprises an installation frame and material sliding rods which are obliquely arranged and fixedly arranged on the installation frame and used for hanging a plurality of curved pipes with hook structures; the posture adjusting unit is located at the downstream of the tail end of the material sliding rod along the sliding direction of the curved tube on the material sliding rod, is configured to receive the curved tube sliding out of the tail end of the material sliding rod and adjusts the posture of the curved tube.

The specific scheme is that the pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after the pose adjustment; the adjusting unit comprises a clamping block for receiving a single curved pipe which slides out from the tail end of the material sliding rod, so that the hook structure is clamped on the clamping block; the adjusting unit comprises a posture adjusting unit and a posture adjusting actuator, wherein the posture adjusting unit comprises a posture adjusting actuator which is used for driving the clamping block to rotate so as to drive the curved tube on the clamping block to rotate so as to adjust the posture; the adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base; the transfer unit comprises a push block which is driven by a transfer actuator to force the curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and move to the clamping gap, and the hook structure is decoupled from the clamping block; the positioning unit comprises, in a direction of removal of the curved tube along the transfer guide, a positioning backer located downstream of the transfer guide for stopping positioning of the removal of the curved tube from the holding block.

The preferable scheme is that the discharging frame comprises a discharging rod, a swinging actuator and a driving mechanism, wherein the fixed end of the discharging rod can be rotatably arranged on the upper end part of the sliding frame around a rotating shaft, and the swinging actuator is used for driving the discharging rod to swing back and forth around the rotating shaft between a transverse material hanging position and an inclined material sliding position; the feeding rod is fixedly provided with a limiting support rod positioned below the feeding rod and used for forcing the curved pipe hung on the feeding rod to be kept in a preset pose state; the mounting frame is fixedly provided with a sliding limiting guide groove which is positioned beside the sliding material rod and used for limiting the swinging motion of the curved tube in the sliding process along the sliding material rod, and a limiting anti-jumping rod which is positioned above the sliding material rod and used for stopping and limiting the jumping motion of the curved tube in the sliding process along the sliding material rod so as to force the curved tube to sequentially slide along the sliding material rod and sequentially slide out of the tail end of the sliding material rod one by one.

Drawings

FIG. 1 is a schematic structural diagram of a prior art straight pipe section for machining a D-shaped connecting pipe;

FIG. 2 is a schematic structural diagram of a prior art semi-finished adapter;

FIG. 3 is a schematic structural diagram of a D-shaped adapter tube;

FIG. 4 is a schematic block diagram of the embodiment 1 of the production line of the present invention;

FIG. 5 is a plan view of embodiment 1 of the production line of the present invention;

FIG. 6 is a perspective view of embodiment 1 of the production line of the present invention;

Fig. 7 is a perspective view of a five-tube bending machine in embodiment 1 of the production line of the present invention;

FIG. 8 is an enlarged view of portion B of FIG. 7;

FIG. 9 is an enlarged view of a portion A of FIG. 6;

fig. 10 is a perspective view of a partial structure, a pipe end processing unit and a discharging unit of the material moving system in embodiment 1 of the production line of the present invention;

fig. 11 is a perspective view of a first material distributing robot unit in embodiment 1 of the production line of the present invention;

Fig. 12 is a perspective view of a local structure of a material clamping claw end of a first material distributing manipulator unit in embodiment 1 of the production line of the present invention;

Fig. 13 is a perspective view of a semi-finished product discharging rack in embodiment 1 of the production line of the present invention;

Fig. 14 is a schematic view of an initial state structure in which a five-axis manipulator is used to pick a semi-finished connecting tube from a five-tube bending machine in the process of manufacturing a D connecting tube by using the embodiment 1 of the production line of the present invention;

Fig. 15 is a schematic view of a process of grabbing a semi-finished connecting tube from a five-tube bending machine by using a five-axis manipulator in the process of manufacturing a D connecting tube by using the embodiment 1 of the production line of the present invention;

fig. 16 is a schematic diagram of a pose adjustment process of a grabbed semi-finished product adapter tube by using a five-axis manipulator in the process of manufacturing a D adapter tube by using the embodiment 1 of the production line of the utility model;

fig. 17 is a schematic view of a process of placing a grabbed semi-finished product adapter on a discharging rod of a semi-finished product discharging rack by using a five-axis manipulator in the process of manufacturing a D adapter by using the production line of embodiment 1 of the present invention;

FIG. 18 is a schematic view showing the process of automatically adjusting the position of a semi-finished connecting tube suspended on a discharging rod under the action of gravity in the process of manufacturing a D connecting tube by using the embodiment 1 of the production line of the utility model;

Fig. 19 is a schematic view showing a process of blanking a semi-finished product suspended on a discharging rod onto a sliding rod in a process of manufacturing a D joint pipe by using embodiment 1 of the production line of the present invention;

fig. 20 is a schematic view of an initial state of posture rotation adjustment of a semi-finished connecting pipe in a process of manufacturing a D connecting pipe by using embodiment 1 of the production line of the present invention;

Fig. 21 is a schematic view of a process of rotating the pose of the semi-finished connecting tube by 90 degrees in the process of manufacturing the D connecting tube by using embodiment 1 of the production line of the present invention;

Fig. 22 is a schematic view of a process of pushing a semi-finished connecting tube to a position to be clamped after the position and orientation of the semi-finished connecting tube are adjusted in place in the process of manufacturing a D connecting tube by using the embodiment 1 of the production line of the present invention;

FIG. 23 is an enlarged view of a portion C of FIG. 22;

fig. 24 is a schematic view of a process of rotating the position and posture of the semi-finished connecting pipe by 90 degrees in the process of manufacturing the D connecting pipe by using embodiment 2 of the production line of the present invention;

Fig. 25 is a schematic view of the process of manufacturing a D adapter tube by using the embodiment of the present invention, wherein the semi-finished product suspended on the discharging rod is dropped onto the sliding rod.

Detailed Description

The present invention will be further described with reference to the following examples and accompanying drawings.

Production line example 1

Referring to fig. 4 to 23, the production line 1 for manufacturing D-nipples according to the present invention includes a control unit, a five-pipe bender 2, a pipe blank feeding unit 11 for feeding the five-pipe bender 2, a four-pipe end processing unit 3, a four-set discharging unit 4, a material transfer system 10 for transferring a semi-finished nipple 02 bent by the five-pipe bender 2 to the pipe end processing unit 3, and a hydraulic station 15. Wherein the five-tube bending machine 2 and the tube blank feeding unit 11 together constitute a tube bending unit in this embodiment.

the five-pipe bending machine 2, the pipe blank feeding unit 11, the pipe end processing unit 3, the discharging unit 4 and the material moving system are all arranged on the frame 13; for the specific structure of the rack 13, an integral rack or a split rack may be adopted, in this embodiment, a split rack is adopted, that is, a plurality of relatively independent sub-racks are adopted to fixedly mount each unit, and of course, some units and other units share the same sub-rack. And a safety grating 14 is installed at the periphery to ensure safety in the manufacturing process. The control unit comprises a processor, a memory and a control screen 12, wherein the control screen 12 is used for receiving a control instruction input by an operator, the processor executes a program corresponding to the control instruction in the memory, and the multi-pipe bending step, the material distributing step, the pipe end processing step and the discharging step are sequentially carried out.

Referring to fig. 7 and 8, the tube blank loading unit 11 includes a storage hopper 110 for storing the straight tube section 01 and a material distributing hopper 111 for distributing the straight tube section to the guide groove 23 located therebelow, and the material distributing hopper 111 is located below the storage hopper 110 to receive the straight tube section 01 released from the storage hopper 110. The storage hopper 110 comprises a hopper 1101, a baffle plate 1102 arranged at a discharge port of the hopper 1101 and an actuator for driving the baffle plate 1102 to reciprocate between a discharging position and a blocking position, wherein the actuator specifically selects an air cylinder or a motor, and the number of straight pipe sections released into the sub-hopper 111 is controlled through the action of the baffle plate 1102; the distributing hopper 111 comprises a V-shaped hopper 1110, a plurality of parallel feeding troughs 1111 arranged along the Y-axis direction are arranged at the discharge port of the V-shaped hopper 1110, and the number of the feeding troughs 1111 is configured to be the same as that of single bending pipes of the multi-pipe bending machine, that is, five.

The five-tube bending machine 2 comprises a horizontal circular die 20 with five die grooves 200, a clamping die 21 and a guide die 22 which are matched with the horizontal circular die 20, a guide groove 23 for guiding five straight tube sections 01 which are arranged in parallel, a pushing mechanism for pushing the straight tube sections 01 which are blanked from a blanking groove 1111 into the guide groove 23 which is arranged along the Y axial direction to move towards the direction close to the horizontal circular die 20 along the Y axial direction, and a material blocking positioning mechanism 24 which is positioned on one side of the horizontal circular die 20, which is far away from the pushing mechanism. The material pushing mechanism comprises five material pushing rods respectively matched with the guide grooves 23 and a linear displacement output device for driving the five material pushing rods to axially reciprocate along the guide grooves 23.

In the present embodiment, the guide die 22 is located below the horizontal circular die 20, i.e. the die cavity thereof is axially arranged along the Y-axis, and the clamp die 21 is driven by the horizontal swing arm 25 to swing around the axis of the horizontal circular die 20, i.e. to rotate around an axis parallel to the X-axis. The striker positioning mechanism 24 includes a striker plate 240 and a striker actuator 241 for driving the striker plate 240 to move back and forth between the positioning position and the avoiding position, in this embodiment, the striker actuator 241 is an air cylinder, and pushes the striker plate 240 to move back and forth along the X axis. The five-pipe bending machine 2 forms the multi-pipe bending machine in the present embodiment, in the present invention, the multi-pipe bending machine is configured to synchronously bend two or more straight pipe sections 01, or may be configured to synchronously bend three or more straight pipe sections 01, that is, the number of the die slots of the circular die is three or more, and the number of the specifically synchronous bending pipes is set according to actual needs.

In the working process, under the control of the material baffle 1102, the straight pipe sections stored in the hopper 1101 enter the V-shaped hopper 1110 within a preset number range, and under the action of gravity, the straight pipe sections 01 at least fill the lower end part of the V-shaped hopper 1110, so that at least one straight pipe section 01 is arranged in each blanking groove 1111; since the charging chute 1111 arranged in the Y-axis direction is located right above the guide groove 23 in parallel thereto, if the guide groove 23 has no straight pipe section 02 located right below the charging chute 1111 and the lifter bar is not located at this position, the straight pipe section 01 in the charging chute 1111 falls into the guide groove 23 by gravity.

Before pushing the straight pipe section 01 falling into the guide groove 23, the swing arm 25 drives the clamp die 21 to rotate around the axis of the rotating shaft parallel to the X axial direction to a position below the horizontal circular die 20 and at a side of the horizontal circular die 20 away from the guide die 22. The material blocking actuator 241 drives the material blocking plate 240 to move to a positioning position along the X axis in the negative direction, namely, the material blocking plate is located at the position in the positive front of the five straight pipe sections 01, the five straight pipe sections 01 move along the corresponding guide grooves 23 under the action of thrust of the material pushing rod along the Y axis, the front end portions of the five straight pipe sections are abutted against the material blocking plate 240, at the moment, the front end portions of the straight pipe sections 01 are located between the horizontal circular die 20 and the die cavity of the clamping die 22, and after the end portions of the five straight pipe sections 01 are positioned, the material blocking actuator 241 drives the material blocking plate 240 to move to an avoiding position in an avoiding pipe bending process along the X.

Next, the clamping driver 210 drives the clamping die 210 to synchronously clamp the five straight pipe sections 01, and synchronously bends the five straight pipe sections 01 under the driving of the swing arm 25 to synchronously bend five semi-finished connecting pipes 02 as shown in fig. 2, and after the bending is completed, the relative spatial positions of the horizontal round die 20, the clamping die 21 and the guide die 22 are shown in fig. 8.

As shown in fig. 9 to 23, the material moving system 10 includes a material distributing system cooperating with the single-sleeve end processing unit 3, and a first material distributing manipulator unit 5 for synchronously moving the same batch of semi-finished product connecting tubes 02 obtained by the five-tube bending machine 2 in a single bending to the same material distributing system; that is, in this embodiment, the material transferring system includes four sets of material distributing systems matched with the pipe end processing units 3, and each set of material distributing system includes a semi-finished product discharging rack 6, a posture adjusting and transferring unit 7, and a second material distributing manipulator unit 8. The semi-finished product discharging frame 6 is used for receiving more than one batch of semi-finished product connecting tubes 02, the posture adjusting and transferring unit 7 is used for adjusting the postures of the semi-finished product connecting tubes on the semi-finished product discharging frame 6 one by one and transferring the semi-finished product connecting tubes to the positions to be clamped, the second material distributing mechanical arm unit 8 is used for transferring the semi-finished product connecting tubes 02 transferred to the positions to be clamped by the posture adjusting and transferring unit 7 to the corresponding tube end processing units 3, and transferring the semi-finished product connecting tubes 02 among the sub-units in the tube end processing units 3 in sequence according to the sequence of tube end processing so as to process the corresponding tube sections.

As shown in fig. 11 and 12, the first material-distributing manipulator unit 5 includes a mounting base 50, a material-clamping claw 51 mounted on the mounting base 50, a three-dimensional traveling mechanism 52 for driving the mounting base 50 to move in three-dimensional space relative to the horizontal circular mold 20 of the multi-tube bending machine 2, and a rotation driving mechanism 53 for driving the material-clamping claw 51 to rotate about the Z-axis and the Y-axis relative to the mounting base, that is, in the present embodiment, the first material-distributing manipulator unit 5 is a five-axis manipulator clamping claw. The three-dimensional traveling mechanism 52 is used for driving the mounting seat 50 to drive the clamping claw 51 to move in a three-dimensional space in an XYZ space, and specifically includes an X-axis guide rail 520 arranged along an X axis and fixed on the rack, a Y-axis guide rail 521 arranged along the Y axis, a Z-axis guide rail 522 arranged along the Z axis, an X-axis actuator 523 used for driving the Y-axis guide rail 521 to reciprocate along the X-axis guide rail 520, a slide carriage 524 capable of reciprocating along the Y-axis guide rail 521, a Y-axis actuator 525 used for driving the slide carriage 524 to reciprocate along the Y-axis guide rail 521, and a Z-axis actuator 526 used for driving the Z-axis guide rail 522 to reciprocate along the Z axis relative to the slide carriage 524. In this embodiment, the X-axis actuator 523 is composed of a servo motor, a gear coaxially sleeved on a rotor shaft of the servo motor, and a rack engaged with the gear and arranged along the X-axis direction, and a stator of the servo motor is fixedly connected with the Y-axis guide rail 521; the Z-axis actuator 525 and the Z-axis actuator 526 are both composed of a servo motor and a lead screw nut mechanism. In this embodiment, the mount 50 is a lower end of the Z-axis rail 522. The rotation driving mechanism 53 includes a first rotation cylinder 531 having a cylinder 5310 fixed to the mounting base 50 and a second rotation cylinder 532 having a cylinder 5320 fixed to a rotation plate 5311 of the first rotation cylinder 531; the rotary table 5311 has a rotation axis arranged along the Z axis, and the rotary table 5321 has a rotation axis arranged along the Y axis. The three-dimensional traveling mechanism 52 is fixedly supported on the frame by two columns 5200.

The material clamping claw 51 comprises a lower clamping die 510, an upper clamping die 511, an opening and closing actuator 512 for driving the two clamping dies to move relatively to open and close, and a limiting backer 513 for limiting the closing distance between the two clamping dies; in this embodiment, the opening/closing actuator 512 is a pneumatic claw cylinder, a cylinder body of the pneumatic claw cylinder is fixed on the rotating platform 5321 of the second rotating cylinder 532, two clamping molds are respectively fixed on the corresponding pneumatic claws to be capable of opening and closing in a plane parallel to the XOZ plane, and a limiting cam 513 is fixed on the cylinder body of the pneumatic claw cylinder between the two clamping molds to limit a closing distance between the two clamping molds during clamping, so as to prevent the semi-finished adapter 02 from being damaged by clamping. The material clamping die cavity of the lower clamping die 510 is an anti-falling guide groove 5101 used for being clamped at the end part of a long pipe of the semi-finished product connecting pipe 02, specifically, the depth of the anti-falling guide groove 5101 is larger than the diameter of the pipe of the semi-finished product connecting pipe 02, and is usually 2 cm to 3 cm larger, so as to prevent the semi-finished product connecting pipe 02 clamped therein from falling down when the semi-finished product connecting pipe 02 is not clamped by the upper clamping die 511, and meanwhile, the anti-falling guide groove can be pushed and pulled along the length direction of the groove, the material clamping die cavity on the upper clamping die 511 is a holding clamping groove used for being clamped at the end part of a short pipe of the semi-finished product connecting pipe 02, the holding clamping groove is arranged on a soft groove seat 5110, so that five pairs of material clamping die cavity pairs are arranged on the material clamping claw 51, and five semi-finished product connecting pipes 02; by arranging the material clamping die slot on the soft slot seat, the semi-finished product connecting pipe 02 can be elastically clamped so as to prevent the semi-finished product connecting pipe 02 from being damaged by clamping.

the semi-finished product discharging frame 6 comprises a mounting frame 60, a material sliding rod 61 which is fixedly arranged on the mounting frame 60 through a height support 600 and is arranged obliquely, a material discharging rod 62 of which the fixed end 621 can be rotatably arranged on the mounting frame 60 around a pin shaft 63, and a swinging actuator 64 for driving the material discharging rod 62 to swing back and forth around the pin shaft 63 between a transverse material hanging position and an oblique material sliding position, wherein the pin shaft 63 forms a rotating shaft of the material discharging rod 62 in the embodiment. The fixed end of the discharging rod 62 is hinged to the upper end of the sliding rod 61, that is, in this embodiment, the discharging rod 62 is indirectly mounted on the mounting frame 60 through the sliding rod 61, and of course, may be directly fixed on the mounting frame through a connecting member; in this embodiment, the fixed end 621 of the discharging rod 62 is a Y-shaped joint, the upper end of the sliding rod 61 is an insert joint adapted to the Y-shaped joint, the Y-shaped joint and the insert joint are hinged by a pin 63, the discharging rod 62 and the sliding rod 61 are constructed by rod bodies having substantially the same upper half cross-sectional structure, so that when the discharging rod 62 rotates to a position parallel to each other, the side surfaces of the rod bodies contacting with the transition pipe part 021 of the semi-finished product adapter 02 can be in butt joint arrangement, and the upper side edge part of the upper end of the sliding rod 61 is provided with an introduction angle 610, so that the semi-finished product 02 can smoothly slide onto the sliding rod 61 in the swinging process of the discharging rod 62; the fork arm of the Y-shaped joint is provided with a screw hole which is axially vertical to the axial direction of the pin shaft 63, and a set screw 65 matched with the screw hole is used for positioning and fixing the position of the pin shaft 63, so that the surfaces of the discharging rod 62 and the sliding rod 61 at the inclined material sliding position can be smoothly butted, and the continuity of the sliding action of the semi-finished product connecting pipe 02 between the discharging rod and the sliding rod is effectively ensured.

The swing actuator 64 is a linear actuator, such as a linear motor, an air cylinder, or a rotary motor and a lead screw nut mechanism, and specifically, an air cylinder is selected, a piston rod of the air cylinder is hinged to a tab joint fixed to the swing end of the discharge rod 62 through a hinge shaft via a Y joint 641, and a cylinder body is hinged to a tab joint fixed to the mounting bracket 60 through a Y joint 640.

the position-limiting support rod 66 is fixedly arranged on the discharging rod 62 through the connecting plate 660, and is used for forcing the end part of the long pipe of the semi-finished connecting pipe 02 hung on the discharging rod 62 to be approximately vertically arranged and effectively preventing the semi-finished connecting pipe 02 from shaking in the swinging process of the discharging rod 62. A sliding limiting guide groove 67 located beside the sliding rod 61 is fixedly arranged on the mounting rack 60 to limit the swinging motion of the end part of the long pipe of the semi-finished product adapter 02 in the sliding process along the sliding rod 61, and a limiting anti-skip rod 68 located above the sliding rod 61 is used for stopping and limiting the vertical skip motion of the semi-finished product adapter 02 in the sliding process along the sliding rod 61 so as to force the semi-finished product adapter 02 to sequentially slide along the sliding rod 61 and sequentially slide out of the tail end of the sliding rod 61 one by one. A full material induction sensor 69 is mounted below the upper end of the material sliding rod 61 and used for detecting whether the semi-finished product connecting pipe 02 is hung on the material discharging rod 61 or not so as to control the material distributing action of the first material distributing manipulator unit 5.

In this embodiment, the limiting guide slot 67 is constructed by two parallel limiting rod guide rods 671 and 672, which are respectively fixed on the mounting rack 60 by a connecting member, and limit the end of the long pipe of the semi-finished adapter 02 to force the end of the long pipe to be substantially vertically arranged during the sliding process. In the Y-axis direction, the support surface of the limit support rod 66 is flush with the support surface of the limit rod guide rod 672, or is located between the support planes of the limit rod guide rods 671 and 672, and the distance between the support surface of the limit support rod 66 and the support surface of the limit rod guide rod 671 is greater than the pipe diameter of the semi-finished adapter 02. The limiting material jumping-preventing bars 68 are fixed to the mounting frame 60 by a connecting member to be arranged in a direction parallel to the material sliding bar 61 and arranged above the middle or the side of the material sliding bar 61. Of course, the limit guide groove 67 may be directly constructed with a U-shaped groove.

the posture adjusting and transferring unit 7 includes a base 70, a posture adjusting unit, and a transferring unit. In the present embodiment, the base 7 has a frame structure having a component mounting cavity 702, and the base 70 is provided with a transfer rail 700 arranged along the Y-axis direction and a clamping notch 701 located above the transfer rail 700.

The posture adjustment unit comprises a rotating block 71 with an upper end rotatably mounted on the base 70 through a rotating driving shaft 73, and a posture adjustment actuator for driving the rotating block 71 to rotate at least 90 degrees around the axis of the rotating driving shaft 73, in this embodiment 90 degrees, but of course, the rotation may be set to be less than 90 degrees according to actual conditions. The rotating block 71 is a block structure with an outer shape matched with the inner surface of the semi-finished product adapter 02, when the rotating block 71 is rotated to the material receiving position, the rotating block 71 is arranged vertically in the embodiment, the outer surface of the rotating block is rotated to be matched with the material sliding surface of the material sliding rod 61, so that the semi-finished product adapter sliding out of the tail end of the material sliding rod 61 is clamped on the rotating block 71, namely the rotating block 71 is used for receiving a single semi-finished product adapter 02 sliding out of the tail end of the semi-finished product discharge rack, and the semi-finished product adapter 02 on the rotating block 71 stops the semi-finished product adapter 02 on the tail end of the material sliding rod 62; the semi-finished product adapter 02 held on the rotation block 71 is driven by the rotation actuator to perform the posture adjustment. In this embodiment, the posture adjusting actuator includes an air cylinder 72, a rotary driving shaft 73 fixedly connected with the rotary block 71 to drive the rotary block to rotate, a rack 73 fixedly connected with a piston rod of the air cylinder 72, and a gear 74 meshed with the rack 73; the gear 74 is coaxially fixed to the rotary driving shaft 73, and in the working process, the axial movement of the cylinder is converted into the rotation of the rotating shaft by using a rack-and-pinion mechanism, so that the whole structure of the posture adjusting actuator can be arranged along the Y-axis direction, and the layout of the whole structure is optimized.

The transfer unit includes a push block 75, and a transfer actuator 76 for driving the push block to reciprocate in a direction parallel to the transfer rail 700, i.e., to reciprocate in the Y-axis direction. A positioning arm rest 77 is fixedly provided on the base 70 at an end of the transfer guide 700.

As shown in fig. 10, the pipe end processing unit 3 includes a flaring machine, a necking machine, a chamfering machine, and a punching machine mounted on a frame, and sub-units respectively constituting the pipe end processing unit 3 are mounted on the frame in parallel in the X-axis forward direction, and the main shafts are all arranged in the Y-axis direction. In this embodiment, the expanding and necking machine 31 and the punching machine 32 are disposed on the frame, so as to synchronously perform the expanding and necking processes on the two end portions of the semi-finished product connecting pipe, and the semi-finished product connecting pipe is transferred to the punching station by the second material distributing manipulator unit 8 to perform the punching process, so as to obtain the finished product connecting pipe 03 shown in fig. 3.

As shown in fig. 4 to 6 and fig. 9 and 10, 4-sleeve-end processing units 3 are arranged in two groups on the head end side of multi-tube bending machine 2, that is, two sets of pipe-end processing units 3 are arranged in one group on the head side of multi-tube bending machine 2, each group of pipe-end processing units 3 being located on one lateral side of the head end, that is, on the X-axis side of the head end, to constitute a substantially zigzag structure. And an installation space 100 located in front of the head of the multi-tube bending machine 2 is provided between the two sets of tube end processing units 3; the first material distributing manipulator unit 5, the semi-finished product discharging frame 6 and the posture-adjusting transferring unit 7 are uniformly distributed in the mounting space 100; the material distribution system for feeding a group of pipe end processing units 3 on the same side forms a group, namely each group of material distribution system comprises two sets of semi-finished product discharging frames 6, a posture adjusting and conveying unit 7 and a second material distribution manipulator unit 8, and a moving avoiding space 101 for accommodating a clamping end of the first material distribution manipulator unit 5 is reserved between the two groups of material distribution systems.

To facilitate maintenance of multi-tube bending machine 2, installation space 100 has a maintenance space 102 located below the material distribution system and first material distribution manipulator unit 5, up to the head of multi-tube bending machine 2; a scrap collecting box 17 is movably arranged in the maintenance space 102 and used for collecting waste generated by punching and chamfering treatment, and a guide groove 16 for guiding the scraps into the scrap collecting box is arranged on the pipe end processing unit 3.

On one side of each sleeve end processing unit 3 away from the installation space 100, a finished product discharging rack 4 for collecting the finished product connecting pipes 03 is installed, in this embodiment, the finished product discharging rack is composed of two material sliding rods arranged in parallel, and the two material sliding rods are arranged at unequal intervals, so that the end portions of the long pipes of the finished product connecting pipes 03 hung on the high-position material sliding rods abut against the low-position material sliding rods, and the end portions of the long pipes are arranged in an inclined manner.

as shown in fig. 10, in the present embodiment, the second dispensing robot unit 8 has a first robot 81, a second robot 82, and a third robot 83 arranged at equal intervals in the X-axis direction, and a synchronous traverse drive for driving the three robots to reciprocate synchronously along the X-axis guide rails; the distance between the two manipulators is equal to the distance between the position to be clamped, the expansion and contraction position, the punching position and the unloading position of the posture adjusting and conveying unit 7, namely the positions are arranged at equal intervals to clamp the pipe fittings from the three positions at a time and synchronously convey the pipe fittings to the next position, namely the second material distributing manipulator unit 8 is used for clamping the semi-finished pipe fittings from the position to be clamped, sequentially conveying the pipe fittings to the corresponding subunits according to the sequence of pipe end treatment to carry out pipe end treatment, and hanging the finished pipe fittings on the finished product discharging frame 4. For each manipulator 81, 82 and 83, the movement in the Z-axis direction is driven by a self Z-axis cylinder, a rotary cylinder can be arranged to rotate, turn around and adjust the posture of a workpiece clamped on the rotary cylinder, and particularly, a clamping mechanism of the three manipulators for the semi-finished product connecting pipe 02 is constructed by adopting a gas claw cylinder.

the specific working process comprises the following steps:

a multi-tube bending step S1 of synchronously bending five semi-finished nipples 02 in a single batch by the multi-tube bending machine 2.

a material distributing step S2, (1) as shown in fig. 14, the material clamping jaws 51 are driven to face the multi-tube bending machine, that is, arranged in the Y-axis forward direction, by the rotating action of the rotating cylinders 531, 532; then, the three-dimensional travelling mechanism 52 drives the material clamping claw 51 to advance to a material clamping die groove of the lower clamping die 510 to be matched with the long pipe end of the semi-finished product adapter 02; (2) as shown in fig. 15, under the action of the material pushing rod, five semi-finished product connecting pipes 02 are synchronously pushed into the material clamping claw 51, and driven by the air claw cylinder, two clamping dies clamp the semi-finished product connecting pipes 02; (3) as shown in fig. 16, the long tube end of the semi-finished adapter 02 is positioned above by the rotation of the rotary cylinders 531 and 532, and the arc-shaped opening of the semi-finished adapter 02 faces the discharging rod 62 to be discharged; (4) as shown in fig. 17, the semi-finished adapter 02 is discharged onto one of the discharge rods 62; (5) as shown in fig. 18, the pneumatic claw cylinder drives the upper and lower clamping dies to open and move back to the avoiding position under the driving of the three-dimensional travelling mechanism 52, and at the same time, the semi-finished product adapter 02 rotates under the action of gravity until the end of the long tube abuts against the limiting support rod 66, and at this time, the discharge rod 62 is in the transverse material hanging position, that is, the semi-finished product adapter 02 can be hung on the discharge rod 62 statically at the position; (6) as shown in fig. 19, the swinging actuator 64 drives the discharging rod 62 to swing to a position approximately parallel to the sliding rod 61, and the semi-finished connecting tube 02 slides down onto the sliding rod 61 under the action of gravity, at this time, the discharging rod 62 is in an inclined material sliding position, namely, the position enables the semi-finished connecting tube 02 suspended on the discharging rod 62 to slide onto the sliding rod 62 along the discharging rod 62; if the full-material induction sensor 69 detects that the material sliding rod 61 is full of materials, the material is not distributed to the material discharging rod 62 any more; (7) as shown in fig. 20, under the action of gravity, the semi-finished product adapter 02 located at the end of the material sliding rod 61 slides into the rotating block 71 and is clamped on the rotating block 71, and at this time, the semi-finished product adapter 02 clamped on the rotating block 71 is detected by the material detecting sensor 79 fixedly arranged on the base 70; driven by the posture adjusting actuator, the rotating block rotates clockwise by 90 degrees until the end part of the long pipe of the semi-finished adapter 02 is arranged along the Y-axis direction, namely along the transverse direction, and the position is shown in FIG. 21; (8) as shown in fig. 21, the pushing block 75 is driven by the transferring actuator 76 to move along the Y-axis, so as to force the semi-finished product adapter 02 clamped on the rotating block 71 to move along the Y-axis, move away from the rotating block 71 under the guidance of the transferring guide rail 700, and be stopped by the positioning cam 77, and also be detected by the in-position detecting sensor 78 fixed beside the positioning cam 77, and move to the position to be clamped, at this time, the short pipe end of the semi-finished product adapter 02 at the position to be clamped is decoupled from the rotating block 71, and the long pipe end has a hanging pipe portion at the clamping gap 701; i.e. the positioning backer 77 is used for stop positioning of the removal action of the semi-finished pipe 02.

The tube-end processing step S3, the second distribution robot unit 8 transfers the semi-finished tube 02 located at the position to be clamped onto the tube-end processing unit 3 for tube-end processing in sequence to obtain the finished tube 03 as shown in fig. 3.

and in the unloading step S4, the second material distributing manipulator unit 8 suspends the processed finished connecting pipe 03 on the finished product discharging rack 4.

in the present embodiment, the positioning backer 77 constitutes a suspended pipe portion for positioning the position of the arc-shaped transition pipe portion of the semi-finished pipe 02 after the pose adjustment, so that the second material sorting manipulator unit 8 can grasp the semi-finished pipe 02 at a predetermined position; the posture adjusting and transferring unit in this embodiment is configured to not only rotationally adjust the posture of the semi-finished product nozzle to separate the semi-finished product nozzle from the semi-finished product nozzle 02 on the material sliding rod 61, but also laterally adjust the position of the semi-finished product nozzle 02 to decouple the short pipe end of the semi-finished product nozzle from the rotating block 71, so that the semi-finished product nozzle 02 can be moved away from the rotating block 71 by the first manipulator 81 in the second manipulator unit 8.

Production line example 2

as a description of embodiment 2 of the production line according to the present invention, only the differences from embodiment 1 described above will be improved below, and mainly the structures of the attitude and posture adjustment unit and the second material distributing robot unit in the above-described embodiments will be improved.

Referring to fig. 24, the structure of the rotating block 71 is modified so that when the semi-finished product adapter 02 is clamped on the rotating block 71, a part of the tube 0200 at the end of the long tube extends out of the rotating block 71 to form a hanging tube structure, and a positioning unit for positioning the position of the arc-shaped transition tube of the semi-finished product adapter 02 is eliminated, and the positioning unit in this embodiment is configured by using a positioning actuator to position the arc-shaped transition tube of the semi-finished product adapter 02, and the specific structure includes a linear displacement output device 77 fixed on the base 70 and a positioning block 770 fixed on a mover of the linear displacement output device 77, during operation, when the air cylinder 72 drives the rotating block 71 to rotate the semi-finished product rotating block clamped thereon by a predetermined angle until the end of the long tube is arranged in the horizontal direction, the predetermined angle is usually 90 degrees, but other angles can be selected, the linear displacement output device 77 drives the positioning block 770 to move a predetermined distance in the negative direction of the Y axis to position the arc-shaped transition pipe portion of the adapter 02, and releases the positioning of the adapter 02 after the second material distribution manipulator unit clamps the adapter 02, and the linear displacement output device 77 may be an air cylinder, an oil cylinder, or a linear motor.

that is, in the present embodiment, the posture adjustment unit is used only for rotational adjustment of the posture of the semifinished product take-over, in order to decouple the stub pipe end of the semifinished stub pipe 02 from the rotary block 71, the structure of the second robot part 8 as shown in fig. 10 is modified, namely, by additionally arranging a guide rail and a driving cylinder which are arranged along the Y-axis direction, at least the first manipulator 81 can be driven to move for a preset distance along the Y-axis direction, to grip the tubular section 7100 of the semi-finished adapter 02 at the robot 81 and move forward along the Y-axis by a first predetermined distance until the short-tubular end of the semi-finished adapter 02 is decoupled from the rotating block 71, when the position of the semi-finished product connecting pipe is higher than the rotating block 71 after the semi-finished product connecting pipe is positively moved for the preset distance along the Z axis, the mechanical arm 81 is driven to move for the first preset distance along the Y axis to reset, so that the three mechanical arms synchronously step the preset distance along the X axis in a reciprocating way in the subsequent pipe end processing flow.

Production line example 3

As a description of embodiment 3 of the production line according to the present invention, only differences from embodiment 1 or embodiment 2 will be described below, and mainly the structures of the semi-finished product ejector and the second sorting robot unit 8 in the above-described embodiments will be improved.

Referring to fig. 25, the material discharging rod and the corresponding swing actuator provided in the swing structure in the above embodiment are eliminated, the material discharging rod 62 is formed by an inclined rod section of the material sliding rod 61 extending a predetermined length in a direction away from the posture adjusting moving unit 7, the material discharging rod 72 and the material sliding rod 61 may form a certain included angle, in this embodiment, the two are arranged substantially in parallel, specifically, the same rod body is used for construction, and the limit supporting rod 66 and the limit rod guiding rod 672 are constructed by the same rod body.

In order to enable the first material distributing manipulator unit 1 to well place the plurality of semi-finished product connecting pipes 02 on the inclined material placing rods 62 smoothly, the structure of the first material distributing manipulator unit 1 is improved, in this embodiment, a rotary driving mechanism is constructed by using a servo motor instead of a rotary cylinder to drive the plurality of synchronously clamped semi-finished product connecting pipes 02 to rotate to the arrangement position to be approximately parallel to the inclined material placing rods 62, that is, the plane of the axis of the long pipe end of the plurality of semi-finished product connecting pipes 02 is approximately parallel to the material placing rods 62, so that the falling distances of the semi-finished product connecting pipes 02 are approximately equal during material placing.

Production line example 4

As a description of embodiment 4 of the production line according to the present invention, only the differences from embodiment 1 described above will be improved below, and mainly the structures of the attitude and posture adjustment unit and the second material distributing robot unit in the above-described embodiments will be improved.

referring to the structure shown in fig. 20, the rotation block 71 does not rotate relative to the base to form a holding block, the pushing block 75 is driven by the cylinder 76 to move along the Z-axis, and is located below the holding block, and a height positioning backer is arranged above the holding block to form a positioning unit in this embodiment, so that the position of the arc-shaped transition pipe portion of the semi-finished adapter is positioned, and the displacement guide 700 is arranged to be located on the side of the long pipe end portion of the semi-finished adapter 02 facing away from the holding block, during operation, the pushing block pushes the semi-finished adapter to move towards the Z-axis, and the top portion of the semi-finished adapter is stopped and positioned by the positioning backer, and the short pipe end portion is decoupled from the holding block, so that a portion of the long pipe end portion of the semi-finished adapter 02 extends out of the rotation block 71 to form a suspended pipe portion structure, i.e. in this embodiment, the position adjusting unit is only used for translational adjustment, in order to adjust the posture of the semi-finished product nozzle 02 to the tube end processing direction, the second robot handler unit 8 shown in fig. 10 is modified in that a rotary cylinder is provided thereon to adjust the posture of the semi-finished product nozzle held thereby.

In the above embodiment, the semi-finished connecting tube 02 constitutes a special example of the "curved tube" in this embodiment, so as to explain the concept of the present invention in detail, the pose of the curved tube is configured to be the posture and/or the position, that is, the pose adjusting unit is configured to adjust the position and/or the posture of the semi-finished connecting tube sliding out from the end of the discharging rack, so as to separate the semi-finished connecting tube from the semi-finished connecting tube hung on the discharging rack; further, the pose adjusting unit is further configured to position the hook structure of the curved pipe to be gripped by the second material sorting manipulator unit, and if there are more than two hook structures in one curved pipe, the hook structure not suspended on the material sliding rod may be selected to be positioned, specifically, the position of the arc-shaped transition pipe portion of the semi-finished product connecting pipe is positioned in the above embodiment. By fixedly arranging the limiting support rod below the discharging rod on the discharging rod, although the limiting support rod is specifically configured to keep the long pipe end of the semi-finished connecting pipe at a roughly vertical position in the above embodiment, the limiting support rod can be kept in a non-vertical state or a vertical state in a preset posture state according to the design and processing requirements. The posture adjusting unit is configured to adjust the posture of the curved tube, and the "transfer unit" is configured to adjust the position coordinates of the curved tube, which together constitute the adjusting unit in the above embodiments, of course, other functional modules may be added to the adjusting unit to implement the desired functions, such as the detecting unit; the base and the adjusting unit mounted thereon constitute the posture adjusting unit in the above embodiments together with the transfer unit, but of course, other functional units may be added to the posture adjusting unit to realize desired functions, such as a detecting unit. The rotating block is a special structure of the clamping block in the invention, namely the clamping block can be designed into a rotatable or non-rotatable structure according to the actual structure, and the clamping block is configured to be used for receiving a single curved pipe sliding out from the tail end of the material sliding rod. The discharging rod is configured to be driven by the swing actuator to swing back and forth between a transverse hanging position and an inclined sliding position, wherein the transverse hanging position is configured that the curved pipe can be statically hung on the discharging rod in the transverse hanging position, and the inclined sliding position is configured that the curved pipe hung on the discharging rod can slide to the sliding rod.

Embodiments of a material moving system and a separating system

in the above embodiment of the production line, the embodiments of the material moving system and the material distributing system of the present invention have been described, and are not described herein again.

The invention mainly discloses a production line for manufacturing a D-shaped connecting pipe, wherein a pipe bender is arranged into a multi-pipe bending machine, a material transferring system for transferring materials is arranged between the multi-pipe bending machine and a plurality of pipe section processing units so as to match the processing speed between the multi-pipe bending machine and the pipe section processing units, and therefore the overall processing efficiency and the automation degree are improved. There are many obvious variations of the construction of the multiple tube bender, tube segment handling unit according to the present concept and are not limited to the specific construction of the above described embodiments.

the invention mainly discloses a production line for manufacturing a D-shaped connecting pipe, wherein a pipe bender is arranged into a multi-pipe bending machine, a material transferring system for transferring materials is arranged between the multi-pipe bending machine and a plurality of pipe section processing units so as to match the processing speed between the multi-pipe bending machine and the pipe section processing units, and therefore the overall processing efficiency and the automation degree are improved. According to the present concept, there are many obvious variations of the structure of the multi-tube bending machine and the tube section processing unit, and the structure is not limited to the specific structure in the above embodiments, for example, (1) more than two sets of tube end processing units may be provided for the same multi-tube bending machine according to the design requirements and the processing objects; (2) for the same set of material distribution system, the material distribution system can be configured into more than two sets of pipe end processing units for material supply, and at the moment, the second material distribution mechanical arm unit can relatively move along a main shaft parallel to the pipe end processing units; (3) the first material distribution manipulator unit can be constructed by adopting a five-axis manipulator or a six-axis manipulator with other structures. In addition, to the blowing frame in, the stiff end of blowing frame can directly articulate on the mounting bracket, and at this moment, the pin joint is for being close to the position with the tip that the material sliding rod borders on to constitute a laborsaving lever structure, thereby when the slope of blowing pole was arranged, the tip of this laborsaving lever structure's resistance arm docks with the upper end of material sliding rod, specifically can set up to both terminal surfaces and be the slope butt joint face.

Claims (10)

1. a material moving system for moving a curved pipe with a hook structure is characterized by comprising:

The discharging frame comprises a mounting frame and material sliding rods which are obliquely and fixedly arranged on the mounting frame;

the posture adjusting unit is positioned at the downstream of the tail end of the material sliding rod along the sliding direction of the curved tube on the material sliding rod, is configured to receive the curved tube sliding out of the tail end of the material sliding rod and adjusts the posture of the curved tube to a state to be clamped;

a first dispensing manipulator unit configured to suspend a plurality of curved tubes synchronously on the rack;

a second material separating manipulator unit configured to separate the curved pipe, which is adjusted to the to-be-clamped state, from the posture adjustment unit.

2. The transfer system of claim 1, wherein:

The pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after pose adjustment so that the second material distribution manipulator unit can grab the hanging pipe part of the curved pipe at a preset position;

the adjusting unit comprises a clamping block for receiving a single curved pipe which slides out from the tail end of the material sliding rod, so that the hook structure is clamped on the clamping block; the adjusting unit comprises a posture adjusting unit and a posture adjusting actuator, wherein the posture adjusting unit comprises a posture adjusting actuator which is used for driving the clamping block to rotate so as to drive the curved tube on the clamping block to rotate, so that the posture of the curved tube can be adjusted.

3. The transfer system of claim 2, wherein:

the adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base;

The transfer unit comprises a push block which is driven by a transfer actuator to force the curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and move to the clamping notch, and the hook structure is decoupled from the clamping block;

along the moving direction of the curved tube along the transfer guide rail, the positioning unit comprises a positioning backer which is positioned at the downstream of the transfer guide rail and is used for stopping and positioning the moving action of the curved tube.

4. The transfer system of claim 2, wherein:

The posture adjusting actuator comprises an air cylinder, a rotary driving shaft fixedly connected with the clamping block to drive the clamping block to rotate, a rack fixedly connected with a piston rod of the air cylinder, and a gear meshed with the rack; the gear is coaxially affixed to the rotary drive shaft.

5. The transfer system of any one of claims 1 to 4, wherein:

The discharging frame comprises a discharging rod and a swinging actuator, wherein the fixed end of the discharging rod can be rotatably arranged on the upper end part of the sliding rod around a rotating shaft, and the swinging actuator is used for driving the discharging rod to swing back and forth around the rotating shaft between a transverse material hanging position and an inclined material sliding position;

The feeding rod is fixedly provided with a limiting support rod positioned below the feeding rod and used for forcing the curved pipe hung on the feeding rod to be kept in a preset pose state;

the mounting bracket is fixedly provided with a sliding limiting guide groove which is positioned beside the sliding material rod and used for limiting the swinging motion of the curved pipe in the sliding process of the sliding material rod, and a limiting anti-jumping rod which is positioned above the sliding material rod and used for stopping the jumping motion of the curved pipe in the sliding process of the sliding material rod, so that the curved pipe can be forced to slide in sequence along the sliding material rod and slide out one by one according to the sequence at the tail end of the sliding material rod.

6. A production line for manufacturing D connecting pipes comprises a multi-pipe bending machine, a pipe end processing unit and a material transferring system for transferring semi-finished connecting pipes bent by the multi-pipe bending machine to the pipe end processing unit, and is characterized in that:

The material moving system is the material moving system of any one of claims 1 to 5; n sets of the pipe end processing units are arranged beside the machine head side of the multi-pipe bending machine, and N is greater than or equal to 2;

the first material distributing manipulator unit is matched with N sets of material distributing systems to move materials, and each material distributing system comprises the material discharging frame, the pose adjusting unit and the second material distributing manipulator unit; each set of the material distribution system is matched with a single set of the pipe end processing unit to feed the pipe end processing unit;

the round die of the multi-tube bending machine is a horizontal round die which is axially arranged along a first transverse direction.

7. The production line of claim 6, wherein:

The N sets of pipe end processing units are configured into two sets of pipe end processing units arranged on two lateral sides of a head end of the multi-pipe bending machine, wherein the two lateral sides are two sides arranged along the first lateral direction so as to be arranged in a convex structure with the multi-pipe bending machine;

an installation space positioned in front of the head of the multi-tube bending machine is reserved between the two tube end processing units, and the first material distributing manipulator unit, the material discharging frame and the pose adjusting unit are arranged in the installation space;

the material distribution systems for feeding a group of pipe end processing units form a group, and a moving avoiding space for accommodating the clamping end part of the first material distribution manipulator unit is reserved between the two groups of material distribution systems;

The installation space has a maintenance space at the head of the multi-tube bending machine directly below the material discharge rack and the first material distribution manipulator unit.

8. A dispensing system, comprising:

The discharging frame comprises a mounting frame and a material sliding rod which is obliquely arranged and fixedly arranged on the mounting frame and is used for hanging a plurality of curved tubes with hook structures;

And the posture adjusting unit is positioned at the downstream of the tail end of the material sliding rod along the sliding direction of the curved tube on the material sliding rod, is configured to receive the curved tube sliding out of the tail end of the material sliding rod and adjusts the posture of the curved tube.

9. The dispensing system of claim 8, wherein:

The pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after the pose adjustment;

The adjusting unit comprises a clamping block for receiving a single curved pipe which slides out from the tail end of the material sliding rod, so that the hook structure is clamped on the clamping block;

The adjusting unit comprises a posture adjusting unit and a posture adjusting actuator, wherein the posture adjusting unit comprises a posture adjusting actuator which is used for driving the clamping block to rotate so as to drive the curved pipe on the clamping block to rotate so as to adjust the posture;

The adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base;

the transfer unit comprises a push block which is driven by a transfer actuator to force the curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and move to the clamping notch, and the hook structure is decoupled from the clamping block;

along the direction of removal of the curved tube along said transfer guide, said positioning unit comprises a positioning backer located downstream of said transfer guide for stopping the movement of the curved tube away from said holding block.

10. The feed distribution system of claim 8 or 9, wherein:

The discharging frame comprises a discharging rod and a swinging actuator, wherein the fixed end of the discharging rod can be rotatably arranged on the upper end part of the sliding frame around a rotating shaft, and the swinging actuator is used for driving the discharging rod to swing back and forth around the rotating shaft between a transverse material hanging position and an inclined material sliding position;

the feeding rod is fixedly provided with a limiting support rod positioned below the feeding rod and used for forcing the curved pipe hung on the feeding rod to be kept in a preset pose state;

the mounting bracket is fixedly provided with a sliding limiting guide groove which is positioned beside the sliding material rod and used for limiting the swinging motion of the curved pipe in the sliding process of the sliding material rod, and a limiting anti-jumping rod which is positioned above the sliding material rod and used for stopping the jumping motion of the curved pipe in the sliding process of the sliding material rod, so that the curved pipe can be forced to slide in sequence along the sliding material rod and slide out one by one according to the sequence at the tail end of the sliding material rod.