CN211515842U - Full-automatic pipe expanding equipment - Google Patents

Abstract

The utility model discloses a full-automatic pipe expanding device, which comprises a robot; the pipe expanding device is arranged on a mechanical arm of the robot and can freely move along with the mechanical arm; the workpiece position detection device is arranged on the pipe expanding device and used for detecting the circle center position of the pipe hole on the workpiece to be machined and the inclination angle and the rotation angle of the pipe hole and the pipe expanding device; and the electric control box is electrically connected with the robot, the pipe expanding device and the workpiece position detection device respectively. The automatic pipe expanding operation mode of the robot and the pipe expanding device controlled by the electric cabinet is adopted to perform automatic pipe expanding operation on the pipe holes of the workpieces to be processed, so that the labor intensity of the pipe expanding operation is improved, the production efficiency is improved, and the pipe expanding consistency of all the workpieces to be processed is conveniently ensured; and set up work piece position detection device on the expand tube device, can accurately calculate the centre of a circle position of the pipe hole on every treating the machined part, the inclination and the rotation angle of pipe hole and expand tube device, solve expand tube device and treat the problem of machined part out of plumb, guarantee that there is not the production of metal piece behind the expand tube.

Description

Full-automatic pipe expanding equipment

Technical Field

The invention relates to the technical field of heat exchange equipment processing, in particular to full-automatic tube expansion equipment.

Background

When heat exchange equipment such as a shell and tube heat exchanger is produced and manufactured, after the heat exchange tube, the baffle plate and the heat exchanger tube plate are installed and fixed, the end part of the heat exchange tube needs to be expanded and connected so as to ensure the firmness and the tightness of the connection between the heat exchange tube and the heat exchanger tube plate and further ensure the pressure bearing capacity and the fatigue resistance of the heat exchanger.

The traditional pipe expanding operation method is that a pipe expanding gun is manually held to carry out pipe expanding operation, the operation mode needs high proficiency and fineness on the manipulation of an operator, and meanwhile, the operator can bear the labor intensity of long-time high load, when the number of heat exchange pipes on a heat exchanger pipe plate is large, the daily production is large, and the working intensity is overlarge, the operator is easy to fatigue, so that the heat exchanger leaks and expands or the problems of improper pipe expanding and over expansion and the like are caused because the operator cannot control the vibration of the pipe expanding gun in the pipe expanding process, when the heat exchanger is installed on a whole machine to operate, a water side and a fluorine side are connected in a series, the whole machine set is scrapped, and huge loss is caused.

The traditional pipe expanding operation method has too many human factor interferences in the pipe expanding process, and the pipe expanding process only can judge whether a pipe expanding gun is vertical to work or not by depending on human intuition.

In the prior art, a chinese utility model patent with publication number CN205732637U discloses a full-automatic tube expansion device, which comprises at least two tube expansion brackets used in cooperation, a six-axis robot, and an expansion driving device installed on the six-axis robot, wherein the expansion driving device is in transmission connection with a tube expansion gun; the top of the tube expanding support is provided with a tube driving device for installing a tube, and the tube expanding gun is in contact with the tube on the tube expanding support. The pipe expanding device automatically expands the pipe to the pipe fitting by controlling the six-axis robot and utilizing the pipe expanding gun, the pipe fitting driving device can adjust the pipe expanding position of the pipe fitting, so that the six-axis robot can comprehensively expand the pipe fitting, the pipe expanding working efficiency is greatly improved by utilizing the equipment, and the labor cost is reduced.

However, the full-automatic pipe expanding device does not detect the inclination angle and the rotation angle of the workpiece, and requires a worker to ensure high positioning precision when clamping and replacing the workpiece, and once deviation occurs, a pipe expander is broken and scrapped or a large amount of metal chips occur in the pipe expanding operation process, so that the product quality is affected.

Therefore, it is necessary to provide a fully automatic tube expansion device capable of detecting the inclination of a workpiece to improve the overall quality of the product after the tube expansion operation.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defects that the tube expander is broken and scrapped during tube expanding operation of the robot tube expanding device in the prior art, and scraps are easily generated to influence the product quality, thereby providing full-automatic tube expanding equipment.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a fully automatic pipe expanding apparatus comprising:

a robot;

the pipe expanding device is arranged on a mechanical arm of the robot and can freely move along with the mechanical arm;

the workpiece position detection device is arranged on the pipe expanding device and used for detecting the circle center position of a pipe hole on a workpiece to be machined and the inclination angle relation and the rotation angle relation between the pipe hole and the pipe expanding device;

and the electric control box is electrically connected with the robot, the tube expanding device and the workpiece position detection device respectively.

Further, the tube expansion device comprises:

a fixed frame connected to an end of the robot arm;

the tube expander comprises an expansion motor arranged on the fixed frame, an expansion needle in transmission connection with the expansion motor through a transmission part, and an expansion shell sleeved outside the expansion needle; the expansion motor is used for driving the expansion needle to rotate so that the expansion shell expands and connects the pipe holes on the workpiece to be processed;

the fixed baffle is movably arranged on the fixed frame along the axial direction of the expansion needle; when one side surface of the fixed baffle, back to the fixed frame, abuts against a workpiece to be machined, the fixed frame and the tube expander are driven by the mechanical arm to be close to the fixed baffle along the axial direction of the expansion needle, so that the expansion shell extends into a tube hole of the workpiece to be machined to perform tube expansion operation.

Further, the fixed frame comprises a base for mounting the expansion joint motor and a connecting base connected to the base and used for being connected with the mechanical arm; the base is provided with a guide hole which is coaxial with the expansion needle, a guide rod is movably mounted on the guide hole, and one end of the guide rod is fixedly connected with the fixed baffle.

Furthermore, the guide holes are arranged on two opposite sides of the base in the same axial direction, and the guide rods are movably arranged in the corresponding guide holes respectively.

Further, the two guide rods are symmetrically arranged on two opposite sides of the expansion needle.

Further, the pipe expanding device further comprises a linear displacement sensor which is installed on the fixed frame and connected with the fixed baffle, and the linear displacement sensor is used for detecting relative position information between the fixed baffle and the fixed frame and feeding back the relative position information to the electric cabinet.

Further, the linear displacement sensor includes:

a housing mounted to the fixed frame;

the pull rod assembly comprises a slide rod extending out of the shell through the inside of the shell and a screw rod connected to one end of the slide rod positioned outside the shell, and the screw rod is connected with a top plate arranged on the fixed baffle;

the sliding sheet is fixed on the shell and used for detecting the telescopic quantity information of the sliding rod and feeding the telescopic quantity information back to the electric cabinet.

Further, the workpiece position detection device is a position sensor, and the position sensor is used for detecting the circle center position of the pipe hole in the workpiece to be machined, and the inclination angle relationship and the rotation angle relationship between the pipe hole and the pipe expanding device.

Further, the transmission component comprises an expanding needle chuck assembled with an output shaft of the expanding connection motor; the inside of needle chuck expands is equipped with the through-hole, the cross sectional appearance of through-hole is the polygon, the one end of the needle that expands stretches into in the through-hole, expand the needle stretch into part in the through-hole on its circumferential direction with the inner wall lock of needle chuck expands, the motor that connects expands is through the drive needle chuck that expands rotates in order to drive the needle that expands rotates.

Furthermore, a clamping buckle used for driving the needle expanding chuck to clamp the expanding needle is sleeved at one end, opposite to the expanding connection motor, of the needle expanding chuck.

The technical scheme of the invention has the following advantages:

1. according to the full-automatic pipe expanding equipment, the electric cabinet can control the robot and the pipe expanding device to perform automatic pipe expanding operation on pipe holes on the to-be-machined parts, so that the labor intensity of the pipe expanding operation is improved, the production efficiency of the pipe expanding operation is improved, and the consistency of pipe expanding on all to-be-machined parts is conveniently ensured.

2. According to the full-automatic pipe expanding equipment provided by the invention, the robot carries out automatic operation through a preset program, and the phenomenon of omission can be avoided in the pipe expanding operation process.

3. According to the full-automatic pipe expanding equipment provided by the invention, the pipe expanding gun is replaced by the expanding connection motor, so that the visualization of key pipe expanding parameters such as pipe expanding torque and rotating speed is ensured, the parameter adjustability is more flexible, and further, the debugging of more accurate and stable pipe expanding parameters of workpieces to be machined with different pipe diameters and different wall thicknesses is ensured.

4. According to the full-automatic pipe expanding equipment provided by the invention, the robot can stably clamp the pipe expanding device, so that the vibration caused in the pipe expanding process can be effectively removed, and the problems of pipe expanding failure or over expansion are avoided.

5. According to the full-automatic pipe expanding equipment provided by the invention, the circle center position of each pipe hole on the workpiece to be machined and the inclination angle relation and rotation angle relation between the pipe hole and the pipe expanding device can be accurately calculated by arranging the workpiece position detection device, so that the relative position and relative angle between the pipe expanding device and the pipe hole can be adjusted by controlling a robot, the pipe expanding operation is carried out after the pipe expanding device is vertical to the pipe hole on the workpiece to be machined, and the generation of metal chips after pipe expanding is avoided.

6. According to the full-automatic pipe expanding equipment provided by the invention, the safety stroke of pipe expansion can be effectively controlled by arranging the linear displacement sensor, and the damage of a pipe expander part caused by over-head of the pipe expansion is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of the overall structure of a fully automatic pipe expanding apparatus according to an embodiment of the present invention;

fig. 2 is a schematic overall structural diagram of a pipe expanding device according to an embodiment of the present invention.

Description of reference numerals: 1. a tube expansion device; 11. a fixed frame; 111. a base; 112. a connection base; 13. a pipe expander; 131. expanding and connecting a motor; 132. expanding the needle; 133. expanding the shell; 14. expanding a needle chuck; 15. fixing a baffle plate; 16. a linear displacement sensor; 161. a housing; 162. a slide bar, 163, a screw; 17. a top plate; 18. a guide bar; 19. clamping and buckling; 2. a robot; 21. a mechanical arm; 3. a workpiece position detecting device; 31. a position sensor; 32. and (7) fixing the plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The full-automatic pipe expanding equipment shown in fig. 1-2 comprises a robot 2, a pipe expanding device 1, a workpiece position detection device 3 and an electric cabinet (not shown). Wherein the robot 2 includes a robot arm 21 that can move freely; the tube expanding device 1 is arranged on a mechanical arm 21 of the robot 2 and can freely move along with the mechanical arm 21; the workpiece position detection device 3 is arranged on the pipe expanding device 1 and is used for detecting the circle center position of a pipe hole on a workpiece to be machined and the inclination angle relation and the rotation angle relation between the pipe hole and the pipe expanding device 1; the electric cabinet is respectively and electrically connected with the robot 2, the tube expanding device 1 and the workpiece position detection device 3.

The electric cabinet is in interactive communication with the robot 2, the pipe expanding device 1 and the workpiece position detection device 3, so that the robot 2 and the pipe expanding device 1 can be controlled to perform automatic pipe expanding operation on pipe holes on workpieces to be processed, the labor intensity of the pipe expanding operation is improved, the production efficiency of the pipe expanding operation is improved, and the pipe expanding consistency of all workpieces to be processed is conveniently ensured; and set up work piece position detection device 3 at expand tube device 1, can accurately calculate the centre of a circle position of the pipe hole on every treating the machined part, the inclination and the rotation angle of pipe hole and expand tube device 1, solve expand tube device 1 and treat that the machined part is out of plumb and every treat the problem of machined part installation deviation, ensure that there is not the production of metal debris behind the expand tube. In addition, the robot 2 can carry out automatic operation through a preset program, and the phenomenon of omission in the pipe expanding operation process can be avoided.

In this embodiment the tube expander device 1 comprises a fixed frame 11, an expander 13 and a fixed stop 15. Wherein the fixed frame 11 is connected to the end of the robot arm 21; the tube expander 13 comprises an expansion motor 131 arranged on the fixed frame 11, an expansion needle 132 in transmission connection with the expansion motor 131 through a transmission part, and an expansion shell 133 sleeved outside the expansion needle 132; the fixed baffle 15 is movably mounted to the fixed frame 11 in the axial direction of the expanding needle 132.

In the process of performing tube expansion operation, the robot 2 drives the tube expansion device 1 to be close to a workpiece to be processed through the mechanical arm 21, and when one side surface of the fixed baffle 15 back to the fixed frame 11 moves to a position where the side surface abuts against the workpiece to be processed, the expansion needle 132 and the expansion shell 133 extend into a tube hole of the workpiece to be processed; then, the fixed frame 11 and the tube expander 13 are driven by the mechanical arm 21 to approach the fixed baffle 15 along the axial direction of the expanding needle 132 so as to control the depth of the expanding shell 133 extending into the tube hole and enable the expanding beads on the expanding shell 133 to be tightly attached to the inner wall of the tube hole; finally, the expansion joint motor 131 drives the expansion needle 132 to rotate through the transmission component, and the expansion needle 132 drives the expansion beads on the expansion shell 133 to rotate reversely so as to roll the inner wall of the pipe hole, so that the metal expansion pipe diameter of the pipe wall is increased until the expansion joint requirement is met. Adopt expanded joint motor 131 to replace the expand tube rifle among the prior art, can ensure that key expand tube parameters such as expand tube moment of torsion, rotational speed are visual, and parameter adjustability is more flexible, and then ensures that treating the machined part of different pipe diameters, different wall thicknesses can debug out adding accurate stable expand tube parameter.

In the present embodiment, the fixed frame 11 includes a base 111 on which the expansion motor 131 is mounted and a connection base 112 connected to the base 111 and used for connecting with the robot arm 21; the base 111 is provided with a guide hole (not shown) coaxially arranged with the expanding needle 132, a guide rod 18 is movably mounted on the guide hole, and one end of the guide rod 18 is fixedly connected with the fixed baffle 15. The guide rod 18 can limit the fixed baffle 15 to move along the telescopic direction of the expansion needle 132, so that the expansion shell 133 can move along the axial direction of the pipe hole on the workpiece to be processed, the generation of chips in the pipe expansion operation is reduced, and the product quality is improved.

Specifically, in order to make the balance of the tube expansion device 1 clamped by the robot 2 better, a concave cavity (not shown) is arranged on the base 111, and the expansion motor 131 is installed on the bottom wall in the concave cavity, so that the weight distribution of the tube expansion device 1 before and after the clamped position is more uniform, and the center of gravity of the tube expansion device 1 is closer to the longitudinal axis clamped by the robot 2.

In this embodiment, two guide holes are coaxially disposed on two opposite sides of the base 111, and two guide rods 18 are movably mounted in the corresponding guide holes respectively. Further, the two guide rods 18 are symmetrically arranged on two opposite sides of the expanding needle 132. The guide rod 18 arranged in the structure enables the balance of the mechanical arm 21 when the mechanical arm drives the fixed frame 11, the expansion pipe 13 and the fixed baffle 15 to change relative positions to be better, and further enables the expansion shell 133 to move along the axial direction of the pipe hole on the workpiece to be machined, thereby reducing the generation of chips in the pipe expansion operation and improving the quality of products.

In the present embodiment, the workpiece position detecting device 3 includes a position sensor 31, and the position sensor 31 detects the position of the center of a pipe hole on the workpiece to be machined and the inclination angle relationship and the rotation angle relationship between the pipe hole and the pipe expanding device 1. Specifically, the fixing frame 11 is mounted with a fixing plate 32 perpendicular to the side wall of the fixing frame 11, and the position sensor 31 is mounted at an end of the fixing plate 32 away from the fixing frame 11. In other embodiments, the workpiece position detecting device 3 further includes a vision lens for visually positioning the pipe hole on the workpiece to be processed, and the vision lens may be disposed on the fixed frame 11 and can be driven by the fixed frame 11 to move away from or close to the workpiece to be processed; the vision lens and the position sensor 31 are both electrically connected with the electric cabinet. The measured value of the position sensor 31 is continuously refreshed along with the change of the position, and is fed back and stored in a certain memory address in the memory of the electric cabinet.

By arranging the workpiece position detection device 3 on the tube expansion device 1, before tube expansion operation, the circle center position of the tube hole on each workpiece to be processed, the relative inclination angle and the relative rotation angle between the tube hole and the tube expansion device are accurately calculated through the workpiece position detection device 3. When the circle center position of a pipe hole on a workpiece to be machined does not correspond to the position of an expansion shell 133 of the pipe expanding device 1, the workpiece position detection device 3 sends a first feedback signal to the electric cabinet, and the electric cabinet adjusts the horizontal position and the vertical position of the pipe expanding device 2 by controlling the robot 2 so as to align the relative positions of the pipe hole and the expansion shell; when a relative inclination angle exists between the pipe hole on the workpiece to be machined and the pipe expanding device 1, the workpiece position detection device 3 sends a second feedback signal to the electric cabinet, and the electric cabinet adjusts the pitching angle of the pipe expanding device 2 through controlling the robot 2 so as to enable the relative inclination angle between the pipe hole and the pipe expanding device to be zero; when a relative rotation angle exists between the tube hole on the workpiece to be machined and the tube expansion device 1, the workpiece position detection device 3 sends a third feedback signal to the electric cabinet, and the electric cabinet controls the tube expansion device 1 to rotate around the axis of the tube expansion needle 133 by controlling the robot 2, so that the rotation angle between the tube hole and the tube expansion device is aligned; so set up, solved expand tube device 1 with treat that the pipe hole on the machined part is out of plumb and every treat the problem of machined part installation deviation, ensure that expand tube device 1 and the pipe hole of treating on the machined part carry out the expand tube operation again after keeping perpendicular to make the no metal debris's behind the expand tube production. In other embodiments, the electric cabinet can also accurately adjust the relative position between the tube expanding device 1 and the workpiece to be machined by adjusting the position and the angle of the frame on which the workpiece to be machined is mounted.

In this embodiment, the tube expansion device 1 further includes a linear displacement sensor 16 installed on the fixed frame 11 and connected to the fixed baffle 15, and the linear displacement sensor 16 is configured to detect relative position information between the fixed baffle 15 and the fixed frame 11 and feed back the relative position information to the electric cabinet. In the process that the robot 2 drives the tube expander 13 of the tube expansion device 1 to push the tube into the tube hole, when the torque of the tube expansion motor 131 is detected to reach a set value, the robot 2 stops tube expansion and drives the tube expander 13 to withdraw from the tube hole; however, when the pipe expander motor 131 fails to detect the torque or the detected torque does not reach a set value, the robot 2 drives the pipe expander 13 to push the pipe expander into the pipe hole all the time, and the phenomenon of pipe expansion passing through the head occurs; set up linear displacement sensor 16 between fixed frame 11 and fixed stop 15, can detect relative displacement between the two, it is the propulsive degree of depth of the pipe expander 13 that robot 2 drives, even pipe expander motor 131 breaks down and leads to unable detection torque or the moment of torsion that detects not reaching the setting value and making, as long as the propulsive degree of depth of pipe expander 13 reaches the maximum safe stroke that linear displacement sensor 16 set for, linear displacement sensor 16 will send feedback signal to the electric cabinet, the electric cabinet drives pipe expander 13 through control robot 2 and withdraws from the tube hole, thereby avoid appearing the pipe expander and lead to the impaired phenomenon of pipe expander 13 inner part.

Specifically, the linear displacement sensor 16 includes a housing 161 mounted on the base 111 and a pull rod assembly mounted on the housing 161; the pull rod assembly comprises a sliding rod 162 extending to the outside of the shell 161 through the inside of the shell 161, and a screw 163 connected to one end of the sliding rod 162 positioned outside the shell 161, wherein the screw 163 is connected with the top plate 17 arranged on the fixed baffle 15; the shell 161 is also provided with a slide sheet for detecting the telescopic amount information of the slide bar 161 and feeding the telescopic amount information back to the electric cabinet.

In this embodiment, the electric cabinet includes treater and display screen, robot 2, expand pipe device 1 and work piece position detection device 3 all are connected with the treater electricity. The processor can read the received information such as the positions and the number of the pipe holes on the workpiece to be processed, and can receive, process and feed back the information of the robot 2, the pipe expanding device 1 and the workpiece position detection device 3. The processor reads and identifies the measured value according to the set logic, and when the position sensor 31 measures that the circle center position of the tube hole on the workpiece to be processed, the relative inclination angle and the relative rotation angle between the tube hole and the expansion needle 132 do not correspond to each other, the electric cabinet controls the robot 2 to drive the tube expansion device 1 to move, so that the expansion shell 133 of the tube expansion device 1 automatically judges and aligns the axial direction of the tube hole on the workpiece to be processed.

In the present embodiment, the expansion shell 133 is mounted on the fixed baffle 15 and has one end protruding from the fixed baffle 15; the fixed baffle 15 can play the effect of restriction to the pipe expander 13, can effectively less the vibration of pipe expander 13 in the pipe expanding process, avoids appearing the not-in-place or the bloated problem of expand tube.

In the present embodiment, the transmission component includes a needle expanding chuck 14 assembled with the output shaft of the expanding motor 131; the inside of needle chuck 14 expands is equipped with the through-hole, and the cross section appearance of through-hole is the polygon, and the one end of needle 132 that expands stretches into in the through-hole, and the part that needle 132 stretched into in the through-hole is buckled with the inner wall of needle chuck 14 that expands on its circumferential direction, and the motor 131 that expands connects rotates in order to drive needle chuck 132 that expands and rotate through the drive needle chuck 14 that expands. One end of the needle expanding chuck 14 opposite to the expansion motor 131 is sleeved with a clamp 19 for driving the needle expanding chuck 14 to clamp the expansion needle 132.

In summary, according to the full-automatic pipe expanding equipment provided by the embodiment of the invention, the electric cabinet is adopted to control the robot 2 and the pipe expanding device 1 to perform automatic pipe expanding operation on pipe holes on workpieces to be processed, so that the labor intensity of the pipe expanding operation is improved, the production efficiency of the pipe expanding operation is improved, and the pipe expanding consistency of all workpieces to be processed is conveniently ensured; and the workpiece position detection device 3 is arranged on the tube expansion device 1, so that the circle center position of the tube hole on each workpiece to be processed, the relative inclination angle and the relative rotation angle between the tube hole and the tube expansion device can be accurately calculated, the problems that the tube expansion device is not vertical to the workpiece to be processed and each workpiece to be processed has installation deviation are solved, and no metal debris is generated after tube expansion

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. A full-automatic tube expansion device, characterized by comprising:

a robot (2);

the pipe expanding device (1) is mounted on a mechanical arm (21) of the robot (2) and can freely move along with the mechanical arm (21);

the workpiece position detection device (3) is arranged on the pipe expanding device (1) and is used for detecting the circle center position of a pipe hole in a workpiece to be machined and the inclination angle relation and the rotation angle relation between the pipe hole and the pipe expanding device (1);

and the electric control box is electrically connected with the robot (2), the tube expanding device (1) and the workpiece position detection device (3) respectively.

2. The fully automatic tube expansion apparatus according to claim 1, characterized in that said tube expansion device (1) comprises:

a fixed frame (11) connected to an end of the robot arm (21);

the tube expander (13) comprises an expansion motor (131) arranged on the fixed frame (11), an expansion needle (132) in transmission connection with the expansion motor (131) through a transmission part, and an expansion shell (133) sleeved outside the expansion needle (132); the expansion joint motor (131) is used for driving the expansion needle (132) to rotate so as to enable the expansion shell (133) to expand and joint pipe holes on a workpiece to be machined;

a fixed baffle (15) movably mounted to the fixed frame (11) along an axial direction of the expanding needle (132); when one side surface of the fixed baffle plate (15), which is back to the fixed frame (11), is abutted against a workpiece to be machined, the fixed frame (11) and the tube expander (13) are driven by the mechanical arm (21) to be close to the fixed baffle plate (15) along the axial direction of the expanding needle (132), so that the expanding shell (133) extends into a tube hole of the workpiece to be machined to perform tube expanding operation.

3. The fully automatic pipe expanding apparatus according to claim 2, wherein said fixed frame (11) comprises a base (111) for mounting said expanding motor (131) and a connection base (112) connected to said base (111) and for connecting to said robot arm (21); be equipped with on base (111) with expand the guiding hole that needle (132) coaxial direction set up, movable mounting has guide arm (18) on the guiding hole, the one end of guide arm (18) with fixed stop (15) fixed connection.

4. The full-automatic pipe expanding equipment according to claim 3, wherein two guide holes are coaxially arranged at two opposite sides of the base (111), and two guide rods (18) are movably arranged in the corresponding guide holes respectively.

5. The fully automatic tube expansion apparatus according to claim 4, wherein two guide rods (18) are symmetrically arranged on opposite sides of the expansion needle (132).

6. The full-automatic pipe expanding equipment according to claim 2, wherein the pipe expanding device (1) further comprises a linear displacement sensor (16) mounted on the fixed frame (11) and connected with the fixed baffle (15), and the linear displacement sensor (16) is used for detecting relative position information between the fixed baffle (15) and the fixed frame (11) and feeding back the relative position information to the electric cabinet.

7. The fully automatic tube expansion apparatus according to claim 6, wherein the linear displacement sensor (16) comprises:

a housing (161) attached to the fixed frame (11);

the pull rod assembly comprises a sliding rod (162) extending out of the shell (161) through the inside of the shell (161), and a screw rod (163) connected to one end of the sliding rod (162) outside the shell (161), wherein the screw rod (163) is connected with a top plate (17) installed on the fixed baffle plate (15);

the sliding sheet is fixed on the shell (161) and used for detecting the telescopic quantity information of the sliding rod (162) and feeding the telescopic quantity information back to the electric cabinet.

8. The full-automatic pipe expanding equipment according to claim 1, wherein the workpiece position detecting device (3) is a position sensor (31), and the position sensor (31) is used for detecting the circle center position of a pipe hole on a workpiece to be machined and the inclination angle relationship and the rotation angle relationship between the pipe hole and the pipe expanding device (1).

9. The fully automatic tube expansion apparatus according to claim 2, wherein the transmission means comprises a needle expansion chuck (14) fitted with an output shaft of the expansion joint motor (131); the inside of needle chuck (14) expands is equipped with the through-hole, the cross sectional appearance of through-hole is the polygon, the one end of needle (132) expands stretches into in the through-hole, needle (132) expand stretch into part in the through-hole on its circumferential direction with the inner wall of needle chuck (14) expands is buckled mutually, it connects motor (131) to expand through the drive needle chuck (14) rotate in order to drive to expand needle (132) and rotate.

10. The full-automatic tube expansion device according to claim 9, wherein one end of the needle expansion chuck (14) opposite to the expansion motor (131) is sleeved with a clamp (19) for driving the needle expansion chuck (14) to clamp the expansion needle (132).

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